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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0aca92b892961f34b5a7c5edd8a040e71f693e78
--- /dev/null
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00ffc32171093f387123686ddb1ea480d8a5a30e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f131c9d4415a95026db526b49654f21c9ec80fa1bea13ac23c0c30c15daf63ac
+size 25957889
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be793a5668a404a06e60ee8925adf087be3a0598
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_03/franka_data.csv
@@ -0,0 +1,410 @@
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+2,0.033333333,BASELINE,765,745,713,679,664,634,879,787,805,653,631,652,0.400994632867,0.00458534251882,0.0498586309059,0.999999963484,0.000110007904793,-0.000244518032852,-3.37793992131e-05,1793243629171969280
+3,0.050000000,BASELINE,765,745,713,679,664,634,879,787,805,653,631,652,0.40099277783,0.00458614826686,0.0498578599195,0.999999962691,0.000111662055723,-0.000247009736301,-3.36958111838e-05,1793243629188636160
+4,0.066666667,BASELINE,765,745,713.339270149,678.660729851,664,634.339270149,879,787,805,652.660729851,631,652,0.400991656606,0.00458466089433,0.0498575310161,0.999999962662,0.000109242993405,-0.000248222713658,-3.35746584533e-05,1793243629205302784
+5,0.083333333,BASELINE,765,745,713.917821377,678.082178623,664,634.917821377,879,787,805,652.082178623,631,652,0.400991052925,0.00458155622541,0.0498575139059,0.999999963154,0.00010395116759,-0.000248533828553,-3.34270120251e-05,1793243629221969408
+6,0.100000000,BASELINE,765,745,713.512163803,678.487836197,664,634.512163803,879,787,805,652.487836197,631,652,0.400991552887,0.0045833653602,0.0498577417113,0.99999996311,0.000105629912281,-0.000247975630058,-3.36196395848e-05,1793243629238635776
+7,0.116666667,BASELINE,765,745,713.059620145,679,663.940379855,634,878.940379855,787.059620145,804.940379855,652.940379855,631,652,0.400992307031,0.0045856709395,0.0498580489135,0.999999963032,0.000108089666979,-0.000247199922193,-3.38227443304e-05,1793243629255302400
+8,0.133333333,BASELINE,765,745,713.660283905,679,663.339716095,634,878.339716095,787.660283905,804.339716095,652.339716095,631,652,0.400993709717,0.00458509909717,0.0498587086644,0.999999963495,0.000107164267912,-0.00024575642102,-3.36096947269e-05,1793243629271969024
+9,0.150000000,BASELINE,765,745.249881583,714,679,663.499763165,634,878.249881583,787.750118417,804.249881583,652.249881583,631,652,0.400993725108,0.00458428513582,0.0498587561511,0.99999996368,0.000105824731328,-0.000245597714206,-3.35085702703e-05,1793243629288636160
+10,0.166666667,BASELINE,765,745.825072777,714,679,664.650145554,634,878.825072777,787.174927223,804.825072777,652.825072777,631,652,0.400991934445,0.00458315597065,0.0498580065585,0.999999963503,0.00010394604778,-0.000247111623594,-3.35531561532e-05,1793243629305303040
+11,0.183333333,BASELINE,765,745.599680566,713.599680566,679.400319434,664.199361132,634,879.400319434,787.400319434,805,653,631,652,0.400992431859,0.0045828704903,0.0498584270476,0.999999963565,0.000104493738697,-0.000246619523324,-3.3613084822e-05,1793243629321969408
+12,0.200000000,BASELINE,765,745.02440962,713.02440962,679.97559038,663.04881924,634,879.97559038,787.97559038,805,653,631,652,0.400993929232,0.00458295372524,0.0498593588971,0.99999996373,0.000106101827333,-0.000245250737236,-3.36797187488e-05,1793243629338636032
+13,0.216666667,BASELINE,765,745.566214789,713.566214789,679.433785211,663.566214789,634,879.433785211,788,805,652.433785211,631,652,0.400993783579,0.00458332257254,0.0498595736714,0.999999963787,0.000106481404612,-0.000244872728319,-3.35559312421e-05,1793243629355302656
+14,0.233333333,BASELINE,765,745.845961397,714,679,664,634,879.154038603,787.845961397,805,652.154038603,631,652,0.400993377648,0.00458392429939,0.0498596605697,0.999999963695,0.000107470925631,-0.00024483356316,-3.34044759539e-05,1793243629371969280
+15,0.250000000,BASELINE,765,745.267723424,714,679,664,634,879.732276576,787.267723424,805,652.732276576,631,652,0.400992455444,0.00458513248923,0.0498594828202,0.999999963206,0.000110290053617,-0.000245606620697,-3.32000644165e-05,1793243629388636160
+16,0.266666667,BASELINE,764.693548314,745,714,679,664,634,879.387096628,787,805,653,631,652.306451686,0.400992536198,0.00458490103648,0.0498594199757,0.999999963351,0.000109299158473,-0.000245442644337,-3.33054490886e-05,1793243629405302784
+17,0.283333333,BASELINE,764.122876209,745,714,679,664,634,878.245752419,787,805,653,631,652.877123791,0.400993481696,0.00458342833426,0.0498594562016,0.999999964035,0.000105023288874,-0.000244470764101,-3.36779378154e-05,1793243629421969408
+18,0.300000000,BASELINE,764,745,713.573889003,679,664,634,878.426110997,787,805,653,631,652.573889003,0.400992863312,0.00458266017059,0.0498588701114,0.99999996393,0.000104235538592,-0.000245248092901,-3.3605219741e-05,1793243629438636288
+19,0.316666667,BASELINE,764,745,713.030852191,679,664,634,878.969147809,787,805,653,631,652.030852191,0.400991815795,0.00458208533389,0.0498581132562,0.999999963609,0.000104404936162,-0.000246505408607,-3.34103359137e-05,1793243629455303168
+20,0.333333333,BASELINE,764.598410238,745,713.598410238,678.401589762,664,634,879,787.598410238,805,653,631,652,0.400993643579,0.00458353118208,0.049859549333,0.999999964046,0.000106921211211,-0.00024363015086,-3.34636777828e-05,1793243629471969792
+21,0.350000000,BASELINE,765,745,714,678.211380716,664,634.211380716,879,787.788619284,805,653,631,652,0.40099391695,0.00458422789244,0.0498598556768,0.999999964034,0.000108084645871,-0.000243159045381,-3.35085344059e-05,1793243629488636416
+22,0.366666667,BASELINE,765,745,714,678.787297693,664,634.787297693,879,787.212702307,805,653,631,652,0.400991210971,0.00458342276813,0.0498579859377,0.999999963179,0.000106671246342,-0.00024726331163,-3.35129719476e-05,1793243629505303040
+23,0.383333333,BASELINE,765,745,713.638982692,679,663.638982692,634.638982692,879,787,805,652.638982692,631,652,0.400991132578,0.00458283500882,0.0498582580471,0.999999963412,0.000105097682186,-0.000246979097966,-3.36325012891e-05,1793243629521969408
+24,0.400000000,BASELINE,765,745,713.066549819,679,663.066549819,634.066549819,879,787,805,652.066549819,631,652,0.400992592927,0.00458237454068,0.0498597844455,0.999999964281,0.000103430323793,-0.000244124944322,-3.38194296093e-05,1793243629538636288
+25,0.416666667,BASELINE,764.475148097,745,713,679,663,634.524851903,879.524851903,787,805,652,631,652,0.400992852605,0.00458377245302,0.0498593565766,0.999999963938,0.000106019513681,-0.000244392119561,-3.39916165355e-05,1793243629555302912
+26,0.433333333,BASELINE,764.115941099,745,713,679,663.115941099,634.884058901,879.768117803,787,805,652.115941099,631,652,0.400992828361,0.00458495342194,0.0498588823165,0.999999963556,0.000108193388217,-0.000244984938824,-3.41159645579e-05,1793243629571969536
+27,0.450000000,BASELINE,764.69579522,745,713,679,663.69579522,634.30420478,878.608409559,787,805,652.69579522,631,652,0.400992300072,0.00458428813308,0.0498592511106,0.999999963682,0.000106464925944,-0.000245237759907,-3.40566552041e-05,1793243629588636160
+28,0.466666667,BASELINE,765,745.273684863,713,678.726315137,664,634.273684863,878.273684863,787,805,652.726315137,631,652,0.40099261151,0.00458385237592,0.0498598295602,0.999999963747,0.000106592520659,-0.000244950221953,-3.38128724044e-05,1793243629605302784
+29,0.483333333,BASELINE,765,745.849406486,713,678.150593514,664,634.849406486,878.849406486,787,805,652.150593514,631,652,0.400993849665,0.0045836699284,0.0498606393843,0.999999963744,0.000108768447388,-0.00024406634742,-3.33655059642e-05,1793243629621969664
+30,0.500000000,BASELINE,764.57590213,745.57590213,713,678.42409787,664.42409787,635,879,787,805,652,631,652,0.400994133176,0.00458347908122,0.0498606274515,0.99999996404,0.000108265637332,-0.00024305678758,-3.35069930873e-05,1793243629638636288
+31,0.516666667,BASELINE,764.001575699,745.001575699,713,678.998424301,664.998424301,635,879,787,805,652,631,652,0.400994078521,0.00458328525862,0.0498603244271,0.99999996444,0.000106813935953,-0.000242002706144,-3.38570703334e-05,1793243629655302912
+32,0.533333333,BASELINE,764.590685558,745,713,679,663.818628885,634.409314442,879,787,805,652.590685558,631,652.590685558,0.400993624349,0.00458377744717,0.0498601339959,0.999999964183,0.000106913494758,-0.000243006885364,-3.39305199699e-05,1793243629671969536
+33,0.550000000,BASELINE,765,745,713,679,663.357453343,634,879.178726672,787.178726672,805.178726672,653,631,652.821273328,0.400993021273,0.00458373928265,0.0498597273092,0.99999996395,0.000106738465771,-0.00024404826098,-3.38594177832e-05,1793243629688636160
+34,0.566666667,BASELINE,765,745,713,679,664.514435985,634,879.757217992,787.757217992,805.757217992,653,631,652.242782008,0.400992087596,0.00458251063609,0.0498588362228,0.999999963777,0.000105939710266,-0.000245160169517,-3.34666933327e-05,1793243629705302784
+35,0.583333333,BASELINE,765,745.333684199,713.333684199,679,664.666315801,634,879.666315801,788,805.332631601,653,631,652,0.400993132552,0.00458240550112,0.0498596752007,0.999999964075,0.000106597221598,-0.000243660730604,-3.34089587629e-05,1793243629721969408
+36,0.600000000,BASELINE,765,745.908685922,713.908685922,679,664.091314078,634,879.091314078,788,804.182628156,653,631,652,0.400995608438,0.00458311287986,0.0498617653459,0.999999964705,0.000108307892407,-0.000240272787944,-3.35934859327e-05,1793243629738636032
+37,0.616666667,BASELINE,765,745.504988481,714,679,664,634,879,788,804.495011519,653,631,652,0.400995597712,0.00458249392985,0.0498616936811,0.999999964807,0.000107326219306,-0.000240298893972,-3.35175814969e-05,1793243629755302656
+38,0.633333333,BASELINE,765,745,714,679,664,634,879,787.917776852,805.082223148,653,631,652,0.400994815679,0.00458194471096,0.0498611215426,0.99999996474,0.000105960125269,-0.000241198282547,-3.34022353217e-05,1793243629771969024
+39,0.650000000,BASELINE,765,745,714,679,664,634,879,787.338137684,805.661862316,653,631,652,0.400992207486,0.00458333211619,0.0498599907156,0.999999964254,0.000105343328524,-0.000243481535776,-3.33457179131e-05,1793243629788635648
+40,0.666666667,BASELINE,765,745,714,679,664,634,879.240433072,787.240433072,805.759566928,653,631,652,0.400991456339,0.00458406113949,0.0498596174979,0.999999963995,0.000105485464103,-0.000244478125316,-3.33742800923e-05,1793243629805302528
+41,0.683333333,BASELINE,765,745,714,679,664,634,879.817507859,787.817507859,805.182492141,653,631,652,0.40099330533,0.00458386833103,0.0498603050449,0.999999964058,0.000106690216762,-0.000243673196039,-3.35219662295e-05,1793243629821969408
+42,0.700000000,BASELINE,765,745.391810716,714,679,664,634,879.608189284,788,805,652.608189284,631,652,0.400993671532,0.00458389364731,0.0498601068119,0.999999963923,0.000107058204781,-0.000244041298554,-3.37200072903e-05,1793243629838636032
+43,0.716666667,BASELINE,765,745.964831557,714,679,664,634,879.035168443,788,805,652.035168443,631,652,0.400993351951,0.00458401984499,0.0498594989109,0.999999963695,0.000107039194102,-0.000244951921314,-3.39413371995e-05,1793243629855302912
+44,0.733333333,BASELINE,765,745.443391745,713.443391745,679,664,634,879,787.443391745,805,652,631,652,0.400995181298,0.00458360965472,0.0498605659625,0.999999964459,0.000107451758963,-0.000241652636876,-3.37604384793e-05,1793243629871969536
+45,0.750000000,BASELINE,765,745,713,679,664,634,879,787.145875512,805,652,631,652,0.400996330921,0.00458340142346,0.0498613760863,0.999999964973,0.000107636027858,-0.000239458933428,-3.35955466697e-05,1793243629888636160
+46,0.766666667,BASELINE,765,745,713,679,664,634,879,787.724071078,805,652,631,652,0.400995049679,0.00458389566493,0.049861100197,0.999999964579,0.000107060081954,-0.000241357559605,-3.35560379454e-05,1793243629905302784
+47,0.783333333,BASELINE,765,745,713.300228162,679,664,634.300228162,879,788,805,652.300228162,631,652,0.400994179554,0.0045837503511,0.0498607172381,0.999999964389,0.000106187694055,-0.000242537682573,-3.34981028311e-05,1793243629921969664
+48,0.800000000,BASELINE,765,745,713.874524453,679,664,634.874524453,879,788,805,652.874524453,631,652,0.400993684725,0.00458302120894,0.0498602365388,0.999999964385,0.000105044694224,-0.000243061908496,-3.34233468847e-05,1793243629938636288
+49,0.816666667,BASELINE,765,745,713.550657918,679,664,635,879,787.550657918,805,653,631,652,0.400993721384,0.00458261192323,0.0498604224598,0.999999964561,0.000104296418615,-0.000242630616839,-3.36103118171e-05,1793243629955302912
+50,0.833333333,BASELINE,765,745,713,679,664,634.974922209,879,787.025077791,805.025077791,653,631,652,0.400993899701,0.00458238129876,0.0498607814546,0.999999964775,0.000103731542516,-0.000241956432517,-3.38732899099e-05,1793243629971969536
+51,0.850000000,BASELINE,765,745,713,679,664,634.381687963,879,787.618312037,805.618312037,653,631,652,0.40099392106,0.00458417247124,0.049860839324,0.99999996468,0.000104821613913,-0.000241831393131,-3.42007148055e-05,1793243629988636672
+52,0.866666667,BASELINE,765,745.206146036,713.206146036,679,663.793853964,634,879,788,805.793853964,653,631,652,0.400994704306,0.00458525204722,0.0498612204796,0.999999964731,0.000106378106417,-0.000240923893733,-3.43024694563e-05,1793243630005303552
+53,0.883333333,BASELINE,765,745.784236459,713.784236459,679,663.215763541,634,879,788,805.215763541,653,631,652,0.400996862209,0.00458504770649,0.0498621849325,0.99999996504,0.000108776151366,-0.000238604620363,-3.39970526343e-05,1793243630021969408
+54,0.900000000,BASELINE,764.639701054,746,713.639701054,678.639701054,663.360298946,634,879,788,805,653,631,652,0.400996076542,0.00458433853446,0.0498620985634,0.999999965003,0.000107719775097,-0.000239285301956,-3.36520300703e-05,1793243630038636032
+55,0.916666667,BASELINE,764.064846212,746,713.064846212,678.064846212,663.935153788,634,879,788,805,653,631,652,0.400993537997,0.00458332873839,0.0498613864358,0.999999964753,0.000104606311283,-0.000241752439117,-3.32834225311e-05,1793243630055302656
+56,0.933333333,BASELINE,764.521237022,745.478762978,713,678.521237022,664,634,879,788,805,653,630.478762978,652,0.400992903748,0.0045835089098,0.0498605930423,0.999999964502,0.000105651571011,-0.000242338123999,-3.32678767496e-05,1793243630071969280
+57,0.950000000,BASELINE,765,745.107156405,713.107156405,679,664,634,879,787.892843595,805,653,630.107156405,652,0.400992744744,0.00458349372228,0.0498600711281,0.999999964359,0.000106601028565,-0.000242513190946,-3.32481226135e-05,1793243630088635904
+58,0.966666667,BASELINE,765,745.686068991,713.686068991,679,664,634,879,787.313931009,805,653,630.686068991,652,0.400993612044,0.0045819523634,0.0498607898918,0.999999964698,0.000104800804264,-0.000241933685006,-3.30122092013e-05,1793243630105302528
+59,0.983333333,BASELINE,764.73576195,745.73576195,713.73576195,679,664,634,879,787,805,653,631,652,0.40099369165,0.00458206650229,0.0498610986489,0.999999964681,0.000104625692869,-0.00024207190698,-3.3058950268e-05,1793243630121969152
+60,1.000000000,BASELINE,764.158473694,745.158473694,713.158473694,679,664,634,879,787,805,653,631,652,0.400992838053,0.00458414195549,0.0498609216598,0.999999964244,0.000106375897942,-0.000243060441208,-3.34405599693e-05,1793243630138635776
+61,1.016666667,BASELINE,764.415760952,745,713,679,664,634.415760952,879.415760952,787,805,653,631,652,0.400992228429,0.0045848008544,0.0498605888087,0.999999964092,0.000106707096923,-0.000243519147126,-3.35995126686e-05,1793243630155302400
+62,1.033333333,BASELINE,764.988840119,745,713,679,664,634.988840119,879.988840119,787,805,653,631,652,0.400991711122,0.00458492374856,0.0498601969815,0.999999964048,0.000106501363448,-0.000243777373254,-3.36742150037e-05,1793243630171969024
+63,1.050000000,BASELINE,765,745,713.580792534,679,663.419207466,634.419207466,878.838414932,787.580792534,805,653,631,652,0.400993153001,0.00458481628136,0.0498610354466,0.99999996424,0.000107865432002,-0.000242395385699,-3.3603472306e-05,1793243630188635904
+64,1.066666667,BASELINE,764.83074557,745,714,679,663.16925443,634,878.16925443,788,805,653,631,652,0.400994287762,0.00458462600334,0.0498616185221,0.999999964443,0.00010858122706,-0.000241251142089,-3.3498696266e-05,1793243630205302528
+65,1.083333333,BASELINE,764.251643596,745,714,679,663.748356404,634,878.748356404,788,805,653,631,652,0.400994584619,0.00458424627831,0.0498615240082,0.999999964667,0.000107651741593,-0.000240761472888,-3.33185035692e-05,1793243630221968896
+66,1.100000000,BASELINE,764.324736691,745,713.675263309,679,663.675263309,634.324736691,879,787.675263309,805.324736691,653,631,652,0.400994325258,0.00458335283894,0.0498611268662,0.999999964699,0.000106491071789,-0.000241175769006,-3.31158841356e-05,1793243630238635776
+67,1.116666667,BASELINE,764.899025402,745,713.100974598,679,663.100974598,634.899025402,879,787.100974598,805.899025402,653,631,652,0.400993638458,0.00458206462296,0.0498604971619,0.999999964579,0.000105152742649,-0.000242284739873,-3.28960303246e-05,1793243630255302400
+68,1.133333333,BASELINE,765,745,713.484762043,679,663.484762043,635,879,787.484762043,805.515237957,653,631,652,0.400992335645,0.00458258596318,0.0498597766595,0.999999964151,0.000106140214781,-0.000243599259998,-3.30478735139e-05,1793243630271969280
+69,1.150000000,BASELINE,765,745.071852772,714,679,664,634.928147228,879.071852772,787.928147228,805,653,631,652,0.400991331244,0.00458327272962,0.0498593275855,0.999999963808,0.000107266153679,-0.000244485447586,-3.32371446436e-05,1793243630288636672
+70,1.166666667,BASELINE,765,745.651256701,714,679,664,634.348743299,879.651256701,787.348743299,805,653,631,652,0.400993363054,0.00458240111617,0.0498609326474,0.999999964557,0.000105865321361,-0.000242036241202,-3.31306689017e-05,1793243630305303040
+71,1.183333333,BASELINE,765,745.769931532,714,679,664,634.230068468,879.769931532,787.230068468,805,653,631,652,0.400994362945,0.00458218137284,0.0498618039103,0.99999996497,0.000104725787189,-0.000240818374707,-3.31436352691e-05,1793243630321969664
+72,1.200000000,BASELINE,765,745.192014987,714,679,664,634.807985013,879.192014987,787.807985013,805,653,631,652,0.400993802644,0.00458294721322,0.0498615657186,0.999999964886,0.000103981318063,-0.000241462211087,-3.33371900711e-05,1793243630338636288
+73,1.216666667,BASELINE,765,745.390832453,713.609167547,679,664,634.609167547,879,788,805,653,631,652,0.400992801659,0.00458301205672,0.0498605458385,0.999999964591,0.000103049878532,-0.000243040307796,-3.36131658184e-05,1793243630355302912
+74,1.233333333,BASELINE,765,745.976133348,713.023866652,679,664,634.023866652,879,788,805,653,631,652,0.400991581401,0.00458272810168,0.0498591370098,0.999999964187,0.000102025407255,-0.000245083269012,-3.39301521527e-05,1793243630371969536
+75,1.250000000,BASELINE,765,745.443760818,713,679,664,634,879,788,805,653,631,652,0.400993136561,0.0045841478331,0.0498606232264,0.999999964382,0.000105571622957,-0.000242793616475,-3.37776350374e-05,1793243630388636160
+76,1.266666667,BASELINE,765,745,713.135764148,679,664,634.135764148,879,787.864235852,805.135764148,653,631,652,0.400994477231,0.00458519529252,0.0498618147587,0.999999964549,0.000108249736687,-0.000240938782011,-3.36507320247e-05,1793243630405302528
+77,1.283333333,BASELINE,765,745,713.714115416,679,664,634.714115416,879,787.285884584,805.714115416,653,631,652,0.400994734049,0.00458479305612,0.0498616444281,0.999999964594,0.000107464449266,-0.000241101863284,-3.36723948857e-05,1793243630421969408
+78,1.300000000,BASELINE,765,745,713.709376317,679,664.290623683,634.709376317,879,787,805.709376317,653,631.290623683,652,0.400994997986,0.00458354564738,0.0498616232767,0.999999964805,0.000106161525865,-0.000240839325261,-3.34188759551e-05,1793243630438636288
+79,1.316666667,BASELINE,765,745,713.134669607,679,664.865330393,634.134669607,879,787,805.134669607,653,631.865330393,652,0.400995268883,0.00458147208743,0.0498617479472,0.999999965176,0.000104352616233,-0.000240160746742,-3.28963683593e-05,1793243630455302912
+80,1.333333333,BASELINE,765.451226435,745.451226435,713.451226435,679,664.548773565,634,879.451226435,787.451226435,805,653,631.548773565,652.451226435,0.400994912533,0.00458215821036,0.0498615809205,0.99999996511,0.000104543287219,-0.000240316052879,-3.31554473253e-05,1793243630471969280
+81,1.350000000,BASELINE,765.960202213,746,714,679,664,634,879.960202213,787.960202213,805.039797787,653,631,652.960202213,0.400994356104,0.00458357113131,0.0498613412794,0.999999964919,0.000105371767566,-0.000240686561627,-3.36041553809e-05,1793243630488635904
+82,1.366666667,BASELINE,765.381769879,746,714,679,664,634,879.381769879,787.381769879,805.618230121,653,631,652.381769879,0.400993689819,0.00458338999043,0.0498613270813,0.999999964842,0.000106550172516,-0.000240515689288,-3.33819844239e-05,1793243630505302528
+83,1.383333333,BASELINE,765,746,714,679,664,634.196360453,879,787,805.803639547,652.803639547,630.803639547,652,0.400993811982,0.00458272086309,0.0498613486369,0.999999964978,0.000106079951115,-0.000240185248959,-3.320849572e-05,1793243630521969152
+84,1.400000000,BASELINE,765,746,714,679,664,634.773904628,879,787,805.226095372,652.226095372,630.226095372,652,0.400995464716,0.00458110443449,0.0498614395987,0.999999965516,0.000102409342477,-0.000239545048057,-3.31295111508e-05,1793243630538635776
+85,1.416666667,BASELINE,765,746,714,679,664,634.651481102,879,787.348518898,805,652.348518898,630.697037796,652,0.40099547554,0.00458160652549,0.0498614136271,0.999999965464,0.000102278382178,-0.000239805680228,-3.32395987967e-05,1793243630555302400
+86,1.433333333,BASELINE,765,746,714,679,664,634.078751745,879,787.921248255,805,652.921248255,631.842496511,652,0.400994430085,0.00458347151039,0.0498613124293,0.999999965032,0.000104424561697,-0.000240645839687,-3.34713210807e-05,1793243630571969024
+87,1.450000000,BASELINE,765,745.488320394,713.488320394,679,664,634,879.511679606,788,805,653,631.488320394,652,0.400993567595,0.00458391354977,0.0498612421158,0.999999964659,0.000105343286354,-0.000241800233143,-3.34398850504e-05,1793243630588635904
+88,1.466666667,BASELINE,765,745,713,679,664,634.102084848,879.897915152,788,805,653,631,652,0.400992821175,0.00458376212769,0.049861053163,0.999999964356,0.000105756475841,-0.000242881432919,-3.33567071755e-05,1793243630605302528
+89,1.483333333,BASELINE,765,745,713,679,664,634.679235473,879.320764527,788,805,653,631,652,0.400992479163,0.00458190463502,0.0498602891928,0.999999964345,0.000104727737167,-0.000243388885701,-3.32279787197e-05,1793243630621969152
+90,1.500000000,BASELINE,765,745,713,679,664,634.744823649,879,788,805,653,631,652,0.400992974343,0.00458123092889,0.0498603023031,0.999999964486,0.000104408557805,-0.000242957245655,-3.31373769638e-05,1793243630638636032
+91,1.516666667,BASELINE,765,745,713,679,664,634.170396326,879,788,805,653,631,652,0.400994516935,0.00458203825752,0.0498612876183,0.999999964817,0.000104977107725,-0.000241350707125,-3.30944755079e-05,1793243630655302912
+92,1.533333333,BASELINE,765,745.404711755,713.404711755,679,664,634,879,788,805,653,631,652,0.400993521348,0.00458265562647,0.0498609890619,0.999999964582,0.000105244838592,-0.000242201518089,-3.31338595451e-05,1793243630671969536
+93,1.550000000,BASELINE,765,745.980106988,713.980106988,679,664,634,879,788,805,653,631,652,0.400991455309,0.00458319288174,0.0498601490445,0.999999964106,0.000105385701826,-0.000244088693569,-3.3207946732e-05,1793243630688636160
+94,1.566666667,BASELINE,765,746,713.429882606,678.429882606,663.429882606,634,879,787.429882606,805,652.429882606,631,652,0.400992196978,0.00458280291043,0.0498605770496,0.999999964128,0.000106887201736,-0.000243394458074,-3.28407741534e-05,1793243630705303040
+95,1.583333333,BASELINE,765,745.842698025,713,678.157301975,663,634.157301975,879,787,805,652.157301975,631,652,0.400993033403,0.00458223640005,0.0498610462001,0.999999964274,0.000107412061553,-0.000242601840429,-3.25324643794e-05,1793243630721969664
+96,1.600000000,BASELINE,765,745.264475379,713,678.735524621,663,634.735524621,879,787,805,652.735524621,631,652,0.400993854334,0.00458128634468,0.0498615039424,0.99999996471,0.000105193169753,-0.000241793328973,-3.24239480334e-05,1793243630738636544
+97,1.616666667,BASELINE,765,745.311706949,713,679,663.623413898,635,879,787.311706949,805,653,631,652,0.400994388687,0.00458091328298,0.049861632064,0.99999996511,0.000103115818838,-0.00024101557297,-3.25220351044e-05,1793243630755302912
+98,1.633333333,BASELINE,765,745.886169342,713,679,664.772338683,635,879,787.886169342,805,653,631,652,0.400994681467,0.00458102660198,0.0498614823296,0.999999965482,0.000101157780887,-0.000240263742529,-3.27942799051e-05,1793243630771969280
+99,1.650000000,BASELINE,765,745.525793171,713.474206829,679,664.525793171,634.525793171,879,787.525793171,805,652.525793171,631,652,0.400995363832,0.00458226075262,0.049862456459,0.9999999656,0.00010323002673,-0.000238841772044,-3.31420033771e-05,1793243630788636160
+100,1.666666667,BASELINE,764.935741364,745.064258636,714,679,664,634,879.064258636,787.064258636,805.064258636,652,631,652,0.400995840532,0.00458347519423,0.0498634088719,0.999999965583,0.000105919006834,-0.00023769131803,-3.34304289343e-05,1793243630805302784
+101,1.683333333,BASELINE,764.356432688,745.643567312,714,679,664,634,879.643567312,787.643567312,805.643567312,652,631,652,0.400993897105,0.00458231160791,0.04986196116,0.999999965069,0.000105568408145,-0.00024004450111,-3.30940637777e-05,1793243630821969408
+102,1.700000000,BASELINE,764.221440557,745.778559443,713.778559443,679,664.221440557,634,879.778559443,787.778559443,805.778559443,652.221440557,631,652,0.400993421145,0.00458154182625,0.0498612745856,0.999999964988,0.000104531230586,-0.000240848808721,-3.30087975784e-05,1793243630838636032
+103,1.716666667,BASELINE,764.797018147,745.202981853,713.202981853,679,664.797018147,634,879.202981853,787.202981853,805.202981853,652.797018147,631,652,0.40099529202,0.00458140183362,0.0498618052542,0.9999999656,0.000102396047319,-0.000239176089453,-3.3325099402e-05,1793243630855302912
+104,1.733333333,BASELINE,765,745.371714388,713,679,664.628285612,634,879,787,805,652.628285612,631,652,0.400995166247,0.00458202777747,0.0498614528516,0.999999965411,0.000102871163547,-0.000239742172673,-3.3455901591e-05,1793243630871969536
+105,1.750000000,BASELINE,765,745.945930545,713,679,664.054069455,634,879,787,805,652.054069455,631,652,0.400993952743,0.00458307098654,0.0498606193715,0.999999964783,0.000104768312941,-0.000241527905762,-3.34856477158e-05,1793243630888636160
+106,1.766666667,BASELINE,765,745.462823507,713,679,664,634.537176493,879,787,805,652.537176493,631,652,0.400993437788,0.00458241364679,0.0498603558703,0.999999964887,0.000103454694897,-0.000241690184907,-3.33017670884e-05,1793243630905302784
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,679,664,634,879,788,805,653,631,652,0.400994387202,0.00458370818737,0.0498618196604,0.999999964401,0.000108128441087,-0.000241722902642,-3.28157516004e-05,1793243630947194112
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.575031103,745,713.575031103,679,664,634,879,788,805,653,631,652,0.400993652566,0.00458298950666,0.0498619657351,0.999999964777,0.00010617107013,-0.000240988431157,-3.31421291965e-05,1793243630963860736
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.1539644,714,679,664,634,879,787.8460356,805,653,631,652,0.400993613509,0.00458273093995,0.0498622597923,0.999999965084,0.000105228071478,-0.000240092070957,-3.33960589241e-05,1793243630980527360
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.743948656,714,679,664,634,879,787.256051344,805,653,631,652,0.400995544297,0.00458377539399,0.0498629729288,0.999999965202,0.000107157726468,-0.000238737249447,-3.34448198106e-05,1793243630997194240
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.672064411,745.672064411,714,679,664,634.327935589,879,787.327935589,805,653,631,652,0.400995734859,0.00458382206582,0.049862802506,0.999999965188,0.000106473660862,-0.000239118285514,-3.33250090259e-05,1793243631013860864
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.092676106,745.092676106,714,679,664,634.907323894,879,787.907323894,805,653,631,652,0.40099459106,0.00458310366343,0.0498619545923,0.999999965068,0.000103785460302,-0.000240830333343,-3.30759417445e-05,1793243631030527744
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.482224187,745,713.517775813,679.482224187,664,634.517775813,879,787.517775813,805.482224187,653,631,652,0.400993906395,0.00458254565585,0.0498615419751,0.999999965143,0.000103073134049,-0.000240815781821,-3.31344900799e-05,1793243631047194368
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,713.056339301,679.943660699,664,634,879,787,805.943660699,652.943660699,631,652,0.400993342713,0.00458213944657,0.0498612005661,0.999999965196,0.000102955628657,-0.000240629492893,-3.32603743157e-05,1793243631063861248
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,713.631092987,679.368907013,664,634,879,787,805.368907013,652.368907013,631,652,0.400993087825,0.00458284900256,0.0498607517022,0.999999964688,0.000104849507786,-0.000241888127235,-3.346688366e-05,1793243631080527616
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,713.787263073,679,663.787263073,634,879,787,805,652,631,652,0.400995744424,0.00458300180326,0.0498618507449,0.999999964997,0.000105097875403,-0.000240498479305,-3.34720863423e-05,1793243631097193984
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,713.193270864,679,663.193270864,634,879,787,805,652,631,652,0.401003618829,0.00458215681807,0.0498657238596,0.999999966746,0.000102397248659,-0.000234362727127,-3.31165184053e-05,1793243631113860608
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745.388815976,713,679,663.388815976,634.388815976,879.388815976,787.388815976,805,652.388815976,631,652,0.401023275903,0.00458184747959,0.0498732840965,0.999999970184,0.000102124449998,-0.000219375310474,-3.28217378649e-05,1793243631130527232
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745.965160819,713,679,663.965160819,634.965160819,879.965160819,787.965160819,805,652.965160819,631,652,0.401048615847,0.00458179648746,0.0498826226604,0.999999974139,0.000103022610802,-0.00020011866888,-3.25562755014e-05,1793243631147193856
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.457709251,745.457709251,713.542290749,679,663.457709251,634.457709251,879.457709251,787.457709251,805,653,631.542290749,652.542290749,0.401099463374,0.00458181393635,0.0498989330605,0.999999980716,0.000102082184331,-0.000164548329414,-3.27235102298e-05,1793243631163860736
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.121147028,745,713.878852972,679,663.121147028,634,879,787,805,653,631.878852972,652.878852972,0.401155433474,0.00458166777773,0.0499152349042,0.999999985788,0.000101248402297,-0.000130789123276,-3.26653806466e-05,1793243631180527872
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.706423828,745,713.293576172,679,663.706423828,634,879,787,805,653,631.293576172,652.293576172,0.401224741573,0.00458087794811,0.0499297855148,0.99999998854,0.000101276374202,-0.000107989682833,-3.16371981126e-05,1793243631197194496
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.288702484,713.288702484,679,664,634,879,787.288702484,805,653,631,652,0.401296844979,0.00457976770615,0.0499387118212,0.999999989961,0.000100511788415,-9.50337818719e-05,-3.07114165564e-05,1793243631213860864
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.867963684,713.867963684,679,664,634,879,787.867963684,805,653,631,652,0.40137176166,0.0045783349918,0.0499419776605,0.999999990427,9.89495491731e-05,-9.1984711464e-05,-2.98886944452e-05,1793243631230527488
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.555006985,745.555006985,714,679,664,634,879,788,804.555006985,653,631,652.444993015,0.401460976171,0.00457730830062,0.0499431131281,0.999999990463,9.88079298669e-05,-9.20911524174e-05,-2.88139395962e-05,1793243631247194112
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.021321763,745,714,679,664,634.021321763,878.978678237,787.978678237,804.021321763,653,631,653,0.40155517892,0.00457638201315,0.049943511943,0.99999999038,9.88847709543e-05,-9.3252270027e-05,-2.76897889879e-05,1793243631263860736
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.59656851,745,714,679,664,634.59656851,878.40343149,787.40343149,804.59656851,653,631,653,0.401669308415,0.00457494994867,0.049941112969,0.999999990472,9.37409126021e-05,-9.7610406707e-05,-2.72154602348e-05,1793243631280527104
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664,635,878.529474794,787.176491598,805,653,631,652.823508402,0.401795602749,0.00457345237296,0.0499406393101,0.999999990753,8.95996320456e-05,-9.88160953035e-05,-2.64793580703e-05,1793243631297193984
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,664,635,880.302184705,787.767394902,805,653,631,652.232605098,0.401950460761,0.00457180097362,0.0499446863944,0.99999999154,8.78124584737e-05,-9.26196666875e-05,-2.51285980127e-05,1793243631313860864
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.648569937,745.351430063,713.648569937,679,664.351430063,634.648569937,880.297139874,787.648569937,805.351430063,652.648569937,631,652,0.402116140452,0.00457053700572,0.0499451390711,0.999999991695,8.54952951845e-05,-9.34420662749e-05,-2.38401680947e-05,1793243631330527488
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.068993476,745.931006524,713.068993476,679,664.931006524,634.068993476,879.137986952,787.068993476,805.931006524,652.068993476,631,652,0.402288845531,0.00456952455595,0.0499432582792,0.999999991431,8.28340654084e-05,-9.88210485866e-05,-2.25922024148e-05,1793243631347194112
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.506994678,746,713.506994678,679,664.493005322,634,879.506994678,787,805.493005322,652.506994678,631,652,0.402492374839,0.00456650501094,0.0499434470138,0.999999991884,7.76959904369e-05,-9.87947403893e-05,-2.08496658681e-05,1793243631363860736
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.91759236,746,714,679,663.91759236,634,879.91759236,787.08240764,804.91759236,653,631,652,0.40270539879,0.0045636554178,0.0499442307028,0.999999992358,7.3159670209e-05,-9.78186052801e-05,-1.90458651839e-05,1793243631380527360
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.342718879,746,714,679,663.342718879,634,879.342718879,787.657281121,804.342718879,653,631,652,0.402950271553,0.00456344220959,0.0499468986508,0.999999992533,7.4219506215e-05,-9.55311801868e-05,-1.72753240479e-05,1793243631397193984
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745.761410534,714,679,663.238589466,634.238589466,879,788,804.238589466,653,631.238589466,652,0.403218643173,0.00456137242934,0.0499524137665,0.999999993665,7.12718886949e-05,-8.57524311037e-05,-1.53897205394e-05,1793243631413860608
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745.170602741,714,679,663.829397259,634.829397259,879,788,804.829397259,653,631.829397259,652,0.40352170503,0.00455656187975,0.0499621320209,0.999999995857,6.2408257249e-05,-6.49145953294e-05,-1.33342560006e-05,1793243631430527232
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.409898858,745.409898858,714,679.409898858,664,635,879.409898858,787.590101142,805,653,631.590101142,652,0.403846661962,0.00455337360489,0.0499709016437,0.999999997236,5.70027886075e-05,-4.64480930942e-05,-1.1017047883e-05,1793243631447194112
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.986216139,745.986216139,714,679.986216139,664,635,879.986216139,787.013783861,805,653,631.013783861,652,0.40418050826,0.00455084397166,0.0499792861231,0.99999999814,5.3001329949e-05,-2.89443498133e-05,-8.59357224818e-06,1793243631463860992
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.435625911,714,679.435625911,664,634.435625911,879.435625911,787,805,653,631,652,0.404554560888,0.00454533176266,0.0499874108346,0.999999998757,4.72343226366e-05,-1.49619123294e-05,-5.55672388529e-06,1793243631480527616
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.858553008,745,714,679,664,634,879.141446992,787,805,653,631,652,0.404935331206,0.0045405659055,0.0499930155171,0.99999999907,4.27709505096e-05,-4.91507091287e-06,-2.60015962186e-06,1793243631497194240
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.284933237,745,714,679,664,634,879.715066763,787,805,653,631,652,0.405333616377,0.00453830372415,0.0499909400267,0.999999999078,4.24228463138e-05,-6.62930394986e-06,6.51855694942e-08,1793243631513860608
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.297587225,745.297587225,713.702412775,679,663.702412775,634,880,787.297587225,805,652.702412775,630.702412775,652,0.405738706229,0.00453491633207,0.0499787185146,0.999999998792,3.90565486581e-05,-2.97134883423e-05,2.74199808786e-06,1793243631530527232
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.888892728,745.888892728,713.111107272,679,663.111107272,634,880,787.888892728,805,652.111107272,630.111107272,652,0.406150512341,0.00453041835792,0.0499564828896,0.99999999672,3.27112971342e-05,-7.38897923906e-05,5.43012916033e-06,1793243631547193856
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,746,713.470315754,679,663.470315754,634.470315754,879.529684246,787.529684246,805,652,630,652,0.406607793789,0.00452664050101,0.0499408296763,0.999999994712,2.82768927892e-05,-9.85555937088e-05,7.91744939786e-06,1793243631563860480
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,746,714,679,664,635,879.048872926,787,805,652.048872926,630.048872926,652,0.407080447826,0.00452290629849,0.0499281382095,0.999999992856,2.41913396024e-05,-0.000116584016712,1.04859600032e-05,1793243631580527104
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,746,714,679,664,635,879.621225947,787,805,652.621225947,630.621225947,652,0.407605057201,0.00451785501151,0.0499308569455,0.999999993456,1.91066927119e-05,-0.00011187206379,1.44217753541e-05,1793243631597194240
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.800297902,714,679,664,634.800297902,879.800297902,787,804.800297902,652.800297902,631,652,0.408151143627,0.00451202036357,0.0499409669839,0.999999995462,1.23997069404e-05,-9.26917749958e-05,1.81519087294e-05,1793243631613861120
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.20984072,714,679,664,634.20984072,879.20984072,787,804.20984072,652.20984072,631,652,0.408739253952,0.00450465292143,0.0499655395092,0.999999998745,2.51830729735e-06,-4.52014392028e-05,2.14795859927e-05,1793243631630528000
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,713.627737309,678.627737309,664,634,879,787,804.372262691,652.372262691,631,652,0.409358401749,0.00449736736581,0.0499844871315,0.99999999854,4.53765325594e-05,-1.44752402784e-05,2.55349018457e-05,1793243631647194368
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,713.050239502,678.050239502,664,634,879,787,804.949760498,652.949760498,631,652,0.409994661043,0.00449012695595,0.0500003336429,0.999999992645,0.000117311061738,7.0085869538e-06,2.99913777335e-05,1793243631663860992
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.528619634,713,678.528619634,664.528619634,634,879,787,805,652.471380366,631,652,0.41060448538,0.00448265865932,0.0499896800081,0.999999990845,0.000129416821354,-1.95952065404e-05,3.43173280084e-05,1793243631680527616
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.891030655,745.891030655,713.108969345,679,664.891030655,634,879,787,805.108969345,652,631,652,0.411212673342,0.00447548640815,0.049973004797,0.999999988969,0.000132126536684,-5.59418165398e-05,3.84178162044e-05,1793243631697194240
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.304719842,745.304719842,713.695280158,679,664.304719842,634,879,787,805.695280158,652,631,652,0.411824726773,0.00446970610837,0.0499410130207,0.999999985496,0.000118648969253,-0.000114895429093,4.15851446164e-05,1793243631713860608
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.278018374,745.278018374,714,679,664,634,879.278018374,787,805.721981626,652,631.278018374,652,0.41251188586,0.00446349186964,0.0499375606092,0.999999986926,0.000105272164091,-0.000114376622976,4.45349281226e-05,1793243631730527232
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.856890626,745.856890626,714,679,664,634,879.856890626,787,805.143109374,652,631.856890626,652,0.413280319609,0.00445680804893,0.049964991687,0.999999993426,9.20043957902e-05,-4.95005392625e-05,4.72492986899e-05,1793243631747194112
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.435014827,745.564985173,714,679,664,634,880,787.435014827,805,652,631.564985173,652,0.414046598836,0.00444533212412,0.0499765112351,0.999999998848,3.6651374942e-06,-3.61445081209e-05,3.13615706073e-05,1793243631763860992
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.987145507,745,713.987145507,679,664,634,880,787.987145507,805,652,631,652,0.4148113479,0.00443298277821,0.0499819443807,0.999999993513,-0.000105915108931,-4.07079327785e-05,9.94477187947e-06,1793243631780527872
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.411007447,745,713.411007447,679,664,634,880,787.411007447,805,652,631,652,0.415540053042,0.00445132312051,0.0499496538409,0.999999993762,-6.59238869366e-05,-8.90781148812e-05,1.39463794435e-05,1793243631797194496
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,713.168802825,679,663.831197175,634,879.831197175,787,805,652.168802825,631,652,0.41628553296,0.00447120405896,0.0499282841146,0.999999992458,-2.6096098e-05,-0.000118841063666,1.67540878859e-05,1793243631813861120
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,713.757753137,679,663.242246863,634,879.242246863,787,805,652.757753137,631,652,0.417072764979,0.00449491951504,0.0499340961178,0.999999994542,1.33249058138e-05,-0.000102290908939,1.65902006826e-05,1793243631830527488
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679,663.341172306,634,879.341172306,787.341172306,805.341172306,652.658827694,631,652.341172306,0.417903813696,0.00449789516248,0.0499547761223,0.999999997306,3.10850686117e-05,-6.3876161806e-05,1.84564104106e-05,1793243631847194112
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679,663.920726758,634,879.920726758,787.920726758,805.920726758,652.079273242,631,652.920726758,0.418765477755,0.00448637959719,0.0499858446197,0.999999999144,3.37104789961e-05,-1.01843004618e-05,2.17410789383e-05,1793243631863860736
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,880,788,805.504434222,652,631,652.504434222,0.419587152006,0.00448036967893,0.0499733206759,0.9999999987,1.91946270775e-05,-4.15510366598e-05,2.24841101548e-05,1793243631880527360
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,880,788,805.071408023,652,631,652,0.420409768496,0.00447550583679,0.0499573824716,0.999999996831,3.03027671211e-06,-7.6235548905e-05,2.27253823805e-05,1793243631897193984
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,880,788,805.659925866,652,631,652,0.421285095751,0.00447262378123,0.0499667413059,0.999999999041,-5.40247035068e-06,-3.73423842114e-05,2.22496050171e-05,1793243631913860608
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679.243897796,664.243897796,634,880,788,805.756102204,652,631,652,0.422165088597,0.00447145653032,0.0499785613445,0.999999999731,-3.474899609e-06,-4.89733157727e-06,2.23897455203e-05,1793243631930527488
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.821647281,664.821647281,634,880,788,805.178352719,652,631,652,0.423051467913,0.00447263653443,0.0499937503251,0.999999999472,1.26340593128e-05,1.87214347526e-05,2.33729654366e-05,1793243631947194624
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.399007685,745,714,679.600992315,664.600992315,634,880.399007685,787.600992315,805.399007685,652,631,652,0.423924549697,0.00448008015596,0.0499869494253,0.999999999538,1.87536345062e-05,4.47498532827e-06,2.34849551916e-05,1793243631963860992
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.976194306,745,714,679.023805694,664.023805694,634,880.976194306,787.023805694,805.976194306,652,631,652,0.424791693345,0.00449032082804,0.0499703288301,0.999999999166,2.04123979558e-05,-2.66803726773e-05,2.32078925571e-05,1793243631980527360
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.447499458,745,714,679,664,634.552500542,880.447499458,787,806,652,631,652,0.425724084819,0.00448529982006,0.049986130575,0.99999999968,5.98620965812e-06,-9.3824441476e-07,2.45797223231e-05,1793243631997193984
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.127829566,745.127829566,714,679.127829566,664.127829566,635,880.127829566,787.127829566,806,652,631,652,0.426638958293,0.00447894048847,0.0499976261014,0.999999999567,-5.10523232045e-06,1.21175479766e-05,2.6324663649e-05,1793243632013860864
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.699894159,745.699894159,714,679.699894159,664.699894159,635,880.699894159,787.699894159,806,652,631,652,0.427483198444,0.0044702118021,0.0499893094927,0.999999999198,-2.20303487143e-06,-2.74205005163e-05,2.91197395814e-05,1793243632030527488
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.717434584,746,713.717434584,679.717434584,664.717434584,634.717434584,880.717434584,788,806,652,631,652,0.428327077225,0.00446529439994,0.0499690113868,0.999999997249,3.21465194456e-06,-6.778345208e-05,2.99351141275e-05,1793243632047194368
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.123058937,746,713.123058937,679.123058937,664.123058937,634.123058937,880.123058937,788,806,652,631,652,0.429170557179,0.00446458274098,0.049935491729,0.99999999358,1.14081747973e-05,-0.000109056679474,2.85658929542e-05,1793243632063860992
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,746,713,679,664,634.457684526,880,787.542315474,806.457684526,652,631,652,0.430085319791,0.00446769094702,0.0499434490208,0.999999996061,7.33149192471e-06,-8.38476766706e-05,2.81741351947e-05,1793243632080527616
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,746,713.034736232,679.034736232,664.034736232,634.965263768,880.034736232,787,806.965263768,652,631,652,0.43101438053,0.00447195053634,0.0499600382096,0.999999998534,7.79425759042e-07,-4.62946696497e-05,2.80842351723e-05,1793243632097194240
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,746,713.609727282,679.609727282,664.609727282,634.390272718,880.609727282,787,806.390272718,652,631,652,0.431876352149,0.00447860578359,0.0499424484114,0.999999995811,5.55496147738e-06,-8.67285735527e-05,2.87198223316e-05,1793243632113860864
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.810196129,713.810196129,679.810196129,664.810196129,634,881,787.189803871,806,652,631,652,0.432738696241,0.00448085194565,0.0499324229169,0.999999993793,7.07526683452e-06,-0.000107301115828,2.91578753998e-05,1793243632130527488
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.219374707,713.219374707,679.219374707,664.219374707,634,881,787.780625293,806,652,631,652,0.433601827458,0.00447378259535,0.0499383792774,0.999999995883,1.71792356627e-06,-8.59105882029e-05,2.91785787053e-05,1793243632147194112
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.353380299,713.353380299,679.353380299,664,634,881,787.646619701,806,652,631,652,0.434453402801,0.00446752990331,0.0499567903713,0.99999999794,4.03734057449e-06,-5.64819407154e-05,3.02314206922e-05,1793243632163860992
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.915465331,713.915465331,679.915465331,664,634,881,787.084534669,806,652,631,652,0.435298153249,0.0044617595262,0.0499825571714,0.999999999183,1.08906161932e-05,-2.23060189119e-05,3.18938388749e-05,1793243632180527616
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.497454673,714,679.497454673,664,634,880.497454673,787.502545327,806,652,631.502545327,652,0.436108848059,0.00446319794964,0.0499684806837,0.999999997284,4.81059785358e-06,-6.55079314369e-05,3.34282701645e-05,1793243632197194240
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713.908765786,679.182468429,664,634,880,787.908765786,806,652,631.908765786,652,0.436921565894,0.0044662966559,0.0499518843379,0.999999993578,-3.38626818845e-06,-0.00010793147617,3.43964357764e-05,1793243632213861120
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.334969616,680.330060767,664,634,880,787.334969616,806,652,631.334969616,652,0.437776870031,0.00447142750052,0.0499592647216,0.999999996693,-1.06703714633e-05,-7.37898290652e-05,3.24893055094e-05,1793243632230527488
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.247785346,713.247785346,680.504429307,664.247785346,634,880,787,806,652,631,652,0.438604410673,0.00447456803355,0.0499681052983,0.99999999829,-1.51263034048e-05,-4.69299946254e-05,3.14326745742e-05,1793243632247194368
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.843105544,713.843105544,679.313788912,664.843105544,634,880,787,806,652,631,652,0.439393011158,0.00447491702642,0.0499789938888,0.999999998921,-1.561554294e-05,-3.02833727502e-05,3.15689237348e-05,1793243632263860736
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,746,714,679,664.575774401,634,880,787,806,652,631,652,0.440130504236,0.0044707997075,0.0499652442314,0.999999998115,1.36248200422e-05,-5.05130330479e-05,3.21458858599e-05,1793243632280527360
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.999736845,714,679.000263155,664,634,880,787,806,652,631,652,0.4408497139,0.00446508313417,0.0499426905606,0.999999994508,5.34749398566e-05,-8.39192163402e-05,3.28810109692e-05,1793243632297193728
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.425664637,714,679.574335363,664,634,880,787,806,652,631,652,0.441581477205,0.00445730486526,0.0499484816434,0.999999996244,2.9561489885e-05,-7.37651345795e-05,3.45974476321e-05,1793243632313860608
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713.846791538,680,664.153208462,634,880,787,805.846791538,652,631,652,0.442311031692,0.00445108389752,0.0499587518853,0.999999997755,9.61830319143e-06,-5.54748258422e-05,3.63436110446e-05,1793243632330527488
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713.254148319,680,664.745851681,634,880,787,805.254148319,652,631,652,0.443034250988,0.00444932960203,0.0499818693187,0.999999999175,1.06267827633e-06,-1.38480693898e-05,3.81750375724e-05,1793243632347194112
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713.330490288,680,664.669509712,634,880.330490288,787,805.660980576,651.669509712,631,652,0.443696930716,0.00445347967129,0.0499808627452,0.999999999035,2.42703797716e-06,-1.8440167795e-05,3.98109865667e-05,1793243632363860992
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713.909118847,680,664.090881153,634,880.909118847,787,806.818237695,651.090881153,631,652,0.444314156163,0.00446206284783,0.0499617434159,0.999999997417,1.12395076245e-05,-5.77342467932e-05,4.13001672608e-05,1793243632380527616
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,664,634,880.513913123,787,806.513913123,651.486086877,631,652,0.444911084009,0.00447260319055,0.0499382887608,0.999999994893,2.52111842272e-05,-8.8736333399e-05,4.12934990806e-05,1793243632397193984
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.062562106,714,680,664.062562106,634,880,787,806.062562106,652,631.062562106,652,0.445507434934,0.0044819346118,0.0499193350068,0.999999992435,3.87407187481e-05,-0.00010922362174,4.1216629334e-05,1793243632413860608
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.637535249,714,680,664.637535249,634,880,787,806.637535249,652,631.637535249,652,0.446130037025,0.00447837758531,0.0499438617893,0.999999996669,4.0775396808e-05,-5.62446064202e-05,4.28476088591e-05,1793243632430527232
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.218829836,745.781170164,714,680.218829836,664.781170164,634,880,787,806.781170164,652,631.781170164,652,0.446724818364,0.00447460869661,0.0499615362772,0.999999998005,4.0221940861e-05,-1.97381901059e-05,4.45315955127e-05,1793243632447193856
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.810906528,745.189093472,714,680.810906528,664.189093472,634,880,787,806.189093472,652,631.189093472,652,0.447272147206,0.00447047844575,0.0499675231542,0.999999998242,3.52540370898e-05,-1.13282488402e-05,4.63059937125e-05,1793243632463860480
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.607284652,745.392715348,714,680.607284652,664,634,880,787,806,652,631,651.607284652,0.447748132165,0.00447070524953,0.0499415876226,0.999999997119,3.39740241134e-05,-4.96478544545e-05,4.6284065283e-05,1793243632480527104
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.030293818,745.969706182,714,680.030293818,664,634,880,787,806,652,631,651.030293818,0.448190640182,0.00447297653214,0.0499006730044,0.999999992338,3.44244952147e-05,-0.000109894562402,4.5419238917e-05,1793243632497193728
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.455976386,714,680,663.455976386,633.455976386,880,787,806.544023614,652,631,651.544023614,0.448600873903,0.00447337865625,0.0498706419225,0.999999986049,3.43105287661e-05,-0.000156939010471,4.5776512976e-05,1793243632513860608
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.12105384,714,680,663,633,880.12105384,787,807,652,631,652,0.449009314094,0.00447402188928,0.0498469991774,0.999999979488,3.35144208637e-05,-0.000194397868313,4.59473245504e-05,1793243632530527488
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.709121429,714,680,663,633,880.709121429,787,807,652,631,652,0.449417734608,0.00447599487749,0.0498456753597,0.999999978983,3.02073419066e-05,-0.000197698804001,4.51375273091e-05,1793243632547193856
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.705776285,714,680,663,632.705776285,880.705776285,787,807.294223715,652,631,652,0.449809641037,0.00447786017018,0.0498459691655,0.999999979349,-6.31912259591e-08,-0.00020016645692,3.51572973987e-05,1793243632563860480
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.123576373,714,680,663,632.123576373,880.123576373,787,807.876423627,652,631,652,0.450185384017,0.00447962005401,0.0498478462466,0.999999977895,-5.67246390129e-05,-0.000201818520183,1.62013588355e-05,1793243632580527104
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662.547882892,632,880,787,807.547882892,652,631.452117108,652,0.450520589633,0.00447827874364,0.0498466055912,0.999999977928,-1.7554706456e-05,-0.000208894356025,1.41213421645e-05,1793243632597193728
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713.974064162,680,662,632,880.025935838,787,806.974064162,652,631.974064162,652,0.450842115483,0.00447667304607,0.0498440383309,0.99999997501,4.48931623677e-05,-0.000218380425791,1.65454608034e-05,1793243632613860352
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713.402801788,680,662,632,880.597198212,787,806.402801788,652,631.402801788,652,0.451105673819,0.00448707804898,0.0498312413164,0.99999996768,5.38533943506e-05,-0.000247815867696,1.80635418575e-05,1793243632630527232
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.175411953,713.175411953,680,662,632,880.824588047,787,806,652,631.175411953,652,0.45135870647,0.00449981493889,0.0498151429229,0.999999958284,6.54853719973e-05,-0.000280664123333,1.92647490564e-05,1793243632647194112
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.770246847,713.770246847,680,662,632,880.229753153,787,806,652,631.770246847,652,0.451586571392,0.00451812754142,0.0497911506896,0.999999944583,8.35056896943e-05,-0.000321672664705,1.9708287245e-05,1793243632663860480
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.644207633,714,680,662,631.644207633,880.355792367,787,806,652,631.644207633,652,0.451799009239,0.00453188143817,0.0497746353183,0.999999933198,9.38882033894e-05,-0.000352729315794,1.9241187537e-05,1793243632680527104
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.064508042,714,680,662,631.064508042,880.935491958,787,806,652,631.064508042,652,0.452001738543,0.00454276645236,0.0497628252828,0.999999923626,9.946409669e-05,-0.000377523048231,1.82010053134e-05,1793243632697193728
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,881,787,806,652,631,652,0.452191858046,0.00453839982786,0.049758539974,0.999999922582,9.55058740654e-05,-0.000381214288927,1.97772599719e-05,1793243632713860352
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.088950463,745.088950463,713.911049537,680,662,631,880.911049537,787,806.088950463,652,631,652,0.45237635223,0.00453367730176,0.0497560361034,0.999999922851,9.16950096159e-05,-0.000381357555856,2.13672500563e-05,1793243632730527232
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.676179459,745.676179459,713.323820541,680,662,631,880.323820541,787,806.676179459,652,631,652,0.452538179419,0.0045376586817,0.0497582335244,0.999999924376,9.53968873707e-05,-0.000376427351284,2.11990004694e-05,1793243632747193856
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.740207564,746,713.259792436,680,661.740207564,631,880,787,807,652,631,652,0.45268743111,0.0045406045386,0.0497582955888,0.999999924811,9.79175048635e-05,-0.000374624874345,2.11293483072e-05,1793243632763860480
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.161039966,746,713.838960034,680,661.161039966,631,880,787,807,652,631,652,0.452821223136,0.0045422773777,0.0497557325578,0.999999923937,9.8985942876e-05,-0.000376667461627,2.11809066457e-05,1793243632780527104
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714,680,661.415311631,630.584688369,880,787,806.584688369,652,631,652,0.452928551476,0.00454154806485,0.0497512432147,0.999999921519,9.87940455138e-05,-0.000383064629854,2.15269186982e-05,1793243632797193984
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,714,680,661.990578645,630.009421355,880,787,806.009421355,652,631,652,0.453025687445,0.00453989357408,0.0497460119614,0.99999991845,9.81167356918e-05,-0.000391138945032,2.19863382552e-05,1793243632813860864
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.435537434,714,680,662,630,880,787,806,652,631,652,0.453106004615,0.00454312290957,0.049743804684,0.999999917006,9.87117252956e-05,-0.000394678205985,2.17376402987e-05,1793243632830527488
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.142254381,714,680.142254381,661.857745619,630,880,787,806.142254381,652,631.142254381,651.857745619,0.453180066482,0.00454563657719,0.0497409105331,0.999999915097,9.94269243372e-05,-0.000399319854812,2.15432444767e-05,1793243632847194112
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.732423338,714,680.732423338,661.267576662,630,880,787,806.732423338,652,631.732423338,651.267576662,0.45323531408,0.00454564079139,0.0497356950982,0.999999911625,0.000100453923907,-0.00040767033152,2.15569527635e-05,1793243632863860736
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,714,680.683387783,661.316612217,630,880,787,806.683387783,652,631.683387783,651.316612217,0.453285585382,0.00454613453645,0.0497322405029,0.999999909501,0.000102371364513,-0.000412371285329,2.16212306726e-05,1793243632880527360
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714,680.104159061,661.895840939,630,880,787,806.104159061,652,631.104159061,651.895840939,0.453331729062,0.00454703432677,0.0497302464494,0.999999908532,0.000105027388588,-0.000414045114465,2.17274539568e-05,1793243632897193984
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.531594392,714,680.468405608,661.531594392,630,880.468405608,787,806,652,631,652,0.453364595778,0.00454758351176,0.0497295371836,0.99999990776,0.000104225125168,-0.000416101564055,2.18404996316e-05,1793243632913860608
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.040028744,714,680.959971256,661,630,880.959971256,787,806.040028744,652,631,652,0.453393775301,0.00454815448176,0.0497289435592,0.999999906971,0.000102873244903,-0.000418326052117,2.18871982969e-05,1793243632930527232
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.618643035,714,680.381356965,661,630,880.381356965,787,806.618643035,652,631,652,0.453412510879,0.00455005285558,0.0497261157571,0.999999905429,0.000104328244467,-0.000421682763071,2.10210739737e-05,1793243632947193856
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.797819799,714,680,661,630,880.202180201,787,806.797819799,651.797819799,631,652,0.453428678728,0.00455122343617,0.049723649111,0.999999904029,0.000105486263055,-0.000424726846205,2.05353155591e-05,1793243632963860736
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.20476529,714,680,661,630,880.79523471,787,806.20476529,651.20476529,631,652,0.453439882394,0.00455098697641,0.0497218806868,0.999999902923,0.000106070129233,-0.000427166526825,2.07849173352e-05,1793243632980527360
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,630,881,787,806.378050237,651.378050237,631,652,0.453448783538,0.00455088653662,0.0497211892812,0.999999902269,0.000107663632279,-0.000428285135409,2.10234633402e-05,1793243632997193984
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,630,881,787,806.955466195,651.955466195,631,652,0.453456470441,0.0045508578273,0.049721065844,0.999999901852,0.000109789569786,-0.000428707073335,2.12561790492e-05,1793243633013860608
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,629.471899619,880.471899619,787,807,652,631,651.471899619,0.453458839993,0.00455283893386,0.0497190028266,0.99999990061,0.000110486685321,-0.000431430547536,2.09734950315e-05,1793243633030527488
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,629.103792202,880.103792202,787,806.896207798,652,631,651.103792202,0.453460739395,0.00455438569069,0.0497171901535,0.999999899558,0.000110581932438,-0.000433849069648,2.0734200906e-05,1793243633047193856
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,629.695744151,880.695744151,787,806.304255849,652,631,651.695744151,0.453462517587,0.00455309962259,0.0497173172767,0.999999899758,0.000108408056015,-0.000433928692022,2.09015616338e-05,1793243633063860736
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.281799966,714,680,660.718200034,630,881,787,806.281799966,651.718200034,631,652,0.453463400387,0.00455359463851,0.0497169744447,0.999999899389,0.000109109713655,-0.000434601793374,2.0945975145e-05,1793243633080527360
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.861620339,714,680,660.138379661,630,881,787,806.861620339,651.138379661,631,652,0.453463336258,0.0045559732577,0.049716134607,0.999999898409,0.000112852421175,-0.000435902534432,2.08603646036e-05,1793243633097194240
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.560936516,714,680,660.439063484,629.560936516,880.560936516,786.560936516,806.560936516,651.439063484,631,652,0.453464630192,0.00455637813901,0.0497161766831,0.999999898224,0.000113498658166,-0.000436163919043,2.07633952264e-05,1793243633113860864
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.015696355,745,714,680,661,629.015696355,880,786.015696355,806,652,631,652,0.45346626055,0.00455614676013,0.0497164533134,0.999999898266,0.000113169569826,-0.00043615620151,2.06743382676e-05,1793243633130527488
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.590014453,745,714,680,661,629.590014453,880,786.590014453,806,652,631,652,0.453464713025,0.00455529089546,0.0497152386866,0.999999897437,0.000112674420812,-0.000438166674306,2.09936004531e-05,1793243633147194112
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.8309864,745.1690136,714,680.1690136,661,629.8309864,880,787,806,652,631.1690136,652,0.453464009713,0.00455437381645,0.0497144421364,0.999999897054,0.000111602364052,-0.000439308342933,2.10796103511e-05,1793243633163860736
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.24030876,745.75969124,714,680.75969124,661,629.24030876,880,787,806,652,631.75969124,652,0.453465412586,0.00455330401671,0.0497146886259,0.999999897792,0.000109091007468,-0.000438282473007,2.05836901276e-05,1793243633180527360
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.656136925,714,680.656136925,661,629,880,787,806.343863075,652,631.656136925,652.343863075,0.453466276818,0.00455400254979,0.0497147151356,0.999999898014,0.000109728698814,-0.000437627611503,2.03529781676e-05,1793243633197194240
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.076427273,714,680.076427273,661,629,880,787,806.923572727,652,631.076427273,652.923572727,0.453466771612,0.00455591393558,0.0497145907669,0.999999897879,0.00011252623885,-0.000437227214891,2.03041655531e-05,1793243633213860864
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,629.500608177,880,787,806.499391823,652,631,652.499391823,0.453464443653,0.00455554200164,0.0497125876306,0.999999896338,0.000112165672827,-0.000440816304286,2.06017662464e-05,1793243633230527488
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,630,880,787,806.07702985,652,631,652,0.453462354442,0.0045551400639,0.0497107923305,0.999999894896,0.000111654014699,-0.000444193690067,2.08395171735e-05,1793243633247194112
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,630,880,787,806.652108494,652,631,652,0.453464580448,0.00455678603198,0.0497121855167,0.99999989557,0.000113266264193,-0.000442285154631,2.03501704332e-05,1793243633263860736
+247,4.116666667,HOLD_POSE2,765,745,714,680,661,629,880,787,806,652,631,652,0.453467347512,0.00455600449675,0.0497142415022,0.999999897021,0.00011276862641,-0.000439118490951,2.03922947165e-05,1793243633302169088
+248,4.133333333,HOLD_POSE2,765,745.577934641,714,680,661,629.577934641,880,787,806,652,631,652,0.453467599883,0.00455677903751,0.0497145292247,0.9999998969,0.000112128201269,-0.000439564655551,2.02477938057e-05,1793243633318835456
+249,4.150000000,HOLD_POSE2,765,746,714,680,661,629.845065972,880.154934028,787,806.154934028,652,631,652,0.45346778562,0.00455726894344,0.0497146247469,0.999999896806,0.000111958438291,-0.000439826041689,2.0173421713e-05,1793243633335502336
+250,4.166666667,HOLD_POSE2,765,746,714,680,661,629.270598951,880.729401049,787,806.729401049,652,631,652,0.453467790925,0.00455698811052,0.0497141998257,0.999999896784,0.000113063142172,-0.000439587081666,2.0288945593e-05,1793243633352168960
+251,4.183333333,HOLD_POSE2,765,746,714,680,661,629.311765035,881,787,807.311765035,652,631,652,0.453468280562,0.00455720475483,0.0497138148139,0.999999896815,0.000113839665962,-0.000439331744618,1.99756487479e-05,1793243633368835584
+252,4.200000000,HOLD_POSE2,765,746,714,680,661,629.901161347,881,787,807.901161347,652,631,652,0.453469201504,0.00455786440983,0.049713465342,0.999999896892,0.000114323940564,-0.000439061823607,1.92804808308e-05,1793243633385502208
+253,4.216666667,HOLD_POSE2,765,745.526296441,714,680,661,629.526296441,880.526296441,787,807.052592883,652,631,652,0.453468157105,0.00455770061398,0.0497125549795,0.999999896007,0.000114500137744,-0.000441013284657,1.95640069902e-05,1793243633402168832
+254,4.233333333,HOLD_POSE2,765,745,714,680.044340139,661,629,880,787,806.044340139,652,631.044340139,652,0.453466968684,0.00455739253068,0.0497117560485,0.999999895101,0.000114500641188,-0.000443042969103,2.00241720189e-05,1793243633418835712
+255,4.250000000,HOLD_POSE2,765,745,714,680.633279504,661,629,880,787,806.633279504,652,631.633279504,652,0.453468874897,0.00455735003104,0.0497137137705,0.999999896363,0.000113105609125,-0.000440536237224,2.02319282964e-05,1793243633435502336
+256,4.266666667,HOLD_POSE2,765,745,713.78369832,680.78369832,661,629.21630168,880.21630168,787,807,652,632,652,0.453469736356,0.00455669056205,0.0497143340237,0.999999896829,0.000112504754092,-0.000439616201955,2.05729430719e-05,1793243633452168960
+257,4.283333333,HOLD_POSE2,765,745,713.210441145,680.210441145,661,629.789558855,880.789558855,787,807,652,632,652,0.453468873692,0.00455501292898,0.0497127470962,0.999999895989,0.000113214503239,-0.000441314639786,2.11338699114e-05,1793243633468835584
+258,4.300000000,HOLD_POSE2,765,745,713.373585743,680,661,629.626414257,880.626414257,787,807,652,631.626414257,651.626414257,0.453469253763,0.00455586365402,0.0497132856401,0.999999896127,0.000114113761567,-0.000440780245959,2.08850505619e-05,1793243633485502208
+259,4.316666667,HOLD_POSE2,765,745,713.963859354,680,661,629.036140646,880.036140646,787,807,652,631.036140646,651.036140646,0.453470354648,0.00455818088168,0.0497150570036,0.999999896831,0.000115122939419,-0.000438950761296,2.01665608384e-05,1793243633502168832
+260,4.333333333,HOLD_POSE2,765,745,714,680.5411002,661,629,880,786.4588998,806.4588998,652,630.4588998,651.5411002,0.453468216704,0.00455966700694,0.0497132160592,0.999999895582,0.000116787134111,-0.00044137426634,1.96165038714e-05,1793243633518835456
+261,4.350000000,HOLD_POSE2,764.882736373,745,714,680.882736373,661,629,880,786.117263627,806,652,630.117263627,651.882736373,0.453466355696,0.00456020611465,0.0497116119832,0.999999894521,0.000117296241958,-0.000443651861812,1.92776498714e-05,1793243633535502080
+262,4.366666667,HOLD_POSE2,764.307461039,745,714,680.307461039,661,629,880,786.692538961,806,652,630.692538961,651.307461039,0.453466401405,0.00455725804793,0.0497118532691,0.999999894716,0.000113126920065,-0.000444276158506,1.97208120778e-05,1793243633552169216
+263,4.383333333,HOLD_POSE2,764.267352789,745.267352789,714,680,661,629,880,786.732647211,806,652,631,651.267352789,0.453467880729,0.0045560017357,0.0497127481513,0.999999895444,0.000111992201409,-0.000442905877257,2.00797010172e-05,1793243633568836096
+264,4.400000000,HOLD_POSE2,764.841636756,745.841636756,714,680,661,629,880,786.158363244,806,652,631,651.841636756,0.4534710059,0.00455668762219,0.0497143933868,0.999999896788,0.000114341323029,-0.000439245744569,2.0341841012e-05,1793243633585502464
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,629,880,786,806,652,631,652,0.453468600181,0.0045592441775,0.0497130725901,0.999999895489,0.000115022644704,-0.000442039996194,1.98051583794e-05,1793243633618122752
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.57645496,714,680,661,629,880,786.57645496,806,652,631,652,0.453466234618,0.00455956833934,0.0497106423198,0.999999893992,0.000114995502117,-0.000445436464376,1.94624885128e-05,1793243633634789376
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.847867327,713.847867327,680.152132673,661,629,880,787,806.152132673,652,631,652,0.453465343703,0.00455937313449,0.04970963172,0.999999893427,0.000114807878746,-0.000446755837028,1.93601602967e-05,1793243633651455744
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.274342383,713.274342383,680.725657617,661,629,880,787,806.725657617,652,631,652,0.453468537418,0.00455773933597,0.0497125534653,0.999999895459,0.000114175739667,-0.000442321863821,1.992355431e-05,1793243633668122624
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.692403015,745,713.307596985,680.692403015,661,629,880,787,807,652,631,652,0.453470435158,0.00455711485285,0.0497141209716,0.999999896764,0.000113890272968,-0.000439427032367,2.01213619496e-05,1793243633684789248
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.102747883,745,713.897252117,680.102747883,661,629,880,787,807,652,631,652,0.453471144523,0.00455741588486,0.0497144466772,0.999999897414,0.000113922695541,-0.000437943552702,1.99839367013e-05,1793243633701455872
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.479031805,745.479031805,714,680,661,629,880,787,807,652,631,652,0.453468880368,0.00455757368072,0.0497129504342,0.999999895919,0.000115042473158,-0.000441050290824,2.00464018273e-05,1793243633718122752
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,660.941146334,629,880,787,807,652,631,652,0.45346593429,0.00455750363288,0.0497111082373,0.999999894089,0.000115877058835,-0.00044495865678,2.0136786809e-05,1793243633734789376
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,660.363930967,629,880,787,807,652,631,652,0.45346250867,0.00455569303925,0.0497096052785,0.999999893424,0.000112178819134,-0.000447396089006,2.01015634105e-05,1793243633751456000
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.78813392,714,680,660.21186608,629,880,787,806.78813392,652,631,652,0.453453314974,0.00455595100171,0.0497053481082,0.999999890519,0.000110675795673,-0.000454229623002,1.97081451344e-05,1793243633768122368
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.214757035,714,680,660.785242965,629,880,787,806.214757035,652,631,652,0.45343427911,0.00455973857783,0.0496963913789,0.999999883674,0.000112918508513,-0.000468564302159,1.8703532664e-05,1793243633784789248
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.369574611,661,629,880,787,806.739149222,652,631,652,0.453399381608,0.00455958003944,0.0496822745955,0.999999871643,0.000114374876786,-0.000493232197116,1.88150589893e-05,1793243633801455872
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.960466497,661,629,880,787,807.920932995,652,631,652,0.453354985467,0.00455705839721,0.0496650677473,0.99999985582,0.000115360348028,-0.000524088070036,1.95949774316e-05,1793243633818122496
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.461010386,661,629,880,787,806.922020771,652,631,652,0.453292416071,0.0045608095077,0.0496482852818,0.999999841587,0.000118449395657,-0.000549969663606,1.81315717197e-05,1793243633834789376
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.116200665,714,680,661,629.116200665,880.116200665,787,806,652,631,652,0.453226613743,0.00456389821625,0.0496332871818,0.999999828761,0.000120849809182,-0.000572354491942,1.68445141384e-05,1793243633851456256
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.691731109,714,680,661,629.691731109,880.691731109,787,806,652,631,652,0.453153182799,0.00456259062406,0.049625222215,0.999999823113,0.000119931902454,-0.000582326825365,1.68903704368e-05,1793243633868122624
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,661,629.733782438,880.733782438,786.733782438,806.266217562,652,631,652,0.453070928998,0.00456287513869,0.0496198188708,0.999999818618,0.00012099408523,-0.000589790134403,1.64995848031e-05,1793243633884789504
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,661,629.160500196,880.160500196,786.160500196,806.839499804,652,631,652,0.45297849861,0.0045649960453,0.0496174855359,0.999999815516,0.000124340172801,-0.00059435944609,1.56051610377e-05,1793243633901455872
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,661,629.428832984,880,786.428832984,807,652,631.428832984,652,0.452864520117,0.00456615766014,0.0496138126141,0.999999809752,0.000126711621585,-0.000603491106362,1.54259183702e-05,1793243633918122496
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.023609474,745.976390526,714,680,661,630,880,787,807,652,632,651.976390526,0.452740833822,0.00456700395712,0.0496094279971,0.9999998027,0.000128788142211,-0.000614632995323,1.54820326561e-05,1793243633934789120
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.599718663,745.400281337,714,680,661,630,880,787,807,652,632,651.400281337,0.452586038561,0.0045692000421,0.0496005776573,0.9999997918,0.000132831248453,-0.000631304015147,1.45383433295e-05,1793243633951456000
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.82394013,745,714,680.17605987,661,630.17605987,880,787,807,652,631.82394013,651.17605987,0.452424856977,0.00457106627307,0.0495939962394,0.999999782913,0.000136200543782,-0.000644541770773,1.37365730552e-05,1793243633968123136
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.247070799,745,714,680.752929201,661,630.752929201,880,787,807,652,631.247070799,651.752929201,0.452249136622,0.00457218157394,0.0495925801416,0.999999779159,0.000138035873006,-0.000649963519773,1.32578890283e-05,1793243633984789504
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.337534209,745.337534209,714,680.662465791,661,630.662465791,880.337534209,787,807,652,631,652,0.452058697515,0.00457343964709,0.0495973626224,0.999999781831,0.000141541680417,-0.000645085243219,1.30288338786e-05,1793243634001456128
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.927934512,745.927934512,714,680.072065488,661,630.072065488,880.927934512,787,807,652,631,652,0.451857231735,0.00457480467923,0.0496067888112,0.999999789192,0.000146298938331,-0.000632490631515,1.2986789883e-05,1793243634018122496
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.49266992,745.49266992,714,680,661.50733008,630.50733008,881,786.49266992,806.49266992,652,631,652,0.451623208557,0.00457741027094,0.0496129931381,0.999999794954,0.000151699058273,-0.000622040353425,1.20217153591e-05,1793243634034789120
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.084833653,714,680,661.915166347,631,881,786.084833653,806,652,631,651.915166347,0.451381737491,0.00458033621667,0.0496198406737,0.999999801879,0.000157442417267,-0.000609372395754,1.08694854959e-05,1793243634051455744
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.660244222,714,680,661.339755778,631,881,786.660244222,806,652,631,651.339755778,0.451123372743,0.0045841173005,0.0496329981414,0.999999816948,0.000164653803952,-0.000582155970312,9.37708765169e-06,1793243634068122368
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.758718762,713.758718762,680,661.241281238,631,880.758718762,787,806.241281238,652,631,651.241281238,0.450854415613,0.00458699613824,0.0496494037233,0.999999834022,0.000171757586701,-0.000549898251853,8.17984093704e-06,1793243634084788992
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.169569839,713.169569839,680,661.830430161,631,880.169569839,787,806.830430161,652,631,651.830430161,0.450570186912,0.00458857416073,0.0496704922791,0.999999853765,0.000178706230797,-0.000510372241094,7.40812901504e-06,1793243634101455616
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713.411867352,680,662,631,880.411867352,787,807,652,631,652,0.450240544926,0.00459150944601,0.0496902225936,0.999999869359,0.000185221054251,-0.00047637974169,6.18141540482e-06,1793243634118122496
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713.99018789,680,662,631,880.99018789,787,807,652,631,652,0.449892549498,0.0045949932591,0.0497094039844,0.999999882796,0.000191560552,-0.000444623571267,4.77081619814e-06,1793243634134789376
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,662,631.567821862,881,787,807,652,631,652,0.449498561444,0.00460031095393,0.0497221138534,0.999999890399,0.000200115563478,-0.000423254680628,3.20911076702e-06,1793243634151455744
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.144849575,714,680,662.144849575,632,881,787,807,652,631,652,0.449093079124,0.00460541107625,0.0497333770154,0.99999989687,0.000208143599386,-0.000403650354873,1.45744276168e-06,1793243634168122368
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.720110931,714,680,662.720110931,632,881,787,807,652,631,652,0.448655801103,0.00460977064294,0.0497406732659,0.99999990143,0.000214492134671,-0.000388756617455,-8.50937773072e-07,1793243634184788992
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,746,714,680.531139206,663.468860794,633,880.468860794,787.468860794,806,652,631.531139206,652,0.447198182573,0.00461819451552,0.0497523551942,0.999999910889,0.000228944287425,-0.000354602483857,-8.02268092416e-06,1793243634234789120
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.375954415,746,714,680,664,633,880.375954415,787.375954415,806,652,631,652,0.446091006658,0.00462154689522,0.0497686765386,0.999999917221,0.000239901592205,-0.000328423336732,-1.19811991072e-05,1793243634268122880
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.224803557,714,680,664,633,880,787,806,651.224803557,631,652,0.444907832718,0.00462989196557,0.049811653576,0.999999926511,0.000258139902671,-0.000283055395795,-1.48469333797e-05,1793243634301456384
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.085290549,745,713.914709451,680,664.085290549,634,880,787,806,652,631,652,0.434029950456,0.00461283907421,0.0497810187654,0.999999931703,7.41551199833e-05,-0.000357489909381,-5.74026416091e-05,1793243634534789120
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.93071736,745.06928264,714,680,664,634,880,787.93071736,805.06928264,652,631.06928264,652,0.432296960818,0.00460387850412,0.0498086628606,0.99999994517,7.67879255896e-05,-0.000317131409289,-5.64836034572e-05,1793243634568122368
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,713,679,664,634,879.019495462,787,805,652,631,651.980504538,0.427707973325,0.00461000792419,0.0497883446283,0.999999924326,0.000165212593488,-0.00035058803591,-3.37760833583e-05,1793243634651455488
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.556910097,745.556910097,713,679.556910097,664,634,879.556910097,787,805,652,631,652,0.426756845848,0.00461482386702,0.0497741128742,0.999999915206,0.000159821068986,-0.000377958735013,-3.45392881565e-05,1793243634668122624
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.868423012,745.868423012,713.131576988,679.868423012,663.868423012,634,880,787,805.131576988,652,631,652,0.425824011256,0.00461842958118,0.0497680571343,0.999999913633,0.000153935521692,-0.000384388320782,-3.58324963944e-05,1793243634684789504
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.877173856,714,679.877173856,663.877173856,634,880,787.877173856,806,652,631,652,0.423224289484,0.0046066050339,0.0498450306631,0.999999964128,0.000141504176222,-0.00022392097898,-3.97380790287e-05,1793243634734789120
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.041147986,679.958852014,663.041147986,634,879.958852014,787,805.958852014,652.041147986,631,652,0.421373732826,0.00460163280313,0.0498028984054,0.99999994118,0.000143580418558,-0.000309018569946,-3.91405292513e-05,1793243634768122368
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.614221848,679.385778152,663.614221848,634,879.385778152,787,805.385778152,652.614221848,631,652,0.420497690124,0.00460550290711,0.0498084813663,0.999999943821,0.000132502026463,-0.000305368717694,-3.93809674098e-05,1793243634784788992
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.237075764,680.525848471,664,634,879,787.762924236,805,652.237075764,631,652,0.418691589541,0.00462067858824,0.04979900467,0.999999928415,0.00014606035909,-0.000346862920089,-3.90064680854e-05,1793243634818122496
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.304206522,663.652103261,634,879.347896739,787.652103261,805.347896739,652,631,652,0.417835155702,0.0046226476258,0.0497880007904,0.999999920625,0.000154187051932,-0.000365240689912,-3.97008126484e-05,1793243634834789120
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.120267835,663.060133918,634,879.939866082,787.060133918,805.939866082,652,631,652,0.417021039662,0.0046193513943,0.0497762750336,0.999999917177,0.000156902833203,-0.000373272266817,-4.11658868965e-05,1793243634851456000
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.744135823,713.255864177,679,663.744135823,634,879.744135823,788,805.744135823,652,631,652,0.413901009013,0.00460367941917,0.0498040930557,0.999999941106,0.00012350521941,-0.000317468986738,-4.1798607353e-05,1793243634918122496
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.15785906,713.84214094,679,663.15785906,634,879.15785906,788,805.15785906,652,631,652,0.413116826882,0.00461064634868,0.0497778415949,0.999999924088,0.000142117249176,-0.000360317957379,-4.2392451346e-05,1793243634934789120
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.423482414,714,679.423482414,663.423482414,634,879,788,805,652,631,652,0.412400089604,0.00461484504224,0.0497875524122,0.999999927478,0.000151017334938,-0.000347038409263,-4.24467315804e-05,1793243634951455744
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..831a85d255df9b444264e32720e0039293733b06
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+364,6.066666667,pose2_to_pose3_retreat,0.582574451539,0.0100016762578,1.04004088691,0.553146173282,0.0186765113579,1.03967867238
+365,6.083333333,pose2_to_pose3_retreat,0.582327573697,0.0100018504777,1.04004086119,0.552899292483,0.0186766758086,1.039678653
+366,6.100000000,pose2_to_pose3_retreat,0.582104687246,0.0100018837592,1.04004073467,0.552676406868,0.0186767120458,1.03967852953
+367,6.116666667,pose2_to_pose3_retreat,0.581906877698,0.010001878073,1.04004085924,0.552478595919,0.0186767014124,1.03967864951
+368,6.133333333,pose2_to_pose3_retreat,0.581735403466,0.0100017747751,1.04004086068,0.552307124665,0.0186766082745,1.03967865239
+369,6.150000000,pose2_to_pose3_retreat,0.581586001302,0.0100018555602,1.04004082267,0.552157721096,0.0186766846866,1.0396786238
+370,6.166666667,pose2_to_pose3_retreat,0.581456876769,0.0100019794416,1.04004081353,0.552028595598,0.0186768054038,1.03967861728
+371,6.183333333,pose2_to_pose3_retreat,0.581343426989,0.0100019648678,1.04004089893,0.551915146229,0.0186767919055,1.03967869513
+372,6.200000000,pose2_to_pose3_retreat,0.581243291276,0.0100018730612,1.04004103301,0.551815011011,0.018676701449,1.03967882171
+373,6.216666667,pose2_to_pose3_retreat,0.581155582725,0.0100018906492,1.04004105516,0.551727302244,0.0186767184556,1.03967884827
+374,6.233333333,pose2_to_pose3_retreat,0.581077095872,0.0100019292159,1.04004072312,0.551648816456,0.0186767608782,1.0396785217
+375,6.250000000,pose2_to_pose3_retreat,0.581007672006,0.0100018567183,1.04004103887,0.551579392145,0.0186766867163,1.03967883356
+376,6.266666667,pose2_to_pose3_retreat,0.580949212177,0.0100018379556,1.04004097896,0.551520934116,0.0186766741991,1.03967877694
+377,6.283333333,pose2_to_pose3_retreat,0.580900980119,0.0100017817689,1.04004082178,0.551472701528,0.018676615905,1.03967861235
+378,6.300000000,pose2_to_pose3_retreat,0.580862730073,0.0100018357079,1.04004081932,0.551434450506,0.0186766664667,1.03967860821
+379,6.316666667,pose2_to_pose3_retreat,0.580832356785,0.0100018885623,1.04004080443,0.551404075994,0.0186767153369,1.03967859737
+380,6.333333333,pose2_to_pose3_retreat,0.580809259971,0.0100018856617,1.04004071813,0.551380978152,0.0186767091026,1.03967851482
+381,6.350000000,pose2_to_pose3_retreat,0.580790592549,0.0100019242329,1.04004072612,0.551362311565,0.0186767504809,1.03967852228
+382,6.366666667,pose2_to_pose3_retreat,0.580776114008,0.0100018575803,1.04004081626,0.551347834099,0.0186766874625,1.03967861224
+383,6.383333333,pose2_to_pose3_retreat,0.580764986597,0.0100018158428,1.04004078829,0.551336707167,0.0186766472401,1.03967858171
+384,6.400000000,pose2_to_pose3_retreat,0.580756936957,0.0100018337703,1.0400407963,0.551328657593,0.0186766652936,1.03967858711
+385,6.416666667,pose2_to_pose3_retreat,0.580751720997,0.0100018806776,1.04004083565,0.551323441442,0.0186767116268,1.03967862777
+386,6.433333333,pose2_to_pose3_retreat,0.580748390436,0.0100018812432,1.04004070493,0.551320110294,0.0186767107758,1.03967851106
+387,6.450000000,pose2_to_pose3_retreat,0.580746723751,0.0100018346767,1.04004083895,0.551318444211,0.0186766659872,1.03967863872
+388,6.466666667,pose2_to_pose3_retreat,0.580746038001,0.0100017971382,1.04004097234,0.55131775906,0.0186766301559,1.03967876424
+389,6.483333333,pose2_to_pose3_retreat,0.580746002821,0.0100017952124,1.04004097918,0.551317723911,0.0186766283177,1.03967877068
+390,6.500000000,pose2_to_pose3_retreat,0.580745966494,0.0100017932239,1.04004098624,0.551317687616,0.0186766264195,1.03967877733
+391,6.516666667,pose2_to_pose3_retreat,0.580745963169,0.0100017930419,1.04004098689,0.551317684294,0.0186766262458,1.03967877794
+392,6.533333333,pose2_to_pose3_retreat,0.580745787983,0.010001783452,1.04004102096,0.55131750926,0.0186766170921,1.03967881
+393,6.550000000,pose2_to_pose3_retreat,0.580745676813,0.0100017773665,1.04004104259,0.551317398188,0.0186766112833,1.03967883035
+394,6.566666667,pose2_to_pose3_retreat,0.580745290861,0.0100017562392,1.04004111766,0.551317012573,0.0186765911168,1.039678901
+395,6.583333333,pose2_to_pose3_retreat,0.580745162094,0.010001749212,1.04004114254,0.551316883918,0.018676584409,1.03967892441
+396,6.600000000,pose2_to_pose3_retreat,0.580744879852,0.0100017499249,1.040041074,0.551316601591,0.0186765849247,1.03967885812
+397,6.616666667,pose2_to_pose3_retreat,0.580744793061,0.0100017501441,1.04004105292,0.551316514773,0.0186765850833,1.03967883773
+398,6.633333333,pose2_to_pose3_retreat,0.580744623978,0.0100017505711,1.04004101186,0.55131634564,0.0186765853923,1.03967879802
+399,6.650000000,pose2_to_pose3_retreat,0.580744506434,0.010001750868,1.04004098332,0.551316228061,0.0186765856071,1.03967877041
+400,6.666666667,pose2_to_pose3_retreat,0.580744156646,0.0100017517514,1.04004089838,0.551315878167,0.0186765862463,1.03967868826
+401,6.683333333,pose2_to_pose3_retreat,0.580743840841,0.0100017802682,1.04004087293,0.551315562055,0.0186766136397,1.03967866098
+402,6.700000000,pose2_to_pose3_retreat,0.580743755671,0.0100017988147,1.04004088613,0.551315476718,0.0186766315297,1.03967867199
+403,6.716666667,pose2_to_pose3_retreat,0.580743747843,0.0100018005194,1.04004088735,0.551315468874,0.0186766331741,1.039678673
+404,6.733333333,pose2_to_pose3_retreat,0.58074374358,0.0100018014476,1.04004088801,0.551315464604,0.0186766340694,1.03967867355
+405,6.750000000,pose2_to_pose3_retreat,0.5807437108,0.0100018085857,1.04004089309,0.55131543176,0.0186766409548,1.03967867779
+406,6.766666667,pose2_to_pose3_retreat,0.580743643708,0.0100018606391,1.04004084304,0.551315363949,0.0186766906628,1.03967862996
+407,6.783333333,pose2_to_pose3_retreat,0.580743601511,0.0100019227638,1.04004076411,0.551315320839,0.0186767498774,1.03967855553
+408,6.800000000,pose2_to_pose3_retreat,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.0186767720515,1.03967852766
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5219916e92bc085b33d6f5db8e0c98322f14dca7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c49879d31bfb07263d165613b403035f4c5ca4c26cc71d789fde030ba0df6bf6
+size 25967460
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2c121fd0be99b9935952f24d707faaed8e0598a0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
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+1,0.016666667,BASELINE,765,745.575362517,713.575362517,679.424637483,664,635,879,787.575362517,805,653,631,653,0.400999997214,0.00459057524706,0.0498624458285,0.999999963299,0.000126826291289,-0.000237264847465,-3.19849927202e-05,1793243636133483264
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+20,0.333333333,BASELINE,765,745,714,679,663.406843624,635,879.186312752,788,805,653,631,652,0.401000335795,0.00458676100531,0.0498634502478,0.999999964646,0.000120671947025,-0.00023483001967,-3.16526524454e-05,1793243636450149632
+21,0.350000000,BASELINE,765,745,713.834661811,679.165338189,663.165338189,634.834661811,880,787.834661811,805,653,631,652,0.401000463658,0.00458684566163,0.0498634693979,0.999999964736,0.000120391178488,-0.000234570225508,-3.1784590684e-05,1793243636466816768
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+26,0.433333333,BASELINE,765,745.084514575,714,679.915485425,664,634.084514575,879,787,805,652.915485425,631,652.915485425,0.400998281067,0.00458987519369,0.0498628025832,0.999999963574,0.000126188093639,-0.000236456136361,-3.18994826173e-05,1793243636550149888
+27,0.450000000,BASELINE,765,745.658823411,714,679.341176589,664,634.658823411,879,787,805,652.341176589,631,652.341176589,0.400997446166,0.0045898531323,0.0498624012562,0.999999963556,0.000124909688116,-0.000237224854383,-3.17817766076e-05,1793243636566816256
+28,0.466666667,BASELINE,765,745.759995605,714,679,664,634.759995605,879,787.240004395,805,652.240004395,631,652,0.40099800229,0.00458961271987,0.0498626165144,0.999999963751,0.000124155100312,-0.000236799092137,-3.17658977467e-05,1793243636583482880
+29,0.483333333,BASELINE,765,745.168757639,714,679,664,634.168757639,879,787.831242361,805,652.831242361,631,652,0.401000594107,0.00458905276242,0.049863734112,0.999999964258,0.000124167091748,-0.000234625271971,-3.18990374694e-05,1793243636600149504
+30,0.500000000,BASELINE,765,745,714,679,664,634.412923448,879,788,805,653,631,652,0.400999876841,0.00458926047262,0.0498632211992,0.999999964042,0.000124448572417,-0.000235378733773,-3.20085582098e-05,1793243636616816384
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+32,0.533333333,BASELINE,765,745,714,679,664,634.43558163,879,787.43558163,805,652.43558163,631,652,0.400998077995,0.00459021776152,0.0498619534569,0.999999963444,0.000125267009958,-0.000237487422586,-3.19373628305e-05,1793243636650149888
+33,0.550000000,BASELINE,765,745.138025771,714,679,664,634,879,787,805,652.138025771,631,652,0.400998379459,0.00459052863957,0.0498620606173,0.999999963429,0.000125536296733,-0.000237431818496,-3.1768833682e-05,1793243636666816512
+34,0.566666667,BASELINE,765,745.711774093,714,679,664,634,879,787,805,652.711774093,631,652,0.400998757695,0.00459042628131,0.0498627786419,0.999999963636,0.000125298361241,-0.000236702535097,-3.16228727369e-05,1793243636683482880
+35,0.583333333,BASELINE,765,746,714,679,664,634.29704791,879,787,805.29704791,652.70295209,631,652,0.400998838875,0.00459112320155,0.0498631817971,0.999999963668,0.000125934667364,-0.000236199310993,-3.18517294581e-05,1793243636700149760
+36,0.600000000,BASELINE,765,746,714,679,664,634.893956423,879,787,805.893956423,652.106043577,631,652,0.400998620187,0.0045926269685,0.0498632671014,0.999999963521,0.000127453493107,-0.00023592428661,-3.24589529084e-05,1793243636716816384
+37,0.616666667,BASELINE,765,745.526339612,714,679,664.473660388,634.526339612,879,787,805.526339612,652,631,652,0.400998951944,0.00459014371327,0.0498632901171,0.99999996391,0.000125029614435,-0.00023563580066,-3.19999863849e-05,1793243636733482752
+38,0.633333333,BASELINE,765,745.049384806,713.950615194,679,664.950615194,634,879,787,805,652.049384806,631,652,0.40099934764,0.00458726756652,0.0498633066086,0.999999964336,0.00012230490271,-0.000235335955043,-3.13949020419e-05,1793243636750149888
+39,0.650000000,BASELINE,765,745.622323781,713.377676219,679,664.377676219,634,879,787,805,652.622323781,631,652,0.400999160519,0.00458935760908,0.0498633965918,0.999999964033,0.000125420839709,-0.000234946510388,-3.16826308362e-05,1793243636766816256
+40,0.666666667,BASELINE,765,746,713,679,664,634.20117193,879,787.20117193,805,653,631,652,0.40099884944,0.00459077459614,0.049863373545,0.999999963707,0.000127707495968,-0.000235087150971,-3.18054028424e-05,1793243636783482880
+41,0.683333333,BASELINE,765,746,713,679,664,634.79144954,879,787.79144954,805,653,631,652,0.400998298601,0.00459088976267,0.049863131876,0.999999963351,0.000128390161637,-0.000236253079634,-3.16091162872e-05,1793243636800149504
+42,0.700000000,BASELINE,765,745.624410219,713,679,664,634.624410219,879,787.624410219,805,653,630.624410219,652.375589781,0.400998365159,0.00459004258515,0.0498635586935,0.999999963801,0.000126289269914,-0.000235464785999,-3.17014004856e-05,1793243636816816128
+43,0.716666667,BASELINE,765,745.043623051,713,679,664,634.043623051,879,787.043623051,805,653,630.043623051,652.956376949,0.400998769023,0.00458866964657,0.0498643507276,0.999999964679,0.000122667626714,-0.000233608834652,-3.19513406428e-05,1793243636833483008
+44,0.733333333,BASELINE,765,745,713.530491814,679,663.469508186,634,879,787.530491814,805,653,630.530491814,652.469508186,0.400999021575,0.00458901651436,0.0498633944837,0.999999964305,0.000123885103479,-0.000234570642743,-3.19172662257e-05,1793243636850149888
+45,0.750000000,BASELINE,765,745.104151362,713.895848638,679.104151362,663.104151362,634,879,787.895848638,805,653,631,652,0.400999191219,0.00458955099737,0.0498625803647,0.999999963947,0.000125069845892,-0.000235470254549,-3.18852387227e-05,1793243636866816512
+46,0.766666667,BASELINE,765,745.678201187,713.321798813,679.678201187,663.678201187,634,879,787.321798813,805,653,631,652,0.400999042252,0.0045903018152,0.0498630480279,0.999999964134,0.000124333877089,-0.000235056846172,-3.19665074547e-05,1793243636883482880
+47,0.783333333,BASELINE,765,745.739144027,713,680,664,634.260855973,879,787.260855973,805,653,631,652,0.40099947057,0.0045897937965,0.0498635495006,0.999999964432,0.000123103053495,-0.000234444582585,-3.1881990246e-05,1793243636900149248
+48,0.800000000,BASELINE,765,745.145511737,713,680,664,634.854488263,879,787.854488263,805,653,631,652,0.401000635335,0.00458767986881,0.0498640941047,0.999999964872,0.000121240939085,-0.000233578637559,-3.15859784295e-05,1793243636916815872
+49,0.816666667,BASELINE,764.563942522,745.436057478,713,679.563942522,664,635,879,788,805,653,631,652,0.401000769069,0.00458687754141,0.049864372069,0.99999996502,0.000120726383739,-0.000233205252758,-3.16407118882e-05,1793243636933482752
+50,0.833333333,BASELINE,764.013593337,746,713.013593337,679,664.013593337,634.986406663,879.013593337,788,805,653,631,652,0.401000516501,0.00458653035712,0.0498645207777,0.999999965051,0.000120693374102,-0.000233068005722,-3.18002192231e-05,1793243636950149376
+51,0.850000000,BASELINE,764.586347095,746,713.586347095,679,664.586347095,634.413652905,879.586347095,788,805,653,631,652,0.400998145063,0.00458738620315,0.0498629141097,0.999999964139,0.00012246915794,-0.000236065062953,-3.15846348116e-05,1793243636966816256
+52,0.866666667,BASELINE,765,746,714,678.83575802,664.83575802,634.16424198,879.83575802,787.83575802,805,653,631,652,0.400997375713,0.00458836930732,0.0498622990063,0.999999963664,0.000124070370295,-0.000237249435646,-3.149377269e-05,1793243636983483136
+53,0.883333333,BASELINE,765,746,714,678.244496541,664.244496541,634.755503459,879.244496541,787.244496541,805,653,631,652,0.401000771698,0.00458968327514,0.0498642619128,0.999999964344,0.000125217706946,-0.000233720934862,-3.17271812083e-05,1793243637000149760
+54,0.900000000,BASELINE,765,746,714,678.679452509,664,635,879.339726254,787,805,653.339726254,631,652,0.400999720218,0.00459022094869,0.0498639291559,0.999999964188,0.000124982099992,-0.000234480747639,-3.19859868694e-05,1793243637016816640
+55,0.916666667,BASELINE,765,746,714,679.8379724,664,635,879.9189862,787,805,653.9189862,631,652,0.400995532925,0.00459021127376,0.0498619777757,0.999999963435,0.000123771409133,-0.000238264158427,-3.22626995009e-05,1793243637033483520
+56,0.933333333,BASELINE,765,746,714,679.504392898,664,634.504392898,879.504392898,787.495607102,805,653.504392898,631,652,0.400997214853,0.00458996212136,0.0498623621544,0.99999996378,0.000124449969057,-0.000236464944554,-3.22012844606e-05,1793243637050149888
+57,0.950000000,BASELINE,764.926910635,745.926910635,714,679,663.926910635,634.073089365,879,787.926910635,805,652.926910635,631,652,0.400999499672,0.00458978656965,0.0498630417068,0.999999964235,0.000125295760156,-0.000234093523581,-3.21117352211e-05,1793243637066816256
+58,0.966666667,BASELINE,764.340363047,745.340363047,714,679,663.340363047,634.659636953,879,787.340363047,805,652.340363047,631,652,0.40099931566,0.00459040161465,0.049863126827,0.999999964252,0.000125158341599,-0.000234079130197,-3.22107718113e-05,1793243637083482880
+59,0.983333333,BASELINE,764.243150048,745,713.756849952,679,663.243150048,634.756849952,879,787.243150048,805,652.243150048,631,652,0.400999036405,0.00459047863116,0.0498630517405,0.999999964285,0.00012450696043,-0.000234272926641,-3.2301889811e-05,1793243637100149504
+60,1.000000000,BASELINE,764.82246788,745,713.17753212,679,663.82246788,634.17753212,879,787.82246788,805,652.82246788,631,652,0.400998625472,0.00458981179494,0.04986275516,0.999999964339,0.000123144998777,-0.000234754556513,-3.23820599554e-05,1793243637116816128
+61,1.016666667,BASELINE,765,745,713,679,664,634,879,787.597757803,805,652.597757803,631,652,0.400999738335,0.00458893339013,0.0498638013107,0.999999964741,0.000122708959577,-0.000233274874173,-3.23008373097e-05,1793243637133482752
+62,1.033333333,BASELINE,765,745,713,679,664,634,879,787.017781821,805,652.017781821,631,652,0.401001524498,0.00458796150215,0.0498654407575,0.999999965294,0.000122682046366,-0.000230928571025,-3.21483020224e-05,1793243637150149376
+63,1.050000000,BASELINE,764.44249018,745,713.55750982,679,664,634,879,787.55750982,805,652.55750982,631,652,0.401000851855,0.00458966474874,0.0498646560702,0.999999964971,0.000123067956649,-0.00023210484762,-3.22441203001e-05,1793243637166816256
+64,1.066666667,BASELINE,764.135496074,745,714,679,663.864503926,634.135496074,879,787.864503926,805,653,631,652,0.401000248614,0.00459076116596,0.0498639797622,0.999999964681,0.000123373805591,-0.000233187146446,-3.22457138042e-05,1793243637183483136
+65,1.083333333,BASELINE,764.722964912,745,714,679,663.277035088,634.722964912,879,787.277035088,805,653,631,652,0.401000136294,0.00458955114737,0.0498639207338,0.9999999646,0.000123369039597,-0.000233584312753,-3.19068000736e-05,1793243637200149760
+66,1.100000000,BASELINE,765,745.306016271,714,679.306016271,663.306016271,634.693983729,879,787.306016271,805,652.693983729,631,652,0.400999955887,0.004588466115,0.0498636564079,0.999999964609,0.000123068240842,-0.000233740286957,-3.16470810968e-05,1793243637216816384
+67,1.116666667,BASELINE,765,745.885125382,714,679.885125382,663.885125382,634.114874618,879,787.885125382,805,652.114874618,631,652,0.400999714718,0.00458749262199,0.0498632088719,0.999999964698,0.000122503258655,-0.000233681018215,-3.14580365511e-05,1793243637233483008
+68,1.133333333,BASELINE,765,745.536813879,714,679.536813879,664,634.463186121,879,788,805,652.463186121,631,652,0.400999485073,0.00458804611063,0.0498633206468,0.999999964567,0.000123237581426,-0.000233817004789,-3.17502233951e-05,1793243637250149632
+69,1.150000000,BASELINE,765,745.040790719,714,679,664,635,879,787.959209281,805.040790719,652.959209281,631,652.040790719,0.400999279713,0.00458890231979,0.0498635983613,0.999999964421,0.000124094049492,-0.00023393797128,-3.21146740739e-05,1793243637266816000
+70,1.166666667,BASELINE,765,745.615818291,714,679,664,635,879,787.384181709,805.615818291,652.384181709,631,652.615818291,0.400999355081,0.00458877454358,0.0498642367486,0.999999964811,0.000122339401186,-0.000233229425747,-3.18659656618e-05,1793243637283482880
+71,1.183333333,BASELINE,765,746,714,679.195642264,664,634.804357736,879,787.195642264,805.804357736,652.195642264,631,652.804357736,0.400999658662,0.00458851199993,0.0498644707496,0.999999965096,0.000120787407031,-0.000232813847155,-3.18710014118e-05,1793243637300149504
+72,1.200000000,BASELINE,765,746,714,679.785121725,664,634.214878275,879,787.785121725,805.214878275,652.785121725,631,652.214878275,0.401000421646,0.00458797816296,0.0498638907022,0.999999965177,0.000119643365022,-0.000232988024844,-3.23868362042e-05,1793243637316816128
+73,1.216666667,BASELINE,765,745.631663145,714,679.631663145,664,634.368336855,879.368336855,787.631663145,805,653,631,652.368336855,0.401000544397,0.00458805505371,0.0498635829805,0.999999965045,0.000120417747544,-0.000233156504745,-3.235516772e-05,1793243637333482752
+74,1.233333333,BASELINE,765,745.052041388,714,679.052041388,664,634.947958612,879.947958612,787.052041388,805,653,631,652.947958612,0.401000299899,0.00458848226931,0.0498634314698,0.99999996479,0.000122292574291,-0.000233321716276,-3.20094410955e-05,1793243637350149376
+75,1.250000000,BASELINE,765,745.522481453,714,679,664,634.477518547,879.477518547,787,805,653,631,653,0.400999225283,0.00458797201222,0.049863243079,0.999999964669,0.000122023502472,-0.000234010811795,-3.17988234171e-05,1793243637366816256
+76,1.266666667,BASELINE,765,745.901200747,714,679,664,634.098799253,879,787.098799253,805,653,631,652.901200747,0.400998440472,0.00458776272162,0.0498632098136,0.999999964612,0.000121721664553,-0.000234426302665,-3.1687526513e-05,1793243637383482880
+77,1.283333333,BASELINE,765,745.313512123,714,679,664,634.686487877,879,787.686487877,805,653,631,652.313512123,0.400999494899,0.00458950029589,0.0498639621587,0.99999996481,0.000122304146866,-0.000233232200089,-3.20017516857e-05,1793243637400150272
+78,1.300000000,BASELINE,765,745,714,679,664,635,879,788,805,653,631,652.27041608,0.4010002986,0.00458999772522,0.0498646246272,0.999999964987,0.000122591803201,-0.000232314740625,-3.20380986574e-05,1793243637416817152
+79,1.316666667,BASELINE,765,745,714,679,664,635,879,788,805,653,631,652.850044322,0.401000815601,0.00458907708824,0.0498651843246,0.999999965142,0.000122542335392,-0.000231713613817,-3.17567007475e-05,1793243637433483520
+80,1.333333333,BASELINE,765,745.425489706,713.574510294,679,664,635,879,787.574510294,805,652.574510294,631,652.574510294,0.400999990582,0.00458828500386,0.0498647169487,0.999999965048,0.000121435993856,-0.00023268445189,-3.18759826074e-05,1793243637450150144
+81,1.350000000,BASELINE,765,745.99947532,713.00052468,679,664,635,879,787.00052468,805,652.00052468,631,652.00052468,0.400998697197,0.00458753778425,0.0498638911242,0.999999964863,0.000119960803384,-0.000234203905655,-3.21351016836e-05,1793243637466817024
+82,1.366666667,BASELINE,765,746,713.576760997,679,664,635,879,787.576760997,805,652.576760997,631,652,0.401000441546,0.00458947263946,0.0498650348082,0.999999965009,0.000122878720716,-0.000232022086504,-3.23838306368e-05,1793243637483483392
+83,1.383333333,BASELINE,765,745.842212113,714,679,664,634.842212113,879,787.842212113,805,653,631,652,0.401001171021,0.00459062860198,0.0498654791859,0.999999965019,0.000124583992144,-0.000231046391314,-3.25177072828e-05,1793243637500150016
+84,1.400000000,BASELINE,765,745.250914708,714,679,664,634.250914708,879,787.250914708,805,653,631,652,0.400999104576,0.004589637878,0.0498639973255,0.999999964683,0.000122946574203,-0.000233393728083,-3.23360626333e-05,1793243637516816384
+85,1.416666667,BASELINE,765,745.333621023,714,679,664,634.333621023,879,787,805,653,631,652,0.400999111898,0.00459001793868,0.0498638236406,0.999999964552,0.000123587257686,-0.000233633653901,-3.22124548487e-05,1793243637533483008
+86,1.433333333,BASELINE,765,745.913172317,714,679,664,634.913172317,879,787,805,653,631,652,0.401000647909,0.00459140847964,0.0498646142835,0.999999964571,0.000125907254213,-0.000232320091899,-3.21316292167e-05,1793243637550149632
+87,1.450000000,BASELINE,765,745.511396287,713.511396287,679,664,635,879.488603713,787.488603713,805,653,631,652,0.401001944131,0.00459145375727,0.0498652031546,0.999999964821,0.00012603349402,-0.000231179236127,-3.20998018018e-05,1793243637566816256
+88,1.466666667,BASELINE,765.063179711,745,713.063179711,679,664,634.936820289,880,788,805,653,631,652.063179711,0.401002882427,0.00459111570274,0.0498656225388,0.999999965061,0.000125525464589,-0.000230417084345,-3.20770692249e-05,1793243637583482880
+89,1.483333333,BASELINE,765.636710542,745,713.636710542,679,664,634.363289458,880,788,805,653,631,652.636710542,0.401001270803,0.0045895961126,0.0498649600622,0.999999964899,0.000123016686857,-0.000232468174926,-3.20580554841e-05,1793243637600149760
+90,1.500000000,BASELINE,765.782869158,745.217130842,714,679,664,634.217130842,880,788,805,653,631,652.782869158,0.401000231145,0.00458863313109,0.0498642904549,0.999999964827,0.000121393196529,-0.000233639374652,-3.19849431719e-05,1793243637616816640
+91,1.516666667,BASELINE,765.190544169,745.809455831,714,679,664,634.809455831,880,788,805,653,631,652.190544169,0.401000179825,0.00458863194907,0.0498636085263,0.999999964925,0.000121299450702,-0.000233290154968,-3.18183505104e-05,1793243637633483264
+92,1.533333333,BASELINE,765,745.607875177,713.607875177,679,664,635,879.607875177,787.607875177,805,653,631,652,0.401000190483,0.00458954629965,0.0498634808654,0.999999964828,0.000122235040497,-0.000233181307592,-3.20678769234e-05,1793243637650149888
+93,1.550000000,BASELINE,765,745.029785481,713.029785481,679,664,635,879.029785481,787.029785481,805,653,631,652,0.401000230534,0.00459089484081,0.0498636160656,0.999999964638,0.00012365879185,-0.000233186456552,-3.25147474484e-05,1793243637666816256
+94,1.566666667,BASELINE,765,745.546070844,713.546070844,679.546070844,664,635,879,787.546070844,805,653,631,652,0.401000903672,0.00459058272324,0.049864569903,0.999999965069,0.000122406691938,-0.000232004670709,-3.24358914877e-05,1793243637683482880
+95,1.583333333,BASELINE,765,745.876070554,713.876070554,679.876070554,664,634.876070554,878.876070554,787.876070554,805,652.876070554,631,652.123929446,0.401001267132,0.00459025902411,0.0498651955406,0.999999965378,0.000121548154377,-0.000231137288709,-3.23430820109e-05,1793243637700149504
+96,1.600000000,BASELINE,765,745.290297843,713.290297843,679.290297843,664,634.290297843,878.290297843,787.290297843,805,652.290297843,631,652.709702157,0.401000348369,0.00459022835334,0.0498644323608,0.999999965113,0.000122697998449,-0.00023168187034,-3.2304702193e-05,1793243637716816128
+97,1.616666667,BASELINE,765,745,713.292213511,679,664,634.292213511,878.292213511,787.292213511,805.292213511,652.292213511,631,652.707786489,0.400999529077,0.00459025902557,0.0498637213324,0.999999964798,0.00012327995943,-0.000232725165757,-3.23420288372e-05,1793243637733483008
+98,1.633333333,BASELINE,765,745,713.871520616,679,664,634.871520616,878.871520616,787.871520616,805.871520616,652.871520616,631,652.128479384,0.400998807513,0.00459034996602,0.0498630615418,0.999999964433,0.000123303987214,-0.000234258436886,-3.24537354817e-05,1793243637750149888
+99,1.650000000,BASELINE,764.550162824,745,714,679,664,634.550162824,879,787.550162824,805.550162824,653,631,652,0.400998115236,0.00458964201347,0.0498631566831,0.999999964404,0.000122323477175,-0.000234935916909,-3.21643956137e-05,1793243637766816512
+100,1.666666667,BASELINE,764.027717742,745.027717742,713.972282258,679,664,634,879,787.027717742,805,653,631,652,0.400997537651,0.00458872356552,0.049863501863,0.999999964483,0.000121154400425,-0.000235256916546,-3.17792334922e-05,1793243637783482880
+101,1.683333333,BASELINE,764.60256446,745.60256446,713.39743554,679,664,634,879,787.60256446,805,653,631,652,0.400999059264,0.00458814419041,0.0498645358238,0.999999964837,0.000121914091335,-0.000233355422633,-3.1758660287e-05,1793243637800149504
+102,1.700000000,BASELINE,765.182096126,746,713.182096126,679,664,634.182096126,879,787.817903874,805.182096126,653,631,652,0.401000188296,0.00458804367805,0.0498652544688,0.999999965056,0.000122871978678,-0.000231908123969,-3.17609592964e-05,1793243637816816384
+103,1.716666667,BASELINE,765.772122906,746,713.772122906,679,664,634.772122906,879,787.227877094,805.772122906,653,631,652,0.40100043787,0.00458901591123,0.0498652667454,0.999999964981,0.000124273864386,-0.000231478311045,-3.18144965071e-05,1793243637833482752
+104,1.733333333,BASELINE,765.644546375,746,714,679,664,635,879,787.355453625,805.644546375,653,631,652,0.400999753697,0.00458815743887,0.0498644442946,0.999999964804,0.000123034928758,-0.00023290584709,-3.17775181938e-05,1793243637850149376
+105,1.750000000,BASELINE,765.065428993,746,714,679,664,635,879,787.934571007,805.065428993,653,631,652,0.400998481978,0.00458614702313,0.0498630966043,0.999999964551,0.000120134296827,-0.000235502091523,-3.16835843762e-05,1793243637866816000
+106,1.766666667,BASELINE,765,746,714,679,664,634.492115428,879,788,805,653,631,652,0.400998712445,0.00458690490501,0.0498631317879,0.999999964509,0.000121356909066,-0.000235035925315,-3.18243366966e-05,1793243637883483136
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664,635,880,788,805,653,631,652,0.40099736011,0.00459038245715,0.0498622473708,0.999999964079,0.00012326755849,-0.000235821704722,-3.21904829105e-05,1793243637926932224
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,713.402529037,679,664,634.402529037,879.402529037,788,805.597470963,653,631,652,0.400999060798,0.00458932018218,0.0498634250554,0.999999964474,0.000122756333698,-0.000234422337474,-3.20872443069e-05,1793243637943598848
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,713,679.189134501,664,634.189134501,879.189134501,787.810865499,805.810865499,653,631,652.189134501,0.401000505326,0.00458837026542,0.0498643550819,0.999999964881,0.00012196964462,-0.00023310910852,-3.1977198974e-05,1793243637960265216
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,713,679.768806591,664,634.768806591,879.768806591,787.231193409,805.231193409,653,631,652.768806591,0.401001420919,0.00458765235321,0.0498647737277,0.999999965313,0.00012061415834,-0.000231973743425,-3.18530986317e-05,1793243637976932096
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.345223206,713,679.654776794,664.345223206,634.654776794,880,787.345223206,805,653,631,653,0.401000270539,0.00458925175788,0.0498641938649,0.999999964881,0.000122492168781,-0.000232812510502,-3.21400751914e-05,1793243637993598976
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.919479985,713,679.080520015,664.919479985,634.080520015,880,787.919479985,805,653,631,653,0.400997749517,0.00459238855451,0.0498629515554,0.999999963859,0.000126515398101,-0.000234960988403,-3.26997750587e-05,1793243638010265600
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,746,713.505731513,679.505731513,664.494268487,634.505731513,879.494268487,788,805.505731513,653,631,653,0.400998603489,0.00459113342726,0.0498635294856,0.999999964149,0.00012605497169,-0.000234022868015,-3.2339013605e-05,1793243638026932224
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745.907477067,713.907477067,679.907477067,664,635,879,787.907477067,805.907477067,653,631,652.907477067,0.400999820387,0.00458947410174,0.0498643148706,0.999999964556,0.000125016314543,-0.0002328945236,-3.19292560849e-05,1793243638043599104
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.328137339,713.328137339,679.328137339,664,635,879,787.328137339,805.328137339,653,631,652.328137339,0.401000050853,0.00458945664878,0.0498646298965,0.99999996446,0.000124782556857,-0.000233413828801,-3.20515254121e-05,1793243638060265984
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.249328574,713,679,664,635,879,787.249328574,805,653,631,652,0.401002369114,0.00458915472932,0.0498656234377,0.999999964841,0.000124016980797,-0.000232189989981,-3.20320311105e-05,1793243638076932608
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745.824346743,713,679,664,635,879,787.824346743,805,653,631,652,0.401007414593,0.00458848122076,0.0498675033009,0.999999965834,0.000122556708166,-0.000228689140273,-3.18273557027e-05,1793243638093599232
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745.600928226,713.399071774,679,664.399071774,635,879,788,805,653,631,652.399071774,0.401024408913,0.00458821723047,0.0498743383281,0.999999968945,0.000120941320831,-0.000215592606022,-3.16727268528e-05,1793243638110265856
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745.026332075,713.973667925,679,664.973667925,635,879,788,805,653,631,652.973667925,0.401046658711,0.00458813335918,0.0498833527931,0.999999972735,0.000119257708993,-0.000198275586144,-3.15401100349e-05,1793243638126932224
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.565737551,714,679,664.434262449,635,879.565737551,788,805.565737551,653,631,653,0.401097030543,0.00458868946038,0.0498985702805,0.999999978447,0.0001210453704,-0.000165718449255,-3.14826778673e-05,1793243638143598592
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,746,713.846033202,679,664,635,879.846033202,787.846033202,805.846033202,653,631,652.846033202,0.401153234338,0.00458846569166,0.0499135347062,0.999999982916,0.000121585704547,-0.000135701019148,-3.11600484711e-05,1793243638160265216
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,746,713.270613276,679,664,635,879.270613276,787.270613276,805.270613276,653,631,652.270613276,0.401221704844,0.0045860230507,0.0499269909358,0.999999985984,0.000118255373373,-0.000114639094079,-3.01016107683e-05,1793243638176932096
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,746,713,679,664,635,879,787.304351252,805,653,631,652,0.401294713275,0.00458489250261,0.0499368504365,0.999999987766,0.000116727735907,-9.99550183819e-05,-2.91732579167e-05,1793243638193598976
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,746,713,679,664,635,879,787.878911436,805,653,631,652,0.401371750559,0.0045849268561,0.0499435166907,0.999999988642,0.000116800565024,-9.09333220661e-05,-2.8360396984e-05,1793243638210265856
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,746,713.467618838,679,663.532381162,635,879.467618838,788,805.467618838,653,631,652.467618838,0.40145846677,0.00458388284395,0.0499441315643,0.999999988773,0.00011515495298,-9.18438040736e-05,-2.75289513573e-05,1793243638226932480
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,746,713.941250723,679,663.058749277,635,879.941250723,788,805.941250723,653,631,652.941250723,0.401550333821,0.0045826225562,0.0499430434593,0.999999988716,0.000112977415059,-9.53462152131e-05,-2.67185427229e-05,1793243638243598848
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,746,713.362119128,679,663.637880872,635,879.362119128,788,805.362119128,653,631,652.362119128,0.401664932498,0.0045819971489,0.04994118381,0.999999988759,0.000110152752799,-9.83152397489e-05,-2.61384300143e-05,1793243638260265728
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745.784210416,713.215789584,679,664,635,879,788,805,653,631,652,0.401794925035,0.00458113102102,0.0499420595952,0.999999989106,0.000108121806453,-9.72514310503e-05,-2.52865278442e-05,1793243638276932352
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745.208342331,713.791657669,679,664,635,879,788,805,653,631,652,0.401950604611,0.00457986321346,0.0499474998786,0.999999989942,0.000107415298905,-8.9458212229e-05,-2.39811027206e-05,1793243638293598720
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.367418877,664,634.632581123,879.367418877,788,805,653,631,652.367418877,0.402113453007,0.00457750973166,0.0499470876913,0.999999990121,0.000103752332711,-9.21493397864e-05,-2.23987386588e-05,1793243638310265600
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.943119554,664,634.056880446,879.943119554,788,805,653,631,652.943119554,0.402280365268,0.00457454080453,0.0499433578657,0.999999989865,9.84134141025e-05,-0.000100783815371,-2.06593837899e-05,1793243638326932224
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.531985942,745.531985942,714,679.468014058,664.531985942,634,879.468014058,788,805.531985942,653,631,652.468014058,0.402480471918,0.0045732842188,0.049943336361,0.999999990172,9.6040705528e-05,-0.000100224194577,-1.96635244262e-05,1793243638343599104
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.879929812,745.879929812,714,679,664.879929812,634,879.120070188,787.879929812,805.879929812,653,631,652,0.402693048611,0.00457218604134,0.0499442855074,0.999999990547,9.43864999772e-05,-9.82683555923e-05,-1.84533342282e-05,1793243638360265728
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.30036238,745.30036238,714,679,664.30036238,634,879.69963762,787.30036238,805.30036238,653,631,652,0.402939420007,0.00457097564753,0.0499473933819,0.999999990934,9.42374345689e-05,-9.48267940304e-05,-1.61109791664e-05,1793243638376932352
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.27613168,714,679,664,634.27613168,879.72386832,787,805,652.72386832,631,652,0.403210893316,0.00456750601663,0.0499527933983,0.999999992322,8.91872532573e-05,-8.49187879356e-05,-1.38209744688e-05,1793243638393598976
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.849319443,714,679,664,634.849319443,879.150680557,787,805,652.150680557,631,652,0.403509370669,0.00456160595073,0.0499606592479,0.999999994507,7.88645646406e-05,-6.80543303488e-05,-1.15872872205e-05,1793243638410265344
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.576712089,714,679,664.423287911,635,879,787.423287911,805,652.423287911,631.423287911,652,0.403832274782,0.00455887522089,0.0499690382517,0.99999999583,7.55230611114e-05,-5.04880024291e-05,-9.32151847386e-06,1793243638426931712
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.002465207,714,679,664.997534793,635,879,787.997534793,805,652.997534793,631.997534793,652,0.404163890307,0.004557274785,0.0499776002638,0.999999996654,7.4671287558e-05,-3.26713638553e-05,-7.04430841197e-06,1793243638443598592
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.592161119,714,679,664.407838881,635,879.592161119,788,805,653,631.407838881,652.592161119,0.40453061601,0.00455300182381,0.0499858912209,0.999999997431,6.98170555229e-05,-1.55326085193e-05,-4.6723354638e-06,1793243638460265216
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,746,714,679,664,635,879.819488138,788,805,652.819488138,631,652.819488138,0.404908653914,0.00454920887258,0.0499913736987,0.99999999787,6.51052497037e-05,-3.95532833531e-06,-2.19677686684e-06,1793243638476931840
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,746,714,679,664,635,879.245025136,788,805,652.245025136,631,652.245025136,0.405311049283,0.00454648864786,0.0499907294688,0.999999998145,6.07419377079e-05,-4.50909852102e-06,5.03956254463e-07,1793243638493598720
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,746,714,679,664,635,879.330378203,788,805,652,631,652.330378203,0.405719019459,0.00454187925858,0.0499771930595,0.999999997955,5.54377907778e-05,-3.16648248444e-05,3.72660866752e-06,1793243638510265344
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,746,714,679,664,635,879.906480994,788,805,652,631,652.906480994,0.40613113604,0.00453586476971,0.0499540678653,0.999999995662,4.94338807914e-05,-7.86062231086e-05,7.33744799413e-06,1793243638526931968
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,746,714,679,664,634.519293081,880,787.519293081,805,652.480706919,631,652.519293081,0.406583668616,0.0045308097276,0.0499388829091,0.999999993585,4.32080487241e-05,-0.000104228818996,1.00018051713e-05,1793243638543598848
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,746,714,679,664.056517811,634.056517811,880,787.056517811,805,653,631,652,0.407049322378,0.0045260792188,0.0499266407469,0.999999991635,3.69758896618e-05,-0.000123316120472,1.25045456686e-05,1793243638560265472
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,746,714,679,664.650873194,634.650873194,880,787.650873194,805,653,631,652,0.40756530832,0.0045226676963,0.0499277600588,0.999999992258,3.10927719683e-05,-0.000119526718084,1.52147450255e-05,1793243638576932352
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,746,713.763739845,679.236260155,664.763739845,635,880,788,805,653,631,652.236260155,0.408113539634,0.00451712242649,0.0499381582951,0.999999994809,2.34937034019e-05,-9.74216371905e-05,1.84150615125e-05,1793243638593599232
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,746,713.191121074,679.808878926,664.191121074,635,880,788,805,653,631,652.808878926,0.408707677978,0.00450853938571,0.0499617667411,0.999999998448,1.34516719621e-05,-4.92409099166e-05,2.23131472624e-05,1793243638610265856
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,746,713.385076212,680,664,634.614923788,880,788,804.614923788,652.614923788,631,652.614923788,0.409329028038,0.0045027387122,0.0499805511014,0.999999999433,8.06017985734e-06,-1.92561549e-05,2.64222580738e-05,1793243638626932224
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,746,713.963066231,680,664,634.036933769,880,788,804.036933769,652.036933769,631,652.036933769,0.409964010488,0.00449833193719,0.0499969187117,0.999999999517,4.9984950212e-06,1.61285963834e-06,3.06370871947e-05,1793243638643598848
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.443624194,714,679.443624194,664,634.556375806,880,788,804.556375806,652.556375806,631,652,0.410567177474,0.0044916317706,0.0499875870852,0.999999992971,0.00011114150829,-2.25384647946e-05,3.45951489407e-05,1793243638660265472
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.146051866,714,679,664,635,880,787.853948134,805,652.853948134,631,652,0.411173460696,0.00448456385909,0.0499714086473,0.99999997921,0.000191518129955,-5.84440722272e-05,3.85460884242e-05,1793243638676932352
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.721956047,714,679,664,635,880,787.278043953,805,652.278043953,631,652,0.411795307279,0.00447687437763,0.0499402421661,0.999999976749,0.00017412051643,-0.000119899408361,4.25276525258e-05,1793243638693598720
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.701857241,714,679,664,634.701857241,880,787,805.298142759,652,631,652,0.412488791845,0.00447085122396,0.0499374813169,0.999999980331,0.000152579975672,-0.000118809189545,4.40582156603e-05,1793243638710265344
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.125406726,714,679,664,634.125406726,880,787,805.874593274,652,631,652,0.413249148495,0.00446638353882,0.0499612363107,0.999999989216,0.000127172128572,-5.93344877783e-05,4.33008398064e-05,1793243638726931968
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.458822074,714,679,664,634.458822074,880,787.458822074,806,652,631,652,0.414003758371,0.00445511651093,0.0499758949012,0.999999998779,2.24221910226e-05,-3.57820573059e-05,2.56713083251e-05,1793243638743598848
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.955066774,714,679,664.044933226,635,880,788,805.955066774,652,631,652.044933226,0.414755461446,0.00444369712779,0.04998448513,0.999999995286,-9.28646589638e-05,-2.7793982991e-05,5.54214964701e-06,1793243638760265216
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.372310169,714,679,664.627689831,635,880,788,805.372310169,652,631,652.627689831,0.415491497345,0.00445308187247,0.0499507129636,0.99999999372,-7.02271005761e-05,-8.65549693601e-05,1.1643316268e-05,1793243638776931840
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,664.792745583,634.792745583,880,788,805.207254417,652,631,652.792745583,0.416248067586,0.00447034731212,0.0499299090299,0.999999991993,-3.46945662336e-05,-0.000120720311341,1.54160432312e-05,1793243638793598720
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,664.218828174,634.218828174,880,788,805.781171826,652,631,652.218828174,0.417040966,0.00450155483856,0.0499320477744,0.999999993405,2.36510409547e-05,-0.000111372403556,1.50694238861e-05,1793243638810265344
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.355876334,714,679,664.711752668,634,880,787.644123666,806,652,631,652.355876334,0.417874177985,0.00450784951997,0.0499523620296,0.999999996166,4.70263222915e-05,-7.19254926037e-05,1.68241835077e-05,1793243638826931968
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.931065881,714,679,665.862131762,634,880,787.068934119,806,652,631,652.931065881,0.41873223368,0.00449879134995,0.049983877169,0.999999998512,4.8850703601e-05,-1.3929697261e-05,1.98739440168e-05,1793243638843598848
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.518958267,746,714,679,664.962083467,634,880,787.518958267,806,652,631,652.481041733,0.419542274199,0.00448868873827,0.0499737583443,0.99999999842,2.83748198595e-05,-4.36188771101e-05,2.12465489011e-05,1793243638860265216
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.893258765,745.893258765,714,679,664,634.106741235,880,788,806,652,631,652,0.420363031559,0.00447964212044,0.0499622359203,0.999999997206,7.16460792493e-06,-7.10604721825e-05,2.20620200053e-05,1793243638876931840
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.313623689,745.313623689,714,679,664,634.686376311,880,788,806,652,631,652,0.421260232382,0.00447590391438,0.0499696107689,0.999999999128,-3.84628533573e-06,-3.56488231133e-05,2.14209717444e-05,1793243638893598464
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.263426162,745.263426162,714,678.736573838,664.526852323,634.736573838,880,788,806,652,631,652,0.422150681241,0.0044735665026,0.0499801419313,0.999999999749,-7.61770258918e-07,-6.00442176493e-06,2.15946569531e-05,1793243638910265088
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.837428143,745.837428143,714,678.162571857,665.674856286,634.162571857,880,788,806,652,631,652,0.423033169746,0.00447288060749,0.049994394345,0.999999999421,1.8941035861e-05,1.68404784758e-05,2.27289016407e-05,1793243638926931968
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,714,678.825479411,665.587260294,634,880,788,806,652,631,652,0.423904778063,0.00448099546295,0.0499852043364,0.999999999449,2.45010471523e-05,-8.28416487101e-07,2.23912777296e-05,1793243638943598592
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,714,679.9771374,665.0114313,634,880,788,806,652,631,652,0.424772087149,0.00449258783256,0.0499667513268,0.999999998875,2.4472696552e-05,-3.450586723e-05,2.14720619961e-05,1793243638960265216
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,714,679.419958196,664.419958196,634,880,788,806,652,631,652,0.425692547364,0.00449172320645,0.0499816237906,0.999999999563,1.43858412283e-05,-1.14539060984e-05,2.31388444752e-05,1793243638976932096
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.832935539,714,679,664.167064461,634.167064461,880.167064461,787.832935539,806,652,631,652,0.426598291131,0.00448743737465,0.049992240069,0.999999999665,5.12500502189e-06,-1.47618630707e-06,2.53453937779e-05,1793243638993598720
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.257564237,714,679,664.742435763,634.742435763,880.742435763,787.257564237,806,652,631,652,0.427465436704,0.00447540672197,0.049990804556,0.999999999241,-1.61912854302e-06,-2.62601714749e-05,2.87431281105e-05,1793243639010265344
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.681013467,745.318986533,714,679,665,634.681013467,880.681013467,787.318986533,806.318986533,652,631.318986533,652,0.428323619893,0.00446934003023,0.0499699597238,0.999999997382,5.04326857859e-06,-6.58917584788e-05,2.94736720908e-05,1793243639026931712
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.103506835,745.896493165,714,679,665,634.103506835,880.103506835,787.896493165,806.896493165,652,631.896493165,652,0.429174539545,0.00446810678379,0.0499333847631,0.999999992442,2.25708822379e-05,-0.000117556465032,2.80426126317e-05,1793243639043598592
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.483953341,745.516046659,714,679,665,634,880.483953341,788,806.516046659,652,632,652,0.430105901568,0.00446991633467,0.0499434158365,0.999999995691,1.44886053743e-05,-8.74742597251e-05,2.75038500642e-05,1793243639060265216
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.927734649,745.072265351,714,679,665,634.072265351,881,788,806.072265351,652,631.927734649,652.072265351,0.431042479529,0.00447330756479,0.0499587706155,0.999999998343,3.26313211193e-06,-5.06150803589e-05,2.72271045016e-05,1793243639076931840
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.348691751,745.651308249,714,679,665,634.651308249,881,788,806.651308249,652,631.348691751,652.651308249,0.431892448522,0.00448313105954,0.0499400883536,0.999999995403,9.21330788178e-06,-9.14150106947e-05,2.7421384124e-05,1793243639093598464
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.222889816,745.777110184,714,679,664.777110184,634.777110184,881,788,807,652,631.222889816,652.777110184,0.432747893066,0.00448622027188,0.0499319996757,0.999999993964,1.08668134012e-05,-0.00010581865305,2.74930545127e-05,1793243639110265088
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.783176951,745.216823049,714,679,664.216823049,634.216823049,881,788,807,652,631.783176951,652.216823049,0.4336116263,0.0044791155303,0.0499399469312,0.999999996386,6.01627646158e-06,-8.02651740038e-05,2.73791264226e-05,1793243639126931968
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,679.360926192,664,634,880.639073808,787.639073808,807,652,632,652,0.434490408264,0.00447194167793,0.0499580870974,0.999999998081,7.70290509546e-06,-5.44335814538e-05,2.85446642557e-05,1793243639143598592
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,679.949698929,664,634,880.050301071,787.050301071,807,652,632,652,0.435378690181,0.00446472419751,0.0499826618735,0.999999999039,1.35163350633e-05,-2.84264221167e-05,3.05179070859e-05,1793243639160265728
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.456782308,745,714,680,664,634,880.543217692,787,806.456782308,652,631.456782308,652,0.436189765734,0.00446627695554,0.0499650642576,0.999999996541,4.33827406608e-06,-7.65853216852e-05,3.21518651233e-05,1793243639176932096
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.13340309,745,714,680,664,634,880.86659691,787.13340309,806.13340309,652,631.13340309,652,0.437004152661,0.00446881653999,0.0499504479792,0.99999999332,-5.44268264755e-06,-0.000110613836057,3.30970902011e-05,1793243639193598720
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.711012742,745,714,680,664,634,880.288987258,787.711012742,806.711012742,652,631.711012742,652,0.437853581015,0.00447191406299,0.0499588768012,0.999999996637,-1.25680272097e-05,-7.45213660864e-05,3.18545028633e-05,1793243639210265600
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.712682762,745,714,680,664.287317238,634,880,788,807,652,631.712682762,652,0.438679719031,0.00447481801019,0.0499685883378,0.99999999823,-1.36987436124e-05,-4.87390089904e-05,3.12489026741e-05,1793243639226932480
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.137685106,745,714,680,664.862314894,634,880,788,807,652,631.137685106,652,0.439482537217,0.00447752813671,0.0499795842099,0.999999998918,-8.82725399906e-06,-3.32797993733e-05,3.12810949099e-05,1793243639243599104
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.433742377,745.433742377,714,679.566257623,664.566257623,634.433742377,880.433742377,787.566257623,806.566257623,652,631,652,0.440223574861,0.00447471671848,0.0499640507802,0.999999997707,1.81522109708e-05,-5.68747981865e-05,3.19742724707e-05,1793243639260265472
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.995747039,746,714,679.004252961,664,634.995747039,881,787.004252961,806,652,631.004252961,652,0.440945502755,0.0044701482055,0.0499403998747,0.999999993856,5.1700597021e-05,-9.23747363829e-05,3.28789588555e-05,1793243639276932096
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.396250429,746,714,679.603749571,664,634.396250429,881,787.603749571,806,652,631.603749571,652,0.441715214068,0.00446296653553,0.0499496549138,0.999999996275,3.04353142902e-05,-7.31454438049e-05,3.42597530936e-05,1793243639293598720
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.195554551,745.804445449,714,680,664.195554551,634,880.804445449,788,806.195554551,652,632,652,0.442468573704,0.00445715763243,0.0499632416326,0.999999998114,1.36270669548e-05,-4.80152607456e-05,3.57871449093e-05,1793243639310265344
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.772363968,745.227636032,714,680,664.772363968,634,880.227636032,788,806.772363968,652,632,652,0.443190054102,0.0044540250864,0.0499852734339,0.999999999213,5.50829116178e-06,-1.13806465071e-05,3.76003449045e-05,1793243639326932224
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.65315057,745,714,680,665,634,880.34684943,787.65315057,807,652,632,652.34684943,0.443846456935,0.00445736972818,0.0499776987609,0.99999999887,6.35156358749e-06,-2.63435982886e-05,3.9063830389e-05,1793243639343598848
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.080180194,745,714,680,665,634,880.919819806,787.080180194,807,652,632,652.919819806,0.444460433821,0.00446493703194,0.0499508227894,0.999999996295,1.30374490041e-05,-7.49444637297e-05,4.02993269409e-05,1793243639360265728
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.507644933,745.507644933,714,680.507644933,664.492355067,634,880.492355067,787.507644933,807,652,631.492355067,652.492355067,0.445070382874,0.00447450927571,0.0499318061163,0.999999994075,2.84697333194e-05,-9.69877249277e-05,4.04157444045e-05,1793243639376932608
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.903715717,745.903715717,714,681,664.096284283,634.096284283,880.096284283,787.903715717,807,652,631,652,0.445687587533,0.00448243812916,0.0499214998013,0.999999992998,4.27131127547e-05,-0.000102616730082,4.06153165354e-05,1793243639393598976
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.323137899,745.323137899,714,681,664.676862101,634.676862101,880.676862101,787.323137899,807,652,631,652,0.446344582975,0.00448046019394,0.0499485731608,0.999999997027,4.3818570426e-05,-4.74192028325e-05,4.21489814018e-05,1793243639410265600
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.74423441,664.74423441,634.74423441,880.74423441,787,806.74423441,652,631,652,0.446947909641,0.00447836317502,0.0499621323288,0.999999997989,4.17714000797e-05,-2.01453321252e-05,4.32474224936e-05,1793243639426932224
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680.167432579,664.167432579,634.167432579,880.167432579,787,806.167432579,652,631,652,0.447483871361,0.00447611668273,0.0499587285199,0.999999998011,3.576706005e-05,-2.79211600246e-05,4.37995719488e-05,1793243639443598848
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.407966782,745.407966782,714,680,664,634,880.407966782,787,806.407966782,652,631,652,0.447957954563,0.00447793623975,0.0499265035743,0.999999995227,3.8186406861e-05,-7.84159417187e-05,4.40345302743e-05,1793243639460265472
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.982792579,745.982792579,714,680,664,634,880.982792579,787,806.982792579,652,631,652,0.448406729406,0.00448141881672,0.0498824907409,0.999999987342,4.4051053343e-05,-0.00014638283881,4.41397568332e-05,1793243639476932096
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.428545546,745.428545546,714,680,663.428545546,633.428545546,880.428545546,787,806.428545546,652,631,652,0.44883363879,0.00448419744464,0.0498588805183,0.999999981075,4.53098112192e-05,-0.000183990998188,4.40925275112e-05,1793243639493598720
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.157116371,745.157116371,714,680,663,633,880.157116371,787,806,652,631,652,0.449259625165,0.00448652369165,0.0498419345499,0.999999975553,4.6586060808e-05,-0.000211610569296,4.4108727196e-05,1793243639510265600
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.733630773,745.733630773,714,680,663,633,880.733630773,787,806,652,631,652,0.44968494892,0.00448770036409,0.0498410971601,0.999999974725,4.82884020087e-05,-0.000215067879505,4.43067992028e-05,1793243639526932480
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.690008226,746,714,680,663,632.690008226,880.690008226,787,806,652,631,652,0.450093025771,0.00448974360515,0.0498439907167,0.999999976905,1.51442904109e-05,-0.000211821030384,3.30433337768e-05,1793243639543598848
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.11377901,746,714,680,663,632.11377901,880.11377901,787,806,652,631,652,0.450486290038,0.0044925311014,0.0498500886087,0.999999978213,-4.79278106848e-05,-0.000202816291276,1.19360895154e-05,1793243639560265472
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.52644243,713.52644243,680.47355757,663,632,880,787,806.47355757,652,631,652,0.450814502075,0.00448962222015,0.049841116254,0.999999973303,-4.80792399633e-05,-0.000225752702986,1.08739359262e-05,1793243639576932096
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713.062405382,680.937594618,662.937594618,632,880,787,806.937594618,652,631.062405382,652,0.451123401965,0.00448666236566,0.0498280610257,0.999999966606,-2.81805090966e-05,-0.000256488936287,1.43714811356e-05,1793243639593598464
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713.641146098,680.358853902,662.358853902,632,880,787,806.358853902,652,631.641146098,652,0.451404940025,0.00449487669791,0.0498119025671,0.999999958345,2.95254586445e-05,-0.000286738463866,1.47903259915e-05,1793243639610265088
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,713.781614933,680,662,631.781614933,880,787.218385067,806.218385067,652,632,652,0.451669113532,0.00450447933507,0.0497917864224,0.999999945025,6.92869520039e-05,-0.000323882583107,1.57785021683e-05,1793243639626931712
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,713.206826861,680,662,631.206826861,880,787.793173139,806.793173139,652,632,652,0.451904948176,0.00451634767598,0.0497652113615,0.999999927367,7.97631747942e-05,-0.000372278629065,1.76958233595e-05,1793243639643598592
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.367593635,713.367593635,680.367593635,662,631,880.367593635,787.632406365,807,652,631.632406365,652,0.452134406015,0.00453109289723,0.0497514193583,0.999999917702,9.2364652246e-05,-0.000394675515132,1.72184839508e-05,1793243639660265472
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.941807576,713.941807576,680.941807576,662,631,880.941807576,787.058192424,807,652,631.058192424,652,0.452360279545,0.00454745518211,0.0497448125676,0.99999991326,0.000106160712813,-0.000402458566605,1.53951325717e-05,1793243639676932096
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714,681,662,631,880.466579589,787,807,652,631,652,0.452571061113,0.00454717003695,0.0497505584384,0.999999918244,0.00010383641213,-0.000390445623122,1.67979410741e-05,1793243639693598720
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714,680.876275222,661.876275222,630.876275222,880.123724778,787,807,652,631,652,0.452771998952,0.0045452399705,0.0497560817407,0.999999922979,0.000100044655239,-0.000379073225545,1.83241563538e-05,1793243639710265344
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714,680.297986709,661.297986709,630.297986709,880.702013291,787,807,652,631,652,0.452943023989,0.00454416385387,0.0497556693659,0.999999923524,9.75404772286e-05,-0.000378256076682,1.89671023878e-05,1793243639726931968
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,680,661.277409925,630,881,787,806.722590075,652,631,652,0.453097065924,0.00454540935494,0.0497522217471,0.999999922057,9.75622587674e-05,-0.000382105049639,1.90513701718e-05,1793243639743598592
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714,680,661.849732193,630,881,787,806.150267807,652,631,652,0.453233053245,0.00454912294986,0.049745547384,0.999999918394,0.000100269368477,-0.000390914540577,1.85417113972e-05,1793243639760265472
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.576611476,714,680.423388524,661.576611476,630,881,787,806.423388524,652,631.423388524,652,0.453344895176,0.00454871229278,0.0497385612087,0.999999913831,9.98844447495e-05,-0.000402483454996,1.91648178195e-05,1793243639776932096
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.002480178,714,680.997519822,661.002480178,630,881,787,806.997519822,652,631.997519822,652,0.453448140405,0.00454683324158,0.0497314640162,0.999999908828,9.83986368462e-05,-0.000415034831209,2.01912326967e-05,1793243639793598720
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.591574288,745.591574288,714,680.408425712,661,630,880.408425712,787,807,652,632,652,0.453530995298,0.00454562257127,0.0497256215711,0.99999990627,9.82212274604e-05,-0.000421192861299,2.0219583583e-05,1793243639810265088
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.81952282,745.81952282,714,680,661,629.81952282,880,787,806.81952282,652,631.81952282,652,0.45360885882,0.00454648470602,0.0497204028811,0.999999903785,0.000100076156452,-0.000426625979623,2.01483516416e-05,1793243639826931712
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.242139469,745.242139469,714,680,661,629.242139469,880,787,806.242139469,652,631.242139469,652,0.453675939843,0.00455189898516,0.0497165439847,0.999999901467,0.000106388128468,-0.000430525870357,1.98676397685e-05,1793243639843598592
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.333409935,714,680,661,629,880,787,806,652,631,652,0.453735559443,0.00455283076205,0.0497146968172,0.999999900851,0.000106485179356,-0.000431934744223,1.97920622109e-05,1793243639860265216
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.907634776,714,680,661,629,880,787,806,652,631,652,0.453789789821,0.00455052492343,0.0497143026784,0.999999901476,0.000102093325521,-0.000431544409983,1.98646487788e-05,1793243639876931840
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.504496846,714,680,661,629,880.495503154,786.504496846,806.495503154,652,631.495503154,652,0.453825202034,0.0045524048052,0.0497119023327,0.999999898961,0.000103873654124,-0.000436912736966,1.98742069106e-05,1793243639893598464
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,629,880.91560626,786,807,652,631.91560626,652,0.4538558792,0.00455509452696,0.0497092192682,0.999999896096,0.000106934950586,-0.000442696623927,1.98301486685e-05,1793243639910265344
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,629,880.336062105,786,807,652,631.336062105,652,0.45387993889,0.00455782825638,0.0497071337185,0.999999894932,0.000110570369333,-0.00044444222402,1.95423998416e-05,1793243639926931968
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.241206218,714,680,661,629,880.241206218,786.241206218,807,652,631.241206218,652,0.45390053194,0.00455909625795,0.0497060168423,0.999999894258,0.000112470824434,-0.000445489203799,1.93177095537e-05,1793243639943598592
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.815333328,714,680,661,629,880.815333328,786.815333328,807,652,631.815333328,652,0.453916340219,0.00455834121274,0.0497062369621,0.99999989428,0.000111976624451,-0.000445571924351,1.91800547885e-05,1793243639960265216
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.610050505,714,680,661,629,880.610050505,787,807,652,631.610050505,651.610050505,0.453925747803,0.00455760621792,0.0497046293237,0.999999892996,0.000112234081467,-0.000448358089075,1.96367220071e-05,1793243639976932096
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.035202463,714,680,661,629,880.035202463,787,807,652,631.035202463,651.035202463,0.453932120432,0.00455688073022,0.0497021550351,0.99999989108,0.00011284794436,-0.000452426119533,2.03751930849e-05,1793243639993598976
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.556570502,714,680.556570502,661,629,880,787,807,652,631,651.556570502,0.453937166504,0.00455886322246,0.0497019005043,0.99999989115,0.000112827074721,-0.000452295088622,1.99702414296e-05,1793243640010265600
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.853951864,714,681,661,629,880.146048136,787,807,652.146048136,631,652,0.453941081579,0.00456014733404,0.0497015913055,0.999999891145,0.000112502185582,-0.000452399685596,1.96696488131e-05,1793243640026931968
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.274560745,714,681,661,629,880.725439255,787,807,652.725439255,631,652,0.453941897603,0.00455883512496,0.0497006902588,0.999999890532,0.000111398087254,-0.000454016161318,1.99000155732e-05,1793243640043598592
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.302601858,714,681,661,629,881,787,806.697398142,652.697398142,631,652,0.453942871814,0.00455859507316,0.0496998999289,0.999999889878,0.000111170963995,-0.000455506677909,1.9981008486e-05,1793243640060265472
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.877757304,714,681,661,629,881,787,806.122242696,652.122242696,631,652,0.453943988505,0.0045593207136,0.0496992093215,0.999999889188,0.000111733732326,-0.000456883743258,1.99274603549e-05,1793243640076932096
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714,681,661,629,881,787,806.462613062,652,631.462613062,652,0.453944047413,0.00456081557242,0.0496986917551,0.999999888314,0.000115028185064,-0.000457994669383,1.95442050462e-05,1793243640093598720
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.950329463,714,681,661,629,880.950329463,787,807,652,631.950329463,652,0.453944004613,0.00456244781724,0.0496982915042,0.999999887517,0.000118727072775,-0.000458807905585,1.91096400592e-05,1793243640110265344
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.367739489,714,681,661,629,880.367739489,787,807,652,631.367739489,652,0.453945933728,0.0045633265738,0.0496986488452,0.99999988824,0.000118854723201,-0.000457197892338,1.90793403957e-05,1793243640126931968
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.78755958,661,629,880,787,807,652,631,652,0.453947472403,0.00456386290417,0.0496991145448,0.999999888785,0.000118688696855,-0.00045605054085,1.89735558359e-05,1793243640143598592
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.211504792,661,629,880,787,807,652,631,652,0.453948342799,0.00456381313562,0.0496997657118,0.999999889031,0.000118020011478,-0.000455695084261,1.87385708514e-05,1793243640160265216
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.363411217,661,629,880.363411217,787,806.636588783,652,631,652,0.453948595134,0.00456403847291,0.0496999826088,0.999999888889,0.000118836312366,-0.000455804379819,1.84968838481e-05,1793243640176932096
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.937666507,661,629,880.937666507,787,806.062333493,652,631,652,0.453948488882,0.00456442342124,0.0496999475507,0.99999988852,0.000120514173236,-0.000456183315485,1.82513084728e-05,1793243640193598720
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.524520145,714,681,661,629,881.524520145,787,806.524520145,652,631,652,0.453947764836,0.00456424591395,0.049698821695,0.999999887754,0.000119462291993,-0.000458122238059,1.85628273469e-05,1793243640210265088
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.111098582,745.888901418,714,680.888901418,661,629,881.777802835,787,806.888901418,652,631,652,0.45394709208,0.0045640842279,0.0496977170436,0.999999887044,0.000118458186398,-0.000459916702082,1.88601479113e-05,1793243640226931968
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.690057824,745.309942176,714,680.309942176,661,629,880.619884352,787,806.309942176,652,631,652,0.45394695211,0.00456427758117,0.0496972610214,0.999999886797,0.000119055015299,-0.000460302898203,1.88120128028e-05,1793243640243598592
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.732699324,745,713.732699324,680,661,629,880,787,806,651.732699324,631,652,0.453947000325,0.00456446830782,0.0496969018254,0.999999886619,0.000119285951331,-0.000460635166687,1.86764002733e-05,1793243640260265216
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.157433898,745,713.157433898,680,661,629,880,787,806,651.157433898,631,652,0.453947265354,0.00456465600828,0.0496966541855,0.999999886521,0.000119095331807,-0.000460905303646,1.84400025002e-05,1793243640276931840
+249,4.150000000,HOLD_POSE2,765,746,714,681,661,629,881,786,806,652,631,651,0.453947877826,0.00456371100209,0.0496974806534,0.9999998864,0.000121252383885,-0.000460593967775,1.87505416838e-05,1793243640309983488
+250,4.166666667,HOLD_POSE2,765,745.418860037,714,681,661,629,880.418860037,786.581139963,806,652,631,651.581139963,0.453950346687,0.00456314314505,0.0496991789104,0.999999887677,0.000121059016234,-0.000457846822198,1.91656924432e-05,1793243640326650112
+251,4.183333333,HOLD_POSE2,765,745,714,680.839533599,661,629,880.160466401,787,806,652,631,652,0.453951489128,0.00456306852707,0.0496998051787,0.999999888191,0.000121079731866,-0.000456711237717,1.93229663739e-05,1793243640343316480
+252,4.200000000,HOLD_POSE2,765,745,714,680.26488792,661,629,880.73511208,787,806,652,631,652,0.453949207953,0.00456426700663,0.0496976645409,0.999999886745,0.000121653017089,-0.000459735247482,1.88146353934e-05,1793243640359983104
+253,4.216666667,HOLD_POSE2,765.3119671,745,714,680.3119671,661,629,881,787,806.3119671,652,631,652,0.453948726803,0.00456411117277,0.0496971635419,0.999999886228,0.000121576501341,-0.000460881561284,1.877035396e-05,1793243640376649984
+254,4.233333333,HOLD_POSE2,765.890711393,745,714,680.890711393,661,629,881,787,806.890711393,652,631,652,0.453949784938,0.00456279720409,0.0496980646725,0.999999886509,0.000120944311329,-0.000460422172068,1.91229023367e-05,1793243640393316608
+255,4.250000000,HOLD_POSE2,765.521513492,745.478486508,714,680.521513492,661,628.521513492,881,787,807,652,631,652,0.453949376161,0.0045639102728,0.0496973600062,0.999999886137,0.000122715860029,-0.000460756197518,1.92491460511e-05,1793243640409983232
+256,4.266666667,HOLD_POSE2,765,745.932969298,714,680.067030702,661,628.067030702,881,787,807,652,631,652,0.453948822619,0.00456537336946,0.049696511661,0.999999885749,0.000124619397833,-0.000461084772496,1.92902180834e-05,1793243640426649856
+257,4.283333333,HOLD_POSE2,765,745.354596013,714,680.645403987,661,628.645403987,881,787,807,652,631,652,0.453949769817,0.00456519647318,0.049697418998,0.999999886438,0.00012326101309,-0.000459962743661,1.9083453797e-05,1793243640443316736
+258,4.300000000,HOLD_POSE2,765,745.223087353,714,680.776912647,661,629,880.776912647,787,807,652,631,652,0.453949626154,0.00456484665836,0.0496973626076,0.999999886435,0.000121792495638,-0.000460365207189,1.90033256527e-05,1793243640459983104
+259,4.316666667,HOLD_POSE2,765,745.799677426,714,680.200322574,661,629,880.200322574,787,807,652,631,652,0.453947753918,0.00456422283803,0.0496957791011,0.99999988533,0.000120149462765,-0.000463183371161,1.91238643067e-05,1793243640476649728
+260,4.333333333,HOLD_POSE2,765,746,714,680,661,629,880,787,806.617071663,652,631,652.382928337,0.453947359043,0.00456481910265,0.0496951559209,0.999999884921,0.000120466543177,-0.000463996836381,1.87758570345e-05,1793243640493316352
+261,4.350000000,HOLD_POSE2,765,746,714,680,661,629,880,787,806.030274508,652,631,652.969725492,0.453947750705,0.00456606493334,0.0496950440125,0.999999884885,0.000121827176353,-0.000463743011905,1.81783986476e-05,1793243640509983232
+262,4.366666667,HOLD_POSE2,765,745.451347372,714,680.548652628,661,629,880.548652628,787,806.548652628,652,631,652.451347372,0.453949284344,0.00456457455237,0.0496960514966,0.999999885615,0.000121761740243,-0.000462149541883,1.90284060914e-05,1793243640526649856
+263,4.383333333,HOLD_POSE2,765,745,714,680.873368518,660.873368518,629,880.873368518,787,807,652,631,652,0.453950716192,0.00456362228047,0.0496971304263,0.999999886306,0.000121879880366,-0.00046059498674,1.96349006739e-05,1793243640543316736
+264,4.400000000,HOLD_POSE2,765,745,714,680.297235894,660.297235894,629,880.297235894,787,807,652,631,652,0.453951566196,0.00456510848654,0.0496982468105,0.999999886721,0.000122925031853,-0.000459437252676,1.90974966185e-05,1793243640559983360
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,661,629,880,787,806,652,631,652,0.453952886387,0.00456603887154,0.0496983822401,0.999999887079,0.000121621693051,-0.000459026314,1.85666983041e-05,1793243640597562624
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.591595842,714,680.408404158,660.408404158,629,880,787,806.591595842,652,631,652,0.453951545364,0.00456472617215,0.0496975328502,0.999999886369,0.000121454075296,-0.000460593463736,1.90935025558e-05,1793243640614229504
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,660.179198997,629,880,787,806.820801003,652,631,652,0.453950670267,0.00456418360923,0.0496969501294,0.999999885837,0.000122052235203,-0.00046157831782,1.93797233605e-05,1793243640630896128
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,660.757901045,629,880,787,806.242098955,652,631,652,0.453950833895,0.0045653579746,0.0496969619162,0.999999885702,0.00012435760615,-0.000461265012662,1.91295918198e-05,1793243640647562496
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.334278678,661,629,880,787,806.334278678,652,631,652,0.45395070685,0.00456569377865,0.0496964393005,0.999999885515,0.000124453236501,-0.000461649377279,1.90116515092e-05,1793243640664229120
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.908984462,661,629,880,787,806.908984462,652,631,652,0.453950370741,0.00456542645451,0.0496955323205,0.999999885291,0.000122959529523,-0.000462535534984,1.89887886351e-05,1793243640680895744
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.47681296,746,714,681,661,629,880.47681296,787,807,652,631.47681296,652,0.453950421729,0.00456455672341,0.049695658058,0.999999885372,0.000122302183305,-0.000462534258558,1.89821864017e-05,1793243640697562624
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.954087552,746,714,680.954087552,661,629,881,786.954087552,807,652,631.954087552,652,0.453950394323,0.00456377926291,0.0496959341902,0.999999885489,0.000122009933993,-0.00046235937785,1.8965349547e-05,1793243640714229248
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.354028391,746,714,680.354028391,661,629,881,786.354028391,807,652,631.354028391,652,0.453948541578,0.00456548362157,0.0496956800926,0.999999885337,0.000124224786466,-0.000462104636725,1.87880544272e-05,1793243640730895872
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,661,629,880.763584339,786.472831321,806.763584339,652,631.236415661,652,0.453940987959,0.00456663549874,0.0496923992021,0.999999882919,0.000125171688899,-0.000467066558038,1.85328351028e-05,1793243640747562752
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,661,629,880.186976094,787.626047811,806.186976094,652,631.813023906,652,0.453925231012,0.00456699237721,0.0496847628789,0.999999877134,0.000124294062249,-0.000479535045812,1.81654860096e-05,1793243640764229376
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.389543842,661,629,880.389543842,787.610456158,806.389543842,652,632,652,0.453894047282,0.00456705717105,0.0496710604218,0.999999865603,0.000123738082084,-0.000503150703323,1.79300705552e-05,1793243640780896000
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.966021453,661,629,880.966021453,787.033978547,806.966021453,652,632,652,0.453855460566,0.00456698179976,0.0496544469559,0.999999850663,0.000123336453036,-0.000532115650245,1.77579671914e-05,1793243640797562624
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714.55585055,681,661.55585055,629,881,787,807,652,631.44414945,652,0.453797198681,0.00456733573043,0.0496343004069,0.999999832651,0.000124938479071,-0.000564615574956,1.72750348422e-05,1793243640814229248
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.856300805,714.856300805,681,661.856300805,629,880.856300805,787.143699195,806.856300805,652,631,652,0.45373457942,0.00456800996841,0.049615776437,0.99999981614,0.000126393893271,-0.000592847526962,1.66201573068e-05,1793243640830895872
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.276990584,714.276990584,681,661.276990584,629,880.276990584,787.723009416,806.276990584,652,631,652,0.453662486827,0.00456957367848,0.0496028419807,0.999999807302,0.000127024439057,-0.000607470340727,1.55030597993e-05,1793243640847562496
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.699443128,661.300556872,629,880.300556872,787.699443128,806.300556872,652,631,652,0.453582301368,0.0045708771804,0.0495951846609,0.999999800864,0.00012854811563,-0.000617676926929,1.48894528401e-05,1793243640864229376
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.123510781,661.876489219,629,880.876489219,787.123510781,806.876489219,652,631,652,0.453494701088,0.00457194227497,0.0495923623469,0.999999796739,0.000130890094257,-0.00062383728724,1.47371528132e-05,1793243640880896256
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.449504338,745,714,680,661.550495662,629,880.550495662,787,806.550495662,652,631,652,0.453389465575,0.00457210536201,0.0495895234612,0.999999790966,0.00013316197208,-0.000632541384916,1.50788420289e-05,1793243640897562880
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.977429088,745,713.977429088,680,661,629,880,787,806,652,631,652,0.453278296764,0.00457213080395,0.0495865197953,0.999999784599,0.000135455286114,-0.000642039512803,1.54802580565e-05,1793243640914229504
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.382876323,745,713.382876323,680,661,629,880,787,806,652,631,652,0.453138773458,0.00457490839757,0.0495794549873,0.999999776375,0.000138776801116,-0.000654061451176,1.39777152021e-05,1793243640930895872
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.20539667,680,661,629,880,787,806.20539667,652,631,652,0.452988087233,0.00457754647962,0.0495726500913,0.999999767981,0.000142256443422,-0.000666061132862,1.28063424875e-05,1793243640947562752
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.782310869,680,661,629,880,787,806.782310869,652,631,652,0.452817209754,0.00457993221551,0.04956631532,0.999999759408,0.000146022103,-0.000678020555864,1.22339840903e-05,1793243640964229376
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.360033315,661.360033315,629.360033315,880,787,806.639966685,652,631,652,0.452630132473,0.00458200450591,0.0495688795805,0.999999758889,0.000150312699182,-0.00067785515616,1.18567520748e-05,1793243640980895744
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.93824561,661.93824561,629.93824561,880,787,806.06175439,652,631,652,0.45243323815,0.00458388684964,0.0495768366238,0.999999763253,0.000154921405549,-0.000670342155748,1.15977659366e-05,1793243640997562624
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.487778092,680.487778092,662,630,880,787,806.512221908,652,631.512221908,652,0.452218571287,0.00458535680514,0.0495897385326,0.999999773121,0.000159874045764,-0.000654275473573,1.10009843547e-05,1793243641014229504
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.088681873,713.088681873,680,661.911318127,630,880.088681873,787,806.911318127,652,631.911318127,652,0.451995611594,0.004587012813,0.0496025280305,0.999999782863,0.000164987802596,-0.00063792168262,1.03988623516e-05,1793243641030895872
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.682162895,713.682162895,680,661.317837105,630,880.682162895,787,806.317837105,652,631.317837105,652,0.451737543653,0.00459000856493,0.049611311996,0.999999789581,0.000170784582576,-0.000625755558771,9.99625777547e-06,1793243641047562496
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,713.732071235,680,661,630.267928765,881,787,806,652,631,652,0.451460820465,0.00459330326273,0.0496183704045,0.999999796274,0.000177305285601,-0.000613135381185,8.98512926543e-06,1793243641064229376
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,713.155201519,680,661,630.844798481,881,787,806,652,631,652,0.451162586464,0.00459694266622,0.0496234391222,0.999999802929,0.000184660723111,-0.000599991648025,7.27232934034e-06,1793243641080896000
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,713.420966978,680,661.420966978,631,881,787.420966978,806.420966978,652,631.420966978,652,0.450846127863,0.0045994429322,0.0496404348322,0.99999982294,0.000190361385137,-0.000563784512115,5.45394138771e-06,1793243641097562368
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,713.996877368,680,661.996877368,631,881,787.996877368,806.996877368,652,631.996877368,652,0.450522961423,0.00460152392091,0.0496618204563,0.999999846166,0.000195452980948,-0.00051908853318,3.59669015581e-06,1793243641114228992
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.582196024,662,631.582196024,881,787.417803976,806.417803976,652,631.417803976,652,0.450174526189,0.0046049077382,0.0496868361353,0.999999865181,0.000202333963456,-0.000478218322582,2.56216360271e-06,1793243641130895872
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.165783024,746,714,681,662.165783024,632,881,787,806,652,631,652,0.449807868326,0.00460855124895,0.0497101038136,0.999999881348,0.000209066065512,-0.00043999170673,1.40703403603e-06,1793243641147562752
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.744924394,746,714,681,662.744924394,632,881,787,806,652,631,652,0.449396118242,0.00461282456165,0.0497289637334,0.999999893445,0.000215402630096,-0.000408304553613,-5.99865056256e-08,1793243641164229376
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.676644552,745.676644552,714,680.676644552,662.676644552,632,880.676644552,787,806.323355448,652,631,652,0.448953376156,0.00461617321194,0.0497424761973,0.999999901597,0.000221654906645,-0.000384280635138,-1.8711306489e-06,1793243641180896256
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.098772531,745.098772531,714,680.098772531,662.098772531,632,880.098772531,787,806.901227469,652,631,652,0.448486239886,0.0046187940509,0.0497517796229,0.999999906953,0.000227840839913,-0.0003662885283,-3.95313835989e-06,1793243641197563136
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.475934668,745.475934668,714,680,662.475934668,632.475934668,880.475934668,787,806.524065332,652,631,652,0.447969339328,0.00461965779715,0.0497550863914,0.999999909712,0.000231752679048,-0.000356132790548,-5.93797586025e-06,1793243641214229760
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.948612991,745.948612991,714,680.051387009,663,633,880.948612991,787,806,652,631,652,0.447440117064,0.00462027220573,0.0497570484367,0.999999911699,0.000235292253834,-0.000348103658675,-7.92803106476e-06,1793243641230896640
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.358508331,745.358508331,714,680.641491669,663,633,880.358508331,787,806,652,631,652,0.446889275724,0.00462207030694,0.0497578737004,0.999999911524,0.000239844220486,-0.000345432001611,-1.01828031876e-05,1793243641247563776
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.226909632,745,714,680.773090368,663.226909632,633,880,787,806,652,631,652,0.446325085971,0.00462598866587,0.0497637499624,0.999999913254,0.000247073255386,-0.000335087563903,-1.27669694366e-05,1793243641264230656
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.80507261,745,714,680.19492739,663.80507261,633,880,787,806,652,631,652,0.445740233069,0.00463318915779,0.0497774451081,0.999999917534,0.000258446358934,-0.00031286575531,-1.58610336379e-05,1793243641280897024
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.617729531,745,714,680,664,633,880.382270469,787,806,652,631,652,0.445117345897,0.00463871191683,0.0497974546763,0.999999920808,0.000268469593381,-0.000293218018068,-1.82160911156e-05,1793243641297563648
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.041022583,745,714,680,664,633,880.958977417,787,806,652,631,652,0.444475113147,0.00464338132049,0.0498206759859,0.999999923429,0.000277806235578,-0.000274879546523,-2.01952631578e-05,1793243641314230784
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,663.456823482,633.543176518,880.456823482,787,806,652,631,652,0.443759794152,0.00464961999279,0.0498043229037,0.999999911153,0.000289524246436,-0.00030550148188,-2.32056735485e-05,1793243641330896896
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.127133856,745.127133856,714,680,663.127133856,634,880,787,806,651.872866144,631.127133856,652,0.443034906263,0.0046537729593,0.0497851280973,0.999999898078,0.000298658082087,-0.000337519145874,-2.69776749993e-05,1793243641347563008
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.708179407,745.708179407,714,680,663.708179407,634,880,787,806,651.291820593,631.708179407,652,0.442295837252,0.00465005017226,0.0497666076389,0.999999889864,0.000297914415022,-0.000361133468855,-3.31868612212e-05,1793243641364229376
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745.712163597,714,680,664,634,880.287836403,787,806.287836403,651,631.712163597,652,0.44157234143,0.00463213695954,0.0497755256655,0.999999902361,0.000278393614805,-0.000341305347757,-3.58611492878e-05,1793243641380896000
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745.133907549,714,680,664,634,880.866092451,787,806.866092451,651,631.133907549,652,0.440864558474,0.00459990596598,0.0498121284268,0.999999932063,0.000239927161297,-0.000277644901539,-3.49688151898e-05,1793243641397562880
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745,714.985609749,680,664,634,880,787.985609749,807,652,631,651.014390251,0.4393017476,0.00457337231907,0.0498313794419,0.999999965406,-4.96690552738e-05,-0.000255472782083,-3.81380327506e-05,1793243641430896384
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,714.39343149,680,664,634,880,787.39343149,807,652,631,651.60656851,0.438432411538,0.0045888783735,0.0497972264169,0.999999950498,-1.91600179045e-05,-0.000311096477238,-4.30857208897e-05,1793243641447562752
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.925689069,745,713.925689069,680,664.925689069,634,880,787,806,652,631,652,0.434989852558,0.00461556932679,0.0498006037039,0.99999994329,5.57136830578e-05,-0.000327311367652,-5.64249140625e-05,1793243641514229248
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.499054631,745,713.499054631,680,664.499054631,634,879.499054631,787,805.499054631,652,631,652,0.434107393919,0.00461667525865,0.0497878690539,0.999999937494,6.46000167284e-05,-0.000342379241885,-6.01237242087e-05,1793243641530895872
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,663.592304586,634,880,787,806,652,631,652,0.429601358723,0.00460448635421,0.0497878574513,0.9999999311,0.00016448986704,-0.000331814084524,-2.53666277182e-05,1793243641614229248
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,663.018703348,634,880,787,806,652,631,652,0.428675988437,0.004611007267,0.0497687067828,0.999999920968,0.000167871711576,-0.000358953073523,-3.21923812664e-05,1793243641630895872
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,663.572063824,634,880.572063824,787,806,652,631,652,0.427726717,0.00461249863535,0.0497782702721,0.999999919679,0.000168945453095,-0.00036187006826,-3.38908508269e-05,1793243641647562496
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.159535814,713.840464186,679.840464186,663.840464186,634,880.680928373,787,806,652,631,652,0.426785127566,0.00461510333746,0.0497833117553,0.999999919811,0.000164808910046,-0.000363236788245,-3.57042780744e-05,1793243641664229376
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.73686315,713.26313685,679.26313685,663.26313685,634,879.5262737,787,806,652,631,652,0.4258657655,0.00462106758424,0.0497739764656,0.99999992266,0.000147231435659,-0.00036268170565,-3.82713355007e-05,1793243641680896000
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.689408676,713.310591324,679,663.310591324,634,879,787,805.689408676,652.310591324,631.310591324,652,0.424986472043,0.00462048565172,0.0497889313192,0.999999936157,0.000141479175118,-0.000325745834674,-3.9485829112e-05,1793243641697562880
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.118694855,713.881305145,679,663.881305145,634,879,787,805.118694855,652.881305145,631.881305145,652,0.424140736384,0.00461442124603,0.0498242293451,0.999999955243,0.000145630617751,-0.000258340787255,-3.95675404123e-05,1793243641714229760
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.369332158,663.369332158,634.630667842,880,787,805.630667842,652,631.630667842,652,0.421404077743,0.00460545775985,0.0498127752688,0.99999994824,0.000149783413005,-0.000281792017726,-4.09765536473e-05,1793243641764229632
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.501357528,679.501357528,663.498642472,634,879,788,805,652,631,651.501357528,0.417047261479,0.00462266987083,0.0497886771764,0.999999921845,0.000164424322203,-0.000357203956594,-4.09899462488e-05,1793243641847563008
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.319526971,745,713.319526971,679.319526971,663.680473029,634,879,787.319526971,805.680473029,652,631,652,0.415473291611,0.00460809847385,0.049817954924,0.999999948204,0.000134858075125,-0.000289046365645,-4.31070174119e-05,1793243641880896512
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.279881533,745.279881533,713.279881533,679,663.720118467,634,879,787.279881533,806,652,631,652,0.41468410531,0.00460660117775,0.0498194348011,0.99999995062,0.000126137386903,-0.000284604581897,-4.29957911429e-05,1793243641897563136
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.858721055,745.858721055,713.858721055,679,663.141278945,634,879,787.858721055,806,652,631,652,0.413884061075,0.00461206182667,0.0497981556909,0.99999993766,0.000133682276149,-0.000323945027669,-4.32287427552e-05,1793243641914229504
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.006259918,745.006259918,713.006259918,679,663.006259918,634,879,787.006259918,805,652,631.993740082,652,0.412390192606,0.00462126468234,0.0497775665047,0.999999923117,0.000164780977684,-0.000353135421645,-4.36768526085e-05,1793243641947562752
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.595246854,745.595246854,713.595246854,679,663.595246854,634,879,787.595246854,805,652,631.404753146,652,0.411725303912,0.00462165675796,0.0498068951601,0.999999936023,0.000160978373915,-0.000316522344956,-4.30444567004e-05,1793243641964229376
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.238333197,713.238333197,679,664,633.238333197,879.761666803,788,804.238333197,652,631.761666803,652,0.410334505592,0.00462294370544,0.0498074675697,0.999999934427,0.00014596283022,-0.000328737889376,-4.20868894294e-05,1793243641997563136
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,663.660808788,633.339191212,879.660808788,788,804.339191212,652,631.660808788,652,0.409682909185,0.00461986702686,0.0497984085514,0.999999931039,0.000139963472348,-0.000341413283945,-4.20722746162e-05,1793243642014229760
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,663.063493982,634,879,787.063493982,805,653,631,652,0.407969693509,0.00459794434578,0.0498295862305,0.999999949929,0.000124560374903,-0.000287955016346,-4.13248966193e-05,1793243642064229632
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,713.818981495,679,664,634,879,787.181018505,805,652.181018505,631,652,0.406362542386,0.00460528083596,0.0498053266705,0.999999932763,0.000127376919996,-0.000341235437094,-4.25205340692e-05,1793243642114229504
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.032385265,745.967614735,714,679,663.032385265,634,879,787.967614735,805.967614735,652.967614735,630.032385265,652,0.405400315743,0.00461230871476,0.0497710482538,0.999999913663,0.00013772683936,-0.000389471911631,-4.49192776628e-05,1793243642147563008
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.558329464,745.441670536,713.441670536,679,663.558329464,634,879.558329464,787.441670536,805.441670536,653,630.558329464,652,0.405011431677,0.00461569862146,0.0497837172207,0.999999920461,0.000146142193392,-0.000368308243613,-4.54828836591e-05,1793243642164229632
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,664.727344109,634,879.272655891,787.727344109,804.272655891,653,631,652,0.404306303159,0.00461856137017,0.0498375635718,0.999999945456,0.000156550505745,-0.000287340173856,-4.48934359645e-05,1793243642197562880
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.695218175,745,713.304781825,679,664.695218175,634,879.304781825,788,804.304781825,653,631,652,0.4039774129,0.00461922454536,0.0498596974158,0.999999953839,0.000157816568409,-0.0002557815228,-4.46203841716e-05,1793243642214229504
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.45517531,745,713.54482469,679,663.54482469,634,879.54482469,787.54482469,805,653,631,652,0.403341826666,0.00462234125435,0.0498634427192,0.999999952624,0.000160235922881,-0.00025883272918,-4.56278184993e-05,1793243642247563008
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745.031524846,713.031524846,679,663.031524846,634,879,787.031524846,805.031524846,652.968475154,631,652,0.403036611096,0.00462472715483,0.0498507808024,0.999999944786,0.000163982087754,-0.000285242917508,-4.66274718949e-05,1793243642264229120
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745.215369837,713.215369837,679,664,634.784630163,879,787.215369837,805.215369837,652,631,652,0.402296332765,0.00462780953378,0.0498146630615,0.999999935122,9.14757524634e-05,-0.000344915310469,-4.92068484517e-05,1793243642314229504
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745.935207888,713,678.064792112,664,634.064792112,879,787,805,652,631,652,0.401937215255,0.00462728962592,0.0498230600467,0.999999944578,5.52592228643e-05,-0.000324514353829,-4.98000896547e-05,1793243642347562496
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,746,713.521418931,678.521418931,664,634,879,787,805,652.521418931,631.521418931,652,0.401801417307,0.00462693118777,0.0498290665147,0.999999945037,0.0001170336244,-0.000307959841857,-3.72700011357e-05,1793243642364229120
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745.892003327,714,678.892003327,664,634,879.107996673,787,805,653,631.892003327,652,0.401674537168,0.0046225271606,0.0498356222797,0.999999942689,0.000169934346399,-0.000291699143475,-2.56040463689e-05,1793243642380896000
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9cd22786c0d5d051f9c39424d42a69acc8556958
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1800c4f75d9e5f7bdc688b1ef573aaaea45443a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24728c714c68c5bfe60e0043adcd0c703f0fe99cf28a9839947fc92eeb85b199
+size 26019113
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7bf0cc4c191682cbd698f634a554d42cbb677052
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+3,0.050000000,BASELINE,765,745.729246494,714,679,664,634.729246494,879,787,805,652.729246494,631.270753506,652,0.40099829152,0.00459068398337,0.049860164092,0.999999962708,0.000126785730582,-0.000239823704057,-3.15261164141e-05,1793243643174432000
+4,0.066666667,BASELINE,765,746,714,679,664,635,879,787.312463954,805,653,631,652,0.40099902123,0.00459168791288,0.0498605184917,0.999999962892,0.000127064703518,-0.000238884078906,-3.17042012001e-05,1793243643191098880
+5,0.083333333,BASELINE,765,746,714,679,664,635,879,787.903547594,805,653,631,652,0.401000592869,0.00459243597067,0.0498614973082,0.999999963363,0.000127201797393,-0.000236821622237,-3.17566881319e-05,1793243643207765248
+6,0.100000000,BASELINE,765,745.51692817,714,679,664,634.51692817,879,788,805.48307183,652.51692817,631,652,0.401000520692,0.00459146042618,0.0498614960782,0.999999963404,0.000126975809004,-0.000236783502742,-3.16675125506e-05,1793243643224431872
+7,0.116666667,BASELINE,764.939800154,745,714,679,664,634,879,788,805.939800154,652.060199846,631,652,0.401000204211,0.00459035311999,0.0498613529732,0.999999963357,0.000126743318213,-0.000237121980569,-3.15507930616e-05,1793243643241098240
+8,0.133333333,BASELINE,764.363889878,745,714,679,664,634,879,788,805.363889878,652.636110122,631,652,0.401000540815,0.00459099630693,0.0498616316275,0.999999963277,0.000127061646428,-0.000237305011373,-3.14347596363e-05,1793243643257765120
+9,0.150000000,BASELINE,764.216490171,745,714,679,664,634.216490171,879,788,805,653,631,652.216490171,0.401000865219,0.00459125295016,0.049862323715,0.9999999634,0.000127088580389,-0.000236777968362,-3.13939461384e-05,1793243643274431744
+10,0.166666667,BASELINE,764.804541618,745,714,679,664,634.804541618,879,788,805,653,631,652.804541618,0.401001168683,0.00459084616982,0.0498637253765,0.999999963869,0.000126615395447,-0.000235032228285,-3.14822323337e-05,1793243643291098368
+11,0.183333333,BASELINE,765,745.387069426,714,679.387069426,664,635,879,788,805,653,631,653,0.401000036569,0.00459101099105,0.0498632609105,0.999999963679,0.00012706447673,-0.000235590790567,-3.15160144522e-05,1793243643307764992
+12,0.200000000,BASELINE,765,745.966847261,714,679.966847261,664,635,879,788,805,653,631,653,0.400998189729,0.00459146039281,0.0498618673647,0.99999996316,0.000127972722253,-0.000237296584709,-3.15226608937e-05,1793243643324431872
+13,0.216666667,BASELINE,765,746,713.456577709,679.456577709,664,634.456577709,879,787.456577709,805,653,631,652.456577709,0.401000600666,0.00459200302413,0.0498628766538,0.999999963717,0.000127470515396,-0.000235184828473,-3.17071918325e-05,1793243643341098496
+14,0.233333333,BASELINE,765,746,713,679,664,634,879,787.119312374,805,653,631,652,0.401002696678,0.00459211299046,0.0498637786714,0.99999996421,0.000126915389777,-0.000233380475087,-3.17169175166e-05,1793243643357765120
+15,0.250000000,BASELINE,765,746,713,679,664,634,879,787.693332543,805,653,631,652,0.401002608341,0.00459055249128,0.0498637164766,0.999999964228,0.000126484600096,-0.000233630046728,-3.10193318388e-05,1793243643374431488
+16,0.266666667,BASELINE,765,746,713.275438788,678.724561212,664,634,879,787.724561212,805,653,631,652,0.401001963203,0.00458977809798,0.0498632945875,0.999999964177,0.000126209240214,-0.000234038402108,-3.07086956538e-05,1793243643391098368
+17,0.283333333,BASELINE,765,746,713.866820144,678.133179856,664,634,879,787.133179856,805,653,631,652,0.401000679386,0.00458990540897,0.0498624601102,0.999999964047,0.000126112166397,-0.000234628890655,-3.08419106399e-05,1793243643407765248
+18,0.300000000,BASELINE,765,746,714,678.447941664,664,634,879,787.447941664,805,653,631,652,0.401001332295,0.0045916350609,0.049862453701,0.999999963751,0.000128051279122,-0.000234781656363,-3.12673486729e-05,1793243643424431616
+19,0.316666667,BASELINE,765,745.974134743,713.974134743,679,664,634.025865257,879.025865257,787.974134743,805.025865257,653,631,652,0.401002434566,0.00459362491829,0.0498626598781,0.999999963444,0.000130219851375,-0.000234832229947,-3.17495711205e-05,1793243643441098240
+20,0.333333333,BASELINE,765,745.400779314,713.400779314,679,664,634.599220686,879.599220686,787.400779314,805.599220686,653,631,652,0.401001133039,0.00459126437403,0.0498622713043,0.999999964013,0.000124718049206,-0.000235412729158,-3.16358893941e-05,1793243643457765376
+21,0.350000000,BASELINE,765,745.174043609,713.174043609,679,664,634.825956391,879.825956391,787.174043609,805.825956391,653,631,652,0.400999984005,0.0045897536987,0.049861934575,0.999999964247,0.000121668422007,-0.000236025226347,-3.15384736164e-05,1793243643474432256
+22,0.366666667,BASELINE,765,745.752274459,713.752274459,679,664,634.247725541,879.247725541,787.752274459,805.247725541,653,631,652,0.400999189112,0.00459021670249,0.0498617182462,0.999999963761,0.000124313562818,-0.000236712033438,-3.14788328079e-05,1793243643491098624
+23,0.383333333,BASELINE,765,745.662569244,714,679,664,634,879,788,805,653,631,652,0.400999540716,0.00459038406814,0.0498619245027,0.999999963572,0.000126032965166,-0.000236614770044,-3.14023105445e-05,1793243643507764992
+24,0.400000000,BASELINE,765,745.072222016,714,679,664,634,879,788,805,653,631,652,0.40100075166,0.00459032984245,0.049862447502,0.999999963606,0.000127058493562,-0.000235929817729,-3.13131350179e-05,1793243643524431616
+25,0.416666667,BASELINE,765,745.50898794,714,679,664,634,879,788,805,653,631,652,0.40100159901,0.00458953940876,0.0498628013486,0.999999964012,0.000125837560762,-0.000234874636895,-3.12225474637e-05,1793243643541098240
+26,0.433333333,BASELINE,765,745.911877524,713.911877524,678.911877524,664,634,879,788,805,653,631,652.088122476,0.401002125327,0.00458891550396,0.0498630180374,0.999999964328,0.000124777452158,-0.000234102618085,-3.11468399851e-05,1793243643557764864
+27,0.450000000,BASELINE,765,745.337169863,713.337169863,678.337169863,664,634,879,788,805,653,631,652.662830137,0.401001158843,0.00458977776057,0.049862607576,0.99999996388,0.000126334408468,-0.00023517908782,-3.11543824699e-05,1793243643574431488
+28,0.466666667,BASELINE,765,745,713,678,663.757087945,634,879,788,805,653,631,652.757087945,0.401000408916,0.0045903953889,0.0498623386748,0.999999963609,0.000127150383312,-0.00023588591161,-3.12006576998e-05,1793243643591098624
+29,0.483333333,BASELINE,765,745,713,678,663.169377645,634,879,788,805,653,631,652.169377645,0.400999966376,0.00459066578284,0.0498622707094,0.999999963592,0.000126914581901,-0.000236068046379,-3.13019116028e-05,1793243643607765760
+30,0.500000000,BASELINE,765,745.412488542,713,678.412488542,663.412488542,634,879,788,805,652.587511458,631,652,0.401000723065,0.0045907035978,0.0498629442457,0.999999963871,0.000126360433294,-0.000235173891513,-3.13607578987e-05,1793243643624432128
+31,0.516666667,BASELINE,765,745.991988506,713,678.991988506,663.991988506,634,879,788,805,652.008011494,631,652,0.401001965305,0.00459064724445,0.0498639180068,0.999999964268,0.000125677389917,-0.000233843960505,-3.14024338854e-05,1793243643641098496
+32,0.533333333,BASELINE,765,746,713.570090031,678.429909969,664,634.570090031,879,788,805,652,631,652,0.401001376526,0.00458962623339,0.0498638985045,0.999999964348,0.000124430709072,-0.000234163683283,-3.14302074178e-05,1793243643657765376
+33,0.550000000,BASELINE,765,745.852395582,713.852395582,678.147604418,664,634.852395582,879,788,805,652.147604418,631,652.147604418,0.401000731625,0.00458951134241,0.049863767809,0.9999999643,0.000124435654995,-0.000234353155515,-3.15329470815e-05,1793243643674431744
+34,0.566666667,BASELINE,765,745.276527955,713.276527955,678.723472045,664,634.276527955,879,788,805,652.723472045,631,652.723472045,0.400999998365,0.00459206472794,0.0498633548949,0.999999963888,0.000128095028273,-0.000234097617334,-3.18537608477e-05,1793243643691098368
+35,0.583333333,BASELINE,765,745,713.305359857,679,664,634,879,788,805.305359857,653,631,652.694640143,0.40100002627,0.00459227382979,0.0498632781473,0.999999963892,0.000127886333184,-0.000234195636744,-3.184933291e-05,1793243643707764992
+36,0.600000000,BASELINE,765,745,713.892809142,679,664,634,879,788,805.892809142,653,631,652.107190858,0.401000757334,0.00459031729809,0.0498635119481,0.999999964278,0.000124104342386,-0.000234620270302,-3.15444488611e-05,1793243643724431616
+37,0.616666667,BASELINE,765,745,714,679,664,634.474268743,879,788,805.525731257,653,631,652,0.401001582119,0.00459031314434,0.0498639837175,0.999999964285,0.000125970482102,-0.000233618103194,-3.13806054927e-05,1793243643741098496
+38,0.633333333,BASELINE,765,745,714,679,663.946172844,634.946172844,879,788,805,653,631,652,0.401002248233,0.00459071323636,0.0498643458375,0.999999964189,0.000128595900788,-0.000232610828375,-3.12714548921e-05,1793243643757765120
+39,0.650000000,BASELINE,765,745,714,679,663.37206868,634.37206868,879,788,805,653,631,652,0.401001178489,0.00459080872859,0.0498631347441,0.999999963996,0.000126375418504,-0.000234632258591,-3.13866771106e-05,1793243643774432000
+40,0.666666667,BASELINE,765,745,714,679,663.414016978,634,879,788,805,653,631,652.207008489,0.401000426654,0.0045906106662,0.0498622633776,0.999999963853,0.000124820600309,-0.000236062047616,-3.14383343565e-05,1793243643791098880
+41,0.683333333,BASELINE,765,745,714,679,664.590487823,634,879,788,805,653,631,652.795243912,0.401000260279,0.0045898719935,0.0498620176523,0.999999963816,0.00012449166956,-0.000236402269819,-3.13729303114e-05,1793243643807764992
+42,0.700000000,BASELINE,765,745.377723397,713.622276603,679,664.622276603,634.377723397,879,788,805,653,631,653,0.400999813797,0.00458969123105,0.0498619213001,0.999999963715,0.00012466757701,-0.000236721318436,-3.14781307268e-05,1793243643824431360
+43,0.716666667,BASELINE,765,745.957129522,713.042870478,679,664.042870478,634.957129522,879,788,805,653,631,653,0.400999217754,0.00458980836084,0.0498619047046,0.99999996358,0.000125113039246,-0.000237029061558,-3.16744241851e-05,1793243643841097984
+44,0.733333333,BASELINE,764.465152227,746,713.534847773,679,664,635,879,787.465152227,805,653,631,652.465152227,0.401000791037,0.00459007462526,0.0498630454062,0.999999964067,0.000125778943532,-0.000234629146117,-3.15355875859e-05,1793243643857764864
+45,0.750000000,BASELINE,764.111408455,745.888591545,714,679,664.111408455,634.888591545,879,787.111408455,805,653,631,652,0.40100206429,0.00459023926901,0.0498640185616,0.999999964552,0.000125876309279,-0.00023252402511,-3.13545141236e-05,1793243643874431488
+46,0.766666667,BASELINE,764.683737832,745.316262168,714,679,664.683737832,634.316262168,879,787.683737832,805,653,631,652,0.401001379131,0.00458993418606,0.0498639159703,0.999999964848,0.000123548635406,-0.00023253361339,-3.11094827627e-05,1793243643891098624
+47,0.783333333,BASELINE,765,745.265163427,713.734836573,679,664.734836573,634,879.265163427,787.734836573,805,653,631,652,0.401000924273,0.00458967749892,0.0498638061703,0.999999964831,0.000123122846779,-0.000232849475051,-3.09729531539e-05,1793243643907765504
+48,0.800000000,BASELINE,765,745.85782361,713.14217639,679,664.14217639,634,879.85782361,787.14217639,805,653,631,652,0.401000753852,0.00458948058421,0.049863687467,0.999999964431,0.000125046029029,-0.000233543607353,-3.09704313292e-05,1793243643924432384
+49,0.816666667,BASELINE,765,745.560960268,713.439039732,678.560960268,664,634.439039732,879.560960268,787.439039732,805,652.560960268,631,652,0.40100111984,0.00458901833512,0.0498638425841,0.999999964701,0.000123498939334,-0.000233200158324,-3.104941993e-05,1793243643941099008
+50,0.833333333,BASELINE,765,745.016618528,714,678.016618528,664,635,879,787.983381472,805,652.016618528,631,652,0.401001617543,0.00458850494629,0.049864065042,0.999999965154,0.00012094525575,-0.000232579180726,-3.11521645556e-05,1793243643957765632
+51,0.850000000,BASELINE,765,745.593339585,714,678.593339585,664,635,879,787.406660415,805,652.593339585,631,652,0.401000848702,0.00458909035695,0.0498636444686,0.999999964853,0.000121379465112,-0.000233641375731,-3.11885359005e-05,1793243643974432512
+52,0.866666667,BASELINE,765,745.830984455,714,679,664,635,879,787.169015545,805,653,631,652,0.401000715882,0.0045894663097,0.0498634866222,0.999999964631,0.000122223308549,-0.000234150468265,-3.11801251524e-05,1793243643991099136
+53,0.883333333,BASELINE,765,745.257807632,714,679,664,635,879,787.742192368,805,653,631,652,0.401002103958,0.00458934139265,0.0498639570258,0.999999964601,0.000124046696364,-0.000233336945116,-3.10646284659e-05,1793243644007765504
+54,0.900000000,BASELINE,764.673228434,745.326771566,714,678.673228434,664,634.673228434,879,787.673228434,805.326771566,653,631,652,0.401001179328,0.00458953458099,0.0498631714403,0.999999964211,0.000124722346518,-0.000234627676909,-3.1173362715e-05,1793243644024432384
+55,0.916666667,BASELINE,764.079328066,745.920671934,714,678.079328066,664,634.079328066,879,787.079328066,805.920671934,653,631,652,0.400998364109,0.00458998781372,0.0498613591104,0.999999963524,0.000124459745467,-0.000237638592384,-3.14654009881e-05,1793243644041099776
+56,0.933333333,BASELINE,764.499675792,746,714,678.999351585,664,634,879.499675792,787.499675792,805.500324208,653,631,652,0.401000262628,0.00459006768599,0.0498627386205,0.999999964009,0.000125726670517,-0.000234934020929,-3.13299389899e-05,1793243644057766400
+57,0.950000000,BASELINE,765,745.924272342,714,679.924272342,664,634.075727658,879.924272342,788,805,653,630.924272342,652.075727658,0.401002353779,0.00459015079055,0.0498642432859,0.999999964573,0.000126699428375,-0.00023200716523,-3.12146087439e-05,1793243644074432768
+58,0.966666667,BASELINE,765,745.352514394,714,679.352514394,664,634.647485606,879.352514394,788,805,653,630.352514394,652.647485606,0.401000946792,0.00459063208551,0.0498633446296,0.999999964549,0.000124200824472,-0.000233395790258,-3.16628338758e-05,1793243644091099392
+59,0.983333333,BASELINE,765,745,714,679,664,634.779858359,879.220141641,788,805.220141641,653,630.220141641,653,0.400999932141,0.00459021021746,0.049862774104,0.99999996466,0.000121663877613,-0.000234224424371,-3.18728156067e-05,1793243644107766272
+60,1.000000000,BASELINE,765,745,714,679,664,634.205758229,879.794241771,788,805.794241771,653,630.794241771,653,0.400999548314,0.00458833618345,0.049862731169,0.999999964996,0.000119065279989,-0.000234152667769,-3.16997336963e-05,1793243644124432128
+61,1.016666667,BASELINE,765,745.383696713,714,679,664,634,879.232606573,788,805.616303287,653,631,652.616303287,0.400999869823,0.00458902442103,0.0498633728512,0.999999964872,0.000120388820451,-0.000234032880969,-3.14903995898e-05,1793243644141098496
+62,1.033333333,BASELINE,765,745.981728919,714,679,664,634,878.036542161,788,805.018271081,653,631,652.018271081,0.401000585338,0.00459114396037,0.0498643969651,0.999999964484,0.000123903293047,-0.000233886264188,-3.12608147796e-05,1793243644157765120
+63,1.050000000,BASELINE,765,745.445208193,714,679,664,634,878.554791807,788,805,653,631,652.554791807,0.400999980866,0.00459059192126,0.0498632468703,0.99999996409,0.000125268280985,-0.000234832867057,-3.13162897e-05,1793243644174432000
+64,1.066666667,BASELINE,765,745,714,679,664,634,879,788,805,653,631,652.871540358,0.400999534093,0.00459032888354,0.0498623859717,0.999999963771,0.000126777366541,-0.0002353733818,-3.13702927667e-05,1793243644191098624
+65,1.083333333,BASELINE,765,745,714,679,664,634,879,788,805,653,631,652.292995917,0.400999785603,0.00459137341403,0.0498627784051,0.999999963718,0.000129028671072,-0.000234370371226,-3.13876629515e-05,1793243644207765248
+66,1.100000000,BASELINE,765,745.292990242,714,679.292990242,664,634.292990242,879.292990242,787.707009758,805,653,631,652.292990242,0.401000926763,0.00459174908532,0.0498636921736,0.999999964096,0.000129103489471,-0.000232712542739,-3.14006943097e-05,1793243644224431872
+67,1.116666667,BASELINE,765,745.886612171,714,679.886612171,664,634.886612171,879.886612171,787.113387829,805,653,631,652.886612171,0.401002980774,0.0045914384529,0.049865140874,0.999999964911,0.000126945056907,-0.000230382818169,-3.140927368e-05,1793243644241098240
+68,1.133333333,BASELINE,765,746,714,680.467202912,664,635,880,787.467202912,805,653,631,653,0.401003781274,0.00459173506914,0.0498653654427,0.99999996519,0.000125832604713,-0.000229787018268,-3.13607212994e-05,1793243644257764864
+69,1.150000000,BASELINE,764.955459725,745.955459725,713.955459725,680.91091945,664,635,879.955459725,788,805,652.955459725,631,652.955459725,0.401004059537,0.00459207580822,0.0498652261548,0.999999965292,0.000125052409508,-0.000229778401587,-3.13158584724e-05,1793243644274431488
+70,1.166666667,BASELINE,764.38022692,745.38022692,713.38022692,679.760453841,664,635,879.38022692,788,805,652.38022692,631,652.38022692,0.401001641802,0.00459123394232,0.0498641953065,0.99999996477,0.000125288449173,-0.000231888099562,-3.14756804504e-05,1793243644291098112
+71,1.183333333,BASELINE,764.198726153,745.198726153,713.198726153,679,664,635,879,788,805,652.198726153,631,652,0.401000540549,0.00459073551386,0.0498638196789,0.999999964555,0.000125367776994,-0.000232764733089,-3.15124515409e-05,1793243644307764736
+72,1.200000000,BASELINE,764.784933197,745.784933197,713.784933197,679,664,635,879,788,805,652.784933197,631,652,0.401002006204,0.00459090672756,0.0498647216159,0.999999964944,0.000125141544448,-0.00023123710916,-3.13092951691e-05,1793243644324431360
+73,1.216666667,BASELINE,765,746,714,679,664,635,879.36884375,788,805,653,631,652,0.401002516,0.00459036942071,0.0498646851178,0.999999965075,0.000124310028247,-0.0002311348095,-3.12100965022e-05,1793243644341098240
+74,1.233333333,BASELINE,765,746,714,679,664,635,879.951423507,788,805,653,631,652,0.4010024719,0.00458942154337,0.0498641048191,0.999999965055,0.000123127764864,-0.000231858450779,-3.11711388165e-05,1793243644357765120
+75,1.250000000,BASELINE,765,746,714,679,664,634.472182312,879.472182312,788,805,653,631,652,0.401003070553,0.00459032415863,0.0498643230261,0.999999965168,0.000122945563223,-0.000231390215708,-3.17268913708e-05,1793243644374431744
+76,1.266666667,BASELINE,765,746,714,679,664,634.102812134,879,788,805,653,631,652,0.401003361155,0.00459116764503,0.0498645519621,0.999999965196,0.000123303946277,-0.000231025849382,-3.21163118662e-05,1793243644391098624
+77,1.283333333,BASELINE,765,746,714,679,664,634.673993299,879,788,805,653,631,652,0.401001982054,0.00459097490983,0.0498644988688,0.999999964776,0.000125710575244,-0.000231628586292,-3.15015416352e-05,1793243644407764992
+78,1.300000000,BASELINE,765.253921143,746,714,679,664,634.746078857,879,788,805,653,631,652.253921143,0.401000927277,0.00459033305285,0.0498638414365,0.999999964441,0.000126362300097,-0.000232775083207,-3.10785327135e-05,1793243644424431360
+79,1.316666667,BASELINE,765.845479336,746,714,679,664,634.154520664,879,788,805,653,631,652.845479336,0.401000303751,0.00458909400201,0.0498623804194,0.999999964221,0.000124680541856,-0.000234644613693,-3.09105074226e-05,1793243644441097984
+80,1.333333333,BASELINE,765.569436596,745.569436596,713.569436596,679,664,634.430563404,879.430563404,788,805,653,631,652.569436596,0.400999450768,0.00458929877508,0.0498619205664,0.999999964037,0.000124584895945,-0.000235439398706,-3.11983076929e-05,1793243644457764864
+81,1.350000000,BASELINE,765.013122671,745.013122671,713.013122671,679,664,635,879.986877329,788,805,653,631,652,0.400998579999,0.00459000773766,0.0498618424379,0.999999963884,0.000125030471151,-0.000235794539948,-3.16368410422e-05,1793243644474431744
+82,1.366666667,BASELINE,765.585629064,745.585629064,713.585629064,679,664,635,879.414370936,788,805,653,631,652,0.401000409314,0.00459044838436,0.0498629471719,0.999999964446,0.00012464179309,-0.000233606849989,-3.16307552551e-05,1793243644491098624
+83,1.383333333,BASELINE,766,745.841298782,714,679,663.841298782,634.841298782,879,788,805,652.841298782,631,652.158701218,0.401001941419,0.00459059677496,0.0498639619696,0.999999964902,0.00012434116093,-0.000231809571868,-3.16084284833e-05,1793243644507765248
+84,1.400000000,BASELINE,766,745.266744011,714,679,663.266744011,634.266744011,879,788,805,652.266744011,631,652.733255989,0.401002694728,0.00458997935087,0.0498647411022,0.999999965092,0.000124271240221,-0.000231035310948,-3.15435445631e-05,1793243644524431872
+85,1.416666667,BASELINE,766,745,714,679.316496542,663.632993084,634.316496542,879.316496542,787.683503458,805.316496542,652.316496542,631,652.683503458,0.401003429499,0.00458965967871,0.0498653135306,0.999999965443,0.000123752253542,-0.000229789499453,-3.15698038946e-05,1793243644541098496
+86,1.433333333,BASELINE,766,745,714,679.907264023,664.814528046,634.907264023,879.907264023,787.092735977,805.907264023,652.907264023,631,652.092735977,0.401004148204,0.00458959803372,0.0498657068321,0.99999996593,0.000122844113344,-0.000228135049674,-3.16750465423e-05,1793243644557765120
+87,1.450000000,BASELINE,765.512394535,745.487605465,714,679.512394535,664.512394535,634.512394535,879.512394535,787.487605465,805.512394535,653,631,652,0.401002574288,0.00459084105283,0.0498648412002,0.999999965236,0.000124882057655,-0.000230059308914,-3.17148720016e-05,1793243644574431744
+88,1.466666667,BASELINE,765,746,713.934333439,679.065666561,664,634,879,787.934333439,805,653,631,652,0.401000793824,0.00459184605047,0.0498638655818,0.999999964455,0.000126795932958,-0.000232395236864,-3.16903778074e-05,1793243644591098112
+89,1.483333333,BASELINE,765,746,713.358903694,679.641096306,664,634,879,787.358903694,805,653,631,652,0.40100072392,0.00458911742908,0.0498638559277,0.9999999648,0.000123488131557,-0.000232753914866,-3.12611363531e-05,1793243644607764736
+90,1.500000000,BASELINE,765,746,713,680,664,634.216443435,879.216443435,787.216443435,805.216443435,653,631,652,0.401000684142,0.00458793749982,0.0498638516526,0.999999964954,0.000121877363578,-0.000232969260798,-3.1033073545e-05,1793243644624431616
+91,1.516666667,BASELINE,765,746,713,680,664,634.791653568,879.791653568,787.791653568,805.791653568,653,631,652,0.401000694301,0.00458932461176,0.0498638562935,0.999999964809,0.00012307952059,-0.000232947026043,-3.11384752647e-05,1793243644641098496
+92,1.533333333,BASELINE,765.377993522,745.622006478,713.377993522,680,664,634.622006478,880,788,805.622006478,652.622006478,631,652,0.401000368867,0.00458989467003,0.0498632979655,0.999999964572,0.000123898809443,-0.000233502902191,-3.13292484634e-05,1793243644657765120
+93,1.550000000,BASELINE,765.970654296,745.029345704,713.970654296,680,664,634.029345704,880,788,805.029345704,652.029345704,631,652,0.400999852845,0.00459000071344,0.0498624199205,0.999999964283,0.000124500662791,-0.000234387094756,-3.15685052029e-05,1793243644674431488
+94,1.566666667,BASELINE,766,745.550500412,713.449499588,679.449499588,664,634,879.449499588,788,805,652.550500412,631,652,0.401000464276,0.00458839869759,0.0498636316423,0.999999964918,0.000121775677211,-0.000233163593751,-3.11218964046e-05,1793243644691097856
+95,1.583333333,BASELINE,765.87179319,746,713.12820681,679,664,634,879,788,805,653,631,652,0.401001177505,0.00458761483001,0.049864582536,0.999999965407,0.000120043439368,-0.000231997153553,-3.08538305816e-05,1793243644707764736
+96,1.600000000,BASELINE,765.299189454,746,713.700810546,679,664,634,879,788,805,653,631,652,0.401002040005,0.00458997529852,0.049864251979,0.999999965249,0.000122353050851,-0.000231409092881,-3.13284882028e-05,1793243644724431360
+97,1.616666667,BASELINE,765,746,714,679.28188976,664,634.28188976,879.28188976,788,805,653,631,652.28188976,0.401001999377,0.00459074859536,0.049863872359,0.999999964943,0.000123903467235,-0.000231892603592,-3.14425597468e-05,1793243644741098240
+98,1.633333333,BASELINE,765,746,714,679.872243414,664,634.872243414,879.872243414,788,805,653,631,652.872243414,0.401000970482,0.00458978509556,0.049863439051,0.999999964477,0.000124623118022,-0.00023354870422,-3.11620522425e-05,1793243644757764864
+99,1.650000000,BASELINE,765.452460769,745.547539231,713.547539231,679.547539231,664,634.547539231,879.547539231,788,805,653,631,652.547539231,0.401000766667,0.0045893453528,0.0498633639992,0.999999964448,0.00012472583418,-0.000233639344663,-3.09720494595e-05,1793243644774431488
+100,1.666666667,BASELINE,765.970224844,745,713.029775156,679,664,634.029775156,879.029775156,787.970224844,805,653,631,652.029775156,0.401000791055,0.00458902160229,0.0498634316407,0.999999964554,0.000124623078885,-0.000233262700403,-3.08176978951e-05,1793243644791098368
+101,1.683333333,BASELINE,765.394808827,745,713.605191173,679,664,634.605191173,879.605191173,787.394808827,805,653,631,652.605191173,0.401000821672,0.00458817273712,0.0498643010704,0.999999964882,0.000123877266453,-0.000232245627135,-3.08586270401e-05,1793243644807764992
+102,1.700000000,BASELINE,765,745.18511726,714,679.18511726,664,634.81488274,879.81488274,787.18511726,805,653,631,652.81488274,0.401001106978,0.00458868857613,0.0498647902805,0.999999965037,0.000123876486301,-0.000231537609812,-3.11624140048e-05,1793243644824431616
+103,1.716666667,BASELINE,765,745.77490232,714,679.77490232,664,634.22509768,879.22509768,787.77490232,805,653,631,652.22509768,0.401001949037,0.00459218766942,0.0498644483271,0.999999964814,0.000125504352723,-0.000231505191368,-3.20408102427e-05,1793243644841098240
+104,1.733333333,BASELINE,765,746,714,680,664,634,879.358057109,787.641942891,805,653,631,652,0.40100165204,0.00459244032104,0.0498639409457,0.999999964573,0.000126111787789,-0.00023222529278,-3.19431105195e-05,1793243644857764864
+105,1.750000000,BASELINE,765,746,714,680,664,634,879.937119521,787.062880479,805,653,631,652,0.401000651978,0.00459068915627,0.0498633314562,0.999999964323,0.000126089377282,-0.00023340987562,-3.12429304993e-05,1793243644874431488
+106,1.766666667,BASELINE,765,746,714,679.484428037,664,634.515571963,880,787,805,653,631.515571963,652.515571963,0.401001077126,0.00458979857221,0.049863889653,0.999999964766,0.000123936047819,-0.000232669815562,-3.11975440286e-05,1793243644891098112
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,879,788,805,652,631,652,0.400997918637,0.00458846600174,0.0498626940831,0.999999964488,0.000121213492539,-0.000235345519302,-3.07365224685e-05,1793243644934035968
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745.588426835,713.411573165,679,664,634,879,788,805,652.588426835,631,652,0.401001318792,0.00458911077687,0.0498645474004,0.999999965069,0.000123058657525,-0.000231855850336,-3.1003873284e-05,1793243644950702592
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.825935612,713,679,664,634,878.825935612,787.825935612,805,653,631,652,0.401003142695,0.00458976256864,0.0498652901183,0.999999965399,0.000123965152984,-0.000229891999183,-3.13777834823e-05,1793243644967369216
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.246789151,713,679,664,634,878.246789151,787.246789151,805,653,631,652,0.401001298351,0.00459043068961,0.0498634482532,0.999999965171,0.000122687180168,-0.000231479025547,-3.19996783803e-05,1793243644984035840
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,713.33011306,679,664,634,878.33011306,787,805,653,631,652,0.40100070976,0.00459006840848,0.049863093386,0.999999964975,0.000122921919094,-0.000232212396799,-3.19130376626e-05,1793243645000702720
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,713.905348788,679,664,634,878.905348788,787,805,653,631,652,0.401001053619,0.00458894101091,0.0498638426768,0.999999964803,0.000124279909442,-0.000232311893553,-3.13002797625e-05,1793243645017369344
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,713.509198485,679,664,634,879,787,805,653,631,652,0.401000544685,0.00458879406953,0.0498637140186,0.999999964881,0.000122828874562,-0.000232736684255,-3.13777800535e-05,1793243645034035968
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,713,679,664,634.077210145,879.077210145,787.077210145,805,653,631,652,0.401000108943,0.00458881314551,0.0498635645406,0.999999965016,0.000121152091705,-0.000233013278532,-3.15279123736e-05,1793243645050702592
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,713,679,664,634.656746305,879.656746305,787.656746305,805,653,631,652,0.401001242113,0.00458865601633,0.0498644045696,0.999999965226,0.000121605945716,-0.000231908897673,-3.12661234846e-05,1793243645067369216
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,713,679,664,634.764741585,879.764741585,787.764741585,805,653,631,652.235258415,0.4010047143,0.00458884552152,0.0498660909781,0.999999965666,0.000122896193663,-0.000229346756792,-3.1047277569e-05,1793243645084036096
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,713,679,664,634.187717191,879.187717191,787.187717191,805,653,631,652.812282809,0.401011584436,0.00458953859144,0.0498690069441,0.999999966423,0.000125401492654,-0.000224666890344,-3.08908160428e-05,1793243645100702720
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745.388521149,713.388521149,679,664,634.388521149,879,787.388521149,805,653,631,652.611478851,0.4010326091,0.00459000154843,0.049876464727,0.999999969691,0.00012532228011,-0.000209647249273,-3.09798762023e-05,1793243645117369344
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745.964380519,713.964380519,679,664,634.964380519,879,787.964380519,805,653,631,652.035619481,0.401060458835,0.00459035354899,0.0498861124963,0.999999973844,0.000123996860703,-0.000189641946092,-3.11873226753e-05,1793243645134036224
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.447470357,713.447470357,679.552529643,664,635,879.552529643,788,805,653,631,652,0.401114861748,0.00458902488391,0.0499024814506,0.999999980009,0.000122386131334,-0.00015507539358,-3.09086055611e-05,1793243645150702592
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745.13923086,713.13923086,679.86076914,664,635,880,788,805,653,631,652,0.40117395606,0.00458801592009,0.0499181593008,0.999999984428,0.000121368218051,-0.000124462512705,-3.03707547729e-05,1793243645167369216
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745.718790472,713.718790472,679.281209528,664,635,880,788,805,653,631,652,0.40124235051,0.00458836848491,0.0499302499984,0.999999986116,0.000122284625251,-0.000109389701952,-2.91147466052e-05,1793243645184036096
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.295083197,746,714,679,664,635,879.704916803,788,805,653,631,652,0.401316532222,0.00458696806884,0.049938950558,0.999999987644,0.000120572087394,-9.68960034493e-05,-2.80147432836e-05,1793243645200702720
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.868296686,746,714,679,664,635,879.131703314,788,805,653,631,652,0.401396168706,0.00458391538283,0.0499444557466,0.999999989091,0.000116381640666,-8.68332448369e-05,-2.7061782209e-05,1793243645217369344
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,713.554491407,679,664,634.554491407,879,787.554491407,805,653,631.445508593,652.445508593,0.401488748909,0.00458334008174,0.0499448105254,0.999999989209,0.000114786037824,-8.77396670513e-05,-2.66120076176e-05,1793243645234035968
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.975595031,745.975595031,713.024404969,679,664,634,879,787.024404969,805,653,631.975595031,652.975595031,0.401586019319,0.00458349172144,0.0499435474057,0.999999988931,0.000113903113575,-9.20534575871e-05,-2.62896530268e-05,1793243645250702592
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.385296305,745.385296305,713.614703695,679,664,634,879,787.614703695,805,653,631.385296305,652.385296305,0.401702513963,0.00458336353767,0.0499403939892,0.999999988499,0.000111597204867,-9.95031723527e-05,-2.54413684249e-05,1793243645267369216
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.201159938,664,634,879.201159938,788,805,652.798840062,631,652.201159938,0.401833095201,0.00458306001293,0.049939957342,0.99999998852,0.000109702818058,-0.000101614519983,-2.45090453618e-05,1793243645284035840
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.780394276,664,634,879.780394276,788,805,652.219605724,631,652.780394276,0.401990151779,0.00458242693983,0.0499446267857,0.999999989442,0.000108581875262,-9.36925570706e-05,-2.34187744901e-05,1793243645300702464
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745.355818596,713.644181404,679.644181404,664,634,879.644181404,788,805,652.355818596,631,652.644181404,0.402155190696,0.00457963587545,0.0499433234965,0.999999989356,0.000106046970609,-9.78052938707e-05,-2.1822605756e-05,1793243645317369344
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745.9289164,713.0710836,679.0710836,664,634,879.0710836,788,805,652.9289164,631,652.0710836,0.402325104013,0.00457552704224,0.0499383729822,0.999999988564,0.000102648635666,-0.000109266971325,-1.99175124004e-05,1793243645334036224
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.49658249,745.49658249,713.50341751,679,664,634,879,787.49658249,805,653,631,652.50341751,0.402537255269,0.00457390998935,0.0499405777909,0.999999989601,9.83624422057e-05,-0.000103834218366,-1.84711220088e-05,1793243645350702848
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.079775035,745.079775035,713.920224965,679,664,634.079775035,879,787,805,653,631,652.920224965,0.402759972171,0.00457244160154,0.0499437685504,0.999999990749,9.40402721816e-05,-9.67919661356e-05,-1.70003357097e-05,1793243645367369728
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.666670693,745.666670693,713.333329307,679,664,634.666670693,879,787,805,653,631,652.333329307,0.403011834781,0.00456967537253,0.049946786277,0.999999991326,9.0288575592e-05,-9.4725229777e-05,-1.49615817454e-05,1793243645384036352
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.7479618,713.2520382,678.7479618,664,634.7479618,879,787.2520382,805,653,631,652,0.403286381029,0.00456651361211,0.0499519304857,0.999999992556,8.60104357717e-05,-8.558935065e-05,-1.28620939255e-05,1793243645400703232
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.164603181,713.835396819,678.164603181,664,634.164603181,879,787.835396819,805,653,631,652,0.403590746364,0.00456283190038,0.0499598700915,0.999999994404,8.10402526784e-05,-6.7160628916e-05,-1.06827676665e-05,1793243645417369600
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,678.411202325,664,634.411202325,879,787.588797675,805,652.588797675,631,652,0.403918194362,0.00455975057331,0.0499693606742,0.999999995868,7.67704970456e-05,-4.79188763398e-05,-8.5656280829e-06,1793243645434036224
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,678.984038861,664,634.984038861,879,787.015961139,805,652.015961139,631,652,0.404254715618,0.00455690524377,0.0499794609103,0.999999996929,7.27760634964e-05,-2.83575403918e-05,-6.47293270578e-06,1793243645450702592
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.422638293,745.577361707,713.422638293,679,664,634.422638293,879,787.577361707,805,652.577361707,631,652.577361707,0.404637196171,0.00455271676917,0.0499863805696,0.999999997545,6.8250912089e-05,-1.55668969817e-05,-3.16118870127e-06,1793243645467369472
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.165913606,745.834086394,713,679,664,634,879,788,805.165913606,653,631,652.834086394,0.405025638201,0.00454883724094,0.0499893630042,0.999999997924,6.37869260508e-05,-9.08309227899e-06,-2.55361974851e-07,1793243645484036096
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.741243451,745.258756549,713,679,664,634,879,788,805.741243451,653,631,652.258756549,0.4054255404,0.00454581508144,0.0499828547106,0.999999998072,5.9511411675e-05,-1.76834673374e-05,1.56258323958e-06,1793243645500703232
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.316674007,713,678.683325993,664,634,879,788,805.683325993,653,631,652,0.405830296442,0.00454136917906,0.0499680836509,0.999999997414,5.46876060225e-05,-4.64911451402e-05,4.37994226042e-06,1793243645517369856
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.892186942,713,678.107813058,664,634,879,788,805.107813058,653,631,652,0.406239019899,0.00453575955571,0.0499465588768,0.999999994532,4.9415644541e-05,-9.18156091802e-05,8.01418948357e-06,1793243645534036224
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.536259686,713,678.463740314,664,634.463740314,879.463740314,787.536259686,805,652.536259686,631,652,0.406691344381,0.00453193202826,0.0499319075436,0.999999992242,4.45687408759e-05,-0.000115802978305,1.09009064788e-05,1793243645550702848
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.036031792,745,713.036031792,679.036031792,664,635,880,787.036031792,805,652,631,652,0.407159548409,0.00452829182929,0.0499201934279,0.999999990349,3.94850802624e-05,-0.000132497745117,1.36529822517e-05,1793243645567369728
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.634073218,745,713.634073218,679.634073218,664,635,880,787.634073218,805,652,631,652,0.407718667311,0.00452116593675,0.0499295792434,0.99999999314,2.91802687994e-05,-0.000112163409359,1.69927419494e-05,1793243645584036352
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.776750466,745.223249534,713.776750466,679.776750466,664,634.776750466,879.776750466,788,805,652.223249534,631,652,0.408293628654,0.0045141043409,0.0499452247372,0.999999996325,1.90126478287e-05,-8.1075020836e-05,2.03581257943e-05,1793243645600702720
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.201549956,745.798450044,713.201549956,679.201549956,664,634.201549956,879.201549956,788,805,652.798450044,631,652,0.408893565434,0.00450714410868,0.0499707385596,0.999999999131,9.06130709213e-06,-3.30329615129e-05,2.37639056663e-05,1793243645617369344
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,746,713.374032981,679,664,634,879.374032981,787.625967019,805.374032981,653,631,652.374032981,0.409504518737,0.00450129185466,0.0499865832447,0.999999999573,1.14720731378e-06,-8.91307138233e-06,2.77954328115e-05,1793243645634036224
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,746,713.949822183,679,664,634,879.949822183,787.050177817,805.949822183,653,631,652.949822183,0.410121414416,0.00449603725268,0.0499972123232,0.999999999464,-5.66798894196e-06,2.30301801208e-06,3.21644926809e-05,1793243645650703360
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,746,714,679,664,634.538587757,879.461412243,787.538587757,805.461412243,652.461412243,631,652.461412243,0.410713334763,0.00448949937765,0.0499809723242,0.999999992019,0.000115755764061,-3.506704549e-05,3.64996568914e-05,1793243645667369728
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.873692692,714,679,664,634.873692692,879.126307308,788,805.126307308,652.126307308,631,652,0.411320265155,0.00448290776276,0.0499608847754,0.999999972345,0.000218358675044,-7.73155663838e-05,4.06343284987e-05,1793243645684036352
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.29417163,714,679,664,634.29417163,879.70582837,788,805.70582837,652.70582837,631,652,0.411989609448,0.00447656290376,0.0499361954698,0.999999969833,0.000209500921136,-0.000120425782179,4.40612079353e-05,1793243645700702976
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,880,788,805.716512455,652.716512455,631,652.283487545,0.412707640799,0.00447058197529,0.0499383596246,0.999999979344,0.000166878099762,-0.000109258749303,3.90777644292e-05,1793243645717369600
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,880,788,805.140772661,652.140772661,631,652.859227339,0.413475864568,0.00446497622839,0.0499682074769,0.999999994789,8.94462796626e-05,-4.21363593242e-05,2.54239725809e-05,1793243645734036224
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.432338166,713.567661834,679,664.432338166,634,880,788,805.432338166,652,631,652.567661834,0.4142202924,0.00445049440134,0.0499762369709,0.99999999932,-3.62687725055e-07,-3.35257707283e-05,1.53540750116e-05,1793243645750702592
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,746,713.004768904,679,665,634.004768904,880,788,806,652,631,652,0.414956964944,0.0044334696295,0.0499769385546,0.999999994664,-9.31576332543e-05,-4.41577096501e-05,6.54977981357e-06,1793243645767369216
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,746,713.598283826,679,665,634.598283826,880,788,806,652,631,652,0.415686979308,0.00445714885613,0.0499447242735,0.999999993856,-6.00587566512e-05,-9.25401274397e-05,1.07960838109e-05,1793243645784036096
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.812659459,714,678.812659459,664.812659459,634.812659459,880,787.812659459,806,652,631,652,0.416452443212,0.00448119904966,0.0499270197136,0.999999992752,-2.36778992275e-05,-0.000117241747344,1.37552932343e-05,1793243645800703232
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.232940344,714,678.232940344,664.232940344,634.232940344,880,787.232940344,806,652,631,652,0.417292154959,0.00450602621967,0.0499397052873,0.999999995446,1.95769563163e-05,-9.23447158727e-05,1.4018725383e-05,1793243645817369856
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.341914975,714,678.341914975,664.341914975,634.341914975,880,787,806,652,631,652.341914975,0.418134672174,0.00450686246679,0.0499596821393,0.999999997509,4.01917456825e-05,-5.55875465336e-05,1.66436521027e-05,1793243645834036736
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.913503132,714,678.913503132,664.913503132,634.913503132,880,787,806,652,631,652.913503132,0.41897907386,0.00449158338596,0.0499845567322,0.999999998684,4.55986119244e-05,-1.08636150875e-05,2.08548561321e-05,1793243645850703360
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.497189646,714,679,664.497189646,634.497189646,880,787.502810354,805.497189646,652.502810354,631,652.497189646,0.419771497801,0.00448442962994,0.0499700438059,0.999999998264,2.65007835581e-05,-4.8106831556e-05,2.13640089269e-05,1793243645867370496
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.09321013,664,634,880,788,805.09321013,652.90678987,631,652,0.420577448485,0.00447902140275,0.0499551447898,0.999999996379,4.60569359694e-06,-8.22785642922e-05,2.12349244952e-05,1793243645884037376
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679.672823658,664,634,880,788,805.672823658,652.327176342,631,652,0.421502350822,0.00447516145336,0.0499748806105,0.999999999442,-9.08518286736e-06,-2.41528111383e-05,2.12200041605e-05,1793243645900703744
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.251174134,714,679.748825866,664.251174134,634,880,788,806,652,631,652,0.422418901099,0.00447303411523,0.0499890851768,0.999999999661,-4.8991549749e-06,1.33644697567e-05,2.17969751713e-05,1793243645917370112
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.827887687,714,679.172112313,664.827887687,634,880,788,806,652,631,652,0.423324626642,0.00447315236315,0.0499961208491,0.999999999188,2.24566017511e-05,2.41717229056e-05,2.31410792348e-05,1793243645934036736
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,746,714,679,664.596981235,634,880,788,805.596981235,652,631,651.596981235,0.424205184786,0.00448227212658,0.0499866873849,0.999999999255,2.98248914664e-05,9.47701412203e-06,2.26162831017e-05,1793243645950703616
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,746,714,679,664.022523357,634,880,788,805.022523357,652,631,651.022523357,0.42507503698,0.0044952210215,0.0499702481566,0.999999999233,2.86907624589e-05,-1.6065909163e-05,2.12964802436e-05,1793243645967370240
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.433652912,713.433652912,679,664,634,880,788,805.566347088,651.433652912,631,651.566347088,0.425966648814,0.00448965772775,0.0499865668913,0.999999999666,1.04871132375e-05,2.62109119815e-06,2.34890073683e-05,1793243645984036864
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.153297955,713.153297955,679.153297955,664.153297955,634,880,788,806,651.153297955,631,652,0.426851994893,0.00448239598612,0.049996091226,0.999999999647,-2.32072397521e-06,5.53365339713e-06,2.58899993714e-05,1793243646000703744
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.733269054,713.733269054,679.733269054,664.733269054,634,880,788,806,651.733269054,631,652,0.427717430017,0.00447250959369,0.0499829840812,0.999999998774,1.82833413846e-06,-4.04823358962e-05,2.8472277255e-05,1793243646017370112
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.689210906,714,680,664.689210906,634.310789094,880,787.689210906,805.689210906,652,631,652,0.428603614904,0.00446901824228,0.0499617164273,0.999999996618,9.0193407878e-06,-7.66401340746e-05,2.84468243034e-05,1793243646034036480
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.113778028,714,680,664.113778028,634.886221972,880,787.113778028,805.113778028,652,631,652,0.429507468628,0.00447097241022,0.0499334999201,0.99999999403,1.88006336666e-05,-0.000104403462204,2.62008307707e-05,1793243646050703360
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.459904655,745.459904655,714,679.540095345,664.459904655,634.540095345,880.919809311,787.459904655,805.459904655,652,631,652,0.430425201006,0.00447521811486,0.0499437312975,0.99999999646,1.423855414e-05,-7.8767603376e-05,2.59355432841e-05,1793243646067369984
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.965696615,746,714,679,665,634,881.965696615,788,806,652.034303385,631.034303385,652,0.431341593813,0.00447995334018,0.0499611086965,0.999999998639,6.58372707601e-06,-4.46435446105e-05,2.61685789881e-05,1793243646084036864
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.372608093,746,714,679,665,634,881.372608093,788,806,652.627391907,631.627391907,652,0.432180446484,0.00448346286622,0.0499405360029,0.999999995876,6.13336178565e-06,-8.66305910179e-05,2.65671896075e-05,1793243646100703488
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.214803206,745.785196794,714,679.214803206,664.785196794,634,881,787.785196794,806.214803206,652.785196794,631.785196794,652,0.433043267921,0.00448243276569,0.0499333656649,0.99999999452,8.08103552435e-06,-0.000100788202308,2.71382090772e-05,1793243646117369856
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.792620193,745.207379807,714,679.792620193,664.207379807,634,881,787.207379807,806.792620193,652.207379807,631.207379807,652,0.433946596302,0.0044737307737,0.0499488450774,0.999999997203,1.40813545437e-05,-6.7914546509e-05,2.80005966918e-05,1793243646134036480
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.368616627,714,680,664.368616627,634.368616627,881.368616627,787.368616627,807,652,631.368616627,652,0.434836684613,0.00446922381654,0.0499644674249,0.999999998376,1.55835382704e-05,-4.6323241827e-05,2.93135138013e-05,1793243646150703104
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.943593837,714,680,664.943593837,634.943593837,881.943593837,787.943593837,807,652,631.943593837,652,0.435719360754,0.00446706534277,0.0499801697898,0.999999998935,1.45675557497e-05,-3.10480745759e-05,3.08786482695e-05,1793243646167369984
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.46849651,746,714,680,664.46849651,634.46849651,881.46849651,788,807,652,632,652,0.436502859597,0.00446853261846,0.0499554551033,0.999999995403,3.73493896051e-06,-9.02339462043e-05,3.22148906759e-05,1793243646184036352
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.118956364,746,714,680,664,634.118956364,880.881043636,787.881043636,806.881043636,652,631.881043636,652,0.437296844316,0.0044706854353,0.0499372354842,0.999999990993,-7.18556250098e-06,-0.000129949605132,3.28004935925e-05,1793243646200702976
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.699183342,746,714,680,664,634.699183342,880.300816658,787.300816658,806.300816658,652,631.300816658,652,0.438173320562,0.00447396726756,0.0499612485562,0.999999997461,-1.43063850823e-05,-6.27604721448e-05,3.05719251919e-05,1793243646217369600
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.722875955,746,714,680,664.277124045,634.722875955,880.277124045,787.277124045,806,652,631,652,0.439011062163,0.00447725461471,0.0499746706707,0.999999999104,-6.05441415585e-06,-2.93925777096e-05,2.98454130447e-05,1793243646234036224
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.147396722,746,714,680,664.852603278,634.147396722,880.852603278,787.852603278,806,652,631,652,0.439807101508,0.00448054789906,0.0499766904272,0.999999998826,1.87480975814e-05,-3.24370532329e-05,3.07360335565e-05,1793243646250703104
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.436891811,745.563108189,714,680,664.563108189,634,880.563108189,787.563108189,806.436891811,652,631,652,0.440566343173,0.00447666130272,0.0499613787818,0.999999997408,3.28373737336e-05,-5.56973771599e-05,3.16752372337e-05,1793243646267369728
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.976145491,745.023854509,714,680,664,634,880.023854509,787,806.976145491,652,631,652,0.441313535241,0.00447020899673,0.0499416157037,0.999999995102,4.21076396736e-05,-8.33933830501e-05,3.26894969128e-05,1793243646284036096
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.39753369,745.60246631,714,680,664,634,880.60246631,787,806.39753369,652,631,652,0.442075156727,0.00446158125608,0.0499571106372,0.999999997699,2.50930556059e-05,-5.23680753573e-05,3.50602216654e-05,1793243646300702720
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714,680,664.181358948,634,880.818641052,787.181358948,806.181358948,652,631,652,0.442819268001,0.00445625812538,0.0499714456169,0.999999998904,1.24578901727e-05,-2.59276002247e-05,3.69290239311e-05,1793243646317369600
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,746,714,680,664.760868242,634,880.239131758,787.760868242,806.760868242,652,631,652,0.443524937993,0.00445818984098,0.0499832340694,0.999999999199,9.43717430814e-06,-9.55253200213e-06,3.76959201837e-05,1793243646334036224
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.663181549,714,680,664.663181549,634,880,788,807,651.663181549,631,652,0.444181521583,0.00446286886317,0.0499686781531,0.999999998402,1.22532635338e-05,-3.91514263871e-05,3.88927862484e-05,1793243646350703360
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.089731803,714,680,664.089731803,634,880,788,807,651.089731803,631,652,0.444803619555,0.00446947800133,0.0499356140397,0.999999993895,1.91699915126e-05,-0.000101049259695,4.03917267957e-05,1793243646367370752
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.496994394,713.503005606,680,664,634,880,787.503005606,807,651.496994394,631,652,0.445450665863,0.00447737830425,0.0499291446667,0.999999994228,3.05615625893e-05,-9.49334570973e-05,3.99736218599e-05,1793243646384036864
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,746,713.084775526,680,664.084775526,634,880,787,807,652,631,652,0.446100081656,0.00448382299572,0.0499315542289,0.999999995782,4.067012697e-05,-7.22088223741e-05,3.95986584559e-05,1793243646400702976
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,713.664339497,680,664.664339497,634,880,787,807,652,631,652,0.446736315585,0.00448037414986,0.0499569914845,0.999999998055,3.84456239279e-05,-2.61850403794e-05,4.15510503459e-05,1793243646417369344
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.240950587,745.759049413,714,680,665,633.759049413,880,787,807,652,631.240950587,652,0.447319286111,0.00447784192167,0.0499615890095,0.999999998328,3.63091570621e-05,-1.45306504549e-05,4.2602340547e-05,1793243646434036224
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.813497868,745.186502132,714,680,665,633.186502132,880,787,807,652,631.813497868,652,0.447828955379,0.0044765711449,0.0499375068525,0.999999997254,3.42938460019e-05,-5.0175492582e-05,4.24135326434e-05,1793243646450703104
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.612557347,745.387442653,714,680,664.612557347,633.387442653,880.387442653,787,807,652,632,652,0.44830197235,0.00447864549607,0.0499013653798,0.999999992507,3.66418026599e-05,-0.000108818692821,4.24487297253e-05,1793243646467369728
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.037937364,745.962062636,714,680,664.037937364,633.962062636,880.962062636,787,807,652,632,652,0.448757282285,0.00448233591111,0.0498593979318,0.999999982304,4.10976962582e-05,-0.00017857262728,4.25921456307e-05,1793243646484036352
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,746,714,680.555356514,664,632.889286971,880.444643486,787,807,652,631.444643486,652,0.449212264205,0.00448385878659,0.0498461060525,0.999999977519,4.71496565785e-05,-0.000202262545452,4.27546302043e-05,1793243646500703232
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.85424402,714,680.85424402,663.85424402,632.14575598,880,787,806.85424402,652,631,652,0.449661882602,0.00448634321074,0.0498390484671,0.999999974356,5.16812122663e-05,-0.00021636895126,4.24381476085e-05,1793243646517370112
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.276339719,714,680.276339719,663.276339719,632.723660281,880,787,806.276339719,652,631,652,0.450095667672,0.00449213278668,0.0498444648716,0.999999975441,5.13704506766e-05,-0.000211715677106,4.06975906256e-05,1793243646534036992
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,663,632.699762156,880.300237844,787,806.300237844,652,631,652,0.450499131972,0.00449509130019,0.0498459933024,0.999999976139,2.11826569645e-05,-0.000215164489013,3.12505921399e-05,1793243646550703616
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,663,632.124400388,880.875599612,787,806.875599612,652,631,652,0.45087481171,0.00449545556008,0.0498439589754,0.999999973683,-3.63830522213e-05,-0.000226037673472,1.47417709662e-05,1793243646567369984
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662.550785569,632,880.550785569,787,807,652,631.449214431,652,0.451209007935,0.00449628873999,0.0498317024062,0.999999967511,-4.80351664869e-05,-0.000250040258764,1.22351625813e-05,1793243646584036608
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631.976788017,880.023211983,787,807,652,631.976788017,652,0.451529447611,0.00449733708453,0.0498159200688,0.999999959882,-4.68667177785e-05,-0.000279025927924,1.35921182907e-05,1793243646600703232
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631.381479848,880.618520152,787,807,652,631.381479848,652,0.451792878028,0.00450050035885,0.0497827396609,0.999999940679,-4.18774612911e-05,-0.00034156202809,1.49729847676e-05,1793243646617369856
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880.793899915,787,807,652,631.206100085,652,0.452054854853,0.0045049728628,0.0497566855024,0.999999924131,-3.31554730515e-05,-0.000387791812579,1.6034749185e-05,1793243646634036480
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,880.220107583,787,807,652,631.779892417,652,0.452314238376,0.00451178109364,0.0497433449115,0.999999917721,-1.77741165266e-05,-0.00040493035795,1.65272204498e-05,1793243646650703104
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.355325819,714,680.355325819,662,631,880.355325819,787,807,651.644674181,631.644674181,652,0.452565364121,0.00452320269282,0.0497414958497,0.999999917827,4.17354522289e-05,-0.000402879639483,1.7119700531e-05,1793243646667369728
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.93178056,714,680.93178056,662,631,880.93178056,787,807,651.06821944,631.06821944,652,0.452811350853,0.00453749531726,0.0497467982776,0.999999915943,0.00012870720903,-0.000388886919413,1.77744187638e-05,1793243646684036352
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714,680.498560719,661.498560719,630.498560719,880.498560719,787,807,651.501439281,631,652,0.453021161514,0.00454838777293,0.0497501157262,0.99999991571,0.000147291913072,-0.000382854009094,1.75628773224e-05,1793243646700702976
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.926089939,714,680.073910061,661.073910061,630.073910061,880.073910061,787,806.926089939,652,631,652,0.453221496625,0.00455700420098,0.0497518506121,0.999999915706,0.000154570906836,-0.000379989628085,1.74318481731e-05,1793243646717369856
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.327163686,714,680.672836314,661.672836314,630.672836314,880.672836314,787,806.327163686,652,631,652,0.453389016001,0.00455269499227,0.0497442364907,0.999999912209,0.000146746209967,-0.000392043188219,1.86986965064e-05,1793243646734036480
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.262451234,714,680.737548766,662,630.737548766,880.737548766,787,806.262451234,652,631,652,0.45354040718,0.00455116167916,0.0497346835419,0.999999907388,0.000142586014242,-0.000405611955822,1.93164434209e-05,1793243646750703360
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.840856594,714,680.159143406,662,630.159143406,880.159143406,787,806.840856594,652,631,652,0.453672382282,0.00455297015158,0.04972279652,0.999999900993,0.000142837359511,-0.000421004817962,1.91527640579e-05,1793243646767370240
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.589050388,714,680,661.589050388,629.589050388,880,787,807.410949612,652,631,652,0.453786898141,0.00455456582038,0.049715458487,0.999999896622,0.000141619878804,-0.00043166545332,1.91153429402e-05,1793243646784037120
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.022112581,714,680,661.022112581,629.022112581,880,787,807.977887419,652,631,652,0.453894786819,0.00455608071316,0.0497098471588,0.999999893006,0.000139844861338,-0.000440529830359,1.91258469126e-05,1793243646800703488
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.574129698,714,680.574129698,661,629,880.574129698,787,807.425870302,652,631,651.425870302,0.453986902815,0.00455498950784,0.0497055869977,0.999999890716,0.000140612999799,-0.000445432289783,1.96319425808e-05,1793243646817370624
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.83347729,745.83347729,714,680.83347729,661,629,881,787,806.83347729,652,631.16652271,651.16652271,0.454073081115,0.00455531558597,0.0497029283435,0.999999889193,0.00014203697813,-0.000448383553508,1.97971437245e-05,1793243646834037248
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.253591877,745.253591877,714,680.253591877,661,629,881,787,806.253591877,652,631.746408123,651.746408123,0.454146109218,0.00455942237706,0.0497041090147,0.999999889474,0.000144832740949,-0.000446890482426,1.90662051035e-05,1793243646850703360
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.323680402,745.323680402,714,680,660.676319598,629,881,787,806.323680402,652,632,652,0.45420737906,0.00456082765284,0.04970371174,0.99999988905,0.000145766862045,-0.000447533405203,1.91500697609e-05,1793243646867369984
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.898921843,745.898921843,714,680,660.101078157,629,881,787,806.898921843,652,632,652,0.454259510511,0.00456013333948,0.0497020881024,0.999999888077,0.000145254134876,-0.000449836400007,1.98671909639e-05,1793243646884036352
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.525505443,714,680,660.474494557,629,881,787,807,652,631.525505443,652,0.454296942772,0.0045607061767,0.0497000942362,0.999999886307,0.000144955214038,-0.00045383033655,2.02950889819e-05,1793243646900702976
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.051464263,714,680.051464263,661,628.948535737,880.948535737,787,807,652,631,652,0.454330165766,0.00456184932234,0.0496978911891,0.999999884241,0.000144991790375,-0.000458337391428,2.05303543149e-05,1793243646917369344
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.642336374,714,680.642336374,661,628.357663626,880.357663626,787,807,652,631,652,0.454352112907,0.0045661388013,0.0496943228729,0.999999880996,0.000148067076736,-0.000464444485419,1.9392806376e-05,1793243646934035968
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.77193349,714,681,661,628.22806651,880.22806651,787,806.77193349,652,631.22806651,652,0.454372319707,0.00456928745066,0.0496924076485,0.99999987929,0.000150261459771,-0.000467433181083,1.86492555193e-05,1793243646950703104
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.194089453,714,681,661,628.805910547,880.805910547,787,806.194089453,652,631.805910547,652,0.454389857406,0.00457068644981,0.0496930277127,0.999999880002,0.000151104832407,-0.000465639299362,1.85099640992e-05,1793243646967370240
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.38117436,714,681,661,629,880.61882564,787,806.38117436,652,631.61882564,652,0.454402712347,0.00456837715441,0.0496937002685,0.999999880778,0.000148594376043,-0.000464760425776,1.89889164992e-05,1793243646984036864
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.95513317,714,681,661,629,880.04486683,787,806.95513317,652,631.04486683,652,0.454413198916,0.00456419233534,0.0496943993725,0.999999881573,0.000144387672097,-0.000464344330842,1.97805546628e-05,1793243647000703232
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,714,680.455566159,661,628.455566159,880,786.455566159,807,652,631,652,0.454416482061,0.00456432455057,0.0496919048557,0.99999988025,0.000145860326891,-0.000466720001102,1.99467773865e-05,1793243647017369856
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,714,680.132383742,661,628.132383742,880,786.132383742,807,652,631,652,0.454418967328,0.00456549944039,0.0496898116349,0.999999878871,0.00014797814301,-0.000469006173356,1.98263776195e-05,1793243647034036480
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,746,714,680.711387353,661,628.711387353,880,786.711387353,807,652,631,652,0.45442082162,0.0045689569306,0.0496899859094,0.999999877934,0.000150647735342,-0.00047019172101,1.89179293843e-05,1793243647050703104
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714.289926977,680.710073023,661,629,880,787,807,652,631.289926977,652,0.454422015962,0.00456950550842,0.0496892638207,0.999999877286,0.000150309242062,-0.000471675870394,1.88703736606e-05,1793243647067369728
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714.868005524,680.131994476,661,629,880,787,807,652,631.868005524,652,0.454422554395,0.00456716298738,0.0496876508577,0.999999876924,0.000146981083899,-0.000473456793121,1.96784385499e-05,1793243647084036096
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.557989393,714.557989393,680,661,628.557989393,880,787,806.557989393,652,631.557989393,652,0.454422901852,0.00456693528231,0.0496870076113,0.999999876288,0.000147842109532,-0.000474527296236,1.97478452089e-05,1793243647100702976
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.984697633,628,880.015302367,787,806,652,631,652,0.454423237486,0.00456732094981,0.0496866807956,0.999999875609,0.00014987609192,-0.0004753268686,1.95967361391e-05,1793243647117369856
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.392868126,628,880.607131874,787,806,652,631,652,0.454425256704,0.00456723970562,0.0496874652408,0.99999987639,0.00014940065958,-0.000473838758316,1.93721689045e-05,1793243647134036736
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.194179479,714,680,660.194179479,628,881,787,806,652,631,652,0.454425707404,0.00456763127349,0.0496871854415,0.999999876151,0.000149818098681,-0.000474211727038,1.93756352519e-05,1793243647150703360
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.771784726,714,680,660.771784726,628,881,787,806,652,631,652,0.454423060915,0.00456895645355,0.0496848041904,0.999999873885,0.000151998597026,-0.000478259572587,1.9829375515e-05,1793243647167369728
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.651425798,714,680,661,628.348574202,880.651425798,787,806,652,631,652,0.454423573324,0.00456938160022,0.0496845661158,0.999999873739,0.000151774157604,-0.000478642200262,1.97148753435e-05,1793243647184036352
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.075169192,714,680,661,628.924830808,880.075169192,787,806,652,631,652,0.454426149068,0.0045692188612,0.0496857279257,0.99999987498,0.000149978855975,-0.000476630773347,1.92292107169e-05,1793243647200702976
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.488549661,745,714,680,661,628.488549661,880,787,806,652,631,652,0.454426431888,0.00457088204074,0.0496856213909,0.999999874934,0.000151332717574,-0.00047631234516,1.89167882972e-05,1793243647217369856
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.097817418,745,714,680.097817418,661,628,880.097817418,787,806,652,631,652,0.454426234055,0.0045725431346,0.0496853700659,0.999999874633,0.000152670351006,-0.000476526557947,1.86607829828e-05,1793243647234036224
+246,4.100000000,POSE1_TO_POSE2_PRESS,764.675322849,745,714,680.675322849,661,628,880.675322849,787,806,652,631,652,0.454425365926,0.00457285076954,0.0496853417553,0.999999874041,0.000151611732005,-0.000478107346978,1.85539972988e-05,1793243647250703104
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.252775159,714,680.747224841,660.747224841,628,880.747224841,786.747224841,806.252775159,652,631,652,0.454425791542,0.00457199836872,0.0496855953501,0.999999874238,0.000150403691058,-0.000478070286348,1.87482950627e-05,1793243647267369728
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.830159331,714,680.169840669,660.169840669,628,880.169840669,786.169840669,806.830159331,652,631,652,0.454427878559,0.00456965627229,0.0496862109625,0.999999875445,0.000149003765168,-0.000475955614423,1.93292384021e-05,1793243647284036352
+249,4.150000000,HOLD_POSE2,765,746,714,681,661,628,880,786,806,652,631,652,0.454427584849,0.00456998720702,0.0496860285447,0.999999874261,0.00015227507492,-0.00047742044998,1.89882405458e-05,1793243647318034176
+250,4.166666667,HOLD_POSE2,765,746,714,680.406126699,660.406126699,628,880,786.593873301,806,652,631,652,0.454425626546,0.00457051783704,0.0496844842049,0.999999873318,0.000151902592597,-0.000479518947857,1.87498277475e-05,1793243647334700544
+251,4.183333333,HOLD_POSE2,765,745.816767539,714,680,660.183232461,628,880,787,806.183232461,651.816767539,631.183232461,652,0.454424683871,0.00457157219897,0.0496834345846,0.999999872716,0.000151896262595,-0.000480787530732,1.842253734e-05,1793243647351367168
+252,4.200000000,HOLD_POSE2,765,745.2371731,714,680,660.7628269,628,880,787,806.7628269,651.2371731,631.7628269,652,0.454425938165,0.00457375947933,0.049683455124,0.999999872859,0.000152681980274,-0.000480260871228,1.79029899866e-05,1793243647368033792
+253,4.216666667,HOLD_POSE2,765,745.33856259,714,680.33856259,661,628,880.33856259,786.66143741,807,651.33856259,632,652,0.45442723491,0.00457305219834,0.0496841833562,0.999999873472,0.000152057225904,-0.000479168038783,1.82141583712e-05,1793243647384701184
+254,4.233333333,HOLD_POSE2,765,745.911625541,714,680.911625541,661,628,880.911625541,786.088374459,807,651.911625541,632,652,0.454428561059,0.00457034004221,0.0496854017615,0.999999874409,0.000150455528926,-0.000477683055073,1.910070973e-05,1793243647401368832
+255,4.250000000,HOLD_POSE2,765,745.513764904,714,680.513764904,660.513764904,628,880.513764904,786.486235096,806.513764904,652,631.513764904,652,0.454426735443,0.00457077570506,0.0496843553898,0.999999873239,0.000151281034409,-0.000479858262219,1.92940899796e-05,1793243647418035200
+256,4.266666667,HOLD_POSE2,765.062965129,745,714,680,660.062965129,628.062965129,880.062965129,787,806.062965129,652,631,652,0.454424890592,0.00457168390773,0.0496832305584,0.999999872,0.000152535730407,-0.00048203628016,1.93400804471e-05,1793243647434701056
+257,4.283333333,HOLD_POSE2,765.655147476,745,714,680,660.655147476,628.655147476,880.655147476,787,806.655147476,652,631,652,0.454427714114,0.00457173976827,0.0496849170299,0.999999873464,0.000153678074847,-0.000478628713209,1.92095492633e-05,1793243647451367680
+258,4.300000000,HOLD_POSE2,765.758224852,745,714,680,660.758224852,628.758224852,880.758224852,787,807,652,631,652,0.454428436507,0.00457266062338,0.0496849758335,0.999999873589,0.000155056927026,-0.000477933972583,1.89393575435e-05,1793243647468034048
+259,4.316666667,HOLD_POSE2,765.179342126,745,714,680,660.179342126,628.179342126,880.179342126,787,807,652,631,652,0.454426229289,0.0045747875422,0.0496827651763,0.999999871851,0.000156765542328,-0.000481021731499,1.8474436866e-05,1793243647484700672
+260,4.333333333,HOLD_POSE2,765,745,714,680,660.395262666,628,880,786.604737334,807,652,631,652,0.454427027563,0.00457414441031,0.0496834629026,0.99999987235,0.000155359125099,-0.000480443173925,1.83553408821e-05,1793243647501367296
+261,4.350000000,HOLD_POSE2,765,745,714,680,660.967947267,628,880,786.032052733,807,652,631,652,0.454429174914,0.00457225788326,0.0496854661177,0.999999873848,0.000152554460353,-0.000478218913588,1.83914755223e-05,1793243647518033920
+262,4.366666667,HOLD_POSE2,764.442613932,745,714,680,660.442613932,628,880.557386068,786.557386068,806.442613932,652,631,652,0.454427607788,0.00457278823741,0.0496834437705,0.999999872609,0.000152860607811,-0.000480695159638,1.86483606536e-05,1793243647534701056
+263,4.383333333,HOLD_POSE2,764.145354935,745,714,680,660,628,881,787,806,652,631.145354935,652,0.454426154038,0.0045732571928,0.0496818204574,0.999999871512,0.000153376162649,-0.000482800114733,1.88617002098e-05,1793243647551367424
+264,4.400000000,HOLD_POSE2,764.725948199,745,714,680,660,628,881,787,806,652,631.725948199,652,0.454425699184,0.00457311324311,0.0496821066172,0.999999871344,0.000153966500545,-0.000482958848952,1.8905461858e-05,1793243647568034304
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,661,628,881,787,807,652,631,652,0.454429968631,0.00457312992374,0.0496852400499,0.999999873894,0.000155932311895,-0.000477032826242,1.83254646575e-05,1793243647604927488
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,661,628,881,787,806.41118261,652,631,651.41118261,0.454427799963,0.00457307043469,0.0496838403622,0.999999872727,0.000154144602682,-0.000480043885309,1.85456012139e-05,1793243647621593856
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.82520975,714,680.17479025,661,628,880.82520975,786.82520975,806,652,631,651.17479025,0.454426579421,0.00457264393846,0.0496828147936,0.999999871962,0.000152739379634,-0.000482073725728,1.87737295198e-05,1793243647638260224
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.245821189,714,680.754178811,661,628,880.245821189,786.245821189,806,652,631,651.754178811,0.454427553565,0.00457136790695,0.0496826552228,0.999999872153,0.000152219521727,-0.000481832276415,1.90203568899e-05,1793243647654926848
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.668503889,660.668503889,628,880,786.331496111,806,652,631,652,0.454426784702,0.00457157707487,0.0496822215233,0.999999871619,0.000152945463894,-0.000482706142342,1.90790956933e-05,1793243647671593728
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.09271303,660.09271303,628,880,786.90728697,806,652,631,652,0.454424731335,0.00457288075472,0.0496815858056,0.999999870548,0.000154589493525,-0.000484401935435,1.8999370746e-05,1793243647688260608
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.48326487,660,628,880.48326487,787,806.48326487,652,631,652,0.454427212728,0.0045726860796,0.0496832838658,0.999999872166,0.000153279967555,-0.000481474684797,1.88540519764e-05,1793243647704926976
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.939232067,660,628,880.939232067,786.939232067,806.939232067,652,631,652,0.454429824408,0.00457227100196,0.0496849691718,0.999999873868,0.000151680847975,-0.000478442061494,1.87068141696e-05,1793243647721593600
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.348746979,660,628,880.348746979,786.348746979,806.348746979,652,631,652,0.454425985199,0.00457244139666,0.0496826389125,0.999999871928,0.000152498593988,-0.000482225203347,1.86525857974e-05,1793243647738260224
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.762821437,745,714,680,660.237178563,628.237178563,880,786.237178563,806,652,631,652,0.454418416866,0.00457307129491,0.0496786341196,0.999999868815,0.000153279753076,-0.000488407439302,1.82832181135e-05,1793243647754927104
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.183473841,745,714,680,660.816526159,628.816526159,880,786.816526159,806,652,631,652,0.454405468661,0.00457436410248,0.0496722135372,0.999999863961,0.000154008129435,-0.000498050762194,1.74592102153e-05,1793243647771593984
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.392057306,745.392057306,714,680.392057306,661,628.607942694,880.392057306,787,806,652,631,652,0.454378937073,0.0045740284094,0.0496599698765,0.999999853665,0.000154328093172,-0.000518212252589,1.7590036895e-05,1793243647788260864
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.965819712,745.965819712,714,680.965819712,661,628.034180288,880.965819712,787,806,652,631,652,0.454346110051,0.0045729379623,0.0496450274184,0.999999840347,0.000154458771671,-0.000543248553052,1.81633965347e-05,1793243647804927232
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.458767412,713.458767412,680.458767412,660.458767412,628.541232588,880.458767412,787,806,652,631,652,0.45429047005,0.00457263946247,0.0496263564722,0.99999982337,0.000154735608079,-0.000573581541475,1.79122440039e-05,1793243647821593856
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.119500889,680,660,629,880.119500889,787,806,652,631,652,0.454230607152,0.00457286717628,0.0496086531536,0.999999807042,0.000155421755988,-0.00060121444163,1.73719183838e-05,1793243647838260480
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.708578882,680,660,629,880.708578882,787,806,652,631,652,0.454159828948,0.0045749655104,0.0495956801913,0.999999797148,0.000157679907225,-0.000616918958989,1.59005258518e-05,1793243647854927360
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.293892483,628.706107517,881,787,806.293892483,651.706107517,631,651.706107517,0.45407947901,0.00457694790871,0.0495849901342,0.999999787321,0.000160709745059,-0.000631904459383,1.50382099805e-05,1793243647871594240
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.875520521,628.124479479,881,787,806.875520521,651.124479479,631,651.124479479,0.453989757866,0.00457881679987,0.0495765351569,0.999999777583,0.000164495102837,-0.000646186004994,1.47722109494e-05,1793243647888260352
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.549239189,628,880.549239189,786.549239189,806.549239189,651.450760811,631.450760811,651.450760811,0.453887271769,0.00457933726577,0.0495719506813,0.999999772257,0.000165563379537,-0.000654112368701,1.45410235814e-05,1793243647904926976
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,628.024837181,880,786.024837181,806,652,631.975162819,652,0.453779815464,0.0045795668294,0.0495682119869,0.999999767802,0.000166030547661,-0.000660775646167,1.4303706039e-05,1793243647921593600
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,628.611940434,880,786.611940434,806,652,631.388059566,652,0.453638529489,0.00458152295025,0.0495597614281,0.999999755662,0.000169638529271,-0.000678019985656,1.37130253845e-05,1793243647938260224
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.196322997,714,680,660.196322997,629,880.196322997,787,806,652,631,652,0.4534871964,0.00458402467746,0.0495515729977,0.999999743744,0.00017383100501,-0.000694350172361,1.31131228349e-05,1793243647954926848
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.775401183,714,680,660.775401183,629,880.775401183,787,806,652,631,652,0.453316275275,0.00458759012939,0.0495438956189,0.999999732604,0.000179163021666,-0.000708898106981,1.24952411702e-05,1793243647971593728
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,661,629,881,787,806,652,631,652,0.453130780575,0.00458890161542,0.0495419358693,0.999999727669,0.00018305791113,-0.000714845431483,1.21396161773e-05,1793243647988260352
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,661,629,881,787,806,652,631,652,0.452936052011,0.00458878498426,0.049543598821,0.999999726765,0.000186042234323,-0.000715343392817,1.19501575037e-05,1793243648004927232
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.492531918,714,680,661,629,880.492531918,787,806,652,631,652,0.452728620738,0.00459072283686,0.0495578495051,0.999999739796,0.000191176490924,-0.000695511681071,1.10770722626e-05,1793243648021593856
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,629.0856271,880.0856271,787,806,652,631,652,0.452512989647,0.0045931209588,0.049573819018,0.999999753744,0.000196575810568,-0.000673620832644,1.01990330951e-05,1793243648038260224
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,629.67369471,880.67369471,787,806,652,631,652,0.452259378808,0.00459658064141,0.0495898309481,0.999999764506,0.000201815110314,-0.000655867725401,9.83736552722e-06,1793243648054926848
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.256930437,630,880.743069563,787,806.256930437,652,631,652,0.45198697332,0.00459961612762,0.0496033701857,0.999999774152,0.000207817020385,-0.000639077852957,9.32949905632e-06,1793243648071593728
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.834142845,630,880.165857155,787,806.834142845,652,631,652,0.451691138987,0.00460212282279,0.049613827036,0.999999782531,0.000214769577906,-0.000623488722001,8.63938532976e-06,1793243648088260352
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.410278567,745,714,680,662,630.410278567,880.410278567,787,806.589721433,652,631,652,0.451364501838,0.00460494237294,0.0496175860236,0.999999787703,0.000221341632452,-0.000612817871477,7.43047541771e-06,1793243648104926976
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.985980158,745,714,680,662,630.985980158,880.985980158,787,806.014019842,652,631,652,0.451025445098,0.00460788806516,0.049618644454,0.999999791558,0.000227760269223,-0.000604130056478,6.01238853591e-06,1793243648121593600
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.424939015,745.575060985,714,680,662.575060985,631,880.424939015,787.575060985,806,652,631,652,0.450687834573,0.00461020557918,0.049642613483,0.999999819572,0.00023179672837,-0.000554175291107,4.09045035851e-06,1793243648138260736
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.16172488,663,631.16172488,880,787.83827512,806.16172488,652,631,652,0.450331249965,0.00461319625903,0.0496684877696,0.99999984475,0.000236549501867,-0.000504519230246,2.3696212116e-06,1793243648154927872
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.74128151,663,631.74128151,880,787.25871849,806.74128151,652,631,652,0.449925550787,0.00461796663684,0.0496978070144,0.999999865383,0.000243306563944,-0.000458296125562,1.20086912276e-06,1793243648171594496
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,662.679816523,632,880.320183477,787,806.679816523,652,631,652,0.449494187434,0.00462105343236,0.0497216765704,0.999999880423,0.000248175469365,-0.000421381044253,-9.43591271225e-08,1793243648188260864
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,662.1014424,632,880.8985576,787,806.1014424,652,631,652,0.449042128873,0.00462278261558,0.049741151591,0.999999891546,0.000251521797454,-0.000391971793859,-1.49157578093e-06,1793243648204927232
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.525950715,714,680.525950715,662.474049285,632.474049285,880.525950715,787,806,651.525950715,631,652,0.448548767123,0.00462618656511,0.0497492785884,0.999999896798,0.000258108260531,-0.000373855896443,-3.967738086e-06,1793243648221593600
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.050097822,745,714,680,663.050097822,633,880,787,806.050097822,651.050097822,631.050097822,652,0.448042737052,0.00462967524875,0.0497544519312,0.999999900224,0.000265137641591,-0.000359459517138,-6.59717847383e-06,1793243648238260224
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.638723061,745,714,680,663.638723061,633,880,787,806.638723061,651.638723061,631.638723061,652,0.447494963911,0.00463024559964,0.0497538210423,0.999999899123,0.000269519937069,-0.000359225026137,-8.40738449893e-06,1793243648254927104
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.776368945,745.223631055,714,680,664,633,880.223631055,787.223631055,807,652,631.776368945,652,0.446921227021,0.00463290636446,0.0497543897054,0.999999897912,0.00027562427906,-0.000357896018667,-1.08434623656e-05,1793243648271594240
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.197368024,745.802631976,714,680,664,633,880.802631976,787.802631976,807,652,631.197368024,652,0.446306231432,0.00463888898504,0.0497568645645,0.999999896487,0.000284465107616,-0.00035482772606,-1.42741067878e-05,1793243648288260864
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.379645325,745.620354675,714,680,664,633,881,787.620354675,806.620354675,652,631,652,0.445690302814,0.00464284866832,0.0497736575091,0.999999901696,0.00029286198438,-0.000332507409023,-1.6666360175e-05,1793243648304927232
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.955630749,745.044369251,714,680,664,633,881,787.044369251,806.044369251,652,631,652,0.445073891682,0.00464576215465,0.0497978552973,0.99999990945,0.000301029263318,-0.000300230576772,-1.8521591687e-05,1793243648321593600
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,664,633,880.459980559,787,806.540019441,651.459980559,631,652,0.444415838243,0.00465279693344,0.0498126523771,0.999999910917,0.000311883285821,-0.000283618699302,-2.13429065589e-05,1793243648338260480
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.875716331,745.124283669,714,680,663.875716331,633.124283669,880,787,807,651.124283669,631.124283669,652,0.443730223027,0.00465770365331,0.049816691631,0.999999908203,0.000319453974644,-0.000284476842969,-2.48079307878e-05,1793243648354926848
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.294488432,745.705511568,714,680,663.294488432,633.705511568,880,787,807,651.705511568,631.705511568,652,0.442956051842,0.00465352166165,0.0497840630613,0.999999890772,0.000314128638927,-0.000344758808686,-3.03431837088e-05,1793243648371593728
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.716167221,713.716167221,680,663.283832779,633.716167221,880,787,806.716167221,651.716167221,631.716167221,651.716167221,0.442199768271,0.0046333963867,0.0497747981013,0.999999912059,0.000216950610998,-0.000357372881493,-3.31463414513e-05,1793243648388260352
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.140831179,713.140831179,680,663.859168821,633.140831179,880,787,806.140831179,651.140831179,631.140831179,651.140831179,0.441461855624,0.00459689696617,0.0497895281407,0.999999947597,2.54375961123e-05,-0.00032103085089,-3.31435699029e-05,1793243648404927232
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.435008999,713,680,664,633.435008999,880,787,806,651.435008999,631.435008999,651.435008999,0.440710376382,0.00458307716574,0.0498149177665,0.999999961241,-1.85380542625e-05,-0.000275624552175,-3.47290140254e-05,1793243648421593856
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.011304475,746,713.011304475,680,664,634,880.011304475,787,806,652,631.988695525,652,0.439953023267,0.00457689337945,0.0498427707199,0.999999972986,-1.44050272807e-05,-0.000229044730047,-3.68590749375e-05,1793243648438260736
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.60257738,746,713.60257738,680,664,634,880.60257738,787,806,652,631.39742262,652,0.439119907482,0.00458533765006,0.0498197481176,0.999999961908,4.55750179571e-06,-0.000272984775329,-4.05203765494e-05,1793243648454927360
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.810328702,745.810328702,714,680,664,634,881,787,806.189671298,652,631,652,0.438273259272,0.00459231689421,0.0497981886597,0.99999994943,2.26657722467e-05,-0.000314157261523,-4.39489672957e-05,1793243648471593984
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.231802376,745.231802376,714,680,664,634,881,787,806.768197624,652,631,652,0.437398867582,0.00459629261067,0.0497796288718,0.999999937009,3.90226813706e-05,-0.000349655828526,-4.69004652477e-05,1793243648488260096
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.345571199,714,680,664,634,880.654428801,787.345571199,806.654428801,652,631,652,0.436522299307,0.00460315726163,0.0497884594245,0.999999939379,5.57855813928e-05,-0.000340011939756,-5.02094306326e-05,1793243648504926976
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745.922174077,714,680,664,634,880.077825923,787.922174077,806.077825923,652,631,652,0.435644275911,0.00461195331005,0.0498156017945,0.999999950847,7.28199059897e-05,-0.000300188053299,-5.37573807676e-05,1793243648521593600
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745.502354882,714,680,664,634,880,787.502354882,806,652,631,652,0.434743830713,0.00461549032877,0.0497991448032,0.999999940957,7.78822626334e-05,-0.000329714187377,-5.75261228216e-05,1793243648538260480
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.074592439,745,714,679.925407561,664,634,880,787,806,652,631.074592439,652,0.433847577814,0.00461624393345,0.049781048472,0.999999929879,7.9105196453e-05,-0.000360973270059,-6.06872903996e-05,1793243648554927360
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.662923352,745,714,679.337076648,664,634,880,787,806,652,631.662923352,652,0.433004294339,0.00460347899714,0.0497985154247,0.999999941675,6.67505973578e-05,-0.000329640946255,-5.94266524874e-05,1793243648571594240
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.247926648,664,634,880,787.247926648,806,652,631.752073352,652,0.432128437923,0.00459465571791,0.0498111635578,0.999999948279,8.21082071748e-05,-0.000307307442799,-4.7557601515e-05,1793243648588260608
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.828465774,664,634,880,787.828465774,806,652,631.171534226,652,0.43120888231,0.00459112046999,0.04981734688,0.999999946587,0.000134643853693,-0.000297046537303,-2.14565563509e-05,1793243648604927232
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.191032929,745,714,680,664,634,880,787.595516465,806,652,631,652,0.430244685848,0.00459636045549,0.0497940361403,0.999999931149,0.000159651780982,-0.000334474937413,-1.84420294828e-05,1793243648621594112
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764.042789943,745,714,680,664,634,880,787.021394971,806,652,631,652,0.429261767337,0.00460528072123,0.0497583557685,0.999999907906,0.000173114745186,-0.000391903944889,-2.51098508252e-05,1793243648638260736
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.552560864,745,714,680,663.447439136,634,880,787,806,652,631.552560864,652,0.428354425307,0.00460507078966,0.0497728501849,0.999999916062,0.000171339610655,-0.000371063571506,-2.88209028752e-05,1793243648654927360
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,663.130854262,634,880.130854262,787,805.869145738,652,631.869145738,652,0.427441376805,0.00460569803975,0.0497825654949,0.999999920967,0.000168108966467,-0.000358852945484,-3.20860529022e-05,1793243648671593728
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,663.724511318,634,880.724511318,787,805.275488682,652,631.275488682,652,0.426497799245,0.00461053615905,0.0497685091301,0.999999911098,0.000161816629287,-0.000387879070529,-3.41789325741e-05,1793243648688260352
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,663.690125106,634,880.690125106,787,805.309874894,652,631,652,0.425594139143,0.00461332597232,0.0497730825842,0.999999920366,0.000151656545575,-0.00036734153798,-3.64398582447e-05,1793243648704926720
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,663.111942538,634,880.111942538,787,805.888057462,652,631,652,0.424725041941,0.00461434224307,0.0497937868177,0.999999943529,0.000138147542288,-0.0003038889107,-3.88462876913e-05,1793243648721593344
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,663.929144594,634,880,787,806,652,631,652,0.423825687179,0.00460845238842,0.0498203347298,0.999999956131,0.000137414524587,-0.000259498299641,-3.89339873264e-05,1793243648738259968
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.041504897,714,680,664.958495103,634,880,787,806,652,631,652,0.422918338913,0.00460128738215,0.0498444194702,0.999999963884,0.000139859881695,-0.000226252528389,-3.84712546117e-05,1793243648754926848
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.629204,714,680,664.370796,634,880,787,806,652,631,652,0.42200140103,0.00459916235839,0.0498176257144,0.999999949897,0.000143764747582,-0.000279441624506,-3.80912482503e-05,1793243648771593472
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745.786204193,713.786204193,679.786204193,663.786204193,634,880,787,805.786204193,652,631,652,0.421098176537,0.00459947760169,0.0498019454893,0.999999940398,0.000139917574746,-0.000313352044072,-3.79089502253e-05,1793243648788260096
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745.206924215,713.206924215,679.206924215,663.206924215,634,880,787,805.206924215,652,631,652,0.420218394949,0.00460396448389,0.0498052638531,0.999999942339,0.000122818284246,-0.000314305554293,-3.80646349035e-05,1793243648804926720
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.371618709,663.743237418,634,880,787.371618709,805.371618709,652,631,652,0.419325418929,0.00461088159496,0.0498039173885,0.999999937204,0.000130219406547,-0.000327487113462,-3.72418977308e-05,1793243648821593600
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.949752005,664.89950401,634,880,787.949752005,805.949752005,652,631,652,0.418425110601,0.00461914922364,0.0497999786024,0.999999927555,0.000151235809371,-0.000347463998912,-3.58754355234e-05,1793243648838260224
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.520577848,679.479422152,663.958844304,634,880,787.479422152,805.479422152,652,631,652,0.417578604517,0.00461407861428,0.0497870911471,0.99999992282,0.000153550920505,-0.000359707965306,-3.73204284217e-05,1793243648854926848
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.094534568,745,713.905465432,679,663.094534568,634,880,787.094534568,805,652.094534568,631,652,0.416750254995,0.00460795188884,0.0497800849215,0.999999922403,0.000152945581108,-0.000360960689306,-3.88371453918e-05,1793243648871593472
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.688715337,745,713.311284663,679,663.688715337,634,880,787.688715337,805,652.688715337,631,652,0.41599080117,0.00460295366173,0.0498086649658,0.999999941088,0.000146313252934,-0.00030801149407,-3.93185148829e-05,1793243648888260352
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.724431482,745,713.275568518,679,664.275568518,634,880,788,805,653,631,652,0.415218580068,0.00459977747341,0.0498220724783,0.999999950091,0.00013246984631,-0.000284073929299,-3.96465311734e-05,1793243648904926976
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.145641249,745,713.854358751,679,664.854358751,634,880,788,805,653,631,652,0.414432310548,0.0045986061651,0.0498187848994,0.999999950432,0.000110691732986,-0.000292059305184,-3.98058053743e-05,1793243648921593600
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.569404922,679.430595078,664.138809844,634,880,787.569404922,805,652.569404922,631,652,0.413644957962,0.00460193951288,0.049797836332,0.999999938292,0.00012202679231,-0.00032700116249,-3.99548841621e-05,1793243648938260224
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.993897941,663,634,879.993897941,787,805,652.006102059,631,652,0.412858260996,0.00460676121611,0.0497714479402,0.999999920248,0.000144329933262,-0.000370221957095,-4.00982181904e-05,1793243648954926848
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.406061576,663,634,879.406061576,787,805,652.593938424,631,652,0.4121687907,0.00460907729636,0.0497925814391,0.999999930494,0.000150823376062,-0.000338618321087,-4.00207009156e-05,1793243648971593472
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,713,679,663.17917698,634.17917698,879,787.17917698,805,653,631,652,0.411480072727,0.00461105109421,0.0498097230505,0.999999938694,0.000148525595054,-0.000314573264772,-3.99358766299e-05,1793243648988260352
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,663.758612474,634.758612474,879,787.758612474,805,653,631,652,0.410793035213,0.0046122602773,0.0498179472985,0.999999943943,0.000126589343146,-0.000307413105591,-3.98347294643e-05,1793243649004926976
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.912801688,713.912801688,679.912801688,663.087198312,634.087198312,879.912801688,788,805,653,631,652,0.409473769873,0.0046081290999,0.0497875500416,0.99999992438,0.000133740503701,-0.000363197461896,-3.79664815037e-05,1793243649038260480
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90696c82dadb8dbea5fb04329c79eeea76958d4c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+365,6.083333333,pose2_to_pose3_retreat,0.582805407963,0.0100016883321,1.04004084313,0.553377129639,0.0186765235991,1.03967863827
+366,6.100000000,pose2_to_pose3_retreat,0.582542087843,0.0100017870148,1.04004086944,0.553113807089,0.0186766140755,1.03967866547
+367,6.116666667,pose2_to_pose3_retreat,0.582299240308,0.0100017632682,1.04004095363,0.552870960479,0.0186765935372,1.03967875131
+368,6.133333333,pose2_to_pose3_retreat,0.582079958509,0.0100018114566,1.04004088903,0.552651678287,0.0186766402514,1.03967868337
+369,6.150000000,pose2_to_pose3_retreat,0.581887311109,0.0100018734188,1.04004059036,0.552459029653,0.0186766982288,1.03967838957
+370,6.166666667,pose2_to_pose3_retreat,0.581719288438,0.0100018063138,1.04004062992,0.552291007366,0.0186766322997,1.03967842616
+371,6.183333333,pose2_to_pose3_retreat,0.581573463164,0.0100017422994,1.04004098395,0.552145184028,0.0186765745529,1.03967877298
+372,6.200000000,pose2_to_pose3_retreat,0.581445234658,0.0100018236503,1.04004108053,0.552016954735,0.0186766533506,1.03967887247
+373,6.216666667,pose2_to_pose3_retreat,0.5813327836,0.0100017026151,1.04004093251,0.551904504932,0.0186765365471,1.03967872382
+374,6.233333333,pose2_to_pose3_retreat,0.581231967441,0.0100017915204,1.04004092597,0.551803687238,0.0186766202999,1.03967871961
+375,6.250000000,pose2_to_pose3_retreat,0.581142179484,0.0100018522169,1.04004091291,0.551713899496,0.0186766817601,1.03967870774
+376,6.266666667,pose2_to_pose3_retreat,0.581063528502,0.0100018140124,1.04004085145,0.551635249563,0.0186766471302,1.03967864622
+377,6.283333333,pose2_to_pose3_retreat,0.580995662614,0.0100017662734,1.04004080181,0.551567382952,0.0186765969604,1.03967859699
+378,6.300000000,pose2_to_pose3_retreat,0.580939450307,0.0100016937035,1.04004074803,0.551511170783,0.0186765249004,1.03967854415
+379,6.316666667,pose2_to_pose3_retreat,0.580893645447,0.0100017521892,1.04004079508,0.551465365324,0.018676581634,1.03967859791
+380,6.333333333,pose2_to_pose3_retreat,0.580858270385,0.0100018934549,1.04004061571,0.551429988077,0.0186767152604,1.03967841309
+381,6.350000000,pose2_to_pose3_retreat,0.58082936693,0.0100018469765,1.04004059931,0.551401086198,0.0186766740628,1.03967839523
+382,6.366666667,pose2_to_pose3_retreat,0.580806114421,0.0100017649177,1.04004065376,0.551377835044,0.0186765967858,1.03967845418
+383,6.383333333,pose2_to_pose3_retreat,0.58078815732,0.0100018122695,1.04004085224,0.55135987725,0.0186766417122,1.03967865114
+384,6.400000000,pose2_to_pose3_retreat,0.58077431693,0.0100019490646,1.04004109388,0.551346034939,0.0186767716155,1.03967888376
+385,6.416666667,pose2_to_pose3_retreat,0.58076357131,0.0100018915524,1.04004101636,0.551335289738,0.0186767153563,1.03967880192
+386,6.433333333,pose2_to_pose3_retreat,0.580756306752,0.0100018637975,1.04004087705,0.551328025795,0.0186766900756,1.03967867154
+387,6.450000000,pose2_to_pose3_retreat,0.580752297235,0.0100018728368,1.04004083736,0.551324016322,0.0186766993981,1.03967863489
+388,6.466666667,pose2_to_pose3_retreat,0.580749036495,0.0100018968973,1.04004083204,0.551320755407,0.0186767229171,1.03967863058
+389,6.483333333,pose2_to_pose3_retreat,0.580746865098,0.0100018589459,1.04004095477,0.551318585519,0.0186766896741,1.03967874365
+390,6.500000000,pose2_to_pose3_retreat,0.580745930757,0.0100018401821,1.04004101327,0.5513176519,0.0186766731649,1.03967879752
+391,6.516666667,pose2_to_pose3_retreat,0.580745584796,0.0100018255707,1.04004100045,0.551317306262,0.0186766596829,1.03967878554
+392,6.533333333,pose2_to_pose3_retreat,0.580745522143,0.0100018219627,1.0400409938,0.551317243675,0.0186766563165,1.03967877936
+393,6.550000000,pose2_to_pose3_retreat,0.580745462804,0.0100018185456,1.0400409875,0.551317184398,0.0186766531281,1.03967877351
+394,6.566666667,pose2_to_pose3_retreat,0.580745422097,0.0100018162014,1.04004098318,0.551317143734,0.0186766509408,1.0396787695
+395,6.583333333,pose2_to_pose3_retreat,0.580745357389,0.0100018124751,1.04004097631,0.551317079093,0.0186766474639,1.03967876312
+396,6.600000000,pose2_to_pose3_retreat,0.580745158338,0.0100018010124,1.04004095518,0.55131688025,0.0186766367685,1.0396787435
+397,6.616666667,pose2_to_pose3_retreat,0.580744662698,0.0100017724701,1.04004090257,0.551316385128,0.0186766101369,1.03967869463
+398,6.633333333,pose2_to_pose3_retreat,0.580744433147,0.010001759251,1.0400408782,0.551316155817,0.0186765978027,1.039678672
+399,6.650000000,pose2_to_pose3_retreat,0.580744221925,0.0100017470875,1.04004085578,0.551315944816,0.0186765864533,1.03967865117
+400,6.666666667,pose2_to_pose3_retreat,0.580744059597,0.0100017565894,1.04004084919,0.551315782132,0.0186765947581,1.03967864478
+401,6.683333333,pose2_to_pose3_retreat,0.58074389296,0.0100017684064,1.04004084358,0.551315615073,0.0186766051466,1.03967863927
+402,6.700000000,pose2_to_pose3_retreat,0.580743863535,0.010001770493,1.04004084259,0.551315585574,0.0186766069809,1.0396786383
+403,6.716666667,pose2_to_pose3_retreat,0.580743819905,0.010001773587,1.04004084112,0.551315541833,0.0186766097009,1.03967863686
+404,6.733333333,pose2_to_pose3_retreat,0.580743817189,0.0100017737796,1.04004084103,0.55131553911,0.0186766098703,1.03967863677
+405,6.750000000,pose2_to_pose3_retreat,0.580743718535,0.0100017807756,1.04004083771,0.551315440206,0.0186766160205,1.03967863351
+406,6.766666667,pose2_to_pose3_retreat,0.58074361454,0.0100018913928,1.04004076883,0.551315334391,0.0186767203901,1.03967856285
+407,6.783333333,pose2_to_pose3_retreat,0.580743593266,0.0100019317074,1.04004074354,0.551315312479,0.0186767585091,1.03967853689
+408,6.800000000,pose2_to_pose3_retreat,0.580743593075,0.0100019320696,1.04004074332,0.551315312282,0.0186767588516,1.03967853665
+409,6.816666667,pose2_to_pose3_retreat,0.58074358571,0.0100019460275,1.04004073456,0.551315304696,0.01867677205,1.03967852766
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38ae56a9466fa9a99742e2bd32326aed305b2b93
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0280487e0247108d31f01c136bd9f3d83f517969256d0c70b9f2e947f132d6be
+size 25637620
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a5192eab55698381d69e33083967ac6d6042d42f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+33,0.550000000,BASELINE,764.148675513,745,714,679.148675513,659,634.148675513,879.148675513,787.851324487,805,652,631,652,0.401036713916,0.0044839340035,0.0698625171082,0.999999990059,1.78296285226e-05,-0.00013858102341,1.89544476605e-05,1793243652117960960
+34,0.566666667,BASELINE,764.723810873,745,714,679.723810873,659,634.723810873,879.723810873,787.276189127,805,652,631,652,0.401034722857,0.00448556630188,0.0698611996665,0.999999989583,2.24187290938e-05,-0.00014132617362,1.89165514955e-05,1793243652134627328
+35,0.583333333,BASELINE,765,745,714,679.701383316,659,634.701383316,879.701383316,787,805,652,631,652,0.401034771284,0.00448613452924,0.0698611864508,0.999999989565,2.37460007637e-05,-0.000141248225664,1.88626245076e-05,1793243652151293952
+36,0.600000000,BASELINE,765,745,714,679.126881899,659,634.126881899,879.126881899,787,805,652,631,652,0.401036703944,0.00448571968728,0.0698623781779,0.99999998998,2.20597481323e-05,-0.000138562085911,1.8793887026e-05,1793243652167960320
+37,0.616666667,BASELINE,765,745,714,679.461442155,658.538557845,634,879,787,805,652,631,652,0.401036927753,0.00448423546314,0.0698632040113,0.999999990177,2.00273096319e-05,-0.000137465679911,1.86449230523e-05,1793243652184626944
+38,0.633333333,BASELINE,765,745,714,680,658.05229866,634,879.05229866,787,805,652,631,652,0.401036632749,0.00448273194398,0.0698637908748,0.999999990282,1.81261646504e-05,-0.000136989613667,1.84828650777e-05,1793243652201293312
+39,0.650000000,BASELINE,765,745,714,680,658.62925428,634,879.62925428,787,805,652,631,652,0.401035992416,0.00448407580155,0.0698630208795,0.999999990107,1.85265768551e-05,-0.000138216117478,1.84175845157e-05,1793243652217959936
+40,0.666666667,BASELINE,765,745,714,679.79462818,659,634,879.79462818,787,805,652,631,651.79462818,0.401035508494,0.00448479815383,0.069862257118,0.999999989945,1.88270694509e-05,-0.000139331640752,1.84930044152e-05,1793243652234626560
+41,0.683333333,BASELINE,765,745,714,679.220017464,659,634,879.220017464,787,805,652,631,651.220017464,0.401035305785,0.00448440309892,0.0698615045645,0.999999989809,1.8947916119e-05,-0.000140247631557,1.88213902966e-05,1793243652251293696
+42,0.700000000,BASELINE,765,745,714,679,659,634,879,787,805,652,631,651.354843554,0.401034757261,0.0044841284114,0.0698612243361,0.999999989681,1.88973940959e-05,-0.000141150457274,1.88941221012e-05,1793243652267960576
+43,0.716666667,BASELINE,765,745,714,679,659,634,879,787,805,652,631,651.929859858,0.401033994167,0.00448392840927,0.0698612371753,0.999999989559,1.87405415027e-05,-0.000142045114305,1.88082260694e-05,1793243652284627200
+44,0.733333333,BASELINE,765,745,714,679,658.477737655,634,879,787,805,652,631,652,0.401035464985,0.00448514681921,0.0698619341659,0.999999989787,2.02553132984e-05,-0.000140272274215,1.84463226036e-05,1793243652301293568
+45,0.750000000,BASELINE,765,745,714,679,658.113108427,634,879.113108427,787,805,652,631,652,0.401036891337,0.00448608960796,0.0698626861973,0.999999990026,2.15876383363e-05,-0.00013837973481,1.82550214116e-05,1793243652317960192
+46,0.766666667,BASELINE,765,745,714,679,658.687747746,634,879.687747746,787,805,652,631,652,0.401036869899,0.00448510368073,0.0698632749898,0.999999990141,2.12278991694e-05,-0.0001375109099,1.8916312593e-05,1793243652334626560
+47,0.783333333,BASELINE,765,745,714,679,658.737271746,634.262728254,879.737271746,787,804.737271746,652,631,652,0.401036793671,0.00448468025895,0.0698631257192,0.999999990132,2.08552835985e-05,-0.000137602805742,1.9128219111e-05,1793243652351293184
+48,0.800000000,BASELINE,765,745,714,679,658.161885135,634.838114865,879.161885135,787,804.161885135,652,631,652,0.401036652243,0.00448492624366,0.0698620981209,0.999999989976,2.04673444841e-05,-0.000138838002079,1.88053378922e-05,1793243652367960064
+49,0.816666667,BASELINE,765,745,714,679.423946178,658.423946178,634.576053822,879,787,804.423946178,652,631,652,0.401036286128,0.0044855676581,0.0698616647072,0.999999989853,2.16593546133e-05,-0.000139541730841,1.87711542289e-05,1793243652384627200
+50,0.833333333,BASELINE,765,745,714,679.986336319,658.986336319,634.013663681,879,787,805,652,631,652,0.401035851329,0.00448635111086,0.0698614818288,0.999999989746,2.34137965921e-05,-0.00014001939444,1.88386644935e-05,1793243652401294336
+51,0.850000000,BASELINE,765,745,714,679.405046064,658.405046064,634.594953936,879,787,805,652,631,652,0.401036217489,0.00448660399191,0.0698620431075,0.999999989804,2.28370467555e-05,-0.000139749435689,1.84354675399e-05,1793243652417961216
+52,0.866666667,BASELINE,765,745.174935105,714,679,658.174935105,634.825064895,879,786.825064895,805,652,631,652,0.401036854143,0.00448646692668,0.0698628689801,0.999999989955,2.22796050582e-05,-0.000138779750739,1.82602506527e-05,1793243652434627840
+53,0.883333333,BASELINE,765,745.751907688,714,679,658.751907688,634.248092312,879,786.248092312,805,652,631,652,0.401038112446,0.00448543368328,0.0698643029446,0.999999990314,2.17665375394e-05,-0.000136201948583,1.86089796871e-05,1793243652451293952
+54,0.900000000,BASELINE,765,745.672722128,714,679,659,634,879,786.327277872,805,652,631,652,0.401037745575,0.00448494439834,0.0698639663463,0.999999990293,2.11101896239e-05,-0.000136464657713,1.8607208221e-05,1793243652467960320
+55,0.916666667,BASELINE,765,745.098560747,714,679,659,634,879,786.901439253,805,652,631,652,0.401036152745,0.00448486545091,0.0698622941159,0.999999989982,2.03457575308e-05,-0.000138870119209,1.83410351368e-05,1793243652484626944
+56,0.933333333,BASELINE,765,745,714,679,658.511561396,634.488438604,879.488438604,787,805,652,631,652,0.401036165894,0.00448545920541,0.0698629089194,0.999999990048,2.08527357454e-05,-0.000138300353236,1.8509577414e-05,1793243652501293312
+57,0.950000000,BASELINE,765,745,714,679,658,635,879.923443666,787,805,652,631,652,0.401036523352,0.00448592700983,0.0698637686521,0.999999990151,2.14389572364e-05,-0.000137432775328,1.87106952713e-05,1793243652517959936
+58,0.966666667,BASELINE,765,745,714,679,658,635,879.345427229,787,805,652,631,652,0.401036956104,0.00448465666994,0.069863128237,0.999999989999,2.08183904709e-05,-0.000138653124383,1.85350950828e-05,1793243652534627072
+59,0.983333333,BASELINE,765,745,714,679,658,634.776554292,879.223445708,787,805,652,631,652,0.401037101129,0.00448423433682,0.0698628495578,0.999999989947,2.08155733467e-05,-0.000139046565436,1.84299864294e-05,1793243652551293952
+60,1.000000000,BASELINE,765,745,714,679,658,634.221260639,879.778739361,787,805,652,631,652,0.40103681884,0.00448507141147,0.0698631081067,0.999999990043,2.17302002407e-05,-0.000138211933312,1.84295674804e-05,1793243652567960576
+61,1.016666667,BASELINE,765,745,714,679,658.367686743,634,880,787,805,652,631,652,0.401037015974,0.00448667091361,0.0698632884078,0.999999990074,2.39088771309e-05,-0.000137612527276,1.85185266303e-05,1793243652584626944
+62,1.033333333,BASELINE,765,745,714,679,658.978926033,634,880,787,805,652,631,652,0.401037530676,0.00448877544114,0.0698634168781,0.999999990056,2.69248498479e-05,-0.000137168933033,1.86666890669e-05,1793243652601293312
+63,1.050000000,BASELINE,765,745,714,679,658.440404509,634,879.440404509,787,805,652,631,652,0.401035006343,0.00448746575895,0.0698617804352,0.99999998976,2.35198655597e-05,-0.000139955258131,1.84258811766e-05,1793243652617960192
+64,1.066666667,BASELINE,765,745,714,679,658.138477832,634,879,787,805,652,631,652,0.401033187001,0.00448579584779,0.0698606127489,0.999999989525,2.04154195324e-05,-0.000142111889484,1.83534050333e-05,1793243652634626560
+65,1.083333333,BASELINE,765,745,714,679,658.715159243,634,879,787,805,652,631,652,0.401033941958,0.00448337181358,0.0698611278413,0.999999989573,1.89875575019e-05,-0.000141910925798,1.88575557607e-05,1793243652651293184
+66,1.100000000,BASELINE,764.708540616,745,714,679.291459384,659,634,879,787.291459384,805,652,630.708540616,652,0.401035488576,0.00448284172031,0.0698623110357,0.999999989789,1.80199120346e-05,-0.0001404872535,1.89922909419e-05,1793243652667960064
+67,1.116666667,BASELINE,764.132612633,745,714,679.867387367,659,634,879,787.867387367,805,652,630.132612633,652,0.401037807864,0.00448416014108,0.0698641463073,0.999999990167,1.75014447098e-05,-0.000137870199826,1.8766471148e-05,1793243652684626688
+68,1.133333333,BASELINE,764.453762266,745,714,679.546237734,659,634,879,787.546237734,805,652,630.453762266,652,0.401036845326,0.00448413461208,0.0698633708902,0.99999999006,1.9320065197e-05,-0.000138415472345,1.8635526341e-05,1793243652701293312
+69,1.150000000,BASELINE,765,745,714,679,658.957486056,634,879,787,805,652,631,652,0.401035095035,0.00448384448665,0.0698619989043,0.999999989828,2.1673467792e-05,-0.000139755801382,1.85357199133e-05,1793243652717959680
+70,1.166666667,BASELINE,765,745,714,679,658.378183084,634,879,787,805,652,631,652,0.401035793819,0.0044852895852,0.0698629550422,0.999999989901,2.19519996444e-05,-0.000139190627644,1.84707319394e-05,1793243652734626304
+71,1.183333333,BASELINE,765,745.19973746,714,679,658.399474921,634,879,787,805,652,631,652,0.401036183417,0.00448647701092,0.0698634593462,0.999999989917,2.25127003798e-05,-0.000139005855404,1.83493362911e-05,1793243652751293184
+72,1.200000000,BASELINE,765,745.775058607,714,679,659.550117214,634,879,787,805,652,631,652,0.401035991625,0.00448717991226,0.0698631140278,0.999999989822,2.36039878098e-05,-0.000139536385027,1.81218723845e-05,1793243652767959808
+73,1.216666667,BASELINE,765,745.642520077,714,679.357479923,659.642520077,634,879,787,805,652,631,652,0.401036137758,0.00448614614894,0.0698630656844,0.999999989811,2.29985972867e-05,-0.00013969603085,1.82928483386e-05,1793243652784626176
+74,1.233333333,BASELINE,765,745.055540535,714,679.944459465,659.055540535,634,879,787,805,652,631,652,0.401036500837,0.00448399745896,0.069863207997,0.999999989851,2.13039512821e-05,-0.000139617571826,1.87196199186e-05,1793243652801293056
+75,1.250000000,BASELINE,765,745,714,679.475435383,658.475435383,634.524564617,879,787,805,652,631,652,0.401035398874,0.00448534130635,0.0698626815001,0.999999989824,2.11139910753e-05,-0.000139862614663,1.85671630723e-05,1793243652817959680
+76,1.266666667,BASELINE,765,745,714,679,658,634.896293373,879,787,805,652,631,652,0.401034365318,0.00448639756506,0.069862191489,0.999999989786,2.0680824513e-05,-0.000140216443733,1.84102481872e-05,1793243652834626304
+77,1.283333333,BASELINE,765,745,714,679,658,634.318270555,879,787,805,652,631,652,0.401034344901,0.00448446910312,0.0698621880337,0.999999989731,1.84160974746e-05,-0.000140913190858,1.85098087918e-05,1793243652851292928
+78,1.300000000,BASELINE,765,745,714,679,658,634,879,787,805,652,631,652,0.401034490668,0.00448415511274,0.0698622574167,0.999999989739,1.84896376047e-05,-0.000140840640676,1.85583001712e-05,1793243652867959808
+79,1.316666667,BASELINE,765,745,714,679,658,634,879,787,805,652,631,652,0.401034840056,0.00448581931004,0.0698624160473,0.999999989823,2.14282212423e-05,-0.000139825482107,1.85442171949e-05,1793243652884626432
+80,1.333333333,BASELINE,765,745,714,679.41779399,658.41779399,634.41779399,879.41779399,787,805,652,631,652,0.401035098077,0.00448611644601,0.0698627464115,0.999999989823,2.21763537173e-05,-0.000139689120053,1.86744566931e-05,1793243652901293056
+81,1.350000000,BASELINE,765,745,714,679.993247636,658.993247636,634.993247636,879.993247636,787,804.993247636,652,631,652,0.401035300812,0.0044858460755,0.0698631289854,0.99999998979,2.2020543643e-05,-0.000139927542412,1.88610209047e-05,1793243652917959680
+82,1.366666667,BASELINE,765,745,714,679.413882318,658.413882318,634.413882318,879.413882318,787,804.413882318,652,631,652,0.401033991624,0.00448497611605,0.0698619687075,0.999999989598,2.13599631215e-05,-0.000141396935993,1.88066399955e-05,1793243652934626560
+83,1.383333333,BASELINE,765,745,714,679.163894245,658.163894245,634.163894245,879,787,804.163894245,652,631,652,0.401033311483,0.00448417488362,0.0698613325618,0.999999989498,2.06048498522e-05,-0.000142223207553,1.87816053572e-05,1793243652951293696
+84,1.400000000,BASELINE,765,745,714,679.737697363,658.737697363,634.737697363,879,787,804.737697363,652,631,652,0.401034204625,0.0044835455412,0.0698620073007,0.999999989628,1.961330464e-05,-0.00014144099449,1.88299674081e-05,1793243652967960320
+85,1.416666667,BASELINE,765,745,714,680,659,634.687397715,879,787.312602285,805,652,631,652,0.401035489741,0.00448395613924,0.0698629869836,0.999999989804,2.0088783164e-05,-0.000140129896061,1.87457592481e-05,1793243652984626944
+86,1.433333333,BASELINE,765,745,714,680,659,634.11156504,879,787.88843496,805,652,631,652,0.401037104924,0.00448524243129,0.0698642234483,0.999999990017,2.17995861453e-05,-0.000138373443601,1.85499187977e-05,1793243653001293568
+87,1.450000000,BASELINE,765,745,714,679.534807171,659,634,879,788,805.465192829,652,631,652,0.401035947872,0.00448581307181,0.06986341242,0.999999989827,2.21510616984e-05,-0.000139705419005,1.84021463211e-05,1793243653017959936
+88,1.466666667,BASELINE,765,745.043377995,714,679.043377995,658.956622005,634,879,787.956622005,805.956622005,652,631,652,0.401034353944,0.00448602705748,0.0698622493886,0.999999989574,2.1991005745e-05,-0.000141541330968,1.83074669611e-05,1793243653034626560
+89,1.483333333,BASELINE,765,745.636843787,714,679.636843787,658.363156213,634,879,787.363156213,805.363156213,652,631,652,0.401035667846,0.00448389904917,0.0698628619404,0.999999989785,1.94864294663e-05,-0.000140356276812,1.87395954895e-05,1793243653051293184
+90,1.500000000,BASELINE,765,746,714.222850465,679.777149535,658.222850465,634,879,787,805,652,631,652,0.401036344342,0.00448335874201,0.0698635063372,0.999999989947,1.85161366067e-05,-0.000139307669294,1.88917508554e-05,1793243653067959808
+91,1.516666667,BASELINE,765,746,714.797095428,679.202904572,658.797095428,634,879,787,805,652,631,652,0.401036015765,0.00448532194989,0.0698642009476,0.99999999004,1.99651288151e-05,-0.000138474213327,1.8602439619e-05,1793243653084626688
+92,1.533333333,BASELINE,765.371517054,745.628482946,714.628482946,679,658.628482946,634,879,787,805,652,631,652,0.401034081589,0.00448614600886,0.069863026877,0.999999989752,2.14063713366e-05,-0.000140335564773,1.85150391219e-05,1793243653101293312
+93,1.550000000,BASELINE,765.946035264,745.053964736,714.053964736,679,658.053964736,634,879,787,805,652,631,652,0.401031270095,0.00448634762405,0.0698608317378,0.999999989247,2.28433794749e-05,-0.000143669389655,1.85379649293e-05,1793243653117959936
+94,1.566666667,BASELINE,765.464379846,745.535620154,714,679,658,634,879,787,805,652,631,652,0.401032628617,0.00448504973607,0.0698611015044,0.999999989399,1.95459758594e-05,-0.000143112148357,1.84197934618e-05,1793243653134626560
+95,1.583333333,BASELINE,765,745.875882198,714,679.124117802,658.124117802,634,879,787,805,652,631,652,0.401034658861,0.00448391492619,0.069862042004,0.999999989671,1.72255719646e-05,-0.000141510339571,1.83313302668e-05,1793243653151293440
+96,1.600000000,BASELINE,765,745.297088991,714,679.702911009,658.702911009,634,879,787,805,652,631,652,0.401037566178,0.00448394696795,0.0698645034921,0.999999990164,2.02821201631e-05,-0.000137559692439,1.84052795272e-05,1793243653167960320
+97,1.616666667,BASELINE,765,745,714,679.720408897,658.720408897,634,878.720408897,787,805,652,631,652,0.401038068496,0.00448459235581,0.0698647786222,0.99999999021,2.13099500263e-05,-0.000137060433733,1.84582512374e-05,1793243653184627456
+98,1.633333333,BASELINE,765,745,714,679.145957355,658.145957355,634,878.145957355,787,805,652,631,652,0.401036034471,0.0044858845865,0.0698627479905,0.999999989797,2.01982667786e-05,-0.000140201054705,1.84890997444e-05,1793243653201294592
+99,1.650000000,BASELINE,765,745,714,679.439356527,658,634,878.439356527,787,805,652,631,652,0.401035020118,0.00448541655809,0.0698621998197,0.999999989685,1.98536290053e-05,-0.000141018970216,1.86876837176e-05,1793243653217960960
+100,1.666666667,BASELINE,765.027975087,745,714,679.972024913,658,634,879,787,805,652,631,652,0.401034438831,0.00448439603261,0.0698622047355,0.999999989689,1.97705330605e-05,-0.00014097038906,1.89173223491e-05,1793243653234627328
+101,1.683333333,BASELINE,765.608781246,745,714,679.391218754,658,634,879,787,805,652,631,652,0.401035551831,0.00448430622503,0.0698631605397,0.999999989912,1.96926588624e-05,-0.000139433429855,1.8631563441e-05,1793243653251293952
+102,1.700000000,BASELINE,765.812103078,745,714,679,658.187896922,634,879.187896922,787,805,652,631,652.187896922,0.401036262188,0.00448426117189,0.0698636722011,0.999999990042,1.95336030699e-05,-0.000138541511122,1.84518281024e-05,1793243653267960320
+103,1.716666667,BASELINE,765.236475831,745,714,679,658.763524169,634,879.763524169,787,805,652,631,652.763524169,0.401036141681,0.00448430847074,0.0698632673617,0.999999989987,1.92070268948e-05,-0.000138980650856,1.84908752721e-05,1793243653284627200
+104,1.733333333,BASELINE,765,745,714,679,658.663512437,634,879.663512437,787,805,652,631,652.663512437,0.401035717292,0.00448452748831,0.0698629016826,0.999999989881,1.94878959098e-05,-0.000139689074505,1.8605685138e-05,1793243653301293824
+105,1.750000000,BASELINE,765,745,714,679,658.092406375,634,879.092406375,787,805,652,631,652.092406375,0.401035081018,0.00448486623804,0.0698625633083,0.999999989738,2.01923106434e-05,-0.000140585258445,1.87733211206e-05,1793243653317960192
+106,1.766666667,BASELINE,765,745,714,679,658,634,879,787,805,652.501437482,631,652,0.401033904324,0.00448479555993,0.0698618549935,0.999999989549,2.0782358224e-05,-0.000141834243473,1.8807195165e-05,1793243653334626816
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,880,787,805,652,631,652,0.401034169702,0.00448403424943,0.0698626731298,0.999999989804,2.00201917561e-05,-0.000140208417018,1.82590153664e-05,1793243653377470208
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.42710644,787,805,652,631,652,0.401035443957,0.00448293106351,0.0698638705129,0.999999990045,1.78235141547e-05,-0.000138770021631,1.83276284285e-05,1793243653394136832
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.149966289,659,634,878.850033711,787,805.149966289,652,631,652,0.401036060534,0.00448262567981,0.0698642884743,0.999999990113,1.69817546773e-05,-0.000138373262072,1.83825691331e-05,1793243653410803968
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.739282692,659,634,878.260717308,787,805.739282692,652,631,652,0.401034750336,0.00448465758441,0.0698624229957,0.999999989684,2.01094430032e-05,-0.000141028140143,1.83974545071e-05,1793243653427471104
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.676409475,659,634,878.323590525,787,805.676409475,652.323590525,631,652,0.401034648139,0.00448466825637,0.0698626104345,0.999999989681,2.10420358411e-05,-0.000140892238245,1.85859857186e-05,1793243653444137472
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.09607558,659,634,878.90392442,787,805.09607558,652.90392442,631,652,0.401035504393,0.00448307524071,0.0698644267003,0.99999999002,2.02329946386e-05,-0.000138542074032,1.89122911036e-05,1793243653460804096
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.519540461,634.480459539,878.519540461,787,805,653,631,652,0.401035058242,0.00448343863608,0.0698638484614,0.999999989825,2.0052768905e-05,-0.000139972957047,1.88723036242e-05,1793243653477470464
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.056016791,658.056016791,634.943983209,878.056016791,787,805,653,631.056016791,652,0.401034406213,0.00448415129871,0.0698629131578,0.999999989506,2.00605549431e-05,-0.000142242931009,1.87826601286e-05,1793243653494136576
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.629502982,658.629502982,634.370497018,878.629502982,787,805,653,631.629502982,652,0.401034239321,0.00448450480144,0.0698630678973,0.999999989047,2.0652688397e-05,-0.000145334521089,1.89056284372e-05,1793243653510803200
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.790238567,659,634,879,787,805.209761433,652.790238567,631.790238567,652,0.401037124372,0.00448536566939,0.0698646341366,0.999999988578,2.22225907249e-05,-0.000148277109095,1.90664411691e-05,1793243653527469824
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.197619413,659,634,879,787,805.802380587,652.197619413,631.197619413,652,0.401045579846,0.00448715258309,0.0698687766528,0.999999988094,2.55771221138e-05,-0.000150947737357,1.9296327737e-05,1793243653544136704
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745.384867339,714,679.384867339,658.615132661,634,879,787,805.615132661,652,631,652,0.401069042599,0.00448568943018,0.0698774753455,0.999999988692,2.24689860967e-05,-0.000147363748187,1.98948776123e-05,1793243653560803584
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745.962284877,714,679.962284877,658.037715123,634,879,787,805.037715123,652,631,652,0.401100013536,0.00448260026009,0.0698884535064,0.999999989765,1.61275599358e-05,-0.000140650556784,2.06778707832e-05,1793243653577470464
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.459712301,746,714.540287699,679.459712301,658,634,879,787,805,652,631,652,0.401151123006,0.0044830739409,0.0698980663173,0.999999991371,1.71600683663e-05,-0.000128653219339,2.02982173072e-05,1793243653594136832
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745.880102826,714.880102826,679,658.119897174,634,879,787,805,652,631,651.880102826,0.401207017472,0.00448355163027,0.0699070295582,0.999999992827,1.81188448693e-05,-0.00011674598323,1.96960506692e-05,1793243653610803456
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745.294410293,714.294410293,679,658.705589707,634,879,787,805,652,631,651.294410293,0.401276034134,0.00448307762894,0.0699138399234,0.999999994003,1.67892567708e-05,-0.000106623354822,1.85450720954e-05,1793243653627470592
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.288850205,745,714,679,659,634,879,787,805,652,631,651.288850205,0.40135514615,0.00448264841735,0.0699181509255,0.999999994643,1.36628553356e-05,-0.000101176400797,1.70269002044e-05,1793243653644137728
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.869652518,745,714,679,659,634,879,787,805,652,631,651.869652518,0.401444461929,0.00448226447654,0.069919935724,0.999999994802,8.72034503759e-06,-0.000100455332868,1.51375918528e-05,1793243653660804096
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,805,652,631,652,0.401545759599,0.00448264026166,0.0699167577493,0.999999994101,8.54609588861e-06,-0.000107466051249,1.32435047638e-05,1793243653677470720
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.986153472,634,879,787,804.986153472,652,631,652,0.401651314946,0.00448321087085,0.0699122925481,0.999999993103,9.59222277165e-06,-0.000116503081766,1.13247859035e-05,1793243653694137344
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.404795042,634,879,787,804.404795042,652,631,652,0.401789269456,0.00448275614696,0.0699139278554,0.999999993124,4.10483504058e-06,-0.000116891117555,8.45318739002e-06,1793243653710803968
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.178983429,634,879,787,804.178983429,652.178983429,631,652,0.401935744557,0.00448250792609,0.0699162725879,0.999999993265,-1.44578561152e-06,-0.000115925582566,5.4056615345e-06,1793243653727470592
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.768310084,634,879,787,804.768310084,652.768310084,631,652,0.402101754222,0.00448273314079,0.0699202437714,0.999999993717,-7.14137535908e-06,-0.000111856807159,1.95479933025e-06,1793243653744136960
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.650367907,634,879.349632093,787,805,652.650367907,631,652,0.402288753669,0.004482576933,0.0699230387487,0.999999994008,-1.21309977484e-05,-0.000108789162825,-1.59231847896e-06,1793243653760804096
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.07423154,634,879.92576846,787,805,652.07423154,631,652,0.402489351069,0.00448217362599,0.0699250717378,0.99999999419,-1.66632695934e-05,-0.000106370086893,-5.20179448054e-06,1793243653777470976
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.500942022,658.500942022,634.500942022,880,787,805,652,630.499057978,652,0.402722330983,0.00448136352006,0.0699256929939,0.999999993927,-2.31520659884e-05,-0.000107281097181,-1.0074727646e-05,1793243653794137600
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.078092694,714,679.921907306,658.921907306,634.921907306,879.921907306,787,805,652,630.078092694,652,0.40296432591,0.0044805388241,0.0699264796091,0.999999993636,-3.0254217662e-05,-0.000107626195527,-1.51302762782e-05,1793243653810803968
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.669166412,714,679.330833588,658.330833588,634.330833588,879.330833588,787,805,652,630.669166412,652,0.403234078715,0.00448001350669,0.0699297239951,0.999999993915,-3.94845955723e-05,-0.000101018598663,-2.0157913545e-05,1793243653827470080
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.745327495,714,679,658.254672505,634,879,787,805,652,631,652,0.40352725813,0.00448048475227,0.0699374784333,0.999999994945,-4.27180652829e-05,-8.77933153908e-05,-2.40266698817e-05,1793243653844136448
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.166899351,714,679,658.833100649,634,879,787,805,652,631,652,0.403850218905,0.00448222289115,0.0699509663322,0.999999996728,-3.83278891379e-05,-6.61552150657e-05,-2.64221838919e-05,1793243653860803328
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,805,652,631,651.590517906,0.404186979193,0.00448259433227,0.0699537280731,0.999999997246,-2.68339880197e-05,-6.41931257416e-05,-2.58463080729e-05,1793243653877469952
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,805,652,631,651.014966534,0.404529335994,0.00448241149634,0.0699521397204,0.999999997168,-1.24591051468e-05,-7.02108265543e-05,-2.40653573591e-05,1793243653894136832
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.559289974,659,634,879.559289974,787,805,652,631,651.559289974,0.404933955914,0.00448228027471,0.069959774512,0.999999998125,-9.06665415762e-06,-5.48903516345e-05,-2.55814318991e-05,1793243653910803712
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.862210734,659,634,879.862210734,787,805,652,630.862210734,652,0.405341525999,0.00448352693308,0.0699657781949,0.999999998645,-8.24441632294e-06,-4.36847112474e-05,-2.70956640004e-05,1793243653927470080
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.269592423,659,634,879.269592423,787,805,652,630.269592423,652,0.405753347098,0.0044893172915,0.0699655849292,0.999999998338,-1.49383472212e-05,-4.79422305589e-05,-2.83132546574e-05,1793243653944136960
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.685300457,745,714,679,659,634,879,786.685300457,805,652,630.314699543,652,0.40618400113,0.00449325878154,0.0699591638545,0.999999997722,-1.45766087004e-05,-5.89301874612e-05,-2.94963811955e-05,1793243653960803584
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.107957467,745,714,679,659,634,879,786.107957467,805,652,630.892042533,652,0.406630372886,0.00449565723483,0.0699475451451,0.999999996643,-8.32631662494e-06,-7.55352655764e-05,-3.06507446325e-05,1793243653977470208
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.467975705,745,714,679,658.532024295,634,879,786,805,652,630.532024295,652,0.407118833343,0.00450222198953,0.0699338543975,0.999999995022,5.18890376463e-06,-9.4210352762e-05,-3.2444264369e-05,1793243653994136832
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.044615756,658.044615756,634.044615756,879.089231513,786.044615756,805,652,630.044615756,652,0.407622936332,0.00450958121418,0.0699216139239,0.999999993166,1.98241563548e-05,-0.000109970970335,-3.43784278237e-05,1793243654010803456
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.633843009,658.633843009,634.633843009,880.267686018,786.633843009,805,652,630.633843009,652,0.408199819008,0.00451494136809,0.0699328937818,0.999999995402,2.77349569631e-05,-8.4343950717e-05,-3.6234951093e-05,1793243654027470336
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.219407507,714,680,659,635,880.780592493,787.219407507,805.219407507,652,631,652,0.408789544941,0.00452097584897,0.0699443127497,0.999999996955,3.49105950094e-05,-5.87454191308e-05,-3.76837226727e-05,1793243654044136960
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.798959769,714,680,659,635,880.201040231,787.798959769,805.798959769,652,631,652,0.409400352304,0.00452811719835,0.0699559600576,0.999999997874,4.08795056914e-05,-3.31936505886e-05,-3.84631933014e-05,1793243654060803584
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.623274581,714,680,659,634.623274581,879.623274581,788,806,651.623274581,631,652,0.410003172451,0.00453407089716,0.0699536106114,0.999999997653,4.39376181008e-05,-3.49732645501e-05,-3.92533762601e-05,1793243654077470464
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.046457878,714,680,659,634.046457878,879.046457878,788,806,651.046457878,631,652,0.410601750306,0.00453939379538,0.0699438270275,0.999999996851,4.54497094345e-05,-5.12694772626e-05,-4.00492488662e-05,1793243654094137344
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.473738637,745,714,680,658.473738637,634,879,787.473738637,805.473738637,651.526261363,631,652,0.411255085168,0.00454656365331,0.0699454103987,0.999999996182,5.49689673932e-05,-5.42926113362e-05,-4.08330454525e-05,1793243654110803968
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.099016914,745,714,680.099016914,658.198033829,634,879,787,805,652,631,652,0.411929781006,0.0045539560128,0.0699530991014,0.999999995954,6.5071944946e-05,-4.61285821144e-05,-4.15792280396e-05,1793243654127470592
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.673670836,745,714,680.673670836,659.347341672,634,879,787,805,652,631,652,0.412684045392,0.00456164001206,0.069985332339,0.999999996276,7.46096096498e-05,1.01889775066e-05,-4.21498093125e-05,1793243654144136960
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680.742557599,660,634,879,787,805,652,631,652,0.413431454461,0.0045690721194,0.0700115179725,0.999999994244,8.30840072531e-05,5.26767005391e-05,-4.28275034741e-05,1793243654160803328
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680.14680425,660,634,879,787,805,652,631,652,0.414169854905,0.00457617321088,0.0700297563154,0.999999992019,9.01611427816e-05,7.69903268307e-05,-4.36459573344e-05,1793243654177469952
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.566337798,634,879.433662202,787,805.433662202,652,631,652,0.41487047896,0.00458317695585,0.0700024846339,0.999999993712,9.93565157358e-05,2.72102718536e-05,-4.43248252186e-05,1793243654194136832
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.008824499,659,634,879.991175501,787,805.991175501,652,631,652,0.415560054977,0.00459013251825,0.069960509906,0.999999991953,0.000109191011957,-4.63429679581e-05,-4.49926743848e-05,1793243654210803456
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.565043913,659,634,879.434956087,787,805.434956087,652,631,652,0.416330563562,0.00459607385105,0.0699296087295,0.999999987962,0.000115705013065,-9.166594826e-05,-4.78083867916e-05,1793243654227470080
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.133346188,714,680.866653812,659.133346188,634,879.133346188,787,805.133346188,652,631,652,0.417118501375,0.00460076013947,0.0699123953353,0.999999984842,0.000119550799254,-0.000116355706676,-4.98453223988e-05,1793243654244136960
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.744988102,714,680.255011898,659.744988102,634,879.744988102,787,805.744988102,652,631,652,0.417968955547,0.00460094474385,0.0699442782676,0.99999999007,0.000113826039868,-6.70367338186e-05,-4.90888852694e-05,1793243654260803328
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.662019817,714,680,660,634,880,787,806,652,631,652,0.418820788136,0.00459920164554,0.069970935155,0.999999992375,0.00010989613654,-2.82240901511e-05,-4.87473202359e-05,1793243654277469952
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.082363513,714,680,660,634,880,787,806,652,631,652,0.419673606339,0.00459608012407,0.0699938551052,0.999999993058,0.000107249663347,3.07589524242e-06,-4.87024137132e-05,1793243654294136832
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.507854268,634,880,787.492145732,805.507854268,652,631,652,0.420536807824,0.00458732256879,0.0700107420564,0.999999993523,9.71725155109e-05,3.18485251792e-05,-4.99690203536e-05,1793243654310803456
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.067277908,634,880,787.932722092,805,652,631,652,0.421400730029,0.00457827211531,0.0700236142431,0.999999993472,8.63316784753e-05,5.45343101886e-05,-5.1269993859e-05,1793243654327470080
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.653796743,634,880,787.346203257,805,652,631,652,0.422256941648,0.00457416543763,0.0700132128047,0.999999995003,7.9095140761e-05,3.34733299573e-05,-5.11597506306e-05,1793243654344136960
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.761663674,634,880,787,805,652,631,652,0.423081100901,0.00457595464274,0.0699741961489,0.999999994868,8.11820857366e-05,-3.05986964111e-05,-5.23184041509e-05,1793243654360803584
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.179975352,634,880,787,805,652,631,652,0.423859085013,0.00458623757186,0.0698939558469,0.999999981528,9.67006212151e-05,-0.000156633284252,-5.53050546921e-05,1793243654377469952
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.601401491,745,714,680,659,634,879.601401491,787,805.398598509,652,630.601401491,652,0.424722344577,0.00459118683516,0.0698689264817,0.999999976214,9.87118010849e-05,-0.000185364069867,-5.88887990779e-05,1793243654394136576
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.024223005,745,714,680,659,634,879.024223005,787,805.975776995,652,630.024223005,652,0.425623809176,0.00459374651058,0.0698686327076,0.999999979015,9.46714193203e-05,-0.000170500830294,-6.27400533341e-05,1793243654410803456
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.552914827,745,714,680,660.105829655,634,879.552914827,787,806,652,630.552914827,652,0.426553422871,0.00459470703968,0.0699306655939,0.999999990109,9.68457072387e-05,-8.38517420444e-05,-5.80753174089e-05,1793243654427470080
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.867605874,634,880,787.132394126,806,652,631,652,0.427483635953,0.00459598667886,0.0699882075206,0.999999993597,9.90894249977e-05,-4.62825276063e-06,-5.44575494453e-05,1793243654444137216
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.280071056,634,880,787.719928944,806,652,631,652,0.428411670386,0.00459860417118,0.0700209243785,0.999999992652,0.000100635921432,3.82570254315e-05,-5.57214972793e-05,1793243654460804096
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.303957759,787.696042241,806,652,631,652.303957759,0.429325008264,0.00459807664625,0.0700396574921,0.999999990929,0.000100975884888,6.87395867868e-05,-5.67475437363e-05,1793243654477470464
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.884792898,787.115207102,806,652,631,652.884792898,0.430224958891,0.00459468430164,0.0700456527076,0.999999989457,0.000100216808511,8.79244190307e-05,-5.75568840476e-05,1793243654494136832
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.075924968,787,806,651.537962484,631,652.537962484,0.431022239993,0.00459531065058,0.069994210019,0.999999993172,0.000101402407693,-4.22799858042e-06,-5.7926868012e-05,1793243654510803200
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680.039064619,659.960935381,634,879.039064619,787,806,651.039064619,631,652,0.431795645927,0.00459689998007,0.0699301425008,0.999999985827,0.000102757161221,-0.000119983409536,-5.82390000133e-05,1793243654527469824
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680.625491041,659.374508959,634,879.625491041,787,806,651.625491041,631,652,0.432590455864,0.00459805022581,0.0698883064519,0.999999976985,9.974023478e-05,-0.000180470839802,-5.92637056296e-05,1793243654544136448
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.209399402,634,880.209399402,786.790600598,806,652,631,652,0.433443242008,0.00459803162938,0.0698867405279,0.99999997844,9.61728916522e-05,-0.00017395955568,-6.00727030631e-05,1793243654560803072
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.788857842,634,880.788857842,786.211142158,806,652,631,652,0.43439848617,0.0045959474083,0.0699563415797,0.999999992769,9.16328290255e-05,-4.90454599911e-05,-6.05004921763e-05,1793243654577469952
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.366344738,634,880.633655262,786.366344738,806,652,631,652,0.435281671351,0.00459410238371,0.0699996999831,0.999999993744,9.22141344896e-05,2.154120573e-05,-5.95387611331e-05,1793243654594136832
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.942701386,634,880.057298614,786.942701386,806,652,631,652,0.436123547721,0.00459239448175,0.0700280144409,0.999999991889,9.57313318658e-05,6.09839544767e-05,-5.7780469764e-05,1793243654610803712
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.481061126,634,880,787,806,651.481061126,631,651.481061126,0.436928207927,0.00458899529553,0.0700200999342,0.999999992673,8.92676362437e-05,5.68006614431e-05,-5.8806625014e-05,1793243654627470592
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.097369947,634,880,786.902630053,806,651.097369947,631,651.097369947,0.437716790047,0.00458611156695,0.0700046434948,0.999999993834,8.29176351225e-05,4.28421215685e-05,-6.01764958885e-05,1793243654644136960
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.686956328,634,880,786.313043672,806,651.686956328,631,651.686956328,0.438444863375,0.00458677732826,0.0699712786408,0.999999994667,8.27120342219e-05,3.81331190586e-06,-6.1730077959e-05,1793243654660803584
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.728406107,745,714,681,660.728406107,634,880.271593893,786.271593893,806.271593893,652,631,652,0.439150267157,0.00458711893134,0.0699254613662,0.99999999251,8.17488443557e-05,-6.63963074554e-05,-6.23597575824e-05,1793243654677470208
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.149370592,745,714,681,660.149370592,634,880.850629408,786.850629408,806.850629408,652,631,652,0.439830009186,0.00458709359043,0.0698655480759,0.999999980112,7.99280706649e-05,-0.000171902294484,-6.19435881665e-05,1793243654694136832
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745,714,681,660,634,880.571623004,787,806.571623004,651.571623004,631,652,0.440560988941,0.00458738691094,0.069865745388,0.999999980841,7.98543890567e-05,-0.000167467889358,-6.24145311424e-05,1793243654710803456
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.005610763,745,714,681,660.005610763,634,880,787,806,651,631,652,0.441309838397,0.00458776829746,0.0698873523911,0.999999987067,8.03565103949e-05,-0.000124168870596,-6.31724986793e-05,1793243654727470080
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.57618596,745,714,681,660.57618596,634,880,787,806,651,631,652,0.44206444065,0.00458586245761,0.0699605722607,0.999999994947,7.76803683778e-05,-1.59780767665e-05,-6.17781346072e-05,1793243654744136960
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.152988894,713.847011106,681,661,634,880,787,806.152988894,651,631,652,0.442791473637,0.00458413073158,0.0700187665976,0.999999993037,7.50581256877e-05,6.79488747558e-05,-6.06317689549e-05,1793243654760803840
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.747776301,713.252223699,681,661,634,880,787,806.747776301,651,631,652,0.443438892781,0.00458290180779,0.0700335704945,0.999999992207,7.25915341375e-05,8.1807173786e-05,-6.02015700632e-05,1793243654777470208
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.66636646,713.33363354,680.66636646,661,634,880.33363354,787,806.66636646,651,631,652,0.444055202199,0.00458188999887,0.0700210535598,0.99999999411,7.0590137389e-05,5.65706674046e-05,-5.99656959943e-05,1793243654794136832
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.087084382,713.912915618,680.087084382,661,634,880.912915618,787,806.087084382,651,631,652,0.444648606033,0.00458103804789,0.0699884207739,0.999999995829,6.89312554246e-05,2.54933900334e-06,-5.98728997858e-05,1793243654810803456
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.487746394,660.512253606,634,880.512253606,787,806,651,631,652,0.445181763621,0.0045842113817,0.0699517172432,0.999999993617,7.93002133965e-05,-5.47655891777e-05,-5.89804148208e-05,1793243654827470080
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713.938069604,681,659.938069604,634,880,786.938069604,806,651.061930396,631,652,0.44570146215,0.00458859653886,0.0699156265467,0.999999988105,9.17386705313e-05,-0.000109524549733,-5.81311158318e-05,1793243654844136960
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.362718363,681,659.362718363,634,880,786.362718363,806,651.637281637,631,652,0.446197950286,0.0045971237812,0.0698905873814,0.999999983336,0.000103691462044,-0.000138262758385,-5.88128242779e-05,1793243654860803584
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.21777865,745,713.21777865,681,658.78222135,633.78222135,880,786,806,652,631,652,0.446672828092,0.00460347843045,0.069867328407,0.999999977497,0.000109618278989,-0.000171636917634,-5.9420352148e-05,1793243654877469952
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.807053485,745,713.807053485,681,658.192946515,633.192946515,880,786,806,652,631,652,0.447110842015,0.00460612697612,0.0698471061612,0.999999969998,0.000105265728205,-0.000212919277805,-5.99013395423e-05,1793243654894136576
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.217453682,745,714,681,658,633,880,786.391273159,806,651.608726841,631,652,0.447534826087,0.00460913156704,0.0698208289709,0.999999957788,0.000109576598636,-0.000262574271528,-5.89183411394e-05,1793243654910803200
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,713.278908164,681.721091836,657,632.721091836,880,786,806,652,631,652,0.449461683636,0.00462316058633,0.0697910517337,0.999999940161,0.000135006368707,-0.000313274597425,-5.75283617438e-05,1793243654994136832
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,681.451547429,656.548452571,632.451547429,880,786.451547429,806,652,631,652,0.450061953907,0.00462765870904,0.0697766060207,0.999999930084,0.000144272088482,-0.000340281443596,-5.67990687937e-05,1793243655027469824
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,681.971666991,656,632.971666991,880,786.971666991,806,651.971666991,631.028333009,652,0.450330083953,0.00462899230541,0.069760326754,0.999999920487,0.000147608803848,-0.000366119782722,-5.65187387842e-05,1793243655044136704
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.582950999,713.582950999,682,654.582950999,632,880,786,806.417049001,651.582950999,630.417049001,651.582950999,0.45201676824,0.00468806279538,0.0696420828715,0.999999834112,0.000201090774499,-0.00053522768258,-6.97843474439e-05,1793243655227470592
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765.849939996,745,713.849939996,682,653,632,880,786,806.150060004,651,631,651.150060004,0.452201274116,0.00470050992267,0.0696315529919,0.999999822231,0.000216521924206,-0.000550864069098,-7.21436385257e-05,1793243655277470208
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+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,713.323215269,682,653,631.676784731,880,786,807,651,631,652,0.452269587598,0.0047003288662,0.0696237522417,0.99999981673,0.000215491381046,-0.00056111831632,-7.24540016743e-05,1793243655310803456
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,713.902706973,682,653,631.097293027,880,786,807,651,631,652,0.452297801578,0.00470187519829,0.06962222361,0.999999815466,0.000217825842203,-0.000562485344069,-7.2315200379e-05,1793243655327470336
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+227,3.783333333,POSE1_TO_POSE2_PRESS,764.641032288,745,713.641032288,682,653,631.641032288,880.358967712,786,806,651,631,652,0.452353595271,0.0046990400952,0.0696260432189,0.999999818264,0.000215544010952,-0.000558534306996,-7.10739674649e-05,1793243655377470208
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.224702703,713.775297297,682,653,632,880.224702703,786,806,651,631,652,0.452364016022,0.00469908674644,0.0696263698294,0.999999818743,0.000215927945803,-0.000557575466632,-7.07074192469e-05,1793243655394136832
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.805194641,713.194805359,682,653,632,880.805194641,786,806,651,631,652,0.452367925011,0.0046995015689,0.0696238041355,0.999999816315,0.000218382312404,-0.000561006025724,-7.03629365068e-05,1793243655410803712
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,713.960321058,682,653,631.039678942,881,786,806.960321058,651.960321058,631,652,0.452370188018,0.00469809082596,0.0696200875711,0.999999813242,0.000215094414172,-0.000567779067016,-6.98348134819e-05,1793243655444136704
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.465475495,713.465475495,682.534524505,652.465475495,631.534524505,880.465475495,786,806.465475495,651.465475495,631,652,0.452371809107,0.00469932311167,0.0696202432228,0.999999812336,0.000216877973525,-0.000568708083515,-6.97405178932e-05,1793243655460803328
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713.111093233,682.888906767,652,631.888906767,880.111093233,786,806.111093233,651,631,652,0.452373243893,0.00470019570934,0.0696203059061,0.999999811601,0.000218299793746,-0.000569466656705,-6.96442000798e-05,1793243655477470208
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764.13476439,745,714,682,652,631,880.13476439,786,806.13476439,651.86523561,631,652,0.45237592581,0.00469598098872,0.0696193506222,0.999999813347,0.000211898573342,-0.00056884471247,-6.94356206424e-05,1793243655527470336
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.241930188,745,713,682,652.758069812,631.758069812,880.241930188,785.758069812,806,651.241930188,631,652,0.452373109072,0.00469614842762,0.0696149694284,0.999999808653,0.00021547685738,-0.000575840734777,-6.83408071982e-05,1793243655610803968
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+256,4.266666667,HOLD_POSE2,765.63003111,745,713,682.36996889,652,631.63003111,880.26006222,786,806,651,631,651.63003111,0.452376142363,0.00469568225356,0.0696139659338,0.999999808203,0.000212531537942,-0.000577727194077,-6.82261392595e-05,1793243655887014656
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+262,4.366666667,HOLD_POSE2,764.852226337,745,713,682,652,631.852226337,880,786,806.147773663,651.852226337,630.147773663,651.852226337,0.4523787946,0.00469642276641,0.0696151318063,0.999999808771,0.000214907182806,-0.000575889218411,-6.80000778928e-05,1793243655987014400
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,713,682,651.235997143,631,880.882001428,786,806,651.882001428,631,652,0.452135473091,0.00469606931469,0.0695360848628,0.99999972882,0.000218921792923,-0.000700043953161,-6.61209323609e-05,1793243656252874240
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,713,682,652.389876028,631,880.305061986,786,806,651.305061986,631,652,0.452054930945,0.00469678820925,0.0695284009398,0.999999719081,0.000219382311388,-0.000713726545523,-6.56010564059e-05,1793243656269540864
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.151248801,745.151248801,713,682.848751199,652.151248801,631,880,786,806.848751199,651,631,652,0.451866658014,0.00469447462872,0.0695163770739,0.999999703562,0.000219936964034,-0.000735236123172,-6.27067529268e-05,1793243656302873856
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.432976939,745,713,682.567023061,652,631.432976939,880,786,806.567023061,651,631,652,0.451747430959,0.00469322905586,0.0695090158826,0.99999969221,0.000222164345447,-0.000750050753463,-6.0381197143e-05,1793243656319540736
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,652.603103304,632,880,786,806.603103304,651.603103304,631,652,0.451459152896,0.00469306566023,0.0694924790969,0.999999664373,0.000229891252412,-0.000784452162668,-5.51320534611e-05,1793243656352874240
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.816839727,745.183160273,713.183160273,682,653.183160273,632,880,786,807,651.816839727,631,652,0.451289055236,0.00469374351715,0.0694848786792,0.999999651493,0.000234204377825,-0.000799627447123,-5.25174416323e-05,1793243656369540864
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.331598892,745.668401108,713.668401108,682,653.668401108,632,880,786,806.668401108,651,631,652,0.450902561448,0.00469400157019,0.0694841485486,0.99999964665,0.000241118952962,-0.000803974658417,-4.675985877e-05,1793243656402874368
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.909045538,745.090954462,713.090954462,682,653.090954462,632,880,786,806.090954462,651,631,652,0.450701419296,0.00469347543154,0.0694971603618,0.999999659187,0.000244617589609,-0.000787381234057,-4.26525109408e-05,1793243656419540992
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,713,682,654,632.663019488,880.336980512,786,806.336980512,651,631,651.663019488,0.449975303046,0.00468702835548,0.0695478019456,0.999999705319,0.000258654619609,-0.000722321494548,-2.66731283107e-05,1793243656469539840
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,713.240672311,682,654.240672311,633,880,786,806,651,631,652,0.44968963644,0.00468491534089,0.0695669958133,0.999999723415,0.000262755801322,-0.000695470971361,-2.11781036641e-05,1793243656486206464
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,713.814538953,682,654.814538953,633,880,786,806,651,631,652,0.449385004977,0.00468124194135,0.0695901490338,0.999999747182,0.000265814180073,-0.000659354938216,-1.51508298674e-05,1793243656502872832
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,713.610919022,682,655,632.610919022,880.389080978,786,806,651.389080978,631,652,0.449050199743,0.00467588556051,0.0696124218863,0.999999769212,0.000268510573102,-0.00062402094858,-8.68512667007e-06,1793243656519539968
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,713.036054523,682,655,632.036054523,880.963945477,786,806,651.963945477,631,652,0.448700986748,0.00466972556765,0.0696342743684,0.999999789772,0.000271034120153,-0.000589060380041,-2.01007658406e-06,1793243656536207104
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713.855193408,682,656,632.144806592,880,786.144806592,806.144806592,651,631,652,0.447903414989,0.00466041520908,0.069660025872,0.999999811736,0.00027289059114,-0.000549508403392,9.98079847762e-06,1793243656569540608
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713.277811876,682,656,632.722188124,880,786.722188124,806.722188124,651,631,652,0.447446937433,0.00465215954,0.0696646162114,0.999999817624,0.000269331390387,-0.000540354856248,1.51682370712e-05,1793243656586206720
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,656.296470408,633,880,786.703529592,806.703529592,651,631,652,0.446965342192,0.00464566011128,0.0696671795069,0.9999998277,0.000245716468396,-0.000532964143226,1.31403847417e-05,1793243656602873344
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.047994574,633.047994574,880,786.047994574,806,651,631,652,0.445485548261,0.00462175525196,0.0697279466906,0.999999894658,0.000177719245735,-0.000423013273176,1.26068194259e-05,1793243656652872960
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.220717533,681.779282467,659,633.220717533,880,786.220717533,806,651,631,652,0.443765260597,0.0046027575242,0.0698191338004,0.999999953777,0.000129511244382,-0.000274466174108,1.84831633988e-05,1793243656702873344
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.745780847,745,714,680.745780847,659.254219153,634,879.745780847,786.254219153,805.254219153,652,631,651,0.434624797799,0.00456439635342,0.0698249726491,0.999999955214,0.000121723432001,-0.000271687745953,3.06851004309e-05,1793243656902872832
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.07626692,745,713.92373308,680.92373308,659.92373308,634,880,786.92373308,805.92373308,652,631,652,0.431102359083,0.00454526470255,0.0698251873196,0.999999955935,0.00010336339788,-0.000276409812897,3.23078093106e-05,1793243656969540096
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,713.22960981,680,659,634,880,786.22960981,805.22960981,651.77039019,631,651.77039019,0.429176694996,0.00453644313544,0.0697165387571,0.999999892073,0.000104838449322,-0.000451419763095,3.29172751945e-05,1793243657002873344
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.551152562,634,879.897694876,787,805,651.551152562,631,652,0.421030336388,0.00447265807759,0.0696996092061,0.999999871784,2.40122000547e-05,-0.000504543286091,3.5949860639e-05,1793243657152873472
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.07333354,634,880.92666646,787,805.03666677,651,631,652,0.420186237137,0.00446437502228,0.0697232931065,0.999999897883,4.57986157718e-06,-0.000450695603069,3.2954005103e-05,1793243657169539840
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.238158967,634,879.761841033,787,805.619079484,651,631,652,0.419417273817,0.00445766178238,0.0698083542971,0.999999950435,2.4731827395e-06,-0.000312944826645,3.44948715617e-05,1793243657186206464
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.198822428,634,879,787,805.801177572,651.198822428,631,652,0.418627976153,0.00445029999692,0.0698687411049,0.999999975315,-4.19518830204e-07,-0.000219173178002,3.65098792587e-05,1793243657202873088
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.773518278,634,879,787,805.226481722,651.773518278,631,652,0.417800236317,0.00444171213613,0.0698824810536,0.999999977466,-4.79819518228e-06,-0.000208543972263,3.94212513596e-05,1793243657219539712
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.95598836,634,879.34800388,787,805,652,631,652,0.416967884459,0.00443549887944,0.069864364892,0.999999972386,-1.59438579101e-05,-0.000231191968011,3.90462840136e-05,1793243657236206080
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.2329419,634,879.9223527,787,805,652,631,652,0.416132532948,0.00443083008772,0.069825529221,0.999999960891,-3.14908308422e-05,-0.000275483763465,3.65338508712e-05,1793243657252872704
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.020551878,634,879.489724061,787,805,652,631,652,0.415285473655,0.00443315979045,0.0697964611088,0.999999947073,-2.5948434171e-05,-0.00032225347017,3.65231621988e-05,1793243657269539584
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.80261782,634,879,787,805,652,631,652,0.414445629686,0.00443941427083,0.0697706031949,0.99999993145,-1.35045972633e-05,-0.000368175289474,3.6939897577e-05,1793243657286206464
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.6417026,634,879,787,805,652,631,652,0.413649942144,0.0044594871399,0.0697529622955,0.999999915899,1.65354393514e-05,-0.000408067167517,3.7534012796e-05,1793243657302873088
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.513143815,634,879.256571908,787,804.743428092,652,631,652,0.412924210641,0.00447195148374,0.0697668821939,0.999999924833,3.32192182656e-05,-0.000384497211682,3.73245678714e-05,1793243657319539712
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.660489621,634,879.83024481,787,804.16975519,652,631,652,0.412284938895,0.00447501233784,0.0698198085478,0.999999958889,3.33957993886e-05,-0.000282493836727,3.61219909068e-05,1793243657336206592
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.413920435,745,714,680,660.413920435,634,879.586079565,787,804.413920435,652,631,652,0.411651779421,0.00446486997575,0.0698615910175,0.99999997678,2.1718684356e-05,-0.000211347881554,3.60731265128e-05,1793243657352872960
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.998219627,745,714,679.998219627,660.994658881,634,879,787,805,652,631,652,0.411020932708,0.00444922576534,0.069898484973,0.999999987537,5.10468656241e-06,-0.000153517389735,3.65095264391e-05,1793243657369539584
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.416740459,745,714,679.416740459,659.250221378,634,879,787,805,652,631,652,0.410306730625,0.00444891473394,0.0698686109204,0.999999977538,3.10770536972e-06,-0.000208661377761,3.70734122844e-05,1793243657386206720
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.837212008,744.837212008,714,679,658.162787992,634,879,787,805,652,631,652,0.409610045259,0.00444923147072,0.0698350939292,0.999999963177,1.80062239397e-06,-0.000268836837984,3.70004273192e-05,1793243657402873600
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.262618175,744.262618175,714,679,658.737381825,634,879,787,805,652,631,652,0.408957671898,0.0044511362767,0.0697923613658,0.999999940981,2.23877901651e-06,-0.000341740458402,3.53163463587e-05,1793243657419540224
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.311171874,744.311171874,714,679.311171874,659,634,879.311171874,787,805,652,631,652,0.408356811864,0.00445491608337,0.0697741478814,0.999999932017,5.31475519128e-06,-0.000367124136474,3.40165726172e-05,1793243657436206848
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.884285271,744.884285271,714,679.884285271,659,634,879.884285271,787,805,652,631,652,0.407799315297,0.00446027424768,0.0697765743268,0.999999937268,1.06112227486e-05,-0.000352505975938,3.30403052441e-05,1793243657452873216
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.524369799,745,714,680,659,634.475630201,880,787,804.524369799,652,631,652,0.4072789956,0.00446703922075,0.0697937349567,0.999999944889,1.58147974523e-05,-0.000329974341865,3.29849425442e-05,1793243657469539840
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.069140586,745,714,679.930859414,658.930859414,634.930859414,879.930859414,787,804,652,631,652,0.406768938712,0.00447351410233,0.0698121264828,0.999999951482,2.10328457819e-05,-0.000309017294597,3.32077238431e-05,1793243657486206208
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.644728179,745,714,679.355271821,658.355271821,634.355271821,879.355271821,787,804,652,631,652,0.406265163913,0.00447525716445,0.0698122305295,0.999999949699,2.65290502131e-05,-0.00031425823574,3.37613666285e-05,1793243657502872832
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.220203735,658,634,879,787,804.44040747,652,631,652,0.405786717102,0.00447495921286,0.0698107152778,0.99999994795,2.80282443506e-05,-0.000319646558848,3.3757751985e-05,1793243657519539712
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.795498569,658,634,879,787,805.590997138,652,631,652,0.405349113163,0.00447137000996,0.0698065888148,0.999999946293,2.30820305927e-05,-0.000325272543296,3.28555278604e-05,1793243657536206592
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.622117364,658.377882636,634,879.377882636,787,806,652,631,652,0.404960870107,0.00447118990157,0.0698163381154,0.999999952152,2.32732606129e-05,-0.000306810962582,3.19741869346e-05,1793243657552873216
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.03582336,658.96417664,634,879.96417664,787,806,652,631,652,0.404599850724,0.0044728899905,0.069833740233,0.99999996134,2.62979140307e-05,-0.000275064510283,3.11043634855e-05,1793243657569539840
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,879.45185939,786.45185939,805.45185939,652.54814061,631,652,0.404253010577,0.00447113087336,0.0698462839845,0.999999967323,2.60875803423e-05,-0.000252393130454,3.11612702936e-05,1793243657586206464
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.129751176,658.870248824,634,879,786.129751176,804.870248824,652.870248824,631,652,0.403910210554,0.0044684258922,0.0698536502599,0.999999970785,2.30093225466e-05,-0.000238616550911,3.10330296537e-05,1793243657602873088
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.703822159,658.296177841,634,879,786.703822159,804.296177841,652.296177841,631,652,0.403578085565,0.00446325278567,0.0698443694912,0.999999967415,1.0831071391e-05,-0.000253276913486,3.00642466465e-05,1793243657619539712
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.278108492,634,879,787,804.278108492,652,631,652,0.403267745389,0.0044615975326,0.0698359148252,0.999999963593,4.01731396975e-06,-0.000268206837125,2.93871010253e-05,1793243657636206336
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.852624311,634,879,787,804.852624311,652,631,652,0.402980623431,0.00446369159918,0.0698283406178,0.99999995941,2.92102113041e-06,-0.000283424057412,2.90207818543e-05,1793243657652872960
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.562278292,659,634,879,786.562278292,805,652,631,652,0.402728312645,0.00446571326881,0.0698213158776,0.999999956222,3.1532166166e-06,-0.000294459243992,2.89715140354e-05,1793243657669539584
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.026120662,659,634,879,786.026120662,805,652,630.973879338,652,0.402489376932,0.00446787212705,0.0698146095552,0.999999953405,4.10465680609e-06,-0.000303862164405,2.90089850062e-05,1793243657686206208
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.607098021,659,634,879,786.607098021,805,652,630.392901979,652,0.402279419839,0.00447347576132,0.069810639968,0.99999995172,1.05976803215e-05,-0.000309243038466,2.85652577101e-05,1793243657702873088
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.813660028,745,714,680,658.813660028,634.186339972,878.813660028,787,805,652,630,652,0.402081607015,0.00447968416902,0.0698082841713,0.999999950457,2.01937161303e-05,-0.000312870229291,2.81048959046e-05,1793243657719539968
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.238043536,745,714,680,658.238043536,634.761956464,878.238043536,787,805,652,630,652,0.401909164396,0.0044871559877,0.0698092996903,0.999999950029,3.62721489601e-05,-0.000312833859202,2.76097835641e-05,1793243657736206592
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.336041435,745,714,679.663958565,658,635,878.336041435,787,805,652,630.336041435,652,0.401758879511,0.00449386421875,0.0698098193157,0.999999949802,4.97132147343e-05,-0.000311736829565,2.72952970695e-05,1793243657752873216
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.909046496,745,714,679.090953504,658,635,878.909046496,787,805,652,630.909046496,652,0.401624219397,0.00450003399764,0.0698099892561,0.999999949738,6.12945113264e-05,-0.000309891863206,2.7108180994e-05,1793243657769539840
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.500970056,745,714,679.499029944,658.499029944,634.500970056,879,787,805,652,631,652,0.401510582236,0.00449739140283,0.0698088673182,0.999999949748,5.53353500678e-05,-0.000311044138548,2.63443025162e-05,1793243657786206464
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.090039811,745,714,679.909960189,659,634,879,787,805,652,631,652,0.401404889759,0.00449348142927,0.0698077689249,0.999999949799,4.63587960553e-05,-0.000312422660263,2.54066807041e-05,1793243657802872832
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.669222961,745,714,679.330777039,659,634,879,787,805,652,631,652,0.401320808208,0.0044917191489,0.0698081226242,0.999999950291,3.89693034925e-05,-0.000311958072783,2.41163803422e-05,1793243657819539456
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,879,786.755007781,805,652,630.755007781,652,0.40124583118,0.00449054480551,0.0698091096812,0.999999951167,3.26397198984e-05,-0.000309940596034,2.31964225739e-05,1793243657836206336
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,879,786.183784487,805,652,630.183784487,652,0.401182977719,0.00449015335776,0.0698109401161,0.999999952583,2.77215090857e-05,-0.000305855295553,2.27696122265e-05,1793243657852872960
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.401323374,659,634,879,786.401323374,804.598676626,652,630.401323374,652,0.401134197244,0.0044903133921,0.0698134706665,0.99999995381,2.77025931946e-05,-0.000301826125202,2.26804019995e-05,1793243657869539840
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.993017465,659,634,879,786.993017465,804.006982535,652,630.993017465,652,0.401092092396,0.00449073502608,0.0698163333218,0.999999954942,3.00076943231e-05,-0.00029782358071,2.27513349052e-05,1793243657886206720
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,787,804.57280846,652,631,652,0.401064949565,0.00448948975571,0.0698185439044,0.9999999568,2.84022191166e-05,-0.000291637382264,2.32748969444e-05,1793243657902873088
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.848266718,659,634.151733282,879,787,805,652,631,652,0.401040447803,0.00448853897092,0.0698212249273,0.999999958462,2.7444414417e-05,-0.000285939608146,2.36801790742e-05,1793243657919539456
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.27137075,659,634.72862925,879,787,805,652,631,652,0.401022845774,0.00448846912379,0.0698252459617,0.999999959641,2.84322623346e-05,-0.000281683487876,2.37388904501e-05,1793243657936206080
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.302567172,659,634.697432828,879,787,805,652,631,652,0.401008639636,0.00449033081372,0.0698273509067,0.999999960271,3.03664331504e-05,-0.00027926517408,2.33827013015e-05,1793243657952872960
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.87387779,659,634.12612221,879,787,805,652,631,652,0.400997449764,0.00449390811583,0.0698277539607,0.999999960419,3.31411383512e-05,-0.000278479219468,2.26579930092e-05,1793243657969539584
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.462733101,879.462733101,787,805,652.462733101,631.462733101,652,0.400990591948,0.00449290596071,0.0698287837611,0.999999960824,3.16885345608e-05,-0.000277186180873,2.27121334961e-05,1793243657986206720
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879.944911245,787,805,652.944911245,631.944911245,652,0.40098518811,0.00449069550556,0.0698298124088,0.999999961234,2.91972009779e-05,-0.000275955506464,2.29946989145e-05,1793243658002873856
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879.366519901,787,805,652.366519901,631.366519901,652,0.400981937764,0.00448933108794,0.0698291434391,0.999999961053,2.82150137903e-05,-0.000276681883226,2.33511354231e-05,1793243658019540224
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.78945311,659,634.78945311,878.78945311,787,805,652,631,651.78945311,0.400979295196,0.0044891910633,0.069829011518,0.999999961035,2.82713746931e-05,-0.000276733801383,2.341941652e-05,1793243658036206592
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.21467772,659,634.21467772,878.21467772,787,805,652,631,651.21467772,0.400977704037,0.00449116913615,0.0698298086458,0.999999961299,3.01243369439e-05,-0.000275618962554,2.29892128468e-05,1793243658052872960
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745.368606751,714,679,659,634,878.368606751,787,804.631393249,652,631,651.368606751,0.400976441938,0.00449140966092,0.0698302133387,0.999999961397,3.03754153595e-05,-0.00027526078587,2.27023913664e-05,1793243658069539584
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745.95696402,714,679,659,634,878.95696402,787,804.04303598,652,631,651.95696402,0.400975376015,0.00449061431992,0.0698303840754,0.999999961397,2.96715063111e-05,-0.000275353704866,2.25010493754e-05,1793243658086205952
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745.462528096,714,679,659,634,879,787,804.537471904,652,631,652,0.400978184112,0.00449136288684,0.0698322430104,0.999999962348,2.99022261924e-05,-0.000271849202197,2.25189148245e-05,1793243658102872832
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.116501136,659,634,879,787,805,652,631,652,0.400980462193,0.00449174418531,0.0698338985444,0.999999963162,3.00029711229e-05,-0.000268819375419,2.26278156104e-05,1793243658119539456
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3729c630e058005c1bdcc5905017ffb6109c7377
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
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+390,6.500000000,pose2_to_pose3_retreat,0.580745666501,0.0100018771077,1.0600409249,0.551317426962,0.0186767057822,1.05967872592
+391,6.516666667,pose2_to_pose3_retreat,0.580745428827,0.010001886504,1.060040929,0.551317189268,0.0186767150594,1.05967872892
+392,6.533333333,pose2_to_pose3_retreat,0.580744924332,0.0100019064491,1.06004093772,0.551316684729,0.0186767347514,1.0596787353
+393,6.550000000,pose2_to_pose3_retreat,0.580744527115,0.0100019153918,1.06004094477,0.551316287417,0.0186767432973,1.05967874069
+394,6.566666667,pose2_to_pose3_retreat,0.580744350201,0.0100019053833,1.06004094832,0.551316110335,0.0186767327032,1.05967874385
+395,6.583333333,pose2_to_pose3_retreat,0.580744235082,0.0100018988707,1.06004095062,0.551315995106,0.0186767258095,1.0596787459
+396,6.600000000,pose2_to_pose3_retreat,0.580744107806,0.0100018916703,1.06004095317,0.551315867708,0.0186767181878,1.05967874817
+397,6.616666667,pose2_to_pose3_retreat,0.580744089403,0.0100018906292,1.06004095354,0.551315849288,0.0186767170859,1.0596787485
+398,6.633333333,pose2_to_pose3_retreat,0.580743954349,0.0100018829889,1.06004095624,0.551315714105,0.0186767089984,1.05967875091
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cbb4882a32d504f1199edb8b8c4cacd2ff0cea7e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:107dbd03511cb697447589af0b98a1367acd99cd76c52f1b7d3773dd61ff4100
+size 25769712
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b554f6b175080348ed8a5e0e261e44f76411880
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+17,0.283333333,BASELINE,765,744.135045362,714,679.135045362,659,634,878.864954638,787,805,652,631,652,0.400978661954,0.00449238835249,0.0698369108414,0.999999964484,3.21203736488e-05,-0.000263700847557,2.15008967998e-05,1793243658801561856
+18,0.300000000,BASELINE,765,744.446576276,714,679,659,634.446576276,879,787,804.553423724,652,631,652,0.400978943498,0.00449190295173,0.0698376708807,0.999999964779,3.14938999402e-05,-0.000262621705999,2.1930826901e-05,1793243658818228480
+19,0.316666667,BASELINE,765,745,714,679,659,634.974107301,879.025892699,786.974107301,804.025892699,652,631,652,0.400979604928,0.00449149568078,0.069838971793,0.999999965304,3.04877386881e-05,-0.00026069240825,2.23920633949e-05,1793243658834895104
+20,0.333333333,BASELINE,765,745,714,679,659,634.398628083,879.601371917,786.398628083,804.601371917,652,631,652,0.400979066785,0.00449075261093,0.0698378789784,0.999999964912,3.11889065074e-05,-0.000262128246008,2.21684012174e-05,1793243658851561984
+21,0.350000000,BASELINE,765,745,714,679,659,634,879.824182902,786,805,652,631,652,0.40097901836,0.00449054537092,0.0698373843819,0.999999964724,3.17884103871e-05,-0.000262787367724,2.20156813918e-05,1793243658868228352
+22,0.366666667,BASELINE,765,745,714,679,659,634,879.252068554,786,805,652,631,652,0.400980073777,0.00449154590826,0.0698382381878,0.999999964998,3.21587604652e-05,-0.000261695746939,2.20228678824e-05,1793243658884895232
+23,0.383333333,BASELINE,765,745,714,679.332496281,659,634.332496281,878.667503719,786.332496281,805,652,631,652,0.400979973779,0.00449294110754,0.0698385121052,0.99999996499,3.37483677293e-05,-0.000261533318142,2.19595015331e-05,1793243658901562112
+24,0.400000000,BASELINE,765,745,714,679.926867201,659,634.926867201,878.073132799,786.926867201,805,652,631,652,0.400978963774,0.00449464714336,0.0698383293015,0.999999964754,3.62982640772e-05,-0.000262102722425,2.18405676472e-05,1793243658918228992
+25,0.416666667,BASELINE,765,745,714,679.493873134,659,635,879.012253733,786.493873134,805,652,631,652,0.400979441066,0.00449167790595,0.0698391009818,0.999999964988,3.22203295005e-05,-0.000261713949465,2.21867727303e-05,1793243658934895872
+26,0.433333333,BASELINE,765,745,714,679.082959595,659,634.917040405,879.917040405,786.082959595,805,652,631,651.917040405,0.400980008571,0.00448896964928,0.0698398189504,0.999999965243,2.83732536484e-05,-0.000261162667353,2.24416744853e-05,1793243658951562240
+27,0.450000000,BASELINE,765,745,714,679.65797322,659,634.34202678,879.34202678,786.65797322,805,652,631,651.34202678,0.400979873443,0.00449170004595,0.0698394240309,0.999999965354,3.1411067235e-05,-0.000260444887749,2.17679498833e-05,1793243658968228864
+28,0.466666667,BASELINE,765,745,714,680,659,634.23184263,879,787.23184263,805,652,631,651.23184263,0.400979903923,0.00449362338299,0.0698392499758,0.999999965392,3.34476572948e-05,-0.000260086003592,2.12919466863e-05,1793243658984895488
+29,0.483333333,BASELINE,765,745,714,680,659,634.804032289,879,787.804032289,805,652,631,651.804032289,0.40098017752,0.0044943619492,0.0698394001514,0.999999965333,3.40144421954e-05,-0.000260253981167,2.11062002983e-05,1793243659001562368
+30,0.500000000,BASELINE,765,745,714,679.607789413,659,635,879,787.607789413,805,652,631,651.607789413,0.400980209167,0.00449371017291,0.0698394500507,0.999999965373,3.31230953192e-05,-0.000260208921016,2.11801430533e-05,1793243659018228992
+31,0.516666667,BASELINE,765,745,714,679.01128292,659,635,879,787.01128292,805,652,631,651.01128292,0.400980114787,0.00449233419055,0.0698394477177,0.999999965462,3.14722320772e-05,-0.000260052893086,2.13893535262e-05,1793243659034895616
+32,0.533333333,BASELINE,765,745,714,679,659,634.433793905,879,787,805,652,631,651.566206095,0.400977216616,0.00449302493223,0.0698376501547,0.99999996442,3.22253496435e-05,-0.000263941000215,2.13517016958e-05,1793243659051562496
+33,0.550000000,BASELINE,765,745,714,679,659,634,879,787,805,652,631,652,0.400975649899,0.00449369306863,0.069836691581,0.999999963852,3.31794989676e-05,-0.000265971706777,2.12890929022e-05,1793243659068229120
+34,0.566666667,BASELINE,765,745,714,679,659,634,879,787,805,652,631,652,0.400978276526,0.00449417219235,0.0698383770226,0.999999964817,3.46018096581e-05,-0.000262144876857,2.11653548284e-05,1793243659084895744
+35,0.583333333,BASELINE,765,745,714,679.302311668,659,634,878.697688332,787,805,652,631,652,0.400979050884,0.00449426352987,0.0698390053327,0.999999965183,3.50456057907e-05,-0.000260679457282,2.12722289132e-05,1793243659101562368
+36,0.600000000,BASELINE,765,745,714,679.890578997,659,634,878.109421003,787,805,652,631,652,0.400978073188,0.00449398806171,0.0698386337057,0.999999964992,3.45638282334e-05,-0.000261447687914,2.15972383025e-05,1793243659118228992
+37,0.616666667,BASELINE,765,745,714,680,659,634.470833308,878.470833308,787,805,652,631,652,0.400977444347,0.00449207693507,0.0698384026264,0.999999964866,3.24702152639e-05,-0.000262181215756,2.17789222445e-05,1793243659134895360
+38,0.633333333,BASELINE,765,744.951115076,714,679.951115076,659,634.951115076,879,787,805,652,631,651.951115076,0.400977090905,0.00449012532322,0.0698382673182,0.999999964791,3.03019473092e-05,-0.0002627173565,2.18907119936e-05,1793243659151562240
+39,0.650000000,BASELINE,765,744.377055661,714,679.377055661,659,634.377055661,879,787,805,652,631,651.377055661,0.400978839679,0.00449175414653,0.0698388158558,0.99999996516,3.12885427356e-05,-0.000261218144785,2.16034723284e-05,1793243659168228864
+40,0.666666667,BASELINE,765,744.197055833,714,679,659,634,879,787,805,652,631,651.197055833,0.400979594058,0.00449284032544,0.0698390745144,0.999999965299,3.23291469929e-05,-0.000260573922247,2.1411038013e-05,1793243659184895488
+41,0.683333333,BASELINE,765,744.77126697,714,679,659,634,879,787,805,652,631,651.77126697,0.400978445212,0.00449288790916,0.0698387783589,0.999999965002,3.34731214727e-05,-0.0002615661076,2.1400056554e-05,1793243659201562368
+42,0.700000000,BASELINE,764.643330489,745,714,679,659,634,879,787,805.356669511,652,631,651.643330489,0.400978429533,0.00449234040374,0.0698380745325,0.999999964855,3.25092203642e-05,-0.000262245772867,2.14668590171e-05,1793243659218228992
+43,0.716666667,BASELINE,764.050518402,745,714,679,659,634,879,787,805.949481598,652,631,651.050518402,0.400979164096,0.00449139890366,0.0698371007968,0.999999964802,3.01497438775e-05,-0.000262718525822,2.15851604038e-05,1793243659234895360
+44,0.733333333,BASELINE,764,745,714,679,659,634,879,786.471177334,805.471177334,652,631,651.528822666,0.400978772892,0.00449125462204,0.0698373016696,0.9999999649,2.95491898512e-05,-0.000262418541188,2.15483851051e-05,1793243659251561984
+45,0.750000000,BASELINE,764.10631938,745,714,679,659,634,879,786,805,652,631,651.89368062,0.400978536005,0.00449126769553,0.0698376851024,0.999999965007,2.96649629007e-05,-0.000261994729284,2.15631287386e-05,1793243659268228608
+46,0.766666667,BASELINE,764.681218124,745,714,679,659,634,879,786,805,652,631,651.318781876,0.400979441446,0.00449164696426,0.0698383908708,0.999999965092,3.22156322472e-05,-0.000261342437759,2.18686004124e-05,1793243659284895232
+47,0.783333333,BASELINE,765,745,714,679.255915716,659,634,879,786.255915716,805,652,631,651.255915716,0.400979650608,0.00449261797579,0.0698387001374,0.999999965068,3.528441256e-05,-0.000261033721459,2.19080539744e-05,1793243659301561856
+48,0.800000000,BASELINE,765,745,714,679.830363016,659,634,879,786.830363016,805,652,631,651.830363016,0.400978993129,0.00449432551413,0.0698385158886,0.999999964906,3.8998072358e-05,-0.000261152644151,2.16164018053e-05,1793243659318228736
+49,0.816666667,BASELINE,765,745,714,680,659,634,879,787,805,652,631,652,0.400979152028,0.00449434373804,0.0698386268887,0.999999964977,3.75919144972e-05,-0.000261105708204,2.13796594975e-05,1793243659334895360
+50,0.833333333,BASELINE,764.983301708,745,714,679.983301708,659,634,879.016698292,786.983301708,805,652,631,652,0.400979581784,0.00449366140212,0.0698388310345,0.999999965122,3.4108503026e-05,-0.000261045827709,2.11784915932e-05,1793243659351561984
+51,0.850000000,BASELINE,764.408813916,745,714,679.408813916,659,634,879.591186084,786.408813916,805,652,631,652,0.400977631565,0.00449322466739,0.0698380137132,0.999999964678,3.29039518097e-05,-0.000262875243535,2.13970196358e-05,1793243659368228608
+52,0.866666667,BASELINE,764.16597862,745.16597862,714,679.16597862,659,634,879.83402138,786.16597862,805,652,631,652,0.400976216755,0.00449323573994,0.0698373161009,0.999999964344,3.2439645034e-05,-0.000264193201205,2.14821342233e-05,1793243659384895232
+53,0.883333333,BASELINE,764.741523101,745.741523101,714,679.741523101,659,634,879.258476899,786.741523101,805,652,631,652,0.400976123114,0.00449435181374,0.0698369138804,0.999999964289,3.38019522068e-05,-0.000264249093814,2.12380401544e-05,1793243659401561856
+54,0.900000000,BASELINE,765,745.675041128,714,679.675041128,659,634,879,787,804.675041128,652,631.324958872,652,0.400976787804,0.00449423107991,0.0698374230424,0.999999964508,3.4493758701e-05,-0.000263324950064,2.13135395497e-05,1793243659418228480
+55,0.916666667,BASELINE,765,745.085172323,714,679.085172323,659,634,879,787,804.085172323,652,631.914827677,652,0.400978070695,0.00449310208727,0.069838675173,0.999999964948,3.46389658334e-05,-0.000261601870233,2.1649574953e-05,1793243659434895104
+56,0.933333333,BASELINE,765,745,714,679,659,634,879,787,804.494165951,652,631.505834049,652,0.400978654732,0.0044931961847,0.0698390551363,0.999999965042,3.5463283398e-05,-0.000261135408407,2.15889583426e-05,1793243659451561984
+57,0.950000000,BASELINE,765,745,714,679,659,634.071265572,878.928734428,786.928734428,805,652,631,652,0.400979035906,0.0044934134047,0.0698392792628,0.999999965086,3.61151136193e-05,-0.000260887792526,2.14693175727e-05,1793243659468228352
+58,0.966666667,BASELINE,765,745,714,679,659,634.645110139,878.354889861,786.354889861,805,652,631,652,0.400978818184,0.00449304327868,0.0698394423853,0.999999965188,3.47423016342e-05,-0.000260687988754,2.14054924393e-05,1793243659484895232
+59,0.983333333,BASELINE,765,745,714,679,659.220337743,635,878.220337743,786.220337743,805,652,631,652,0.400978512803,0.00449299647085,0.0698393631123,0.999999965168,3.36114604779e-05,-0.000260919704178,2.1331135212e-05,1793243659501561856
+60,1.000000000,BASELINE,765,745,714,679,659.797807118,635,878.797807118,786.797807118,805,652,631,652,0.400978065339,0.00449347370914,0.0698388909558,0.999999964951,3.28728144488e-05,-0.00026185084198,2.1239707164e-05,1793243659518228480
+61,1.016666667,BASELINE,765,745,714,679.387349286,659.612650714,634.612650714,878.612650714,787,805,652,631,651.612650714,0.400978591392,0.00449190290541,0.0698390673492,0.99999996516,3.09501002519e-05,-0.000261271393928,2.14374657988e-05,1793243659534895104
+62,1.033333333,BASELINE,765,745,714,679.983396044,659.016603956,634.016603956,878.016603956,787,805,652,631,651.016603956,0.40097964196,0.00448922865006,0.0698395931709,0.999999965591,2.83894295009e-05,-0.000259878066822,2.17910335025e-05,1793243659551561728
+63,1.050000000,BASELINE,765,745,714,679.442705495,659,634.557294505,878.557294505,787,805,652,631,651,0.400979887428,0.00449064141323,0.0698396690592,0.999999965487,3.01253056602e-05,-0.000260111543815,2.14701814253e-05,1793243659568228096
+64,1.066666667,BASELINE,765,745,714,679.131532267,659,634.868467733,879,787,805,652,631,651.131532267,0.400979909849,0.00449195227795,0.0698395795055,0.99999996539,3.17259796127e-05,-0.000260316406687,2.11629921596e-05,1793243659584894976
+65,1.083333333,BASELINE,765,745,714,679.709072565,659,634.290927435,879,787,805,652,631,651.709072565,0.400979254173,0.00449252050227,0.0698389726784,0.999999965384,3.24507257245e-05,-0.00026026617398,2.09676618766e-05,1793243659601561600
+66,1.100000000,BASELINE,765,745,714,679.708323468,659,634,879,786.708323468,805,652,631,651.708323468,0.400978563628,0.00449203683937,0.0698385017834,0.999999965254,3.1626070619e-05,-0.00026086974994,2.09372876285e-05,1793243659618228224
+67,1.116666667,BASELINE,765,745,714,679.12057964,659,634,879,786.12057964,805,652,631,651.12057964,0.400977837689,0.00449048545461,0.069838168867,0.999999964993,2.9228690282e-05,-0.000262136976703,2.10743525989e-05,1793243659634895104
+68,1.133333333,BASELINE,765,745,714,679.461886802,659,634,879,786.461886802,805,652,631.461886802,651.461886802,0.400978397291,0.00449171185347,0.0698389178894,0.999999965113,3.15905639269e-05,-0.000261384464367,2.12900836395e-05,1793243659651561728
+69,1.150000000,BASELINE,765,745,714,679.957486191,659,634,879,787,805,652,631.957486191,652,0.400979142603,0.00449348724312,0.0698397898108,0.999999965273,3.4878979841e-05,-0.000260337447435,2.15110034037e-05,1793243659668228352
+70,1.166666667,BASELINE,765,745,714,679.382833914,659,634,879,787,805,652,631.382833914,652,0.400978059205,0.00449316002373,0.0698387045985,0.999999964821,3.43889634951e-05,-0.000262129373255,2.15427214576e-05,1793243659684894976
+71,1.183333333,BASELINE,765,745,714,679.191336732,659,634,879,787,805,652,631,652,0.400977764597,0.00449329218344,0.0698381821356,0.999999964626,3.41027803302e-05,-0.000262915177717,2.14792696776e-05,1793243659701561856
+72,1.200000000,BASELINE,765,745,714,679.764546234,659,634,879,787,805,652,631,652,0.400979044266,0.00449434117892,0.0698387828163,0.999999964948,3.42234104522e-05,-0.000261692950134,2.12258764964e-05,1793243659718229504
+73,1.216666667,BASELINE,765,745,714,679.652056054,659,634,879.347943946,787,805,652,631,652,0.400979018722,0.00449410711354,0.0698387669934,0.999999965048,3.35197340227e-05,-0.000261406800348,2.11481498771e-05,1793243659734896384
+74,1.233333333,BASELINE,765,745,714,679.06155605,659,634,879.93844395,787,805,652,631,652,0.400978083297,0.00449297861039,0.0698383213982,0.999999964993,3.22414232197e-05,-0.000261773202128,2.11928826218e-05,1793243659751562752
+75,1.250000000,BASELINE,765,744.479823841,714,679,659,634,878.959647682,786.479823841,804.479823841,652,631,652,0.400977998523,0.00449256817154,0.06983826222,0.999999964939,3.37121625748e-05,-0.000261773089393,2.14706552827e-05,1793243659768229376
+76,1.266666667,BASELINE,764.900515788,744.099484212,714,679,659,634,878.099484212,786.099484212,804,652,631,652,0.400978038638,0.00449235291762,0.0698383129561,0.999999964913,3.4953132873e-05,-0.000261692235997,2.16740928375e-05,1793243659784896000
+77,1.283333333,BASELINE,764.327884228,744.672115772,714,679,659,634,878.672115772,786.672115772,804,652,631,652,0.400978201904,0.00449266852862,0.0698386725703,0.999999965034,3.35797713293e-05,-0.000261430238775,2.13950089509e-05,1793243659801562112
+78,1.300000000,BASELINE,764.251656325,745,714,679,659,634,879,786.748343675,804.251656325,652,631,652,0.400978538397,0.00449259747793,0.0698390132356,0.999999965135,3.32788270824e-05,-0.000261088947419,2.13551387911e-05,1793243659818228480
+79,1.316666667,BASELINE,764.840452706,745,714,679,659,634,879,786.159547294,804.840452706,652,631,652,0.400979106962,0.00449200842258,0.0698393285153,0.999999965207,3.44145836756e-05,-0.000260641426971,2.16357395535e-05,1793243659834895360
+80,1.333333333,BASELINE,765,745,714,679,659,634,878.576902811,786,805,652,631,652,0.40097804253,0.00449224354108,0.0698386176107,0.999999964892,3.36602912185e-05,-0.000261950804243,2.15799824954e-05,1793243659851561984
+81,1.350000000,BASELINE,765,745,714.00343308,679,659,634,878.00343308,786.00343308,805,652,631,652,0.40097639119,0.00449278111389,0.0698375380457,0.999999964433,3.2213213844e-05,-0.000263889237521,2.13998749092e-05,1793243659868228608
+82,1.366666667,BASELINE,765,745,714.580087989,679,659,634,878.580087989,786.580087989,805,652,631,652,0.400978088998,0.00449267045267,0.0698385892493,0.999999964971,3.23901244929e-05,-0.000261826358042,2.13316525485e-05,1793243659884895232
+83,1.383333333,BASELINE,764.843688851,745,714.843688851,679,659.156311149,634,878.843688851,787,805,652,631,652,0.400979358888,0.0044923261408,0.0698392747603,0.999999965401,3.21693698652e-05,-0.000260209443673,2.13288589319e-05,1793243659901562368
+84,1.400000000,BASELINE,764.268622213,745,714.268622213,679,659.731377787,634,878.268622213,787,805,652,631,652,0.400979482391,0.00449135588188,0.0698389805859,0.999999965547,3.08832752859e-05,-0.000259787263461,2.15013480356e-05,1793243659918229248
+85,1.416666667,BASELINE,764.314249376,745,714,679,659.685750624,634,878.314249376,787,805,652,631,652,0.400978963745,0.00449178343222,0.0698386992473,0.999999965343,3.19814502903e-05,-0.000260437317143,2.1513806035e-05,1793243659934896128
+86,1.433333333,BASELINE,764.903962572,745,714,679,659.096037428,634,878.903962572,787,805,652,631,652,0.400977882205,0.00449343627026,0.0698384291604,0.999999964824,3.51696215872e-05,-0.000262027266569,2.13859844159e-05,1793243659951562752
+87,1.450000000,BASELINE,764.514922829,745,714,679.485077171,659,634,879,787,805,652,631,652,0.400979575211,0.00449216268573,0.0698391279921,0.999999965355,3.32769402089e-05,-0.000260237663826,2.14311370269e-05,1793243659968229120
+88,1.466666667,BASELINE,764.064149653,745,714,679.935850347,659,634,879,787,805,652,630.935850347,652,0.400981392199,0.00449070079943,0.0698398798724,0.999999965966,3.09756445243e-05,-0.000258159350411,2.1478798078e-05,1793243659984895488
+89,1.483333333,BASELINE,764.640274116,745,714,679.359725884,659,634,879,787,805,652,630.359725884,652,0.400979890985,0.00449227958198,0.0698395508115,0.999999965672,3.33016329155e-05,-0.000259023866238,2.12779231381e-05,1793243660001562112
+90,1.500000000,BASELINE,765,745,714,679,659,634,879,786.784491077,804.784491077,652,630.215508923,651.784491077,0.400979207101,0.00449359382308,0.0698396020488,0.999999965535,3.4709692282e-05,-0.000259379262766,2.11757617145e-05,1793243660018228736
+91,1.516666667,BASELINE,765,745,714,679,659,634,879,786.210735229,804.210735229,652,630.789264771,651.210735229,0.400979881892,0.00449446830884,0.0698402854675,0.999999965665,3.45918505611e-05,-0.000258888334983,2.12376947399e-05,1793243660034895616
+92,1.533333333,BASELINE,764.62562555,745,714,679.37437445,659,634,879,786.37437445,804.37437445,652,631,651.37437445,0.400979322565,0.00449280762822,0.0698398304432,0.999999965615,3.26578816954e-05,-0.000259311819174,2.14778922522e-05,1793243660051562240
+93,1.550000000,BASELINE,764.033924862,745,714,679.966075138,659,634,879,786.966075138,804.966075138,652,631,651.966075138,0.400978046828,0.00448967527093,0.069838714547,0.999999965453,2.96696419374e-05,-0.000260266124036,2.18215731953e-05,1793243660068229120
+94,1.566666667,BASELINE,764,745,714,679.45428465,659,634,879,787,805,652,631,652,0.400978705866,0.00449106941219,0.069838592827,0.999999965425,3.17636459801e-05,-0.00026014144857,2.16389189333e-05,1793243660084895744
+95,1.583333333,BASELINE,764.123427946,744.876572054,714,679.123427946,659,634,878.876572054,787,805,652,631,652,0.400979271579,0.00449234658868,0.0698386817418,0.999999965416,3.33802673802e-05,-0.000259983012465,2.14850562961e-05,1793243660101562112
+96,1.600000000,BASELINE,764.696787926,744.303212074,714,679.696787926,659,634,878.303212074,787,805,652,631,652,0.400979068122,0.00449219380873,0.069839318062,0.999999965467,3.21298847101e-05,-0.000259940732952,2.15528432781e-05,1793243660118228736
+97,1.616666667,BASELINE,765,744.27089658,714,679.72910342,659,634.27089658,878.27089658,786.72910342,805,652,630.72910342,652,0.400979491576,0.00449202988345,0.06984005515,0.999999965712,3.15658341097e-05,-0.000259065392077,2.1579981935e-05,1793243660134895616
+98,1.633333333,BASELINE,765,744.845845505,714,679.154154495,659,634.845845505,878.845845505,786.154154495,805,652,630.154154495,652,0.400980618668,0.00449185344875,0.069840905339,0.999999966173,3.17721176917e-05,-0.000257255029208,2.15614972042e-05,1793243660151562240
+99,1.650000000,BASELINE,764.563893998,745,714,679,659,634.563893998,879,786,805,652,630.436106002,652,0.40098116896,0.00449230399679,0.0698409748394,0.999999966245,3.31251543233e-05,-0.000256812156575,2.14674218825e-05,1793243660168228864
+100,1.666666667,BASELINE,764.030905258,745,714,679.030905258,659,634,879.030905258,786.030905258,805,652,631,651.969094742,0.400981420219,0.00449296566719,0.0698407243117,0.99999996616,3.47661681305e-05,-0.000256933518845,2.13573846585e-05,1793243660184896000
+101,1.683333333,BASELINE,764.606826261,745,714,679.606826261,659,634,879.606826261,786.606826261,805,652,631,651.393173739,0.400980124438,0.00449329989933,0.0698398736706,0.999999965863,3.40771314595e-05,-0.000258170586714,2.14542078275e-05,1793243660201562624
+102,1.700000000,BASELINE,765,745,714,680,659,634,879.813489199,787,805,652,631,651,0.400979215283,0.00449355653021,0.0698391282596,0.999999965584,3.38156346787e-05,-0.000259281643684,2.15046739421e-05,1793243660218229504
+103,1.716666667,BASELINE,765,745,714,680,659,634,879.225707626,787,805,652,631,651,0.400979137939,0.00449364620494,0.0698386092471,0.999999965344,3.44739735179e-05,-0.000260121592928,2.14554046353e-05,1793243660234896128
+104,1.733333333,BASELINE,765,745,714,680,659,634.356859298,879,787,805,652,631,651.356859298,0.400979892713,0.00449362589949,0.0698395533328,0.999999965655,3.46296983834e-05,-0.000258905216474,2.14286064749e-05,1793243660251562496
+105,1.750000000,BASELINE,765,745,714,680,659,634.9361756,879,787,805,652,631,651.9361756,0.400981166209,0.0044935370352,0.0698414094768,0.999999966304,3.44721065546e-05,-0.000256406979,2.14158162504e-05,1793243660268228864
+106,1.766666667,BASELINE,765,745,714,679.515875328,659,634.515875328,879,787,805,652,631,652,0.400980964627,0.00449419358164,0.0698415890676,0.999999966329,3.46904875946e-05,-0.000256309102584,2.10824495202e-05,1793243660284895232
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,787,805,652,631,652,0.400982626355,0.00449391892622,0.0698411314197,0.99999996634,3.57697440663e-05,-0.000256084788118,2.14773107378e-05,1793243660328070400
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.408731689,659,634,879,786.408731689,805,652,631,652,0.400980947973,0.00449296336712,0.0698399017027,0.999999965967,3.37773111697e-05,-0.000257825485442,2.12354847432e-05,1793243660344736768
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.179024428,634.179024428,879,786.179024428,804.820975572,652,630.820975572,652,0.40097978035,0.00449238755644,0.0698391419376,0.999999965694,3.23381870059e-05,-0.000259084696455,2.1013457598e-05,1793243660361403136
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.758916237,634.758916237,879,786.758916237,804.241083763,652,630.241083763,652,0.400979756408,0.00449266206949,0.0698394344775,0.999999965657,3.21380186451e-05,-0.000259265774733,2.08357635343e-05,1793243660378069760
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.336456978,714,679,660,634.663543022,879,786.663543022,804.336456978,652,630.336456978,652,0.400979752233,0.00449330824287,0.0698399757055,0.999999965762,3.22249528996e-05,-0.000258848602627,2.08728801631e-05,1793243660394736128
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.91232475,714,679,660,634.08767525,879,786.08767525,804.91232475,652,630.91232475,652,0.400979762123,0.00449421887648,0.0698406938912,0.999999965966,3.25161791537e-05,-0.000258005736856,2.10628484345e-05,1793243660411402496
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.511501214,746,714,679.488498786,659.511501214,634,879,786.488498786,805,652,631,652,0.400979951633,0.00449449453603,0.0698408757915,0.999999966053,3.31935803019e-05,-0.000257587101806,2.09943536778e-05,1793243660428069376
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.066197019,745.933802981,714,680,659,634.066197019,879,787,805,652,631,652,0.400980433764,0.00449439000608,0.069841044414,0.999999966144,3.37216689856e-05,-0.000257173714392,2.09157493761e-05,1793243660444736000
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.655505343,745.344494657,714,680,659,634.655505343,879,787,805,652,631,652,0.400982973373,0.00449218224066,0.0698418692031,0.999999966429,3.25217830803e-05,-0.000256199730158,2.1124065025e-05,1793243660461402880
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.75933675,745,714,680,659,634.75933675,879,787,805,652,631.24066325,652,0.400991662477,0.00449169232384,0.0698456564377,0.999999967951,3.24712305459e-05,-0.000250194854546,2.11425909358e-05,1793243660478069504
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.18001924,745,714,680,659,634.18001924,879,787,805,652,631.81998076,652,0.401009004972,0.00449361971334,0.0698536123385,0.999999971092,3.40379862877e-05,-0.000237110656331,2.08940502787e-05,1793243660494736128
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634.393754735,878.606245265,786.606245265,805,652,631.606245265,652,0.401040844281,0.0044942094151,0.0698656813325,0.999999975909,3.49452568354e-05,-0.000215691310697,2.09072500744e-05,1793243660511402752
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634.965029518,878.034970482,786.034970482,805,652,631.034970482,652,0.401079219324,0.00449419603503,0.0698796046705,0.999999980999,3.55552057625e-05,-0.000190514153097,2.103845268e-05,1793243660528069376
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.555335638,745,714,679.444664362,659,634.444664362,879.110671276,786.555335638,805,652,631,652,0.401134689713,0.00449285363754,0.0698928963886,0.999999984369,3.34416433098e-05,-0.000172367148351,2.08357311543e-05,1793243660544736256
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.85624395,787,805,652,631,652,0.40119421135,0.0044918646111,0.0699038560436,0.999999986957,3.13198172653e-05,-0.000157140107534,2.02953997619e-05,1793243660561402624
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.277288912,787,805,652,631,652,0.40126262286,0.00449220771104,0.069907880428,0.999999988227,2.9710601219e-05,-0.000149365029339,1.87989245624e-05,1793243660578069248
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.300794999,634.300794999,879,787,805.300794999,652.300794999,631,652,0.40133970241,0.00449320152926,0.0699097915655,0.999999988883,2.82543340663e-05,-0.000145411876649,1.70463836543e-05,1793243660594736128
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.878078142,634.878078142,879,787,805.878078142,652.878078142,631,652,0.401424749541,0.00449479348206,0.0699097602246,0.999999989015,2.69386563031e-05,-0.000144971805089,1.50584694662e-05,1793243660611402752
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.545764088,634.545764088,879.454235912,786.545764088,805.091528176,652.545764088,631,652,0.401527097124,0.00449572712913,0.0699089932364,0.999999988808,2.45337352313e-05,-0.000147033037317,1.27463364327e-05,1793243660628069632
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.030709752,634.030709752,879.938580496,786.030709752,804.030709752,652,631,652,0.401635593817,0.00449640509623,0.0699081304975,0.999999988524,2.17592157958e-05,-0.000149570035776,1.03246779625e-05,1793243660644736768
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.618380824,634.618380824,878.763238352,786.618380824,804.618380824,652,631,652,0.401771602545,0.00449564267432,0.0699091034594,0.999999988778,1.75708593258e-05,-0.000148589468868,7.49102306645e-06,1793243660661403136
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.797313228,634.797313228,878.202686772,787,804.797313228,652,631,652,0.401917978211,0.00449584890531,0.0699100002094,0.999999989043,1.45356767728e-05,-0.000147252208288,4.37426198039e-06,1793243660678069504
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.219239733,634.219239733,878.780760267,787,804.219239733,652,631,652,0.402083553983,0.00449784913327,0.0699107558106,0.999999989357,1.36362343412e-05,-0.000145254332101,7.33173432024e-07,1793243660694736384
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,804,652,631,652,0.402270304805,0.00449909186512,0.0699142559599,0.999999990184,1.08102810724e-05,-0.000139659457144,-3.31980079447e-06,1793243660711403264
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,804,652,631,652,0.402469993146,0.00449987178316,0.0699194329698,0.999999991253,6.80727060958e-06,-0.000131866892313,-7.62442875308e-06,1793243660728069888
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.492987686,745,714,679.507012314,659,634,879,787,804.507012314,652,631,652,0.40270040441,0.00450246650659,0.0699212469633,0.99999999194,3.19475172611e-06,-0.00012627121033,-1.28829664298e-05,1793243660744736256
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,787,805,652,631,652,0.402941413716,0.00450491992775,0.0699234274253,0.999999992604,-9.58764847406e-07,-0.000120245228448,-1.8205750614e-05,1793243660761402624
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,787,805,652,631,652,0.403220067667,0.00450507143756,0.0699304906012,0.999999993656,-8.61897988055e-06,-0.000109903696958,-2.31355506917e-05,1793243660778069504
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.265639913,745,714,679.734360087,659,634.265639913,879,787,805,652,631,652,0.403516326014,0.00450599216586,0.0699379442779,0.999999994739,-1.46473568151e-05,-9.74964192067e-05,-2.83182633052e-05,1793243660794736128
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.843432507,745,714,679.156567493,659,634.843432507,879,787,805,652,631,652,0.403833271221,0.00450781680054,0.0699458568306,0.999999995836,-1.87581651363e-05,-8.26616897145e-05,-3.37981723988e-05,1793243660811402752
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,786.580651605,805,652,631,652,0.404167526523,0.00450481423797,0.0699481043524,0.999999996095,-1.48512397965e-05,-7.98991946073e-05,-3.47321291208e-05,1793243660828069632
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,786.005433293,805,652,631,652,0.404508215904,0.00450001742782,0.0699482462076,0.99999999606,-7.964158735e-06,-8.16238951916e-05,-3.39763756199e-05,1793243660844736256
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.417371494,879,786.582628506,805,652,631,652,0.404903302841,0.00448550330637,0.0699546747448,0.999999997219,5.16759308196e-06,-6.98923319242e-05,-2.55096776834e-05,1793243660861403392
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.831578421,745,714,679.168421579,659,634,879.168421579,786.831578421,804.831578421,652,631,652,0.405306992296,0.00447633342356,0.0699597938543,0.99999999784,1.54967057114e-05,-6.04024231345e-05,-2.07509868959e-05,1793243660878070272
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.251628196,745,714,679.748371804,659,634,879.748371804,786.251628196,804.251628196,652,631,652,0.405730434004,0.0044804483018,0.0699615669706,0.999999997897,1.88322249506e-05,-5.67034025956e-05,-2.52322685481e-05,1793243660894736640
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.32619682,745,714,679.67380318,659,634,879.347606361,786.32619682,804.32619682,652,631,652,0.406165278094,0.00448727314094,0.0699551047696,0.999999997093,1.96500863662e-05,-6.82890310784e-05,-2.76463493482e-05,1793243660911403264
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.902393121,745,714,679.097606879,659,634,878.195213759,786.902393121,804.902393121,652,631,652,0.406608861094,0.00449617491314,0.0699423309649,0.999999995228,1.85383978914e-05,-9.15889190603e-05,-2.84761136909e-05,1793243660928069888
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.513147408,634,878.486852592,787,805,652,631,652,0.407084318068,0.00449983309563,0.0699281773087,0.999999993432,-6.43934186873e-06,-0.000110406733368,-3.00964256698e-05,1793243660944736512
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.072220566,634,879,787,805,652,630.927779434,652,0.407579939723,0.00450316726704,0.0699170833183,0.999999991572,-2.8892602176e-05,-0.00012247837624,-3.19331932563e-05,1793243660961403136
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.652128537,634,879,787,805,652,630.347871463,652,0.408171615713,0.00451174138598,0.0699294760569,0.99999999504,6.16732023111e-07,-9.35524761427e-05,-3.41581814237e-05,1793243660978069504
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.463102665,634.231551332,879,787,805,652,630.231551332,652,0.408768836747,0.00451972944555,0.0699413204297,0.999999996843,2.34313548189e-05,-6.67415733586e-05,-3.61999370059e-05,1793243660994736128
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.620493428,634.810246714,879,787,805,652,630.810246714,652,0.409374370933,0.00452683887859,0.0699523426864,0.999999997695,3.62091982313e-05,-4.31014973668e-05,-3.79669884015e-05,1793243661011402496
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.231438496,634.615719248,879.384280752,787,804.615719248,652,631,652,0.409972544206,0.00453395870078,0.0699485247381,0.999999997181,4.24068629429e-05,-4.80386552526e-05,-3.91365429853e-05,1793243661028069376
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.087918716,634.043959358,879.956040642,787,804.043959358,652,631,652,0.410567126292,0.0045410835913,0.0699374666952,0.99999999593,4.53942539975e-05,-6.69177954167e-05,-4.00145966092e-05,1793243661044736000
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.545658693,659,634,879.454341307,787,804.545658693,652,631,652,0.411209420016,0.00454854100605,0.0699394000932,0.999999995369,5.31970615321e-05,-6.90259809033e-05,-4.08425953878e-05,1793243661061402880
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.13417431,879,787,805,652,631,652,0.411882185565,0.00455566372229,0.0699492904127,0.999999995652,6.16987266345e-05,-5.61618065114e-05,-4.16595729808e-05,1793243661078069760
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.714086276,879,787,805,652,631,652,0.412642979508,0.00456158253636,0.0699820196678,0.999999996563,7.11896784152e-05,1.80139615156e-06,-4.24537866763e-05,1793243661094736640
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.708731629,659,634.708731629,879.291268371,787,805,652,631,652,0.413392295184,0.00456777560134,0.070006949096,0.999999995045,7.96393268756e-05,4.14313011265e-05,-4.30300749859e-05,1793243661111403008
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.134204269,659,634.134204269,879.865795731,787,805,652,631,652,0.414130448315,0.00457423537649,0.0700242931831,0.999999993268,8.70763073532e-05,6.32320496467e-05,-4.33944306687e-05,1793243661128069632
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.441755609,659,634.441755609,880,787,805,652,631,652,0.414836556513,0.00458262339724,0.0699963421848,0.99999999432,9.63623617677e-05,1.24851029711e-05,-4.38032729927e-05,1793243661144736256
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.981385664,659,634.981385664,879.981385664,786.981385664,805,651.981385664,631,652,0.41553452262,0.00459154641924,0.0699547610934,0.999999991591,0.000106246474256,-5.97187002797e-05,-4.43169879412e-05,1793243661161402880
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679.390310226,659,634.390310226,879.390310226,786.390310226,805,651.390310226,631,652,0.416282457334,0.00459884870982,0.0699185682937,0.99999998575,0.000117191206409,-0.000111789442774,-4.76389514649e-05,1793243661178069504
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679.196414735,659.392829469,634,879.196414735,786.196414735,805,651.196414735,631,652,0.417070693903,0.0046051325695,0.0699053297589,0.999999982509,0.000124273690334,-0.000130706407851,-4.95427290138e-05,1793243661194736128
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679.774681843,660.549363687,634,879.774681843,786.774681843,805,651.774681843,631,652,0.417937281775,0.00460943648433,0.0699367169038,0.999999987519,0.000123847528246,-8.51686913065e-05,-4.8689393188e-05,1793243661211403008
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.648833968,660.648833968,634,879.648833968,787,805,652,631,652,0.418793414106,0.00461268088681,0.0699652880327,0.999999990009,0.000125342072189,-4.40571256763e-05,-4.82691827086e-05,1793243661228069888
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.073487996,660.073487996,634,879.073487996,787,805,652,631,652,0.419642871718,0.00461524890989,0.0699920614514,0.999999990625,0.00012806277048,-5.77116039791e-06,-4.81254739763e-05,1793243661244736512
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.501348201,879,787,805,652,631,652,0.42051580646,0.00461075284005,0.0700117150844,0.999999990637,0.000124436067948,2.6910104401e-05,-5.01786202821e-05,1793243661261402880
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.07788003,660,634.92211997,879.07788003,787,805,652,630.92211997,652,0.421386621379,0.00460314692728,0.0700265918003,0.999999990524,0.000116288537742,5.20090588219e-05,-5.2186231976e-05,1793243661278069248
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679.66601002,660,634.33398998,879.66601002,787,805,652,630.33398998,652,0.42222102378,0.00458194330194,0.0700170019828,0.999999994541,8.46113025552e-05,3.28077082083e-05,-5.17878843188e-05,1793243661294735872
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.250943802,659.749056198,634,880,787,805,651.749056198,630.250943802,652,0.423040127096,0.00457069577299,0.0699751795912,0.999999995572,6.94591343924e-05,-3.59190304373e-05,-5.23542946604e-05,1793243661311402752
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.831677221,659.168322779,634,880,787,805,651.168322779,630.831677221,652,0.423839124514,0.00457253251408,0.0698909972427,0.999999981238,7.6024156221e-05,-0.000169731893024,-5.41885865176e-05,1793243661328069376
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.590963447,745,714,681,659,634,880,786.590963447,805,651.409036553,631,652,0.424706280617,0.00457941813157,0.0698636911768,0.99999997472,8.32019549418e-05,-0.000200798000242,-5.75999113846e-05,1793243661344736256
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.014981263,745,714,681,659,634,880,786.014981263,805,651.985018737,631,652,0.425601255201,0.00458836441531,0.069859598804,0.999999975956,9.06298545661e-05,-0.000189928674617,-6.1654892249e-05,1793243661361402880
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.561116143,745,714,679.877767715,660.122232285,634,880,786.561116143,805,651.438883857,631,652,0.426543785907,0.00459101216047,0.0699255680134,0.999999989488,9.11932460956e-05,-9.72673614927e-05,-5.69785750129e-05,1793243661378069760
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.281101461,660.859449269,634.140550731,880,787,805.140550731,651.140550731,631,652,0.427478960146,0.00459367188286,0.0699849770444,0.999999994139,9.29305181248e-05,-1.4873688172e-05,-5.35291914333e-05,1793243661394736384
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680.461298676,660.269350662,634.730649338,880,787,805.730649338,651.730649338,631,652,0.42838654292,0.00459690789567,0.0700174192891,0.999999993216,9.90087419746e-05,2.76930384305e-05,-5.47498977983e-05,1793243661411403008
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.686149941,660,635,879.686149941,786.686149941,806,652,631,652,0.429305082424,0.00459804726797,0.0700371610241,0.999999991382,0.000102482422789,6.04478419288e-05,-5.54911413955e-05,1793243661428069632
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.108741805,660,635,879.108741805,786.108741805,806,652,631,652,0.430232822881,0.00459742596961,0.0700462374038,0.999999989448,0.000103768917687,8.49630030299e-05,-5.58297523048e-05,1793243661444736512
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.466743913,635,879.466743913,786.466743913,806,651.533256087,631,652,0.431032660424,0.00459799329808,0.0699915355264,0.999999992821,0.000105053910891,-1.24815705538e-05,-5.62692072574e-05,1793243661461402880
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680.04276954,660.95723046,634.95723046,880,786.95723046,806,651,631,652,0.431805363786,0.0045989398739,0.0699244223316,0.99999998392,0.000106221336529,-0.000132869746806,-5.67674316374e-05,1793243661478069760
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680.631377712,660.368622288,634.368622288,880,786.368622288,806,651,631,652,0.432610512789,0.00460120680656,0.0698877698587,0.999999975628,0.000105892790779,-0.000184928659325,-5.77170838914e-05,1793243661494736384
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.78329652,660.21670348,634,880,786,806,651.21670348,631,652,0.433467818776,0.00459988088701,0.0698899127394,0.999999978305,0.000100949063558,-0.000172561105264,-5.84934864817e-05,1793243661511403264
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.203470862,660.796529138,634,880,786,806,651.796529138,631,652,0.434412522462,0.00459253455542,0.0699570635837,0.999999993,8.82718430944e-05,-5.22364602857e-05,-5.89795806618e-05,1793243661528070144
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.625711519,745,714,680.374288481,661.374288481,634,880,786,805.625711519,651.625711519,631,651.625711519,0.435310996118,0.00458464951486,0.0699979593318,0.99999999485,8.19441927759e-05,1.51627937116e-05,-5.79169597448e-05,1793243661544736512
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.049069334,745,714,680.950930666,661.950930666,634,880,786,805.049069334,651.049069334,631,651.049069334,0.436184476113,0.00457647322945,0.0700246606343,0.999999993851,7.90493476673e-05,5.39486862554e-05,-5.60170484192e-05,1793243661561402880
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.525605522,745,714,681,660.423183435,634,879.474394478,786,805.525605522,651,631,651.525605522,0.436996973739,0.00457432427107,0.0700186259278,0.999999994359,7.1385315377e-05,5.3025047581e-05,-5.80828424551e-05,1793243661578069760
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.10309659,634,879.10309659,786.10309659,806,651,631,652,0.437790420976,0.00457381794627,0.0700046394771,0.999999995227,6.51447734602e-05,4.09474199338e-05,-6.0209236036e-05,1793243661594736384
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.694801801,634,879.694801801,786.694801801,806,651,631,652,0.438520463341,0.00457843973801,0.0699673972292,0.999999995831,6.7752892481e-05,-6.48854614681e-06,-6.08747357585e-05,1793243661611403008
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.720367353,786.720367353,806,651,631,652,0.439225131458,0.00458207932092,0.0699208411402,0.999999992404,7.16302245005e-05,-7.96196088351e-05,-6.10131850317e-05,1793243661628069376
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.14285938,786.14285938,806,651,631,652,0.439902769917,0.00458467261733,0.0698643635959,0.999999978989,7.68595698874e-05,-0.000180122061881,-6.05901997382e-05,1793243661644736512
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.56903007,745,714,681,660,634,879.43096993,786.43096993,806,651,631,652,0.44065650026,0.00458468356704,0.0698685287463,0.999999980742,7.84470626521e-05,-0.000169160336144,-6.1213465016e-05,1793243661661403136
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.003705327,745.003705327,714,681,660.003705327,634,880,787,806,651,631,651.996294673,0.441435108145,0.00458386067642,0.0698929308595,0.999999987619,7.88084165336e-05,-0.000121191580173,-6.21626641707e-05,1793243661678069760
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.594689216,745.594689216,714,681,660.594689216,634,880,787,806,651,631,651.405310784,0.442192756535,0.00458540253846,0.0699656818124,0.999999995302,7.4550806946e-05,-1.43866655533e-05,-6.02675571042e-05,1793243661694736128
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661,634,880,787,806,651,631,651.182210986,0.442919470958,0.00458679767694,0.0700187901343,0.99999999388,7.13317499073e-05,6.06034053461e-05,-5.89753629024e-05,1793243661711403008
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,746,714,681,661,634,880,787,806,651,631,651.762175319,0.443578658924,0.00458787252883,0.0700290200334,0.999999993595,7.03797783857e-05,6.61440038295e-05,-5.89992845878e-05,1793243661728070400
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.661784824,714,681,660.661784824,634,880,787,806,651,631,651.661784824,0.444199503061,0.00458780075316,0.0700149917581,0.999999994831,7.30485356266e-05,3.88300867791e-05,-5.911609722e-05,1793243661744737280
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.088472943,714,681,660.088472943,634,880,787,806,651,631,651.088472943,0.444793693984,0.00458693194531,0.0699841013858,0.999999995118,7.8234097063e-05,-1.13213285703e-05,-5.92974791461e-05,1793243661761403904
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.511299007,634,880,787,806.488700993,651.488700993,631,651.488700993,0.445356847883,0.00459226469169,0.0699500465085,0.999999992126,9.18354601046e-05,-6.23780610009e-05,-5.85164872983e-05,1793243661778070272
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.068048402,633.931951598,880,786.931951598,806.931951598,652,631,652,0.445906648652,0.00459886138099,0.0699160669125,0.999999986375,0.000106266020523,-0.000112315455153,-5.78194085224e-05,1793243661794736640
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.658674946,633.341325054,880,786.341325054,806.341325054,652,631,652,0.446397397681,0.00460647398672,0.0698871000152,0.999999979998,0.000115270934715,-0.000152388220903,-5.91153631027e-05,1793243661811403008
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713.756121003,681.243878997,659.512242007,633,880,786,806.243878997,651.756121003,631,652,0.446870525953,0.00461242553941,0.0698596598737,0.999999971144,0.000124143039061,-0.000196916734662,-5.93738421413e-05,1793243661828069632
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713.178341074,681.821658926,658.356682148,633,880,786,806.821658926,651.178341074,631,652,0.447319529159,0.00461610290153,0.0698343100549,0.999999958844,0.000132833309314,-0.000247545722922,-5.82118869367e-05,1793243661844736256
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.605473401,745,713.394526599,681.605473401,657.605473401,633,880,786,806.605473401,651,631,651.605473401,0.447751965678,0.00462077485757,0.0698083601171,0.999999945234,0.000145718926229,-0.00029156528958,-5.73336038516e-05,1793243661861402880
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.034798897,745,713.965201103,681.034798897,657.034798897,633,880,786,806.034798897,651,631,651.034798897,0.448177005557,0.00462589087939,0.0697821422365,0.9999999302,0.000160477678616,-0.000332633891379,-5.65819743068e-05,1793243661878069504
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+258,4.300000000,HOLD_POSE2,764.458262866,745,713.458262866,682,651.541737134,631,880,786,806.541737134,651.541737134,631,652,0.452849818877,0.00471796714291,0.0696035033209,0.999999791769,0.000228245149397,-0.000599841340298,-6.74973510904e-05,1793243662870542592
+259,4.316666667,HOLD_POSE2,764.118336462,745,713,681.881663538,651.881663538,631,880.118336462,786,806.881663538,651.881663538,631,652,0.452850422599,0.0047181422837,0.0696038085784,0.999999791934,0.000229455143213,-0.000599131861925,-6.72530104262e-05,1793243662887208960
+260,4.333333333,HOLD_POSE2,764.691938505,745,713,681.308061495,651.308061495,631,880.691938505,786,806.308061495,651.308061495,631,652,0.452847458241,0.004718378129,0.0696006015935,0.999999789331,0.00022923009559,-0.000603539351463,-6.73213074583e-05,1793243662903875584
+261,4.350000000,HOLD_POSE2,764.73324032,745.26675968,713,681,651,631,880.73324032,786,806.26675968,651,631,652,0.452846618703,0.0047189081559,0.0695995441687,0.999999788261,0.00022963315003,-0.000605132430733,-6.75346114923e-05,1793243662920541952
+262,4.366666667,HOLD_POSE2,764.157004828,745.842995172,713,681,651,631,880.157004828,786,806.842995172,651,631,652,0.452848244233,0.00471977947159,0.0696009805122,0.999999788985,0.000230764884305,-0.000603460428976,-6.79161424438e-05,1793243662937208320
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713,682,651,631,880,786,806,651,631,652,0.452847530598,0.00471746978875,0.0696002110001,0.999999788988,0.000229705301187,-0.000603920012387,-6.73838119844e-05,1793243662969820160
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.575021997,745.575021997,713,682,651,631,880,785.424978003,806,651,631.575021997,652,0.452849365816,0.00471725215194,0.0696015493295,0.999999790633,0.000228805460366,-0.000601519454656,-6.74968697202e-05,1793243662986486784
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,746,713,682,651,631.1483088,880,785.1483088,806.1483088,651,631.8516912,652,0.452850619306,0.00471734347165,0.0696023829276,0.999999791727,0.000228141453412,-0.000599940659835,-6.75966503354e-05,1793243663003153152
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,746,713,682,651,631.716681048,880,785.716681048,806.716681048,651,631.283318952,652,0.452850225135,0.00471830986643,0.0696017869465,0.999999791272,0.000228145411927,-0.000600689390274,-6.76588254347e-05,1793243663019819264
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.699349993,713.300650007,682,651,631.699349993,880,786,806.699349993,651.300650007,631,652,0.452850096247,0.00471772912613,0.0696015249826,0.999999791282,0.000226861524119,-0.000601167560333,-6.75770718911e-05,1793243663036485632
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.099879251,713.900120749,682,651,631.099879251,880,786,806.099879251,651.900120749,631,652,0.452850231028,0.00471561066407,0.0696015950038,0.99999979175,0.000224297625749,-0.000601376816159,-6.73522654191e-05,1793243663053152256
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,651,631.480798546,880,786,806,652,631,652,0.45284934824,0.00471626184669,0.0696013988836,0.999999791085,0.000225836962461,-0.000601918484314,-6.72392268304e-05,1793243663069818880
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.942567203,682,651,631.942567203,880.057432797,786,806,651.942567203,631.057432797,651.942567203,0.452848346014,0.0047172433548,0.0696011719329,0.999999790358,0.000227737370235,-0.000602421782739,-6.71374382947e-05,1793243663086485504
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.368509404,682,651,631.368509404,880.631490596,786,806,651.368509404,631.631490596,651.368509404,0.45284809935,0.00471621543114,0.0696011462707,0.999999791142,0.000225506641272,-0.000601982138397,-6.69358488566e-05,1793243663103151872
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,651,631,880.788582462,786,806,651,631.788582462,651.211417538,0.452843758968,0.00471606673591,0.0695991076207,0.999999789609,0.00022491602617,-0.000604754244829,-6.68365241708e-05,1793243663119818496
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,682,651,631,880.198133319,786,806,651,631.198133319,651.801866681,0.452832079325,0.00471749433083,0.069593460065,0.999999783877,0.000227265824817,-0.00061328441212,-6.69205408357e-05,1793243663136485888
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.384999207,682,651,631.384999207,879.615000793,786,806,651,631,652,0.45280253488,0.00471793690218,0.0695811126014,0.999999771126,0.000227461294627,-0.000633654951057,-6.70068159722e-05,1793243663153152768
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.964436635,682,651,631.964436635,879.035563365,786,806,651,631,652,0.452763968075,0.0047178820019,0.0695653814468,0.999999754279,0.000226568752237,-0.00066000529703,-6.70942316873e-05,1793243663169819648
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.458776497,682,651,631.458776497,879.541223503,786,806,651,631,652,0.452706885547,0.00471652890555,0.0695498241847,0.999999737628,0.000228299104555,-0.000684282145935,-6.61994470194e-05,1793243663186486272
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,651,631,880,786,806,651,631,651.882314515,0.452646106451,0.00471577495072,0.0695356663612,0.999999722516,0.000229910928286,-0.000705568168925,-6.54338652126e-05,1793243663203152896
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,651,631,880,786,806,651,631,651.30644247,0.452575649169,0.00471768413606,0.0695269127176,0.999999715179,0.000230393547956,-0.000715737846001,-6.54213589486e-05,1793243663219819264
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,682,651.274305012,631,880,786,806.274305012,651.274305012,631,651.274305012,0.452494946565,0.00471807661767,0.0695196358648,0.999999707609,0.000231510329594,-0.000725943317844,-6.47436240729e-05,1793243663236485888
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,651.86059766,631,880,786,806.86059766,651.86059766,631,651.86059766,0.452402591193,0.00471674403841,0.0695140386776,0.999999699783,0.000233348391111,-0.000736189501154,-6.33092748702e-05,1793243663253152768
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,652,631,880,786,806.556761532,651.556761532,631,652,0.452292942605,0.00471683203452,0.0695085886409,0.999999691554,0.000236547449089,-0.000746420020312,-6.16030498307e-05,1793243663269819904
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.975545464,745,713.024454536,682,652,631.024454536,880,786,806,651.024454536,631,652,0.452176420488,0.00471727628935,0.069502928685,0.999999682775,0.000240086693877,-0.000757122337828,-5.97819220653e-05,1793243663286486784
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,745,713.826284609,682,652.173715391,631.826284609,880.173715391,786,806,651.826284609,631,652,0.451866615814,0.00471497894836,0.0694800547085,0.999999649119,0.000244153390402,-0.000799475914307,-5.46751334577e-05,1793243663319818496
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,745,713.252544523,682,652.747455477,631.252544523,880.747455477,786,806,651.252544523,631,652,0.451683160566,0.00471586010378,0.0694685060033,0.999999632237,0.000248387380959,-0.000819234300101,-5.18133520342e-05,1793243663336484864
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.330227414,745,713.330227414,682,653,631.330227414,881,786,806,651.330227414,631,652,0.451486497935,0.00471458170303,0.069464299071,0.999999623364,0.000251672541392,-0.000829228528816,-4.80966244107e-05,1793243663353151744
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.920100833,745,713.920100833,682,653,631.920100833,881,786,806,651.920100833,631,652,0.451279450792,0.00471160532061,0.0694658647108,0.999999620999,0.000254211671139,-0.000831545552323,-4.3707682871e-05,1793243663369818368
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.49644529,682.50355471,652.49644529,632,880.49644529,786,806,651.49644529,631,652,0.451055559619,0.00471048341124,0.0694794320263,0.99999963435,0.000258616570682,-0.0008141530068,-3.96519116592e-05,1793243663386485248
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713,682.915138858,652.169722284,632,880,786,806.084861142,651.084861142,631,652,0.45082491524,0.00470846921691,0.0694953036254,0.999999650751,0.000262290907004,-0.000792742207661,-3.55033632583e-05,1793243663403151872
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.340422437,653.319155125,632,880,786,806.659577563,651.659577563,631,652,0.450570521812,0.00469962721085,0.0695136224285,0.99999967237,0.000260060745723,-0.000765961321904,-3.05179492217e-05,1793243663419818496
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713,682,654,632,880,786,806.767717238,652,631,652,0.450297542659,0.00468637452233,0.0695306967042,0.999999692307,0.000252925510833,-0.00074216197581,-2.47125143864e-05,1793243663436485120
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,654,632,880,786,806.19793432,652,631,652,0.449997559,0.0046667132399,0.0695459627163,0.999999710219,0.000238663345652,-0.000722694722818,-1.77156132854e-05,1793243663453151744
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,654,632,880,786,806,651.608648329,631,652,0.449674731508,0.00465537854114,0.0695654826948,0.999999731954,0.000233970819204,-0.000693706093734,-1.10442909343e-05,1793243663469818624
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713,682,654,632,880,786,806,651.008980907,631,652,0.449339744298,0.00464847606767,0.069587267051,0.999999754956,0.000234372193552,-0.000659649254336,-4.54627374887e-06,1793243663486485504
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764.433633183,745,713.566366817,681.433633183,654.566366817,632.566366817,880,786,805.433633183,651,631,652,0.448974914634,0.00465247970248,0.0696187672527,0.999999785149,0.000244014380738,-0.000608406643363,6.18722084113e-08,1793243663503152128
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,745,714,681.140926046,655.140926046,633,880,786,805.140926046,651,631,652,0.448594551988,0.00465355259697,0.0696462009872,0.999999809119,0.00025091522312,-0.000564602668841,5.15622095395e-06,1793243663519818752
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,745,714,681.714200534,655.714200534,633,880,786,805.714200534,651,631,652,0.448167927618,0.00464512552667,0.0696607059639,0.999999820738,0.000248974827616,-0.000544421407688,1.18303484667e-05,1793243663536485632
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.297664585,745,713.702335415,681.702335415,656.297664585,633,880,786,806,651.297664585,631,652,0.447708059469,0.00463852672881,0.0696709046245,0.999999830158,0.000245601564116,-0.000528270991013,1.71494317892e-05,1793243663553152000
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.891258881,745,713.108741119,681.108741119,656.891258881,633,880,786,806,651.891258881,631,652,0.447215141244,0.00463374554669,0.0696768220692,0.99999983759,0.000240803783604,-0.000516127923597,2.1121369307e-05,1793243663569818624
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764.529237617,745,713.470762383,681.470762383,657,633,880,786,806,651.529237617,631,652,0.446698693911,0.00463057536071,0.0696777336943,0.999999850043,0.000201412227677,-0.000509109695118,1.24530305463e-05,1793243663586485504
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.047185014,745,713.952814986,681.952814986,657.047185014,633,880,786,805.952814986,651,631,652,0.446177251286,0.00462708249402,0.069680308895,0.999999863127,0.000157550235905,-0.000498916511631,2.46361935252e-06,1793243663603152128
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.624499706,745,713.375500294,681.375500294,657.624499706,633,880,786,805.375500294,651,631,652,0.445658973559,0.00461590492018,0.0697141881137,0.999999891749,0.000150630787902,-0.000440138872809,9.48242062499e-06,1793243663619818752
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.230586026,745.769413974,713,681.769413974,659.538827948,633.769413974,880,786.769413974,805.769413974,651.769413974,631,651.230586026,0.444563470315,0.00460584760141,0.0697891880408,0.999999940145,0.000131957652912,-0.000319407980006,1.66336657437e-05,1793243663653152256
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,745.643820466,713,681.643820466,659.643820466,634,880,786.643820466,806,652,631,651.356179534,0.443932173214,0.00460321288181,0.0698126765026,0.999999952665,0.00011696184941,-0.000284011825287,1.80975914789e-05,1793243663669818880
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,713,681.985226008,658.029547985,634,880,786.985226008,806,651,631,652,0.437951683616,0.00458202073958,0.0697273014451,0.999999891431,0.000217726242461,-0.000411357596429,2.27696744849e-05,1793243663803152128
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,764.173528055,745,714,681,659.173528055,634,880.173528055,786,805.173528055,651,631,651.173528055,0.436318245596,0.00456667613249,0.0697276217273,0.999999904469,0.000160182217368,-0.000405852439324,2.62185536027e-05,1793243663836485120
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.74030201,745,714,681,659.74030201,634,880.74030201,786,805.74030201,651,631,651.74030201,0.435500785438,0.0045650378888,0.0697799276192,0.999999936462,0.000135470924667,-0.000328549983228,2.7917369505e-05,1793243663853151744
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,713.679282815,681,660.320717185,634,880.679282815,786.320717185,806,651.320717185,631,652,0.434673547468,0.00456109057162,0.0698176297521,0.999999953408,0.00011898374679,-0.000279467355503,3.04006929447e-05,1793243663869818624
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,713.087331118,681,660.912668882,634,880.087331118,786.912668882,806,651.912668882,631,652,0.433838040323,0.00455519044236,0.0698429813018,0.999999961126,0.000109451806788,-0.000254250592522,3.35474841759e-05,1793243663886485504
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.508761228,745,713.491238772,681,660.017522456,634,880,787,805.508761228,652,631,652,0.432957828365,0.00454996334683,0.0698510006333,0.999999964787,0.000113304781246,-0.000237649216417,3.3325172998e-05,1793243663903152128
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,745,713.932302223,681,659.067697777,634,880,787,805,651.932302223,631,652,0.432061026666,0.00454525621961,0.0698505822705,0.999999965376,0.000117833078303,-0.000233013035187,3.26872337999e-05,1793243663919818752
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,745,713.354298153,681,659.645701847,634,880,787,805,651.354298153,631,652,0.431097491497,0.00454359061384,0.0698091712469,0.99999994617,0.000109990674175,-0.000307331380639,3.33114491729e-05,1793243663936485632
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.227703782,745,713,681,659.544592435,634,880,786.772296218,805.227703782,651,631,651.772296218,0.43014729943,0.00453990393112,0.06976343881,0.99999992115,0.000103573024415,-0.000381926244048,3.32293184115e-05,1793243663953152000
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764.816037499,745,713,681,658.367925002,634,880,786.183962501,805.816037499,651,631,651.183962501,0.429218239589,0.0045330163314,0.0697108622509,0.99999989014,9.94118539968e-05,-0.000456959060087,3.20284995396e-05,1793243663969818624
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,713.398556213,681,658.398556213,634,880,786.398556213,806,651.398556213,631,651.398556213,0.428342785279,0.00452552327544,0.0697398862324,0.999999910382,9.15535221885e-05,-0.00041200589813,3.32314177839e-05,1793243663986485248
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,713.978429446,681,658.978429446,634,880,786.978429446,806,651.978429446,631,651.978429446,0.427491718036,0.00451775477688,0.0698060331281,0.999999947188,8.20132233051e-05,-0.00031246695362,3.55278791065e-05,1793243664003151872
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.449373324,659.550626676,634,880,787,806.550626676,652,631,652,0.426611677335,0.00451256167488,0.0698529570402,0.999999967759,7.23457935366e-05,-0.000240580514069,3.69967510483e-05,1793243664019818752
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.751715569,634,879.875857784,787,806.751715569,651.875857784,631,651.875857784,0.42572177366,0.00450634901265,0.0698843912885,0.99999997881,6.36998600192e-05,-0.000192027625491,3.80435831255e-05,1793243664036485888
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.592839292,634,879.296419646,787,805.592839292,651.296419646,631,651.296419646,0.424799802725,0.00449603214748,0.069861740522,0.999999972219,5.8818315635e-05,-0.000225133035413,3.76598380396e-05,1793243664053152768
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.288720056,658.577440111,634,879,786.711279944,805,651.288720056,631,651.288720056,0.423865987307,0.00448841805972,0.0698266922126,0.999999957962,5.22863553813e-05,-0.000282808095874,3.68900889711e-05,1793243664069819136
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.879831257,659.759662513,634,879,786.120168743,805,651.879831257,631,651.879831257,0.422919766617,0.00448363472833,0.0697786593297,0.999999931336,4.40258310282e-05,-0.00036621619315,3.5716058234e-05,1793243664086485248
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.539882706,659.079765411,634,879.460117294,786.460117294,805,652,631,652,0.421953571789,0.00447631934426,0.069724922313,0.999999893193,3.76178611198e-05,-0.000459134060297,3.73340698008e-05,1793243664103151872
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.964333278,787,805,651.964333278,631,651.964333278,0.420994749967,0.00446832497883,0.0696772288618,0.999999852204,3.02959352134e-05,-0.000541420746311,3.92252746877e-05,1793243664119818240
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.417102927,787,805,651.417102927,631,651.417102927,0.420214781162,0.0044598589376,0.0697370937442,0.999999904157,3.08523292224e-06,-0.000436421505087,3.48164785303e-05,1793243664136484864
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.429868527,634,879.143289509,787,805.143289509,651.143289509,631.143289509,651.143289509,0.419429603768,0.004451807413,0.0697990175782,0.999999944737,-1.4026819688e-05,-0.000330561419097,3.25281460768e-05,1793243664153151744
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.237613252,634,879.745871084,787,805.745871084,651.745871084,631.745871084,651.745871084,0.418627730856,0.0044450845544,0.0698675410737,0.999999974684,1.23076004786e-06,-0.000221942015109,3.70366275408e-05,1793243664169818624
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.345255917,660.309488166,634,880,787,806,652,631.654744083,652,0.417800115852,0.00443579710557,0.0698843896967,0.99999997894,-3.28678096671e-06,-0.000201310566402,3.97979967962e-05,1793243664186485248
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.942309308,659.115381384,634,880,787,806,652,631.057690692,652,0.416953727015,0.00442463928416,0.0698635514816,0.999999968925,-2.22264521064e-05,-0.000244849335672,4.12851852045e-05,1793243664203152128
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879.47952881,787,805.47952881,652,631,652,0.416118961615,0.00441912274395,0.0698309943736,0.999999960754,-3.68016934102e-05,-0.000275079550792,3.83201706269e-05,1793243664219818752
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.903447834,659,634,879,787,805.096552166,652,631,652,0.415279797775,0.00441515267797,0.0697973085758,0.999999949871,-4.66073742335e-05,-0.000311128660878,3.58554786331e-05,1793243664236485120
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.327665947,659,634,879,787,805.672334053,652,631,652,0.41441263183,0.00441586351189,0.0697642420813,0.999999925262,-3.50567277041e-05,-0.000383124847549,3.82377429144e-05,1793243664253151744
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.745873281,634,879,787,805.745873281,652,631,651.745873281,0.413618008571,0.00442832628501,0.0697520484496,0.999999914973,-1.71053673194e-05,-0.00041018060306,3.89042342563e-05,1793243664269818368
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.156142731,634,879,787,805.156142731,652,631,651.156142731,0.412919186419,0.00445630885795,0.069767419859,0.999999927862,9.29887763164e-06,-0.000377887298536,3.73048482416e-05,1793243664286484992
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.277672209,634,879,787,805,652,631,651.425890736,0.412270947434,0.00447250138593,0.0698140643996,0.999999955417,3.10693350186e-05,-0.000294805376834,3.5934629934e-05,1793243664303151872
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.989790701,634,879.005104649,787,805,652,631,652,0.411640591141,0.00448418513092,0.0698715357056,0.999999979245,5.07828479899e-05,-0.000194238586425,3.46758514986e-05,1793243664319818496
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.842002691,634,879.578998655,787,805,652,631,652,0.410973112344,0.00446656637067,0.0698805085747,0.999999982145,2.72368776805e-05,-0.000183373060966,3.66387148154e-05,1793243664336485120
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.843420991,634,880,787,805,652,631,652,0.410300770184,0.00445378079527,0.0698760003054,0.999999980178,8.49147620925e-06,-0.000195322558205,3.76845364584e-05,1793243664353151744
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.255689869,634,880,787,805,652,631,652,0.409615036236,0.00445430375501,0.0698343707064,0.999999962865,2.96479793651e-06,-0.000270094939099,3.62052150269e-05,1793243664369818368
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.67203653,658.32796347,634,879.67203653,787,805,652,631,652.32796347,0.408962862657,0.00445414011689,0.0697988926985,0.999999945204,4.11097762064e-06,-0.000329170378972,3.49654611769e-05,1793243664386484992
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.091523341,658.908476659,634,879.091523341,787,805,652,631,652.908476659,0.408336532429,0.00445344776102,0.0697681517529,0.999999928623,1.03956213754e-05,-0.000376158315938,3.39101875395e-05,1793243664403151616
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.482362963,714,679.482362963,659,634,879,787,805,652,631,652.517637037,0.407793168496,0.0044599980479,0.0697768967137,0.999999935349,1.47132407227e-05,-0.000357756687507,3.31126956828e-05,1793243664419818240
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.944624062,714,679.944624062,659,634,879,787,805,652,631,652,0.407267456036,0.00446813315309,0.0697927975359,0.999999945217,1.94100420709e-05,-0.000328835512834,3.25017583673e-05,1793243664436485120
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.368157452,714,679.368157452,659,634,879,787,805,652,631,652,0.406761719423,0.00447842528833,0.0698064903456,0.999999949007,3.11394149263e-05,-0.000316093047004,3.31922883209e-05,1793243664453151744
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.214130689,658.785869311,634,879.214130689,787,805,652,631.214130689,652,0.406262502756,0.00448393665146,0.0698119525161,0.99999994905,3.9098604512e-05,-0.00031502910498,3.35997334306e-05,1793243664469818624
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.806707512,658.193292488,634,879.806707512,787,805,652,631.806707512,652,0.40577480924,0.0044809986654,0.069802868178,0.999999942642,4.03945196213e-05,-0.0003346053268,3.3506865483e-05,1793243664486485248
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.389283489,634.389283489,879.610716511,787,805,652,631.610716511,652,0.405345770527,0.00447619915097,0.0698070900856,0.999999945286,3.71221586413e-05,-0.000327051918991,3.29680895898e-05,1793243664503151872
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.967018135,634.967018135,879.032981865,787,805,652,631.032981865,652,0.404945126412,0.00447049847507,0.0698177535123,0.999999952051,3.16383068235e-05,-0.000306365127495,3.2213450767e-05,1793243664519818496
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.54356433,634.45643567,879,787,804.45643567,652.54356433,631,652,0.404594556327,0.00447230289268,0.0698368508967,0.999999962403,3.01854471813e-05,-0.000270676923599,3.18744276496e-05,1793243664536485120
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.880027687,634.119972313,879,787,804.119972313,652.880027687,631,652,0.404248594573,0.00447322307171,0.0698524779046,0.999999970059,2.73754607419e-05,-0.000241118447935,3.15264331494e-05,1793243664553151744
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.303871483,634.696128517,879,787,804.696128517,652.303871483,631,652,0.403908627664,0.00446905322471,0.0698529674963,0.999999970949,1.84771248034e-05,-0.000238321259825,3.1048644622e-05,1793243664569818368
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.720346162,658.720346162,634.720346162,879,787,805,652,631,652,0.403580026791,0.00446526893152,0.0698476386243,0.999999969093,7.90286065275e-06,-0.000246636056548,3.03835689372e-05,1793243664586484992
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.128596896,658.128596896,634.128596896,879,787,805,652,631,652,0.403264110505,0.00446191491903,0.0698358163105,0.999999963816,-4.54174930622e-06,-0.00026735189774,2.95094796343e-05,1793243664603151616
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.453308296,745,714,679.453308296,658.453308296,634,879,786.546691704,805,652,631,652,0.402979474194,0.0044616106228,0.0698271479743,0.999999958694,-1.12902313588e-05,-0.000285688658913,2.94533110515e-05,1793243664619818496
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.935659798,745,714,680,659,634,879,786.032170101,805,652,631,652,0.402706583466,0.00446224589206,0.0698195467177,0.999999953665,-1.62576093014e-05,-0.000302541551365,2.95822304449e-05,1793243664636485376
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.788375666,745,714,680,659,634,879,786.605812167,805,652,631,652,0.402485205878,0.00446444303258,0.0698151663365,0.999999952743,-1.78663963344e-05,-0.000305536990888,2.90040174791e-05,1793243664653152000
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.179590756,745,714,680,658.820409244,634,879,787,805,652,631,652,0.402273273988,0.00446687495568,0.0698115556304,0.999999951738,-1.72231366553e-05,-0.000308862956008,2.88300423843e-05,1793243664669818624
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.753669153,745,714,680,658.246330847,634,879,787,805,652,631,652,0.402082090476,0.00446982260005,0.0698096355873,0.999999950538,-1.16330486599e-05,-0.000312914950654,2.95440130946e-05,1793243664686484992
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.933674187,879,787,805,652,631,652,0.401754370284,0.0044925234199,0.0698107359655,0.999999946267,9.02275640152e-05,-0.000313771889959,2.95481702883e-05,1793243664719818240
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745.512816946,714,680,658.512816946,634.487183054,879,787,805,652,631,652,0.40162508156,0.0045010484915,0.069809596503,0.999999945789,9.78346890917e-05,-0.000313121296641,2.83924459477e-05,1793243664736484864
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745.910524876,714,680,659,634.089475124,879,787,805.089475124,652,631,652,0.401503869437,0.00450678634535,0.0698083139344,0.999999946494,9.34709412779e-05,-0.00031236765416,2.64878655003e-05,1793243664753152000
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745.336972557,714,680,659,634.663027443,879,787,805.663027443,652,631,652,0.401407931143,0.00450092462905,0.0698078639208,0.999999949444,6.22002654087e-05,-0.000311117187524,2.11865052695e-05,1793243664769818880
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.757543135,634.757543135,879,786.757543135,805.757543135,652,631,652,0.401320097814,0.00449670838182,0.0698077279352,0.999999950658,4.26427363149e-05,-0.000310675040781,1.86029969791e-05,1793243664786485760
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.169742691,634.169742691,879,786.169742691,805.169742691,652,631,652,0.401243808803,0.00449483585978,0.0698080392354,0.999999950531,3.97688366302e-05,-0.00031138422538,1.98906630328e-05,1793243664803152384
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.627671,879,787,805,652,630.627671,652,0.400987572294,0.00449580509546,0.0698288468178,0.999999961049,4.22898055069e-05,-0.000274968409469,2.24984670114e-05,1793243664969818368
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.377774391,745,713.377774391,679.622225609,658.377774391,634.377774391,878.377774391,786.622225609,805,652,631,652,0.400981442066,0.00449311002901,0.0698311226368,0.999999961598,3.87934887175e-05,-0.000273456761735,2.28074665263e-05,1793243665019818496
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.68707595,745,714,679,659,634.68707595,879,787,805,652,630.31292405,652,0.400980364712,0.00449611591007,0.0698329184284,0.999999962457,4.0641010032e-05,-0.000270111651591,2.17791834164e-05,1793243665086485504
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.731330323,745,714,679,659,634.731330323,879,787,805.268669677,652,630.537339354,652,0.400980048933,0.00449636387612,0.0698331170544,0.999999962428,4.17154902104e-05,-0.000270052067843,2.18077077072e-05,1793243665103152384
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.142135524,745,714,679,659,634.142135524,879,787,805.857864476,652,631.715728952,652,0.400978267254,0.00449566063462,0.0698326983096,0.999999962134,4.17536912215e-05,-0.000271109629911,2.20937705835e-05,1793243665119818496
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.440929851,745,714,679,659,634,878.559070149,787,805.559070149,652,631.559070149,652,0.400978508333,0.00449477413793,0.0698333442189,0.999999962391,4.08324190337e-05,-0.0002702805812,2.23422327789e-05,1793243665136485120
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,878.021743614,787,805,652,631,652,0.400979387744,0.00449388810371,0.0698343347652,0.999999962827,3.96573502391e-05,-0.000268819374094,2.25560665543e-05,1793243665153152000
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,878.594878192,787,805,652,631,652,0.400980146168,0.00449449127647,0.0698354811896,0.999999963441,3.97819900527e-05,-0.000266538064564,2.21949195978e-05,1793243665169818368
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.827844967,634,879.172155033,787,805,652,631,652,0.400980660012,0.0044950888129,0.0698362499329,0.99999996386,3.99552556424e-05,-0.000264962550677,2.18771085969e-05,1793243665186484992
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.240580107,634,879.759419893,787,805,652,631,652,0.400980584112,0.00449567275869,0.0698361079909,0.999999963819,4.02457704114e-05,-0.000265088890791,2.16637916941e-05,1793243665203151872
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.342195814,634,879.657804186,787,805,652,631,652,0.400979918434,0.0044954606342,0.069835725978,0.999999963591,4.05994978122e-05,-0.000265895771932,2.16562465238e-05,1793243665219818496
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.921856634,634,879.078143366,787,805,652,631,652,0.400978843484,0.00449469608085,0.0698351773692,0.999999963231,4.09970912782e-05,-0.000267174910975,2.17914955863e-05,1793243665236485120
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.49712408,659,634.49712408,879,787,805,652,631,652,0.400980580898,0.00449618449822,0.0698363485612,0.999999963721,4.19246161633e-05,-0.000265201836422,2.16514401679e-05,1793243665253151744
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.927828481,745,714,680,659,635,879,787,805,652,631,652,0.400982305997,0.0044976428879,0.0698374662229,0.999999964211,4.28495224145e-05,-0.000263207541974,2.1537860419e-05,1793243665269818368
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.349523535,745,714,680,659,635,879,787,805,652,631,652,0.400980871632,0.00449642884937,0.0698363292349,0.999999963816,4.31770021031e-05,-0.000264618164177,2.19107808184e-05,1793243665286484992
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.233100453,745,713.766899547,679.766899547,658.766899547,634.766899547,879,787,804.766899547,652,631,652,0.400979406239,0.00449605874422,0.0698354009225,0.99999996345,4.3336667164e-05,-0.000265962829401,2.20256860709e-05,1793243665303151616
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.822322997,745,713.177677003,679.177677003,658.177677003,634.177677003,879,787,804.177677003,652,631,652,0.400977893442,0.00449697796852,0.0698347914165,0.999999963129,4.32399514066e-05,-0.000267206728247,2.1746405556e-05,1793243665319818240
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.404629964,679,658.404629964,634,879,787,804.404629964,652,631,652,0.400977709492,0.00449688959275,0.0698352666883,0.999999963264,4.24461240674e-05,-0.000266839812225,2.16121171153e-05,1793243665336485120
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.983951225,679,658.983951225,634,879,787,804.983951225,652,631,652,0.400978099246,0.00449636620475,0.0698362102923,0.999999963594,4.13513320552e-05,-0.000265777457417,2.15404262643e-05,1793243665353152000
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfa96fc6e4fdeb33a4fc12d2eeac08be27f670b4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+1,0.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+2,0.033333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
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+4,0.066666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
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+16,0.266666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7c70be9af6220766b431c723f86c306a3b669861
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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+size 25779280
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a4d93d2c0d22142331519eab5239de7d0dca3633
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+60,1.000000000,BASELINE,765,745,714,679,659,634,878.179806012,787,805,652,631,652,0.400978638739,0.00449560946541,0.0698382393775,0.999999964648,4.0259445341e-05,-0.000261991792046,2.10459446833e-05,1793243666468596736
+61,1.016666667,BASELINE,764.598466706,745,714,679.401533294,659,634,878,787,805,652,631,652.401533294,0.400978105491,0.00449578357949,0.069838023612,0.999999964481,4.05149036156e-05,-0.000262586613124,2.10740124189e-05,1793243666485263360
+62,1.033333333,BASELINE,764.021158408,745,714,679.978841592,659,634,878,787,805,652,631,652.978841592,0.400978199344,0.00449582145309,0.0698383627228,0.999999964656,4.05587387228e-05,-0.000261914356486,2.10745181434e-05,1793243666501930240
+63,1.050000000,BASELINE,764.553512337,745.553512337,714.553512337,680,659,634,879.107024675,787,805,652,631,652.446487663,0.400979250821,0.00449599061615,0.0698400223876,0.999999965256,4.06831510297e-05,-0.000259597608439,2.1024217447e-05,1793243666518596864
+64,1.066666667,BASELINE,765,745.87144317,714.87144317,679.87144317,659,634,879.87144317,787,804.87144317,652,631,652,0.400980130271,0.00449608394439,0.0698412192153,0.999999965715,4.07584305427e-05,-0.000257818188152,2.09441371968e-05,1793243666535263744
+65,1.083333333,BASELINE,765,745.294746055,714.294746055,679.294746055,659,634,879.294746055,787,804.294746055,652,631,652,0.400980283049,0.00449589550603,0.069840627492,0.999999965643,4.06517503319e-05,-0.000258129948593,2.07669854313e-05,1793243666551930368
+66,1.100000000,BASELINE,765,745,714,679.289698314,659,634,879.289698314,787,804.289698314,652,631,652.289698314,0.400980829626,0.0044956293997,0.0698406678901,0.999999965672,3.98641194084e-05,-0.000258140473288,2.07326546429e-05,1793243666568596992
+67,1.116666667,BASELINE,765,745,714,679.882241471,659,634,879.882241471,787,804.882241471,652,631,652.882241471,0.400981787872,0.00449528210085,0.0698413690953,0.999999965807,3.83646361883e-05,-0.000257836092115,2.08476260688e-05,1793243666585263360
+68,1.133333333,BASELINE,765,745,714,680,659,634,879.541665009,787,805.458334991,652,631,652.541665009,0.400981292554,0.00449543307795,0.0698406700105,0.999999965612,3.88125760101e-05,-0.000258521266328,2.08825128688e-05,1793243666601930240
+69,1.150000000,BASELINE,765,745,714,680,659,634,879.030693844,786.969306156,805.969306156,652,631,652,0.400980510227,0.00449571420432,0.0698397326218,0.999999965359,3.98125460173e-05,-0.000259344705344,2.09010619058e-05,1793243666618596608
+70,1.166666667,BASELINE,765,745,714,680,659,634,879.60921412,786.39078588,805.39078588,652,631,652,0.400981039921,0.00449611249059,0.0698407407343,0.999999965548,4.20443950595e-05,-0.00025825536671,2.09825296904e-05,1793243666635263232
+71,1.183333333,BASELINE,765.191782363,745,714,680,659.191782363,634,879.808217637,786.191782363,805.191782363,652,631,652,0.400981273645,0.00449646554884,0.0698413590698,0.999999965704,4.38385588172e-05,-0.00025734799126,2.10151916856e-05,1793243666651930112
+72,1.200000000,BASELINE,765.782776918,745,714,680,659.782776918,634,879.217223082,786.782776918,805.782776918,652,631,652,0.400980891279,0.00449672446097,0.0698411660497,0.999999965803,4.47216418043e-05,-0.000256819388303,2.0946260067e-05,1793243666668597248
+73,1.216666667,BASELINE,765.633385907,745,714,680,659.633385907,634.366614093,879,786.633385907,805.633385907,652,631,652,0.400980532826,0.00449649733247,0.0698407137371,0.99999996573,4.36943122893e-05,-0.000257283005018,2.08680228779e-05,1793243666685264128
+74,1.233333333,BASELINE,765.053708388,745,714,680,659.053708388,634.946291612,879,786.053708388,805.053708388,652,631,652,0.400980188271,0.00449598773396,0.0698401107326,0.999999965555,4.15567170801e-05,-0.000258323265505,2.07843776174e-05,1793243666701930752
+75,1.250000000,BASELINE,765,745,714,680,659,634.477705889,879,786.522294111,805,652,631,652,0.400981631587,0.00449500546436,0.0698408582875,0.999999965994,3.99675257696e-05,-0.000256859739744,2.09434292302e-05,1793243666718597120
+76,1.266666667,BASELINE,765,745,714,679.90022519,659,634,879,787,805,652,631,652,0.400982688559,0.0044943265927,0.0698414035219,0.999999966321,3.88611003892e-05,-0.000255742080793,2.10717604578e-05,1793243666735263488
+77,1.283333333,BASELINE,765,745,714,679.313702427,659,634,879,787,805,652,631,652,0.400980970127,0.00449536330118,0.069840288953,0.999999965819,3.9836641385e-05,-0.00025755899646,2.09293225212e-05,1793243666751930112
+78,1.300000000,BASELINE,765,745.26962973,714,679.26962973,659,634.26962973,879,787,804.73037027,652,631,652,0.400980093027,0.0044965254941,0.0698397520161,0.999999965495,4.17289580837e-05,-0.00025852649939,2.08007937275e-05,1793243666768596736
+79,1.316666667,BASELINE,765,745.84929313,714,679.84929313,659,634.84929313,879,787,804.15070687,652,631,652,0.400980183335,0.00449783197522,0.0698398792692,0.999999965372,4.46754290057e-05,-0.000258517305191,2.06882583682e-05,1793243666785263360
+80,1.333333333,BASELINE,765,745.573073536,714,680,659,634.573073536,879.426926464,787,804.426926464,652,631,652,0.400979772287,0.0044973362164,0.0698396402986,0.999999965318,4.45035252528e-05,-0.000258743008972,2.08764107174e-05,1793243666801929984
+81,1.350000000,BASELINE,765,745,714,680,659.00382044,634.00382044,879.99617956,787,805,652,631,652,0.400979187435,0.0044962137987,0.0698392727776,0.999999965287,4.32310169203e-05,-0.000259052403644,2.11664519234e-05,1793243666818597120
+82,1.366666667,BASELINE,765,745,714,680,659.576814803,634.576814803,879.423185197,787,805,652,631,652,0.40097895114,0.00449606404687,0.0698389225597,0.999999965253,4.12114459797e-05,-0.000259535107588,2.08973840666e-05,1793243666835263744
+83,1.383333333,BASELINE,765,745,714,679.845127994,659.845127994,634.845127994,879,787,805,652,631,652,0.400978978752,0.00449584323885,0.0698388950196,0.999999965297,3.99954986667e-05,-0.000259569681465,2.07476638866e-05,1793243666851930112
+84,1.400000000,BASELINE,765,745,714,679.252769006,659.252769006,634.252769006,879,787,805,652,631,652,0.400979751858,0.00449542170919,0.0698397789888,0.999999965569,4.10496504785e-05,-0.000258338364503,2.09350804619e-05,1793243666868596736
+85,1.416666667,BASELINE,764.667918798,745,714,679.332081202,659,634.332081202,879,787,805,652,631,652,0.400979805362,0.00449632936863,0.0698399117217,0.999999965595,4.20387792479e-05,-0.000258083938246,2.08776216841e-05,1793243666885263360
+86,1.433333333,BASELINE,764.088657679,745,714,679.911342321,659,634.911342321,879,787,805,652,631,652,0.400979323241,0.00449822639108,0.0698394852825,0.999999965438,4.29795089778e-05,-0.000258556646753,2.06378934116e-05,1793243666901929984
+87,1.450000000,BASELINE,764.971875022,745,714,679.514062489,659.485937511,634.514062489,879,786.514062489,805,652,631,651.514062489,0.400980703259,0.00449669818682,0.0698400594864,0.999999965782,4.04255768124e-05,-0.000257636308131,2.06456070324e-05,1793243666918596608
+88,1.466666667,BASELINE,765.938750631,745,714,679.061249369,659.938750631,634,879,786.061249369,804.938750631,652.061249369,631,651.061249369,0.400982219783,0.00449483080142,0.0698407278872,0.999999966141,3.77874359002e-05,-0.000256634198904,2.0726258233e-05,1793243666935263488
+89,1.483333333,BASELINE,765.350004848,745,714,679.649995152,659.350004848,634,879,786.649995152,804.350004848,652.649995152,631,651.649995152,0.400982013816,0.00449537310197,0.0698406501984,0.999999965935,3.98629377967e-05,-0.000257095909581,2.10499649469e-05,1793243666951930368
+90,1.500000000,BASELINE,765,745,714,679.765119282,659,634,879,786.765119282,804.234880718,652.765119282,631,652,0.400981472758,0.0044962078502,0.069840466532,0.999999965699,4.22466891498e-05,-0.000257627838561,2.10824446562e-05,1793243666968597504
+91,1.516666667,BASELINE,765,745,714,679.185893016,659,634,879,786.185893016,804.814106984,652.185893016,631,652,0.40098044044,0.00449747133964,0.0698401274979,0.99999996542,4.50823476933e-05,-0.000258262710645,2.06879726333e-05,1793243666985264128
+92,1.533333333,BASELINE,765,745,714,679,659,634,879,786,805,651.608632503,631,652,0.40098120167,0.00449669554068,0.0698404033347,0.9999999658,4.32569099589e-05,-0.000257117750363,2.04888777735e-05,1793243667001930752
+93,1.550000000,BASELINE,765,745,714,679,659,634,879,786,805,651.032300973,631,652,0.400982810548,0.00449495595456,0.0698409697655,0.999999966477,3.92285936522e-05,-0.000255131624282,2.03821200004e-05,1793243667018596864
+94,1.566666667,BASELINE,765,745,714,679,659,634.553296367,879,786.553296367,805.553296367,651.553296367,631,651.446703633,0.40098096653,0.00449398891423,0.0698404922197,0.999999966104,3.76928104406e-05,-0.000256779618958,2.08451283402e-05,1793243667035263488
+95,1.583333333,BASELINE,765,745,714,679.137843854,659,634.862156146,879.137843854,786.862156146,805.862156146,652,631,651.137843854,0.400979406336,0.00449364291379,0.0698399214944,0.999999965673,3.77209075731e-05,-0.000258424041569,2.11686869448e-05,1793243667051930112
+96,1.600000000,BASELINE,765,745,714,679.717265952,659,634.282734048,879.717265952,786.282734048,805.282734048,652,631,651.717265952,0.400979412103,0.00449513945504,0.069839250837,0.999999965252,4.22847614762e-05,-0.000259365808624,2.09371530154e-05,1793243667068596992
+97,1.616666667,BASELINE,765,745,714,680,659,634.29641571,879.70358429,786.29641571,805,652,631,652,0.400980240572,0.00449570134209,0.0698397556757,0.999999965426,4.29751555768e-05,-0.000258585076792,2.08371473488e-05,1793243667085263616
+98,1.633333333,BASELINE,765,745,714,680,659,634.875305902,879.124694098,786.875305902,805,652,631,652,0.400981853049,0.00449537253416,0.0698413807239,0.999999966174,3.99742688301e-05,-0.000256162859772,2.08624838309e-05,1793243667101930496
+99,1.650000000,BASELINE,765,745,714,679.548082443,659,634.548082443,879.451917557,787,805,652,631,652,0.400980475457,0.00449598731767,0.0698404598827,0.99999996575,4.06321554492e-05,-0.000257712042097,2.08007510505e-05,1793243667118597376
+100,1.666666667,BASELINE,765,745,714,679,659,634,879.944322395,787,805,652,631,652,0.400978417855,0.00449687533401,0.0698389226363,0.99999996504,4.22946180689e-05,-0.000260197024529,2.07177387455e-05,1793243667135264000
+101,1.683333333,BASELINE,765,745,714,679,659,634,878.795027737,787,805,652,631,652,0.40097912734,0.00449804189537,0.0698390066002,0.999999965111,4.39591157672e-05,-0.000259647325035,2.06862727851e-05,1793243667151930368
+102,1.700000000,BASELINE,765,745,714,679,659,634.182348199,878.182348199,787,804.817651801,652,631,651.817651801,0.400979643427,0.00449852593357,0.0698392688816,0.999999965187,4.48772306272e-05,-0.00025920149185,2.06575325457e-05,1793243667168596736
+103,1.716666667,BASELINE,765,745,714,679,659,634.773912838,878.773912838,787,804.226087162,652,631,651.226087162,0.400979725501,0.0044974782883,0.0698399313335,0.999999965276,4.4120351326e-05,-0.000258988750163,2.06349092335e-05,1793243667185263360
+104,1.733333333,BASELINE,765,745,714,679,659,634.642899118,879,787,804.357100882,652,631,651.357100882,0.400979689833,0.00449655930149,0.069840030134,0.999999965405,4.27973819451e-05,-0.00025870794313,2.07014156314e-05,1793243667201929984
+105,1.750000000,BASELINE,765,745,714,679,659,634.064892844,879,787,804.935107156,652,631,651.935107156,0.400979581329,0.00449571990371,0.0698397802553,0.999999965556,4.11242247482e-05,-0.000258385030322,2.08230583615e-05,1793243667218596608
+106,1.766666667,BASELINE,765,745,714,679,659,634.509627274,879,787,805,652,631,652,0.400980266825,0.0044958970024,0.0698403170109,0.999999965788,4.08264226015e-05,-0.000257546979132,2.06525388727e-05,1793243667235263744
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,879,787,805,652,631,652,0.400982169943,0.00449562599495,0.0698414705271,0.999999966396,3.93513046003e-05,-0.000255428458366,2.04089494014e-05,1793243667277822208
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.419656815,745,714,679.580343185,659,634.419656815,879.580343185,787,805,652,631,652,0.400981431383,0.00449530602784,0.0698405850468,0.999999966006,3.8680843422e-05,-0.000257052613926,2.03966009718e-05,1793243667294488576
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.159615995,879.840384005,787,805,652,631.159615995,652,0.400980841566,0.00449537399854,0.0698400096471,0.999999965785,3.88772881135e-05,-0.000257882787108,2.03934171315e-05,1793243667311154944
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.736093487,879.263906513,787,805,652,631.736093487,652,0.400980640218,0.00449645512787,0.0698402440699,0.999999966005,4.13377894458e-05,-0.000256639354668,2.04141680101e-05,1793243667327821056
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.311163783,745,714,680,659.311163783,634.688836217,879,787,805,652,631.688836217,652,0.400979328403,0.00449680684484,0.0698396556514,0.999999965644,4.19522247464e-05,-0.000257936187323,2.0521051042e-05,1793243667344487424
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.885045937,745,714,680,659.885045937,634.114954063,879,787,805,652,631.114954063,652,0.400977079011,0.00449654271234,0.0698383725007,0.999999964786,4.10080098005e-05,-0.000261377788641,2.07006562218e-05,1793243667361154048
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.526991929,745,714,679.526991929,659.526991929,634,878.526991929,787,805,652,631,652,0.400977166219,0.00449666931897,0.0698385743439,0.999999964774,4.2373359266e-05,-0.000261203922738,2.07043474515e-05,1793243667377821440
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.936788051,745,714,679,659,634,878,787,804.936788051,652,631,652,0.400978059238,0.00449672104725,0.0698392213275,0.999999964985,4.40338245919e-05,-0.000260122751145,2.06874403726e-05,1793243667394488832
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.35708414,745,714,679,659,634,878,787,804.35708414,652,631,652,0.40098075417,0.00449536125259,0.0698404661968,0.999999965294,4.3378746269e-05,-0.000259027773845,2.08622634005e-05,1793243667411155200
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.220010646,745,714,679,659,634,878.220010646,787,804.220010646,652.220010646,630.779989354,652,0.400987162311,0.00449506905482,0.0698435402249,0.999999966455,4.32883018535e-05,-0.000254514139568,2.09445129582e-05,1793243667427821568
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.792920315,745,714,679,659,634,878.792920315,787,804.792920315,652.792920315,630.207079685,652,0.400999526472,0.00449648929204,0.06984954824,0.999999968915,4.41035352827e-05,-0.000244516949329,2.08782738321e-05,1793243667444487680
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.623687466,745,714,679,659,634,879,786.623687466,805,652.623687466,630.376312534,652,0.401025338669,0.00449656183249,0.0698603625125,0.999999973206,4.31628357127e-05,-0.000226472430017,2.08813628572e-05,1793243667461154304
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.034361499,745,714,679,659,634,879,786.034361499,805,652.034361499,630.965638501,652,0.40105876319,0.00449587150314,0.0698738973895,0.999999978149,4.12281822801e-05,-0.000203872682172,2.09236953858e-05,1793243667477820672
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.545711613,745,714,679.545711613,659,634,879,786.545711613,805,652,631,652,0.401116838774,0.00449700672656,0.0698909955174,0.999999983713,4.17187575786e-05,-0.000174417945264,2.02819671616e-05,1793243667494487296
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.875417194,659,634.124582806,879,787,805,652,630.875417194,652,0.401177376563,0.00449801088432,0.069905895286,0.999999987709,4.20357181825e-05,-0.000149768800542,1.95978635354e-05,1793243667511153920
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.298827999,659,634.701172001,879,787,805,652,630.298827999,652,0.401241309944,0.0044981294171,0.0699120185996,0.999999988592,4.11779658657e-05,-0.000144095033742,1.89136846577e-05,1793243667527820800
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.722564685,879,787,805,652,630.277435315,652,0.401313606069,0.00449790706697,0.069915398036,0.999999989377,3.87854033698e-05,-0.000139405026047,1.75456793402e-05,1793243667544487424
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.146652001,879,787,805,652,630.853347999,652,0.401394899205,0.00449731797968,0.0699158254856,0.99999999006,3.47416232233e-05,-0.000135773390906,1.54419828764e-05,1793243667561154048
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.439464959,659,634,879.439464959,786.560535041,804.560535041,652,631,652,0.401485284991,0.00449878247504,0.0699127933921,0.999999989346,3.43261238852e-05,-0.000141249259296,1.33812964405e-05,1793243667577820928
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.028560835,879.94287833,786.028560835,804.028560835,652,631,652,0.401580506982,0.0045008566153,0.069908691052,0.999999988133,3.49460960715e-05,-0.000149613997843,1.12900970251e-05,1793243667594487552
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.607875169,878.784249662,786.607875169,804.607875169,652,631,652,0.401709085729,0.00450115786537,0.0699067420351,0.999999987655,3.16305117878e-05,-0.000153686145842,8.32714937672e-06,1793243667611153920
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.814247457,878.371505087,787,805,652,631,652,0.401847909291,0.00450181064402,0.0699067332064,0.999999987679,2.84047611498e-05,-0.000154300297902,5.16392281821e-06,1793243667627820800
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.239380301,879.521239398,787,805,652,631,652,0.402008193688,0.00450319980504,0.0699107886862,0.999999988774,2.53671945388e-05,-0.000147670636122,1.5811521723e-06,1793243667644487424
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.664522333,787,805,652,631,652,0.402188557751,0.00450394801481,0.0699154848402,0.999999990029,2.21458262046e-05,-0.000139451015737,-2.44345349977e-06,1793243667661153792
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.089670861,787,805,652,631,652,0.402383249302,0.00450423888598,0.0699206381358,0.999999991338,1.87933092807e-05,-0.000130096909484,-6.78332264565e-06,1793243667677820416
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.500342149,659,634,879,787,805,652,631,652,0.402599956093,0.00450497544251,0.0699226319729,0.999999992139,1.21134638664e-05,-0.000124252729187,-1.16708802049e-05,1793243667694487296
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.910540887,634,879,787,805,652,631,651.910540887,0.402828331164,0.00450588832249,0.0699244110198,0.999999992805,5.13501373848e-06,-0.000118674564975,-1.67070634943e-05,1793243667711153920
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.332765264,634,879,787,805,652,631,651.332765264,0.403098188159,0.00450731404434,0.0699282050318,0.999999993597,-1.16625341378e-07,-0.000111007485803,-2.20019957507e-05,1793243667727820544
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.755907464,745,714,679.244092536,658.244092536,634,879.244092536,787,805.244092536,652,631,651.244092536,0.403385198385,0.00450832265966,0.069934746285,0.999999994738,-5.92256773956e-06,-9.87942478231e-05,-2.69997266187e-05,1793243667744487424
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.180296254,745,714,679.819703746,658.819703746,634,879.819703746,787,805.819703746,652,631,651.819703746,0.403695505562,0.00450876477415,0.069945018753,0.99999999619,-1.24813468527e-05,-8.04065628563e-05,-3.15938077482e-05,1793243667761153792
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.403284612,745,714,679.596715388,659,634.403284612,880,786.596715388,805.596715388,652.403284612,631,652,0.404015445392,0.00450795915669,0.0699496982666,0.999999996492,-1.85742384251e-05,-7.32551871608e-05,-3.61210123098e-05,1793243667777820416
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.990500283,745,714,679.009499717,659,634.990500283,880,786.009499717,805.009499717,652.990500283,631,652,0.404339778498,0.00450658447048,0.0699518269312,0.999999996339,-2.44546466581e-05,-7.12284961513e-05,-4.06177155146e-05,1793243667794487040
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.429159481,879.429159481,786.570840519,805,652.429159481,631,652,0.404715533313,0.00449016630014,0.0699512210765,0.999999996891,1.86008132345e-05,-7.31089597984e-05,-2.2961455988e-05,1793243667811154176
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.150127142,679.150127142,658.849872858,634.150127142,879,787,805,652,631,652,0.405105119737,0.00447938116174,0.0699517823806,0.999999996075,4.92685087837e-05,-7.26864393972e-05,-1.18088087324e-05,1793243667827820800
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.72674169,679.72674169,658.27325831,634.72674169,879,787,805,652,631,652,0.405531597413,0.00448530131207,0.0699557871376,0.999999996748,4.24585521541e-05,-6.55389892782e-05,-2.01667405368e-05,1793243667844487424
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.703293367,679.703293367,658.593413267,634.703293367,879,787,804.703293367,652,631,652,0.405960178168,0.00449031969939,0.0699549541971,0.999999996433,4.58197453099e-05,-6.62442126318e-05,-2.54163677554e-05,1793243667861154048
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.139318215,679.139318215,659.72136357,634.139318215,879,787,804.139318215,652,631,652,0.406390653391,0.00449452579388,0.0699497635375,0.99999999517,5.83429442882e-05,-7.40229959454e-05,-2.78660856169e-05,1793243667877820672
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.546500339,634,879,787,804.453499661,652,631,652,0.406853801982,0.0044987868591,0.0699349947327,0.999999994887,4.60827168326e-07,-9.65923001262e-05,-2.99447979e-05,1793243667894487040
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.053500138,659,634,879,787,804.946499862,652,631,652,0.407335307962,0.00450370767911,0.0699191533659,0.999999989851,-6.96434826539e-05,-0.000120120195955,-3.19085090849e-05,1793243667911153920
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.631163838,659,634,879,787,804.368836162,652,631,652,0.407891648542,0.00451491570936,0.0699235903349,0.999999993308,-3.31925502969e-05,-0.000105499198905,-3.3938018742e-05,1793243667927820544
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714.207110433,679.792889567,659.207110433,634.207110433,879,787,804.207110433,652,631,652,0.408469770904,0.00452383459315,0.0699318502614,0.999999995724,-1.46657394719e-06,-8.51725427765e-05,-3.59970356463e-05,1793243667944487168
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714.780024203,679.219975797,659.780024203,634.780024203,879,787,804.780024203,652,631,652,0.409086364731,0.00452871033173,0.0699468623853,0.999999997534,2.19140712955e-05,-5.47684178731e-05,-3.81081688666e-05,1793243667961154048
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.636204381,679.363795619,659.636204381,634.636204381,879,787,805,652,631,652,0.409681585249,0.00453456382868,0.069947717538,0.999999997108,4.12262877937e-05,-5.0458933327e-05,-3.92127757353e-05,1793243667977820928
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714.045665738,679.954334262,659.045665738,634.045665738,879,787,805,652,631,652,0.410263484394,0.00454102673326,0.0699397490696,0.999999995582,5.80027724045e-05,-6.24134656282e-05,-3.96900445023e-05,1793243667994487808
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713.464467706,679.464467706,659,634,879,787,805,652,631,652,0.410898973011,0.00455015435423,0.0699367276263,0.999999995039,5.85937306553e-05,-6.94348227203e-05,-4.08450299298e-05,1793243668011154432
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.115144969,679.115144969,659,634,879.115144969,787,805,652,631,652,0.411556086985,0.0045588568264,0.0699396984922,0.999999995167,6.00618649344e-05,-6.55569432415e-05,-4.19548909804e-05,1793243668027820800
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713.691542713,679.691542713,659,634,879.691542713,787,805,652,631,652,0.412281837047,0.00456496159292,0.0699650127528,0.999999996413,7.04777856605e-05,-1.96746330021e-05,-4.26564610859e-05,1793243668044487168
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.731890609,659.268109391,634,879.731890609,786.731890609,805,652,631,652,0.413027486362,0.00457148370542,0.0699915902385,0.999999995229,8.45271954256e-05,2.32258229504e-05,-4.31008169065e-05,1793243668061153792
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.155129377,659.844870623,634,879.155129377,786.155129377,805,652,631,652,0.413796044111,0.0045784862741,0.0700196219725,0.99999999182,0.000102759537553,6.26935262021e-05,-4.32490636227e-05,1793243668077820416
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.430358952,660,634,879,786.430358952,805,652,631,652,0.414508921548,0.0045851343073,0.0700102180416,0.999999992809,0.000104074750375,4.05360071857e-05,-4.36610303758e-05,1793243668094487296
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.981244695,634.018755305,879,786.981244695,805,652,630.981244695,652,0.415202427581,0.00459174381176,0.0699861066898,0.999999994028,9.97681982532e-05,-5.55013209549e-06,-4.42676038887e-05,1793243668111154176
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.401900906,634.598099094,879,786.401900906,805,652,630.401900906,652,0.415929256942,0.00460110060453,0.0699340825515,0.999999988446,0.000113469794041,-8.91505038093e-05,-4.77907249786e-05,1793243668127820800
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.17618761,634.82381239,879,786,805,652,630.17618761,652,0.416690881852,0.00460823930279,0.069903979891,0.999999981505,0.00012493381815,-0.00013746696508,-4.98367239351e-05,1793243668144487424
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.751432948,634.248567052,879,786,805,652,630.751432948,652,0.417531317212,0.00461035410716,0.0699235284837,0.999999984594,0.000131329834636,-0.000105866809165,-4.85371021184e-05,1793243668161154048
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.326525792,680,660,634,879.326525792,786,805.326525792,652,631,652,0.418386658327,0.00461386300623,0.069949620168,0.999999988157,0.000130133680624,-6.61336617781e-05,-4.87529167729e-05,1793243668177820672
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.90150258,680,660,634,879.90150258,786,805.90150258,652,631,652,0.419253341078,0.00461843266128,0.0699806904399,0.999999990955,0.000123160701306,-2.02121843246e-05,-5.01218155327e-05,1793243668194487296
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.509334632,680,659.509334632,634.490665368,879.509334632,786,805.509334632,652,631,652,0.420120347199,0.00461839870738,0.0700047193347,0.999999990044,0.000130454347191,1.74442030374e-05,-5.08947622766e-05,1793243668211154176
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.080857669,634.919142331,879,786.080857669,805,652,631,651.919142331,0.420986595461,0.00461408143938,0.0700242729475,0.999999988524,0.000134124666924,4.82180275028e-05,-5.13660030058e-05,1793243668227820544
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.659338026,634.340661974,879,786.659338026,805,652,631,651.340661974,0.421847767834,0.00458926012354,0.0700252424326,0.999999992863,9.73457502753e-05,4.71494027264e-05,-5.07386308063e-05,1793243668244487424
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.764332562,745,714,680,659.764332562,634,879.235667438,786.764332562,805,652,631,651.235667438,0.422677053779,0.00457145879371,0.0699970492897,0.999999996133,7.17505586975e-05,-1.50990289707e-06,-5.08192210697e-05,1793243668261154304
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.191084181,745,714,680,659.191084181,634,879.808915819,786.191084181,805,652,631,651.808915819,0.423460664255,0.00456371321306,0.0699270822493,0.999999989717,6.2175446472e-05,-0.00011834030241,-5.19139290225e-05,1793243668277820672
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.384830702,745,714,680,659,634,879.615169298,786.384830702,805,651.615169298,631,652,0.424311508718,0.00456872898499,0.0698778808718,0.99999997893,7.11776390502e-05,-0.000184467361998,-5.51899416535e-05,1793243668294487296
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.962078815,745,714,680,659,634,879.037921185,786.962078815,805,651.037921185,631,652,0.425195970487,0.004580125502,0.0698390624413,0.999999968857,8.94685842361e-05,-0.000225242473554,-5.95566183863e-05,1793243668311153920
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.107754611,634,879.553877305,786.446122695,805,651,631,652,0.426131682712,0.00458419485945,0.0698987115874,0.999999985356,8.33016117955e-05,-0.000138343410927,-5.66561401505e-05,1793243668327820544
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.857805488,634,880,786.142194512,805.142194512,651,631,652,0.427067589175,0.00458760079985,0.0699595290473,0.999999994003,7.95762208337e-05,-5.26618700499e-05,-5.37445563694e-05,1793243668344487424
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.283186392,634,880,786.716813608,805.716813608,651,631,652,0.427993127689,0.0045905559629,0.0700028446629,0.999999994711,8.85055719485e-05,2.01722637532e-06,-5.2353096467e-05,1793243668361154048
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.707482055,745,714,680,660,634,879.707482055,787,806,651.292517945,631,652,0.428919228001,0.00459230027758,0.0700328925256,0.999999992906,9.5541356317e-05,4.7863986843e-05,-5.2620154945e-05,1793243668377820416
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.130723218,745,714,680,660,634,879.130723218,787,806,651.869276782,631,652,0.42984587416,0.00459286800576,0.0700500480559,0.999999989818,0.000100737153668,8.51283269269e-05,-5.44988026979e-05,1793243668394487040
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,714,680,660.454050197,634,879.454050197,787,806,651.545949803,631,652,0.430687546339,0.00459551087776,0.0700165342657,0.999999992851,0.000102220366399,2.84119396207e-05,-5.51592693362e-05,1793243668411153664
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.040637926,745.040637926,714,680,660.959362074,634.040637926,880,786.959362074,806,651.040637926,631,652,0.431502757668,0.00459843903596,0.0699669649294,0.999999991538,0.000102637454889,-5.75932122343e-05,-5.54358582162e-05,1793243668427820544
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.62013648,745.62013648,714,680,660.37986352,634.62013648,880,786.37986352,806,651.62013648,631,652,0.432297324289,0.00459708561917,0.0699014108732,0.999999979227,0.000103345642083,-0.000166738147065,-5.53563429785e-05,1793243668444487168
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.801000991,714,680,660,634.801000991,879.801000991,786.198999009,806,651.801000991,631,652,0.43314251614,0.00459427903081,0.069878611797,0.999999973824,9.78006208013e-05,-0.000199103559232,-5.60830608623e-05,1793243668461153792
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.223348583,714,680,660,634.223348583,879.223348583,786.776651417,806,651.223348583,631,652,0.43408403733,0.00458870736132,0.0699371664736,0.999999991425,8.03570557791e-05,-8.53736550961e-05,-5.83438718993e-05,1793243668477820416
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.699741635,634,879.349870818,787,806.349870818,651.349870818,631,651.650129182,0.434983557066,0.00458126013017,0.0699852540264,0.999999995666,7.29578655289e-05,-3.49213918983e-06,-5.77253989709e-05,1793243668494487296
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661.840591345,634,879.920295673,787,806.920295673,651.920295673,631,651.079704327,0.435856599573,0.00457263056954,0.0700267432363,0.999999994187,7.18905204523e-05,5.83125577134e-05,-5.52918627046e-05,1793243668511153920
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713.485806415,680.514193585,660.457419244,634,879.485806415,786.485806415,806.485806415,651.485806415,631,651.514193585,0.436705590412,0.00457020889721,0.0700287913696,0.999999994109,6.78218808406e-05,6.34508173295e-05,-5.61756309705e-05,1793243668527820288
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713.107880006,681,659.215760011,634,879.107880006,786,806,651.107880006,631,652,0.437535538174,0.00456968403375,0.0700182390362,0.999999994951,6.35257975046e-05,5.231579011e-05,-5.76587774001e-05,1793243668544487168
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.68409687,681,660.368193741,634,879.68409687,786,806,651.68409687,631,652,0.438299774059,0.00457301641423,0.0699807954232,0.999999996359,6.03586007909e-05,1.04907603924e-05,-5.94048809401e-05,1793243668561153792
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.740873556,634,880,786,806,651.740873556,631,652,0.43902408262,0.00457479745395,0.0699338828523,0.999999994475,6.27081659632e-05,-5.96251893237e-05,-5.96866107809e-05,1793243668577820672
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.167284858,634,880,786,806,651.167284858,631,652,0.439699937418,0.00457469586771,0.0698754792538,0.999999982273,7.17525836995e-05,-0.000164073511602,-5.81912530404e-05,1793243668594487040
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.582762236,634,880,786,805.582762236,651,631,652,0.440444485378,0.00457543674357,0.0698652360548,0.999999979819,7.47221118574e-05,-0.000177077248063,-5.84924366112e-05,1793243668611153664
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681.006160961,659.012321921,634,880,786.012321921,805.006160961,651,631,651.993839039,0.441217602841,0.00457652426571,0.0698755377046,0.999999983946,7.50194800487e-05,-0.000151448930542,-5.95204108071e-05,1793243668627820544
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681.585663746,660.171327492,634,880,787.171327492,805.585663746,651,631,651.414336254,0.44201741421,0.00457759175145,0.0699524778678,0.999999995882,5.94048939763e-05,-3.44200356612e-05,-5.93490252317e-05,1793243668644487424
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713.835422201,681.835422201,661,634,880,787.835422201,806,651,631,651.164577799,0.442785449569,0.00457892373825,0.0700128964758,0.999999995443,5.14559659133e-05,5.46372028856e-05,-5.89958794515e-05,1793243668661154048
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713.317717921,681.317717921,660.682282079,634,880,786.682282079,806,651,631,652,0.444116465232,0.00458252015141,0.0700239170404,0.999999994272,7.19786731382e-05,5.42238697875e-05,-5.77473715944e-05,1793243668694487552
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713.892020015,681.892020015,660.107979985,634,880,786.107979985,806,651,631,652,0.444722309309,0.00458380236607,0.0699942208442,0.999999995166,7.95731578343e-05,4.08237692922e-06,-5.76065405e-05,1793243668711154432
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.521028186,745,713.521028186,681.521028186,660,634,880,786.478971814,806,651,631,652,0.445300153802,0.00458914428713,0.0699596488443,0.999999992812,9.33113845193e-05,-4.91177167883e-05,-5.70729119959e-05,1793243668727820800
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764.646476421,745,713,681,659.353523579,633.353523579,880,786.353523579,806,651,631.646476421,651.353523579,0.446385481709,0.00460336196254,0.0698932290579,0.999999980662,0.000119265082729,-0.00014543824461,-5.74428224814e-05,1793243668761154048
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713.224020639,681,658.775979361,633.224020639,880,786,806,651,631.775979361,651.224020639,0.446885461933,0.00461010798721,0.0698640417673,0.999999971581,0.00012840438484,-0.000192388084586,-5.77604363635e-05,1793243668777820672
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713.799430572,681,658.200569428,633.799430572,880,786,806,651,631.200569428,651.799430572,0.447354093417,0.00461525906225,0.0698380735235,0.999999959443,0.000134233869853,-0.000244570684643,-5.72817727491e-05,1793243668794487296
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681.383032378,658,633.616967622,880,786,806.383032378,651,631,651.616967622,0.447804738043,0.00462002753974,0.0698119755752,0.999999946388,0.000144440655572,-0.000288267203507,-5.71296716096e-05,1793243668811154176
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681.971017542,658,633.028982458,880,786,806.971017542,651,631,651.028982458,0.448245758313,0.0046245912976,0.0697858082223,0.999999932441,0.000156989645766,-0.000327422998713,-5.71523072983e-05,1793243668827820800
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,746,714,681.869965952,656.869965952,633,880.130034048,786,806.869965952,651,631,652,0.449141070162,0.00463292711641,0.069788031264,0.999999929358,0.000173102944947,-0.000328504247711,-5.83465967932e-05,1793243668861153792
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764.612976639,745,713.387023361,682,655,633,880.387023361,786,806,652,631,652.612976639,0.451070725853,0.00465773874368,0.0696849009293,0.999999869523,0.000140628681375,-0.000487142849685,-6.22047685731e-05,1793243668961153536
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+239,3.983333333,POSE1_TO_POSE2_PRESS,764.601843565,745,713.601843565,682.601843565,651,631.601843565,880.601843565,786,806,652,631,651.601843565,0.453358786722,0.00473220689219,0.0696215141719,0.999999804474,0.000243632648952,-0.000571911510683,-6.79122859858e-05,1793243669477820672
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,713.819506037,682.819506037,651,631.819506037,880.819506037,786,806.180493963,651.819506037,631,652,0.453358234227,0.00473186360478,0.0696210404616,0.999999803776,0.000243498397599,-0.000573236797797,-6.74961243441e-05,1793243669494487040
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,713.242671481,682.242671481,651,631.242671481,880.242671481,786,806.757328519,651.242671481,631,652,0.453357378618,0.00473210958086,0.0696197675524,0.99999980215,0.000242875040831,-0.000576317264489,-6.76030338348e-05,1793243669511153664
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,713,682,651,631,880,786,806.661156687,651,631,652,0.453354858008,0.00473400645537,0.0696160132285,0.999999798396,0.00024490705508,-0.000581909962139,-6.7885504492e-05,1793243669527820288
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713,682,651,631,880,786,806.076243099,651,631,652,0.453351128264,0.00473710222333,0.0696104568846,0.999999793047,0.000248867417505,-0.000589327058518,-6.82954688321e-05,1793243669544486912
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.504317123,713,682,651,631,880.504317123,786,806,651,631,652,0.453349825625,0.00473537761184,0.0696091635111,0.999999792323,0.000246875524931,-0.000591390435006,-6.82847201996e-05,1793243669561153792
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.91612422,713,682.08387578,651,631,881,786,806,651,631,652,0.453349098453,0.00473349687759,0.0696085451009,0.999999792125,0.000244837907092,-0.00059257753361,-6.82311310974e-05,1793243669577820672
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.338620049,713,682.661379951,651,631,881,786,806,651,631,652,0.453349617036,0.00473494947775,0.0696081385555,0.99999979095,0.000247781788429,-0.000593330155564,-6.82965351688e-05,1793243669594488576
+247,4.116666667,HOLD_POSE2,764,745,713,682,651,631,881,786,807,651,631,651,0.45334840695,0.00473346395545,0.069606786477,0.999999789988,0.00024376265397,-0.000596650845604,-6.7912154053e-05,1793243669633309184
+248,4.133333333,HOLD_POSE2,764.574572816,745,713,682,651.574572816,631,880.425427184,786,806.425427184,651,631,651,0.453347743876,0.00473296117239,0.0696048616764,0.999999788627,0.000243889818065,-0.000598878642722,-6.78799364181e-05,1793243669649975552
+249,4.150000000,HOLD_POSE2,765,745,713.1539116,682,651.8460884,631,880.1539116,786,806,651,631,651.1539116,0.453347408789,0.00473282169197,0.0696038397431,0.999999787712,0.000244705300233,-0.00060007647982,-6.784249051e-05,1793243669666642176
+250,4.166666667,HOLD_POSE2,765,745,713.746845102,682,651.253154898,631,880.746845102,786,806,651,631,651.746845102,0.453348009261,0.00473371850643,0.0696053931742,0.999999788075,0.000247484160824,-0.000598336429667,-6.77901313164e-05,1793243669683308800
+251,4.183333333,HOLD_POSE2,765,745,713.668845509,682,650.668845509,631,880.668845509,786,806,651.331154491,631,652,0.453347685132,0.00473410542555,0.0696054549112,0.999999787703,0.000248036732943,-0.000598725566707,-6.78161132861e-05,1793243669699975168
+252,4.200000000,HOLD_POSE2,765,745,713.090961621,682,650.090961621,631,880.090961621,786,806,651.909038379,631,652,0.453346672121,0.00473411244286,0.0696044052491,0.999999786786,0.000246930590231,-0.000600701072408,-6.79004639918e-05,1793243669716641792
+253,4.216666667,HOLD_POSE2,764.514310125,745,713,682,650,631,880,786,806,652,630.514310125,652,0.45334609698,0.00473278726933,0.0696035425248,0.999999786331,0.000245937354585,-0.000601926484731,-6.73544448272e-05,1793243669733308672
+254,4.233333333,HOLD_POSE2,764.063311,745,713,682,650,631,880,786,806,651.936689,630.063311,651.936689,0.453345576739,0.00473151502102,0.0696026995461,0.999999785945,0.000245153937249,-0.000602946518187,-6.68178402819e-05,1793243669749975808
+255,4.250000000,HOLD_POSE2,764.650867484,745,713,682,650,631,880,786,806,651.349132516,630.650867484,651.349132516,0.453344833782,0.00473274174625,0.0696017309016,0.99999978543,0.000245933263573,-0.000603426213667,-6.73342941143e-05,1793243669766642176
+256,4.266666667,HOLD_POSE2,764.764569074,745,713,682,650,631,880.235430926,786,806,651,631,651.235430926,0.453344980526,0.00473366197206,0.0696015021892,0.999999785119,0.000247177368033,-0.0006034130944,-6.75176708798e-05,1793243669783308544
+257,4.283333333,HOLD_POSE2,764.184388497,745,713,682,650,631,880.815611503,786,806,651,631,651.815611503,0.453346430093,0.00473413338005,0.069602356985,0.999999785105,0.000249102063127,-0.000602678329405,-6.72133113266e-05,1793243669799975168
+258,4.300000000,HOLD_POSE2,764.392031778,745,713,682,650,631.392031778,880.607968222,786,806,651,631,652,0.453346322062,0.00473356120771,0.0696025191704,0.999999785307,0.000248242421569,-0.000602695120918,-6.72378391481e-05,1793243669816641792
+259,4.316666667,HOLD_POSE2,764.966700282,745,713,682,650,631.966700282,880.033299718,786,806,651,631,652,0.45334548839,0.00473250286028,0.0696023586878,0.999999785607,0.000246085634993,-0.000603062041685,-6.74155864445e-05,1793243669833308672
+260,4.333333333,HOLD_POSE2,765,745,713,682,650,632,880,786,806,651.553446271,631,652,0.453345995615,0.00473451669428,0.0696023189266,0.999999785718,0.000245933387836,-0.0006029178663,-6.76082340453e-05,1793243669849975296
+261,4.350000000,HOLD_POSE2,765,745,713,682,650.13906351,631.86093649,880,786,806,652,631,652,0.45334673422,0.00473553040688,0.0696022549901,0.999999786021,0.000245713922914,-0.00060249912702,-6.76536307505e-05,1793243669866641920
+262,4.366666667,HOLD_POSE2,765,745,713,682,650.7187506,631.2812494,880,786,806,652,631,652,0.453347944616,0.00473277647486,0.0696020909259,0.999999786967,0.000244890802309,-0.000601310040682,-6.72295581401e-05,1793243669883309056
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,746,713,682,651,631,880,786,806,651,631,652,0.453345450426,0.0047323202929,0.0696004785619,0.999999784378,0.000246934953179,-0.000604806520637,-6.69032314997e-05,1793243669920596992
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745.417671655,713,682,651,631,880.582328345,786,806.582328345,651.582328345,631,652,0.453345081161,0.00473177390166,0.0696001136071,0.999999784118,0.000246293157031,-0.000605570939702,-6.62344321777e-05,1793243669937263616
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,651,631,881,786,806.833263456,651.833263456,631,652,0.453344736951,0.00473199838992,0.0695997297026,0.999999783732,0.000246218589309,-0.000606261831797,-6.60259997287e-05,1793243669953929728
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,651,631,881,786,806.243579331,651.243579331,631,652,0.453344456294,0.00473417830797,0.0695992977296,0.999999783025,0.000247582865536,-0.000606766213925,-6.69853438607e-05,1793243669970596352
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,713,682,651,631.34009998,880.65990002,786,806,651,631,652,0.453345470854,0.00473477295505,0.0696003385882,0.999999783743,0.000247952429799,-0.000605422284201,-6.70558729534e-05,1793243669987263232
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,651,631.919553228,880.080446772,786,806,651,631,652,0.453347396953,0.0047342519307,0.0696024159861,0.99999978546,0.000247621942308,-0.000602777562007,-6.65008777412e-05,1793243670003929856
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,651,631.504707194,880,786,806,651,631,652,0.453346135434,0.00473286322195,0.0696011566298,0.999999784504,0.000247262208508,-0.000604540984818,-6.62149882872e-05,1793243670020596736
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.070530045,682,650.929469955,631,880.070530045,786,806,651,631,652,0.453344635744,0.00473165660028,0.0695995525717,0.999999783326,0.000246792191676,-0.000606690880947,-6.60907550359e-05,1793243670037263360
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.646457754,682,650.353542246,631,880.646457754,786,806,651,631,652,0.453345111759,0.00473275712022,0.069599333139,0.999999783685,0.000245565704562,-0.000606517791932,-6.68140287528e-05,1793243670053930240
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.772938604,745,713.772938604,682,650,631.227061396,881,786,806,651,631,652,0.453343999424,0.00473331645013,0.0695985371646,0.999999783512,0.000244242296573,-0.000607279211052,-6.73339213049e-05,1793243670070597376
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.184901349,745,713.184901349,682,650,631.815098651,881,786,806,651,631,652,0.453340361974,0.00473301541115,0.0695968246202,0.999999782491,0.000242764806602,-0.000609526285088,-6.7530484099e-05,1793243670087263744
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.399854519,745,713,682,650,631.600145481,880.600145481,786,806,651,631,651.600145481,0.453327206047,0.00473408604259,0.0695910875199,0.999999776407,0.000246104251778,-0.000618126297975,-6.73695838811e-05,1793243670103930112
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.983105404,745,713,682,650,631.016894596,880.016894596,786,806,651,631,651.016894596,0.453309684396,0.00473578580126,0.0695835045257,0.999999767865,0.000251653021339,-0.000629640135496,-6.7044730497e-05,1793243670120596736
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,682,650.555555914,631,880.555555914,786,806,651.555555914,631,651.555555914,0.453261572759,0.00473381256373,0.069566662323,0.999999749752,0.000248420698696,-0.000659064593336,-6.64626005118e-05,1793243670137263616
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,650.872338046,631,880.872338046,786,806,651.872338046,631,652,0.453209260058,0.00473235752972,0.0695504921014,0.999999732272,0.000246332371912,-0.000685873279684,-6.59821289939e-05,1793243670153930496
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,650.300309448,631,880.300309448,786,806,651.300309448,631,652,0.453145500518,0.00473308764219,0.0695376223291,0.999999720591,0.000249137846562,-0.000701717254778,-6.5882224978e-05,1793243670170597120
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.717537117,745,713,681.717537117,650.282462883,631,880,786,806,651,631,652,0.453070101313,0.00473413667606,0.0695260547975,0.999999707867,0.000251738772954,-0.000718779366603,-6.51912660373e-05,1793243670187263744
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.122890634,745,713,681.122890634,650.877109366,631,880,786,806,651,631,652,0.452981837722,0.00473553818817,0.0695159265289,0.999999693952,0.000254113628363,-0.000737187786408,-6.38470614319e-05,1793243670203930368
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.458529908,745,713.458529908,681.917059817,650.541470092,631,880,785.541470092,805.541470092,651,630.541470092,652,0.45288020815,0.00473493770622,0.0695076326843,0.999999683128,0.00025664293709,-0.000750991956118,-6.23632409996e-05,1793243670220596736
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.963637139,682.963637139,650.036362861,631,880,785.036362861,805.036362861,651,630.036362861,651.963637139,0.452773395576,0.00473387856126,0.0694996624574,0.999999672816,0.000259199893329,-0.000763861853661,-6.08137161125e-05,1793243670237263360
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.387914522,682.387914522,650.612085478,631,880,785.612085478,805.612085478,651,630.612085478,651.387914522,0.452641349382,0.00473375163633,0.0694894043888,0.999999659342,0.000261570150987,-0.000780664169089,-5.88290726976e-05,1793243670253929984
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,682,651,631,880,786,806,651,631,651,0.452500287671,0.00473355534632,0.0694784020523,0.999999644547,0.000263732033612,-0.000798829482725,-5.6773417229e-05,1793243670270596864
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713,682,651,631,880,786,806,651,631,651,0.452340604579,0.00473321578393,0.0694658624444,0.999999627231,0.000265463520878,-0.000819810044241,-5.45710878194e-05,1793243670287264000
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.636992987,745,713,682,651.363007013,631,880,786,806,651.363007013,631,651,0.452161364334,0.00473382662417,0.0694573788103,0.999999615311,0.000269082368431,-0.000833213161428,-5.22395320585e-05,1793243670303930624
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.057637799,745,713,682,651.942362201,631,880,786,806,651.942362201,631,651,0.451970468225,0.00473500389386,0.0694513124906,0.999999606702,0.000273826062083,-0.000842100207484,-4.98309586125e-05,1793243670320597248
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.51899187,745,713.51899187,682,652,631,880.51899187,786,806,652,631,651,0.451757368167,0.00473387481226,0.0694536383896,0.999999606487,0.000278600068741,-0.000841038424899,-4.54068575311e-05,1793243670337263872
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.903043659,682,652,631.096956341,880.903043659,786,806,651.903043659,631,651.096956341,0.451538043029,0.0047324330542,0.0694583392706,0.999999608615,0.000283008528956,-0.000837264713087,-4.07844169635e-05,1793243670353930496
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.153551311,745.846448689,713.846448689,682,652.846448689,632,880.846448689,786,806,651,631,652,0.450757714018,0.00472481628052,0.0694971743463,0.999999644344,0.000294187253674,-0.000790022834089,-2.50924007697e-05,1793243670403930112
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.424383759,746,714,682,653,632,880.575616241,786,806,651,631,652,0.450445639301,0.00472385300251,0.0695150641493,0.999999661531,0.000301501288425,-0.000765299656815,-1.87640376069e-05,1793243670420596736
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.998405469,714,682,653.001594531,632,880,786,806.001594531,651,631,652,0.450123055501,0.00472374324781,0.0695343844375,0.999999679084,0.000309635805,-0.000738787394634,-1.23166481361e-05,1793243670437263360
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.422142602,714,682,653.577857398,632,880,786,806.577857398,651,631,652,0.449778086813,0.00471645909946,0.0695559753049,0.999999702118,0.000309364588809,-0.000707126929695,-5.30447750081e-06,1793243670453930240
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.15738926,632,880,786,806.84261074,651.15738926,631,651.84261074,0.449426217525,0.00470983649443,0.069580418362,0.999999727389,0.000309307370966,-0.000670484856308,1.24003295953e-06,1793243670470597120
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.745874957,632,880,786,806.254125043,651.745874957,631,651.254125043,0.449055447235,0.00470502588825,0.0696126736944,0.999999759657,0.000309836304771,-0.000620197933703,6.50359949048e-06,1793243670487263744
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713.670573886,682.329426114,655,632,880,786,806.329426114,652,631,651.329426114,0.44864561524,0.00469299557508,0.0696404466028,0.999999787845,0.000301915361341,-0.000577091150451,1.11296065276e-05,1793243670503930112
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713.090773079,682.909226921,655,632,880,786,806.909226921,652,631,651.909226921,0.448206095022,0.00467547804637,0.0696648127247,0.999999813036,0.000287572233082,-0.000539441504307,1.52710479102e-05,1793243670520596480
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.05967193,745,713.94032807,682,656.05967193,633,880.94032807,786,806,651.94032807,631,651.94032807,0.447199265297,0.0046136421702,0.069681446239,0.999999853065,0.000183551626159,-0.000509829659316,1.58839067091e-05,1793243670553929984
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.633771823,745,713.366228177,682,656.633771823,633,880.366228177,786,806,651.366228177,631,651.366228177,0.446652374562,0.00461489042745,0.0696760191517,0.999999856051,0.000160646488531,-0.000511854388016,9.80373206376e-06,1793243670570596608
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.785093974,745,713,682,657.214906026,633.214906026,880.214906026,786,806,651,631,651,0.446112330006,0.00461504651519,0.0696836356534,0.999999867867,0.000145098072852,-0.000493107582334,7.57313135545e-06,1793243670587263488
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.191566766,745,713,682,657.808433234,633.808433234,880.808433234,786,806,651,631,651,0.44558434707,0.0046132784199,0.0697142323351,0.999999893953,0.000142510722411,-0.000437765511124,1.21247058237e-05,1793243670603930368
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.391139666,745.391139666,713,682,658.391139666,633.608860334,880.608860334,786,806,651.391139666,631,651.391139666,0.445019243492,0.0046066862135,0.0697526262839,0.999999921304,0.000128055193111,-0.000375171059744,1.54899034506e-05,1793243670620596992
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.968689105,745.968689105,713,682,658.968689105,633.031310895,880.031310895,786,806,651.968689105,631,651.968689105,0.444436448933,0.00459779492698,0.069794736262,0.999999946229,0.000107943513776,-0.00030912026152,1.828969612e-05,1793243670637263616
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.46027262,745.46027262,713.53972738,682,658.46027262,633.53972738,880,786.53972738,806,651.46027262,631,651.46027262,0.443762490068,0.00459663085221,0.0698145201789,0.99999995603,9.37628956515e-05,-0.000280670550058,1.93129716537e-05,1793243670653929984
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.72581335,745.27418665,714,681,659,634,880,786,806,651,631,651.72581335,0.441639071736,0.00459158908288,0.0698300320577,0.999999963455,5.41644610895e-05,-0.000263704815089,2.48110668519e-05,1793243670703929856
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764.132852003,745.867147997,714,681,659,634,880,786,806,651,631,651.132852003,0.440914292029,0.00458871563772,0.0698249456209,0.999999964815,3.61782415056e-05,-0.00026164905335,2.45299608229e-05,1793243670720596736
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,764.026061004,744.973938996,713.973938996,681.973938996,659.973938996,634,879.973938996,787,806,651,631,651.973938996,0.439346573144,0.00458487446379,0.0698241516144,0.999999923474,0.000286505000771,-0.000264895853151,2.82176413972e-05,1793243670753930240
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744.769541416,713.769541416,681,659,634,879.769541416,786.230458584,806,651,631,651,0.436775033149,0.00457136288439,0.0697149255556,0.999999890249,0.000188979469617,-0.000427942491867,2.55573934341e-05,1793243670803929856
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764.647378576,745,713.647378576,681,659.352621424,634,879.647378576,786.352621424,805.647378576,651,631,651,0.435967233171,0.00456862356303,0.0697457083373,0.99999991353,0.00016451150631,-0.000380957553056,2.73368570425e-05,1793243670820596480
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.50806582,745,713.50806582,681,659.49193418,634,879.50806582,786.49193418,805,651,631,651.50806582,0.434308233911,0.00455910961312,0.0698282234872,0.999999956227,0.000120165970388,-0.000268390377982,3.27624733965e-05,1793243670853929728
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,880,786.080774109,805,651,631,652,0.433447194026,0.00455220092254,0.0698495471955,0.999999963832,0.00010343525053,-0.000245840016708,3.46280921044e-05,1793243670870596352
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,713.785216806,681,659,634,879.785216806,787,805,651,631,652,0.431664561937,0.00454438305056,0.0698379552259,0.99999995982,0.00012041001384,-0.000254500744971,3.30295233619e-05,1793243670903930112
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,713.173110942,681,659,634,879.173110942,787,805,651,631,652,0.430664836332,0.00454094111245,0.0697891736584,0.99999993419,0.000108692293379,-0.000344353945042,3.50122857316e-05,1793243670920596736
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.586573889,658.586573889,633.586573889,879,786.586573889,805.413426111,651.413426111,631,651.586573889,0.429709659187,0.00453467328779,0.0697435320093,0.999999909992,9.9575438203e-05,-0.000410988036028,3.44845188593e-05,1793243670937263360
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.010119541,658.010119541,633.010119541,879,786.010119541,805.989880459,651.989880459,631,651.010119541,0.428772049104,0.00452729111838,0.0696991285417,0.999999885542,9.14841949342e-05,-0.000468466022205,3.29667631983e-05,1793243670953929984
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.433705977,745,713.566294023,680.566294023,659.132588045,633.566294023,879.566294023,786.566294023,805.433705977,652,631,651.566294023,0.42791785968,0.00451925618229,0.0697666488944,0.999999927945,8.29134470994e-05,-0.000368808625822,3.48586082507e-05,1793243670970596608
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764.145651259,745,714,680.854348741,659.854348741,634,879.854348741,787,805,652,630.854348741,652,0.427058970276,0.00451251326946,0.0698283546935,0.99999995815,7.42708666175e-05,-0.000277213742091,3.65628626082e-05,1793243670987263488
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.733956904,745,714,680.266043096,659.266043096,634,879.266043096,787,805,652,630.266043096,652,0.426181266887,0.00450973244339,0.0698663112546,0.99999997325,6.54360187648e-05,-0.000218655171727,3.75118459563e-05,1793243671003930368
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,713.682175833,680,658.682175833,634,879.317824167,787,805,651.682175833,630.317824167,652,0.425274283933,0.0045026639123,0.0698707521418,0.999999975025,5.9977722402e-05,-0.000211915581363,3.79972145854e-05,1793243671020596992
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.101972695,680,658.101972695,634,879.898027305,787,805,651.101972695,630.898027305,652,0.424343129347,0.00449205567686,0.0698475242439,0.999999966891,5.73069304393e-05,-0.000247955027342,3.80998472018e-05,1793243671037263616
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,658.949130534,634,880,787,805,651,631,652,0.423380725571,0.00448684274937,0.0697998518492,0.999999943206,5.02778337702e-05,-0.000331196922338,3.7002424742e-05,1793243671053930240
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.050248416,680,659.899503168,634,879.949751584,787,805,651,631,652,0.42241330255,0.00448222511697,0.0697475925428,0.999999909054,4.23534421077e-05,-0.000422853881866,3.59541812734e-05,1793243671070596608
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.625165861,680,658.749668278,634,879.374834139,787,805,651,631,652,0.421463046061,0.00447181096906,0.0697018630671,0.999999875024,3.47843098523e-05,-0.000497283608919,3.80912870798e-05,1793243671087263232
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.204641622,634,879,787,805,651.204641622,631,652,0.420572264595,0.0044621975582,0.0696981153015,0.999999873321,1.9100078546e-05,-0.000501542524099,3.80605716844e-05,1793243671103930112
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.792656989,634,879,787,805,651.792656989,631,652,0.419792902932,0.00445408423901,0.0697730156804,0.999999929287,-1.17869066068e-05,-0.00037434409169,3.39686800802e-05,1793243671120596480
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764.624506418,745,714,680,659.750987164,634,879,787,805,652,631,652,0.419003332296,0.00444756739725,0.0698362313081,0.999999962732,-7.32512318539e-06,-0.00027063690355,3.51886781044e-05,1793243671137263360
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.044490613,745,714,680,660.911018774,634,879,787,805,652,631,652,0.418208201128,0.00444192011842,0.0698930825314,0.999999982943,1.6390276695e-05,-0.000179724832632,3.93019334393e-05,1793243671153929984
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.531227833,744.468772167,714,680,658.875088669,634,878.468772167,787,805.531227833,652,631,652,0.417361930814,0.00443329297049,0.0698736025383,0.999999976003,-3.64068296772e-06,-0.000215413755857,3.97082462597e-05,1793243671170596864
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744.681512011,714,680,657.681512011,634,878.681512011,787,805.318487989,652,631,651.318487989,0.415676481659,0.00441931022942,0.069811827193,0.999999954084,-4.34825327792e-05,-0.000297709650207,3.62100647692e-05,1793243671203930624
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.26550354,634,879,787,805,652,631,651.26550354,0.414832869778,0.00441513268427,0.0697792657074,0.999999937559,-4.63848815978e-05,-0.000348519740407,3.556131913e-05,1793243671220597248
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.860670163,634,879,787,805,652,631,651.860670163,0.413981503714,0.00441284148161,0.0697489499842,0.999999912412,-3.13519724522e-05,-0.000415644581871,3.7855625959e-05,1793243671237263360
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.558826215,634,879,786.558826215,805,652,631,651.558826215,0.413252185691,0.00443091691075,0.0697625965745,0.999999923035,-1.55586707393e-05,-0.000390179982138,3.80423983278e-05,1793243671253929984
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.017135787,745.017135787,714,680,658.034271574,634,879,786.017135787,805,652,631,651.017135787,0.412562165177,0.00445501543433,0.0697905578921,0.999999943119,9.70720298458e-07,-0.000335187473899,3.75619077002e-05,1793243671270596864
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.591154019,745.591154019,714,680,659.182308037,634,879,786.591154019,805,652,631,651.591154019,0.411936903528,0.00447254551861,0.0698470306551,0.999999969892,3.38684378084e-05,-0.000240311014918,3.63313705074e-05,1793243671287263488
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.768628813,745,713.231371187,680,658.231371187,634,879.231371187,786.768628813,805.768628813,652,631,652,0.406992021051,0.00446495672912,0.0698029183094,0.99999994894,1.09220336665e-05,-0.000317638509601,3.32681052518e-05,1793243671420596736
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.175750341,745,713.824249659,680,658.824249659,634,879.824249659,786.175750341,805.175750341,652,631,652,0.406480232826,0.00447866645463,0.0698112969391,0.999999950274,2.94836218794e-05,-0.000312155533091,3.38004298963e-05,1793243671437263360
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.594290983,658.594290983,634,879.594290983,786,805,652,630.594290983,652,0.405996968969,0.00448371992581,0.0698088539644,0.999999946767,4.62619544467e-05,-0.00032121862071,3.38227939257e-05,1793243671453930240
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.017642838,658.017642838,634,879.017642838,786,805,652,630.017642838,652,0.405525723362,0.00448512622123,0.0698018514774,0.999999940909,6.22889417996e-05,-0.000336410463613,3.36302940874e-05,1793243671470597120
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.555481839,745,714,679,658,634,879,786,805,652,630.555481839,652,0.405132256389,0.00447817719719,0.069813086109,0.999999948315,4.71795703196e-05,-0.000316271545636,3.34217348658e-05,1793243671487263744
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.128617412,634,879,786.128617412,805,652,631,652,0.404752762536,0.00447283280194,0.0698263418625,0.999999956364,3.33938434628e-05,-0.000291661800602,3.3011720055e-05,1793243671503930368
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.702175535,634,879,786.702175535,805,652,631,652,0.40441311527,0.00447395173658,0.0698445983309,0.999999966485,2.7586705416e-05,-0.000255443131675,3.19065406184e-05,1793243671520596992
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.712240151,634,879,787,804.712240151,652,631,651.712240151,0.404070272524,0.0044729191437,0.0698531787898,0.999999970911,1.93644440292e-05,-0.000238412167585,3.10239100121e-05,1793243671537263360
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.113666184,634,879,787,804.113666184,652,631,651.113666184,0.403723978308,0.00446956265071,0.0698513080317,0.999999970194,8.53356881073e-06,-0.000242106159629,3.03816581346e-05,1793243671553929984
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745.466024538,714,679,658.466024538,634,879,787,804.466024538,651.533975462,631,651.466024538,0.403413317968,0.00446491094967,0.0698435095018,0.999999966986,-2.71994384571e-06,-0.000255185866221,3.00226331999e-05,1793243671570596608
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745.958916943,713.958916943,679,658.958916943,634,879,787,805,651.041083057,631,652,0.403113553401,0.00446042161343,0.0698344770671,0.999999962874,-1.36156698415e-05,-0.000270523565548,2.97147973201e-05,1793243671587263488
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745.3865202,713.3865202,679,658.3865202,634,879,787,805,651.6134798,631,652,0.402846675473,0.00446195853564,0.0698274571021,0.999999958328,-1.86030261133e-05,-0.000286610168959,2.92103647311e-05,1793243671603930112
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.808064672,745,713.191935328,679,658,634,879,786.808064672,805,652,631,652,0.402593828456,0.00446324267764,0.0698197453823,0.999999953781,-2.29530328391e-05,-0.000301786202105,2.89172672754e-05,1793243671620596992
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.217010301,745,713.782989699,679,658,634,879,786.217010301,805,652,631,652,0.402370157986,0.00446400117679,0.0698105951967,0.999999949606,-2.59777053409e-05,-0.000315068752164,2.90636297733e-05,1793243671637263616
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.367516063,745,713.632483937,679.367516063,658,634,878.632483937,786.367516063,804.632483937,652,631,652,0.40216878067,0.00446661861142,0.069807284504,0.999999948224,-2.33250560175e-05,-0.000319539828737,3.00438226747e-05,1793243671653930240
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.948255107,745,713.051744893,679.948255107,658,634,878.051744893,786.948255107,804.051744893,652,631,652,0.401980337224,0.00447031455073,0.069807361728,0.999999948504,-1.73785768306e-05,-0.000318898725533,3.15077816715e-05,1793243671670596864
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,658,634,878.523030624,787,804.523030624,652,631,652,0.40182842468,0.00448300764762,0.0698092130246,0.999999948098,5.55725875753e-05,-0.000315703884191,3.23643539166e-05,1793243671687263488
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.902444667,745,713,679.902444667,658,634,878.902444667,786.902444667,805,652,631,652,0.401684885377,0.0044958342027,0.0698108718527,0.999999943231,0.000121584568137,-0.000312538497385,3.27725838302e-05,1793243671703930112
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.326288383,745,713,679.326288383,658,634,878.326288383,786.326288383,805,652,631,652,0.401564893951,0.00450499788018,0.069810735087,0.999999943862,0.000121398643956,-0.000310743126426,3.12727498895e-05,1793243671720596736
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745,713.255836453,679,658.255836453,634,878,786.255836453,804.744163547,652,631,652,0.401455912768,0.00450713016828,0.0698097535135,0.999999946185,0.000102639285568,-0.00031045354222,2.67054501818e-05,1793243671737263360
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,713.845755248,679,658.845755248,634,878,786.845755248,804.154244752,652,631,652,0.401361309243,0.00450008056249,0.0698076687532,0.999999949345,5.96259307462e-05,-0.000312130279375,1.81325206283e-05,1793243671753929984
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,744.572435334,714,679,658.572435334,634,878.427564666,787,804,652,631,652,0.401281758185,0.00449611219227,0.0698077224493,0.99999995036,4.574088844e-05,-0.000311276047047,1.71857776922e-05,1793243671770596608
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.006450824,744.006450824,714,679,658.006450824,634,879,786.993549176,804.006450824,652,631,651.993549176,0.401207782213,0.00449328168698,0.0698085552539,0.99999995103,4.22260856154e-05,-0.000309513656864,1.89302324154e-05,1793243671787263744
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.580739501,744.580739501,714,679,658.580739501,634,879,786.419260499,804.580739501,652,631,651.419260499,0.401155456433,0.00449458779789,0.0698113259999,0.999999951815,4.3793672436e-05,-0.000306686063856,1.99040308046e-05,1793243671803930368
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.84099665,745,714,679,658.84099665,634,879,786,804.84099665,652,631,651.15900335,0.401108195928,0.00449513069033,0.0698138282272,0.999999952686,4.43850266003e-05,-0.00030368444465,2.08352987659e-05,1793243671820596992
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.251982383,745,714,679,658.251982383,634,879,786,804.251982383,652,631,651.748017617,0.401074634035,0.00449360952372,0.0698156042679,0.999999953806,4.23362430512e-05,-0.000300212186989,2.16515466756e-05,1793243671837263360
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.331520389,745,714,679.331520389,658.331520389,634,879,786,804.331520389,652,631,652,0.401048079205,0.00449402533499,0.0698177257504,0.9999999552,4.26955576462e-05,-0.000295471115745,2.1790494243e-05,1793243671853929984
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.910902544,745,714,679.910902544,658.910902544,634,879,786,804.910902544,652,631,652,0.401026763211,0.00449588933081,0.0698201055031,0.999999956778,4.48552905867e-05,-0.000289781413555,2.14230571739e-05,1793243671870596608
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.512936801,634.487063199,879,786,804.512936801,652,630.512936801,652,0.40101007756,0.00449459199362,0.0698221225767,0.99999995745,4.36276165031e-05,-0.000287595617499,2.201144635e-05,1793243671887263488
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.93749588,745,713.93749588,679.93749588,658,634.93749588,878.93749588,786.06250412,804.06250412,652,630.06250412,651.93749588,0.400995339479,0.00449293651508,0.0698240701898,0.99999995801,4.20365425631e-05,-0.000285828208227,2.26759185253e-05,1793243671903930112
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.363154427,745,713.363154427,679.363154427,658,634.363154427,878.363154427,786.636845573,804.636845573,652,630.636845573,651.363154427,0.400989659219,0.00449305273508,0.0698259887156,0.999999959003,4.25105330512e-05,-0.000282272647193,2.25410322049e-05,1793243671920596992
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.217651842,744.782348158,713.217651842,679,658,634,878,786.782348158,805,652,631,651.217651842,0.400984968136,0.00449365839444,0.0698271454225,0.999999959728,4.28377102127e-05,-0.000279671932929,2.22069339423e-05,1793243671937263872
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.809574891,744.190425109,713.809574891,679,658,634,878,786.190425109,805,652,631,651.809574891,0.400981978029,0.00449510568718,0.0698269921157,0.999999960007,4.29124291071e-05,-0.000278713160663,2.15302734878e-05,1793243671953930240
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744.390760409,714,679,658.390760409,634,878.390760409,786,804.609239591,652,631,652,0.400980245015,0.00449460947641,0.0698279743326,0.999999960459,4.24399637335e-05,-0.000277145894075,2.16873264348e-05,1793243671970596608
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.966853244,714,679,658.966853244,634,878.966853244,786,804.033146756,652,631,652,0.400979108224,0.00449319148792,0.069829495113,0.999999960991,4.17079761919e-05,-0.000275290026812,2.22397984951e-05,1793243671987263232
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,657.921142289,634,878.460571144,786.539428856,804.539428856,652,631,652,0.400979264137,0.00449273416975,0.0698314441699,0.999999961478,4.19024583203e-05,-0.000273468448108,2.24228752809e-05,1793243672003929856
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,657.115830103,634.115830103,878.115830103,787,805,652,631,652,0.400979562711,0.00449237451561,0.0698329782947,0.999999961895,4.18278823921e-05,-0.000271946501824,2.24833065898e-05,1793243672020596480
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,657.708877387,634.708877387,878.708877387,787,805,652,631,652,0.400980123903,0.00449217560363,0.0698326951868,0.999999962042,4.04117646999e-05,-0.000271650409856,2.21313531789e-05,1793243672037263360
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.704414343,745,714,679,658.295585657,634.704414343,878.704414343,787,805.295585657,652,631,652,0.400978704634,0.00449215891931,0.0698320785762,0.999999961755,4.00481205782e-05,-0.000272756737207,2.21152146925e-05,1793243672053930240
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.123818227,745,714,679,658.876181773,634.123818227,878.123818227,787,805.876181773,652,631,652,0.40097537576,0.00449231794304,0.0698311403947,0.999999961049,4.0699295406e-05,-0.000275215309341,2.24228766043e-05,1793243672070596864
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.453186122,745,714,679.453186122,659,634,878,786.546813878,805.093627757,652,631,652,0.40097653038,0.0044921357805,0.0698320052453,0.999999961575,4.08308812702e-05,-0.000273263005635,2.25801622919e-05,1793243672087263488
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.971003665,745,713.971003665,680,659,634.028996335,878,786,804.028996335,652,631,652,0.400978768145,0.00449194495401,0.0698332962119,0.999999962384,4.09760150482e-05,-0.000270256726772,2.26692803026e-05,1793243672103929856
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.399319948,745,713.399319948,680,659,634.600680052,878,786,804.600680052,652,631,652,0.400978531911,0.00449332289797,0.0698334150222,0.999999962361,4.40107116911e-05,-0.000269902005468,2.22454870086e-05,1793243672120596480
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,713.179125478,680,658.820874522,634.820874522,878,786.179125478,804.820874522,652,631,652,0.40097860164,0.00449397044985,0.0698337109197,0.999999962452,4.50108351482e-05,-0.000269421969187,2.1947227148e-05,1793243672137263104
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,713.773235906,680,658.226764094,634.226764094,878,786.773235906,804.226764094,652,631,652,0.400979380205,0.00449292588213,0.0698344170798,0.99999996282,4.12974064252e-05,-0.000268651612259,2.19397940919e-05,1793243672153929728
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.358545057,744.641454943,714,679.641454943,658,634,878.358545057,786.641454943,804.358545057,652,631,652,0.400979986688,0.00449180933439,0.0698348407366,0.99999996318,3.9010854748e-05,-0.000267645731298,2.19862086876e-05,1793243672170596352
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.938421129,744.061578871,714,679.061578871,658,634,878.938421129,786.061578871,804.938421129,652,631,652,0.400980486944,0.00449064835319,0.0698350900031,0.99999996354,3.76051189887e-05,-0.000266494460626,2.20658636117e-05,1793243672187263232
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.513705646,714,679,658,634,879,786,804.486294354,652,631,651.486294354,0.400979108992,0.00449195393187,0.0698350245071,0.999999963293,3.96000562881e-05,-0.000267135720702,2.1999393007e-05,1793243672203930368
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.090411893,658.090411893,634,879,786.090411893,804.090411893,652,631,651.090411893,0.40097768856,0.00449314066213,0.0698348276259,0.999999962997,4.13334309146e-05,-0.000267983471778,2.19456944224e-05,1793243672220596992
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.677934444,658.677934444,634,879,786.677934444,804.677934444,652,631,651.677934444,0.400977261495,0.00449206264516,0.0698341139704,0.999999962855,3.94071631003e-05,-0.000268795596316,2.20576768314e-05,1793243672237263616
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.738331353,659,634,879,787,804.738331353,652,631,652,0.400977405014,0.00449193948227,0.0698342527399,0.999999962996,3.94659585174e-05,-0.00026825970573,2.20938259296e-05,1793243672253929984
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.159193284,659,634,879,787,804.159193284,652,631,652,0.400978240793,0.00449297479574,0.0698354257138,0.999999963476,4.19331311522e-05,-0.000266088336231,2.2037970297e-05,1793243672270596608
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.580938816,745,714,679,658.580938816,634,878.580938816,787,804.419061184,652,631,652,0.400978016812,0.00449268395268,0.0698352359476,0.999999963323,4.10641710738e-05,-0.000266817278639,2.18231089748e-05,1793243672287263232
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.00301934,745,714,679,658.00301934,634,878.00301934,787,804.99698066,652,631,652,0.400977391095,0.0044918903883,0.0698345295918,0.999999962925,3.89305450505e-05,-0.00026864567542,2.15479715595e-05,1793243672303930112
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..101b678417f78c4356c473bd74ab15617742e992
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+1,0.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
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+368,6.133333333,pose2_to_pose3_retreat,0.581674134253,0.0100018651575,1.06004084781,0.552245893236,0.0186766909674,1.05967864222
+369,6.150000000,pose2_to_pose3_retreat,0.581526840914,0.0100019074106,1.06004091599,0.552098599163,0.018676730758,1.05967871968
+370,6.166666667,pose2_to_pose3_retreat,0.581396617357,0.010001726804,1.06004095998,0.551968378549,0.0186765594325,1.05967875265
+371,6.183333333,pose2_to_pose3_retreat,0.581283799819,0.0100018375792,1.06004087339,0.551855558188,0.0186766603024,1.05967866174
+372,6.200000000,pose2_to_pose3_retreat,0.581184323218,0.0100018766084,1.06004073123,0.551756080185,0.0186766942634,1.05967852548
+373,6.216666667,pose2_to_pose3_retreat,0.581097743229,0.0100019220137,1.06004081927,0.551669500604,0.0186767404194,1.05967861103
+374,6.233333333,pose2_to_pose3_retreat,0.581023469645,0.0100019275054,1.06004082109,0.551595227928,0.0186767490183,1.05967861954
+375,6.250000000,pose2_to_pose3_retreat,0.580960682192,0.0100018348965,1.06004081009,0.551532441505,0.0186766602264,1.05967861129
+376,6.266666667,pose2_to_pose3_retreat,0.580909201407,0.0100018149657,1.06004069774,0.55148096095,0.0186766410684,1.05967849398
+377,6.283333333,pose2_to_pose3_retreat,0.580867386799,0.0100018771374,1.0600407029,0.551439146007,0.0186767019808,1.05967849851
+378,6.300000000,pose2_to_pose3_retreat,0.580835125613,0.0100018467216,1.06004082167,0.55140688514,0.018676672636,1.05967861976
+379,6.316666667,pose2_to_pose3_retreat,0.580809436986,0.0100016976346,1.06004082659,0.551381197834,0.0186765279207,1.05967862162
+380,6.333333333,pose2_to_pose3_retreat,0.580789827084,0.0100016900517,1.06004083114,0.551361588939,0.0186765234076,1.05967862304
+381,6.350000000,pose2_to_pose3_retreat,0.580775062311,0.0100019049835,1.06004071712,0.551346820429,0.0186767260917,1.0596785157
+382,6.366666667,pose2_to_pose3_retreat,0.580764421369,0.0100019309395,1.06004086859,0.551336179691,0.0186767526537,1.05967866546
+383,6.383333333,pose2_to_pose3_retreat,0.58075698892,0.0100019369174,1.06004099466,0.551328747357,0.018676759025,1.05967879243
+384,6.400000000,pose2_to_pose3_retreat,0.580752109648,0.0100019346731,1.06004103361,0.551323867957,0.0186767563972,1.0596788332
+385,6.416666667,pose2_to_pose3_retreat,0.58074964926,0.0100018385522,1.06004093612,0.551321408945,0.0186766646902,1.05967872973
+386,6.433333333,pose2_to_pose3_retreat,0.580748073538,0.010001776993,1.06004087368,0.551319834104,0.0186766059578,1.05967866347
+387,6.450000000,pose2_to_pose3_retreat,0.580747281325,0.010001801639,1.06004084998,0.551319041939,0.0186766308837,1.05967864253
+388,6.466666667,pose2_to_pose3_retreat,0.580747013846,0.010001818979,1.06004084323,0.551318774412,0.0186766481332,1.05967863746
+389,6.483333333,pose2_to_pose3_retreat,0.580746791628,0.0100018333849,1.06004083762,0.551318552155,0.0186766624638,1.05967863326
+390,6.500000000,pose2_to_pose3_retreat,0.580746253177,0.0100018682915,1.06004082403,0.551318013608,0.0186766971879,1.05967862306
+391,6.516666667,pose2_to_pose3_retreat,0.580745858801,0.010001893858,1.06004081407,0.551317619161,0.0186767226208,1.0596786156
+392,6.533333333,pose2_to_pose3_retreat,0.580745744175,0.0100019012889,1.06004081118,0.551317504516,0.0186767300129,1.05967861343
+393,6.550000000,pose2_to_pose3_retreat,0.580745514512,0.0100019161775,1.06004080538,0.551317274811,0.0186767448237,1.05967860908
+394,6.566666667,pose2_to_pose3_retreat,0.580745499654,0.0100019171407,1.060040805,0.551317259951,0.0186767457818,1.0596786088
+395,6.583333333,pose2_to_pose3_retreat,0.580744956434,0.0100019274227,1.06004079884,0.551316716322,0.0186767547275,1.05967860389
+396,6.600000000,pose2_to_pose3_retreat,0.580744529051,0.0100019036028,1.06004080366,0.551316288217,0.0186767283815,1.05967860691
+397,6.616666667,pose2_to_pose3_retreat,0.580744316516,0.0100018917573,1.06004080606,0.551316075323,0.0186767152798,1.05967860842
+398,6.633333333,pose2_to_pose3_retreat,0.580744245158,0.0100018877803,1.06004080686,0.551316003845,0.0186767108809,1.05967860892
+399,6.650000000,pose2_to_pose3_retreat,0.580744132253,0.0100018814876,1.06004080814,0.551315890749,0.0186767039209,1.05967860972
+400,6.666666667,pose2_to_pose3_retreat,0.580743897838,0.010001863301,1.06004079743,0.551315656287,0.0186766855074,1.05967859748
+401,6.683333333,pose2_to_pose3_retreat,0.580743697332,0.0100018300707,1.06004074218,0.551315456941,0.0186766560814,1.05967853906
+402,6.700000000,pose2_to_pose3_retreat,0.580743531943,0.0100017834422,1.06004070935,0.551315292303,0.0186766119323,1.0596785045
+403,6.716666667,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315225154,0.0186765765219,1.05967850241
+404,6.733333333,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315225154,0.0186765765225,1.05967850241
+405,6.750000000,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315225154,0.0186765765228,1.05967850241
+406,6.766666667,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315225154,0.0186765765229,1.05967850241
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..91c3bfa24f170d83284710498699bf5973bad040
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccc30310b6513f06b7e681105c62120d250435bda69c3cb812bac397b800cbf6
+size 25894185
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..799238d8626744713763305ee07ff1141d10999a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
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+35,0.583333333,BASELINE,765,745,714,680,659,634,878.672662871,786,805,652,631,652,0.400980624848,0.00449318469183,0.0698390458816,0.999999964778,4.35251835127e-05,-0.000260943061154,2.13952515244e-05,1793243673031489280
+36,0.600000000,BASELINE,765,745,714,680,659,634,878.099003968,786,805,652,631,652,0.400978954791,0.00449275273567,0.0698378161888,0.999999964451,4.05874891431e-05,-0.000262687617983,2.11335218183e-05,1793243673048155904
+37,0.616666667,BASELINE,765.487200745,745,713.512799255,679.512799255,658.512799255,634,878.487200745,786.487200745,804.512799255,652,631,651.512799255,0.400978787942,0.00449224028023,0.0698376868862,0.999999964449,4.03818792699e-05,-0.000262721350723,2.11648590198e-05,1793243673064822528
+38,0.633333333,BASELINE,765.925682592,745,713.074317408,679,658.074317408,634,879.074317408,787,804,652,631,651.074317408,0.400979068025,0.00449181291715,0.0698378826971,0.999999964561,4.04652750422e-05,-0.000262279573044,2.12003439833e-05,1793243673081489408
+39,0.650000000,BASELINE,765.350065643,745,713.649934357,679,658.649934357,634,879.649934357,787,804,652,631,651.649934357,0.400980247892,0.00449207279366,0.0698387233206,0.999999964965,3.86541953049e-05,-0.000261037353125,2.08514742047e-05,1793243673098156032
+40,0.666666667,BASELINE,764.772910644,745,713.772910644,679,659,634,879.545821288,787,804.227089356,652,631,652,0.400980272554,0.00449274306871,0.0698388388475,0.999999964966,3.94506338191e-05,-0.000260920335746,2.07735043559e-05,1793243673114822912
+41,0.683333333,BASELINE,764.193368559,745,713.193368559,679,659,634,878.386737119,787,804.806631441,652,631,652,0.40097850429,0.00449405030044,0.0698378289924,0.99999996433,4.42940561471e-05,-0.000262549682568,2.11159832062e-05,1793243673131489536
+42,0.700000000,BASELINE,764.382483722,745,713.382483722,679,659,634,878.382483722,787,805,652,631,652,0.400978759762,0.00449432046511,0.069837994745,0.99999996437,4.44661492178e-05,-0.000262369191164,2.11088770725e-05,1793243673148156160
+43,0.716666667,BASELINE,764.956488392,745,713.956488392,679,659,634,878.956488392,787,805,652,631,652,0.40098002858,0.0044940713395,0.0698387491592,0.999999964752,4.22991689868e-05,-0.000261282460016,2.09267233549e-05,1793243673164822784
+44,0.733333333,BASELINE,764.45201553,745,713.45201553,679,658.45201553,634,878.45201553,786.45201553,805,652,631,651.45201553,0.40098005138,0.0044932797914,0.0698393538062,0.999999964813,4.33963732839e-05,-0.000260833612407,2.13547568748e-05,1793243673181489408
+45,0.750000000,BASELINE,764,745,713.137329742,679,658,634,878.137329742,786.137329742,805,652,631,651.137329742,0.400979544755,0.00449265570822,0.06983937927,0.999999964712,4.4172005201e-05,-0.000261064774117,2.16596575599e-05,1793243673198156032
+46,0.766666667,BASELINE,764,745,713.715173733,679,658,634,878.715173733,786.715173733,805,652,631,651.715173733,0.400977667717,0.00449271151573,0.0698375862844,0.999999964178,4.30573184517e-05,-0.000263309382782,2.14090432442e-05,1793243673214822656
+47,0.783333333,BASELINE,764.291321004,745,714,679.291321004,658.291321004,634.291321004,878.708678996,787,805,652,631,652,0.400977355823,0.00449277400931,0.0698373464141,0.999999964157,4.22414994648e-05,-0.000263528525457,2.12956919203e-05,1793243673231489536
+48,0.800000000,BASELINE,764.865819055,745,714,679.865819055,658.865819055,634.865819055,878.134180945,787,805,652,631,652,0.400978565317,0.00449284300206,0.0698386162409,0.999999964639,4.1716193179e-05,-0.00026177882486,2.13157663346e-05,1793243673248156160
+49,0.816666667,BASELINE,764.547899653,745,714,679.547899653,658.547899653,634.547899653,878,786.547899653,805,652,631,652,0.400978716901,0.00449246827818,0.0698386253698,0.999999964692,4.15578094908e-05,-0.000261589516951,2.14391152302e-05,1793243673264822528
+50,0.833333333,BASELINE,764,745,714,679,658.04122243,634,878.04122243,786,804.95877757,652,631,652,0.400978563252,0.00449199600953,0.0698382261004,0.99999996462,4.15196904762e-05,-0.000261860166896,2.15739335643e-05,1793243673281489408
+51,0.850000000,BASELINE,764,745,714,679,658.620554661,634,878.620554661,786,804.379445339,652,631,652,0.400978633494,0.0044920155052,0.0698375107072,0.999999964602,4.15918729284e-05,-0.000261927808849,2.14476480821e-05,1793243673298156032
+52,0.866666667,BASELINE,764,744.801580833,714,679,658.801580833,634,879,786,804.198419167,652,631,652,0.400978948128,0.00449165869782,0.0698375433245,0.999999964689,4.11665656485e-05,-0.000261656223611,2.15062997373e-05,1793243673314822656
+53,0.883333333,BASELINE,764,744.226502542,714,679,658.226502542,634,879,786,804.773497458,652,631,652,0.400979726689,0.00449058755432,0.0698389958901,0.999999964975,3.97968735586e-05,-0.000260740683358,2.19160175858e-05,1793243673331489280
+54,0.900000000,BASELINE,764.348051705,744.348051705,714,679,658.348051705,634,878.651948295,786.348051705,804.651948295,652,630.651948295,651.651948295,0.400978919973,0.00449081941196,0.0698388432683,0.999999964722,4.05141907178e-05,-0.000261608092076,2.18071476341e-05,1793243673348155904
+55,0.916666667,BASELINE,764.922265408,744.922265408,714,679,658.922265408,634,878.077734592,786.922265408,804.077734592,652,630.077734592,651.077734592,0.400977083153,0.00449189795231,0.069837647605,0.999999964114,4.25876345489e-05,-0.000263634050826,2.13613022934e-05,1793243673364822528
+56,0.933333333,BASELINE,765,745,714,679,658.487286722,634,878,786.487286722,804,652,630.512713278,651,0.400978189492,0.00449289664317,0.0698380896768,0.999999964398,4.2424924954e-05,-0.000262588532558,2.12261789252e-05,1793243673381488896
+57,0.950000000,BASELINE,765,745,713.896858651,679,658.103141349,634,878.103141349,786,804,652,631,651.103141349,0.400979217825,0.00449356654809,0.0698384791744,0.999999964673,4.21197049322e-05,-0.000261595989075,2.11566462212e-05,1793243673398155520
+58,0.966666667,BASELINE,765,745,713.3182397,679,658.6817603,634,878.6817603,786,804,652,631,651.6817603,0.400977762208,0.00449277839684,0.0698374442059,0.99999996426,4.27715497684e-05,-0.000263064617848,2.11652080758e-05,1793243673414822144
+59,0.983333333,BASELINE,765,745,713,679,659,634,878.741731069,786,804.258268931,652,631,652,0.400976324952,0.00449227674908,0.069836368021,0.999999963925,4.22432684634e-05,-0.000264420798487,2.11315940537e-05,1793243673431489280
+60,1.000000000,BASELINE,765,745,713,679,659,634,878.167801629,786,804.832198371,652,631,652,0.400974910136,0.00449212527048,0.0698352414606,0.999999963685,4.02726177916e-05,-0.000265639543376,2.10464319872e-05,1793243673448156416
+61,1.016666667,BASELINE,765,745,713.416987743,679,659,634,878,786,805,652,631,652,0.400975758743,0.00449305969879,0.0698360911411,0.999999963862,4.1884924127e-05,-0.000264731223207,2.09579050144e-05,1793243673464823040
+62,1.033333333,BASELINE,765,745,714,679,659,634,878,786,804.993842923,652,631,652,0.40097752604,0.00449441745423,0.0698377408453,0.999999964198,4.49311975443e-05,-0.000262963565611,2.08722115788e-05,1793243673481489664
+63,1.050000000,BASELINE,765,745,714,679,659,634,878,786,804.414636746,652,631,652,0.400977757823,0.00449341661157,0.0698378540985,0.999999964235,4.3657182269e-05,-0.00026301186309,2.11796363462e-05,1793243673498156288
+64,1.066666667,BASELINE,764.837205546,745,713.837205546,679.162794454,659,634,878,786.162794454,804.162794454,652,631,652,0.400977899423,0.00449268384424,0.0698381140507,0.999999964324,4.23375380536e-05,-0.00026287161415,2.13855922147e-05,1793243673514823168
+65,1.083333333,BASELINE,764.264246476,745,713.264246476,679.735753524,659,634,878,786.735753524,804.735753524,652,631,652,0.400977813805,0.0044926264993,0.0698387436151,0.999999964547,4.0902930682e-05,-0.000262256317882,2.13358946886e-05,1793243673531490304
+66,1.100000000,BASELINE,764,745,713.311448794,680,659,634,878,787,805,651.688551206,631.311448794,652,0.400978151127,0.00449271835879,0.069838793262,0.999999964683,4.17052314903e-05,-0.000261609524727,2.13341855711e-05,1793243673548157184
+67,1.116666667,BASELINE,764,745,713.889486121,680,659,634,878,787,805,651.110513879,631.889486121,652,0.40097885047,0.0044929379317,0.0698383465214,0.999999964741,4.44222422033e-05,-0.000260935771444,2.13735527411e-05,1793243673564823552
+68,1.133333333,BASELINE,764.478448075,745,714,679.521551925,659,634,878.478448075,787,804.521551925,651.478448075,631.521551925,652,0.400978404572,0.00449260581018,0.0698383014714,0.999999964548,4.29183076524e-05,-0.000261932694603,2.12914827659e-05,1793243673581489664
+69,1.150000000,BASELINE,765,745,713.931886262,679,659,634.068113738,879,787,804.068113738,652,631,652,0.400977947992,0.00449229794914,0.0698384711696,0.999999964375,4.08566665099e-05,-0.000262929057854,2.11890781504e-05,1793243673598155776
+70,1.166666667,BASELINE,765,745,713.356219927,679,659,634.643780073,879,787,804.643780073,652,631,652,0.400979429044,0.0044931426249,0.0698395335315,0.999999964836,4.20740542728e-05,-0.000260978506635,2.11490493681e-05,1793243673614822400
+71,1.183333333,BASELINE,764.779762582,745,713.220237418,679,659,634.779762582,878.779762582,787,805,652,631,652,0.400980123378,0.00449334959657,0.0698401656673,0.999999965122,4.26100045495e-05,-0.00025979335958,2.11447373447e-05,1793243673631489024
+72,1.200000000,BASELINE,764.202021127,745,713.797978873,679,659,634.202021127,878.202021127,787,805,652,631,652,0.400979540658,0.00449252140466,0.0698400994313,0.99999996513,4.20398003355e-05,-0.000259850667204,2.11984031352e-05,1793243673648155904
+73,1.216666667,BASELINE,764,744.627722852,714,679.372277148,659,634,878,787,805,652,631,652,0.40097846652,0.00449242197749,0.0698392532907,0.999999964812,4.15020951672e-05,-0.000261168019164,2.10732416603e-05,1793243673664822784
+74,1.233333333,BASELINE,764,744.055275976,714,679.944724024,659,634,878,787,805,652,631,652,0.400977128152,0.00449271439994,0.0698379878031,0.999999964315,4.09818644474e-05,-0.000263162884456,2.0851926536e-05,1793243673681489408
+75,1.250000000,BASELINE,764.53820849,744.53820849,714,679.46179151,659,634,878.53820849,786.46179151,805,652,631,652,0.400976917011,0.00449261655158,0.0698376585889,0.999999964208,4.12877537974e-05,-0.00026349850823,2.1174881851e-05,1793243673698156032
+76,1.266666667,BASELINE,764.871179146,745,714,679,659.128820854,634,879,786.128820854,805,652,631,652,0.400976866544,0.00449238860775,0.069837464055,0.999999964174,4.13346472261e-05,-0.000263595949396,2.14769948761e-05,1793243673714822656
+77,1.283333333,BASELINE,764.298221258,745,714,679,659.701778742,634,879,786.701778742,805,652,631,652,0.400976954656,0.00449185594578,0.0698373888467,0.99999996425,4.01841754349e-05,-0.000263483630224,2.15066880477e-05,1793243673731489280
+78,1.300000000,BASELINE,764.275083601,745,714,679,659.724916399,634.275083601,878.724916399,786.724916399,804.724916399,652,631,651.724916399,0.400977828022,0.00449225791325,0.0698377797481,0.999999964503,4.03539564034e-05,-0.000262504839828,2.1374053497e-05,1793243673748155904
+79,1.316666667,BASELINE,764.848765054,745,714,679,659.151234946,634.848765054,878.151234946,786.151234946,804.151234946,652,631,651.151234946,0.400979553765,0.00449367440266,0.0698386766024,0.999999964946,4.19568459098e-05,-0.000260585511924,2.1065215387e-05,1793243673764822528
+80,1.333333333,BASELINE,765,744.574880357,714,679,659,634.574880357,878,786.425119643,804.425119643,652.425119643,631,651.425119643,0.400979531314,0.00449320875761,0.069838434647,0.999999964839,4.14045930936e-05,-0.000261082354707,2.10865830834e-05,1793243673781489408
+81,1.350000000,BASELINE,764.99748107,744.00251893,714,679.00251893,659.00251893,634.00251893,878.00251893,786.99748107,805,652.99748107,631.00251893,652,0.40097888203,0.00449207688511,0.0698377898384,0.999999964535,4.0090353258e-05,-0.000262436279887,2.1225746733e-05,1793243673798156032
+82,1.366666667,BASELINE,764.399350703,744.600649297,714,679.600649297,659.600649297,634.600649297,878.600649297,786.399350703,805,652.399350703,631.600649297,652,0.400978000357,0.00449273562458,0.0698382890655,0.99999996463,4.10341151343e-05,-0.000261921827292,2.1266301856e-05,1793243673814822656
+83,1.383333333,BASELINE,764.191527178,745,714,680,659.808472822,635,878.808472822,786,805,652,631.808472822,651.808472822,0.400978110166,0.00449305947645,0.0698387110735,0.999999964834,4.14449834926e-05,-0.000261080076954,2.12315185876e-05,1793243673831489280
+84,1.400000000,BASELINE,764.767834834,745,714,680,659.232165166,635,878.232165166,786,805,652,631.232165166,651.232165166,0.400980211877,0.00449271053511,0.0698389779476,0.999999965256,4.07852623286e-05,-0.000259580781296,2.10453795628e-05,1793243673848155648
+85,1.416666667,BASELINE,765,745,714,679.657462959,659,634.657462959,878.342537041,786,805,652,631,651.342537041,0.400981123629,0.00449268626774,0.0698393931898,0.999999965427,4.07428048441e-05,-0.000258933713525,2.09529837118e-05,1793243673864822272
+86,1.433333333,BASELINE,765,745,714,679.083843854,659,634.083843854,878.916156146,786,805,652,631,651.916156146,0.400981232612,0.00449288103168,0.069839908524,0.999999965431,4.11167653285e-05,-0.000258861575139,2.0923828817e-05,1793243673881488896
+87,1.450000000,BASELINE,765,745,714,679,659,634,879,786.502003154,805,652,631,652,0.400979424677,0.00449130316067,0.0698385693728,0.999999965038,3.99496415432e-05,-0.000260538678224,2.11785179933e-05,1793243673898155776
+88,1.466666667,BASELINE,765,745,714,679,659,634,879,786.911358492,805,652,631,652,0.400977712032,0.0044901100392,0.069837377652,0.999999964651,3.91292987109e-05,-0.000262125898061,2.1397554975e-05,1793243673914822400
+89,1.483333333,BASELINE,765,745,714,679,659,634,879,786.331928633,805,652,631,652,0.400978343902,0.00449272735132,0.0698387599616,0.999999964701,4.16896945065e-05,-0.000261557466725,2.11501570876e-05,1793243673931489024
+90,1.500000000,BASELINE,765,745,714,679,659,634,879,786.24694839,805,652,631,652,0.400978546004,0.00449431827151,0.069839196036,0.999999964641,4.29021011419e-05,-0.000261609958097,2.08987849393e-05,1793243673948155904
+91,1.516666667,BASELINE,765,745,714,679,659,634,879,786.825083946,805,652,631,652,0.400978171737,0.00449453267782,0.0698383630966,0.99999996444,4.23066937531e-05,-0.000262495180735,2.06420828542e-05,1793243673964822784
+92,1.533333333,BASELINE,764.59418539,745,714,679,659,634,879,786.59418539,805,652,631,652,0.400978746847,0.00449377309832,0.0698384974453,0.999999964608,4.14755504558e-05,-0.00026198470734,2.06776000879e-05,1793243673981489152
+93,1.550000000,BASELINE,764.012328922,745,714,679,659,634,879,786.012328922,805,652,631,652,0.400979733795,0.00449259100504,0.0698390514022,0.999999964935,4.05421451722e-05,-0.000260868782872,2.08398816654e-05,1793243673998155776
+94,1.566666667,BASELINE,764.572939064,745,714,679.572939064,659,634,878.427060936,786,804.427060936,652,631,652,0.400978651682,0.00449315967976,0.069839038658,0.999999964731,4.15420326769e-05,-0.000261484475635,2.09091476152e-05,1793243674014822400
+95,1.583333333,BASELINE,765,744.844870978,714,679.844870978,659,634,878.155129022,786.155129022,804.155129022,652,631.155129022,652,0.400977767109,0.00449329905636,0.0698389940975,0.999999964572,4.23441734477e-05,-0.000261958757343,2.09721522272e-05,1793243674031489024
+96,1.600000000,BASELINE,765,744.271185042,714,679.271185042,659,634,878.728814958,786.728814958,804.728814958,652,631.728814958,652,0.400977536372,0.00449217787593,0.0698388967925,0.999999964567,4.24998501523e-05,-0.00026195035484,2.10236958563e-05,1793243674048155904
+97,1.616666667,BASELINE,765,744.304626945,714,679.304626945,659,634,879,786.695373055,805,652,631.39074611,651.695373055,0.400977854693,0.00449288032214,0.0698392552731,0.999999964668,4.30301001519e-05,-0.000261489259189,2.08787538663e-05,1793243674064822528
+98,1.633333333,BASELINE,765,744.882344854,714,679.882344854,659,634,879,786.117655146,805,652,630.235310291,651.117655146,0.40097866523,0.00449521760724,0.0698400223549,0.999999964863,4.38961463806e-05,-0.000260622334671,2.05576670907e-05,1793243674081489408
+99,1.650000000,BASELINE,765,745,714,679.529992209,659,634,878.529992209,786,804.529992209,652,630.470007791,651,0.400977646918,0.00449428422734,0.0698390869937,0.999999964777,4.24504227504e-05,-0.000261176327985,2.07584860401e-05,1793243674098156032
+100,1.666666667,BASELINE,765,745,714,679,659,634,878.059098877,786,804.059098877,652,631,651.059098877,0.400976425836,0.00449272057064,0.0698378777052,0.999999964629,4.06541085862e-05,-0.00026200172761,2.10558482513e-05,1793243674114822912
+101,1.683333333,BASELINE,765,745,714,679,659,634,878.638374552,786,804.638374552,652,631,651.638374552,0.400977536666,0.00449297143913,0.069838089475,0.999999964613,4.09756399872e-05,-0.000262017579684,2.10281824677e-05,1793243674131489536
+102,1.700000000,BASELINE,765,745,714,679.215665081,659,634,878.784334919,786,804.784334919,652,630.784334919,652,0.400978522313,0.00449338804879,0.0698385792068,0.999999964697,4.18081705915e-05,-0.000261562698056,2.10300079264e-05,1793243674148155904
+103,1.716666667,BASELINE,765,745,714,679.789657238,659,634,878.210342762,786,804.210342762,652,630.210342762,652,0.400979299969,0.00449408003702,0.0698395307719,0.999999964947,4.34897252559e-05,-0.000260325693379,2.10808330245e-05,1793243674164822528
+104,1.733333333,BASELINE,765,745,714,679.62914239,659,634,878.37085761,786,804.37085761,652,630.37085761,652,0.400979130073,0.00449435588756,0.0698395271638,0.999999964837,4.43575089525e-05,-0.000260602857499,2.10748745461e-05,1793243674181488896
+105,1.750000000,BASELINE,765,745,714,679.043772573,659,634,878.956227427,786,804.956227427,652,630.956227427,652,0.400978412092,0.00449439103497,0.0698389710625,0.999999964519,4.47545897631e-05,-0.000261755850072,2.10360712016e-05,1793243674198155776
+106,1.766666667,BASELINE,764.461158335,745,714,679.538841665,659,634,878.461158335,786,805,652,631,652,0.400978400715,0.004494541643,0.0698386524746,0.999999964645,4.52172205289e-05,-0.000261195016647,2.10481043592e-05,1793243674214822400
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,786,805,652,631,652,0.400977731894,0.00449270767146,0.0698375841139,0.999999964118,4.23706776738e-05,-0.000263667976122,2.11478743894e-05,1793243674257304320
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.58005593,745,714,679.41994407,658.41994407,634,878.58005593,786,805,652,631,651.41994407,0.400978337041,0.00449236300488,0.0698387123703,0.999999964711,4.13337960647e-05,-0.000261581005953,2.11158126167e-05,1793243674273971200
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.158092998,634,878.841907002,786,805,652,631,651.158092998,0.400978639188,0.00449246824295,0.0698393783961,0.999999965007,4.17244501445e-05,-0.000260389812419,2.10483495078e-05,1793243674290637824
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.730835085,634,878.269164915,786,805,652,631,651.730835085,0.400978146624,0.00449375349877,0.0698388320759,0.999999964527,4.58592696327e-05,-0.0002615480771,2.08880351471e-05,1793243674307304448
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.681801862,714,679,659,634,878.318198138,786.318198138,805,652,631,651.681801862,0.400978605008,0.00449273102409,0.0698389213386,0.999999964591,4.52704714157e-05,-0.000261390545079,2.10723901613e-05,1793243674323970816
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.08147525,714,679,659,634,878.91852475,786.91852475,805,652,631,651.08147525,0.400979906543,0.00448966241392,0.0698395741372,0.99999996513,4.0493505612e-05,-0.000260066369722,2.15623442216e-05,1793243674340637440
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.500875116,714,679.500875116,659,634,879.500875116,787,805,652,631,651.500875116,0.400979355414,0.00449000640665,0.0698396205161,0.999999965127,3.94442948612e-05,-0.000260239934815,2.15576312852e-05,1793243674357304064
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.920972253,659,634,879.920972253,786.920972253,804.920972253,652,631,651.920972253,0.40097907615,0.00449097400706,0.0698397786212,0.999999965114,3.94165306968e-05,-0.000260303254817,2.14516133823e-05,1793243674373970688
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.351354899,659,634,879.351354899,786.351354899,804.351354899,652,631,651.351354899,0.400982290582,0.0044924861974,0.0698412214483,0.99999996555,4.20958521121e-05,-0.000258222176253,2.1198921032e-05,1793243674390637568
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.774373247,745,714,679.225626753,658.774373247,634,878.774373247,786.225626753,804.225626753,652,631,651.225626753,0.40099041762,0.00449312437865,0.0698449444449,0.999999967012,4.29761342806e-05,-0.000252360860814,2.10461640051e-05,1793243674407304448
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.185536739,745,714,679.814463261,658.185536739,634,878.185536739,786.814463261,804.814463261,652,631,651.814463261,0.401006452877,0.00449235559615,0.0698523380158,0.99999997004,4.09603562356e-05,-0.000240414190475,2.10542810275e-05,1793243674423971072
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.397878326,745,714,679.602121674,658,634,878.397878326,787,805,652,631,652,0.401040150086,0.00449187599953,0.0698652694845,0.999999975426,4.07198806843e-05,-0.000216877028837,2.13182015934e-05,1793243674440637440
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.978799323,745,714,679.021200677,658,634,878.978799323,787,805,652,631,652,0.401081972622,0.00449152944189,0.0698807486462,0.999999981238,4.12961272591e-05,-0.000188007696936,2.16998037618e-05,1793243674457304064
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.554742617,634,878.445257383,787,805,652,631,652,0.401140871079,0.00449296090293,0.0698954458865,0.999999985158,4.14734708786e-05,-0.000165909611562,2.09160961628e-05,1793243674473970688
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.131991607,786.868008393,805,652,631,652,0.401201372649,0.00449398818111,0.0699075310194,0.999999987998,4.09330529457e-05,-0.000148087415289,1.99636727968e-05,1793243674490637312
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.714339099,786.285660901,805,652,631,652,0.40126513721,0.00449340659973,0.0699108046886,0.99999998874,3.79951830346e-05,-0.000143979465753,1.85861919665e-05,1793243674507303680
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.703320572,745,714,679.296679428,659,634,879,786.296679428,805,652,631,652,0.401339090038,0.00449268962673,0.0699123561741,0.999999989245,3.49413120732e-05,-0.000141401741562,1.71412223695e-05,1793243674523970304
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.120987175,745,714,679.879012825,659,634,879,786.879012825,805,652,631,652,0.401422852502,0.0044918422937,0.0699122494768,0.999999989531,3.17757511702e-05,-0.000140297375402,1.56312721651e-05,1793243674540637184
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.45848416,745,714,679.54151584,659,634.45848416,879,787,804.54151584,652,631,652,0.401522038686,0.00449396403116,0.0699102665536,0.999999989012,3.07417003875e-05,-0.000144435378085,1.29895170347e-05,1793243674557304064
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.963015575,786.963015575,804.036984425,652,631,652,0.401627519452,0.00449667342564,0.0699080936032,0.999999988345,3.00683241076e-05,-0.000149349847908,1.00574634221e-05,1793243674573970944
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.387724569,786.387724569,804.612275431,652,631,652,0.401765745125,0.00449660317231,0.0699103163861,0.999999989029,2.65085549271e-05,-0.000145555592437,7.22023807339e-06,1793243674590637568
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.191700065,659,635,878.191700065,786.191700065,805,652,631,652,0.401912611948,0.00449693624062,0.0699132400483,0.999999989729,2.32725227252e-05,-0.000141360190766,4.14030461715e-06,1793243674607303936
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.779669381,659,635,878.779669381,786.779669381,805,652,631,652,0.402077341148,0.00449810302782,0.0699176125196,0.999999990492,2.07056978833e-05,-0.000136335567614,5.58661930445e-07,1793243674623970816
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.639511664,659,634.639511664,879,786.639511664,804.639511664,652,631,651.639511664,0.402261858179,0.00449851916412,0.0699211407061,0.999999991384,1.69012147046e-05,-0.000130130379035,-3.41266635327e-06,1793243674640637184
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.062977958,659,634.062977958,879,786.062977958,804.062977958,652,631,651.062977958,0.402458234331,0.00449848542563,0.0699241629022,0.999999992303,1.2354986462e-05,-0.000123217661677,-7.61753865176e-06,1793243674657303808
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,713.482734892,679,659,634,879,786.517265108,804.517265108,652,631,651.517265108,0.402687293491,0.00449904241167,0.0699256045945,0.999999992807,6.38215482037e-06,-0.000119132930321,-1.23138501676e-05,1793243674673970688
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,713.09649328,679,659,634.09649328,878.90350672,787,805,652,630.90350672,652,0.402926489701,0.00449963479716,0.0699266791812,0.999999993143,-2.1985549988e-09,-0.000115850109581,-1.71333570857e-05,1793243674690637568
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,713.668479003,679,659,634.668479003,878.331520997,787,805,652,630.331520997,652,0.40319588849,0.00450004465104,0.0699268998597,0.999999993133,-7.55233407039e-06,-0.000114809951305,-2.22629656257e-05,1793243674707304192
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.24921279,659,635,878.24921279,787,804.75078721,652,630,652,0.403486335248,0.0044981847718,0.0699332073172,0.999999994169,-1.75832659967e-05,-0.000103074706436,-2.70079692872e-05,1793243674723970560
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.842007214,659,635,878.842007214,787,804.157992786,652,630,652,0.403805800144,0.00449319568468,0.0699479064202,0.999999996098,-3.1034391456e-05,-7.65944906516e-05,-3.1222730286e-05,1793243674740637184
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.575484595,879,786.575484595,804,652,630.424515405,651.575484595,0.404138215169,0.0044824820065,0.0699522465446,0.999999995596,-4.95356960754e-05,-7.19595636377e-05,-3.43009327609e-05,1793243674757303808
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.996740798,714,680,658.996740798,634,879,786.003259202,804,652,631,651.003259202,0.404475639878,0.00446978837453,0.0699528510902,0.999999994081,-6.94631593466e-05,-7.51775128401e-05,-3.68943067682e-05,1793243674773970432
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.422672836,714,680,658.422672836,634,879,786.577327164,804,652,631,651.577327164,0.404866312706,0.00447463937521,0.0699584536097,0.999999997463,-1.77747846122e-05,-6.3510217351e-05,-2.69058020551e-05,1793243674790637056
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.155186256,714,679.844813744,658.310372513,634,879,787,804.155186256,652,630.844813744,651.844813744,0.405262977297,0.00448187591117,0.0699619324638,0.999999997786,2.96894760677e-05,-5.6147681729e-05,-1.98563281312e-05,1793243674807304192
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.743629525,714,679.256370475,659.48725905,634,879,787,804.743629525,652,630.256370475,651.256370475,0.405676369936,0.00449577250701,0.0699594823585,0.999999995795,6.53606279922e-05,-6.08033995749e-05,-2.10121941299e-05,1793243674823970816
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.673177187,634,879,786.673177187,804.673177187,652,630.653645626,651,0.40611243168,0.00450006633429,0.0699559098649,0.999999994599,7.61797812685e-05,-6.6535712262e-05,-2.39082558005e-05,1793243674840637440
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.094036985,634,879,786.094036985,804.094036985,652,631.81192603,651,0.406565994725,0.0044969465267,0.0699514708522,0.999999994633,6.78124215357e-05,-7.3099190224e-05,-2.81478028554e-05,1793243674857304320
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.484322096,658.515677904,634,879,786,804.484322096,652,631.031355808,651.484322096,0.407043344977,0.00450403629957,0.0699357109145,0.999999994938,5.26456661824e-06,-9.56161771508e-05,-3.08870492683e-05,1793243674873970688
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,713.937997695,679.937997695,658.124004611,634,879,786,805,652,630.062002305,651.937997695,0.407534186023,0.00451264912302,0.0699204467113,0.99999999107,-5.66273569784e-05,-0.000116417836497,-3.31612871013e-05,1793243674890637312
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,713.364667023,679.364667023,659.270665953,634,879,786,805,652,630.635332977,651.364667023,0.408098257203,0.00451750076933,0.0699273691142,0.999999994311,-2.6493617872e-05,-9.75690710823e-05,-3.39991099531e-05,1793243674907303680
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,713.215097626,678.784902374,659.784902374,634,879,786.215097626,805,652,630.784902374,651.215097626,0.408680073413,0.00452325578326,0.0699367098257,0.999999996523,1.970526758e-06,-7.54092671624e-05,-3.5542667967e-05,1793243674923970560
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,713.80610646,678.19389354,659.19389354,634,879,786.80610646,805,652,630.19389354,651.80610646,0.40929290135,0.00453058954987,0.0699502768469,0.999999997761,2.75168350424e-05,-4.74629920451e-05,-3.83195903669e-05,1793243674940637184
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,678.778348875,659,634,879,787,805,652,630.389174438,652,0.409896351179,0.00453867035847,0.0699472829456,0.999999996664,5.12126216976e-05,-4.98707255575e-05,-3.9521960524e-05,1793243674957303808
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.936730473,659,634,879,787,805,652,630.968365236,652,0.410495222081,0.00454711591383,0.0699362030909,0.999999994212,7.40048811689e-05,-6.70989560377e-05,-3.99555476024e-05,1793243674973970688
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.459946829,805,652,631,652,0.41113469652,0.00455246672302,0.0699370594976,0.999999994532,6.41498427426e-05,-7.19467570587e-05,-4.05477085252e-05,1793243674990637568
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.115287159,879,786,805,652,631,652,0.411797596016,0.00455800711349,0.0699442758011,0.999999995478,5.7007123072e-05,-6.39602707164e-05,-4.12602672966e-05,1793243675007304448
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.706965245,879,786,805,652,631,652,0.412547599091,0.00456506972104,0.0699749229237,0.999999996711,6.88663782572e-05,-5.89545177538e-06,-4.2432477877e-05,1793243675023970816
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.292458556,714,679.707541444,659,634.707541444,879,786,805,652,631,652,0.413295524198,0.00457206713172,0.0700008990357,0.999999994859,8.42959406199e-05,3.60700206713e-05,-4.32972493135e-05,1793243675040637440
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.871883313,714,679.128116687,659,634.128116687,879,786,805,652,631,652,0.414041410452,0.00457900057078,0.0700222918622,0.999999991773,0.000103228761519,6.22384983564e-05,-4.38603555117e-05,1793243675057304064
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.550359299,714,679.449640701,659,634,879,786.449640701,805,651.550359299,631,652,0.414751409608,0.00458585073122,0.0699982952961,0.999999993904,0.000100095472066,1.52037941139e-05,-4.4058695582e-05,1793243675073970688
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.973366466,804.973366466,651,631,652,0.415453307708,0.00459276247622,0.0699613069121,0.999999993428,9.20150197801e-05,-5.21120079587e-05,-4.42981339291e-05,1793243675090637312
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.402325721,804.402325721,651,631,652,0.4161978566,0.00460141629763,0.0699221365943,0.999999986764,0.000110853549983,-0.00010921336207,-4.74942685074e-05,1793243675107303936
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.175473756,714,680,659.175473756,634.175473756,879.175473756,786.175473756,804.175473756,651,631,652,0.41697827935,0.00460851404038,0.0699035287827,0.999999981448,0.000127478433355,-0.000135649407631,-4.95300797675e-05,1793243675123970816
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.769390384,714,680,659.769390384,634.769390384,879.769390384,786.769390384,804.769390384,651,631,652,0.417844248523,0.00461190108513,0.0699339552812,0.999999985216,0.000138824551131,-8.89595305345e-05,-4.8798930206e-05,1793243675140637440
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.645430665,713.645430665,680,660,634.645430665,879.645430665,787,805.354569335,651.354569335,631,652.354569335,0.418705300149,0.00461517479007,0.0699644659362,0.999999988527,0.000136219369109,-4.50338201985e-05,-4.8592721296e-05,1793243675157304064
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.065797987,713.065797987,680,660,634.065797987,879.065797987,787,805.934202013,651.934202013,631,652.934202013,0.419563230321,0.00461837655228,0.0699950300084,0.999999991027,0.000124758581088,-2.86267004984e-06,-4.87197191428e-05,1793243675173970432
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.489987875,713.489987875,680.489987875,660,634,879.489987875,787,806,652,631,652.510012125,0.420434330153,0.00461050109638,0.070010700107,0.999999990912,0.000122577070115,2.34737590362e-05,-5.09891653514e-05,1793243675190637312
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.952627073,714,680.952627073,660,634,879.952627073,787,806,652,631,652,0.421304926669,0.0045999623018,0.070023074353,0.999999990621,0.000117971755872,4.48990158868e-05,-5.31402733707e-05,1793243675207303936
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.339694725,714,680.339694725,660,634,879.339694725,787,806,652,631,652,0.422149380511,0.00457456169956,0.0700188704122,0.999999995744,7.02442648211e-05,3.1899829904e-05,-5.0603331212e-05,1793243675223970560
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.741782242,634.258217758,879,786.741782242,805.741782242,652,631,652,0.422975795793,0.00456174804766,0.0699799429638,0.999999996915,5.09514140383e-05,-3.30741369614e-05,-4.97940455452e-05,1793243675240637184
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.16254269,634.83745731,879,786.16254269,805.16254269,652,631,652,0.423779785269,0.00456458275594,0.0698978465138,0.999999983218,6.70091042965e-05,-0.00016266425552,-5.11326182416e-05,1793243675257303808
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.414895357,714,680,659,634.585104643,879.414895357,786,805,652,631,652,0.424648632343,0.00457017590603,0.0698667153348,0.999999975178,7.89476150318e-05,-0.000201152249436,-5.42970913083e-05,1793243675273970688
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.991630648,714,680,659,634.008369352,879.991630648,786,805,652,631,652,0.425542778638,0.00457684505266,0.0698554643931,0.999999973493,8.92793398523e-05,-0.000204103656925,-5.81738009584e-05,1793243675290637568
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.431381911,713.431381911,680,659.568618089,634,879.431381911,786.568618089,805,652,631,651.431381911,0.426495961306,0.00458139784524,0.0699216381993,0.999999989541,7.72084616024e-05,-0.000109411625006,-5.46498449688e-05,1793243675307303936
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713.148410043,680,660,634,879.148410043,787,805.148410043,651.851589957,631,651.148410043,0.42744136593,0.00458596634181,0.0699817171172,0.99999999572,7.24929332873e-05,-2.47908295919e-05,-5.18620681864e-05,1793243675323970816
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713.736499612,680,660,634,879.736499612,787,805.736499612,651.263500388,631,651.736499612,0.428361151799,0.004590673689,0.0700203616531,0.999999994239,9.05456804084e-05,2.57332090134e-05,-5.15781520469e-05,1793243675340637184
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.680212745,786.680212745,806,651.319787255,631,652,0.429292424693,0.0045917335001,0.0700421741588,0.99999999178,0.000100004260003,6.11103210259e-05,-5.20004230412e-05,1793243675357304064
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.100823318,786.100823318,806,651.899176682,631,652,0.430233022669,0.00458983225395,0.0700503224795,0.9999999898,0.000102486123799,8.4191208765e-05,-5.29959743517e-05,1793243675373970688
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.474946982,714,680,660,634,879.474946982,786.474946982,805.525053018,652,631,652,0.431041560449,0.00458962380701,0.0699926734049,0.999999993706,9.72838971456e-05,-1.49259772246e-05,-5.38672251207e-05,1793243675390637312
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.950110137,714,680.049889863,659.950110137,634,880,787,805.049889863,651.950110137,631.049889863,652,0.431827474968,0.00458922843726,0.0699244837873,0.999999985546,9.04794318385e-05,-0.00013316650705,-5.46727536498e-05,1793243675407304192
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.375850355,714,680.624149645,659.375850355,634,880,787,805.624149645,651.375850355,631.624149645,652,0.432668032265,0.00458311997095,0.0698912051867,0.99999997844,8.3849772043e-05,-0.00018181560471,-5.50627559958e-05,1793243675423970816
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.795346581,745,714,681,659.409306838,634,879.795346581,786.795346581,806,651.204653419,631.795346581,651.795346581,0.433541123273,0.00457666085431,0.0698919204591,0.999999980755,7.51213792366e-05,-0.000172532428593,-5.54924961192e-05,1793243675440637440
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.203014602,745,714,681,660.593970795,634,879.203014602,786.203014602,806,651.796985398,631.203014602,651.203014602,0.434475843605,0.00456953749354,0.0699570309151,0.999999995053,6.24173180974e-05,-5.3507137881e-05,-5.59975119538e-05,1793243675457303808
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.379792008,745,714,681,661,634,879.379792008,786,805.620207992,651.620207992,631,651.379792008,0.435389062844,0.00456892511549,0.0700018330839,0.999999996145,6.49835623091e-05,2.09551593594e-05,-5.52133087344e-05,1793243675473970432
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.957631458,745,714,681,661,634,879.957631458,786,805.042368542,651.042368542,631,651.957631458,0.436291070003,0.0045717079738,0.0700360452306,0.999999993099,7.55127051038e-05,7.21795016566e-05,-5.37568257377e-05,1793243675490637312
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.467693783,634.532306217,880,786.532306217,805.532306217,651,631,652,0.437115387022,0.00457294820614,0.0700278379284,0.999999993824,6.92622742426e-05,6.68194124887e-05,-5.55905260662e-05,1793243675507303936
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.109528929,714,681,660.109528929,634.890471071,880,787,806,651,631,652,0.437919033319,0.00457415325201,0.0700104601669,0.999999995171,6.34072001595e-05,4.83120856753e-05,-5.74844517919e-05,1793243675523970560
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.699014026,714,681,660.699014026,634.300985974,880,787,806,651,631,652,0.438659037223,0.00457573897167,0.0699676051413,0.999999996136,6.5102414752e-05,-8.18746324032e-06,-5.8501508985e-05,1793243675540637184
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.716584294,745.716584294,714,681,660.716584294,634,880,787,806,651,631,651.716584294,0.439377997072,0.00457500065157,0.0699179154183,0.999999992204,6.78624298279e-05,-8.69433839753e-05,-5.85516578849e-05,1793243675557303808
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.137486088,745.137486088,714,681,660.137486088,634,880,787,806,651,631,651.137486088,0.440075001993,0.00457183770256,0.0698610951814,0.999999977923,7.1733331603e-05,-0.000188918972464,-5.7593048411e-05,1793243675573970944
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.439840822,745,714,681.439840822,660,634,880.439840822,787,806,651,631,651.439840822,0.440866022413,0.00457035032084,0.0698747524561,0.999999983382,5.90877481477e-05,-0.000162445093041,-5.79290251645e-05,1793243675590637568
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.983443005,745,714,682,660.03311399,634,880.983443005,786.983443005,806,651,631.016556995,652,0.441684298033,0.00456945547355,0.0699112358696,0.999999992879,4.2002261374e-05,-9.50841781104e-05,-5.86187758278e-05,1793243675607304192
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.408726941,745,714,682,661.182546117,634,880.408726941,786.408726941,806,651,631.591273059,652,0.442434662265,0.00457095022269,0.0699775381395,0.999999997155,4.85868007467e-05,2.52095615228e-06,-5.76476817658e-05,1793243675623970560
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.170512663,745,714,682,661.658974674,634,880,786.170512663,806,651,632,652,0.443167960874,0.00457280024286,0.0700264235835,0.999999994211,5.6645336828e-05,7.17988539995e-05,-5.67010573509e-05,1793243675640636928
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.760891028,745,714,682,660.478217943,634,880,786.760891028,806,651,632,652,0.443859237716,0.00457552507301,0.0700324223269,0.999999993564,6.83334043097e-05,7.13245624879e-05,-5.58146872786e-05,1793243675657303552
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.655452858,745,714,681.655452858,660,634,880,787,806.344547142,651,631.655452858,652,0.444509432318,0.00457714562178,0.0700149475906,0.99999999477,7.61346273215e-05,3.90099428279e-05,-5.60520963552e-05,1793243675673970176
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.076372615,745,714,681.076372615,660,634,880,787,806.923627385,651,631.076372615,652,0.445131662212,0.00457801448649,0.0699814944657,0.999999994956,8.12900759789e-05,-1.49783755837e-05,-5.70544613761e-05,1793243675690637056
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.498431233,745,714,681,659.501568767,634,880,787,806.501568767,651,631,651.501568767,0.445709025302,0.00458431889849,0.0699422746285,0.999999991744,9.25313108562e-05,-6.88433614908e-05,-5.66650099798e-05,1793243675707303936
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633.927071252,880,786.927071252,806,651,631,651,0.446272174013,0.00459159283696,0.0699033707693,0.99999998545,0.000104339030643,-0.000122653617484,-5.62914002731e-05,1793243675723970816
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633.350201177,880,786.350201177,806,651,631,651,0.446784201471,0.00459986005625,0.0698727041838,0.999999976361,0.000113672379379,-0.000176215161716,-5.74883764908e-05,1793243675740637440
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681.232303005,658.767696995,633,880.232303005,786.232303005,806.232303005,651,631,651.232303005,0.447274976987,0.00460843721342,0.0698410121785,0.99999996301,0.000126668966889,-0.000233703898772,-5.76057380708e-05,1793243675757304064
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681.823511771,658.176488229,633,880.823511771,786.823511771,806.823511771,651,631,651.823511771,0.447732918425,0.00461749322066,0.0698077359129,0.999999943687,0.000145325219915,-0.000297260103505,-5.60551060324e-05,1793243675773970432
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713.594945769,681.594945769,657.594945769,633.405054231,880.594945769,786.594945769,806.594945769,651,631,652,0.448203142399,0.00462469592778,0.0697891045094,0.999999932325,0.00015590422733,-0.00032825727143,-5.73669070356e-05,1793243675790637056
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713.017516849,681.017516849,657.017516849,633.982483151,880.017516849,786.017516849,806.017516849,651,631,652,0.448678593363,0.00463110994614,0.0697767053639,0.999999925264,0.000163045887591,-0.000345398636521,-5.98968436304e-05,1793243675807303936
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,713.557256301,681.557256301,657.557256301,633.442743699,880.557256301,786,806,651,631,652,0.449146839826,0.00463452449864,0.069788946614,0.999999930616,0.000170050984808,-0.000326097281368,-5.92634944795e-05,1793243675823970560
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.864623451,745,713.864623451,681.864623451,657.729246903,632.864623451,881,786,806,651,631,652,0.44959764833,0.00463858227393,0.0697987986225,0.999999934146,0.000178376834991,-0.000310546238805,-5.87380949662e-05,1793243675840637184
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.274993129,745,713.274993129,681.274993129,656.549986257,632.274993129,881,786,806,651,631,652,0.449990700478,0.00464511324638,0.0697980469162,0.99999993151,0.00019114878787,-0.000311404925174,-5.89069885907e-05,1793243675857304064
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.309216844,745,713,681.309216844,655.690783156,632,880.381566312,786,806.309216844,651,631,651.690783156,0.4503412988,0.00465086103006,0.0697803623989,0.999999920242,0.000200151329261,-0.000340376585023,-5.99900434965e-05,1793243675873970688
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.888689392,745,713,681.888689392,655.111310608,632,879.222621216,786,806.888689392,651,631,651.111310608,0.450654792427,0.0046559243059,0.0697478785948,0.999999899311,0.000205859401599,-0.000393918999549,-6.18720757654e-05,1793243675890637312
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,713,682,655,632,879.464783968,786,807,651,631,651.464783968,0.45094326827,0.00466185810661,0.0697107612202,0.999999875295,0.000209471937726,-0.000448860764803,-6.36882082361e-05,1793243675907303936
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713,682,654.96075073,632,880,786,806.96075073,651.03924927,631,651.96075073,0.451225128336,0.00466801951026,0.0696742421632,0.999999850366,0.000208550300378,-0.000501487614422,-6.54618776314e-05,1793243675923970304
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713,682,654.397318432,632,880,786,806.397318432,651.602681568,631,651.397318432,0.451498073492,0.00467445638177,0.069660426988,0.999999851394,0.00015372780425,-0.000518754822885,-6.68776999641e-05,1793243675940637184
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.821801913,745.178198087,713.178198087,682,653.821801913,632.178198087,880,785.821801913,806.178198087,652,631,651.178198087,0.451765332758,0.00468141802146,0.0696497254628,0.999999849187,0.000124194873187,-0.0005307900826,-6.68131667039e-05,1793243675957303808
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.21738191,745.78261809,713.78261809,682,653.21738191,632.78261809,880,785.21738191,806.78261809,652,631,651.78261809,0.452018992229,0.00468963482353,0.0696464713025,0.999999845351,0.000155150629623,-0.000530311341047,-6.32078549291e-05,1793243675973970432
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.369122283,745.630877717,713.630877717,681.630877717,652.630877717,632.261755434,880,785.369122283,806.630877717,651.630877717,631,652,0.452243699435,0.00469616320494,0.0696427735233,0.999999839927,0.000178554097252,-0.00053343720554,-6.09011527316e-05,1793243675990637056
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.945564025,745.054435975,713.054435975,681.054435975,652.054435975,631.10887195,880,785.945564025,806.054435975,651.054435975,631,652,0.452452145473,0.00470174327684,0.069638826583,0.999999833656,0.00019771578532,-0.000538587615831,-5.93238210531e-05,1793243676007303936
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,713,681.523162086,652,631.523162086,880,786,806.523162086,651,631,652,0.452628184185,0.00470495441508,0.0696314232768,0.999999824912,0.000204242550477,-0.0005520327733,-6.10024638678e-05,1793243676023970816
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,713,682,652,632,880,786,806.897338464,651,631,652,0.45279540813,0.00470823116766,0.069623705405,0.999999815755,0.000209529241844,-0.000566234996053,-6.29786568694e-05,1793243676040637440
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,713,682,652,632,880,786,806.309421394,651,631,652,0.452936941033,0.00471298575073,0.0696162043562,0.999999806594,0.00021518237818,-0.000579927064747,-6.47563724204e-05,1793243676057304064
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,713.274551736,682.274551736,652,632,880,786,806.274551736,651,631.274551736,652,0.453071834847,0.0047164351488,0.0696123004506,0.999999801525,0.000220208870699,-0.000586597455858,-6.60381952266e-05,1793243676073970432
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764.568486998,745,713.568486998,682.568486998,651.568486998,631.568486998,880,786,806.568486998,651,631.568486998,651.568486998,0.453307503883,0.00472195535131,0.0696140395,0.999999801423,0.000229176806523,-0.000583106579833,-6.79638156607e-05,1793243676107303936
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,681.162339492,651,631.162339492,880,786,806.162339492,651,631,652,0.453562442347,0.00473089366514,0.0696177939184,0.999999801455,0.000235085772205,-0.000580275616776,-7.14508103683e-05,1793243676157304064
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+224,3.733333333,POSE1_TO_POSE2_PRESS,765.913975863,745,713.086024137,682,651,631.086024137,880,786,806.086024137,651,631.913975863,652,0.453711061326,0.00473411961709,0.0696163965254,0.999999798762,0.000244660616035,-0.000581073409036,-7.05054671273e-05,1793243676207303680
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,713.065232141,682,651,631,880,786,806,651.934767859,631,652,0.453771148282,0.00473777030717,0.0696175260634,0.999999797301,0.000249587398036,-0.000581463785394,-7.0745549538e-05,1793243676240637184
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,713.654217599,682,651,631,880,786,806,651.345782401,631,652,0.453790178762,0.00473693535539,0.0696166470804,0.999999796565,0.000249646513531,-0.000582721213316,-7.05829246591e-05,1793243676257303808
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.760697579,745,713.760697579,682,650.760697579,631,880,786,806.239302421,651,631,652,0.453806437863,0.00473663255811,0.0696164832096,0.999999796332,0.000249861839504,-0.000583067255076,-7.02731611048e-05,1793243676273970432
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.181158658,745,713.181158658,682,650.181158658,631,880,786,806.818841342,651,631,652,0.45381875666,0.00473708636998,0.0696173360748,0.999999796812,0.000250299263126,-0.000582117501941,-6.97541980558e-05,1793243676290637312
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+233,3.883333333,POSE1_TO_POSE2_PRESS,764,745,713,682,650.124372315,631,880,786.124372315,806.875627685,651,631,652,0.453836511225,0.00474228845995,0.0696139924281,0.999999793669,0.000252593341158,-0.000586389510893,-7.07532511948e-05,1793243676357303808
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,745,713,682,650.711927053,631,880,786.711927053,806.288072947,651,631,652,0.453836505327,0.00473973626362,0.0696124283751,0.999999793182,0.000250010401459,-0.000588419189958,-6.99529658378e-05,1793243676373970688
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764.87845232,745,713,682,650.12154768,631,880,785.243095359,806,651,631,652,0.453838174813,0.00473789954738,0.0696115970979,0.999999792146,0.000250194439072,-0.00059015679563,-6.94662865703e-05,1793243676407303936
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+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713,682.396092082,650,631.396092082,880,786,806.396092082,651,631,652,0.453840109133,0.00473965183274,0.0696118375541,0.999999791246,0.000252669707652,-0.000590657099937,-6.92173557912e-05,1793243676457303808
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.774895811,713,682,650.774895811,631,880,785.225104189,806,651,631,652,0.453840224498,0.00473917423359,0.0696108728281,0.99999979017,0.000253158171507,-0.000592365236369,-6.83678755809e-05,1793243676490637312
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.641125434,713.358874566,682.358874566,650.641125434,631,880,785.358874566,806,651.358874566,631,652,0.453840858853,0.00473856969072,0.0696111003454,0.999999790537,0.000251917271361,-0.000592279724042,-6.83234085437e-05,1793243676507303936
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713.487382123,682.487382123,650,631,880,785.487382123,806,652,631,652,0.453841646785,0.00474031583062,0.0696107919178,0.999999790607,0.000252416029233,-0.000591839644125,-6.92626496723e-05,1793243676540636928
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,713,682.088656816,650.088656816,631,880,785.088656816,806,652,631,652,0.453841082949,0.00474211809567,0.0696098006162,0.999999789629,0.000254344618058,-0.000592610082703,-6.9744372438e-05,1793243676557303808
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+247,4.116666667,HOLD_POSE2,765,745,714,682,650,631,881,786,807,651,631,652,0.4538388941,0.00473597176505,0.069608358294,0.99999978864,0.000250803914481,-0.000596014944752,-6.77047913834e-05,1793243676611860992
+248,4.133333333,HOLD_POSE2,765,745,713.423587026,682,650,631,880.423587026,786,806.423587026,651,630.423587026,652,0.453839097019,0.0047375232782,0.069608486221,0.999999788216,0.000252668935853,-0.000595937065187,-6.77172938558e-05,1793243676628527872
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+251,4.183333333,HOLD_POSE2,764,745,714,682,650,631,880.310265538,786,806,651,631,651.310265538,0.453841952691,0.00473766716618,0.0696094892338,0.999999789547,0.000251961854763,-0.000593957724585,-6.80873269677e-05,1793243676678527744
+252,4.200000000,HOLD_POSE2,764,745,714,682,650,631,880.90203634,786,806,651,631,651.90203634,0.45384382683,0.00473753828948,0.0696105044516,0.999999790371,0.000252408652613,-0.000592384583823,-6.80303826666e-05,1793243676695194368
+253,4.216666667,HOLD_POSE2,764,745,713.516760214,682.483239786,650,631,881,786,806,651.483239786,631,652,0.453841725901,0.004737175954,0.0696099211479,0.999999789607,0.000250974521223,-0.000594308793244,-6.77908246904e-05,1793243676711860992
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+256,4.266666667,HOLD_POSE2,765,745,713,682,650,631,881,786,806,651,631,652,0.453841092888,0.00473853002569,0.0696079502829,0.99999978835,0.00025157346647,-0.000596145573343,-6.79827876357e-05,1793243676761860864
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.52166039,745,713,682,649.47833961,631.47833961,880,785.52166039,806,651,631,651.47833961,0.453843587837,0.00473576513413,0.0696072571601,0.999999788638,0.000248969382424,-0.000596797607405,-6.7611388631e-05,1793243677027741696
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,713,682,650,631.943350926,880,785.056649074,806,651,631,652,0.453844084625,0.00473737089168,0.0696081037298,0.999999788876,0.000250818709184,-0.000595602222183,-6.77971966012e-05,1793243677044408576
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745,713,682,650,631.368328487,880,785.631671513,806,651,631,652,0.453839849081,0.00473710319991,0.0696064717983,0.999999787106,0.000251516182988,-0.000598295461883,-6.75980308347e-05,1793243677061075200
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745,713.21158036,682,649.78841964,631,879.78841964,786,806,651,631,651.78841964,0.453832067545,0.00473657191902,0.069602805209,0.999999783751,0.0002518824861,-0.000603755830587,-6.73202164543e-05,1793243677077741824
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,745,713.800196723,682,649.199803277,631,879.199803277,786,806,651,631,651.199803277,0.453817967055,0.0047355709226,0.0695955128616,0.999999777508,0.000251658643265,-0.000614147220228,-6.69022503355e-05,1793243677094408448
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.382866375,745,713.617133625,682,649.382866375,631,879.382866375,785.617133625,806,651.382866375,631,651.382866375,0.453785410541,0.00473635809635,0.0695816608071,0.999999763663,0.000251155300455,-0.000636452233511,-6.72502269466e-05,1793243677111074816
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.962480185,745,713.037519815,682,649.962480185,631,879.962480185,785.037519815,806,651.962480185,631,651.962480185,0.453743369841,0.00473806417517,0.0695644378487,0.999999745279,0.000250508327972,-0.000664879422174,-6.79918062506e-05,1793243677127741440
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.462308676,745,713,682,649.462308676,631,880.537691324,785.537691324,806,651.462308676,630.462308676,652,0.453683432393,0.00473591487946,0.0695492587356,0.999999730896,0.000250318711231,-0.000686337156522,-6.70002389869e-05,1793243677144408320
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.112861909,745.112861909,713.112861909,682,649.112861909,631,881,786,806,651,630.112861909,652,0.453619192639,0.00473427972431,0.069535614474,0.999999717413,0.000250694604973,-0.000705672352882,-6.59752894848e-05,1793243677161074944
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.6891173,745.6891173,713.6891173,682,649.6891173,631,881,786,806,651,630.6891173,652,0.453542374104,0.00473585115775,0.0695276912559,0.999999707838,0.000253262427371,-0.000718273302329,-6.53057974931e-05,1793243677177741824
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.727899719,713.727899719,682,650,631,880.727899719,786,806,651,631,652,0.453456673488,0.00473684672583,0.069520463245,0.999999697837,0.000256352759501,-0.000731087613897,-6.418429976e-05,1793243677194408448
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.137035436,713.137035436,682,650,631,880.137035436,786,806,651,631,652,0.453360567566,0.00473716767069,0.069514049666,0.999999687349,0.000260055208794,-0.000744151877283,-6.25332797952e-05,1793243677211075072
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713,682.44490537,650,631,880.44490537,786,806,651,631,652,0.453242169531,0.00473697870444,0.0695042037538,0.999999674701,0.000262050473594,-0.000760419953634,-6.07292501246e-05,1793243677227741696
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.975990003,650.024009997,631,881,786,806,651.024009997,631,652,0.453115527653,0.00473675260802,0.0694931212889,0.999999660863,0.000263641630771,-0.000778009812602,-5.88940542674e-05,1793243677244408064
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713,682.400141949,650.599858051,631,881,786,806,651.599858051,631,652,0.452954119479,0.00473921191361,0.0694774387313,0.999999639493,0.000267792793889,-0.0008037446024,-5.74044338903e-05,1793243677261074688
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713,682.17897649,651,631,880.82102351,786,806,651.82102351,631,652,0.452784269548,0.00474012267603,0.0694621437204,0.99999961837,0.000271788137531,-0.000828442397308,-5.5437895461e-05,1793243677277741312
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.765542615,651,631,880.234457385,786,806,651.234457385,631,652,0.452595194922,0.00473750688471,0.0694477312857,0.999999598785,0.000275428627538,-0.000850778603505,-5.23852545575e-05,1793243677294408192
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.65203377,745,713.34796623,682.65203377,651,631.34796623,880,786,806,651,631,652,0.452395990862,0.00473785036385,0.069442627809,0.999999590637,0.000280485395436,-0.000858859241445,-4.91430389578e-05,1793243677311074816
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.072368454,745,713.927631546,682.072368454,651,631.927631546,880,786,806,651,631,652,0.452190041932,0.00474016432205,0.0694437228547,0.999999590307,0.000286485215875,-0.000857447575249,-4.57745916081e-05,1793243677327741696
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.505889015,745,714,681.494110985,651,631.494110985,880,786,806.505889015,651,631,652,0.4519596027,0.00473847383876,0.0694504280564,0.99999959733,0.000288838245089,-0.000848629589362,-4.1703289765e-05,1793243677344408320
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.916502397,681.083497603,651.083497603,631.083497603,880.166995205,786,807,651,631.083497603,651.916502397,0.451719118363,0.00473644307063,0.069457993622,0.999999604817,0.000291414999595,-0.000839073836866,-3.73816431746e-05,1793243677361074688
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.341530807,681.658469193,651.658469193,631.658469193,881.316938387,786,807,651,631.658469193,651.341530807,0.4514400716,0.00473577180424,0.0694659126322,0.999999609361,0.000298370757616,-0.000831394459962,-3.21766170607e-05,1793243677377741568
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.239378425,652,632,881.52124315,786,807,651,631.760621575,651.239378425,0.451148664304,0.00473391632911,0.0694767891366,0.999999618394,0.000304475636081,-0.000818418117179,-2.64414628225e-05,1793243677394408192
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713,682.828974567,652,632,880.342050866,786,807,651,631.171025433,651.828974567,0.450839173199,0.00473032832159,0.0694919925421,0.999999633801,0.000309335652113,-0.000797692156934,-1.99307157644e-05,1793243677411074816
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713,682.588615763,652.822768475,632,880.411384237,786,807,651.411384237,631,652,0.450503681448,0.00472517814363,0.0695099901559,0.999999653425,0.000312232074482,-0.000771683041114,-1.29313613171e-05,1793243677427741440
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.009142455,653.981715091,632,880.990857545,786,807,651.990857545,631,652,0.450157566,0.0047193896725,0.0695291294656,0.999999674176,0.000314326184244,-0.000743515260449,-5.73236504632e-06,1793243677444408064
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713.565372357,682,654,632,880.434627643,786,806.434627643,651.434627643,631,652,0.449791795432,0.00471642606892,0.0695558085914,0.999999700896,0.000317698613115,-0.00070517694075,2.46088800974e-07,1793243677461074944
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713.859837823,682,654.140162177,632,880,786,806,651,631,652,0.449414276139,0.0047124585811,0.0695840953548,0.999999728892,0.000319638012846,-0.000663332349003,6.13449096775e-06,1793243677477741568
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713.283946079,682,654.716053921,632,880,786,806,651,631,652,0.449001212517,0.0047052294926,0.0696170041255,0.999999762949,0.000317058776042,-0.000611094467482,1.18037675875e-05,1793243677494407936
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.892119738,713,682,655,632.892119738,880,786,806,651,631,652,0.448094237372,0.00466046896249,0.0696742588824,0.999999828457,0.000269460354263,-0.000519715318936,1.93037649471e-05,1793243677527741440
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.527768934,713.472231066,682.472231066,655.944462132,633,880.472231066,786,806,651,631,652,0.447567160929,0.00463539529855,0.0696782594974,0.999999847188,0.000205257282248,-0.000513161033402,1.26207485286e-05,1793243677544408064
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.901179238,657,633,880.950589619,786,806,651,631,652,0.447024206407,0.00461306637915,0.0696768622072,0.999999857707,0.000140204471046,-0.000514689756989,4.87624620329e-06,1793243677561074688
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.752801367,657,633,880.376400684,786,806,651,631,652,0.446455473237,0.00461453093921,0.0696731034791,0.999999857037,0.000145318519854,-0.000514516077909,9.06345335726e-06,1793243677577741568
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.203433864,714,681,657.203433864,633.203433864,880,786.203433864,806,651,631,652,0.445888524579,0.00461434342674,0.0696851026614,0.999999869328,0.00014550409981,-0.000489904588398,1.28817944769e-05,1793243677594408192
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.794012251,714,681,657.794012251,633.794012251,880,786.794012251,806,651,631,652,0.445324971969,0.00461101193992,0.0697270899129,0.999999902891,0.00013631056337,-0.000418786757029,1.59981653271e-05,1793243677611074816
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.623621186,713.623621186,681.376378814,658.752757628,634,880,787,806,651,631,651.623621186,0.444726222142,0.00460470759746,0.0697693693966,0.999999931691,0.000117038739877,-0.000350148367786,1.77607941304e-05,1793243677627741440
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.045652915,713.045652915,681.954347085,659.90869417,634,880,787,806,651,631,651.045652915,0.444108620614,0.00459681098601,0.0698118053991,0.999999955559,9.23689600695e-05,-0.000282837975607,1.87983550834e-05,1793243677644408064
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.531154988,682,658.937690024,634,880,787,806,651.531154988,631,651.531154988,0.443410815192,0.00459728390679,0.0698256722145,0.999999961204,8.16735991628e-05,-0.000265508637463,2.06606908213e-05,1793243677661074944
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.107106729,714,682,658.107106729,634,880,787,806,652,631,652,0.442699897074,0.00459741206901,0.0698333208297,0.999999964008,7.07052132652e-05,-0.000257836770182,2.24822055821e-05,1793243677677741824
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.67976943,714,682,658.67976943,634,880,787,806,652,631,652,0.44196188134,0.00459292167546,0.0698245911448,0.99999996089,5.33406760598e-05,-0.000273510572247,2.38188240917e-05,1793243677694408448
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,764.148902401,746,714,682,659,634,880,787,806,651.148902401,631,652,0.440450460345,0.00458937429083,0.0698296846721,0.99999996855,3.18175302739e-05,-0.000247428654173,2.58250968424e-05,1793243677727741696
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764.432855046,745.567144954,714,681.567144954,659,634,880,786.567144954,806,651,631,652,0.439626225693,0.00458856583105,0.0698117399297,0.999999951517,0.000139915541074,-0.000276908551444,2.66672190903e-05,1793243677744408576
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,713.988489458,681,658.988489458,634,880,786.011510542,806,651,631,652,0.43878079489,0.00458762717224,0.069784947631,0.999999906619,0.000283551016535,-0.000324973081938,2.74539218301e-05,1793243677761074944
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713.413971762,681,658.413971762,634,880,786.586028238,806,651,631,652,0.437915011451,0.00458178991019,0.0697353484033,0.999999889886,0.000248262965169,-0.00039738530747,2.60506369211e-05,1793243677777741568
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,713.164492075,681,658.164492075,634,880,787,806,651,631,652,0.437064604246,0.00457627249566,0.0697062639736,0.999999880152,0.000215106275599,-0.000439065677771,2.54336000321e-05,1793243677794408448
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.663527774,745,714,681,659,634,880,787,806,651.336472226,631,652,0.435423023181,0.00456861937294,0.0697741031469,0.99999992888,0.000161774021048,-0.000339451173471,2.90203150051e-05,1793243677827741440
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.084013483,745,714,681,659,634,880,787,806,651.915986517,631,652,0.434577709476,0.00456691016583,0.0698327285728,0.999999956313,0.000137539798735,-0.00025970978259,3.17500549863e-05,1793243677844408320
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764.495114593,745,714,681,659,634,879.504885407,786.504885407,805.504885407,651.504885407,631,652,0.433702385304,0.00456136180527,0.0698483408148,0.999999963651,0.000118264200545,-0.000240102189453,3.26004603392e-05,1793243677861075200
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633.926314995,879,786.073685005,805,651.073685005,631,652,0.43281869944,0.00455499880434,0.06985516459,0.999999967183,0.000103542558054,-0.000231989877379,3.30771280037e-05,1793243677877741824
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633.351094876,879,786.648905124,805,651.648905124,631,652,0.431912734098,0.00454752157515,0.0698518095036,0.999999965861,0.000114094778134,-0.000232722142776,3.31788165119e-05,1793243677894408448
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.39912438,658.60087562,634,879.39912438,786.39912438,805,652,631,652,0.429033470213,0.00453182049184,0.0697256869783,0.999999901112,9.27535911228e-05,-0.000433718060448,3.25803115625e-05,1793243677944408064
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.978445298,658.021554702,634,879.978445298,786.978445298,805,652,631,652,0.428119395397,0.00452286253296,0.0697393751963,0.999999914747,8.83211135137e-05,-0.000402051993048,3.25363990829e-05,1793243677961074688
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.445401761,681,659.109196478,634,880,787,805.554598239,652,631,652,0.427266157149,0.00451928607233,0.0698098232632,0.99999995183,8.36685790955e-05,-0.000296849032731,3.49409060296e-05,1793243677977741568
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.86977935,659.86977935,634,880,787,806,652,631,652,0.426401478341,0.00451493518847,0.0698659061572,0.999999973234,7.72738466299e-05,-0.000214924983921,3.6980994879e-05,1793243677994408192
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.295548469,659.295548469,634,880,787,806,652,631,652,0.425489774791,0.00450723467469,0.069865529451,0.999999972532,6.49677823459e-05,-0.00022206414999,3.74559190418e-05,1793243678011074816
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.287678492,713.287678492,680,659,634,880,787,806,652,631,652,0.424572562167,0.00449991939337,0.069850038738,0.99999996707,5.661963792e-05,-0.000247587221825,3.68057950019e-05,1793243678027741440
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.880445944,713.880445944,680,659,634,880,787,806,652,631,652,0.423649507114,0.00449301265947,0.0698185193097,0.999999955203,5.24689496592e-05,-0.000292606803266,3.49625341101e-05,1793243678044408064
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745.538455769,714,680.461544231,659,634,879.538455769,787,805.538455769,652,631,651.538455769,0.422638631858,0.00448715302806,0.0697547661594,0.999999915105,5.09710711929e-05,-0.000407301851253,3.60196625683e-05,1793243678061074944
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.960597388,680.960597388,658.960597388,634,879.039402612,787,805.039402612,652,631,651.039402612,0.421618591747,0.00448120936221,0.0696890118719,0.999999858976,4.84295815098e-05,-0.000527535335783,3.75341275938e-05,1793243678077741568
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.386697494,680.386697494,658.386697494,634,879.613302506,787,805.613302506,652,631,651.613302506,0.420775200549,0.00447053723997,0.0697065806323,0.999999881938,2.26400285854e-05,-0.000484112437617,3.53124312343e-05,1793243678094408192
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.187223743,680,658.56167123,634,880,787,805.812776257,652,631,652,0.419955353266,0.004461205994,0.0697445196615,0.99999991413,3.37419730882e-06,-0.000413008985504,3.39322520258e-05,1793243678111074816
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.761189175,680,660.283567524,634,880,787,805.238810825,652,631,652,0.41918413969,0.00445464454837,0.0698245368622,0.999999958875,-2.41580982368e-06,-0.00028472674813,3.42903654146e-05,1793243678127741696
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.346682339,745,714,680,660.653317661,634,880,787.346682339,805,652,631,652,0.418386034372,0.00444741169028,0.0698687705937,0.999999974938,-1.0491208907e-06,-0.000220891314309,3.64696638464e-05,1793243678144408320
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.940389431,745,714,680,660.059610569,634,880,787.940389431,805,652,631,652,0.41756876768,0.00443970042489,0.0698875071963,0.999999978588,5.41699476095e-06,-0.000202976763245,3.99466282449e-05,1793243678161074688
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.480751561,745,714,680,658.961503122,634,880,787.480751561,805,652,631,652,0.416703694054,0.00443163079305,0.0698520868426,0.999999969433,-1.98365581238e-05,-0.000243518421604,3.79342357338e-05,1793243678177741568
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.190289434,634,880,787,805,652,631,651.904855283,0.415840180574,0.00442410191096,0.0698127360167,0.999999956067,-4.16965981053e-05,-0.000291283323501,3.57956462101e-05,1793243678194408704
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.329067221,634,880,787,805,652,631,651.335466389,0.415011039303,0.00441946773427,0.0697839222781,0.999999940265,-2.89957083642e-05,-0.000342532058245,3.60818464965e-05,1793243678211075328
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.244515299,714,680,659.755484701,634.244515299,879.755484701,787,805,652,631,651,0.414203253001,0.00441987644716,0.0697611608402,0.999999924402,-2.19386491455e-05,-0.000386436146106,3.71723271423e-05,1793243678227741696
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.83968798,714,680,659.16031202,634.83968798,879.16031202,787,805,652,631,651,0.413426091754,0.00442751712694,0.0697470789595,0.99999991084,-2.2975362057e-05,-0.00041980733264,3.94162197027e-05,1793243678244408320
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.575854727,714,680,658.575854727,635,879,787,805.424145273,652,631,651.424145273,0.412740502851,0.00445377908804,0.069781134639,0.999999936809,4.10226300877e-06,-0.000353479525922,3.76542452049e-05,1793243678261074688
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.013846639,635,879.004615546,787,805.995384454,652,631.004615546,652,0.412088585114,0.00448660420419,0.0698328310792,0.999999967114,4.12746262172e-05,-0.000250762306207,3.44451223147e-05,1793243678277741568
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.741583898,635,879.580527966,787,805.419472034,652,631.580527966,652,0.411425891636,0.00448209700337,0.0698715030247,0.999999979713,4.5069774715e-05,-0.000193196212217,3.49023896283e-05,1793243678294408192
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.522815613,634.840938538,879.840938538,787,805,652,631.840938538,652,0.410760819449,0.00447611335353,0.0698918311734,0.999999984758,4.15760224553e-05,-0.000165812067596,3.55264170456e-05,1793243678311074816
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.766130637,634.255376879,879.255376879,787,805,652,631.255376879,652,0.410089368955,0.00446617081923,0.069862973105,0.9999999751,1.8538143093e-05,-0.00021935642271,3.65975877425e-05,1793243678327741696
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.326918717,714,680,658.653837435,634.326918717,879,787,805,652,631,652,0.40942483777,0.00446340058018,0.0698249657536,0.999999958198,1.69352235896e-05,-0.000286382887075,3.6080923524e-05,1793243678344408576
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.906688187,714,680,659.813376374,634.906688187,879,787,805,652,631,652,0.40876565827,0.00446617765412,0.0697798820178,0.999999932713,3.19108781596e-05,-0.00036383689795,3.43361702167e-05,1793243678361075456
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,746,713.517641566,680,660,634.517641566,879,787,805,652,631,651.517641566,0.408189652112,0.00446565747118,0.0697757584585,0.999999933331,2.7644731958e-05,-0.000362583228048,3.32789701515e-05,1793243678377741824
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.942674198,713.057325802,680,659.942674198,634,879,786.942674198,805,652,631.057325802,651.057325802,0.407633209937,0.00446486762326,0.0697811121758,0.999999939619,2.00299603845e-05,-0.000345405133666,3.25073429265e-05,1793243678394408448
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.366952336,713.633047664,680,659.366952336,634,879,786.366952336,805,652,631.633047664,651.633047664,0.407109410699,0.00446735867205,0.069801118569,0.999999947891,1.55107563421e-05,-0.000320750326224,3.31255046231e-05,1793243678411074816
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.7853409,658.7853409,634.2146591,879,786.2146591,804.7853409,652,631.7853409,652,0.406597012924,0.00447213360282,0.0698119429741,0.999999951002,2.27608629485e-05,-0.000310396991702,3.36338668816e-05,1793243678427741440
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.193377471,658.193377471,634.806622529,879,786.806622529,804.193377471,652,631.193377471,652,0.40610465545,0.00448092289169,0.0698066282811,0.999999945267,5.06977792436e-05,-0.000325181227431,3.39492356182e-05,1793243678444408064
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.390136793,658,634.609863207,879,787,804.390136793,652,631,652,0.405654149751,0.00448459550076,0.0698065810395,0.999999943855,6.03020910934e-05,-0.000327903049212,3.36619600941e-05,1793243678461074688
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.969551921,658,634.030448079,879,787,804.969551921,652,631,652,0.405223948768,0.00448578570787,0.0698090893482,0.999999944853,6.1012179308e-05,-0.000324772684972,3.30823063844e-05,1793243678477741568
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.541393673,634,879.541393673,787,805,652,631,652,0.404849761394,0.00448120855503,0.0698218266785,0.999999953792,4.37282177629e-05,-0.000299118157902,3.21159880331e-05,1793243678494408448
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.116744258,879.883255742,787,805,652,631,652,0.404484762835,0.00447679242851,0.0698350769081,0.999999961925,2.73667163825e-05,-0.000272813143706,3.11960113684e-05,1793243678511075072
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.708066356,879.291933644,787,805,652,631,652,0.404144488376,0.0044743312466,0.0698481058118,0.99999996837,1.88121967022e-05,-0.000248942308261,3.05515990327e-05,1793243678527741952
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.706523562,634.706523562,879,787,805,652,631,652,0.403810368204,0.00447229535688,0.0698499199578,0.999999969522,1.10135574403e-05,-0.000244839542796,2.98152122241e-05,1793243678544408576
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.12687832,634.12687832,879,787,805,652,631,652,0.403482249095,0.00447067416962,0.0698407985956,0.999999965769,3.95197751043e-06,-0.000260012619087,2.89891411756e-05,1793243678561075200
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.448701737,787,805,652,631,652,0.40319226297,0.0044696279368,0.0698350102722,0.999999963158,-4.77371818921e-06,-0.000269897975121,2.85631813945e-05,1793243678577741824
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745.023220407,714,680,658.046440815,634,879.976779593,787,805,652,631,652,0.402914167786,0.00446872604705,0.0698300316127,0.99999996074,-1.38260480379e-05,-0.000278443574803,2.82548037283e-05,1793243678594408192
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745.599592503,714,680,659.199185005,634,879.400407497,787,805,652,631,652,0.40266477732,0.00446742452975,0.0698220907248,0.999999957257,-1.95505012293e-05,-0.0002903722301,2.80764792718e-05,1793243678611075072
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745.820563332,714,680,659.641126664,634,879.179436668,786.820563332,805,652,630.820563332,652,0.40242734287,0.00446742324122,0.0698144422652,0.999999953615,-2.22449423761e-05,-0.000302441713626,2.83659344202e-05,1793243678627741952
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745.232818551,714,680,658.465637102,634,879.767181449,786.232818551,805,652,630.232818551,652,0.402217114368,0.00447038062327,0.0698074592272,0.999999949836,-1.80445907492e-05,-0.000314831650209,2.97198220269e-05,1793243678644408320
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.649962472,786.350037528,805,652,630.350037528,652,0.402030237754,0.00447757552659,0.0698048789825,0.999999948029,8.3259256669e-06,-0.000320750268359,3.14995458074e-05,1793243678661074944
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.070313143,786.929686857,805,652,630.929686857,652,0.401858679101,0.00448755008899,0.0698051868084,0.999999946246,4.923925874e-05,-0.000322423939415,3.3558602619e-05,1793243678677741568
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.492214561,787,805,652,631,652,0.401718902905,0.00449891872541,0.0698052157037,0.999999943238,0.000100691543718,-0.000319704121673,3.42593648991e-05,1793243678694408192
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.914732402,658.085267598,634,878,787,805,652,631,652,0.401587874771,0.00450858921341,0.0698056288535,0.999999939075,0.000144012516878,-0.000316093287501,3.45806571778e-05,1793243678711074816
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.339561673,658.660438327,634,878,787,805,652,631,652,0.401481899964,0.00450739731415,0.069808470965,0.99999994237,0.000132256213101,-0.000310847859053,3.37990518161e-05,1793243678727741440
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.75861083,634,878.24138917,786.75861083,805,652,631,652,0.401383949792,0.00450368701736,0.0698094754172,0.999999946526,0.000102996328404,-0.000309055935943,2.87100348197e-05,1793243678744408064
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.169329675,634,878.830670325,786.169329675,805,652,631,652,0.401297564793,0.00449634718617,0.06980783142,0.999999949924,4.85101446671e-05,-0.000312241231786,1.74131420294e-05,1793243678761074688
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.413354226,658.413354226,634,879,786.413354226,805,652.413354226,631,652,0.401229451721,0.00449305224989,0.0698082292923,0.999999951239,3.33419017759e-05,-0.00031011586152,1.54586914502e-05,1793243678777741312
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.993378019,658.993378019,634,879,786.993378019,805,652.993378019,631,652,0.401168706119,0.00449138826573,0.0698094504717,0.9999999525,3.40271431481e-05,-0.000305849164778,1.72712300881e-05,1793243678794407936
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.432065029,634,878.432065029,787,804.432065029,652.432065029,631,652,0.40112410547,0.00449159836447,0.069812468415,0.999999953618,3.64003563453e-05,-0.000301824120806,1.84840785395e-05,1793243678811074560
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.854333757,658,634.145666243,878.145666243,786.854333757,804.145666243,652,631,652,0.401083442825,0.00449119330276,0.0698151810148,0.999999954735,3.79699854289e-05,-0.000297824855207,1.97074095481e-05,1793243678827741440
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.266781608,658,634.733218392,878.733218392,786.266781608,804.733218392,652,631,652,0.401054160713,0.00448885646553,0.0698169043922,0.999999955907,3.70427659858e-05,-0.000293895324486,2.09835487816e-05,1793243678844408064
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634.683749945,879,786,805,652,631,652,0.401031489592,0.00448622210365,0.0698193418162,0.999999957148,3.44857152282e-05,-0.000289881543293,2.19738812828e-05,1793243678861074688
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634.104477859,879,786,805,652,631,652,0.401014316761,0.00448334029323,0.0698223731057,0.999999958434,3.05731498495e-05,-0.000285797691384,2.27265113029e-05,1793243678877741312
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.473925581,634,879,786.473925581,805,652,631,651.526074419,0.401001229479,0.00448240704755,0.0698235151334,0.999999958748,3.02572390295e-05,-0.000284703835274,2.30508800752e-05,1793243678894408192
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.948363713,745,714,679.051636287,658.948363713,634.051636287,879.051636287,787,805,652.051636287,631,651.051636287,0.40098982716,0.00448186450803,0.0698243037473,0.99999995893,3.03963221058e-05,-0.000284030831233,2.32724455054e-05,1793243678911074816
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.203458542,745,714,679.796541458,658,634.796541458,879.593082915,786.796541458,804.796541458,652.796541458,631,652,0.400983016882,0.00448034826831,0.0698267823999,0.999999960514,2.49453719692e-05,-0.000278923275477,2.34810399336e-05,1793243678944408064
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.014160234,745,714,679.985839766,659,634,879,786.014160234,805,652,631,652,0.400976493238,0.00447985603369,0.0698306961155,0.999999962467,2.69461578026e-05,-0.000271618704571,2.37258260541e-05,1793243679111075328
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.590742846,745,714,679.409257154,659,634,879,786.590742846,805,652,631,652,0.400977462198,0.00447928717003,0.069831769153,0.999999962842,2.62214739707e-05,-0.000270326431871,2.34908121981e-05,1793243679127741696
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.828931226,634,879,787,805,652,631,652,0.400977800616,0.00447870785345,0.0698324316656,0.999999963036,2.51008919855e-05,-0.000269722916797,2.33869847322e-05,1793243679144408064
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,879,786.655916869,805.344083131,652,631,652,0.400976843992,0.00447824676707,0.0698320696099,0.999999963019,2.26493926654e-05,-0.000269992247582,2.35028236406e-05,1793243679177741568
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,879,786.496889241,805.503110759,652,631,652,0.400976804739,0.00447884085336,0.0698320424538,0.99999996319,2.3591881743e-05,-0.00026928694419,2.34060100937e-05,1793243679211075072
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.661831816,658.661831816,634,879,787,805,652,631,652,0.400976706451,0.00447862646379,0.0698321974192,0.999999962935,2.39926335085e-05,-0.000270201242516,2.33566867851e-05,1793243679244408064
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7561808b5cd86df848b1886fdf656a454610ef4c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cb08c6c8d6128f129afbc41b1f7afbd1c9ed8cea
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fba17a42ab1b292881f10de94123c61c72780e84a120c68731f228c3aa862318
+size 26020932
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5a40e124e9a5d3b977f08c15e2e8e9bc054f966e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_05/franka_data.csv
@@ -0,0 +1,412 @@
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+8,0.133333333,BASELINE,765,745,714,679.664018506,659,634,878.335981494,786,805,652,631,652,0.400979796575,0.00447814070417,0.0698358534184,0.999999964713,2.56815562139e-05,-0.000263350764422,2.36721934029e-05,1793243679588931072
+9,0.150000000,BASELINE,765,745,714,679.757517227,659,634,878.242482773,786.242482773,805,652,631,652,0.40097879655,0.00447746845327,0.0698358156851,0.999999964511,2.43825029968e-05,-0.000264231550699,2.37555531971e-05,1793243679605597952
+10,0.166666667,BASELINE,765,745,714,679.180198475,659,634,878.819801525,786.819801525,805,652,631,652,0.400978099516,0.004475772244,0.069836176781,0.999999964516,2.26003518241e-05,-0.000264335664804,2.41765757196e-05,1793243679622264832
+11,0.183333333,BASELINE,764.605169274,745,714,679,659,634.394830726,878.605169274,787,805,652,631,652,0.400978807358,0.00447699728766,0.0698365095559,0.999999964742,2.42772886124e-05,-0.000263333601035,2.41178704721e-05,1793243679638931200
+12,0.200000000,BASELINE,764.031178936,745,714,679,659,634.968821064,878.031178936,787,805,652,631,652,0.400980152681,0.00447954788796,0.0698368294799,0.99999996506,2.75238317033e-05,-0.000261829594575,2.38414825036e-05,1793243679655597568
+13,0.216666667,BASELINE,764.559105082,745,714,679.559105082,659,634.440894918,879.118210164,787,805,652,631,652,0.400978542972,0.00447943986679,0.0698355169328,0.999999964466,2.74239236744e-05,-0.000264130125649,2.34815722766e-05,1793243679672264448
+14,0.233333333,BASELINE,765,745,714,679.852797803,658.852797803,634.147202197,879.852797803,787,804.852797803,652,631,652,0.40097752902,0.00447914791712,0.0698347025247,0.999999964081,2.68640112662e-05,-0.000265664191182,2.31988262626e-05,1793243679688931328
+15,0.250000000,BASELINE,765,745,714,679.273859578,658.273859578,634.726140422,879.273859578,787,804.273859578,652,631,652,0.400978760217,0.0044787644066,0.0698356241498,0.999999964477,2.55186995083e-05,-0.000264309314378,2.31564693913e-05,1793243679705597952
+16,0.266666667,BASELINE,765,745,714,679,658,634.69738681,879,786.69738681,804.30261319,652,630.69738681,652,0.400978174094,0.00447862616339,0.0698352716714,0.999999964302,2.52779178571e-05,-0.000264988524732,2.31877220969e-05,1793243679722264320
+17,0.283333333,BASELINE,765,745,714,679,658,634.12312724,879,786.12312724,804.87687276,652,630.12312724,652,0.400975956617,0.00447870808897,0.0698337754702,0.999999963614,2.60286383565e-05,-0.000267493671476,2.32850518157e-05,1793243679738931200
+18,0.300000000,BASELINE,765,745,714,679.452237103,658.452237103,634.452237103,879,786,804.547762897,652,630.452237103,652,0.400977400243,0.00447904184869,0.0698349193704,0.999999964242,2.54265375578e-05,-0.000265189733288,2.33229995285e-05,1793243679755598592
+19,0.316666667,BASELINE,765,745,714,679.971412388,659,634.971412388,879,786.028587612,804.028587612,652,631,652,0.40097962576,0.00447940609928,0.0698366342241,0.999999965135,2.45338213244e-05,-0.000261885256369,2.33404176429e-05,1793243679772266240
+20,0.333333333,BASELINE,765,745,714,679.381621541,659,634.381621541,879,786.618378459,804.618378459,652,631,652,0.400977584864,0.0044790196206,0.0698354121354,0.999999964378,2.51842808725e-05,-0.00026470567921,2.32729806402e-05,1793243679788932352
+21,0.350000000,BASELINE,765,745,714,679,659,634.204525752,879,787,805,652,631,652,0.400976986544,0.00447886726492,0.0698350516373,0.99999996416,2.54053298323e-05,-0.000265516377683,2.31576981738e-05,1793243679805598720
+22,0.366666667,BASELINE,765,745,714,679,659,634.78399352,879,787,805,652,631,652,0.400979032793,0.00447914410974,0.0698362706299,0.999999964937,2.48391718781e-05,-0.000262642796001,2.29547041461e-05,1793243679822265088
+23,0.383333333,BASELINE,765,745,714,679.352060143,659,635,879,787,805,652,631,652,0.400979492518,0.00447922621869,0.0698368725397,0.999999965137,2.46497641084e-05,-0.000261891754409,2.30458350672e-05,1793243679838931456
+24,0.400000000,BASELINE,765,745,714,679.913351073,659,635,879,787,805,652,631,652,0.400979009364,0.00447919259535,0.0698371077148,0.999999964996,2.4684260466e-05,-0.000262402146831,2.3311765634e-05,1793243679855597824
+25,0.416666667,BASELINE,765,745,714,679.490270858,659,634.490270858,879,787,805,652,631,652,0.400978963333,0.00448020834773,0.0698370992311,0.999999964839,2.65721030434e-05,-0.000262815289194,2.33051133887e-05,1793243679872264704
+26,0.433333333,BASELINE,765,745.108157362,714,679,659,634,879,787,805,652,631,651.891842638,0.400978767269,0.0044811318227,0.0698369922396,0.999999964677,2.84285214516e-05,-0.000263243240188,2.32601439847e-05,1793243679888931328
+27,0.450000000,BASELINE,765,745.687607965,714,679,659,634,879,787,805,652,631,651.312392035,0.400977569719,0.0044808184384,0.0698366498292,0.99999996452,2.86737008506e-05,-0.000263813080572,2.32650440294e-05,1793243679905598208
+28,0.466666667,BASELINE,765,745.734298959,714,679,659,634,879,787,805,652,631,651.265701041,0.400976848742,0.00447989600756,0.0698360137118,0.999999964351,2.78412083122e-05,-0.000264533281489,2.33540441571e-05,1793243679922265088
+29,0.483333333,BASELINE,765,745.157793884,714,679,659,634,879,787,805,652,631,651.842206116,0.400976685237,0.00447826114401,0.0698350340301,0.999999964165,2.57481080373e-05,-0.000265429366741,2.35414204323e-05,1793243679938931968
+30,0.500000000,BASELINE,764.582739913,745,714,679.417260087,659,634,879,786.582739913,805,652,631,652,0.400976393548,0.00447845980389,0.0698346589609,0.999999964014,2.58351635907e-05,-0.000266006698549,2.33445383576e-05,1793243679955598336
+31,0.516666667,BASELINE,764.008232813,745,714,679.991767187,659,634,879,786.008232813,805,652,631,652,0.400976053554,0.00447934943834,0.0698345117437,0.999999963876,2.67438242407e-05,-0.000266463906154,2.3002846171e-05,1793243679972264960
+32,0.533333333,BASELINE,764.583094865,745,714,680,659,634.583094865,879,786,805,652,631,652,0.400976541327,0.00447943128011,0.0698347484633,0.999999963969,2.58285078186e-05,-0.000266198378178,2.30831582943e-05,1793243679988931328
+33,0.550000000,BASELINE,765,745,714,679.829027977,658.829027977,634.829027977,879,786.170972023,805,652,631,652,0.400977362751,0.0044790344377,0.0698354483706,0.99999996423,2.50988468237e-05,-0.000265271767898,2.32639897274e-05,1793243680005598208
+34,0.566666667,BASELINE,765,745,714,679.249970494,658.249970494,634.249970494,879,786.750029506,805,652,631,652,0.400978951828,0.00447752307703,0.0698372405166,0.999999964881,2.4875613215e-05,-0.000262792329894,2.36701020282e-05,1793243680022264832
+35,0.583333333,BASELINE,765,745,714,679,658.32555829,634,879,787,805,652,631,652,0.400979468243,0.00447713565288,0.0698376440235,0.999999965154,2.43540836042e-05,-0.000261794771448,2.37277738084e-05,1793243680038931456
+36,0.600000000,BASELINE,765,745,714,679,658.898406778,634,879,787,805,652,631,652,0.400979169878,0.00447760195736,0.0698369927369,0.999999965143,2.36059718813e-05,-0.000261922830796,2.35207743643e-05,1793243680055597824
+37,0.616666667,BASELINE,765,745,714,679,659,634.47279292,879,787,805,652,631,652,0.400978359624,0.00447940077843,0.0698366780438,0.99999996498,2.69482102445e-05,-0.000262254778928,2.31660598994e-05,1793243680072264704
+38,0.633333333,BASELINE,765,745,714,679,659.048944063,634.951055937,879,786.951055937,805,652,631,652,0.400977494735,0.00448117958825,0.0698363998004,0.999999964762,3.06114328282e-05,-0.000262712539683,2.28340957069e-05,1793243680088931584
+39,0.650000000,BASELINE,765,745,714,679,659.641002815,634.358997185,879,786.358997185,805,652,631,652,0.400977248126,0.00447954867693,0.0698357208221,0.999999964471,2.8051511903e-05,-0.000264078652625,2.31079487957e-05,1793243680105598208
+40,0.666666667,BASELINE,765,745,713.772230112,679.227769888,659.772230112,634,879,786.227769888,805.227769888,652,631,652,0.400977500118,0.00447856943655,0.0698358824076,0.999999964519,2.61564660024e-05,-0.000264082099158,2.32117366053e-05,1793243680122264832
+41,0.683333333,BASELINE,765,745,713.193614128,679.806385872,659.193614128,634,879,786.806385872,805.806385872,652,631,652,0.400978520129,0.00447859399973,0.0698373387581,0.999999965096,2.52855626838e-05,-0.000261986557934,2.30535637875e-05,1793243680138931456
+42,0.700000000,BASELINE,765,745,713.383189891,679.616810109,659,634,879,786.616810109,805.233620219,652.383189891,631,651.616810109,0.40097904577,0.00447878012924,0.0698374774745,0.999999965269,2.54848898041e-05,-0.000261312727332,2.29762149533e-05,1793243680155598080
+43,0.716666667,BASELINE,765,745,713.959082669,679.040917331,659,634,879,786.040917331,804.081834662,652.959082669,631,651.040917331,0.400979322796,0.00447904750908,0.0698369535641,0.99999996524,2.62224265996e-05,-0.000261353862792,2.29395118077e-05,1793243680172264704
+44,0.733333333,BASELINE,764.453614397,745,714,679.546385603,659,634,879,786.546385603,804,652.453614397,631,651.546385603,0.400977507344,0.00447930674726,0.06983606413,0.999999964592,2.65548600417e-05,-0.000263787201948,2.29762375694e-05,1793243680188931584
+45,0.750000000,BASELINE,764.132241915,745,714,679.867758085,659,634,879,787,804.132241915,652,631,652,0.400976193383,0.00447990973564,0.0698355136938,0.999999964153,2.7338572323e-05,-0.000265363929075,2.30045151389e-05,1793243680205597952
+46,0.766666667,BASELINE,764.710279522,745,714,679.289720478,659,634,879,787,804.710279522,652,631,652,0.40097710949,0.00448167362643,0.0698362002854,0.999999964594,2.97480228926e-05,-0.000263436171949,2.29853808519e-05,1793243680222264576
+47,0.783333333,BASELINE,765.288274723,745,714,679.288274723,659,634,879,787,805,652,631,651.711725277,0.400977540043,0.00448210330989,0.0698364057128,0.999999964734,2.97485007922e-05,-0.00026291744515,2.28420173335e-05,1793243680238931200
+48,0.800000000,BASELINE,765.866227381,745,714,679.866227381,659,634,879,787,805,652,631,651.133772619,0.400977482678,0.00448119229182,0.0698361276341,0.999999964573,2.73282803532e-05,-0.000263814607069,2.25738198809e-05,1793243680255598080
+49,0.816666667,BASELINE,765.557361521,745,714,679.557361521,659,634,879,786.557361521,805,652,631,651.442638479,0.40097825234,0.004480848602,0.0698367341163,0.999999964952,2.62732674172e-05,-0.000262475282026,2.26562669967e-05,1793243680272264704
+50,0.833333333,BASELINE,765,745,714,679.019034774,659,634,878.980965226,786.019034774,805,652,631.019034774,651.980965226,0.400979201885,0.00448065767929,0.0698375592413,0.99999996546,2.56537679244e-05,-0.000260577454078,2.28362820199e-05,1793243680288931072
+51,0.850000000,BASELINE,765,745,714,679.608911345,659,634,878.391088655,786.608911345,805,652,631.608911345,651.391088655,0.400978076465,0.00447992413501,0.0698369521237,0.999999965053,2.57647263749e-05,-0.000262130037529,2.27753365573e-05,1793243680305597696
+52,0.866666667,BASELINE,765,745.195007703,714,679.804992297,659,634.195007703,878.195007703,787,804.804992297,652,631.804992297,651.195007703,0.400977422777,0.0044795241095,0.0698367860193,0.999999964828,2.57880639932e-05,-0.000262980851708,2.28107226261e-05,1793243680322264576
+53,0.883333333,BASELINE,765,745.773666959,714,679.226333041,659,634.773666959,878.773666959,787,804.226333041,652,631.226333041,651.773666959,0.400977697155,0.00447978023756,0.0698374875493,0.999999964966,2.56390193454e-05,-0.000262451028685,2.30356280929e-05,1793243680338931456
+54,0.900000000,BASELINE,765,745.65010924,714,679.34989076,659,634.65010924,879,787,804.34989076,652,631,652,0.400978254146,0.0044795865957,0.0698374168559,0.999999965052,2.63396199728e-05,-0.000262053264651,2.30339981477e-05,1793243680355598080
+55,0.916666667,BASELINE,765,745.075449988,714,679.924550012,659,634.075449988,879,787,804.924550012,652,631,652,0.400978992686,0.00447910402335,0.0698368500891,0.999999965104,2.75860294938e-05,-0.00026174033483,2.28868427081e-05,1793243680372264704
+56,0.933333333,BASELINE,765,745,714,680,659,634,879.511782956,787,804.488217044,652,631,652,0.400978539201,0.00447767926072,0.0698365052979,0.999999964996,2.60608612089e-05,-0.000262274017987,2.32474087826e-05,1793243680388931328
+57,0.950000000,BASELINE,765,745,714,679.900763257,659,634,879.900763257,786.900763257,804.099236743,652,631,652,0.400978012194,0.00447669857097,0.0698362492488,0.999999964886,2.44718344836e-05,-0.000262822511197,2.35091776484e-05,1793243680405598208
+58,0.966666667,BASELINE,765,745,714,679.321434973,659,634,879.321434973,786.321434973,804.678565027,652,631,652,0.400978001089,0.00447855515222,0.0698362602144,0.999999964897,2.46004113954e-05,-0.000262823620997,2.29217421696e-05,1793243680422264832
+59,0.983333333,BASELINE,765,745,714,679,659,634,878.743887585,786,804.743887585,652,631,652,0.400977687191,0.00447915236628,0.0698361213953,0.999999964808,2.46267973768e-05,-0.000263187159378,2.2600889045e-05,1793243680438931200
+60,1.000000000,BASELINE,765,745,714,679,659,634,878.168559806,786,804.168559806,652,631,652,0.400976995894,0.00447817992079,0.0698357958863,0.999999964595,2.45258138561e-05,-0.000264002424289,2.26123008107e-05,1793243680455597824
+61,1.016666667,BASELINE,764.592113446,745,714,679,659,634,878.407886554,786.407886554,804.407886554,652,631,652,0.40097755558,0.00447776947457,0.0698362914353,0.999999964844,2.35079978218e-05,-0.0002631276664,2.28849049043e-05,1793243680472264704
+62,1.033333333,BASELINE,764.015203594,745,714,679,659,634,878.984796406,786.984796406,804.984796406,652,631,652,0.400978633659,0.00447759191416,0.0698371272209,0.99999996528,2.21102573929e-05,-0.000261552583278,2.32657439663e-05,1793243680488931328
+63,1.050000000,BASELINE,764,745,714,679,659,634,879,786.425329057,805,652,631,651.425329057,0.400976875305,0.00448033002278,0.0698355056641,0.99999996478,2.70345257025e-05,-0.000263017295054,2.30647062987e-05,1793243680505597952
+64,1.066666667,BASELINE,764.16165324,745,714,679.16165324,659,634,879,786,805,652,631,651,0.400976186961,0.0044814658636,0.0698348012541,0.999999964532,2.97115137467e-05,-0.000263675654145,2.29952328096e-05,1793243680522264576
+65,1.083333333,BASELINE,764.740270208,745,714,679.740270208,659,634,879,786,805,652,631,651,0.400978456594,0.00447826530222,0.0698366340666,0.999999965054,2.61505580575e-05,-0.000262041905858,2.33057361243e-05,1793243680538931200
+66,1.100000000,BASELINE,764.684322572,745,714,680,659,634,879,786.315677428,805,652,631,651.315677428,0.40097835003,0.00447745958702,0.0698369365462,0.999999965037,2.50909297672e-05,-0.000262212555826,2.3247221939e-05,1793243680555598080
+67,1.116666667,BASELINE,764.111529681,745,714,680,659,634,879,786.888470319,805,652,631,651.888470319,0.400976308083,0.00447860444532,0.0698359925881,0.999999964589,2.60686026838e-05,-0.000263852866515,2.28881474302e-05,1793243680572264704
+68,1.133333333,BASELINE,764.463416677,745,714,680,659,634.463416677,878.536583323,787,804.536583323,652,631,652,0.400977065387,0.00447906115212,0.0698364146161,0.99999996482,2.61078297354e-05,-0.000262966241568,2.29611739054e-05,1793243680588931840
+69,1.150000000,BASELINE,765,745,714,679.960044645,659,634.960044645,878.039955355,787,804,652,631,652,0.400978390722,0.00447930194329,0.0698371046102,0.999999965184,2.58017737284e-05,-0.000261596826416,2.31021359258e-05,1793243680605599232
+70,1.166666667,BASELINE,765,745,714,679.368718435,659,634.368718435,878.631281565,787,804,652,631,652,0.400978214577,0.00447885928883,0.0698369346328,0.999999965136,2.38621884282e-05,-0.000261996561568,2.27388170146e-05,1793243680622265088
+71,1.183333333,BASELINE,765,745,714,679,659.21785444,634,879,787,804.21785444,652,631,652,0.40097848554,0.0044784047137,0.0698371202529,0.999999965287,2.27845307925e-05,-0.000261518277915,2.26747526811e-05,1793243680638931456
+72,1.200000000,BASELINE,765,745,714,679,659.796554176,634,879,787,804.796554176,652,631,652,0.400979497077,0.00447793039359,0.0698378948705,0.999999965773,2.31345350261e-05,-0.000259585679435,2.31063614884e-05,1793243680655598080
+73,1.216666667,BASELINE,765,745,714,679.372797942,659.627202058,634.372797942,878.627202058,787,805.372797942,652,631,652,0.400979705633,0.00447919472654,0.0698378889212,0.999999965759,2.53186762586e-05,-0.000259432176719,2.3128617652e-05,1793243680672264960
+74,1.233333333,BASELINE,765,745,714,679.947710157,659.052289843,634.947710157,878.052289843,787,805.947710157,652,631,652,0.400979478849,0.00448140167898,0.0698374597836,0.999999965468,2.8497204032e-05,-0.000260243219798,2.29289412033e-05,1793243680688931840
+75,1.250000000,BASELINE,765,745,714,679.464899781,659,634.464899781,878.535100219,787,805.464899781,652,631,652,0.400979143071,0.00447904947828,0.0698375133804,0.999999965382,2.63065035127e-05,-0.000260764775945,2.33766545523e-05,1793243680705598208
+76,1.266666667,BASELINE,765,744.878126642,714,679.121873358,659,634,879,787,805,652,631,651.878126642,0.400978589061,0.00447721552498,0.069837563317,0.999999965258,2.45772396507e-05,-0.000261380189556,2.36617144332e-05,1793243680722264832
+77,1.283333333,BASELINE,765,744.298361912,714,679.701638088,659,634,879,787,805,652,631,651.298361912,0.400977256103,0.00447904251113,0.0698374180369,0.999999964938,2.65999859244e-05,-0.000262457056597,2.30923078194e-05,1793243680738931456
+78,1.300000000,BASELINE,765,744.280277747,714,680,659,634,879.280277747,787,805,652,631,651.280277747,0.400976415677,0.0044795441551,0.0698369049695,0.999999964706,2.7504396373e-05,-0.000263259910473,2.29107746515e-05,1793243680755598080
+79,1.316666667,BASELINE,765,744.857724493,714,680,659,634,879.857724493,787,805,652,631,651.857724493,0.400976097468,0.00447864058355,0.0698360019498,0.999999964574,2.72230731063e-05,-0.000263772237409,2.3140490594e-05,1793243680772264704
+80,1.333333333,BASELINE,764.567251318,745,714,680,659,634,879.567251318,786.567251318,805,652,631,652,0.400977080815,0.00447889801263,0.0698367322442,0.999999965013,2.66471923561e-05,-0.000262157515258,2.31724608731e-05,1793243680788931584
+81,1.350000000,BASELINE,764.007181186,745,714,680,659,634,879,786,805,652,631,652,0.400978482333,0.00447951412729,0.0698379833398,0.999999965629,2.59693940815e-05,-0.00025986947876,2.3140259632e-05,1793243680805598208
+82,1.366666667,BASELINE,764.597889887,745,714,680,659,634,879,786,805,652,631,652,0.400979285603,0.00447843246785,0.0698381620869,0.999999965785,2.48353798241e-05,-0.000259377752365,2.31470403938e-05,1793243680822265344
+83,1.383333333,BASELINE,765,745,714,680,659,634.185183615,879,786.185183615,805,652,631,652,0.400979680507,0.00447805823718,0.0698382409508,0.999999965826,2.45236123458e-05,-0.00025924897657,2.31734873004e-05,1793243680838931968
+84,1.400000000,BASELINE,765,745,714,680,659,634.765196407,879,786.765196407,805,652,631,652,0.400979204735,0.00447919231212,0.0698381068544,0.99999996562,2.59649534189e-05,-0.000259894046075,2.32418643096e-05,1793243680855598592
+85,1.416666667,BASELINE,765,745,714,680,659,634.657928183,879,786.657928183,804.657928183,652,631,651.657928183,0.400978657785,0.00447957118595,0.069837667066,0.999999965491,2.65522884444e-05,-0.000260327264977,2.33109981719e-05,1793243680872264960
+86,1.433333333,BASELINE,765,745,714,680,659,634.083186786,879,786.083186786,804.083186786,652,631,651.083186786,0.400978062422,0.00447943638885,0.0698370193529,0.999999965414,2.65587476167e-05,-0.00026061638781,2.33806468248e-05,1793243680888931328
+87,1.450000000,BASELINE,764.497325924,745,714,679.497325924,659,634,879,786,804.502674076,652,631,651.502674076,0.400977797096,0.00447892228597,0.0698365572071,0.999999965019,2.58027964169e-05,-0.000262206504699,2.33178291227e-05,1793243680905598208
+88,1.466666667,BASELINE,764.089170423,745,714,679.089170423,659,634,879,786,805,652,631,651.910829577,0.40097764163,0.00447836864288,0.0698362784937,0.999999964674,2.51885463888e-05,-0.000263584492149,2.32667081041e-05,1793243680922264576
+89,1.483333333,BASELINE,764.668811734,745,714,679.668811734,659,634,879,786,805,652,631,651.331188266,0.400977783224,0.00447795058671,0.0698368359932,0.999999964911,2.60633881124e-05,-0.000262584670704,2.34032282128e-05,1793243680938931200
+90,1.500000000,BASELINE,765,745,714,679.753513232,659,634,879,786.246486768,804.753513232,652,631,651.246486768,0.400978475233,0.00447829684413,0.0698372147215,0.999999965248,2.70554465559e-05,-0.000261201952223,2.33401426819e-05,1793243680955598080
+91,1.516666667,BASELINE,765,745,714,679.178459292,659,634,879,786.821540708,804.178459292,652,631,651.821540708,0.400979900946,0.00447966193257,0.0698373551475,0.999999965717,2.82037549637e-05,-0.000259308831595,2.3010982572e-05,1793243680972264704
+92,1.533333333,BASELINE,765,745,714,679.395979224,659,634,879,787,804.395979224,652,631,652,0.400980256131,0.00448009750226,0.069837678751,0.999999965772,2.83423335531e-05,-0.000259074297549,2.31096996767e-05,1793243680988931328
+93,1.550000000,BASELINE,765,745,714,679.970140862,659,634,879,787,804.970140862,652,631,652,0.400980129599,0.00448011480798,0.0698380847806,0.999999965641,2.8026554828e-05,-0.000259586092801,2.34009525989e-05,1793243681005597952
+94,1.566666667,BASELINE,765,745,714,680,659,634,879,786.437257194,805,652,631,652,0.400979634853,0.00447950161175,0.0698381625849,0.999999965563,2.78824641946e-05,-0.000259917131845,2.3227281056e-05,1793243681022264832
+95,1.583333333,BASELINE,764.847684441,745,714,679.847684441,659,634.152315559,879,786.152315559,805,652,631,651.847684441,0.400979402938,0.00447881014161,0.0698382666027,0.999999965592,2.76641057537e-05,-0.000259837204338,2.31544550619e-05,1793243681038931200
+96,1.600000000,BASELINE,764.26941178,745,714,679.26941178,659,634.73058822,879,786.73058822,805,652,631,651.26941178,0.400979962532,0.00447799650132,0.0698384942811,0.999999965909,2.72117151543e-05,-0.000258635721141,2.34349728573e-05,1793243681055597824
+97,1.616666667,BASELINE,764,745,714,679.306835191,659,635,879,786.693164809,805,652.306835191,631,651.306835191,0.400979222562,0.00447814737904,0.0698378177063,0.999999965757,2.63932112175e-05,-0.00025931225,2.33708970561e-05,1793243681072264704
+98,1.633333333,BASELINE,764,745,714,679.881315167,659,635,879,786.118684833,805,652.881315167,631,651.881315167,0.400977349016,0.00447913958213,0.0698363523737,0.999999965192,2.52553556533e-05,-0.000261626922631,2.30062407239e-05,1793243681088931328
+99,1.650000000,BASELINE,764.464989589,745,714,680,659,634.535010411,879,786,804.535010411,652.535010411,631,652,0.400978258489,0.00447815559281,0.0698373645673,0.999999965449,2.51330012201e-05,-0.000260640890944,2.31779031875e-05,1793243681105597952
+100,1.666666667,BASELINE,765,744.949223131,714,680,659,634,879,786,804.050776869,652,631,652,0.400979688663,0.00447699631845,0.0698387690136,0.999999965829,2.54639955762e-05,-0.000259120994176,2.34505862427e-05,1793243681122264832
+101,1.683333333,BASELINE,765,744.366383291,714,680,659,634,879,786,804.633616709,652,631,652,0.400978981543,0.00447939235275,0.069837523752,0.999999965279,2.77745968742e-05,-0.000261012962281,2.33184673022e-05,1793243681138931456
+102,1.700000000,BASELINE,765,744.213633389,714,680,659,634,878.786366611,786.213633389,805,652,631,652,0.400978487661,0.00448006141054,0.0698367903431,0.999999964994,2.81509901381e-05,-0.000262061073358,2.33068099666e-05,1793243681155598080
+103,1.716666667,BASELINE,765,744.788871415,714,680,659,634,878.211128585,786.788871415,805,652,631,652,0.400978354714,0.00447780731681,0.0698369233171,0.999999965167,2.52534633227e-05,-0.000261680837231,2.34990508972e-05,1793243681172264704
+104,1.733333333,BASELINE,764.636266523,745,714,680,659,634,878,786.636266523,804.636266523,652,631,652,0.400978356509,0.00447844474097,0.0698370909666,0.999999965361,2.60175515893e-05,-0.00026087464339,2.33769129894e-05,1793243681188931328
+105,1.750000000,BASELINE,764.061622409,745,714,680,659,634,878,786.061622409,804.061622409,652,631,652,0.400978436433,0.00448075880982,0.0698372787227,0.999999965562,2.89048248683e-05,-0.00025982145819,2.30724827208e-05,1793243681205597952
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,787,805,652,631,652,0.400979080788,0.00447663307689,0.0698382937706,0.99999996566,2.14858337579e-05,-0.000260173321573,2.29907397747e-05,1793243681235703808
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.580170115,745,714,679.419829885,659,634,879,787,805,652,631,652,0.400977346308,0.00447822737375,0.0698371017991,0.999999965062,2.43000413674e-05,-0.000262197199345,2.31992571319e-05,1793243681252370688
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.15927738,659,634,879,786.84072262,804.84072262,652,631,652,0.400976649987,0.00447903091803,0.0698364996502,0.999999964782,2.5605874166e-05,-0.000263135753787,2.3230976071e-05,1793243681269037312
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.735601836,659,634,879,786.264398164,804.264398164,652,631,652,0.400978671948,0.00447776397999,0.0698374418748,0.999999965355,2.29622245942e-05,-0.000261232530891,2.27997714252e-05,1793243681285703936
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.317225733,878.682774267,786,804.317225733,652,631,652,0.400978365237,0.00447717748552,0.0698374312766,0.999999965361,2.26990390665e-05,-0.00026122838192,2.28742681024e-05,1793243681302370304
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.90334156,878.09665844,786,804.90334156,652,631,652,0.400976084674,0.00447716775558,0.069836613037,0.999999964887,2.44536067876e-05,-0.000262833945376,2.33774124928e-05,1793243681319036928
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.515895768,878.484104232,786,805,652,631,652,0.400976704571,0.00447780495332,0.0698368419073,0.999999964957,2.58164195e-05,-0.000262443838393,2.33153393235e-05,1793243681335703552
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.063651986,879,786.063651986,804.936348014,652,630.936348014,652,0.400977813737,0.00447842652155,0.0698372960962,0.999999965134,2.65723854127e-05,-0.000261706702904,2.31423519952e-05,1793243681352370176
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.641924191,879,786.641924191,804.358075809,652,630.358075809,652,0.400978247672,0.00447788883326,0.0698379001344,0.999999965319,2.30475343093e-05,-0.000261350189348,2.29750682446e-05,1793243681369037056
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.781098138,879,786.781098138,804.218901862,652,630.218901862,651.781098138,0.400979482818,0.00447779878893,0.0698385426559,0.9999999655,2.20980232991e-05,-0.000260741216038,2.2941879153e-05,1793243681385703936
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.206225648,879,786.206225648,804.793774352,652,630.793774352,651.206225648,0.400982020866,0.00447843668777,0.0698392477577,0.999999965684,2.53364415021e-05,-0.000259721701457,2.31267501682e-05,1793243681402370560
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.622580701,659,634,879,786.377419299,805,652,631,651.377419299,0.400997403268,0.00447751693425,0.0698464048457,0.999999968642,2.48214801628e-05,-0.000248124031827,2.31272372376e-05,1793243681419036928
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.034028276,659,634,879,786.965971724,805,652,631,651.965971724,0.401019970965,0.00447572581036,0.0698571712565,0.999999972898,2.22068311697e-05,-0.000230608808418,2.30245776089e-05,1793243681435703552
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.454211947,745,714,679.545788053,659,634,878.454211947,786.454211947,805,651.454211947,631.545788053,652,0.401064197782,0.00447809202822,0.0698728255107,0.999999979233,2.32358530029e-05,-0.000201222163245,2.24525603315e-05,1793243681452370432
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,786.124336543,805,651.124336543,631.875663457,652,0.401112403228,0.00447991195933,0.0698879615227,0.999999984181,2.40466140758e-05,-0.000174857791492,2.20123161437e-05,1793243681469037056
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,786.70022769,805,651.70022769,631.29977231,652,0.401170230978,0.00447882143192,0.0699001261304,0.999999986344,2.32526888678e-05,-0.0001621150987,2.21552346209e-05,1793243681485703680
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.276319799,745,714,680,659,634,878.276319799,786.723680201,804.723680201,652,631,651.723680201,0.401234463513,0.00447821996412,0.0699084210615,0.999999988118,2.20179838757e-05,-0.00015103505512,2.16339910667e-05,1793243681502370304
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.852630051,745,714,680,659,634,878.852630051,786.147369949,804.147369949,652,631,651.147369949,0.401305649488,0.00447814945079,0.0699125148233,0.999999989538,2.03047401986e-05,-0.000141760090676,2.0391690711e-05,1793243681519037184
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.439152597,804.439152597,652,631,651.439152597,0.401388524278,0.00447781773899,0.0699121797104,0.99999998954,1.76042046108e-05,-0.000142349032657,1.86118801441e-05,1793243681535703808
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.971350985,787,804.971350985,652,631,652,0.401476443814,0.00447751874412,0.0699103309168,0.999999989044,1.47282397794e-05,-0.000146353057714,1.66176625606e-05,1793243681552370432
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.392130894,787,804.392130894,652,631,652,0.401584135586,0.00447957308868,0.0699086346505,0.999999988409,1.49996150313e-05,-0.000150859925253,1.40519842367e-05,1793243681569037312
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.814423508,745,714,679.814423508,659,634,878.185576492,787,804,652,631,652,0.401703519126,0.00448096868542,0.0699088933272,0.999999988393,1.3873746337e-05,-0.00015130970173,1.12606686997e-05,1793243681585703936
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.23988676,745,714,679.23988676,659,634,878.76011324,787,804,652,631,652,0.40184740809,0.00448098357512,0.0699132494796,0.999999989659,9.81931506654e-06,-0.000143255991226,7.99642770032e-06,1793243681602370560
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.342480836,745,714,679.342480836,659,634,879,787,804.342480836,652,631,652,0.402005414585,0.00448072876893,0.0699166361391,0.999999990505,4.91436952879e-06,-0.00013763697967,4.76551423024e-06,1793243681619037184
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.930461872,745,714,679.930461872,659,634,879,787,804.930461872,652,631,652,0.402173540952,0.00448028063691,0.0699193278385,0.999999991052,-6.00249726754e-07,-0.000133763230126,1.55849056382e-06,1793243681635704064
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.488727921,786.488727921,805,652,631,652,0.402378694464,0.00448150170128,0.0699228402947,0.999999991875,-5.45067327267e-06,-0.000127324756775,-2.86213530478e-06,1793243681652370432
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.909272663,745,714,679.909272663,659,634,878.090727337,786,804.909272663,652,631,652,0.402592714144,0.00448296293618,0.0699258888672,0.999999992561,-1.03191956676e-05,-0.00012130370976,-7.52395729318e-06,1793243681669037312
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.331925773,745,714,679.331925773,659,634,878.668074227,786,804.331925773,652,631,652,0.402827650418,0.00448451150727,0.0699258589267,0.999999992672,-1.57626194694e-05,-0.000119366617515,-1.26063741824e-05,1793243681685703936
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.24878659,745,714,679.24878659,659,634,879,786,804.24878659,652,631,652,0.403077683935,0.00448504431654,0.0699282773907,0.999999993152,-2.23846823092e-05,-0.00011351830487,-1.75574667674e-05,1793243681702370560
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.834050633,745,714,679.834050633,659,634,879,786,804.834050633,652,631,652,0.403348136071,0.00448420333401,0.0699340072589,0.999999994042,-3.06008237582e-05,-0.000102380167493,-2.23309463075e-05,1793243681719037184
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,804.584894105,652,631,652,0.403657789753,0.00448440247072,0.0699435904556,0.99999999522,-3.7953125672e-05,-8.58124370396e-05,-2.74868402309e-05,1793243681735704064
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,804.005504537,652,631,652,0.403982957962,0.00448501324846,0.0699546986581,0.9999999962,-4.49635514077e-05,-6.70958732407e-05,-3.27940796042e-05,1793243681752370944
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.429853532,786.570146468,804.570146468,652,631,652,0.404334781539,0.0044900133162,0.0699528288148,0.999999995605,-4.51129061576e-05,-7.23528295764e-05,-3.8995335139e-05,1793243681769037568
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.853935175,659,634,878,786.853935175,805,652,631,652,0.404698484372,0.00449392218646,0.0699533478059,0.999999996019,-3.15039649429e-05,-7.30168937915e-05,-4.04707197032e-05,1793243681785704448
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.277122744,659,634,878,786.277122744,805,652,631,652,0.405096465288,0.00449448894037,0.0699612786079,0.999999997588,2.24843479296e-05,-5.94583238785e-05,-2.79841424462e-05,1793243681802371072
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.695354078,745,714,679.304645922,659,634,878.304645922,786,805,652,631,652,0.405497462439,0.00449795065084,0.069963088048,0.999999996246,6.24740458728e-05,-5.59943647979e-05,-2.16635552727e-05,1793243681819037440
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.109002321,745,714,679.890997679,659,634,878.890997679,786,805,652,631,652,0.405901248745,0.00450408932534,0.0699592370705,0.999999993858,8.95192422559e-05,-6.18648826724e-05,-2.10446527161e-05,1793243681835704064
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.473571095,745,714,679.526428905,658.526428905,634,879,786.473571095,804.526428905,651.526428905,631,652,0.406346255329,0.00450520211342,0.0699499008369,0.999999992486,9.09715343315e-05,-7.82419159076e-05,-2.50878255276e-05,1793243681852370944
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,879,786.94527474,804.05472526,651.05472526,631,652,0.406806595974,0.00450543924051,0.0699391375857,0.99999999186,7.80385632443e-05,-9.64048339489e-05,-2.9920552573e-05,1793243681869037568
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,879,786.36941927,804.63058073,651.63058073,631,652,0.407323324837,0.00450826649105,0.0699267129627,0.999999993441,-1.62288674933e-05,-0.000108727812881,-3.21342977109e-05,1793243681885704192
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.411547441,634,879,786.205773721,804.794226279,652,631,652,0.40785996595,0.00451187483333,0.0699231631044,0.999999991437,-6.67351757682e-05,-0.000107332220114,-3.39538745848e-05,1793243681902371072
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.559562327,634,879,786.779781163,804.220218837,652,631,652,0.408432240163,0.00451688094536,0.0699354947093,0.999999995315,-3.89305993499e-05,-8.13871339727e-05,-3.50680844558e-05,1793243681919037696
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.272553009,634.363723495,879,787,804,652,631,652,0.409016337186,0.00452336973698,0.0699455305997,0.999999997601,-6.74999812072e-06,-5.86487791243e-05,-3.62428603748e-05,1793243681935704320
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.092300271,634.953849865,879,787,804,652,631,652,0.409607793399,0.0045307814353,0.069954137502,0.999999998184,2.81544970206e-05,-3.79064831777e-05,-3.74553360934e-05,1793243681952370944
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.533517179,658.533517179,634.466482821,879,787,804,652,631,652,0.410215525771,0.00453709810341,0.069944675498,0.999999996614,5.00054866423e-05,-5.28529623088e-05,-3.84506888697e-05,1793243681969037568
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.888080759,659,634,879,787,804.111919241,652,631,652,0.410839115185,0.00454331490896,0.0699369330353,0.999999994866,6.55687662118e-05,-6.64592976079e-05,-3.93847671148e-05,1793243681985704704
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.311248743,659,634,879,787,804.688751257,652,631,652,0.411522838585,0.00454950279338,0.0699427013864,0.9999999955,5.96131871463e-05,-6.19212519545e-05,-4.01408289804e-05,1793243682002371328
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.735353192,745,714,679.264646808,659.264646808,634,879,786.735353192,805,652,631,651.735353192,0.412231362958,0.00455597248198,0.0699607282198,0.999999996771,6.00210247046e-05,-3.4541878424e-05,-4.0763762202e-05,1793243682019037952
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.160555051,745,714,679.839444949,659.839444949,634,879,786.160555051,805,652,631,651.160555051,0.412968952782,0.00456277243022,0.0699931213131,0.999999996654,6.78864315925e-05,1.96062612075e-05,-4.12306760714e-05,1793243682035704576
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.426108359,745,714,679.573891641,659.573891641,634,879.426108359,786.426108359,805,652,631,651.426108359,0.413698760721,0.00456906489772,0.0700125214952,0.999999994482,8.40870054468e-05,4.71345489806e-05,-4.17657425552e-05,1793243682052371200
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,713.982999941,679,658.982999941,634,879.982999941,787,805,652,630.982999941,651.982999941,0.41442481395,0.00457528629363,0.0700250853897,0.999999991954,0.000102574775139,6.14516780637e-05,-4.23581106483e-05,1793243682069037824
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,713.404348586,679,658.404348586,634,879.404348586,787,805,652,630.404348586,651.404348586,0.415126468071,0.00458565799723,0.0699781670182,0.999999994796,8.98942571236e-05,-1.98325373967e-05,-4.39709161885e-05,1793243682085704448
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,713.172512972,679.172512972,658.172512972,634,879,787,805,652,630.172512972,651.172512972,0.415855001082,0.0045940629037,0.0699367432155,0.999999991105,8.77014834182e-05,-8.95649194066e-05,-4.55637479649e-05,1793243682102371072
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,713.745222511,679.745222511,658.745222511,634,879,787,805,652,630.745222511,651.745222511,0.416645887853,0.00459790522243,0.0699080657477,0.99999998408,0.000109838240119,-0.000132499288154,-4.71102449135e-05,1793243682119037440
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,713.67198362,680,659.32801638,634,879,787,805,651.67198362,631,651.67198362,0.41746208984,0.00460089410061,0.0699139799382,0.999999983622,0.000124010333395,-0.000122945442802,-4.75608350863e-05,1793243682135704064
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,713.081108618,680,659.918891382,634,879,787,805,651.081108618,631,651.081108618,0.418298578344,0.004603199067,0.0699476144397,0.99999998766,0.000131799877024,-7.13297336512e-05,-4.71332112484e-05,1793243682152370944
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,713.499651259,680,660,634,879.499651259,786.500348741,805,651.499651259,631,651.499651259,0.419153485705,0.00460383282629,0.0699736540721,0.999999991207,0.000119414326903,-3.32458042752e-05,-4.71205776013e-05,1793243682169037568
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.92158635,745,714,680.07841365,660,634,879.92158635,786,805,652,631,652,0.420015952067,0.00460189622006,0.0699977439816,0.999999993345,0.000105205686357,1.96034066051e-06,-4.73127303587e-05,1793243682185704192
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.345288279,745,714,680.654711721,660,634,879.345288279,786,805,652,631,652,0.420907805821,0.00458532752947,0.0700171269746,0.999999993319,9.98034793564e-05,3.25646898111e-05,-4.83859191787e-05,1793243682202370816
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.231004238,745,714,680.768995762,659.768995762,634,879,786.231004238,805,651.768995762,631,652,0.421788706787,0.00457028209657,0.0700199540832,0.999999994941,8.09064599511e-05,3.44180511325e-05,-4.88692142475e-05,1793243682219037184
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.807288539,745,714,680.192711461,659.192711461,634,879,786.807288539,805,651.192711461,631,652,0.422653236846,0.00455751346146,0.0699980352554,0.999999997928,4.1838858632e-05,-6.70243933028e-06,-4.8470800264e-05,1793243682235703552
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.392938797,659.392938797,634,879.392938797,786.607061203,805.392938797,651.392938797,631,652,0.423455200243,0.00456028325048,0.0699353597716,0.999999992284,4.77195731305e-05,-0.000103091291058,-5.0272358003e-05,1793243682252370176
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.983294584,659.983294584,634,879.983294584,786.016705416,805.983294584,651.983294584,631,652,0.424225729374,0.00457085972405,0.0698522076743,0.999999969863,7.61828424283e-05,-0.000227247602096,-5.31792063444e-05,1793243682269037056
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.437087527,659.437087527,634,878.874175055,786,805.437087527,651.437087527,631,651.437087527,0.425145092147,0.00457600797913,0.0698640189938,0.999999974513,8.6820710444e-05,-0.000200881680575,-5.55284666328e-05,1793243682285703680
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.859066924,745,714,680,659.140933076,634,878.140933076,786.140933076,805,651,631,651.140933076,0.426076678843,0.00458065749571,0.0698913177922,0.99999998223,9.16032426866e-05,-0.00015487519045,-5.62416941782e-05,1793243682302370560
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.284994354,745,714,680,659.715005646,634,878.715005646,786.715005646,805,651,631,651.715005646,0.427032513459,0.00458426003169,0.0699577160816,0.99999999353,7.99855407108e-05,-6.19777633131e-05,-5.19766917287e-05,1793243682319037184
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.296616243,745,714,680,660,634,879,786.703383757,805,651,631,652,0.427982092564,0.00458736025412,0.0700066259926,0.999999995489,8.00239831747e-05,7.56712338191e-06,-5.06091484881e-05,1793243682335703552
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.885658343,745,714,680,660,634,879,786.114341657,805,651,631,652,0.428925504474,0.00458996525911,0.070038294585,0.999999992989,9.15539012869e-05,5.40893722216e-05,-5.20981316776e-05,1793243682352370176
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.467204501,786,805.467204501,651.467204501,631,652,0.429840280243,0.00459192549301,0.070041798791,0.999999991674,9.85045839749e-05,6.46304201345e-05,-5.26547190233e-05,1793243682369037056
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.046608789,660,634,879.953391211,786,805.953391211,651.953391211,631,651.953391211,0.43073686361,0.00459352897328,0.0700321582021,0.99999999174,0.000103568394243,5.46079162023e-05,-5.30178499778e-05,1793243682385703680
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680.622195642,660,634,879.377804358,786,805.377804358,651.377804358,631,651.377804358,0.431505258114,0.00459284616719,0.0699503267931,0.999999989494,9.97358455767e-05,-9.04342440456e-05,-5.37342944155e-05,1793243682402370304
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680.802638233,659.802638233,634,879.197361767,786,805.197361767,651,631,651,0.432313935226,0.00458754935467,0.0698937018127,0.999999977338,8.95558701714e-05,-0.000185269587051,-5.45772424484e-05,1793243682419036928
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.228275682,659.228275682,634,879.771724318,786,805.771724318,651,631,651,0.433199560379,0.00457343885905,0.0698852261807,0.999999979225,6.72510319539e-05,-0.000184199810478,-5.56618397639e-05,1793243682435703552
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.713311779,634,879.643344111,786,806,651,631,651.356655889,0.434126249619,0.00456564796797,0.0699247907803,0.999999990311,5.89361367776e-05,-0.000113175515926,-5.5640294075e-05,1793243682452370432
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.897117304,634,879.051441348,786,806,651,631,651.948558652,0.435080024293,0.0045620254295,0.0699960422658,0.999999996695,5.98488772799e-05,3.99012260941e-06,-5.48891461893e-05,1793243682469037056
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681.057262788,660.471368606,634,879.528631394,786,806,651,631,652,0.435964733096,0.00456758634064,0.0700222271408,0.999999995085,7.02201631738e-05,4.45696308912e-05,-5.39703174059e-05,1793243682485703680
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681.89312084,660,634,880,786.10687916,806,651,631,652,0.43683199507,0.00457291116613,0.0700371054048,0.999999993163,7.69194488112e-05,6.99445478315e-05,-5.3519621679e-05,1793243682502370048
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681.317935814,660,634,880,786.682064186,806,651,631,652,0.437651614973,0.00457337162623,0.0700212370438,0.999999994617,6.35847049294e-05,6.06383952245e-05,-5.51900466682e-05,1793243682519036928
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.73926014,714,681.26073986,660,634,880,786.73926014,806,651,631,651.73926014,0.438434364793,0.00457466747308,0.0699867186954,0.99999999642,6.07816307229e-05,1.60297907305e-05,-5.66514706816e-05,1793243682535703808
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.156270397,714,681.843729603,660,634,880,786.156270397,806,651,631,651.156270397,0.439171546607,0.00457699577913,0.0699291507223,0.999999993199,7.09947078924e-05,-7.22093152026e-05,-5.7854588764e-05,1793243682552370432
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.425602969,714,681.574397031,660,634,880,786,805.574397031,651,631,651,0.439897501561,0.00457795900962,0.0698821663228,0.9999999841,7.71756030874e-05,-0.000149937302671,-5.79954784093e-05,1793243682569037056
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.007045084,786.007045084,805,651,631,651.007045084,0.440620253857,0.00457838624508,0.0698402570286,0.999999970415,8.15500531342e-05,-0.00022177675201,-5.77533696705e-05,1793243682585703424
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.586661292,786.586661292,805,651,631,651.586661292,0.441416859362,0.00457588068937,0.0698958145944,0.999999988393,5.91203899851e-05,-0.000127883027058,-5.79992388104e-05,1793243682602370304
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+247,4.116666667,POSE1_TO_POSE2_PRESS,764.810256099,745.810256099,713,683,649.189743901,631,880.810256099,786,806.189743901,651.810256099,631.810256099,651.189743901,0.454307322348,0.00471824246084,0.0695928299913,0.999999778653,0.000223356817042,-0.000623546916753,-6.32124390261e-05,1793243683585704704
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.604354525,713,682.604354525,649,631,881,786,806,651.604354525,631.604354525,651.395645475,0.454306673726,0.00471782594407,0.069592428775,0.9999997782,0.000221806215671,-0.000624827884065,-6.31883056023e-05,1793243683602371072
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.013671778,713,682.013671778,649,631,881,786,806,651.013671778,631.013671778,651.986328222,0.454305978594,0.00471709057453,0.0695926661745,0.999999777962,0.000219808878516,-0.000625922746639,-6.30920893778e-05,1793243683619037696
+250,4.166666667,HOLD_POSE2,764,746,714,682,649,631,881,786,807,652,631,652,0.45430467919,0.00471804004653,0.069591379489,0.9999997759,0.00022328983046,-0.000628033935678,-6.25642016244e-05,1793243683648279552
+251,4.183333333,HOLD_POSE2,764.575007694,745.424992306,713.424992306,682,649,631,880.424992306,786,806.424992306,651.424992306,631,652,0.454307043178,0.00471937924928,0.0695930032115,0.999999776963,0.000224431512022,-0.000625906931111,-6.28113966609e-05,1793243683664945664
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+253,4.216666667,HOLD_POSE2,765,745,713.742921157,682,649,631,880.742921157,786,806,651,631,652,0.454307225686,0.00471885378976,0.0695916680178,0.999999776553,0.000224255191916,-0.000626591123668,-6.31394431613e-05,1793243683698278400
+254,4.233333333,HOLD_POSE2,764.673112587,745,714,682.326887413,649,631,880.673112587,786,806,651.326887413,631,652,0.454307424841,0.00471745767945,0.0695911623679,0.999999776897,0.00022264189792,-0.000626638093312,-6.29364125046e-05,1793243683714945024
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+256,4.266666667,HOLD_POSE2,764.483255053,745,714,682.516744947,649,631,880,786,806.483255053,651.516744947,631,651.516744947,0.454307260589,0.00471598976261,0.0695910070103,0.999999776984,0.000220258605495,-0.000627388125406,-6.24611633093e-05,1793243683748278016
+257,4.283333333,HOLD_POSE2,765,745,713.941063932,682.058936068,649,631,880,786,806.941063932,651.058936068,631,651.058936068,0.454305518996,0.0047162956358,0.0695900530799,0.999999775467,0.000220390888923,-0.000629750438391,-6.25192479085e-05,1793243683764944640
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+259,4.316666667,HOLD_POSE2,764.785792077,745.214207923,713,683,649,631.214207923,880.214207923,786,806,651.785792077,631,652,0.454306766673,0.00471602907892,0.0695906901982,0.999999776218,0.000219746000893,-0.000628772426331,-6.26169696265e-05,1793243683798278400
+260,4.333333333,HOLD_POSE2,764.194931194,745.805068806,713,683,649,631.805068806,880.805068806,786,806,651.194931194,631,652,0.454307355782,0.00471723142156,0.0695911027274,0.999999775863,0.000222117431762,-0.000628514459422,-6.25128681066e-05,1793243683814945280
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+262,4.366666667,HOLD_POSE2,764.967510289,745.032489711,713,683,649,631.032489711,880.032489711,786,806,651,631,652,0.454309299228,0.00471811924971,0.0695925375683,0.999999777529,0.000223387672358,-0.000625348028485,-6.30892322542e-05,1793243683848278784
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+265,4.416666667,HOLD_POSE2,765.708377978,745.708377978,713,682.708377978,649,631.291622022,880.291622022,786,806,651.708377978,631,652,0.454307095905,0.00471509193344,0.0695892803397,0.99999977539,0.000218720159719,-0.00063042689261,-6.27938849268e-05,1793243683898277888
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745,713.844302898,682.155697102,649,631,880,786,806.844302898,652,631,652,0.45430683635,0.00471633750451,0.0695892581659,0.999999773877,0.000223789680976,-0.000631131050558,-6.19571345848e-05,1793243683968666112
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745,713.257017082,682.742982918,649,631,880,786,806.257017082,652,631,652,0.454307595695,0.00471587452839,0.0695899831456,0.999999775303,0.000222147348658,-0.000629422743253,-6.22186539597e-05,1793243683985332224
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.639107365,745,713,682,648.639107365,631,880,785.639107365,806,651,631,652,0.45430638445,0.00471459787759,0.0695890033929,0.999999775403,0.000217973220203,-0.000630744433268,-6.19982129778e-05,1793243684068665088
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.217064213,745,713,682,649,631,880,786,806,651,631,652,0.454289822912,0.00471612882367,0.0695798455425,0.99999976665,0.00022027576646,-0.000643673540002,-6.2145373837e-05,1793243684101998848
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,745,713,682.965264141,649,631,880,786,806,651,631,651.034735859,0.45422618035,0.00471683589751,0.0695536938441,0.999999737327,0.000221952636355,-0.000687228347023,-6.16523767427e-05,1793243684135332608
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.691635691,745,713.691635691,682.691635691,648.691635691,631,880,786,806,651,631,652,0.454053284816,0.0047175854046,0.0695196453921,0.999999703028,0.000225914969104,-0.000734320756928,-6.06583732619e-05,1793243684185331968
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.725994588,682.725994588,649,631,880.274005412,786,806,651,631,652,0.453980442792,0.0047175788733,0.0695147221168,0.999999698561,0.000226952051603,-0.000740127284608,-5.98515515432e-05,1793243684201998592
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.449316448,682,649,631,880.550683552,786,806,651.449316448,631,652,0.453788493458,0.00471580727619,0.0695065571202,0.9999996882,0.000230293007538,-0.00075324312184,-5.64740723445e-05,1793243684235332096
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.749316549,682.250683451,650,631.749316549,880,786.749316549,806.250683451,651,631,652,0.45319046323,0.0047184877215,0.0694577623804,0.999999619352,0.000245859236025,-0.000835756473054,-4.85850290816e-05,1793243684301998592
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,745,713.046012942,681.953987058,656.046012942,633,880,786.046012942,806,651.953987058,631,652,0.447842146894,0.0046256017698,0.0696832191857,0.999999858615,0.000171861541847,-0.000503141956075,9.03730934833e-06,1793243684568665088
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,745,713.623604653,681.376395347,656.623604653,633,880,786.623604653,806,651.376395347,631,652,0.447253551322,0.00462585009901,0.069679101512,0.999999857366,0.000161053176199,-0.000509161450136,9.19474333059e-06,1793243684585331968
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,745,713.794718045,681.205281955,657,633,880.205281955,787,806,651,631,651.794718045,0.446669279154,0.00462542666683,0.0696778205376,0.999999859451,0.000152289953763,-0.000507737926615,1.03731804874e-05,1793243684601998592
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,745,713.205397509,681.794602491,657,633,880.794602491,787,806,651,631,651.205397509,0.446093095183,0.00462374651292,0.0696818464204,0.999999867829,0.000147352757005,-0.000492390110673,1.34616959431e-05,1793243684618665472
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.37723752,745,713.37723752,681.62276248,657.37723752,633.37723752,880.62276248,787,806,651,631,651,0.445514866316,0.0046170671375,0.0697117379999,0.999999894689,0.000128693164535,-0.00044026678734,1.49784735038e-05,1793243684635332096
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.472478819,745,714,681.527521181,658.527521181,634,880,786.472478819,806,651,631,651,0.444292578027,0.00460465011339,0.0697953952362,0.999999950804,8.65138492439e-05,-0.000301008466176,1.73357118044e-05,1793243684668665344
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764.099821027,745,714,682,658.900178973,633.900178973,880,786.099821027,806,651.099821027,631,651.099821027,0.443625557685,0.00460239146141,0.0698295934098,0.999999967011,7.26458171572e-05,-0.000245601613685,1.94815668648e-05,1793243684685332224
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.85572172,633.85572172,880,786.14427828,805.14427828,652,631,652,0.441358642864,0.00459790277904,0.0698266579178,0.99999996459,3.39209689644e-05,-0.000262922542724,2.32713380292e-05,1793243684735332864
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.985985956,745,714,681.014014044,659.985985956,634,880.014014044,787,806,651,631,652,0.439805160715,0.00459255270739,0.0698298866368,0.99999992408,0.000300467307817,-0.000246620148318,2.71693396348e-05,1793243684768665088
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.407353244,745,714,681.592646756,659.407353244,634,880.592646756,787,806,651,631,652,0.438911911499,0.00459120410438,0.0697832652443,0.999999909266,0.000273361793349,-0.000325641965052,2.64502117395e-05,1793243684785331968
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.826541558,658.826541558,634,880.826541558,787,805.826541558,651.173458442,631,652,0.438028758487,0.00458838104739,0.0697410566261,0.999999892456,0.000244783878786,-0.000393066003782,2.5855759252e-05,1793243684801998592
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.240547666,658.240547666,634,880.240547666,787,805.240547666,651.759452334,631,652,0.437169617288,0.00458205130301,0.0697093428928,0.999999883348,0.000212704166582,-0.000432907097231,2.55578221128e-05,1793243684818664960
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.658391808,745,714,681,658.341608192,634,879.658391808,787,805.341608192,651.658391808,631,652,0.436328240665,0.00457824720295,0.0697252192422,0.999999900203,0.00018470306239,-0.000405936894682,2.6336295537e-05,1793243684835331584
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.499034092,745,714,681,659,634,879,786.500965908,805.500965908,651.499034092,631,652,0.434653259613,0.00457300572745,0.0698148914776,0.999999951034,0.000140373731137,-0.000278081120845,2.99743608547e-05,1793243684868665088
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,764.767220141,745,714,681,659,634,880,787,806,652,631,651.767220141,0.431989810375,0.00455709673277,0.0698492357805,0.999999964378,0.000122306520391,-0.000235077326826,3.20088394007e-05,1793243684918664960
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.982565039,745,713.017434961,681,658.017434961,634,880,787,805.017434961,651.017434961,631,651.982565039,0.4290422054,0.00454519170286,0.0696973539835,0.999999881301,0.000107480324326,-0.000474152550701,3.20164072953e-05,1793243684968665088
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.707577633,680,659.415155266,634,879.292422367,787,805,651,631,652,0.42554269514,0.00451641573962,0.0698764880322,0.999999976139,7.9713095474e-05,-0.000199928796657,3.73680181329e-05,1793243685035331584
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.11675418,680,658.23350836,634,879.88324582,787,805,651,631,652,0.424603527921,0.00450658969849,0.0698543867324,0.999999969296,7.03939937568e-05,-0.000234788208379,3.64279008954e-05,1793243685051998208
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.464392824,680,658.464392824,634,880,787,805,651,631,652,0.423638287115,0.00450084646458,0.0698122308612,0.999999951128,6.40341280592e-05,-0.000304046220657,3.46261034082e-05,1793243685068664832
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.957150499,680,658.957150499,634,879.957150499,786.957150499,805,651,631,652,0.422666784874,0.00449584144484,0.0697642331678,0.999999924097,5.84463554244e-05,-0.00038380072175,3.29630901152e-05,1793243685085331712
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.382506959,680,658.382506959,634,879.382506959,786.382506959,805,651,631,652,0.421697269133,0.00448751900091,0.0697050315298,0.999999878533,5.33958516563e-05,-0.000488684093755,3.56562447465e-05,1793243685101998336
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.190966313,680,658,634,879.190966313,786.190966313,805,651.190966313,631,652,0.42078679589,0.00447869413344,0.0696861422216,0.999999862424,3.81979183634e-05,-0.000521907212877,3.61484738312e-05,1793243685118664960
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.762109912,680,658,634,879.762109912,786.762109912,805,651.762109912,631,652,0.419993864757,0.00446886903562,0.069747507016,0.999999914411,2.79839966913e-06,-0.00041246854226,3.22590832926e-05,1793243685135331584
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.651756561,680,659.044730317,634,879.651756561,786.651756561,805,652,631,652,0.41919815194,0.00446279787779,0.0698139345527,0.999999953638,5.22686998031e-06,-0.000302716521196,3.25523070767e-05,1793243685151998208
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.054922641,680,660.835232077,634,879.054922641,786.054922641,805,652,631,652,0.418400453491,0.0044594064372,0.0698839760794,0.999999980183,3.46585157898e-05,-0.000192740823575,3.58312529993e-05,1793243685168664832
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,659.432789488,634,879,786.522403504,805.522403504,652,631,651.477596496,0.41755114163,0.00444885521708,0.0698728318975,0.999999975549,1.38519545277e-05,-0.000217546454756,3.72087454831e-05,1793243685185331456
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.097099631,680,658,634,879,787,805.902900369,652,631,651.097099631,0.416702654822,0.00443867263464,0.069851377037,0.999999966896,-1.09798303558e-05,-0.000254302252065,3.76465020878e-05,1793243685201998080
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.668605787,680,658,634,879,787,805.331394213,652,631,651.668605787,0.415883756585,0.00443383645572,0.0698197474754,0.999999958978,-3.06013679423e-05,-0.000282703846711,3.44344718688e-05,1793243685218664704
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.250360203,634,879,787,805,652,631,652,0.415043022276,0.00443097729516,0.0697875362878,0.999999944743,-3.13357366242e-05,-0.000329260299879,3.34605510422e-05,1793243685235331328
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.846258864,634,879,787,805,652,631,652,0.414172150647,0.00443084674708,0.0697545223627,0.999999918999,-6.00268892532e-06,-0.000400873455085,3.55755912536e-05,1793243685251997952
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.571744504,680,658.571744504,634,879,786.571744504,805,652,631,652,0.413418564603,0.00444954095745,0.0697582882822,0.999999921347,7.8577491698e-06,-0.000394934024916,3.56429072446e-05,1793243685268664576
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.005395874,713,680,658.016187621,634,879,786.005395874,805,652,631,651.994604126,0.412706540245,0.00447463181613,0.0697752210599,0.99999993392,1.79514428626e-05,-0.000361402958606,3.49967855793e-05,1793243685285331200
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.580164876,713,680,659.740494628,634,879,786.580164876,805,652,631,651.419835124,0.412076901748,0.00448401616788,0.0698320676933,0.999999963817,5.15083844127e-05,-0.000261807907129,3.41997520063e-05,1793243685301997824
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.845544227,713.154455773,680,660.691088455,634,879,787,805,652,631,651.154455773,0.411438784428,0.00448760024536,0.0698759154611,0.999999979595,6.77297717491e-05,-0.000187291096748,3.3834159833e-05,1793243685318664448
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.272548761,713.727451239,680,659.545097521,634,879,787,805,652,631,651.727451239,0.410777691302,0.00447546691283,0.069884539299,0.999999982385,3.69757946244e-05,-0.000180730548474,3.46376755198e-05,1793243685335331072
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+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.935133612,658,634,878.935133612,787,805,652,631,651.064866388,0.408159859141,0.00446886110476,0.0697665883289,0.9999999293,3.52758322569e-05,-0.000373102665882,3.08241382139e-05,1793243685401998080
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.969774345,658.030225655,634,879,787,805,652,631,651.969774345,0.405629039514,0.00448868144433,0.0698045152111,0.999999940783,7.07667972125e-05,-0.000335220373736,3.24609734195e-05,1793243685485331200
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.455509778,745,714,679.455509778,658,634,878.455509778,787,805,652,631,652,0.405231345877,0.00449026565991,0.0698134630004,0.999999948184,5.96225642017e-05,-0.000314831042165,3.0945138003e-05,1793243685501998080
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.119338016,658.119338016,634,878,787,805,652,631,652,0.404846545204,0.00449076293383,0.0698243200356,0.999999956064,4.65667633883e-05,-0.000291261848241,2.95107438848e-05,1793243685518664960
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.695781513,658.695781513,634,878,787,805,652,631,652,0.404490679672,0.00448734316704,0.0698393441255,0.99999996435,3.32518254316e-05,-0.000263369723185,2.88218099204e-05,1793243685535331328
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.27909344,745,714,679.72090656,658.72090656,634.27909344,878,787,805,652,631.27909344,652,0.404148132,0.00448344761603,0.0698495199049,0.999999969423,2.35309926005e-05,-0.000244490297825,2.87212962485e-05,1793243685551997952
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.870080981,745,714,679.129919019,658.129919019,634.870080981,878,787,805,652,631.870080981,652,0.403820467402,0.00447902036411,0.0698542775718,0.999999971639,1.7826665553e-05,-0.000235682798155,2.92783574572e-05,1793243685568664576
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.448630676,658.448630676,634.551369324,878,787,805,652,631.551369324,652,0.403497199312,0.00447654747637,0.0698437790265,0.999999967584,8.00482774664e-06,-0.000252886626743,2.85757796019e-05,1793243685585331712
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.976359546,679.976359546,658.976359546,634.023640454,878,787,805,652,631,652,0.403177307026,0.00447460794494,0.0698293052256,0.999999961239,-2.96789344539e-06,-0.000277044631155,2.75516430293e-05,1793243685601998336
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.402169419,679.402169419,658.402169419,634.597830581,878,787,805,652,631,652,0.402907181219,0.00447226457401,0.0698223678216,0.999999956766,-1.37230800673e-05,-0.000292463719649,2.73048752259e-05,1793243685618664960
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.177596435,679.177596435,658,634.822403565,878,787,804.822403565,652,631,652,0.402651884163,0.00447101275582,0.0698163510785,0.999999953041,-2.08648078238e-05,-0.000304513404087,2.74606777759e-05,1793243685635331328
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.770397769,679.770397769,658,634.229602231,878,787,804.229602231,652,631,652,0.402431255461,0.0044723128926,0.0698124867603,0.999999951758,-1.955858398e-05,-0.000308685715215,2.85576545796e-05,1793243685651997952
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.645017336,658,634,878.354982664,787,804.354982664,652,631,652,0.402226617461,0.00447574531158,0.069808890029,0.999999949993,-1.10514964729e-05,-0.000314608444395,3.02221262926e-05,1793243685668664576
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.06562654,658,634,878.93437346,787,804.93437346,652,631,652,0.402032088223,0.00448052568798,0.0698054624567,0.999999947753,2.00773561995e-06,-0.000321637729506,3.22453493531e-05,1793243685685331456
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.490746957,745,714,679,658,634,879,787,805,652,631,652,0.401871625708,0.00448496692244,0.0698071451004,0.999999946476,6.96631904369e-05,-0.000317684075999,3.56565749934e-05,1793243685701998592
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.083468721,745,714,679,658.083468721,634,879,786.916531279,805,652,631,652,0.401720466661,0.0044881330634,0.0698092011584,0.999999941653,0.000132108347447,-0.000312614429381,3.8908938449e-05,1793243685718665472
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.657169803,745,714,679,658.657169803,634,879,786.342830197,805,652,631,652,0.401598391264,0.00448406470194,0.0698096165397,0.999999943817,0.000122992506189,-0.000309230006002,4.01869478972e-05,1793243685735331840
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.239319898,878.760680102,786.239319898,804.760680102,652,631,651.760680102,0.401485201104,0.0044807049182,0.0698087602784,0.999999945221,0.000111542697139,-0.000309012136274,4.03437787158e-05,1793243685751998464
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.834016265,878.165983735,786.834016265,804.165983735,652,631,651.165983735,0.401385205024,0.00447839733241,0.0698060157003,0.999999945437,9.66270788964e-05,-0.000313496419216,3.88357228102e-05,1793243685768664832
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.597573582,634.597573582,878.402426418,787,804.402426418,652,631,651.402426418,0.401301645822,0.00447690228076,0.0698045059691,0.999999947886,5.96857513843e-05,-0.000315841400992,3.01483110104e-05,1793243685785331200
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.039340619,634.039340619,878.960659381,787,804.960659381,652,631,651.960659381,0.401224450453,0.00447572181621,0.069803474331,0.999999949366,1.42167789632e-05,-0.000317358113584,1.86812838468e-05,1793243685801997824
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.555409172,658,634,879,786.444590828,805,652,631,652,0.401168304308,0.00447432833794,0.0698060812964,0.999999951049,1.06471074721e-05,-0.000312130257375,1.90616576998e-05,1793243685818664960
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.150183896,634.150183896,879,786,805,652,631,652,0.401118312863,0.00447376921029,0.0698087999137,0.99999995259,1.18710853972e-05,-0.00030702950776,2.0305831656e-05,1793243685835331584
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.736982188,634.736982188,879,786,805,652,631,652,0.401081574825,0.00447568265697,0.0698110411269,0.999999953469,1.77959733169e-05,-0.000303784878699,2.14499140964e-05,1793243685851998208
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.680345561,879,786.319654439,805,652,631,652,0.401053190071,0.004475341352,0.0698136707236,0.999999954822,1.83202524378e-05,-0.000299205139748,2.2291411764e-05,1793243685868665088
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.10102497,879,786.89897503,805,652,631,652,0.401031590971,0.00447316843593,0.0698166158177,0.99999995655,1.44574343401e-05,-0.000293540845356,2.28871096731e-05,1793243685885331968
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.52802863,745,714,679.52802863,658.52802863,634,879,786.52802863,805.47197137,652,631,651.52802863,0.401015131566,0.00447357829829,0.069818606254,0.999999957718,1.54125362806e-05,-0.000289465101444,2.31719626665e-05,1793243685901998336
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.044436005,658,634,879,786.044436005,805.91112799,652,631,651.044436005,0.401000296202,0.00447450289786,0.0698204243126,0.999999958718,1.73416620908e-05,-0.000285860586242,2.3395149196e-05,1793243685918664960
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.626632169,658,634,879,786.626632169,804.746735661,652,631,651.626632169,0.400991976973,0.00447505483421,0.0698225965196,0.999999959245,1.87430153333e-05,-0.000283898262014,2.36666199334e-05,1793243685935331584
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.210943358,745,714,679.789056642,658.210943358,634,878.789056642,786.789056642,804.210943358,652,631.210943358,652,0.400985110344,0.00447508791811,0.0698239663066,0.999999959643,1.87588548263e-05,-0.000282486877901,2.37458838295e-05,1793243685951998208
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.799035999,745,714,679.200964001,658.799035999,634,878.200964001,786.200964001,804.799035999,652,631.799035999,652,0.400980840845,0.00447419333668,0.0698239014327,0.999999959812,1.62975102026e-05,-0.000282060529283,2.34814977686e-05,1793243685968665088
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.618660008,745,714,679,658.618660008,634,878,786.381339992,804.618660008,652,631.618660008,652,0.400978714114,0.00447286216878,0.0698248226723,0.999999960302,1.45612189758e-05,-0.000280398208689,2.36631731055e-05,1793243685985331968
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.039361003,745,714,679,658.039361003,634,878,786.960638997,804.039361003,652,631.039361003,652,0.400977699724,0.00447130436268,0.0698262558175,0.999999960955,1.32013133572e-05,-0.000278094277472,2.4076405267e-05,1793243686001998848
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.536542468,745,714,679,658.536542468,634.536542468,878,787,804.536542468,652,631,652,0.400977636164,0.00447255609053,0.0698275717703,0.999999961374,1.50535875848e-05,-0.000276506727063,2.38570540867e-05,1793243686018665216
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.888076712,745,714,679,658.888076712,635,878.111923288,787,805,652,631,652,0.400977535076,0.00447363615572,0.0698287176814,0.999999961767,1.66809983473e-05,-0.000275007313806,2.36417541112e-05,1793243686035331840
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.313832482,745,714,679,658.313832482,635,878.686167518,787,805,652,631,652,0.400976992653,0.00447316111638,0.0698291964914,0.999999962142,1.64123017651e-05,-0.000273656249187,2.36336745226e-05,1793243686051998720
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745.268344588,714.268344588,679.268344588,658,634.731655412,878.731655412,786.731655412,805,652,631,652,0.400976444824,0.00447268725405,0.0698295539952,0.999999962216,1.6120005492e-05,-0.000273396011243,2.37017406939e-05,1793243686068665088
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745.860081913,714.860081913,679.860081913,658,634.139918087,878.139918087,786.139918087,805,652,631,652,0.40097589048,0.00447221481013,0.0698297653081,0.999999961929,1.57992682567e-05,-0.000274450371742,2.38615731486e-05,1793243686085331712
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.442270669,745.557729331,714.557729331,679.557729331,658,634,878,786,804.557729331,652,631,652,0.400976490188,0.0044723041152,0.0698304365841,0.999999962286,1.67340869466e-05,-0.000273083916647,2.39422817854e-05,1793243686101998592
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878.021339695,786,804.021339695,652,630.978660305,652,0.400977347198,0.00447258821313,0.0698311692138,0.999999962796,1.80047462185e-05,-0.000271122909835,2.39837819903e-05,1793243686118665472
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878.596188114,786,804.596188114,652,630.403811886,652,0.400975608318,0.00447341265242,0.0698297986286,0.999999962245,1.79013070587e-05,-0.000273185387591,2.36438487648e-05,1793243686135332096
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.174674321,658.174674321,634,879,786.174674321,804.825325679,652,630.174674321,652,0.400974482955,0.00447384319246,0.0698289870506,0.99999996191,1.7834897901e-05,-0.000274425107335,2.35225113568e-05,1793243686151998976
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.7617492,658.7617492,634,879,786.7617492,804.2382508,652,630.7617492,652,0.400974806086,0.00447334374876,0.0698294952714,0.999999962093,1.78559154154e-05,-0.000273722321267,2.39172717929e-05,1793243686168665344
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.65568129,659,634,879,787,804,652,631,652,0.400975561798,0.00447367637355,0.0698306192664,0.999999962553,1.82953038483e-05,-0.000272014108969,2.38202435601e-05,1793243686185331968
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.076189022,659,634,879,787,804,652,631,652,0.40097661297,0.00447457731052,0.0698321638421,0.999999963198,1.90204443303e-05,-0.000269619179255,2.33873181106e-05,1793243686201998592
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.5026601,659,634,879,786.4973399,804.5026601,652,631,652,0.400976471237,0.00447378866197,0.0698317402862,0.999999962984,1.7865908924e-05,-0.00027048628502,2.34409043123e-05,1793243686218665216
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.08056598,879,786.08056598,805,652,631,652,0.400976178207,0.00447312969557,0.0698311735426,0.999999962735,1.70379901032e-05,-0.000271448169513,2.35760294158e-05,1793243686235331840
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.65330417,879,786.65330417,805,652,631,652,0.40097606406,0.00447482540685,0.0698315521207,0.999999963076,1.99435960655e-05,-0.00026997245719,2.37593646817e-05,1793243686251998464
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.767019568,745,714,680,658.767019568,634.767019568,879,787,805,652,631,652,0.400975929773,0.00447491605795,0.0698317465876,0.999999963278,2.02003485246e-05,-0.000269197085811,2.38679039778e-05,1793243686268665088
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764.176701843,745,714,680,658.176701843,634.176701843,879,787,805,652,631,652,0.400975764598,0.00447254492377,0.0698316586713,0.999999963267,1.63943819454e-05,-0.000269495872813,2.38617238418e-05,1793243686285331712
+408,6.800000000,POSE2_TO_POSE3_RETREAT,764.405946144,745,714,680,658,634,878.594053856,786.594053856,805,652,630.594053856,652,0.400976588149,0.00447254922935,0.0698320509269,0.999999963475,1.53035159438e-05,-0.000268805796242,2.36533424198e-05,1793243686301998592
+409,6.816666667,POSE2_TO_POSE3_RETREAT,764.98531749,745,714,680,658,634,878.01468251,786.01468251,805,652,630.01468251,652,0.400977834096,0.00447356835225,0.0698326483178,0.999999963779,1.53725746391e-05,-0.000267693264933,2.33585781139e-05,1793243686318665472
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.442909299,679.442909299,658,634,878,786.557090701,804.442909299,652.557090701,630.557090701,652,0.400978210933,0.00447321115132,0.0698335617839,0.999999964113,1.64193335622e-05,-0.000266354270121,2.36664037205e-05,1793243686335332096
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da859bbfe9b658dbf97daee937dc8b71ceec0b19
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,412 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+1,0.016666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+2,0.033333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+3,0.050000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+4,0.066666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+5,0.083333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+6,0.100000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+7,0.116666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+8,0.133333333,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+9,0.150000000,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
+10,0.166666667,pose1_baseline,0.580743464668,0.0100017476011,1.06004070717,0.551315184842,0.0186765777232,1.05967850186
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+376,6.266666667,pose2_to_pose3_retreat,0.581129906126,0.0100020117348,1.0600409982,0.551701664265,0.018676833438,1.05967879408
+377,6.283333333,pose2_to_pose3_retreat,0.581050176411,0.0100018888375,1.06004102687,0.551621936387,0.0186767165296,1.05967882007
+378,6.300000000,pose2_to_pose3_retreat,0.580982329166,0.0100017648533,1.06004095118,0.55155409028,0.0186765963309,1.05967874515
+379,6.316666667,pose2_to_pose3_retreat,0.58092635054,0.0100017869171,1.06004082169,0.55149811118,0.0186766168185,1.05967861812
+380,6.333333333,pose2_to_pose3_retreat,0.580880818242,0.0100018586775,1.06004096019,0.5514525791,0.0186766892441,1.05967875752
+381,6.350000000,pose2_to_pose3_retreat,0.580845672327,0.0100018779311,1.06004109763,0.551417432148,0.0186767048141,1.05967889317
+382,6.366666667,pose2_to_pose3_retreat,0.580817894945,0.0100018236099,1.06004087804,0.551389653329,0.0186766453417,1.05967866785
+383,6.383333333,pose2_to_pose3_retreat,0.580796710051,0.0100018544585,1.06004104401,0.551368469535,0.0186766802531,1.05967884355
+384,6.400000000,pose2_to_pose3_retreat,0.580780871103,0.0100018060566,1.06004098929,0.551352629505,0.0186766278855,1.05967878256
+385,6.416666667,pose2_to_pose3_retreat,0.580768919613,0.0100019380359,1.06004088718,0.551340676422,0.0186767544986,1.05967868189
+386,6.433333333,pose2_to_pose3_retreat,0.580760181601,0.0100019527943,1.06004088384,0.551331939327,0.018676772329,1.05967867813
+387,6.450000000,pose2_to_pose3_retreat,0.580754100295,0.0100017928233,1.06004097458,0.551325861326,0.0186766233498,1.05967876402
+388,6.466666667,pose2_to_pose3_retreat,0.580750442125,0.0100017937358,1.06004088761,0.551322203616,0.0186766258952,1.05967867906
+389,6.483333333,pose2_to_pose3_retreat,0.580748170059,0.0100018059863,1.06004086696,0.551319931529,0.0186766382215,1.05967866219
+390,6.500000000,pose2_to_pose3_retreat,0.580747017229,0.0100018236023,1.06004088903,0.551318778388,0.0186766549602,1.05967868865
+391,6.516666667,pose2_to_pose3_retreat,0.580746431598,0.0100018325511,1.06004090025,0.551318192599,0.0186766634633,1.05967870208
+392,6.533333333,pose2_to_pose3_retreat,0.58074608625,0.0100018378283,1.06004090686,0.551317847157,0.0186766684776,1.05967871001
+393,6.550000000,pose2_to_pose3_retreat,0.580745810913,0.0100018420356,1.06004091213,0.551317571746,0.0186766724754,1.05967871633
+394,6.566666667,pose2_to_pose3_retreat,0.58074565808,0.0100018413243,1.0600409235,0.551317418867,0.018676671591,1.0596787273
+395,6.583333333,pose2_to_pose3_retreat,0.580745634549,0.0100018409689,1.06004092594,0.551317395329,0.0186766712043,1.0596787296
+396,6.600000000,pose2_to_pose3_retreat,0.580745461165,0.0100018383503,1.06004094386,0.55131722189,0.0186766683555,1.05967874649
+397,6.616666667,pose2_to_pose3_retreat,0.580745215446,0.0100018346393,1.06004096926,0.551316976093,0.0186766643182,1.05967877043
+398,6.633333333,pose2_to_pose3_retreat,0.580745079629,0.0100018325881,1.0600409833,0.551316840233,0.0186766620866,1.05967878366
+399,6.650000000,pose2_to_pose3_retreat,0.580744963351,0.010001830832,1.06004099532,0.551316723918,0.0186766601761,1.05967879499
+400,6.666666667,pose2_to_pose3_retreat,0.580744871391,0.0100018294431,1.06004100483,0.551316631929,0.0186766586651,1.05967880395
+401,6.683333333,pose2_to_pose3_retreat,0.580744763313,0.0100018278109,1.060041016,0.551316523817,0.0186766568893,1.05967881448
+402,6.700000000,pose2_to_pose3_retreat,0.580744550988,0.0100018246042,1.06004103795,0.551316311424,0.0186766534007,1.05967883517
+403,6.716666667,pose2_to_pose3_retreat,0.58074439343,0.0100018222246,1.06004105424,0.551316153817,0.0186766508119,1.05967885052
+404,6.733333333,pose2_to_pose3_retreat,0.580744347343,0.0100018215286,1.060041059,0.551316107714,0.0186766500546,1.05967885501
+405,6.750000000,pose2_to_pose3_retreat,0.580744248871,0.0100018295376,1.06004106724,0.551316009206,0.0186766579094,1.05967886252
+406,6.766666667,pose2_to_pose3_retreat,0.580744236185,0.0100018317338,1.06004106806,0.551315996515,0.0186766600828,1.05967886323
+407,6.783333333,pose2_to_pose3_retreat,0.580744056512,0.010001862839,1.06004107972,0.551315816768,0.0186766908658,1.05967887331
+408,6.800000000,pose2_to_pose3_retreat,0.580743823565,0.0100019031671,1.06004109483,0.551315583723,0.0186767307762,1.05967888638
+409,6.816666667,pose2_to_pose3_retreat,0.580743618727,0.0100018818477,1.06004095081,0.551315378427,0.018676707963,1.05967874376
+410,6.833333333,pose2_to_pose3_retreat,0.580743464668,0.0100017476011,1.06004070717,0.551315225162,0.018676576525,1.05967850242
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6e4f74718ed4b465f51bc88f6fb15a64788a5b82
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f21bc40edd02df39de82745ae82d2a947ca0ce8caffb328233d33904948146d
+size 25772411
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e9229eda91f98c78fbd319591d25e69728f00d0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+1,0.016666667,BASELINE,764.410483258,745,714.410483258,679,658.589516742,634.589516742,878,786.410483258,804.589516742,652,631,652,0.401035232266,0.00447788349045,0.0798669372169,0.999999983349,0.00010149984117,-0.000142370097267,5.22516817438e-05,1793243687628550400
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+21,0.350000000,BASELINE,764.202611476,745,714,679.797388524,658,634,878,786.202611476,804.202611476,652,631.202611476,652,0.401034450669,0.00447937654181,0.0798678374899,0.999999983262,0.000103248398787,-0.000142024345105,5.14310800486e-05,1793243687961883904
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+27,0.450000000,BASELINE,765,745,714,679.677295497,658,634,879,786,805,652,631,652,0.401034221359,0.00447833265213,0.0798679291136,0.999999983177,0.000102071633733,-0.000143280000603,5.19517933784e-05,1793243688061883904
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+30,0.500000000,BASELINE,764.594064616,745,714,680,658.405935384,634,879,786,805,652,631,651.594064616,0.401034236047,0.00447783689414,0.0798682787667,0.999999983282,0.000101741226549,-0.000142768514743,5.19798563798e-05,1793243688111883776
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+38,0.633333333,BASELINE,764.96350745,745,714,679,658,634,878.96350745,786.96350745,804.96350745,652,631,652,0.401032736385,0.00447822114358,0.0798671692138,0.999999982681,0.000105702329729,-0.000144147155094,5.18275641204e-05,1793243688245217280
+39,0.650000000,BASELINE,764.364892277,745,714,679,658,634,878.364892277,786.364892277,804.364892277,652,631,652,0.401031896093,0.00447886039806,0.0798668066252,0.99999998246,0.000105448858996,-0.000145849950994,5.18549310331e-05,1793243688261883904
+40,0.666666667,BASELINE,764,745,714,679,658,634,878,786,804.225210046,652,631,652,0.401032550455,0.00447933839187,0.0798674845386,0.999999982621,0.000104943141567,-0.000145115627685,5.1827132716e-05,1793243688278550272
+41,0.683333333,BASELINE,764,745,714,679,658,634,878,786,804.802021924,652,631,652,0.401035538297,0.00447956462267,0.079869786902,0.999999983369,0.000104043612231,-0.00014057643148,5.17132094828e-05,1793243688295216896
+42,0.700000000,BASELINE,764,745,714,679.377393992,658,634,878,786,805,652,631,652,0.401035699889,0.00447950916882,0.0798699576071,0.999999983329,0.000104621973593,-0.000140446955899,5.1677182086e-05,1793243688311883776
+43,0.716666667,BASELINE,764,745,714,679.952013598,658,634,878,786,805,652,631,652,0.401034384487,0.00447930650692,0.0798690143103,0.999999982879,0.000105972678763,-0.000142621994787,5.16818629567e-05,1793243688328550400
+44,0.733333333,BASELINE,764,745,714,680,658,634.541136815,878,786,805,652.541136815,631,652,0.401034163646,0.00447799656664,0.0798688789081,0.999999983018,0.000103893703682,-0.000143096445769,5.18947696259e-05,1793243688345217024
+45,0.750000000,BASELINE,764,745,714,679.870939476,658,634.870939476,878,786,805,652.870939476,631,652,0.401034196078,0.0044769591199,0.0798688190351,0.999999983233,0.00010184525487,-0.000143021493733,5.20181154047e-05,1793243688361883648
+46,0.766666667,BASELINE,764,745,714,679.291807585,658,634.291807585,878,786,805,652.291807585,631,652,0.401034763944,0.00447722378498,0.0798687658386,0.999999983539,0.000100993072432,-0.0001415709916,5.1762970779e-05,1793243688378550272
+47,0.783333333,BASELINE,764,745,714,679,658,634,878,786,805,652,631,652,0.401034743254,0.00447790008578,0.0798689662675,0.999999983526,0.000101653717833,-0.000141254313079,5.15879885041e-05,1793243688395217152
+48,0.800000000,BASELINE,764,745,714,679,658,634,878,786,805,652,631,652,0.401034124824,0.00447899444541,0.0798694242794,0.999999983187,0.000103850796828,-0.000142089149945,5.14944193862e-05,1793243688411884032
+49,0.816666667,BASELINE,764,745,714,679,658,634.437705433,878.437705433,786,805,652,631,652,0.401033886823,0.0044782062476,0.0798691279798,0.999999983217,0.000103329682917,-0.000142233093718,5.15579566796e-05,1793243688428550656
+50,0.833333333,BASELINE,764,745,714,679,658,635,879,786,805,652,631,652,0.401033789313,0.00447687510394,0.0798686116505,0.999999983361,0.000101988128325,-0.000142153529142,5.16666940448e-05,1793243688445217024
+51,0.850000000,BASELINE,764,745,714,679,658,635,879,786,805,652,631,652,0.401034722717,0.00447762774052,0.0798688132531,0.999999983435,0.000101933487998,-0.000141694509996,5.15963051571e-05,1793243688461883904
+52,0.866666667,BASELINE,764.18989875,745,714,679.18989875,658,634.81010125,878.81010125,786,805,652,630.81010125,652,0.401035320317,0.00447833242668,0.0798690329534,0.999999983517,0.00010183428386,-0.000141234570495,5.14685499903e-05,1793243688478550528
+53,0.883333333,BASELINE,764.768509331,745,714,679.768509331,658,634.231490669,878.231490669,786,805,652,630.231490669,652,0.401035230544,0.00447893896106,0.0798692896986,0.999999983614,0.000101643860162,-0.000140772747108,5.12233693509e-05,1793243688495217408
+54,0.900000000,BASELINE,764.655693909,745,714,680,658,634.344306091,878,786,805,652,630.344306091,652,0.401034844685,0.00447911304567,0.0798693354685,0.999999983433,0.000102374301915,-0.000141470268157,5.13858244504e-05,1793243688511883776
+55,0.916666667,BASELINE,764.081773679,745,714,680,658,634.918226321,878,786,805,652,630.918226321,652,0.401034261369,0.00447899873401,0.0798692405412,0.999999983062,0.000103718859234,-0.000142940943929,5.18201275795e-05,1793243688528550400
+56,0.933333333,BASELINE,764,745,714,680,658,634.494691272,878.505308728,786,805,652,631,652,0.401034309714,0.00447874816955,0.0798688900784,0.999999983056,0.000103255599597,-0.00014329838268,5.18833660191e-05,1793243688545217024
+57,0.950000000,BASELINE,764.093006386,745,714,679.906993614,658,634,879,786,805,652,631,652,0.401034422913,0.00447846841572,0.0798685616661,0.99999998313,0.000102439302578,-0.000143377290486,5.1848272841e-05,1793243688561883648
+58,0.966666667,BASELINE,764.672482837,745,714,679.327517163,658,634,879,786,805,652,631,652,0.401034326363,0.00447815440228,0.0798685706721,0.999999983312,0.000101347590484,-0.000142966839655,5.16213428601e-05,1793243688578550272
+59,0.983333333,BASELINE,764.756382629,745,714,679,658,634,879,786,805,652,631,652,0.401033804865,0.00447867478929,0.0798686513426,0.999999983246,0.000101806648358,-0.000143161022328,5.14664805966e-05,1793243688595216640
+60,1.000000000,BASELINE,764.196091519,745,714,679,658,634,879,786,805,652,631,652,0.401032730985,0.00448027979805,0.0798688251686,0.999999982853,0.000104281523432,-0.000144141156912,5.14052978018e-05,1793243688611883264
+61,1.016666667,BASELINE,764,745,714,679,658,634,879,786.38498016,805,652,631,652,0.401033739543,0.00448042065794,0.0798695228824,0.999999983065,0.000103767979198,-0.000143104348375,5.12238642433e-05,1793243688628549888
+62,1.033333333,BASELINE,764,745,714,679,658,634,879,786.977240432,805,652,631,652,0.401035869322,0.00447977319413,0.0798705026667,0.999999983597,0.000101645417133,-0.000140981582016,5.09776855554e-05,1793243688645216768
+63,1.050000000,BASELINE,764,745,714.567531616,679,658.567531616,634,878.432468384,787,805,652,631,652,0.401034575178,0.00447974685789,0.0798695709006,0.999999983227,0.00010353321687,-0.000142073456905,5.13957465963e-05,1793243688661883648
+64,1.066666667,BASELINE,764.154569452,745,715,679,658.845430548,634,878,786.845430548,804.845430548,652,631,652,0.401033554341,0.00447975613053,0.0798688901933,0.999999982947,0.000104903669813,-0.000142913053475,5.17404831757e-05,1793243688678550272
+65,1.083333333,BASELINE,764.732903682,745,715,679,658.267096318,634,878,786.267096318,804.267096318,652,631,652,0.401033657939,0.00447979497413,0.0798691072227,0.999999983023,0.000104416379788,-0.000142708796929,5.18114174581e-05,1793243688695216640
+66,1.100000000,BASELINE,764.68993921,745,714.68993921,679,658,634,878,786,804.31006079,652.31006079,631,651.68993921,0.401033020452,0.00447994362661,0.0798685097627,0.999999982839,0.000104904205025,-0.000143662544688,5.17478892585e-05,1793243688711883264
+67,1.116666667,BASELINE,764.113792307,745,714.113792307,679,658,634,878,786,804.886207693,652.886207693,631,651.113792307,0.401031746985,0.0044801865142,0.079867213329,0.999999982427,0.000106228848868,-0.000145610061662,5.15689688469e-05,1793243688728549888
+68,1.133333333,BASELINE,764,745,714,679,658,634,878.471517661,786,805,652.528482339,631,651.471517661,0.401032733624,0.00448015425104,0.0798682560779,0.999999982541,0.000106215379034,-0.000144786633294,5.17055822269e-05,1793243688745216512
+69,1.150000000,BASELINE,764.058109834,745,714,679,658,634.058109834,879,786.058109834,805,652,631,652,0.40103406795,0.00448023517594,0.0798696553314,0.999999982736,0.000106149151172,-0.000143423799672,5.18562693821e-05,1793243688761883648
+70,1.166666667,BASELINE,764.635998706,745,714,679,658,634.635998706,879,786.635998706,805,652,631,652,0.401033536781,0.00448193426978,0.0798690938642,0.999999982512,0.000108556792123,-0.000143336181542,5.14382143601e-05,1793243688778550016
+71,1.183333333,BASELINE,765,745,714,679,658,635,879,786.786785687,805,652,631,652,0.401033505017,0.00448265071772,0.0798687866952,0.999999982422,0.000109574859198,-0.000143274101015,5.11989045324e-05,1793243688795216896
+72,1.200000000,BASELINE,765,745,714,679,658,635,879,786.210715771,805,652,631,652,0.401034323159,0.00448169486463,0.0798689122997,0.999999982568,0.000108228101062,-0.000143255481265,5.12637894834e-05,1793243688811883776
+73,1.216666667,BASELINE,764.635339842,745,714,679,658,634.635339842,878.635339842,786.364660158,805,652,631,652,0.401035118346,0.00448064320638,0.0798691271222,0.999999982775,0.00010691400512,-0.000142705641353,5.15209284216e-05,1793243688828550656
+74,1.233333333,BASELINE,764.0603642,745,714,679,658,634.0603642,878.0603642,786.9396358,805,652,631,652,0.401035900294,0.00447953629316,0.0798693934006,0.999999983015,0.000105618746976,-0.000141849423508,5.18889486504e-05,1793243688845217280
+75,1.250000000,BASELINE,764.530572942,745,714,679.530572942,658,634,878.530572942,786.469427058,805,651.469427058,631,651.469427058,0.401036064747,0.00447917895293,0.0798697674171,0.999999983185,0.000104725563043,-0.000141370069755,5.17379139931e-05,1793243688861884160
+76,1.266666667,BASELINE,764.879373152,745,714,680,658,634,878.879373152,786,804.879373152,651.120626848,631,651.120626848,0.401035861433,0.00447910022975,0.0798698908535,0.999999983253,0.000104219397302,-0.000141317379919,5.15960802477e-05,1793243688878550784
+77,1.283333333,BASELINE,764.299803095,745,714,680,658,634,878.299803095,786,804.299803095,651.700196905,631,651.700196905,0.40103453447,0.00447974702226,0.079869012838,0.999999982965,0.000105006260422,-0.000142719808097,5.17209006228e-05,1793243688895217408
+78,1.300000000,BASELINE,764,745,714,680,658,634,878.277393603,786,804.277393603,652,631,652,0.401033895556,0.00448034695989,0.0798687465905,0.999999982778,0.000106066965589,-0.000143240558876,5.1725226393e-05,1793243688911883776
+79,1.316666667,BASELINE,764,745,714,680,658,634,878.85204693,786,804.85204693,652,631,652,0.401033993966,0.00448089668699,0.0798691359242,0.999999982701,0.000107421124518,-0.000142816489001,5.16004280782e-05,1793243688928550400
+80,1.333333333,BASELINE,764,745,714,680,658,634,879,786,805,652,631,652,0.401032819584,0.00448060115613,0.0798686333181,0.999999982569,0.000107435815297,-0.000143801635726,5.13954465004e-05,1793243688945217024
+81,1.350000000,BASELINE,764,745,714,680,658,634,879,786.003907108,805,652,631,652,0.401031228474,0.00448001718105,0.0798678305906,0.99999998242,0.000106974140941,-0.000145254185652,5.11634948927e-05,1793243688961883648
+82,1.366666667,BASELINE,764,745,714,680,658,634,879,786.594786656,805,652,631,652,0.40103333267,0.00448013007516,0.0798684021497,0.999999982915,0.000104721554696,-0.000143517994277,5.10566189081e-05,1793243688978550528
+83,1.383333333,BASELINE,764.18216524,745,714,679.81783476,658,634,879,787,805,652,631,652,0.401034806061,0.00448032789452,0.0798689679082,0.999999983205,0.000103478332588,-0.00014241294631,5.09911160031e-05,1793243688995217408
+84,1.400000000,BASELINE,764.761903144,745,714,679.238096856,658,634,879,787,805,652,631,652,0.401034902731,0.00448071106187,0.0798695210069,0.999999983065,0.000104438030796,-0.000142685358194,5.10159091495e-05,1793243689011883520
+85,1.416666667,BASELINE,765,745,714,679.33789862,658,634,878.66210138,786.66210138,804.66210138,652,631,651.66210138,0.401034370312,0.00448057963217,0.0798694466984,0.999999982854,0.000105825701362,-0.000143086807476,5.11774006953e-05,1793243689028550400
+86,1.433333333,BASELINE,765,745,714,679.911285886,658,634,878.088714114,786.088714114,804.088714114,652,631,651.088714114,0.401033399469,0.00448008956898,0.0798689351367,0.999999982591,0.000107511634797,-0.000143578185615,5.14341602254e-05,1793243689045217280
+87,1.450000000,BASELINE,765,745,714,679.515169241,658,634,878.484830759,786,804.484830759,652,631,651.484830759,0.401034263654,0.00447965950096,0.0798693616751,0.999999982668,0.000107729407695,-0.00014278635975,5.16790043123e-05,1793243689061883648
+88,1.466666667,BASELINE,764.939422626,745,714,679.060577374,658,634,879,786.060577374,804.939422626,652,631,652,0.401035299456,0.00447936051097,0.0798699372049,0.999999982818,0.000107559383707,-0.000141787638828,5.18688280064e-05,1793243689078550272
+89,1.483333333,BASELINE,764.344509526,745,714,679.655490474,658,634,879,786.655490474,804.344509526,652,631,652,0.401034886318,0.0044801208584,0.0798703123492,0.99999998307,0.000106339110987,-0.000141035733695,5.15925704305e-05,1793243689095217152
+90,1.500000000,BASELINE,764,745,714.242407701,680,658,634,879,787,804,652,631,651.757592299,0.401034239906,0.00448029537653,0.0798700821255,0.999999983156,0.000105226289904,-0.000141289322323,5.1506614445e-05,1793243689111883776
+91,1.516666667,BASELINE,764,745,714.818324021,680,658,634,879,787,804,652,631,651.181675979,0.401033272555,0.00447966390075,0.0798690190262,0.999999983015,0.000104261302703,-0.000142926286352,5.16824786325e-05,1793243689128550400
+92,1.533333333,BASELINE,764.392615031,745,714.607384969,679.607384969,658,634,878.607384969,787,804.392615031,652,631,651.392615031,0.401032811582,0.00447971690087,0.0798690126125,0.999999982876,0.00010505327104,-0.000143275401816,5.18131686832e-05,1793243689145217280
+93,1.550000000,BASELINE,764.966157107,745,714.033842893,679.033842893,658,634,878.033842893,787,804.966157107,652,631,651.966157107,0.401032583962,0.00448008532493,0.0798694931465,0.999999982735,0.000106654889322,-0.000143031043878,5.19230413521e-05,1793243689161883904
+94,1.566666667,BASELINE,765,745,714,679.558791323,658,634,878,786.441208677,805,652,631,651.441208677,0.401033368804,0.00447994889373,0.079868666721,0.999999982886,0.000104959788315,-0.000143409062327,5.14310514861e-05,1793243689178550528
+95,1.583333333,BASELINE,764.851918404,745,714.148081596,680,658,634,878.148081596,786,805,652,631,651,0.401033715405,0.00447973512166,0.0798680413765,0.999999982907,0.000104025161426,-0.000144032446471,5.118850544e-05,1793243689195217152
+96,1.600000000,BASELINE,764.275755766,745,714.724244234,680,658,634,878.724244234,786,805,652,631,651,0.401032611579,0.00447938928726,0.0798682342468,0.999999982505,0.000105886563937,-0.000145252323086,5.17761661713e-05,1793243689211883776
+97,1.616666667,BASELINE,764,745,714.700304421,679.700304421,658,634,878.700304421,786,805,652,631,651.299695579,0.401033084809,0.00447936717835,0.0798689573379,0.999999982534,0.000106430155728,-0.00014459831195,5.19152082829e-05,1793243689228550400
+98,1.633333333,BASELINE,764,745,714.125506037,679.125506037,658,634,878.125506037,786,805,652,631,651.874493963,0.401035005681,0.00447964223031,0.0798701671405,0.99999998296,0.000105764075151,-0.00014222418268,5.16424450146e-05,1793243689245217024
+99,1.650000000,BASELINE,764.459069974,745,714,679,658.459069974,634,878.459069974,786.459069974,805,652,631,652,0.401033468064,0.00447853466584,0.0798690059894,0.99999998304,0.000103063886472,-0.000143722000567,5.13911359477e-05,1793243689261883904
+100,1.666666667,BASELINE,764.954047736,745,714,679.045952264,658.954047736,634,879,786.954047736,805,652,631,652,0.401031291162,0.00447725279639,0.0798673914397,0.99999998301,0.000100260285201,-0.000145977801409,5.11702916765e-05,1793243689278550528
+101,1.683333333,BASELINE,764.372122635,745,714,679.627877365,658.372122635,634,879,786.372122635,805,652,631,652,0.401032926122,0.00447844266355,0.0798682135205,0.999999982961,0.000102877946534,-0.000144459082971,5.12348781591e-05,1793243689295217152
+102,1.700000000,BASELINE,764.207569951,745,714,679.792430049,658,634,879,786,805,652,631,652,0.401034241149,0.00447932029394,0.0798689724512,0.999999982946,0.000104827580684,-0.000143146174342,5.12728874576e-05,1793243689311883520
+103,1.716666667,BASELINE,764.783302705,745,714,679.216697295,658,634,879,786,805,652,631,652,0.401034988717,0.0044796441159,0.0798696193738,0.999999983001,0.000105592347671,-0.000142198306751,5.1263757313e-05,1793243689328550144
+104,1.733333333,BASELINE,764.641307425,745.358692575,714,679.358692575,658,634,879,786,805,652,631,652,0.401034872505,0.00447967729701,0.079869657485,0.999999982948,0.000106167028015,-0.000142117573687,5.13358936125e-05,1793243689345217024
+105,1.750000000,BASELINE,764.066124449,745.933875551,714,679.933875551,658,634,879,786,805,652,631,652,0.401034234954,0.00447953506067,0.0798693281456,0.99999998283,0.000106626980847,-0.000142560203196,5.14570786128e-05,1793243689361883648
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,715,679,658,634,879,786,805,652,631,652,0.401036331643,0.00448016438535,0.0798704008678,0.999999983412,0.000103206384405,-0.000141126144646,5.10762995192e-05,1793243689392119552
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714.422017819,679,658,634,879,786,804.422017819,652,630.422017819,652,0.40103422975,0.00448121800766,0.0798699013007,0.999999982867,0.000105874739258,-0.000142926580771,5.12767494039e-05,1793243689408786432
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.155926405,658.155926405,634,879,786,804,652,630.155926405,652,0.401032525694,0.00448169477845,0.079869303157,0.999999982508,0.000107237902171,-0.000144382269813,5.13594707944e-05,1793243689425453056
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679.733768053,658.733768053,634,879,786,804,652,630.733768053,652,0.401031898127,0.0044806106692,0.0798684382786,0.999999982675,0.000105069397168,-0.000144905121426,5.11236352409e-05,1793243689442119168
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.308614214,745,714,680,659,634,878.691385786,786.308614214,804.308614214,652,631,652,0.401032010248,0.00448016864058,0.0798681811695,0.999999982771,0.000104167884331,-0.000144917287431,5.10588150407e-05,1793243689458785792
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.880901069,745,714,680,659,634,878.119098931,786.880901069,804.880901069,652,631,652,0.401032754341,0.00448027519044,0.0798684433241,0.999999982809,0.000104348859577,-0.000144493135774,5.11401063026e-05,1793243689475452416
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.530213633,745,714,680,659,634,878,786.530213633,805,652,631,652,0.401033545466,0.00447973886758,0.0798689924424,0.99999998289,0.000104738492255,-0.000143536412458,5.1451767559e-05,1793243689492119040
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679.938647237,658.938647237,634,878.061352763,786.061352763,805.061352763,652,631,652,0.401034233906,0.00447922853081,0.0798695738697,0.999999982939,0.000105305270481,-0.000142674930029,5.17322342156e-05,1793243689508785920
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679.361220791,658.361220791,634,878.638779209,786.638779209,805.638779209,652,631,652,0.401033954638,0.00448035790248,0.079869792709,0.999999982635,0.000106900867817,-0.000143791868515,5.12410526884e-05,1793243689525452800
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658.214407836,634,879.214407836,786.785592164,805.785592164,652,631,652,0.401034777058,0.00448084164806,0.0798705985316,0.999999982358,0.000107425085653,-0.000145380107971,5.10821178584e-05,1793243689542119424
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658.78703274,634,879.78703274,786.21296726,805.21296726,652,631,652,0.401037440101,0.00448024672829,0.0798723850436,0.999999982124,0.000106159320129,-0.000147755762807,5.14782767737e-05,1793243689558786048
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.371838994,745,714,679,658.628161006,634.371838994,879.256322012,786,804.628161006,652,631,652,0.401050319851,0.00447991514977,0.0798774646141,0.99999998246,0.000106216422402,-0.000145329770136,5.17463379406e-05,1793243689575452416
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.963858355,745,714,679,658.036141645,634.963858355,878.072283289,786,804.036141645,652,631,652,0.401069249311,0.00447973950583,0.0798844941331,0.999999983112,0.000107056846157,-0.000140060534971,5.19385474724e-05,1793243689592119040
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634.455609046,878,786.544390954,804.544390954,652,630.455609046,651.455609046,0.401108614773,0.00447989044046,0.0798960735951,0.999999985016,0.000103571840743,-0.000128816242846,5.14443286431e-05,1793243689608785664
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878.123213662,786.876786338,805,652,630.123213662,651,0.401154100132,0.00448007698842,0.0799075039795,0.999999986848,0.000100689082755,-0.000116556542048,5.07874701753e-05,1793243689625452288
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878.698503054,786.301496946,805,652,630.698503054,651,0.401217164621,0.00448031629754,0.0799173020028,0.999999988458,0.000101047827865,-0.000101996618949,4.96976284677e-05,1793243689642118912
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.726021013,745,714,679,658,634,879,786,804.726021013,652,631,651,0.401287931478,0.00448149636046,0.0799251983532,0.999999989641,0.00010126236155,-9.03904108359e-05,4.78905799228e-05,1793243689658785792
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.150339699,745,714,679,658,634,879,786,804.150339699,652,631,651,0.401367180083,0.00448371236999,0.079931000604,0.999999990477,0.000101318091359,-8.20367986064e-05,4.52937520078e-05,1793243689675452672
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.436603191,745,714,679,658.436603191,634,879,786.436603191,804.436603191,652,631,651,0.401458119143,0.00448517698096,0.079934568179,0.999999991172,9.9490593505e-05,-7.71359369085e-05,4.25053271908e-05,1793243689692119040
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.973052439,634,878.973052439,786.973052439,805,652,631,651.026947561,0.401554586545,0.00448633145403,0.0799374345735,0.999999991817,9.70264109902e-05,-7.33690577398e-05,3.96078894526e-05,1793243689708785920
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.394558403,634,878.394558403,786.394558403,805,652,631,651.605441597,0.401679632138,0.00448657407838,0.0799421160135,0.999999992529,9.51548433989e-05,-6.78335051667e-05,3.58653153677e-05,1793243689725452544
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878,786,805,652,631,652,0.401814840017,0.00448714996766,0.0799472775008,0.99999999334,9.25424456901e-05,-6.11563008584e-05,3.18731639857e-05,1793243689742119168
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878,786,805,652,631,652,0.401971846891,0.00448844073989,0.0799534687316,0.99999999437,8.83409015964e-05,-5.20301525443e-05,2.73456475406e-05,1793243689758785792
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634.339895709,878.339895709,786.339895709,805,652,631,651.660104291,0.402140948551,0.00449187028021,0.0799595542521,0.999999995156,8.57517776168e-05,-4.31511278359e-05,2.1725891169e-05,1793243689775452160
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634.929145086,878.929145086,786.929145086,805,652,631,651.070854914,0.402318923182,0.00449686885977,0.0799655622222,0.999999995732,8.43455538859e-05,-3.44533965438e-05,1.53048472734e-05,1793243689792118784
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.490826586,745.509173414,714,679,658,634.490826586,878.490826586,786.490826586,805,652,631,651.509173414,0.402512175917,0.00449851733738,0.0799621450042,0.999999995962,7.82271956243e-05,-4.33346319155e-05,8.86045351896e-06,1793243689808785408
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.08747315,745.91252685,714,679,658,634,878,786,805,652,631,652,0.402712569637,0.00449999770918,0.0799571438279,0.999999995949,7.11506527485e-05,-5.50976008803e-05,2.16866127495e-06,1793243689825452032
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.663159688,745.336840312,714,679,658,634,878,786,805,652,631,652,0.402941164325,0.00450309549045,0.0799504922063,0.999999995623,6.23208934552e-05,-6.95340962043e-05,-5.88612461495e-06,1793243689842119168
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.23977534,679,658,634.23977534,878.23977534,786,805,652,631,652,0.403193501396,0.00450669914712,0.079946717711,0.999999995399,5.48625162812e-05,-7.74993607344e-05,-1.3671213236e-05,1793243689858786048
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714.817701269,679,658,634.817701269,878.817701269,786,805,652,631,652,0.403479321885,0.00451101623003,0.0799470007724,0.999999995647,4.9338173706e-05,-7.63383710503e-05,-2.10759524612e-05,1793243689875452672
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.596548151,745,714.596548151,679.403451849,658,634.596548151,879,786.403451849,805,652.403451849,631,652,0.403788472577,0.0045173354199,0.0799500709831,0.999999995587,5.41546377555e-05,-7.32762815316e-05,-2.28888371257e-05,1793243689892119296
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.007192112,745,714.007192112,679.992807888,658,634.007192112,879,786.992807888,805,652.992807888,631,652,0.404108373448,0.00452457714866,0.0799544254678,0.99999999532,6.37359810568e-05,-6.93381954953e-05,-2.21250840057e-05,1793243689908785664
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679.428920772,658,634,879,787,805,652.428920772,631,652,0.404471596664,0.00453007367844,0.079957173146,0.999999996271,5.52503363259e-05,-6.1662530676e-05,-2.45573943705e-05,1793243689925452544
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,787,805,652,631,652,0.404845234477,0.00453629155341,0.0799582636613,0.999999996638,5.2310812406e-05,-5.70047007549e-05,-2.7160338815e-05,1793243689942118912
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,787,805,652,631,652,0.405247270933,0.00454464493979,0.0799546476553,0.999999995501,6.59554426453e-05,-6.11544923041e-05,-3.01402776881e-05,1793243689958785536
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,679.30556949,658.30556949,634,879,787,805,652,631,652,0.405668288631,0.00455282457986,0.0799507933397,0.999999994248,7.72587477586e-05,-6.69169829983e-05,-3.25182465523e-05,1793243689975452416
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679.894755437,658.894755437,634,879,787,805,652,631,652,0.406106923948,0.00456084295703,0.0799467178348,0.999999992928,8.63889371765e-05,-7.41763121554e-05,-3.43374930923e-05,1793243689992119296
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.475051628,745,714,679.524948372,658.524948372,634,879,786.524948372,805,652,631,652,0.406572799858,0.00456981223616,0.0799378461311,0.999999989727,0.000107082175606,-9.00150929307e-05,-3.12680102976e-05,1793243690008785920
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.947093021,745,714.052906979,679.052906979,658.052906979,634,879,786,805,652,631,652,0.40704719547,0.00457901967406,0.0799286732001,0.999999985698,0.000128268602328,-0.000106613256769,-2.80181580549e-05,1793243690025452800
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.374225434,745,714.625774566,679.625774566,658.625774566,634,879,786,805,652,631,652,0.40754710036,0.00458853534329,0.0799267907445,0.999999984734,0.00012958837162,-0.000112337702102,-3.34443185413e-05,1793243690042119168
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.199565741,745,714.800434259,680,658.800434259,634,879,786.199565741,805,652,631,652,0.408064125397,0.00459757965963,0.0799230442706,0.999999983236,0.00013294548815,-0.000120377239073,-3.69113460771e-05,1793243690058785792
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.775096846,745,714.224903154,680,658.224903154,634,879,786.775096846,805,652,631,652,0.408613403344,0.00460573598549,0.0799157861404,0.999999980692,0.000140140798428,-0.000132778217024,-3.6687528707e-05,1793243690075452416
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.647869021,745,714,680,658,634,879,786.647869021,805,652,631,652,0.409224430964,0.00461339416603,0.0799265728181,0.999999981577,0.000148367681976,-0.000115666168879,-3.81363334433e-05,1793243690092119040
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.069870825,745,714,680,658,634,879,786.069870825,805,652,631,652,0.409875066626,0.00462073282114,0.0799489339691,0.999999983639,0.000157256246679,-7.96235928965e-05,-4.0658007405e-05,1793243690108785664
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.521994745,745,714,680,658.521994745,634,879,786,805,652,630.478005255,651.478005255,0.410542250515,0.00462303374049,0.0799793991492,0.999999986711,0.000154776651841,-3.04322674237e-05,-4.11759845643e-05,1793243690125452544
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.111884272,714,679.888115728,659,634,879,786,805,652,630.111884272,651.111884272,0.411206049103,0.0046215447851,0.0800016395677,0.999999988094,0.000148576800781,4.57865274227e-06,-4.14340201239e-05,1793243690142119424
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.685741069,714,679.314258931,659,634,879,786,805,652,630.685741069,651.685741069,0.411846473984,0.004607267618,0.0799853185595,0.999999989872,0.000133470404932,-2.64270652156e-05,-4.17563851369e-05,1793243690158786048
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.739064854,714,679.521870292,659,634.260935146,879,786,805,652,631,652,0.412503956361,0.00459050415766,0.0799594746248,0.999999990166,0.000116637728058,-6.53611309047e-05,-4.2324151904e-05,1793243690175452672
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.162251844,714,680.675496312,659,634.837748156,879,786,805,652,631,652,0.41318208796,0.00457073088623,0.0799221026063,0.999999987807,9.77152809102e-05,-0.000113892947783,-4.31889924266e-05,1793243690192119296
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680.575136892,658.575136892,634.575136892,879,786,805,652,631,652,0.41391611961,0.0045680339273,0.0799146014744,0.999999987629,9.45917418717e-05,-0.000117634542043,-4.42359537356e-05,1793243690208785920
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.984303643,745,714,679.984303643,658,634,879.015696357,786.015696357,805,652,631,652,0.414673017988,0.00457220242536,0.0799194489529,0.999999988868,9.79681313944e-05,-0.00010301574932,-4.53272953625e-05,1793243690225452544
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.404738287,745,714,679.404738287,658,634,879.595261713,786.595261713,805,652,631,652,0.415465426441,0.00458291235978,0.0799479225858,0.999999990899,0.000112714972644,-5.85698428172e-05,-4.54523484511e-05,1793243690242119168
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.173106447,745.173106447,714,679.173106447,658.173106447,634,879.826893553,787,805,652,631,652,0.4162441421,0.00459169092603,0.0799631712324,0.99999999093,0.000120889569001,-3.79788652899e-05,-4.56540013003e-05,1793243690258786048
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.746967774,745.746967774,714,679.746967774,658.746967774,634,879.253032226,787,805,652,631,652,0.416991157826,0.00459599822421,0.0799478030057,0.999999989823,0.000113848907071,-7.26139054784e-05,-4.60329887007e-05,1793243690275452672
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.670793417,714,680,659,634,879,786.670793417,805,651.670793417,631,652,0.417810917339,0.00459777830651,0.0799536676002,0.999999990592,0.000115491490378,-5.67342730616e-05,-4.75299302891e-05,1793243690292119296
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.081947464,714,680,659,634,879,786.081947464,805,651.081947464,631,652,0.418688048548,0.00459756521845,0.0799762781434,0.999999991068,0.000123982394705,-1.01461616821e-06,-4.99085823353e-05,1793243690308785920
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.49799462,714,680,659,634.49799462,879,786,805,651.49799462,631,651.50200538,0.419535490391,0.00459480788974,0.0799835088526,0.999999992296,0.00011218376338,1.36713436014e-05,-5.13497021139e-05,1793243690325452288
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,714,680.076402195,659,634.923597805,879,786.076402195,805.076402195,652,631,651.076402195,0.420377103224,0.00459242031456,0.0799851276186,0.999999993428,0.000100550354105,1.65022180889e-05,-5.25462102556e-05,1793243690342119168
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,746,714,680.654185609,659,634.345814391,879,786.654185609,805.654185609,652,631,651.654185609,0.421211961022,0.004595158408,0.0799662351582,0.999999992258,0.000111526486014,-1.49317589542e-05,-5.313211334e-05,1793243690358785536
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.769068996,746,714,680.769068996,659,634,879.230931004,786.769068996,805.769068996,652,631,652,0.422066803029,0.00459750755915,0.0799650304208,0.999999991569,0.000117268896708,-1.79762804314e-05,-5.27916633781e-05,1793243690375452160
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.193870973,746,714,680.193870973,659,634,879.806129027,786.193870973,805.193870973,652,631,652,0.422951437194,0.00459927688381,0.0799901941609,0.999999991832,0.000115208989011,2.13015887561e-05,-5.10702261359e-05,1793243690392118784
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745.217120305,714,680,659,634,879.608560153,786,805,652,631,651.608560153,0.423826523501,0.00460313114874,0.0799965048875,0.999999990729,0.000124034257199,2.47033143426e-05,-5.04669661613e-05,1793243690408785408
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,744.036215815,714,680,659,634,879.018107908,786,805,652,631,651.018107908,0.424696755519,0.00460804542052,0.0799932305297,0.999999989103,0.000138393670728,9.86520480401e-06,-5.04322001312e-05,1793243690425452032
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.560880606,744.560880606,714,680,659,634,879,786,805,652,631,651,0.425526635976,0.00460966034773,0.0799454380624,0.999999987458,0.000129811101967,-7.48291301713e-05,-5.13268542124e-05,1793243690442119168
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.861483609,745,714,680.138516391,659,634.138516391,879.138516391,786,805,652,631,651.138516391,0.426374453634,0.00461065202554,0.0799084198651,0.999999982027,0.00012305825103,-0.000134286494381,-5.26299579295e-05,1793243690458785792
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.286964166,745,714,680.713035834,659,634.713035834,879.713035834,786,805,652,631,651.713035834,0.427282749987,0.00461001049282,0.0799097488418,0.999999984987,0.000124349445373,-0.000107349634282,-5.51261674097e-05,1793243690475452416
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634.705218569,880,786,805.294781431,651.705218569,630.705218569,652,0.428160954659,0.00460991750194,0.0799146441497,0.999999985643,0.000126864207701,-9.77517462331e-05,-5.53562687808e-05,1793243690492119040
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634.116261708,880,786,805.883738292,651.116261708,630.116261708,652,0.429009129457,0.00461037192527,0.0799230984573,0.999999984489,0.000130600022627,-0.00010545718705,-5.33249205059e-05,1793243690508785664
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.465273593,745,714,681.465273593,659,634,880,786,805.534726407,651.465273593,630.465273593,651.534726407,0.429938649272,0.00460736961018,0.0799557655412,0.999999989197,0.000123615393401,-5.87711090489e-05,-5.35791305428e-05,1793243690525452288
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.955262382,745.044737618,714,681.955262382,659,634,879.955262382,786.044737618,805,652,631,651.044737618,0.430883599138,0.0046039617963,0.0799936435592,0.999999991934,0.000114813106761,1.55952094874e-07,-5.43185289845e-05,1793243690542119168
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.378722015,745.621277985,714,681.378722015,659,634,879.378722015,786.621277985,805,652,631,651.621277985,0.431774138809,0.00460584023797,0.0800226737255,0.999999990797,0.000115747463964,4.55687005276e-05,-5.41431417767e-05,1793243690558785792
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.197585847,745.802414153,714,681,659,634,879.197585847,786.802414153,805.197585847,652,631,652,0.432624024936,0.00460779283277,0.0800209046705,0.999999990764,0.00011794887985,4.09005549375e-05,-5.37271888282e-05,1793243690575452416
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.773448679,745.226551321,714,681,659,634,879.773448679,786.226551321,805.773448679,652,631,652,0.433396080236,0.00460988739364,0.0799601706861,0.999999989312,0.00012257607216,-5.96471709349e-05,-5.28506739112e-05,1793243690592119296
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.35794634,713.64205366,681,659,634,880,786.35794634,805.64205366,651.64205366,631,652,0.434193334755,0.00461087889785,0.0799187651978,0.999999984724,0.000118424419863,-0.000116306029678,-5.47722347328e-05,1793243690608786176
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.948044217,713.051955783,681,659,634,880,786.948044217,805.051955783,651.051955783,631,652,0.435006932563,0.0046111549978,0.0798898955029,0.999999981954,0.000108579114757,-0.000144500091317,-5.85085303292e-05,1793243690625452800
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.474141561,713.525858439,681.525858439,659.525858439,634,880,786.474141561,805.525858439,651,631,651.474141561,0.435869849782,0.00460920683178,0.0799263677252,0.999999988103,0.000109023504818,-9.28040473461e-05,-5.74012839025e-05,1793243690642119168
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681.897892391,660,634,880,786,806,651,631,651,0.436729009991,0.00460706023511,0.0799670098621,0.999999991673,0.000110391373647,-3.6650578312e-05,-5.58914628803e-05,1793243690658785536
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681.323397127,660,634,880,786,806,651,631,651,0.437548759832,0.00460498911609,0.0799977579273,0.999999992286,0.000111435600527,4.44084894299e-06,-5.46826013186e-05,1793243690675452160
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.748715533,745,714,681.251284467,659.748715533,634,880,786,805.748715533,651,631,651.251284467,0.438351804038,0.00460409798461,0.0800195482853,0.999999992072,0.000106749627695,3.81586536394e-05,-5.48155667132e-05,1793243690692118784
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.173794003,745,714,681.826205997,659.173794003,634,880,786,805.173794003,651,631,651.826205997,0.439133332476,0.00460472659588,0.0800298017318,0.999999991966,9.4683552861e-05,6.23797378239e-05,-5.66767128472e-05,1793243690708785408
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764.993273373,745.993273373,714,682.006726627,659.006726627,634,880,786.993273373,806,651.006726627,631,652,0.440535283768,0.0046082151997,0.0799720519586,0.999999992475,0.00010517360167,-2.2423583047e-05,-5.90414903228e-05,1793243690742119424
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.416145997,745.416145997,714,682.583854003,659.583854003,634,880,786.416145997,806,651.583854003,631,652,0.441168197474,0.00460839480449,0.0798941127311,0.999999983089,9.85625960259e-05,-0.000143515731916,-5.92517118265e-05,1793243690758785792
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,714,682.839453957,660,634,880.160546043,786,806,651.839453957,631,651.839453957,0.441816352538,0.00460832727226,0.0798406323744,0.999999968859,9.32623217257e-05,-0.000223710224662,-5.94837629637e-05,1793243690775452416
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,714,682.26388716,660,634,880.73611284,786,806,651.26388716,631,651.26388716,0.442503907523,0.00460762087666,0.0798503795881,0.999999974403,9.13503650714e-05,-0.00019818195561,-5.97722469181e-05,1793243690792119040
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.318663793,745,714,682.318663793,660,634,880.681336207,786,806,651,631,651,0.443190646101,0.00460663129888,0.0798935334335,0.999999985615,9.0906907869e-05,-0.000130156046163,-5.97110205303e-05,1793243690808785664
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.907127927,745,714,682.907127927,660,634,880.092872073,786,806,651,631,651,0.443876693415,0.00460540196171,0.0799649713847,0.999999993692,9.17067719039e-05,-2.61490241997e-05,-5.93537073935e-05,1793243690825452544
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.512116606,745,713.512116606,683,660,634,880,786,806,651.487883394,631,651,0.444472124271,0.0046091842212,0.0799791279209,0.999999993406,9.81193320841e-05,-1.16038128361e-05,-5.85261336723e-05,1793243690842118912
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745,713.066929081,683,659.866141838,633.933070919,880,786,806,652,631,651.066929081,0.445043260236,0.00461441031928,0.0799764318471,0.999999992367,0.000106917806163,-2.28107641977e-05,-5.75705296854e-05,1793243690858785536
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,713.64395354,683,658.712092919,633.35604646,880,786,806,652,631,651.64395354,0.445558655269,0.00462348283478,0.0799271056482,0.999999985237,0.000125884151875,-0.000102514251197,-5.6310790098e-05,1793243690875452416
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,714,683,658,633,880,786,806,652,631,652,0.446056094368,0.00463112920234,0.0798819862646,0.999999973839,0.000138432057746,-0.000173184214704,-5.62742031154e-05,1793243690892119296
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,714,683,658,633,880,786,806,652,631,652,0.446524602278,0.00463647771652,0.0798436450329,0.999999962127,0.000140638379165,-0.000229299086226,-5.82083969131e-05,1793243690908786176
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745.379590316,714,683,658,633,880,786,806,651.620409684,630.620409684,651.620409684,0.446978343505,0.00464114792545,0.0798156083416,0.999999953259,0.000142799622841,-0.000263708378071,-5.95670550978e-05,1793243690925452544
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.724134439,713,684,652.724134439,632,880,786,806,652,631,651.724134439,0.452139658531,0.00472685433849,0.0796111215408,0.999999800713,0.000226904968078,-0.000584900063216,-7.05636243998e-05,1793243691308785920
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.705121548,745.705121548,713,684,652.705121548,632,880,786,806,652,631,652,0.452185034345,0.00472733582985,0.079612163762,0.999999800595,0.000227724096022,-0.00058481928114,-7.02725245742e-05,1793243691325452544
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.134353647,745.134353647,713,684,652.134353647,632,880,786,806,652,631,652,0.452224099651,0.00472643296566,0.079612629369,0.999999800283,0.000228855077359,-0.00058498484868,-6.96521062391e-05,1793243691342119424
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.458836858,745,713,684.458836858,652,632,880,785.541163142,806,652,631,652,0.452249380747,0.00472568742864,0.0796088999413,0.999999797655,0.00022683800284,-0.000590244139566,-6.96113394738e-05,1793243691358786048
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,713,684.943474861,651.943474861,631.943474861,880,785,806.056525139,651.943474861,631,652,0.452270021394,0.0047250043768,0.0796044011155,0.999999794691,0.00022412421389,-0.000596262297306,-6.96957310641e-05,1793243691375452416
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,713,684.367873458,651.367873458,631.367873458,880,785,806.632126542,651.367873458,631,652,0.452287017566,0.00472445035394,0.0796046965752,0.999999795608,0.000223912267773,-0.000594848784517,-6.92907362543e-05,1793243691392119040
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,713,684,651.415962614,631,880,785,806.792018693,651.207981307,631,652,0.452300505954,0.00472413532576,0.0796042826261,0.999999795292,0.000224320223946,-0.000595256996513,-6.90324312026e-05,1793243691408785408
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,713,684,652.568569448,631,880,785,806.215715276,651.784284724,631,652,0.452307782269,0.00472424354251,0.0796026123573,0.999999792783,0.000225825988979,-0.000598891371199,-6.90339047191e-05,1793243691425452032
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,713,684,652.631109478,631.368890522,880.368890522,785.368890522,806,652,631,652,0.452314559115,0.00472375368881,0.0796024380131,0.999999792636,0.000225013464875,-0.000599474135294,-6.87606603715e-05,1793243691442119168
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,713,684,652.041536952,631.958463048,880.958463048,785.958463048,806,652,631,652,0.452321037161,0.0047229060504,0.0796031585784,0.999999793903,0.000222814066671,-0.000598231329075,-6.83230710896e-05,1793243691458786048
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713,684,652,631.463673126,880.463673126,786,806,652,631,651.463673126,0.4523231964,0.00472203186285,0.079601699937,0.999999792804,0.000222115557246,-0.000600326825764,-6.82939359366e-05,1793243691475452672
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713,684,652,631,880,785.886968869,806,652,631,651.113031131,0.452324846796,0.00472148850075,0.0796004145712,0.999999791729,0.000221957766447,-0.000602175170566,-6.82844397808e-05,1793243691492119296
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713,684,652,631,880,785.311378438,806,652,631,651.688621562,0.45232575439,0.00472230721642,0.079600514222,0.999999791498,0.000223547242455,-0.000601976660204,-6.82286237589e-05,1793243691508786176
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713,684,651.729212395,631,880.270787605,785,806,651.729212395,630.729212395,652,0.452326602987,0.00472252552211,0.0796005339144,0.999999791357,0.000224162294942,-0.000602011051444,-6.79645188619e-05,1793243691525452800
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,713,684,651.139296802,631,880.860703198,785,806,651.139296802,630.139296802,652,0.452327382054,0.0047220362341,0.0796004593742,0.999999791325,0.000223628972256,-0.000602319921321,-6.74549418282e-05,1793243691542119424
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713,683.557468152,651.442531848,631,880.557468152,785.442531848,806,651.442531848,630.442531848,652,0.452327719967,0.00472152234104,0.0795996763692,0.999999790833,0.000223445979357,-0.000603207912537,-6.74179269412e-05,1793243691558785792
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.978372069,745,713,683.021627931,652,631.021627931,880,786,806.021627931,652,631,652,0.452327875258,0.00472099343687,0.0795986576217,0.999999790174,0.000223364829858,-0.000604320651942,-6.74973038126e-05,1793243691575452672
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.405209266,745,713,683.594790734,652,631.594790734,880,786,806.594790734,652,631,652,0.45232685108,0.00472027569387,0.0795972120001,0.999999788895,0.00022311915445,-0.000606599511165,-6.68195994951e-05,1793243691592119552
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745,713,684,652.169344081,631.830655919,880,786,806.830655919,652.169344081,631,651.830655919,0.452326508494,0.00471974229453,0.0795966243276,0.999999788322,0.000222551525288,-0.000607801750253,-6.63561476209e-05,1793243691608786176
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745,713,684,652.747252255,631.252747745,880,786,806.252747745,652.747252255,631,651.252747745,0.452327810335,0.00471965364771,0.0795981065662,0.999999789464,0.00022120714184,-0.000606406506455,-6.64096070074e-05,1793243691625452544
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.332719283,745,713,684,652.667280717,631,880,785.667280717,806,652.667280717,631,651.332719283,0.452328389368,0.00471986809396,0.0795980414165,0.999999789539,0.000221260135241,-0.000606228941286,-6.67248586508e-05,1793243691642119168
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.924061795,745,713,684,652.075938205,631,880,785.075938205,806,652.075938205,631,651.924061795,0.452328406562,0.00472031813495,0.0795967734794,0.999999788785,0.000222399311956,-0.000606997879718,-6.72436018296e-05,1793243691658786048
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713,684,652,631,880,785.504756313,806,652,631,651.495243687,0.452327224812,0.00471979552567,0.0795957993238,0.999999787712,0.00022113456153,-0.000609211754817,-6.73579005495e-05,1793243691675452416
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.917121885,745,713,684,652,631.082878115,880.082878115,786,806.082878115,652,631,651,0.452326133623,0.00471913869283,0.0795950349721,0.99999978678,0.000219880336906,-0.00061119121786,-6.73661083064e-05,1793243691692119040
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.344927221,745,713,684,652,631.655072779,880.655072779,786,806.655072779,652,631,651,0.452326620052,0.00471853549241,0.0795952537576,0.999999787004,0.000220779400288,-0.000610529769288,-6.70997702357e-05,1793243691708785664
+246,4.100000000,HOLD_POSE2,765,745,713,684,652,632,880,785,806,652,631,652,0.452326349803,0.00472074946535,0.0795940844862,0.999999785476,0.000219487010569,-0.000613383511356,-6.806823049e-05,1793243691747856128
+247,4.116666667,HOLD_POSE2,764.407811516,744.407811516,713,684,652,631.407811516,880,785,806,651.407811516,630.407811516,651.407811516,0.452328163078,0.00472058043791,0.0795955332196,0.99999978689,0.000221128646577,-0.000610572706684,-6.72462289026e-05,1793243691764522752
+248,4.133333333,HOLD_POSE2,764.180235885,744.180235885,713,684,652,631,880.180235885,785,806,651.180235885,630.180235885,651.180235885,0.452329843435,0.00472027680954,0.0795966636508,0.999999788036,0.000221934872399,-0.000608458569652,-6.67188655624e-05,1793243691781189376
+249,4.150000000,HOLD_POSE2,764.759124,744.759124,713,684,652,631,880.759124,785,806,651.759124,630.759124,651.759124,0.452331229798,0.00471967546595,0.0795970900502,0.999999788607,0.00022089330816,-0.000607885346706,-6.68431935667e-05,1793243691797856256
+250,4.166666667,HOLD_POSE2,765,745,713,684,652,631,881,785.336013134,806,652,631,652,0.452330450212,0.00471981667224,0.0795961898027,0.999999787792,0.000221015984263,-0.000609186172932,-6.67836083961e-05,1793243691814522880
+251,4.183333333,HOLD_POSE2,765,745,713,684,652,631,881,785.911477708,806,652,631,652,0.452328127115,0.00472048703834,0.0795943441532,0.999999785984,0.00022196832748,-0.000611822493932,-6.65929620472e-05,1793243691831188992
+252,4.200000000,HOLD_POSE2,765,745,713,684,652,631,880.518559766,785.518559766,806,651.518559766,630.518559766,652,0.452328459316,0.00471847327185,0.0795941375738,0.999999786233,0.000221620314472,-0.000611573323537,-6.63124008767e-05,1793243691847855616
+253,4.216666667,HOLD_POSE2,764.946589981,745,713,684.053410019,651.946589981,631.053410019,880,785.053410019,806,651.053410019,630,652,0.452329214269,0.00471634188631,0.0795942363432,0.999999786761,0.000221073688506,-0.000610930703368,-6.60912048464e-05,1793243691864521984
+254,4.233333333,HOLD_POSE2,764.343678025,745,713,684.656321975,651.343678025,631.656321975,880,785.656321975,806,651.656321975,630,652,0.452329352315,0.00471802064575,0.0795944110274,0.999999786327,0.000220915773679,-0.000611636990623,-6.66489509286e-05,1793243691881188608
+255,4.250000000,HOLD_POSE2,764.233906119,745,713,684.766093881,651.233906119,632,880,786,806,652,630.233906119,651.766093881,0.452329198495,0.00471933230914,0.0795942282576,0.999999785853,0.000220878297687,-0.000612392428005,-6.69456170004e-05,1793243691897855488
+256,4.266666667,HOLD_POSE2,764.777912006,745,713,684.222087994,651.777912006,632,880,786,806,652,630.777912006,651.222087994,0.452328657737,0.00472015729682,0.0795935715951,0.999999785327,0.000221000492837,-0.000613213025843,-6.6896157622e-05,1793243691914522368
+257,4.283333333,HOLD_POSE2,765,745,713,684.360759998,651.639240002,631.639240002,880.360759998,786,806,652,631,651.360759998,0.452328883278,0.00471971715549,0.0795937154177,0.999999785472,0.000220523967149,-0.000613147032058,-6.6904030092e-05,1793243691931189504
+258,4.300000000,HOLD_POSE2,765,745,713,684.970404841,651.029595159,631.029595159,880.970404841,786,806,652,631,651.970404841,0.452329637482,0.00471840421394,0.0795944114871,0.99999978608,0.000219634389741,-0.000612469387345,-6.69514552461e-05,1793243691947856128
+259,4.316666667,HOLD_POSE2,765,745,713,684.439353586,651,631.560646414,880.439353586,785.439353586,806,652,631,652,0.452330390774,0.00471676930535,0.079594892983,0.99999978669,0.000219432302122,-0.000611580074719,-6.66220771344e-05,1793243691964522752
+260,4.333333333,HOLD_POSE2,765,745,713,684,651.146991724,631.853008276,880,785,806.146991724,652,631,652,0.452330603452,0.0047156231351,0.0795950168053,0.999999786995,0.00021896605983,-0.00061127731633,-6.63547995311e-05,1793243691981189120
+261,4.350000000,HOLD_POSE2,765,745,713,684,651.724818827,631.275181173,880,785,806.724818827,652,631,652,0.452329231717,0.0047159576141,0.0795941243685,0.999999786404,0.000217622764258,-0.000612725412755,-6.63258888635e-05,1793243691997855488
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,685,652,632,881,786,806,651,630,652,0.45233051027,0.00471758969907,0.0795934692877,0.999999786508,0.00021777453559,-0.000612523637167,-6.61267184681e-05,1793243692035067904
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713.426795584,684.426795584,651.426795584,632,881,785.426795584,806,651.573204416,630.573204416,652,0.452330147013,0.00471798242317,0.0795939909317,0.999999786146,0.000218330008558,-0.000612939493769,-6.5919537447e-05,1793243692051735040
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.15366428,745,713,684,651.15366428,631.84633572,880.84633572,785,806,651.84633572,631,652,0.452329718167,0.0047176536354,0.0795942893129,0.999999785967,0.000217808805065,-0.000613429149181,-6.58072956777e-05,1793243692068402176
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.7552746,745,713,684,651.7552746,631.2447254,880.2447254,785,806,651.2447254,631,652,0.452329098119,0.00471522157178,0.0795939368616,0.999999786314,0.000214148987056,-0.000614133935268,-6.59718108396e-05,1793243692085068288
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.340258133,713.340258133,684,651.659741867,631.340258133,880,785.340258133,806,651.340258133,631,652,0.452329015025,0.00471494105045,0.0795934958223,0.999999786102,0.000213915912247,-0.000614551940006,-6.60388312313e-05,1793243692101734912
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.913840203,713.913840203,684,651.086159797,631.913840203,880,785.913840203,806,651.913840203,631,652,0.452329300136,0.00471613589832,0.0795929940359,0.999999785511,0.000216032645469,-0.000614773291201,-6.60389968887e-05,1793243692118401536
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.490240047,746,714,684,651.490240047,631.509759953,880,785.509759953,806.490240047,652,631,652,0.452328938683,0.00471710435409,0.0795924313037,0.999999784473,0.000218248344457,-0.000615653747363,-6.62748336872e-05,1793243692135068160
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.93117861,745.93117861,713.93117861,684,652,631,880,785,806.93117861,651.93117861,631,652,0.452328440783,0.00471795056213,0.0795919103562,0.999999783543,0.000220130802488,-0.000616468110801,-6.6508844013e-05,1793243692151735040
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.339815571,745.339815571,713.339815571,684,652,631,880,785,806.339815571,651.339815571,631,652,0.452327774647,0.00471817242638,0.0795917884659,0.999999784073,0.000219350229206,-0.000615896041637,-6.64126835509e-05,1793243692168401408
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.826699756,684,652,631.826699756,880.826699756,785,806,651.826699756,630.173300244,652,0.452323341617,0.00471568633833,0.0795890512348,0.99999978217,0.000217070619939,-0.000619824546887,-6.60084586601e-05,1793243692201734400
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,684,652,632,881,785.401580083,806.401580083,652,630.401580083,652,0.452306976167,0.00471636239504,0.0795806146412,0.999999774264,0.000217587674751,-0.000632278756353,-6.59625580025e-05,1793243692218401536
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,684,652,632,881,785.974283104,806.974283104,652,630.974283104,652,0.452284847854,0.00471810788316,0.0795693803868,0.99999976342,0.000218872469426,-0.000648767274302,-6.6001424399e-05,1793243692235068416
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.438368613,684,651.438368613,631.438368613,881,786,806.438368613,651.438368613,631,652,0.452234569383,0.00471757592629,0.0795489135918,0.999999739349,0.000218562535884,-0.000685015188519,-6.5466803793e-05,1793243692251734784
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,684.147888401,651,631.147888401,880.852111599,785.852111599,806,651,630.852111599,652,0.452178576318,0.00471688651815,0.0795290914,0.999999714882,0.000218951555508,-0.000719799286869,-6.46960678704e-05,1793243692268401408
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,684.728932554,651,631.728932554,880.271067446,785.271067446,806,651,630.271067446,652,0.452109721993,0.00471604956245,0.0795124285794,0.999999694007,0.000221607368525,-0.000747574988696,-6.33127376949e-05,1793243692285068032
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.38605485,745,714,682,658,634.61394515,879.61394515,786.61394515,805.61394515,652,631,652,0.41815052924,0.00446402732152,0.0798192493853,0.999999957674,7.12125657722e-05,-0.000276772465846,5.45672703361e-05,1793243693251735296
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764.960861204,745,714,682,658,634.039138796,879.039138796,786.039138796,805.039138796,652,631,652,0.417291150797,0.00446110349882,0.079797628453,0.999999947945,6.27394686583e-05,-0.000312157539296,5.22572705995e-05,1793243693268401920
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.462983684,745,714,682,658,634,879.537016316,786.537016316,805,651.462983684,631,652,0.416465225313,0.00446915939097,0.0798040490383,0.99999994625,7.53109407574e-05,-0.000314399408606,5.46052768547e-05,1793243693285068288
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.115626233,745,714,681.884373767,658,634,879.884373767,786.884373767,805.115626233,651.115626233,631,652,0.415649019121,0.0044772098922,0.0798064552321,0.999999943052,8.94308168885e-05,-0.00032042986198,5.67733528511e-05,1793243693301734912
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.703867178,745,714,681.296132822,658,634,879.296132822,786.296132822,805.703867178,651.703867178,631,652,0.4148625492,0.00448195926275,0.0797840782536,0.999999931123,0.000103594726009,-0.000351844134782,5.68148605255e-05,1793243693318401280
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879,786,805.71236767,652,631,651.71236767,0.414101001665,0.00448026783409,0.0797817281206,0.999999933147,9.88013295759e-05,-0.000347608964883,5.57830025216e-05,1793243693335067648
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879,786,805.133140015,652,631,651.133140015,0.413364719945,0.00447204686467,0.0797996807641,0.999999948567,7.4789433144e-05,-0.000307233172554,5.36629899769e-05,1793243693351734528
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.443712059,634,878.556287941,786.443712059,805,652,631,651.443712059,0.412638404771,0.00446959988555,0.0798066525874,0.999999951135,6.80127811113e-05,-0.000300376294072,5.36427660028e-05,1793243693368401408
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.960118033,658.960118033,634,878,786.980059016,805,651.980059016,631,652,0.411916640068,0.00446899722788,0.0798097899288,0.999999950021,6.71415570309e-05,-0.000304149861308,5.42544787279e-05,1793243693385068032
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.802851001,657.802851001,634,878,786.401425501,805,651.401425501,631,652,0.411239027746,0.00447178486854,0.0797973180088,0.999999941684,8.76018664189e-05,-0.00032547172549,5.50127344973e-05,1793243693401734912
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.179951965,657.179951965,634,878.179951965,786.179951965,805,651.179951965,631,652,0.410571138779,0.00447542671042,0.0797922805733,0.999999937358,0.000101762162166,-0.000334427025423,5.55689856412e-05,1793243693418401536
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.767545356,657.767545356,634,878.767545356,786.767545356,805,651.767545356,631,652,0.409925275792,0.004481003557,0.0798040843178,0.999999943555,0.000101651172778,-0.000315368610395,5.56676401552e-05,1793243693435068160
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.651454875,680,658,634,879,787,805,652,631,652,0.409310132597,0.00448068140653,0.0798235127334,0.999999953678,9.71381749728e-05,-0.000282963200355,5.60277906291e-05,1793243693451735040
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.07477097,680,658,634,879,787,805,652,631,652,0.408715096955,0.00447649809144,0.0798479318455,0.999999965135,8.97438605213e-05,-0.000241821570334,5.65591021345e-05,1793243693468401664
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.503137919,744.503137919,713.496862081,680,658,634,879,787,805,652,631,652,0.408129360241,0.0044767412534,0.0798368751438,0.999999959455,8.83581651306e-05,-0.000264700470605,5.67091125861e-05,1793243693485068032
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.070500088,744.070500088,714,680,658,634,878.929499912,787,805,652,631,652,0.407548793202,0.00447770545656,0.0798181054139,0.999999949278,8.92228525577e-05,-0.000300450094249,5.66902854717e-05,1793243693501734656
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.66461778,744.66461778,714,680,658,634,878.33538222,787,805,652,631,652,0.40699633358,0.00447912732394,0.0797813015331,0.99999992828,0.000100153365986,-0.000360957943831,5.58393577779e-05,1793243693518401280
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.252440181,714,680,658,634,878,786.747559819,805,651.747559819,631,652,0.406484367468,0.00447882742908,0.0797655060928,0.99999991982,0.000103331592502,-0.000382927739887,5.52233977319e-05,1793243693535068160
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.832102351,714,680,658,634,878,786.167897649,805,651.167897649,631,652,0.406024890536,0.0044762957243,0.0797769425472,0.999999930848,9.64610269601e-05,-0.000354943129218,5.49120114011e-05,1793243693551734784
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.591990029,714,680,658,634,878.816019941,786,805.408009971,651.408009971,631,652,0.405592476608,0.0044794419287,0.0797956010665,0.999999942067,9.88854201075e-05,-0.000321118310227,5.45004284186e-05,1793243693568401664
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745.017613285,714,680,658,634,879.964773429,786,805.982386715,651.982386715,631,652,0.405171097629,0.00448490331019,0.0798172043963,0.999999952429,0.000105099848105,-0.000284912133505,5.40479900004e-05,1793243693585068288
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.570472229,878.859055541,786.570472229,805.429527771,652,631,652,0.404788413909,0.00448670901078,0.0798256055433,0.999999954828,0.000107887134398,-0.00027525642183,5.4198035553e-05,1793243693601734656
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.843443112,878.156556888,786.843443112,805,652,631,652,0.404411507908,0.00448801425942,0.079831756666,0.999999955636,0.000110900858217,-0.000270895323568,5.51761212505e-05,1793243693618401280
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.26393541,878.73606459,786.26393541,805,652,631,652,0.404046903704,0.00448827992999,0.0798329574939,0.999999952906,0.000114819221537,-0.000278568909695,5.83397317369e-05,1793243693635067904
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.312464072,634,879,786,805,652,631,652,0.403711100676,0.00448706669885,0.0798360085028,0.999999953343,0.000108938693151,-0.000279587899894,5.72422744234e-05,1793243693651734528
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.886263896,634,879,786,805,652,631,652,0.403399386125,0.00448461655785,0.0798406069487,0.999999956294,9.48626599524e-05,-0.00027504118146,5.25809852426e-05,1793243693668401408
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.538511367,634,879,786,805,652.461488633,631,652,0.403115177847,0.00448239579646,0.0798405926796,0.99999995574,9.46548954406e-05,-0.000277055028707,5.29275357595e-05,1793243693685068032
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.961859022,745,714.038140978,680,658,634,878.961859022,786,805,652.961859022,631,652,0.402840896009,0.00448045483842,0.0798393277544,0.999999954383,9.76097835078e-05,-0.000280617158185,5.44068165695e-05,1793243693701734656
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.369583365,745,714.630416635,680,658,634,878.369583365,786,805,652.369583365,631,652,0.402612036179,0.00448175515838,0.0798364601909,0.999999953771,9.67024609478e-05,-0.000283109857333,5.43562573785e-05,1793243693718401280
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.217281517,745,714.782718483,680,658,634,878,786,805,652,631,652,0.402397641192,0.00448188199443,0.0798354765892,0.999999953908,9.55462212616e-05,-0.000282997971183,5.44734684796e-05,1793243693735067904
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.795166542,745,714.204833458,680,658,634,878,786,805,652,631,652,0.402207252289,0.00448006129969,0.0798376196378,0.99999995528,9.39768752495e-05,-0.000278563477845,5.48691135567e-05,1793243693751734528
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.628553423,745,714,680,658,634,878,786,805,652,631,652,0.402039246366,0.00448108498497,0.0798429695052,0.999999957225,9.92481876812e-05,-0.000269513409036,5.53373624147e-05,1793243693768401152
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.053154595,745,714,680,658,634,878,786,805,652,631,652,0.401883530373,0.00448367044974,0.0798500801589,0.999999959315,0.000108275538569,-0.000257929039911,5.58454762646e-05,1793243693785067776
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.521450323,745,714,680,658,634,878.521450323,786.521450323,805,651.478549677,631,652,0.401746182936,0.00448566092854,0.0798516496616,0.999999958219,0.000123025376749,-0.000255449771194,5.63179685159e-05,1793243693801734656
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,787,805,651.099097753,631,651.900902247,0.401614466042,0.00448645563675,0.0798517693528,0.999999956751,0.000133916222601,-0.00025561284278,5.67985843302e-05,1793243693818401536
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,787,805,651.692318951,631,651.307681049,0.40150150214,0.00448158992485,0.0798474721137,0.999999955898,0.000122661099027,-0.00026433034277,5.73377843287e-05,1793243693835068672
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.722336717,658,634,879,786.722336717,805,652.277663283,631,651.277663283,0.401400371936,0.00447751399494,0.0798429773346,0.999999955104,0.000113067346277,-0.000271513750658,5.73338429475e-05,1793243693851735296
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.145480059,658,634,879,786.145480059,805,652.854519941,631,651.854519941,0.401311993025,0.00447428908726,0.0798382696983,0.999999954473,0.000105263788209,-0.000277044112003,5.67446448204e-05,1793243693868401664
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.430918364,658,634,878.569081636,786,805,652.569081636,631,652,0.401238476087,0.00447341562907,0.0798336314803,0.999999952781,0.000101828154711,-0.000284373100479,5.6569280464e-05,1793243693885068288
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.007320275,878.007320275,786.007320275,805,652,631,652,0.401170273931,0.00447333442178,0.079829063574,0.999999950725,9.98722294361e-05,-0.000292199385064,5.6528503649e-05,1793243693901734912
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.596279057,878.596279057,786.596279057,805,652,631,652,0.40112611816,0.00447319233671,0.0798282221849,0.999999951141,9.84441154892e-05,-0.000291342447479,5.60923334506e-05,1793243693918401280
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.817776054,878.817776054,786.817776054,805.182223946,652,631,652,0.401085773745,0.00447300358136,0.079827902989,0.999999951438,9.71843772681e-05,-0.000290775625341,5.59360870205e-05,1793243693935067904
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.23839994,878.23839994,786.23839994,805.76160006,652,631,652,0.401053736087,0.00447271310938,0.0798287218991,0.99999995148,9.62916095792e-05,-0.000290841102094,5.63899269376e-05,1793243693951734528
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.661092293,658,634,878,786,805.661092293,652,631,652,0.401028340573,0.004473212475,0.0798283059813,0.999999951135,9.69047851555e-05,-0.000291816012238,5.64221590513e-05,1793243693968401408
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.085230794,658,634,878,786,805.085230794,652,631,652,0.401007589036,0.00447426407064,0.0798270267099,0.999999950515,9.85708696165e-05,-0.0002934267701,5.61596160686e-05,1793243693985068288
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.486075753,658,634.486075753,878.486075753,786.486075753,805,652,631,652,0.400997348522,0.00447381657776,0.0798283723215,0.999999951298,9.61457075664e-05,-0.000291535765257,5.6282853345e-05,1793243694001735168
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.059109395,634.940890605,878.940890605,786.940890605,805,652,631,652,0.400989200276,0.00447315651445,0.0798301187037,0.999999952252,9.35619303951e-05,-0.000289060636891,5.64509616268e-05,1793243694018402048
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.655013617,634.344986383,878.344986383,786.344986383,805,652,631,652,0.400983470643,0.00447293096223,0.0798313636537,0.999999952673,9.59920090252e-05,-0.000286805198989,5.64179583012e-05,1793243694035068160
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,786.242669101,805,652,631,652,0.400978225733,0.00447385345998,0.079831659423,0.999999952686,9.80404939245e-05,-0.000286107450815,5.61942740961e-05,1793243694051734784
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,786.818983378,805,652,631,652,0.400973647269,0.00447635440896,0.0798306501658,0.999999952149,9.95643263536e-05,-0.000287551366733,5.57084231997e-05,1793243694068401408
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745.394012871,714,680,658.605987129,634,878.394012871,787,805,652,631,652,0.40097290799,0.00447639098238,0.0798312262314,0.999999952602,9.86924498749e-05,-0.000286328044511,5.54336543499e-05,1793243694085068288
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745.968454014,714,680,658.031545986,634,878.968454014,787,805,652,631,652,0.400973926769,0.00447529905701,0.0798325282556,0.999999953501,9.67235187938e-05,-0.000283883327716,5.52555452203e-05,1793243694101734912
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745.441323226,714,680,658,634,878.441323226,786.441323226,804.441323226,652,631,652,0.400973983934,0.00447411044158,0.079833491481,0.999999953783,9.61285290635e-05,-0.000283023353503,5.55939422584e-05,1793243694118401536
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.146817996,634,878.146817996,786.146817996,804.146817996,652,631,652,0.400973624653,0.00447375576961,0.0798340628552,0.999999953908,9.60021229547e-05,-0.000282600337353,5.57193929022e-05,1793243694135068416
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.726126083,634,878.726126083,786.726126083,804.726126083,652,631,652,0.400972203222,0.00447587424271,0.0798335379228,0.999999953675,9.70208741549e-05,-0.000283193234733,5.51291453958e-05,1793243694151735040
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.305528809,680,658.694471191,634,879,786.694471191,805,652,631.305528809,651.694471191,0.400972125607,0.00447720614278,0.0798340222322,0.999999953761,9.8438888389e-05,-0.000282454775638,5.48317812966e-05,1793243694168401664
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.885016463,680,658.114983537,634,879,786.114983537,805,652,631.885016463,651.114983537,0.400973252951,0.00447783274581,0.0798354114995,0.999999954131,0.00010021491035,-0.000280522527776,5.47970372079e-05,1793243694185068032
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.546330018,680,658,634,878.546330018,786,805,652,631.546330018,651.453669982,0.400972981897,0.00447807175774,0.0798356453856,0.999999954137,0.000100774911545,-0.000280263630959,5.49726875046e-05,1793243694201734656
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..68766c081572f68f53f4103ade63ef72ece97040
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
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+340,5.666666667,pose2_to_pose3_retreat,0.592617516375,0.0100019098542,1.07004103516,0.563189235155,0.018676735427,1.06967882993
+341,5.683333333,pose2_to_pose3_retreat,0.591941450761,0.010001827233,1.07004102165,0.562513171334,0.0186766584451,1.06967880794
+342,5.700000000,pose2_to_pose3_retreat,0.591285099567,0.0100017989208,1.07004096442,0.561856820863,0.0186766327281,1.0696787545
+343,5.716666667,pose2_to_pose3_retreat,0.590645755712,0.0100017919776,1.07004093641,0.561217476709,0.0186766250994,1.0696787336
+344,5.733333333,pose2_to_pose3_retreat,0.590022858283,0.0100017892912,1.07004085101,0.560594578797,0.0186766208167,1.06967864934
+345,5.750000000,pose2_to_pose3_retreat,0.589420168317,0.0100019251918,1.07004071232,0.559991886543,0.0186767490026,1.06967851183
+346,5.766666667,pose2_to_pose3_retreat,0.588840549734,0.0100018382869,1.07004078791,0.559412270357,0.0186766706374,1.06967859714
+347,5.783333333,pose2_to_pose3_retreat,0.588277460829,0.01000179277,1.07004111383,0.558849180637,0.0186766212329,1.06967889623
+348,5.800000000,pose2_to_pose3_retreat,0.587730321606,0.0100017951631,1.07004082873,0.558302042149,0.0186766267422,1.06967862596
+349,5.816666667,pose2_to_pose3_retreat,0.587200150724,0.0100018951207,1.07004078378,0.557771869028,0.0186767193087,1.06967858593
+350,5.833333333,pose2_to_pose3_retreat,0.586688738762,0.0100018780591,1.07004088797,0.557260456695,0.0186767009174,1.06967868838
+351,5.850000000,pose2_to_pose3_retreat,0.586201926266,0.0100018410811,1.07004070264,0.556773644986,0.018676666313,1.06967849705
+352,5.866666667,pose2_to_pose3_retreat,0.585742980039,0.0100018695921,1.07004072712,0.556314699832,0.0186766983815,1.06967852015
+353,5.883333333,pose2_to_pose3_retreat,0.585312868723,0.0100018332303,1.07004076292,0.555884589093,0.0186766640647,1.06967855788
+354,5.900000000,pose2_to_pose3_retreat,0.584913547575,0.0100017712672,1.07004074567,0.555485268339,0.018676603485,1.0696785415
+355,5.916666667,pose2_to_pose3_retreat,0.584538788825,0.0100017899574,1.07004077109,0.555110509627,0.018676622303,1.0696785669
+356,5.933333333,pose2_to_pose3_retreat,0.58418118164,0.0100018202714,1.07004059683,0.554752900534,0.0186766462004,1.06967839406
+357,5.950000000,pose2_to_pose3_retreat,0.583841139662,0.0100019888083,1.07004081842,0.554412857536,0.0186768111545,1.06967861266
+358,5.966666667,pose2_to_pose3_retreat,0.583521056389,0.010001870464,1.07004091874,0.554092775489,0.0186766971072,1.06967871634
+359,5.983333333,pose2_to_pose3_retreat,0.583218959073,0.0100019221662,1.0700407322,0.553790677726,0.0186767473273,1.06967853068
+360,6.000000000,pose2_to_pose3_retreat,0.582935487522,0.0100017711957,1.07004079285,0.553507208596,0.018676604377,1.06967858678
+361,6.016666667,pose2_to_pose3_retreat,0.582676595933,0.0100018466784,1.07004090486,0.55324831601,0.0186766764218,1.06967869741
+362,6.033333333,pose2_to_pose3_retreat,0.582439725941,0.0100019339308,1.07004089053,0.553011444559,0.0186767586913,1.06967868234
+363,6.050000000,pose2_to_pose3_retreat,0.582224893877,0.0100018256876,1.07004077852,0.552796613686,0.018676654538,1.0696785716
+364,6.066666667,pose2_to_pose3_retreat,0.582031130068,0.0100017088199,1.07004080979,0.55260285202,0.0186765449978,1.06967860442
+365,6.083333333,pose2_to_pose3_retreat,0.581858813375,0.0100017945899,1.07004106325,0.552430535369,0.0186766307957,1.06967885514
+366,6.100000000,pose2_to_pose3_retreat,0.581703217806,0.0100017755906,1.07004094022,0.552274938115,0.0186766061819,1.0696787345
+367,6.116666667,pose2_to_pose3_retreat,0.581562526664,0.0100018022893,1.07004082314,0.552134248002,0.0186766365226,1.06967862114
+368,6.133333333,pose2_to_pose3_retreat,0.58143590737,0.0100017583967,1.0700406286,0.552007627355,0.0186765880717,1.06967842738
+369,6.150000000,pose2_to_pose3_retreat,0.581321471595,0.0100017818911,1.07004075115,0.551893190409,0.0186766072105,1.06967854075
+370,6.166666667,pose2_to_pose3_retreat,0.581219290904,0.0100018425661,1.07004082579,0.551791010321,0.0186766700786,1.06967861985
+371,6.183333333,pose2_to_pose3_retreat,0.5811286598,0.0100018395962,1.07004084127,0.55170037959,0.0186766686602,1.06967864269
+372,6.200000000,pose2_to_pose3_retreat,0.58104951423,0.0100018327895,1.07004088622,0.551621232631,0.0186766570093,1.06967868388
+373,6.216666667,pose2_to_pose3_retreat,0.58098288679,0.01000196728,1.07004079744,0.551554603905,0.0186767873212,1.06967859932
+374,6.233333333,pose2_to_pose3_retreat,0.580927282547,0.0100020681382,1.07004079112,0.551498999653,0.0186768885989,1.06967860372
+375,6.250000000,pose2_to_pose3_retreat,0.580881706168,0.0100018967984,1.07004100129,0.551453426423,0.0186767275985,1.06967880561
+376,6.266666667,pose2_to_pose3_retreat,0.580845025054,0.010001758785,1.07004083731,0.551416746765,0.0186765939046,1.06967862677
+377,6.283333333,pose2_to_pose3_retreat,0.580816750513,0.0100018161981,1.0700408961,0.551388469723,0.0186766432226,1.06967869494
+378,6.300000000,pose2_to_pose3_retreat,0.580794608474,0.0100018155477,1.0700409262,0.551366328418,0.0186766449632,1.06967872268
+379,6.316666667,pose2_to_pose3_retreat,0.580778236082,0.010001822626,1.0700409251,0.551349956047,0.0186766521589,1.06967872286
+380,6.333333333,pose2_to_pose3_retreat,0.580766476231,0.0100018286949,1.07004090709,0.551338195765,0.018676656941,1.06967870911
+381,6.350000000,pose2_to_pose3_retreat,0.580758228518,0.0100018202482,1.07004089876,0.551329947968,0.0186766482751,1.0696787023
+382,6.366666667,pose2_to_pose3_retreat,0.580752848753,0.0100017916285,1.07004093031,0.551324568906,0.0186766217692,1.06967872678
+383,6.383333333,pose2_to_pose3_retreat,0.580749153274,0.0100018681936,1.07004093592,0.551320872897,0.0186766964841,1.0696787312
+384,6.400000000,pose2_to_pose3_retreat,0.580746899648,0.0100019178058,1.07004093199,0.551318618808,0.018676744574,1.06967872851
+385,6.416666667,pose2_to_pose3_retreat,0.580745547785,0.0100019233873,1.07004092122,0.551317266726,0.018676749539,1.06967872095
+386,6.433333333,pose2_to_pose3_retreat,0.580744893363,0.0100019258334,1.07004091532,0.551316612202,0.0186767517041,1.06967871658
+387,6.450000000,pose2_to_pose3_retreat,0.58074474365,0.010001914835,1.07004088286,0.55131646271,0.018676741426,1.06967868343
+388,6.466666667,pose2_to_pose3_retreat,0.580744662535,0.0100019088762,1.07004086526,0.551316381715,0.0186767358574,1.06967866546
+389,6.483333333,pose2_to_pose3_retreat,0.580744592676,0.0100019037441,1.07004085011,0.55131631196,0.0186767310614,1.06967864999
+390,6.500000000,pose2_to_pose3_retreat,0.580744488789,0.0100018961123,1.07004082759,0.551316208226,0.0186767239294,1.06967862699
+391,6.516666667,pose2_to_pose3_retreat,0.580744365201,0.0100018870332,1.07004080078,0.55131608482,0.0186767154448,1.06967859962
+392,6.533333333,pose2_to_pose3_retreat,0.580744202527,0.0100018750827,1.07004076551,0.551315922386,0.0186767042769,1.06967856359
+393,6.550000000,pose2_to_pose3_retreat,0.580743991967,0.0100018596144,1.07004071984,0.551315712137,0.0186766898216,1.06967851696
+394,6.566666667,pose2_to_pose3_retreat,0.580743949265,0.0100018564774,1.07004071058,0.551315669498,0.01867668689,1.0696785075
+395,6.583333333,pose2_to_pose3_retreat,0.580743876924,0.0100018476169,1.07004073286,0.551315597187,0.0186766780663,1.06967852825
+396,6.600000000,pose2_to_pose3_retreat,0.580743832568,0.0100018398475,1.07004077154,0.551315552798,0.0186766701143,1.0696785652
+397,6.616666667,pose2_to_pose3_retreat,0.580743725098,0.0100018210233,1.07004086525,0.551315445249,0.0186766508477,1.06967865473
+398,6.633333333,pose2_to_pose3_retreat,0.580743620528,0.0100018027069,1.07004095643,0.551315340602,0.0186766321008,1.06967874185
+399,6.650000000,pose2_to_pose3_retreat,0.580743591334,0.0100017975933,1.07004098188,0.551315311387,0.0186766268671,1.06967876617
+400,6.666666667,pose2_to_pose3_retreat,0.580743582695,0.0100017987711,1.07004098795,0.551315302687,0.018676627825,1.06967877183
+401,6.683333333,pose2_to_pose3_retreat,0.580743569326,0.0100018105614,1.07004099188,0.551315289028,0.018676638592,1.06967877492
+402,6.700000000,pose2_to_pose3_retreat,0.580743567064,0.0100018125568,1.07004099254,0.551315286716,0.0186766404142,1.06967877544
+403,6.716666667,pose2_to_pose3_retreat,0.580743557022,0.0100018214129,1.0700409955,0.551315276456,0.0186766485018,1.06967877776
+404,6.733333333,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489278,1.06967877788
+405,6.750000000,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489279,1.06967877788
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d83424bf4bd8d0db5023ced98479c53e7231be61
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90875a55b24091de6dedd2231b4ed2617142e1c566352c12bf5760ba6557c173
+size 25969471
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6642d2dfd9ad5a83f04f72ff713e431c95d24005
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_02/franka_data.csv
@@ -0,0 +1,410 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,765,745,714,680,658.345576664,634,878,787,805,652,631,652,0.40097000543,0.00448007536597,0.0798366467545,0.99999995419,0.000103682064291,-0.000279139097354,5.43335319064e-05,1793243694553012736
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+21,0.350000000,BASELINE,765,745,714.304057987,679.695942013,658,634,878.304057987,786.304057987,805,652,631,652,0.400972224468,0.00447953220002,0.0798387024633,0.999999955639,0.00010280124006,-0.000274320395672,5.38640137594e-05,1793243694886345728
+22,0.366666667,BASELINE,765,745,714.879919247,679.120080753,658,634,878.879919247,786.879919247,805,652,631,652,0.400973040686,0.00447763497574,0.0798395615662,0.999999956064,0.000100473494894,-0.000273572620762,5.4177166678e-05,1793243694903012352
+23,0.383333333,BASELINE,764.544703987,745,714.544703987,679.910592027,658.455296013,634.455296013,879,786.544703987,805,652,631,652,0.40097312393,0.0044779643865,0.0798392058153,0.999999956057,9.93642821719e-05,-0.000274083091391,5.37743707124e-05,1793243694919678976
+24,0.400000000,BASELINE,764.031389714,745,714,680.968610286,658.968610286,634.968610286,879,786.031389714,805,652,631,652,0.400973040659,0.00447889228435,0.0798385997003,0.999999955944,9.87125721505e-05,-0.000274838806101,5.32139352347e-05,1793243694936345600
+25,0.416666667,BASELINE,764.622543812,745,714,680.377456188,658.377456188,634.377456188,879,786.622543812,805,652,631,652,0.400973431654,0.00448003156655,0.0798392365886,0.999999955982,0.00010049442399,-0.00027405634746,5.32060597119e-05,1793243694953012224
+26,0.433333333,BASELINE,765.209358839,745,714,680,658.209358839,634,878.790641161,786.790641161,805,652,631,652,0.400973778998,0.00448019125974,0.0798397666945,0.999999956158,0.000101369711751,-0.000273066660433,5.33101331619e-05,1793243694969678848
+27,0.450000000,BASELINE,765.788509828,745,714,680,658.788509828,634,878.211490172,786.211490172,805,652,631,652,0.400974049238,0.00447862069742,0.07984010819,0.999999956585,0.000100643728604,-0.000271710944165,5.36119429543e-05,1793243694986345728
+28,0.466666667,BASELINE,765.272119264,745,714,680,659,634,878.363940368,786,805,652,631,652,0.400973978279,0.00447879209698,0.0798399906915,0.999999956394,0.000101518198501,-0.000272056505633,5.37779133232e-05,1793243695003012352
+29,0.483333333,BASELINE,764.125538492,745,714,680,659,634,878.937230754,786,805,652,631,652,0.400973711051,0.00447996552824,0.0798396091651,0.999999955844,0.000103313299683,-0.000273380695978,5.38657445381e-05,1793243695019679232
+30,0.500000000,BASELINE,764.513067475,745,714,680,658.486932525,634,878.486932525,786,805,652,631,652,0.400973614643,0.00447847875059,0.0798395621524,0.999999955985,0.000100936263798,-0.000273741662873,5.39198638361e-05,1793243695036346112
+31,0.516666667,BASELINE,765,745,714,680,658.091760193,634,878,786,805.091760193,652,631,652,0.400973634811,0.00447695447291,0.0798396389351,0.999999956223,9.84808045428e-05,-0.000273763687022,5.39395581111e-05,1793243695053012736
+32,0.533333333,BASELINE,765,745,714,680,658.684331735,634,878,786,805.684331735,652,631,652,0.4009741766,0.00447701065212,0.0798401668973,0.999999956562,9.83970246922e-05,-0.000272582188304,5.37939888191e-05,1793243695069679104
+33,0.550000000,BASELINE,764.729894135,745,714,680,658.729894135,634,878.270105865,786.270105865,805.45978827,652,631,651.729894135,0.400974231172,0.00447716458549,0.0798403278848,0.999999956711,9.82162686352e-05,-0.000272105522504,5.37667390557e-05,1793243695086345472
+34,0.566666667,BASELINE,764.151869057,745,714,680,658.151869057,634,878.848130943,786.848130943,804.303738115,652,631,651.151869057,0.400973730319,0.00447742995807,0.0798400705232,0.999999956644,9.79249602377e-05,-0.000272432362464,5.38743729199e-05,1793243695103012096
+35,0.583333333,BASELINE,764.422463385,745,714,680,658,634.422463385,878.577536615,786.577536615,804.422463385,652,631,651.422463385,0.400974111311,0.00447763539614,0.0798404957375,0.999999956659,9.91506848152e-05,-0.000271919144035,5.39561228922e-05,1793243695119678720
+36,0.600000000,BASELINE,764.995479931,745,714,680,658,634.995479931,878.004520069,786.004520069,804.995479931,652,631,651.995479931,0.400974806566,0.00447781947538,0.0798411642012,0.999999956699,0.000100917033995,-0.000271106554253,5.40286486377e-05,1793243695136345600
+37,0.616666667,BASELINE,765,745,714,680,658.571875548,634.428124452,878,786.571875548,805,652,631,652,0.400974557646,0.00448004319638,0.0798404499103,0.999999956397,0.000102897444098,-0.000271550296133,5.36446818195e-05,1793243695153012480
+38,0.633333333,BASELINE,765,745,714,680.152735392,658.847264608,634,878.152735392,786.847264608,805,652,631,652,0.400974092976,0.00448128055759,0.0798397071722,0.999999956141,0.000103570698949,-0.000272302331399,5.33123583208e-05,1793243695169679104
+39,0.650000000,BASELINE,765,745,714,680.74640568,658.25359432,634,878.74640568,786.25359432,805,652,631,652,0.400973027127,0.00447962356002,0.0798389140481,0.999999956027,0.000100465387818,-0.000273915547762,5.31396030543e-05,1793243695186345728
+40,0.666666667,BASELINE,764.671260215,745,714,680.671260215,658.328739785,634,878.671260215,786,805,652,631,652,0.400972527957,0.00447862996649,0.0798388551999,0.999999956067,9.91561797105e-05,-0.000274251644839,5.30973954102e-05,1793243695203012352
+41,0.683333333,BASELINE,764.097379523,745,714,680.097379523,658.902620477,634,878.097379523,786,805,652,631,652,0.40097245136,0.00447813107274,0.0798393439006,0.99999995623,9.91863238919e-05,-0.000273635395338,5.31525369987e-05,1793243695219678976
+42,0.700000000,BASELINE,764.477879981,745,714,680,658.522120019,634,878,786,805,652,631,651.522120019,0.400971747407,0.0044796893734,0.0798388981927,0.999999955679,0.000101782867963,-0.000274697512657,5.3134792704e-05,1793243695236345600
+43,0.716666667,BASELINE,765,745,714,680,658.055035064,634,878.055035064,786,804.944964936,652,631,651.055035064,0.400971129259,0.00448124402513,0.0798384101194,0.999999955106,0.000104395591213,-0.000275798924945,5.31522905662e-05,1793243695253012224
+44,0.733333333,BASELINE,765,745,714,680,658.647962877,634,878.647962877,786,804.352037123,652,631,651.647962877,0.400972602791,0.0044786540223,0.0798393743467,0.999999955835,0.000102040377824,-0.000273932062054,5.36598130236e-05,1793243695269678848
+45,0.750000000,BASELINE,765,745,714,680,658.765917643,634,879,786.234082357,804.234082357,652,631,652,0.400973202282,0.00447733319292,0.0798398107552,0.999999956211,0.000100597725998,-0.000273043039444,5.39043018087e-05,1793243695286345472
+46,0.766666667,BASELINE,765,745,714,680,658.189747894,634,879,786.810252106,804.810252106,652,631,652,0.400972524452,0.00447786713077,0.0798394758107,0.999999956082,0.000100488689644,-0.000273583030428,5.37643937768e-05,1793243695303012352
+47,0.783333333,BASELINE,764.61399728,745,714,680,658.38600272,634,879,786.61399728,805,652,631,652,0.400972856356,0.00447826242755,0.0798394432306,0.999999956199,0.000100826439143,-0.000273091608785,5.34538184207e-05,1793243695319678976
+48,0.800000000,BASELINE,764.038452427,745,714,680,658.961547573,634,879,786.038452427,805,652,631,652,0.400973684077,0.00447858964629,0.0798395591232,0.999999956436,0.000101383577616,-0.000272093724048,5.3059438853e-05,1793243695336345600
+49,0.816666667,BASELINE,764,745,714,679.449855455,658.449855455,634,879,786.550144545,805,652,631,652,0.400974431995,0.00447929844576,0.0798399474283,0.999999956377,0.0001026889488,-0.000271756212489,5.33781994357e-05,1793243695353012480
+50,0.833333333,BASELINE,764.137321492,745.137321492,714,679.137321492,658.137321492,634,879,786.862678508,805,652,631,652,0.400974632038,0.00448004798524,0.0798400823443,0.999999956191,0.000103800269225,-0.000271972579958,5.36048293142e-05,1793243695369679104
+51,0.850000000,BASELINE,764.716915508,745.716915508,714,679.716915508,658.716915508,634,879,786.283084492,805,652,631,652,0.400973085936,0.00448084075076,0.079839338354,0.999999955667,0.000104114079719,-0.000273820559919,5.33702955497e-05,1793243695386345728
+52,0.866666667,BASELINE,765,745.706163141,714,680,659,634.293836859,878.706163141,786,805,652,631,652,0.400972498375,0.0044805387726,0.079839189636,0.99999995562,0.000102933715186,-0.000274458907343,5.32702172116e-05,1793243695403012352
+53,0.883333333,BASELINE,765,745.131793478,714,680,659,634.868206522,878.131793478,786,805,652,631,652,0.400972825957,0.00447919161746,0.0798396092382,0.999999956025,0.000100326827395,-0.000273942390669,5.32985065737e-05,1793243695419678976
+54,0.900000000,BASELINE,765,745,714,680,658.558654946,634.558654946,878,786.441345054,805,652,631,652,0.400973261558,0.00447930159846,0.0798398990795,0.999999955953,0.000101617909055,-0.00027372450964,5.33189523582e-05,1793243695436345600
+55,0.916666667,BASELINE,765,745,714,680,658.014667147,634.014667147,878.014667147,786.985332853,804.985332853,652,631,652,0.400973708251,0.00447983655609,0.0798401373602,0.999999955746,0.000103987948682,-0.000273587598042,5.33378501168e-05,1793243695453012736
+56,0.933333333,BASELINE,765,745,714,680,658.609761928,634.609761928,878.609761928,786.390238072,804.390238072,652,631,652,0.40097332096,0.00448001773937,0.0798398643749,0.999999955956,0.000103120613831,-0.000273135666549,5.33879194107e-05,1793243695469679360
+57,0.950000000,BASELINE,765,745,714,680,658.800600579,634.800600579,878.800600579,786,804.199399421,652,631,652,0.400973223985,0.00447939527025,0.0798396718806,0.999999956203,0.000101976425899,-0.000272628112508,5.35515835981e-05,1793243695486345728
+58,0.966666667,BASELINE,765,745,714,680,658.221358913,634.221358913,878.221358913,786,804.778641087,652,631,652,0.40097368004,0.00447724189831,0.0798396327163,0.999999956519,0.000100304851903,-0.000272014601374,5.3931638274e-05,1793243695503012352
+59,0.983333333,BASELINE,765,744.646192932,714,680,658,634,878.353807068,786,804.646192932,652,631,652,0.400973862027,0.00447753885623,0.0798396339494,0.999999956549,0.000100374855722,-0.000271903223825,5.38178451069e-05,1793243695519678976
+60,1.000000000,BASELINE,765,744.073547802,714,680,658,634,878.926452198,786,804.073547802,652,631,652,0.400973874498,0.00447935140107,0.0798396601693,0.999999956401,0.000101522066551,-0.000272102427744,5.33985953755e-05,1793243695536345600
+61,1.016666667,BASELINE,765,744.513934115,714,680,658,634,879,786.513934115,804.513934115,652,631,651.486065885,0.400972692024,0.00447788871596,0.0798390906902,0.999999956093,9.97249606469e-05,-0.00027385294699,5.3602207051e-05,1793243695553012224
+62,1.033333333,BASELINE,764.898238477,745,714,680,658.101761523,634,878.898238477,786.898238477,805,652,631,651.101761523,0.400971868782,0.00447649350206,0.0798386914249,0.999999955924,9.79168761216e-05,-0.000275084905528,5.37845707777e-05,1793243695569679104
+63,1.050000000,BASELINE,764.319047638,745,714,680,658.680952362,634,878.319047638,786.319047638,805,652,631,651.680952362,0.400973557082,0.00447767923134,0.0798395025914,0.999999956548,9.80928924778e-05,-0.000272811428686,5.34366195953e-05,1793243695586345728
+64,1.066666667,BASELINE,764,745,713.741274558,680,658.741274558,634,878,786,805,652,631,652,0.400974110215,0.00447761858137,0.0798396260668,0.999999956852,9.76309932053e-05,-0.000271875539755,5.33561465371e-05,1793243695603012352
+65,1.083333333,BASELINE,764,745,713.165240296,680,658.165240296,634,878,786,805,652,631,652,0.400973271144,0.00447602933358,0.0798389061368,0.999999956768,9.63867346232e-05,-0.000272580109817,5.36037168782e-05,1793243695619679232
+66,1.100000000,BASELINE,764,745,713.410444533,680,658.410444533,634,878,786.410444533,805,652,631,652,0.400973379163,0.00447649861164,0.0798391815646,0.999999956672,9.71790913733e-05,-0.00027265973717,5.35705110334e-05,1793243695636345600
+67,1.116666667,BASELINE,764,745,713.98598879,680,658.98598879,634,878,786.98598879,805,652,631,652,0.400973868145,0.0044777959238,0.0798398573713,0.999999956568,9.8790668787e-05,-0.000272487983719,5.34243640486e-05,1793243695653012224
+68,1.133333333,BASELINE,764,745,714,680,659,634,878,786.423839509,804.423839509,652,631,652,0.400971725648,0.0044779988976,0.0798386938273,0.999999955892,9.95989632445e-05,-0.000274625306254,5.3638742596e-05,1793243695669678848
+69,1.150000000,BASELINE,764.163511623,745,714,679.836488377,658.836488377,634,878.163511623,786,804.163511623,652,631,651.836488377,0.400970773057,0.00447824776621,0.0798382098677,0.999999955611,0.000100390218952,-0.000275334883233,5.37662464897e-05,1793243695686345728
+70,1.166666667,BASELINE,764.742763173,745,714,679.257236827,658.257236827,634,878.742763173,786,804.742763173,652,631,651.257236827,0.400973012837,0.00447868275209,0.0798395704912,0.999999956376,0.000101189113778,-0.000272267824021,5.36499930833e-05,1793243695703012352
+71,1.183333333,BASELINE,765,745,714,679.319111409,658.319111409,634,879,786,805,652,631,651,0.400973921552,0.00447882871306,0.079840123547,0.999999956679,0.000101744785813,-0.0002709725908,5.35206561165e-05,1793243695719679232
+72,1.200000000,BASELINE,765,745,714,679.893140435,658.893140435,634,879,786,805,652,631,651,0.400973766966,0.00447874379062,0.0798400314891,0.999999956617,0.000102106162863,-0.000271092755284,5.3380867521e-05,1793243695736346112
+73,1.216666667,BASELINE,764.531922695,745,714,680,658.531922695,634,879,786,804.531922695,652,631,651.468077305,0.400972385205,0.00447834354314,0.0798386706368,0.999999956108,0.000100403602178,-0.000273603820785,5.33300436562e-05,1793243695753012480
+74,1.233333333,BASELINE,764.044575062,745,714,680,658.044575062,634.044575062,878.955424938,786.044575062,804.044575062,652,631,651.955424938,0.40097089953,0.00447806472509,0.0798372146113,0.999999955527,9.87987235664e-05,-0.000276301402144,5.33121595609e-05,1793243695769679104
+75,1.250000000,BASELINE,764.637727201,745,714,680,658.637727201,634.637727201,878.362272799,786.637727201,804.637727201,652,631,651.362272799,0.400971589556,0.00448016796923,0.0798381590144,0.999999955449,0.000104206066936,-0.000274563918921,5.3449219801e-05,1793243695786345728
+76,1.266666667,BASELINE,764.77504773,745,714,680,659,635,878,787,804.77504773,652,631,651.22495227,0.40097276826,0.00448049232663,0.0798393418342,0.999999955809,0.000105807998841,-0.000272628893244,5.34867889085e-05,1793243695803012096
+77,1.283333333,BASELINE,764.197122863,745,714,680,659,635,878,787,804.197122863,652,631,651.802877137,0.400974713748,0.00447802543281,0.0798408987535,0.999999956877,0.000101438859471,-0.000270383903824,5.33682464779e-05,1793243695819678720
+78,1.300000000,BASELINE,764,745,714,680,659,634.6222017,878,786.6222017,804.3777983,652,631,652,0.400974555143,0.00447774858881,0.0798405162154,0.999999956877,0.000100558740295,-0.000270713708806,5.33762508587e-05,1793243695836345600
+79,1.316666667,BASELINE,764,745,714,680,659,634.048835428,878,786.048835428,804.951164572,652,631,652,0.40097330735,0.00447860542814,0.0798391297137,0.999999956328,0.000101484718868,-0.000272376360833,5.3449762429e-05,1793243695853012480
+80,1.333333333,BASELINE,764.525991759,745,714,680,659,634.525991759,878,786.525991759,805,652,631,652,0.400973071505,0.00447870552751,0.0798390998456,0.999999956432,0.000100022792244,-0.000272571625937,5.32523473242e-05,1793243695869679104
+81,1.350000000,BASELINE,764.895605459,745,714,680,659,634.895605459,878.104394541,787,805,652,631,652,0.400973166965,0.00447879354923,0.0798394147595,0.999999956623,9.89789426047e-05,-0.000272283056056,5.30974103687e-05,1793243695886345728
+82,1.366666667,BASELINE,764.301053189,745,714,680,659,634.301053189,878.698946811,787,805,652,631,652,0.400974375611,0.00447915566587,0.0798407554679,0.999999956939,0.000100941918913,-0.000270364219092,5.32603520015e-05,1793243695903012608
+83,1.383333333,BASELINE,764.283813879,745,714,680,659,634.283813879,879,786.716186121,805,652,631,652,0.400974192168,0.00447878914503,0.0798408483448,0.99999995695,0.000101167527527,-0.000270230089671,5.33079058451e-05,1793243695919678976
+84,1.400000000,BASELINE,764.858746535,745,714,680,659,634.858746535,879,786.141253465,805,652,631,652,0.400972580805,0.00447767523285,0.0798396612733,0.99999995665,9.9611051721e-05,-0.000271926602971,5.32371020287e-05,1793243695936345600
+85,1.416666667,BASELINE,765,745,714,680,658.565492696,634.565492696,878.565492696,786.434507304,805,652,631,652,0.400973318762,0.00447771868778,0.0798397600886,0.999999956828,9.93710017683e-05,-0.000271339602022,5.33293443027e-05,1793243695953012480
+86,1.433333333,BASELINE,765,745,714,679.989240871,658,634,878.010759129,786.989240871,805,652,631,652,0.400974790008,0.00447813088481,0.0798402640769,0.999999957154,9.95440468223e-05,-0.000270042964086,5.34683584407e-05,1793243695969678848
+87,1.450000000,BASELINE,765,745,714,679.401109782,658,634,878.598890218,786.401109782,805,652,631,652,0.400974549038,0.0044781017843,0.0798400354219,0.999999957087,9.88757838232e-05,-0.000270577612127,5.32674790349e-05,1793243695986345472
+88,1.466666667,BASELINE,765,745,714,679.184586435,658.184586435,634,878.815413565,786,805,652,631,651.815413565,0.400974141397,0.00447802165614,0.0798400084785,0.999999957054,9.8038426812e-05,-0.000271027917919,5.31501746773e-05,1793243696003012608
+89,1.483333333,BASELINE,765,745,714,679.765060481,658.765060481,634,878.234939519,786,805,652,631,651.234939519,0.400973376294,0.00447783208757,0.0798404141513,0.999999957094,9.68384092569e-05,-0.000271297332536,5.32121160392e-05,1793243696019680000
+90,1.500000000,BASELINE,765,745,714,680,658.657386727,634,878.342613273,786,805,652,631,651.342613273,0.400973116952,0.00447802917467,0.0798400839632,0.999999956988,9.69537550524e-05,-0.000271664217091,5.31363392694e-05,1793243696036346368
+91,1.516666667,BASELINE,765,745,714,680,658.081820209,634,878.918179791,786,805,652,631,651.918179791,0.400973201494,0.00447848916077,0.0798392534409,0.99999995678,9.79634566788e-05,-0.000272097374429,5.29669237264e-05,1793243696053012736
+92,1.533333333,BASELINE,765,745.490958944,714,680,658,634,878.509041056,786.490958944,805,652,631,652,0.400973390773,0.00447907560954,0.0798394983034,0.999999956689,9.99207022983e-05,-0.000271721641571,5.29580380804e-05,1793243696069679360
+93,1.550000000,BASELINE,765,745.934073345,714,680,658,634,878.065926655,787,805,652,631,652,0.400973736344,0.00447955729521,0.0798400538655,0.999999956689,0.000101730756734,-0.000271041200502,5.29963464662e-05,1793243696086345984
+94,1.566666667,BASELINE,765,745.337783682,714,680,658,634,878.662216318,787,805,652,631,652,0.400975199622,0.00447902759863,0.0798416753091,0.999999957298,0.000101093505823,-0.000268987807264,5.32003132598e-05,1793243696103012864
+95,1.583333333,BASELINE,765,745,714,680,658.24926471,634,878.75073529,786.75073529,804.75073529,652,631,652,0.400975360272,0.00447921514388,0.0798418749572,0.999999957374,0.000101063610404,-0.00026874768555,5.30394937376e-05,1793243696119679488
+96,1.600000000,BASELINE,765,745,714,680,658.824237828,634,878.175762172,786.175762172,804.175762172,652,631,652,0.400973818809,0.00448033989229,0.0798402167784,0.999999956755,0.000101827332216,-0.00027087692334,5.24020164361e-05,1793243696136346112
+97,1.616666667,BASELINE,765,745,714,680,659,634,878,786.398622134,804.398622134,652,631,652,0.400973703601,0.00447921820651,0.0798398749597,0.999999956918,0.000100287749759,-0.000270818199945,5.25712735448e-05,1793243696153012736
+98,1.633333333,BASELINE,765,745,714,680,659,634,878,786.972747168,804.972747168,652,631,652,0.400974216335,0.00447710747444,0.0798401127,0.999999957419,9.7734082634e-05,-0.00026979617434,5.30957147508e-05,1793243696169679360
+99,1.650000000,BASELINE,764.437735492,745.562264508,714,680,658.437735492,634,878,787,805.562264508,652,631.562264508,652,0.400975260902,0.00447773739514,0.0798412084984,0.999999957563,9.85395845712e-05,-0.000268965159653,5.3116865979e-05,1793243696186345984
+100,1.666666667,BASELINE,764.149744515,745.850255485,714,679.850255485,658.149744515,634,878.149744515,786.850255485,805.850255485,652,631.850255485,652,0.400975448021,0.00447803675269,0.0798417497298,0.999999957526,9.8994127802e-05,-0.000268943828399,5.3085077155e-05,1793243696203012352
+101,1.683333333,BASELINE,764.729177356,745.270822644,714,679.270822644,658.729177356,634,878.729177356,786.270822644,805.270822644,652,631.270822644,652,0.400973098666,0.00447699566063,0.0798405769442,0.999999957019,9.79612505653e-05,-0.000271218550461,5.29733473157e-05,1793243696219678976
+102,1.700000000,BASELINE,765,745,714,679.307289848,659,634,878.692710152,786.307289848,805,652,631,652,0.400972734308,0.00447696834541,0.0798403871742,0.999999956896,9.84626493936e-05,-0.000271484936313,5.30069056738e-05,1793243696236345600
+103,1.716666667,BASELINE,765,745,714,679.88424363,659,634,878.11575637,786.88424363,805,652,631,652,0.400974111897,0.00447783067581,0.0798410600551,0.999999957108,0.000100310460868,-0.000269988895305,5.31679625125e-05,1793243696253012224
+104,1.733333333,BASELINE,765,745,714,680,659,634,878.458327405,787,805,652,631,652,0.400975176048,0.00447849417211,0.0798416125245,0.999999957361,9.97486219098e-05,-0.000269272637464,5.3113414414e-05,1793243696269678848
+105,1.750000000,BASELINE,765,745,714,680,658.967310694,634,878.967310694,786.967310694,805,652,631,652,0.40097597784,0.00447900620377,0.0798420403176,0.999999957582,9.86273911e-05,-0.000268882220768,5.30270271426e-05,1793243696286345472
+106,1.766666667,BASELINE,765,745,714,680,658.37588326,634,878.37588326,786.37588326,805,652,631,652,0.400973639938,0.00447778234807,0.0798408536669,0.999999957105,9.82823023362e-05,-0.000270715910711,5.33213850085e-05,1793243696303012352
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.400974273611,0.00447579994259,0.0798409218949,0.999999957327,9.80200311745e-05,-0.000269962939401,5.34673405601e-05,1793243696342720000
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.420191891,745,714.579808109,680,658,634.579808109,879,786,805,652,631,652,0.400973866983,0.0044765446157,0.0798411442099,0.999999957384,9.6852220175e-05,-0.000270222207459,5.32112407496e-05,1793243696359386880
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714.837662508,680,658,634.837662508,879,786.162337492,805,652,631,652,0.400973694564,0.00447751512987,0.0798412066216,0.999999957386,9.67660095342e-05,-0.000270287762259,5.30037308545e-05,1793243696376053248
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714.247969202,680,658,634.247969202,879,786.752030798,805,652,631,652,0.400974138705,0.00447908017406,0.0798408480858,0.999999957239,9.95271273359e-05,-0.000269843364137,5.2924134564e-05,1793243696392719616
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.335818833,634.335818833,878.664181167,787,805,651.664181167,631.335818833,651.664181167,0.400973789206,0.00447956233909,0.0798406018299,0.99999995705,0.00010054739761,-0.000270133026622,5.30898246748e-05,1793243696409386240
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.915321724,634.915321724,878.084678276,787,805,651.084678276,631.915321724,651.084678276,0.400972863809,0.00447925872205,0.079840437049,0.999999956834,0.000100304436627,-0.000270955353923,5.34335047657e-05,1793243696426053120
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634.509007274,878,787,805,651.490992726,631.509007274,651.490992726,0.400972961895,0.00447874025563,0.0798404951698,0.999999956791,0.000100242941377,-0.00027114754145,5.33669283275e-05,1793243696442720000
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.066025185,745,714,680,659,634,878,786.933974815,805,652,631,652,0.400973181857,0.00447806107634,0.0798405950957,0.999999956778,0.000100017645422,-0.000271296766974,5.32752162101e-05,1793243696459386624
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.641190302,745,714,680,659,634,878,786.358809698,805,652,631,652,0.400972991028,0.00447642611119,0.0798407232488,0.999999956759,9.82897678271e-05,-0.000271946243464,5.35310572703e-05,1793243696476053248
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.777505221,745,714,680,659,634,878.222494779,786.222494779,805,652,631,652,0.400974749702,0.00447630856215,0.0798414020026,0.999999957019,9.78149066047e-05,-0.000271164838581,5.35121165828e-05,1793243696492719872
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.186019121,745,714,680,659,634,878.813980879,786.813980879,805,652,631,652,0.400979741483,0.00447870753692,0.0798429938876,0.999999957737,9.9418081577e-05,-0.000268010421512,5.30374704353e-05,1793243696509386240
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.397034446,745,714,680,659,634,879,786.602965554,804.602965554,652,631,652,0.400996043341,0.00447938239812,0.0798499462814,0.999999960945,9.97922052105e-05,-0.000255676915134,5.27242516412e-05,1793243696526053120
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.976219407,745,714,680,659,634,879,786.023780593,804.023780593,652,631,652,0.40101753401,0.00447926627484,0.079859357957,0.99999996507,9.96024677199e-05,-0.000239132247721,5.24850920501e-05,1793243696542719744
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.45021846,634,878.45021846,786,804.54978154,652,631,652,0.401066901258,0.00447857723409,0.079877469082,0.999999972757,9.88315549653e-05,-0.000205007465524,5.1862524058e-05,1793243696559386368
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,786.126594061,805,652,631,652,0.401120884264,0.00447856672968,0.07989484427,0.999999979026,9.82521099382e-05,-0.000172298045139,5.10700083815e-05,1793243696576052992
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,786.716174721,805,652,631,652,0.401187383047,0.00448112751865,0.0799081656941,0.999999983036,9.84639182561e-05,-0.000147517851326,4.97159894455e-05,1793243696592719616
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.699562902,745,714,680,658.300437098,634.300437098,878.300437098,786.699562902,805,652,631,652,0.401258769164,0.00448229878591,0.0799184386627,0.999999985493,9.76419945588e-05,-0.000131041095541,4.80518375832e-05,1793243696609386240
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.120237392,745,714,680,658.879762608,634.879762608,878.879762608,786.120237392,805,652,631,652,0.401334692071,0.00448218019398,0.0799258818238,0.999999986868,9.5860482728e-05,-0.00012227221981,4.60997970072e-05,1793243696626053120
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680.4583917,659,634.5416083,879,786,805,652,631.4583917,651.5416083,0.401424224431,0.00448333641118,0.0799284924086,0.999999987704,9.4658708049e-05,-0.000117260274484,4.33841447425e-05,1793243696642719744
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.036580777,745,714,680.963419223,659,634.036580777,879,786.036580777,805,652,631.963419223,651.036580777,0.401518988805,0.00448481884119,0.0799300931034,0.999999988413,9.35178347997e-05,-0.000113119259032,4.04132399856e-05,1793243696659386368
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.610982349,745,714,680.389017651,659,634.610982349,879,786.610982349,805,652,631.389017651,651.610982349,0.4016382712,0.00448618856596,0.0799354544224,0.999999989427,9.10400165908e-05,-0.000107316469004,3.66299028465e-05,1793243696676053248
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.809891072,878.809891072,786.809891072,805,652,631,652,0.401768354879,0.00448769907657,0.0799410608241,0.999999990681,8.85506930472e-05,-9.86742825709e-05,3.25501952177e-05,1793243696692719872
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.22084941,878.22084941,786.22084941,805,652,631,652,0.401921104423,0.00448950501808,0.0799471815171,0.999999992377,8.60372265223e-05,-8.40737855756e-05,2.78485715067e-05,1793243696709386496
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,786,804.637841432,652,631,652,0.402090134856,0.00449167773463,0.0799537626637,0.999999993712,8.33508214408e-05,-7.15568463549e-05,2.25303079162e-05,1793243696726053120
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,786,804.058452529,652,631,652,0.402268930922,0.00449407045076,0.0799606200007,0.999999994796,8.05606839274e-05,-6.02896675571e-05,1.68421702895e-05,1793243696742719744
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.482165187,659,634.517834813,878.517834813,786,804.517834813,652,631,652,0.402466942387,0.00449673453594,0.0799610269554,0.999999995393,7.44598401704e-05,-5.9755219279e-05,9.98250495486e-06,1793243696759386368
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.092823939,659,634.907176061,879,786.092823939,805,652,631,652,0.402670772238,0.00449934456801,0.0799599855323,0.999999995804,6.75832721621e-05,-6.1771344841e-05,2.89417820212e-06,1793243696776052992
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.662927562,659,634.337072438,879,786.662927562,805,652,631,652,0.402893432829,0.00450152010823,0.0799552183702,0.99999999577,5.86281862168e-05,-7.07097892321e-05,-4.6939737382e-06,1793243696792719872
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.756226329,634,879,787,805,652,631,652,0.403134827623,0.00450478994087,0.0799501436654,0.999999995416,5.14242143451e-05,-7.98110321019e-05,-1.24099843931e-05,1793243696809386496
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.15984158,634,879,787,805,652,631,652,0.40340332085,0.00450964263354,0.0799446241101,0.999999994727,4.67531753763e-05,-8.9147757409e-05,-2.03109382699e-05,1793243696826053120
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.422679912,634,879,787,805,652,631,652,0.403711632377,0.00451666829171,0.0799484330793,0.999999993361,7.78132854998e-05,-8.29385524267e-05,-1.85317692544e-05,1793243696842720000
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.000124549,745,714,680,658.999875451,634,878.999875451,786.999875451,805,652,631,652,0.404034530427,0.00452448952806,0.0799556565625,0.999999989954,0.000121947295931,-7.10388372252e-05,-1.32105455982e-05,1793243696859386368
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.574032314,745,714,680,658.425967686,634,878.425967686,786.425967686,805,652,631,652,0.404389406051,0.00453203694346,0.0799575688074,0.999999989918,0.000123858942701,-6.68707252533e-05,-1.87203543739e-05,1793243696876052992
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.847597423,745,714,680,658.152402577,634,878,786,805,652,631,652,0.404755332897,0.0045390418778,0.0799590861207,0.999999991712,0.000110196891673,-6.22222266764e-05,-2.37060363917e-05,1793243696892719872
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.256378276,745,714,680,658.743621724,634,878,786,805,652,631,652,0.405153079745,0.00454448483149,0.0799594662968,0.999999996716,5.16931004856e-05,-5.61905394595e-05,-2.71825860624e-05,1793243696909386752
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.327097331,680.327097331,658.672902669,634,878.327097331,786,805,652,631,652,0.405571964365,0.00455261592266,0.0799545953479,0.999999996512,4.63629746733e-05,-6.28246194048e-05,-2.96700842209e-05,1793243696926053376
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.904643988,680.904643988,658.095356012,634,878.904643988,786,805,652,631,652,0.406007033631,0.00456280524649,0.0799457037586,0.999999993033,8.17464387875e-05,-7.91565242543e-05,-3.14002935421e-05,1793243696942720000
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.519146488,680.038292976,658.480853512,634,879,786,804.519146488,652,631,652,0.406470971259,0.00456964146885,0.0799398155528,0.999999989901,0.000105694672074,-9.01064530013e-05,-3.01169671138e-05,1793243696959386368
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.056654418,659,634,879,786,804.056654418,652,631,652,0.406943882185,0.00457639630404,0.0799350060177,0.999999986756,0.000125710034683,-9.92784635746e-05,-2.87966107081e-05,1793243696976052992
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.631137735,659,634,879,786,804.631137735,652,631,652,0.40744663055,0.00458846803326,0.0799346270123,0.999999985766,0.00013044779686,-0.000101928072431,-3.25848040834e-05,1793243696992719616
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.787491944,786,805,652,631,652,0.407956604958,0.00459988104454,0.0799296345269,0.999999983837,0.000135857625027,-0.000112341306228,-3.5341351249e-05,1793243697009386240
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.193767107,786,805,652,631,652,0.408479542084,0.00461011238539,0.0799163659508,0.999999979853,0.000142473067543,-0.000136681654661,-3.6247234942e-05,1793243697026053120
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.613407868,634,878.386592132,786.386592132,805,652,631,652,0.409078890275,0.00461851270123,0.079925353894,0.999999980121,0.000152407542264,-0.00012290478393,-3.77369727084e-05,1793243697042719744
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.039523861,634,878.960476139,786.960476139,805,652,631,652,0.409715257235,0.00462602594207,0.0799451244296,0.99999998167,0.000163949984628,-9.06613043066e-05,-3.95095695728e-05,1793243697059386112
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.538756312,745,714,680,658.538756312,634,879,786.461243688,805,652,631,652,0.410391342069,0.00463410929364,0.0799786466806,0.999999984065,0.000170717959807,-3.33836582294e-05,-4.01257080838e-05,1793243697076052992
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.767365207,745,714,679.883682604,659,634,879,786,805,652,631,652,0.411062415908,0.00463940272583,0.0800035058715,0.999999983948,0.000174243546726,8.08330259732e-06,-4.09560585115e-05,1793243697092719616
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.620451361,745,714,679.310225681,659,634,879,786,805,652,631,652,0.411702250265,0.00463356575592,0.0799903208421,0.999999985033,0.00016641409685,-1.98645680673e-05,-4.29644548335e-05,1793243697109386240
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.273595187,745,714,679.273595187,658.726404813,634,879,786,805,651.726404813,631,652,0.412352726779,0.0046212994551,0.0799662081011,0.99999998548,0.000154005905471,-5.77529641213e-05,-4.4567479633e-05,1793243697126053120
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.869630342,745,714,679.869630342,658.130369658,634,879,786,805,651.130369658,631,652,0.413015745471,0.00460145599808,0.079929216729,0.999999983918,0.000136201531441,-0.000107356565084,-4.56927623853e-05,1793243697142719744
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.447390237,658,634,879,786,805,651.447390237,631,652,0.413748188282,0.00458764353928,0.0799178739264,0.999999985318,0.000118059574194,-0.000115706182707,-4.5134509369e-05,1793243697159386624
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.979787664,658.020212336,634.020212336,879,786,805,652,631,652,0.41450146269,0.00457604166671,0.0799149814109,0.999999987808,0.000100743786379,-0.000110839974304,-4.41481208432e-05,1793243697176053248
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.402037478,658.597962522,634.597962522,879,786,805,652,631,652,0.415293227253,0.00457884202814,0.0799471097586,0.999999991294,0.000108824056897,-6.00135519799e-05,-4.43532007187e-05,1793243697192719616
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.178910015,745,714,680,659.178910015,634.821089985,879,786,805.178910015,652,631,652,0.416069384206,0.00458421042371,0.079966624447,0.999999991895,0.000114740499137,-3.29029015001e-05,-4.42994618869e-05,1793243697209386240
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.767173031,745,714,680,659.767173031,634.232826969,879,786,805.767173031,652,631,652,0.416809830297,0.00459545458012,0.0799572785953,0.99999999055,0.000115706018999,-6.00548533207e-05,-4.36535360834e-05,1793243697226052864
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.649818983,745,714,680.350181017,659.649818983,634,879,786,806,652,631,652,0.417617013432,0.00460096891264,0.0799599629678,0.999999990249,0.000122393123427,-4.97342520054e-05,-4.52563581563e-05,1793243697242719744
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.070253304,745,714,680.929746696,659.070253304,634,879,786,806,652,631,652,0.418467912367,0.00460272994673,0.0799705276903,0.9999999899,0.000132828128583,-1.48674050344e-05,-4.83322134335e-05,1793243697259386368
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.491835014,659.508164986,634,879,786,806,651.491835014,631,652,0.419346327812,0.00459790095075,0.079985535318,0.999999991685,0.000118199576138,1.31794002488e-05,-4.98476752639e-05,1793243697276052736
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.086004319,659.913995681,634,879,786,805.913995681,651.086004319,631,651.913995681,0.420219258049,0.00459287433882,0.0799954170219,0.999999992838,0.000103870880692,3.06625353797e-05,-5.09467042125e-05,1793243697292719616
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680.661449337,659.338550663,634,879,786,805.338550663,651.661449337,631,651.338550663,0.421039372158,0.00459189620601,0.0799726400545,0.999999992531,0.000110923206001,-6.61733075775e-06,-5.09007493891e-05,1793243697309386496
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,786,805,652,631,651.241988888,0.421879252959,0.00459244399237,0.0799669483315,0.999999992152,0.000113454322999,-1.59442154208e-05,-5.07023129208e-05,1793243697326053120
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,786,805,652,631,651.829809227,0.42274738288,0.00459517250202,0.0799856734906,0.99999999263,0.000109524086448,1.46770931342e-05,-5.0285961742e-05,1793243697342720256
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.412183999,634,879,786,805,651.587816001,631,652,0.423630054356,0.00460193084865,0.0800001687743,0.999999990694,0.000123371914663,3.06595898555e-05,-4.95099329924e-05,1793243697359386624
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.992339579,634,879,786,805,651.007660421,631,652,0.424518651695,0.00461033141823,0.0800129403149,0.999999987557,0.000144464589239,4.06765344313e-05,-4.85873298859e-05,1793243697376053248
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.43328444,634,879,786,805,651.56671556,631,652,0.425358585195,0.00461473990085,0.0799619046838,0.999999987478,0.000140642491456,-5.24382942007e-05,-5.01480757588e-05,1793243697392719872
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713.858653363,681,659,634,879.141346637,786,805.141346637,651.858653363,631,651.858653363,0.426215859006,0.00461713654231,0.0799220869813,0.999999982435,0.000135996187434,-0.000118008118509,-5.2055397293e-05,1793243697409386496
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713.28300088,681,659,634,879.71699912,786,805.71699912,651.28300088,631,651.28300088,0.42712841389,0.00461351567224,0.0799193611956,0.999999985578,0.000129841755546,-9.47021738941e-05,-5.49255178013e-05,1793243697426052864
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713.301346418,681,659.301346418,634,879.698653582,786,805.698653582,651.301346418,631,651.301346418,0.428016645119,0.00460936137696,0.0799246358232,0.999999987043,0.000127160478184,-8.18440874837e-05,-5.51972423856e-05,1793243697442719488
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.894101769,681,659.894101769,634,879.105898231,786,805.105898231,651.894101769,631,651.894101769,0.428881354759,0.00460469124742,0.079937647035,0.999999987299,0.000127837821735,-7.90893222297e-05,-5.29562580596e-05,1793243697459386112
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.525529614,634,879.474470386,786,805,652,631,652,0.429784707832,0.00460511475928,0.0799601553963,0.999999989337,0.000127149014604,-4.87875707248e-05,-5.2710254658e-05,1793243697476052992
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.051722716,659.051722716,634,880,786,805,652,631,652,0.430697825606,0.00460673344346,0.0799857584189,0.999999990581,0.000126189022068,-1.0847829102e-05,-5.2880580195e-05,1793243697492719616
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681.624721591,659.624721591,634,880,786,805,652,631,652,0.431624641239,0.00460923129645,0.0800217309532,0.999999989774,0.000125490779352,4.36821036559e-05,-5.28734547e-05,1793243697509386240
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.795851416,745,714,681.795851416,660,634,880,786,805.204148584,652,631,652,0.4324963518,0.00461269745591,0.0800264236945,0.99999998926,0.000128311284349,4.75432438559e-05,-5.25018073245e-05,1793243697526052864
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.204223591,745,714,681.204223591,660,634,880,786,805.795776409,652,631,652,0.433263471684,0.00461800148631,0.0799717465943,0.999999988179,0.000137810462357,-4.47662725965e-05,-5.14382880241e-05,1793243697542719744
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.37923021,745.37923021,714,681.37923021,660,634,879.62076979,786,806,652,631,651.62076979,0.43407189431,0.0046203395497,0.0799285044685,0.999999983848,0.000136574715544,-0.000104126614291,-5.30041290599e-05,1793243697559386368
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.958374965,745.958374965,714,681.958374965,660,634,879.041625035,786,806,652,631,651.041625035,0.434902089994,0.00462111407714,0.0798912903936,0.999999979351,0.000129679958189,-0.000146117502769,-5.59560607022e-05,1793243697576052992
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.465990378,714,682.534009622,660.534009622,634,879.534009622,786,806,652,631,651.534009622,0.435761653214,0.00461868287688,0.0799253999276,0.999999986221,0.000123885774509,-9.46064450775e-05,-5.70927324356e-05,1793243697592719616
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.888353546,745,714,682.888353546,660.888353546,634,879.888353546,786,806,652,631,651.888353546,0.436618904066,0.00461512771059,0.079964097434,0.99999999052,0.000118890737669,-3.89585608687e-05,-5.75121395274e-05,1793243697609386240
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.301028194,745,714,682.301028194,660.301028194,634,879.301028194,786,806,652,631,651.301028194,0.437456613453,0.00460784147835,0.079998810176,0.999999991618,0.000116937414876,3.46499012061e-06,-5.54745010974e-05,1793243697626053120
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.28229485,745,714,682,660,634,879.28229485,786,806,651.71770515,631,651,0.438278027391,0.00460274783659,0.0800219819759,0.999999992029,0.000106724183928,3.87809491843e-05,-5.52081646623e-05,1793243697642719744
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.861409616,745,714,682,660,634,879.861409616,786,806,651.138590384,631,651,0.439082307368,0.00459995960228,0.0800330190094,0.999999992311,8.78260435844e-05,6.66236029362e-05,-5.68042701253e-05,1793243697659386368
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.560868992,786,806,651,631,651.439131008,0.439817477742,0.00460286233307,0.0800132589611,0.99999999312,9.54126695416e-05,3.66410313864e-05,-5.75668405459e-05,1793243697676052992
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.016356579,714,682,660,634,879.016356579,786.016356579,806,651.016356579,631,652,0.440528328969,0.00460747472883,0.0799822967741,0.999999992082,0.00011080326635,-1.37816606024e-05,-5.80426107729e-05,1793243697692719616
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.59161714,714,682,660,634,879.59161714,786.59161714,806,651.59161714,631,652,0.44115112075,0.00460932853782,0.0798996259888,0.999999982545,0.00010814450354,-0.000141022404081,-5.76789157213e-05,1793243697709386240
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.82888878,714,682.17111122,660,634,880,786.82888878,805.82888878,652,631.17111122,651.82888878,0.441798758187,0.00461055823695,0.0798427895259,0.999999967467,0.000105053144521,-0.000225128329175,-5.78491335758e-05,1793243697726052864
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.239034317,714,682.760965683,660,634,880,786.239034317,805.239034317,652,631.760965683,651.239034317,0.442507198023,0.00461026061529,0.0798491747796,0.999999972408,0.000100903139477,-0.000203674791674,-5.93259445369e-05,1793243697742719488
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.655433751,745,714,683,660,634,879.655433751,786,805.344566249,651.655433751,631.655433751,651.344566249,0.443222585582,0.00461010619146,0.0798943623348,0.999999984374,0.000100574569917,-0.000132766815692,-5.92394515761e-05,1793243697759386368
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.076094366,745,714,683,660,634,879.076094366,786,805.923905634,651.076094366,631.076094366,651.923905634,0.443942706989,0.00461004933669,0.0799659881667,0.999999992627,0.000102849767218,-2.81626388032e-05,-5.80877876401e-05,1793243697776053248
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.499487266,745,714,683,660,634,880.498461799,786,806,651.499487266,631,652,0.444554978625,0.00461721997486,0.0799801826852,0.999999992093,0.000111302134751,-1.14082660979e-05,-5.74059606835e-05,1793243697792719872
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713.925509579,682.925509579,659.925509579,634,881.851019158,786,806,651.925509579,631,652,0.445140624161,0.00462534248821,0.0799791208007,0.999999990872,0.00012124457673,-1.82979709273e-05,-5.67601101803e-05,1793243697809386496
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.35057547,682.35057547,659.35057547,634,880.70115094,786,806,651.35057547,631,652,0.445656948206,0.0046325178981,0.0799339042713,0.999999984844,0.000134922626088,-9.47921400759e-05,-5.58786752608e-05,1793243697826052864
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713.229663367,682.229663367,658.770336633,633.770336633,880,786,806,651.229663367,631,652,0.446156116597,0.00463883893903,0.0798913808496,0.9999999745,0.000146265272694,-0.000162752456677,-5.58326993628e-05,1793243697842719488
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713.818191144,682.818191144,658.181808856,633.181808856,880,786,806,651.818191144,631,652,0.446628478079,0.00464382497047,0.0798530655935,0.999999962892,0.00015395869537,-0.000217378049822,-5.70921845895e-05,1793243697859386112
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.401714331,714,683,658,633.401714331,880,786,806.401714331,651.598285669,631,652,0.447116790137,0.0046527771126,0.0798243805279,0.999999953588,0.000161036486734,-0.000251947651206,-5.84280605865e-05,1793243697876052736
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.983000451,714,683,658,633.983000451,880,786,806.983000451,651.016999549,631,652,0.44761223236,0.00466350216075,0.0798000002856,0.99999994561,0.000167839083212,-0.000277551955393,-5.97980844263e-05,1793243697892719616
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,713.867203825,684,657.73440765,633,880.132796175,785.132796175,806,652,631,652,0.448430803963,0.00467140584534,0.0797552802085,0.999999922656,0.00016727305823,-0.00035078921169,-6.04605839527e-05,1793243697926053120
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,713.290487299,684,656.580974597,633,880.709512701,785.709512701,806,652,631,652,0.448791678724,0.00467577466394,0.0797204250613,0.999999898812,0.000181352511003,-0.00040727532155,-6.01157925219e-05,1793243697942720000
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.707713846,745,713,684,656,632.707713846,881,786,805.707713846,651.707713846,631,652,0.449155321068,0.0046805592594,0.0797005915311,0.999999883616,0.000192888377979,-0.000438119473006,-6.0117699334e-05,1793243697959386368
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.118793398,745,713,684,656,632.118793398,881,786,805.118793398,651.118793398,631,652,0.449521772145,0.00468576581669,0.0796960030863,0.999999879703,0.000201842819592,-0.000442940205847,-6.0471462153e-05,1793243697976052992
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.461242018,745,713,684,655.538757982,632.461242018,880.538757982,786,805.461242018,651.461242018,631,652,0.449868415806,0.00468892044577,0.0797000408303,0.999999882169,0.000207090327032,-0.000434795765526,-6.1066802855e-05,1793243697992719616
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713,684,655,632.96116472,880,786,806,652,631,652,0.45020683527,0.00469263778637,0.0797062169035,0.999999885631,0.00021262050496,-0.000423888723143,-6.20441147099e-05,1793243698009386240
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713,684,655,632.386291254,880,786,806,652,631,652,0.450500820778,0.00471127878885,0.0797118219892,0.999999881888,0.000234981236603,-0.000420069239615,-6.74511584107e-05,1793243698026052864
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.193331066,713.193331066,684,654.806668934,632,880,786,806,652,631,652,0.450780074592,0.00472430232555,0.0797127604928,0.999999877271,0.000249132722895,-0.000422217115132,-7.15814563393e-05,1793243698042719488
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.782680854,713.782680854,684,654.217319146,632,880,786,806,652,631,652,0.451029152018,0.00472581906153,0.0797041399844,0.99999987165,0.000246468415446,-0.00043658851009,-7.30964718161e-05,1793243698059386624
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.633556948,714,684,654,632,880,786,806,652,631,651.633556948,0.451246320293,0.00471634709762,0.0796918115436,0.999999868996,0.000214388206789,-0.000459076512225,-7.27652693659e-05,1793243698076053248
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.053058647,714,684,654,632,880,786,806,652,631,651.053058647,0.451444849076,0.00470045615856,0.0796773171381,0.999999865574,0.000165124896027,-0.000486305776204,-7.13556110639e-05,1793243698092719616
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,713.478067448,684,653.478067448,632,880,786,806,652,631,651.521932552,0.451612070227,0.00470621765324,0.0796597221801,0.99999984958,0.000183318732528,-0.000512250317921,-6.95247319106e-05,1793243698109386240
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,713,684,653,632,880,786,806,652,631,652,0.451771883069,0.00471299970145,0.0796426357215,0.999999832303,0.000205408999251,-0.00053721060253,-6.78657898199e-05,1793243698126052864
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,713,684,653,632,880,786,806,652,631,652,0.451910568733,0.00471403913129,0.0796296190902,0.999999819375,0.000213164994045,-0.000557929353798,-6.72699910644e-05,1793243698142719488
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,713,684,653,631.748999063,880,786,806,651.748999063,631,652,0.452041016581,0.00471448053055,0.0796183347423,0.999999808437,0.000216691587939,-0.000575858246063,-6.75117774691e-05,1793243698159386112
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,713,684,653,631.154900472,880,786,806,651.154900472,631,652,0.452160204003,0.00471410447112,0.0796094182842,0.9999998006,0.000214436938009,-0.000589973629328,-6.88984740133e-05,1793243698176053248
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,713,684,652.57367259,631.42632741,880.42632741,785.57367259,806,651.42632741,631,651.57367259,0.452265616417,0.00471738424365,0.0796054667562,0.999999796586,0.00021701250377,-0.000595644348908,-7.02933341309e-05,1793243698192719872
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+220,3.666666667,POSE1_TO_POSE2_PRESS,764.422414299,745,713,684,652,632,880.422414299,785.577585701,806,652,631,651.577585701,0.452447734227,0.00471897025178,0.079602208251,0.999999794463,0.000216358487719,-0.000599269579936,-7.16914749364e-05,1793243698226053376
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.156458362,745,713,684,651.843541638,631.843541638,880,785.843541638,806,651.843541638,631,651.843541638,0.452522866069,0.00471756508165,0.0796012969168,0.999999794054,0.000213516024347,-0.000600936267208,-7.19608016854e-05,1793243698242720000
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+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,713.331287117,684,651.331287117,631,880.331287117,785,806,651,631,651.331287117,0.452627597057,0.00472315936285,0.0795969659047,0.9999997865,0.000220973231601,-0.000610598125854,-7.3077819079e-05,1793243698276052992
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,713.910285941,684,651.910285941,631,880.910285941,785,806,651,631,651.910285941,0.452668390533,0.00472578418169,0.0795906131149,0.999999780465,0.00022694867343,-0.000618305142412,-7.25453821515e-05,1793243698292719872
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764.064562443,745,714,683.064562443,651,631,880,785.064562443,806,652,630.064562443,652,0.452735352514,0.00472273862222,0.0795915347385,0.999999782888,0.000226174824111,-0.000614813524485,-7.12259736195e-05,1793243698326052864
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.639606442,745,714,683.639606442,651,631,880,785.639606442,806,652,630.639606442,652,0.452756753208,0.00472397582795,0.0795911662554,0.999999783531,0.000224855642196,-0.000614226954491,-7.1435337114e-05,1793243698342719744
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,713.779967762,684,651,631,880,785.779967762,806,651.779967762,630.779967762,652,0.452773089626,0.00472542248468,0.0795896961159,0.999999782116,0.000225703701849,-0.000616221455356,-7.1395528757e-05,1793243698359386624
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,713.190506078,684,651,631,880,785.190506078,806,651.190506078,630.190506078,652,0.452780923233,0.00472722080514,0.079586376319,0.999999777206,0.00023019051404,-0.000622549519268,-7.09373661488e-05,1793243698376053248
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713,684,651,631,880.971808203,785,806,651,630,652,0.452790226122,0.00472653673128,0.0795823197707,0.999999774083,0.000226267446174,-0.000629044075046,-7.02938600621e-05,1793243698409386496
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713,683.452610278,651,631,880.452610278,785.547389722,806,651.547389722,630.547389722,652,0.452794566324,0.00472437216661,0.0795813195021,0.999999773834,0.000224877376608,-0.000629996390371,-6.97551314856e-05,1793243698426053120
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,744.876992924,713,683.123007076,651.123007076,631,880,785.876992924,806.123007076,652,631,652,0.452798145953,0.00472297876892,0.0795805662777,0.999999773508,0.000223893517449,-0.000630910048439,-6.93478829882e-05,1793243698442719744
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,744.300494276,713,683.699505724,651.699505724,631,880,785.300494276,806.699505724,652,631,652,0.452798864622,0.00472469423355,0.0795805769738,0.999999772771,0.000224065232744,-0.000632001868439,-6.94712207399e-05,1793243698459386112
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,744.28240506,713,684,651.71759494,631,880,785.28240506,806.71759494,652,631,652,0.452799385324,0.00472558227178,0.0795801259635,0.999999771887,0.00022496332976,-0.00063306320351,-6.962560431e-05,1793243698476052992
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,744.872273093,713,684,651.127726907,631,880,785.872273093,806.127726907,652,631,652,0.452799690491,0.00472556946595,0.0795791722794,0.999999770841,0.000226652260653,-0.000634091348847,-6.98137884216e-05,1793243698492720128
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.548086984,744.548086984,713,684,651,631,880,786,806,651.548086984,631,652,0.452801612042,0.00472601193723,0.0795790351785,0.999999771664,0.00022590693922,-0.000633065443997,-6.97589535636e-05,1793243698509386752
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.02873148,744.02873148,713,684,651,631,880,786,806,651.02873148,631,652,0.45280380411,0.00472651673178,0.0795790938034,0.999999772857,0.000224600192043,-0.000631658677693,-6.9621289067e-05,1793243698526053632
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.605653548,744.605653548,713,684,651,631,880,786,806,651.605653548,631,652,0.452802633949,0.00472580983536,0.0795785807558,0.999999771338,0.000225418067726,-0.000633816747922,-6.91847609765e-05,1793243698542720512
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,713,684,651,631,880,785.814053073,806,651.814053073,631,652,0.452801985542,0.00472502545873,0.0795780948544,0.999999770307,0.00022559671171,-0.000635426948959,-6.8734927463e-05,1793243698559386880
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,713,684,651,631,880,785.226478009,806,651.226478009,631,652,0.452802464074,0.00472407373203,0.0795776675861,0.999999770339,0.000224394674388,-0.000635853803165,-6.82563554948e-05,1793243698576053760
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,713,684,651,631,880,785,806,651.356466534,631,652,0.452802099694,0.00472363886424,0.0795768477004,0.999999769864,0.000223954416872,-0.000636757011198,-6.82373755537e-05,1793243698592720384
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713,684,651,631,880,785,806,651.93650682,631,652,0.452801206644,0.0047235281674,0.0795757815675,0.999999769071,0.000223991943294,-0.000637958985581,-6.85066490949e-05,1793243698609387008
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713,684,651,631,880,785,806,651.488142928,631,652,0.452800158292,0.00472297753679,0.0795745308636,0.999999768092,0.000222197797913,-0.000640143473739,-6.82681041265e-05,1793243698626053632
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+247,4.116666667,HOLD_POSE2,765,745,713,684,651,631,880,785,806,652,631,652,0.452802259668,0.00472606006978,0.0795748584594,0.999999766989,0.000226666781106,-0.000640301689428,-6.82443986269e-05,1793243698697332224
+248,4.133333333,HOLD_POSE2,765,745,713,684,651,631,880,785,806,652,631,652,0.452800612106,0.00472607195097,0.0795740065888,0.999999765644,0.000226735003216,-0.000642403392315,-6.79808647879e-05,1793243698713998592
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+250,4.166666667,HOLD_POSE2,765,745,713,684,651,631,880,785.729189551,806,651.270810449,631,651.270810449,0.452801319779,0.00472338043537,0.0795736472806,0.999999766831,0.000223630766941,-0.000641685587904,-6.75852551167e-05,1793243698747331840
+251,4.183333333,HOLD_POSE2,765,745,713,684,651,631,880,786,806,651.311046639,631,651.311046639,0.452800685974,0.00472210469046,0.0795729140521,0.999999766696,0.000221510978876,-0.000642647026378,-6.74286679829e-05,1793243698763998464
+252,4.200000000,HOLD_POSE2,765,745,713,684,651,631,880,786,806,651.90102004,631,651.90102004,0.452798141591,0.00472158698178,0.0795713401683,0.999999764908,0.000219711924321,-0.000646052548971,-6.72753821552e-05,1793243698780665088
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+262,4.366666667,HOLD_POSE2,765,745,713,683.301360954,651,631.301360954,880.301360954,786,806,651.698639046,631,651.698639046,0.452801201393,0.00472146646437,0.0795716114347,0.999999765026,0.000221253786598,-0.000645349904688,-6.72171713679e-05,1793243698947331584
+263,4.383333333,HOLD_POSE2,765,745,713,683.560587844,651,631,880.280293922,786,806,651.719706078,631,652,0.452801692463,0.00472110397142,0.0795718482681,0.99999976551,0.000220779186114,-0.000644788614919,-6.6963129734e-05,1793243698963998464
+264,4.400000000,HOLD_POSE2,765,745,713,684.734013897,651,631,880.867006949,786,806,651.132993051,631,652,0.452802120386,0.00472279571336,0.0795716958366,0.999999765402,0.00022113650166,-0.000644858250307,-6.67317052382e-05,1793243698980665088
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,651,631,881,785,806,652,630,652,0.452801263719,0.00472199579376,0.0795717218421,0.999999764318,0.000223632428779,-0.000645706210719,-6.64484356206e-05,1793243699013192192
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,651,631,880.423651569,785,806.576348431,651.423651569,630.576348431,652,0.452802071038,0.00472228402355,0.0795717520179,0.999999764733,0.000221885174789,-0.000645631714982,-6.67881564432e-05,1793243699029859072
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,651,631,880,785,806.847590202,651.152409798,631,652,0.452802632207,0.00472204492357,0.0795717573669,0.999999765007,0.000220505370355,-0.000645664647077,-6.69419212795e-05,1793243699046525696
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,651,631,880,785,806.272325153,651.727674847,631,652,0.452802510444,0.00472034276705,0.0795716938346,0.999999764896,0.000220145040496,-0.000645995633633,-6.65797583085e-05,1793243699063192320
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,651,631,880,785,806,652,631,652,0.452801965263,0.00471959033909,0.0795713044961,0.999999764815,0.000219398022371,-0.000646371136851,-6.66195127239e-05,1793243699079858944
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,651,631,880,785,806,652,631,652,0.452801039455,0.00471969166128,0.079570622277,0.999999764759,0.000218303394298,-0.000646786657903,-6.70205672127e-05,1793243699096525824
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,651,631,880.479427064,785,806,651.520572936,630.520572936,652,0.452802539095,0.00472032973184,0.0795721659155,0.999999766042,0.000218864619909,-0.000644604739717,-6.70765263225e-05,1793243699113192448
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.060997338,684,650.939002662,631,881,785,806,651.060997338,630.060997338,652,0.452804189704,0.0047209517351,0.079573790614,0.999999767359,0.000219639147665,-0.000642300414074,-6.70205604735e-05,1793243699129859072
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.634808759,684,650.365191241,631,881,785,806,651.634808759,630.634808759,652,0.452802725892,0.00472046856558,0.0795720738915,0.999999766602,0.000219214231917,-0.000643661472655,-6.66473324078e-05,1793243699146525696
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.792131306,684,650.207868694,631,880.792131306,785.207868694,806,652,631,652,0.452796842291,0.0047201932849,0.0795685504293,0.9999997637,0.000218709702276,-0.000648353862322,-6.63609158438e-05,1793243699163192320
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.220386911,684,650.779613089,631,880.220386911,785.779613089,806,652,631,652,0.452783221814,0.00472028191526,0.0795618642557,0.999999756971,0.000218065807949,-0.000658877771751,-6.62264634961e-05,1793243699179858944
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,650.634919831,631,880,786,806,652,631,652,0.452753199895,0.0047212254217,0.079548731136,0.999999741912,0.00022010481252,-0.000680707042817,-6.60857250077e-05,1793243699196525568
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,650.040845219,631,880,786,806,652,631,652,0.452712890264,0.00472270514427,0.0795315542055,0.999999720991,0.000223826649839,-0.000709627537746,-6.59410435184e-05,1793243699213192192
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,650,631.539399592,880.539399592,785.460600408,806,651.460600408,630.460600408,652,0.452649035439,0.00472107118599,0.0795119669036,0.999999695934,0.000223789803417,-0.000744207753401,-6.48419085943e-05,1793243699229858816
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,650.117910064,631.882089936,880.882089936,785,806,651.117910064,630.117910064,652,0.452581973151,0.00471961384553,0.0794944917818,0.999999673335,0.000223372103999,-0.000774198682725,-6.36542670332e-05,1793243699246525184
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,650.693651132,631.306348868,880.306348868,785,806,651.693651132,630.693651132,652,0.452509206467,0.0047197349064,0.0794859089964,0.999999665374,0.000222553119534,-0.000784747460303,-6.23965826941e-05,1793243699263192064
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,651,631,880,785,806,652,631,652,0.45242625573,0.00471964210066,0.0794793477008,0.999999656648,0.000224039431437,-0.000795501458756,-6.07189857404e-05,1793243699279858944
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,651,631,880,785,806,652,631,652,0.452331723844,0.00471930608897,0.0794750852143,0.999999647047,0.000228147292393,-0.000806488830723,-5.85638704334e-05,1793243699296525568
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.440265369,745,713,684,651,631,880,785,806.440265369,651.559734631,631,652,0.452220399542,0.00471887321577,0.0794697103183,0.999999639266,0.000229765997413,-0.000815788995662,-5.62423870704e-05,1793243699313192192
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.978775951,745,713,683.978775951,651,631,880,785,806.978775951,651.021224049,630.978775951,652,0.452102556069,0.00471840491026,0.0794638914362,0.999999631835,0.000230714440103,-0.000824746513184,-5.37997120637e-05,1793243699329858816
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.4003622,745,713,683.4003622,651,631,880,785,806.4003622,651.5996378,630.4003622,652,0.45195454265,0.00471781958412,0.0794557556313,0.999999619313,0.000234963705018,-0.000838873099507,-4.95721210196e-05,1793243699346525440
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.176729343,651.176729343,631,880,785.176729343,806,651.823270657,630.176729343,652,0.451794496203,0.00471748126652,0.0794451005201,0.999999603032,0.000239622281675,-0.000856998055512,-4.55202216058e-05,1793243699363192320
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.750847726,651.750847726,631,880,785.750847726,806,651.249152274,630.750847726,652,0.451607392624,0.00471769836604,0.0794287805628,0.999999578233,0.000245201225569,-0.000884113640468,-4.18633784278e-05,1793243699379858944
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,652,631.333616151,880.333616151,785.666383849,806,651.333616151,631,652,0.451415137605,0.0047160154992,0.0794262782639,0.999999572845,0.000248529787368,-0.000889472745352,-3.71491119421e-05,1793243699396525824
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,652,631.923016646,880.923016646,785.076983354,806,651.923016646,631,652,0.451218932945,0.00471287592337,0.0794343699968,0.999999582642,0.000250132976209,-0.000878151105279,-3.16241159665e-05,1793243699413192448
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,652,632,880.496101089,785,806,652,631,652,0.451014180583,0.00471007991926,0.0794584071498,0.999999614751,0.000254632776308,-0.000839666087618,-2.48991847394e-05,1793243699429859072
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,652.082901825,632,880,785.082901825,806,652,631,652,0.450801022313,0.00470730063588,0.0794839569738,0.999999647512,0.000259429548207,-0.000798342649379,-1.79117435214e-05,1793243699446525440
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,652.658342571,632,880,785.658342571,806,652,631,652,0.450545552075,0.00470431402605,0.0795042612926,0.9999996731,0.000263405230493,-0.000764401114093,-1.04357114062e-05,1793243699463192320
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.238395514,684,653,632,880,785.761604486,806,651.761604486,631,652,0.450272960426,0.0047015597301,0.0795210656165,0.999999693002,0.000269600247102,-0.000735731579847,-3.18514024473e-06,1793243699479858944
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713.825188812,684,653,632,880,785.174811188,806,651.174811188,631,652,0.449975347091,0.00469914494427,0.07953275495,0.999999705616,0.000279038660185,-0.000714766696281,3.73593559522e-06,1793243699496525568
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764.593156186,745,713.593156186,684,653.406843814,632,880,785,806,651.406843814,631,652,0.449629330183,0.00469483561188,0.0795401533945,0.999999715251,0.000278430928686,-0.000701343033386,9.57865821838e-06,1793243699513192192
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.013681467,745,713.013681467,684,653.986318533,632,880,785,806,651.986318533,631,652,0.449262774806,0.00468972239051,0.0795457311399,0.999999723647,0.000273560443129,-0.000691119242095,1.49638166455e-05,1793243699529858816
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.562056113,745,713,684,654.562056113,632,879.437943887,785.562056113,806,651.437943887,631,652,0.4488653405,0.00468578485183,0.0795522087362,0.999999734202,0.000249322636651,-0.000685048825649,1.19500459975e-05,1793243699546525440
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.862287682,655,632,879.275424636,786,806,651.137712318,631,652,0.448457909513,0.00468103188392,0.079558597867,0.999999744057,0.000226244309505,-0.000678674801055,9.99900776385e-06,1793243699563192064
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.286602993,655,632,880.426794014,786,806,651.713397007,631,652,0.448021060447,0.00467359515766,0.079564636444,0.999999753093,0.000208342953414,-0.000671015789662,1.20737346094e-05,1793243699579858688
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713,682.703164262,655,632.296835738,880.703164262,786,806,651.703164262,631,652,0.447578835584,0.00466672034772,0.0795770285946,0.999999770989,0.00019427887066,-0.000648120995705,1.47458792386e-05,1793243699596525312
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713,682.112037903,655,632.887962097,880.112037903,786,806,651.112037903,631,652,0.447131280964,0.00466040263526,0.0795957198429,0.999999796782,0.000184019157524,-0.00061012105178,1.80103195286e-05,1793243699613191936
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.465751529,655.465751529,632.534248471,880,786,806,651.465751529,630.534248471,652,0.446643614976,0.00465296536697,0.0796347469278,0.999999824984,0.000205286690161,-0.000554524667045,1.97910365184e-05,1793243699629858560
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,713.040475341,683,656.040475341,632.040475341,880,786,806,651.959524659,630.040475341,652,0.446143585259,0.00464510183575,0.0796780091191,0.999999850343,0.000231788833689,-0.000495110757719,2.13123838898e-05,1793243699646525440
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.615904167,683,656.615904167,632.615904167,880,786,806,651.384095833,630.615904167,652,0.445604123821,0.00463506483045,0.0797143912338,0.999999876618,0.000230030408003,-0.000439629021667,2.39916362444e-05,1793243699663192320
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657.192578259,633,879.807421741,786,806,651.192578259,631,652,0.445046088742,0.00462487211681,0.0797480847788,0.999999899995,0.000217545186254,-0.000389847847605,2.65248353352e-05,1793243699679859200
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.641312614,745,714,683,658,633.358687386,879.358687386,786,805.641312614,651.641312614,631,652,0.443835783207,0.00460521384156,0.0797942379761,0.999999933491,0.000160226053815,-0.000326169141626,3.09753897001e-05,1793243699713192448
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.049329316,745,714,683,658,633.950670684,879.950670684,786,805.049329316,651.049329316,631,652,0.443208009521,0.00459694042462,0.0798053048939,0.999999941269,0.000143897581453,-0.000309280805748,3.31667897032e-05,1793243699729859072
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.891389943,745,713,683,658,634,879.108610057,786.108610057,805.108610057,651.891389943,631,651.108610057,0.441809465301,0.0045843149632,0.079815107119,0.999999946397,0.000161616432384,-0.000282566523337,3.52488708828e-05,1793243699763192320
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764.317319277,745,713,683,658,634,879.682680723,786.682680723,805.682680723,651.317319277,631,651.682680723,0.441059270417,0.00457869835359,0.0797984952164,0.999999942083,0.000148632513581,-0.000304005403801,3.63694408856e-05,1793243699779858944
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.085554643,745.085554643,714,683,658.914445357,634,879.914445357,786.914445357,805.914445357,651.914445357,631,652,0.433773272484,0.00450122450621,0.0798146780827,0.999999955936,7.07023390782e-05,-0.000284104477577,4.91402804279e-05,1793243699929859072
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.12800698,745,714,682.74398604,658,634,880.74398604,787,806,651.87199302,631,652,0.425580918594,0.00444202131222,0.0797670921424,0.99999992889,3.32299779132e-05,-0.000372122923342,5.13865688178e-05,1793243700079858944
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.12569676,681.87430324,658,634,879.87430324,786.12569676,805.12569676,651.87430324,631,652,0.422771182426,0.00446202040463,0.0797181995907,0.999999895862,6.33530693346e-05,-0.000448613202123,5.48455968164e-05,1793243700129858816
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879,786.034486188,805.034486188,651.034486188,631,652,0.421147843509,0.00450992391051,0.0798255169065,0.999999957678,0.000125221640842,-0.000257062028773,5.36867023948e-05,1793243700163192320
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879,786.612236034,805.612236034,651.612236034,631,652,0.42030503075,0.00449714329602,0.0798547320612,0.999999969769,0.000114074923833,-0.000211018562849,5.40421646313e-05,1793243700179858944
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.189341263,634,879,787,805.810658737,652,631,652,0.419433176269,0.00448513210513,0.0798596421541,0.999999972503,9.86618206025e-05,-0.000205813334601,5.38558043618e-05,1793243700196525568
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.765130923,634,879,787,805.234869077,652,631,652,0.418502047039,0.00447469131715,0.0798149452519,0.999999955524,7.45409561371e-05,-0.000283959562024,5.25635761491e-05,1793243700213192192
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745.348745026,714,681.348745026,659,634,879,787,805,652,631,652,0.417643945654,0.00446788840634,0.0798008837068,0.9999999479,6.52583663648e-05,-0.000311878188048,5.16979944963e-05,1793243700229858816
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.966390655,658.483195328,634,879,786.483195328,805,652,631,652,0.415993885435,0.00447211667962,0.0797941188765,0.999999938651,7.58981129128e-05,-0.000337812075118,5.31141984045e-05,1793243700263192320
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.905409033,714,680.094590967,658,634,879,786.094590967,805.094590967,652,631,651.905409033,0.415162118949,0.00448154284977,0.0797797629861,0.999999926809,8.71316956498e-05,-0.000368514128633,5.46534635271e-05,1793243700279858944
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879,787,805.751886156,652,631,651.248113844,0.413662513731,0.00448837911632,0.079783133687,0.999999934489,9.93612301743e-05,-0.000344306893984,5.10123274024e-05,1793243700313192192
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879,787,805.177123377,652,631,651.822876623,0.412940212106,0.00448135374466,0.0798075519452,0.999999951189,7.76368725223e-05,-0.000298331537202,5.09103838859e-05,1793243700329859072
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.097074876,745,714,680.902925124,658,634,879,786,805,651.097074876,631,652,0.408372867845,0.00448578149737,0.0798447728142,0.999999961533,9.1142062269e-05,-0.000256329815134,5.4051774615e-05,1793243700446525440
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.479300913,745,714,680.520699087,658,634,879,786,805,651.479300913,631,652,0.407787483612,0.00448245479695,0.0798199056235,0.999999949478,8.87243444665e-05,-0.000300328729322,5.45311701229e-05,1793243700463192576
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.946629294,745,714,680,658,634,878.946629294,786,804.946629294,652,631,652,0.407208348521,0.00447972849107,0.0797882354861,0.999999931772,8.95324838374e-05,-0.000354155581139,5.49059884627e-05,1793243700479859200
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.36469186,745,714,680,658,634,878.36469186,786,804.36469186,652,631,652,0.406686750358,0.00447924474598,0.0797698000927,0.999999922522,9.48142321108e-05,-0.000378271524725,5.36422039854e-05,1793243700496525568
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.218805294,745,714,680,658,634,878,786,804.218805294,652,631,652,0.406198080041,0.00448156237259,0.0797659283932,0.999999922716,9.87188038472e-05,-0.000376904863205,5.25876240746e-05,1793243700513192448
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.973803199,745,714,679.026196801,658,634,878,786,805,651.973803199,631,652,0.402702288597,0.00448644838844,0.0798384651155,0.999999955138,8.94071471261e-05,-0.000280967715402,5.28041157882e-05,1793243700679860480
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..260a8df9dfc0abb6b81a67a2cbeb2b21f4de1fcb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,410 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a96e1a461d598c42aa6733eac6e700762e7d90cb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1567ae94c8a1e9ddf1fd792df32416c90958fda22b2c2c2dea61067780484d28
+size 25968292
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe9686e6aa9c9d7ac68c2835a5adc9894f86a312
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_03/franka_data.csv
@@ -0,0 +1,410 @@
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+3,0.050000000,BASELINE,764,745,714,680,658.272619726,634,878,786,805,652,631,651.727380274,0.400970805212,0.00447922937842,0.0798371690982,0.999999955286,0.000100838572348,-0.00027651607543,5.29062754334e-05,1793243701562056960
+4,0.066666667,BASELINE,764.311572184,745,714,680,658,634,878.311572184,786,805,651.688427816,631,652,0.400970280645,0.00447943431793,0.0798369666936,0.999999955076,0.000101309761541,-0.000277124386041,5.27793099792e-05,1793243701578723328
+5,0.083333333,BASELINE,764.901149889,745,714,680,658,634,878.901149889,786,805,651.098850111,631,652,0.400969733527,0.00448131358678,0.0798362788179,0.999999954309,0.000105233792044,-0.0002784619014,5.25917370745e-05,1793243701595390208
+6,0.100000000,BASELINE,765,745,714,680,658,634,878.518201307,786.481798693,805,651.481798693,631,652,0.400970106843,0.00448108213939,0.0798368896813,0.999999954564,0.000104875446604,-0.000277683424016,5.25866518756e-05,1793243701612057600
+7,0.116666667,BASELINE,764.939873328,745,714,680,658,634,878.120253343,786.939873328,805,652,631,652,0.400970392944,0.00448062134261,0.0798375099616,0.999999954892,0.000103938154133,-0.000276847524031,5.26134466997e-05,1793243701628724736
+8,0.133333333,BASELINE,764.366007358,745,714,680,658,634,879.267985284,786.366007358,805,652,631,652,0.400968349665,0.00448183372541,0.0798359754106,0.999999954094,0.000105424676855,-0.000279162876151,5.25985493895e-05,1793243701645391360
+9,0.150000000,BASELINE,764.213458628,745,714,680.213458628,658,634,879.573082744,786,805,652,631,652,0.400967699767,0.00448194501629,0.0798353638013,0.999999953869,0.000105281587249,-0.000280012564099,5.26390509805e-05,1793243701662057984
+10,0.166666667,BASELINE,764.802785325,745,714,680.802785325,658,634,878.394429349,786,805,652,631,652,0.400969503402,0.00448011745223,0.0798363773518,0.999999954658,0.000102268998857,-0.00027828144086,5.27771015842e-05,1793243701678724352
+11,0.183333333,BASELINE,765.385747122,744.614252878,714,680.614252878,658,634,878.385747122,786,805,652,631,652,0.400969755536,0.00447916628274,0.0798366259473,0.999999954941,0.00010065246621,-0.000277842651087,5.28310101475e-05,1793243701695390464
+12,0.200000000,BASELINE,765.965507713,744.034492287,714,680.034492287,658,634,878.965507713,786,805,652,631,652,0.400969227336,0.00447865590019,0.079836489805,0.999999954973,9.97380866002e-05,-0.000278053846821,5.28425990581e-05,1793243701712056832
+13,0.216666667,BASELINE,765.460594318,744.539405682,714,680,658.539405682,634.539405682,878.460594318,786.539405682,805,652,631,652,0.400969407305,0.00447946107504,0.0798363585882,0.999999954778,0.000100880376183,-0.000278364564228,5.27286648576e-05,1793243701728723968
+14,0.233333333,BASELINE,765,745,714,680,659,634.887969133,878,787,805,652,631,652,0.400969815249,0.00448017360327,0.0798364702535,0.999999954721,0.000101745240437,-0.000278285075406,5.25617014835e-05,1793243701745390848
+15,0.250000000,BASELINE,765,745,714,680,659,634.319022284,878,787,805,652,631,652,0.400970970284,0.00448016886754,0.0798375712388,0.999999955291,0.000100948021319,-0.000276588461169,5.2210843759e-05,1793243701762057728
+16,0.266666667,BASELINE,765,745,714,680,659,634,878,786.736295599,805,652,631,652,0.400971214984,0.00448056725424,0.0798378671,0.999999955404,0.000101264728851,-0.000276086346038,5.20958277705e-05,1793243701778724352
+17,0.283333333,BASELINE,765,745,714,680,659,634,878,786.135979345,805,652,631,652,0.400970297667,0.00448148021631,0.0798371352409,0.999999954934,0.00010300333501,-0.000277108978244,5.22818576837e-05,1793243701795390720
+18,0.300000000,BASELINE,765,745,714,680,659,634,878,786,804.569180595,652,631,652,0.400970822248,0.00448174148504,0.0798373447427,0.999999954915,0.000103664899597,-0.000276938167792,5.22397157489e-05,1793243701812057344
+19,0.316666667,BASELINE,765,745,714,680,659,634,878,786,804.012197332,652,631,652,0.400971769083,0.0044818119078,0.0798378299186,0.999999955029,0.00010401105654,-0.000276417862085,5.2130754535e-05,1793243701828723968
+20,0.333333333,BASELINE,765,745,714,680,658.417539469,634,878.582460531,786,804,652,631,652,0.400970659658,0.00448158443041,0.0798372745097,0.999999954728,0.000104066967772,-0.000277418970135,5.24731084796e-05,1793243701845390848
+21,0.350000000,BASELINE,765,745,714,680,658,634,879,786,804,652,631,652,0.400969844583,0.00448139366335,0.0798368679658,0.999999954579,0.000103717017961,-0.000278064048369,5.25851944493e-05,1793243701862057472
+22,0.366666667,BASELINE,765,745,714,680,658,634,879,786,804,652,631,652,0.400969828139,0.00448130467589,0.0798368653557,0.99999995481,0.000102430071826,-0.000277793878713,5.21333112527e-05,1793243701878724096
+23,0.383333333,BASELINE,765.351259659,745,714,680,658,634,878.648740341,786,804.351259659,652,631,652,0.400969326615,0.00448056173007,0.0798364501539,0.999999954703,0.000101833438478,-0.000278382891414,5.22171193723e-05,1793243701895390976
+24,0.400000000,BASELINE,765.930932172,745,714,680,658,634,878.069067828,786,804.930932172,652,631,652,0.400968509661,0.00447939353615,0.0798357666569,0.999999954375,0.000101685693194,-0.000279530602728,5.26492702736e-05,1793243701912057856
+25,0.416666667,BASELINE,764.984743916,745,714,680,658,634,878,786,805,652,631,652,0.400969328233,0.00447861081692,0.0798372072255,0.999999955051,0.00010014070761,-0.000277662469502,5.26541274134e-05,1793243701928724480
+26,0.433333333,BASELINE,764.083991414,745,714,680,658.083991414,634,878,786,805,652,631,652,0.400970203847,0.00447802942959,0.0798385386851,0.999999955675,9.88962120632e-05,-0.000275866898883,5.26094822238e-05,1793243701945391104
+27,0.450000000,BASELINE,764.660766557,745,714,680,658.660766557,634,878,786,805,652,631,652,0.400970116145,0.00447832335044,0.0798375442941,0.999999955229,0.000100523590217,-0.000276890491249,5.26135120205e-05,1793243701962057728
+28,0.466666667,BASELINE,764.757406915,745,714,680,658.757406915,634,878,786,805,652,631,652,0.400970042371,0.00447904665096,0.0798369004584,0.999999954917,0.000101793276953,-0.000277551474001,5.26184888373e-05,1793243701978724352
+29,0.483333333,BASELINE,764.168366537,745,714,680,658.168366537,634,878,786,805,652,631,652,0.400969988485,0.00448038314875,0.0798367572506,0.9999999548,0.000102552144316,-0.000277694613744,5.26248180943e-05,1793243701995390720
+30,0.500000000,BASELINE,764.412467074,745,714,680,658,634,878,786,805,652,631,652,0.400970879802,0.00448114146316,0.0798374352549,0.999999955211,0.000102466430881,-0.000276325047469,5.218955073e-05,1793243702012057600
+31,0.516666667,BASELINE,764.990016072,745,714,680,658,634,878,786,805,652,631,652,0.400972149418,0.00448166837087,0.0798384419332,0.99999995583,0.000102042690389,-0.000274350050026,5.15775429065e-05,1793243702028724224
+32,0.533333333,BASELINE,764.433335753,745,714,680,658,634,878.566664247,786,805,652,631,652,0.400971625271,0.00448075840214,0.0798388405327,0.99999995569,0.000102056311473,-0.000274776659095,5.19800884517e-05,1793243702045390848
+33,0.550000000,BASELINE,764,745,714,680,658.142781178,634,878.857218822,786.142781178,805,652,631,652,0.400971007247,0.00448020554705,0.0798388192257,0.999999955513,0.000101768528912,-0.00027547900492,5.22400104056e-05,1793243702062057216
+34,0.566666667,BASELINE,764,745,714,680,658.717339416,634,878.282660584,786.717339416,805,652,631,652,0.400970200751,0.00448080905597,0.0798375604484,0.999999955259,0.00010054602178,-0.000276887437194,5.20146621637e-05,1793243702078723584
+35,0.583333333,BASELINE,764.299644562,745,714,680,658.700355438,634.299644562,878,787,805,652,631,652,0.40096992667,0.00448032722613,0.0798369654795,0.999999955023,0.00010105360097,-0.000277514264812,5.22223659824e-05,1793243702095389952
+36,0.600000000,BASELINE,764.889451537,745,714,680,658.110548463,634.889451537,878,787,805,652,631,652,0.400970168155,0.00447879440278,0.0798370133129,0.999999954804,0.000103236518347,-0.000277384221551,5.28494180508e-05,1793243702112056832
+37,0.616666667,BASELINE,764.53082621,745,714,680,658.46917379,634.53082621,878.46917379,786.53082621,805,652,631,652,0.400970389583,0.00447971230599,0.0798374358926,0.999999954797,0.000104491344367,-0.000276996904295,5.25443596935e-05,1793243702128723456
+38,0.633333333,BASELINE,764,745,714,680,659,634,879,786,805,652,631,652,0.400970697438,0.00448106893239,0.0798379841655,0.999999954888,0.00010530047181,-0.000276451246042,5.20686007984e-05,1793243702145390336
+39,0.650000000,BASELINE,764,745,714,680,659,634,879,786,805,652,631,652,0.400972043161,0.00448098279208,0.0798389798535,0.999999955539,0.000103469480245,-0.000274777172615,5.20978556683e-05,1793243702162057472
+40,0.666666667,BASELINE,764.201145998,745.201145998,714,680,659,634,879,786,805,652,631,652,0.40097258,0.00448075339316,0.0798393738362,0.999999955881,0.000102211424633,-0.000274004551448,5.20890590528e-05,1793243702178724608
+41,0.683333333,BASELINE,764.790578476,745.790578476,714,680,659,634,879,786,805,652,631,652,0.400971555391,0.0044802474519,0.0798386063039,0.999999955635,0.000102059348301,-0.000274972068032,5.20068089372e-05,1793243702195391232
+42,0.700000000,BASELINE,765,745.626390343,713.626390343,680,658.626390343,634,878.626390343,786,804.626390343,652,631,652,0.400970951704,0.00448033235173,0.0798380565924,0.999999955401,0.000102125586992,-0.000275827662597,5.18411907362e-05,1793243702212057600
+43,0.716666667,BASELINE,765,745.046886893,713.046886893,680,658.046886893,634,878.046886893,786,804.046886893,652,631,652,0.400970579984,0.00448074286016,0.0798376269204,0.999999955174,0.000102312137645,-0.000276621577652,5.16296289413e-05,1793243702228724224
+44,0.733333333,BASELINE,765,745,713.52864014,680,658.52864014,634,878.52864014,786,804.52864014,652,631,651.47135986,0.40097110615,0.00448129583181,0.0798380202867,0.999999955175,0.000103811777411,-0.000276026406582,5.1787254612e-05,1793243702245391104
+45,0.750000000,BASELINE,764.895811311,745,713.895811311,680,659,634,878.895811311,786,805,652,631,651.104188689,0.400971504447,0.00448167311685,0.0798383744819,0.999999955189,0.000104904836531,-0.000275531404603,5.19591605941e-05,1793243702262057472
+46,0.766666667,BASELINE,764.318575918,745,713.318575918,680,659,634,878.318575918,786,805,652,631,651.681424082,0.4009709633,0.00448119579315,0.0798382218708,0.999999955175,0.00010362707683,-0.000276046399348,5.20483437498e-05,1793243702278723840
+47,0.783333333,BASELINE,764.264315351,745,713.264315351,680,659,634,878.264315351,786.264315351,805,652,631,652,0.400969786089,0.00448114569699,0.0798376953774,0.99999995488,0.000103843244869,-0.000277025074107,5.21023977032e-05,1793243702295390208
+48,0.800000000,BASELINE,764.854172716,745,713.854172716,680,659,634,878.854172716,786.854172716,805,652,631,652,0.400967825474,0.00448162179238,0.0798367083947,0.999999954233,0.000105899397595,-0.000278574836932,5.2113185051e-05,1793243702312056832
+49,0.816666667,BASELINE,764.563720008,745,714,680,659,634,879,786.563720008,805,652,631,652,0.400968382369,0.00448112842615,0.0798365492423,0.999999954264,0.000105155447853,-0.000278722473778,5.2233443035e-05,1793243702328723968
+50,0.833333333,BASELINE,764.015712698,745,714,680,658.984287302,634,878.984287302,786.015712698,805,652,631,652,0.400969773979,0.00448031649162,0.0798367122444,0.999999954543,0.000103477983153,-0.000278322083674,5.23795514575e-05,1793243702345390848
+51,0.850000000,BASELINE,764.590545513,745,714,680,658.409454487,634,878.409454487,786.590545513,805,652,631,652,0.4009714474,0.00447949814759,0.0798386644238,0.999999955749,0.000101305467505,-0.000274806525431,5.21662037197e-05,1793243702362057216
+52,0.866666667,BASELINE,765,745,714,680,658.16902033,634,878.16902033,787,805,652,631,651.83097967,0.400972385404,0.00447904295662,0.0798398471365,0.999999956434,9.9946026489e-05,-0.000272830189635,5.20197689356e-05,1793243702378723840
+53,0.883333333,BASELINE,765,745,714,680,658.756512216,634,878.756512216,787,805,652,631,651.243487784,0.400971502616,0.00447948688372,0.0798391247534,0.999999955865,0.000100599648811,-0.000274664761384,5.20390016211e-05,1793243702395390720
+54,0.900000000,BASELINE,765,745,714,680,659,634,878.660404601,786.660404601,805,652,631,651,0.400970433425,0.00447916402163,0.0798381454836,0.999999955513,9.96691297499e-05,-0.000276274600968,5.2080673893e-05,1793243702412057344
+55,0.916666667,BASELINE,765,745,714,680,659,634,878.080441944,786.080441944,805,652,631,651,0.400969232298,0.00447829842245,0.079836984388,0.999999955311,9.76173477626e-05,-0.000277725373963,5.21382290111e-05,1793243702428723968
+56,0.933333333,BASELINE,765,745,714,680,659,634,878.496628712,786,805,652,631,651.496628712,0.400969714256,0.00447936387818,0.079837298878,0.999999955204,9.98702922187e-05,-0.000277299681331,5.21727626676e-05,1793243702445390592
+57,0.950000000,BASELINE,765,745,714,680,658.927598822,634,879,786,805,652,631,652,0.400970297105,0.00448054245454,0.0798377870594,0.999999955143,0.000102388659388,-0.000276597474133,5.22013973229e-05,1793243702462057216
+58,0.966666667,BASELINE,765,745,714,680,658.357548588,634,879,786,805,652,631,652,0.400969710426,0.00448036108817,0.0798378357892,0.99999995533,0.000101966524381,-0.000276071697414,5.22149675677e-05,1793243702478723840
+59,0.983333333,BASELINE,765,745,714,680,658,634,879,786,805,652.215637896,631,652,0.400969563109,0.00448015689315,0.0798378143277,0.999999955456,0.000101794749826,-0.000275690107763,5.21536261062e-05,1793243702495390720
+60,1.000000000,BASELINE,765,745,714,680,658,634,879,786,805,652.794101428,631,652,0.400970155051,0.0044799142873,0.0798376747647,0.999999955479,0.000102044223933,-0.000275551122714,5.1966240533e-05,1793243702512057344
+61,1.016666667,BASELINE,765,745,714,680,658.382328266,634.382328266,878.617671734,786.382328266,805,652.617671734,631,652,0.400970618585,0.00447966833058,0.0798380134676,0.999999955687,0.000102105437433,-0.000274758006051,5.20440433587e-05,1793243702528724224
+62,1.033333333,BASELINE,765,745,714,680,658.975950772,634.975950772,878.024049228,786.975950772,805,652.024049228,631,652,0.400971011154,0.00447942052201,0.0798386164849,0.999999955996,0.000102062608434,-0.000273603382661,5.22684029284e-05,1793243702545391360
+63,1.050000000,BASELINE,765,745,714,680,658.446463781,634.446463781,878,786.446463781,804.446463781,652,631,652,0.4009705095,0.00448014166185,0.0798378985275,0.99999995555,0.000103383024713,-0.000274787818149,5.20001665455e-05,1793243702562058240
+64,1.066666667,BASELINE,765,745,714,680,658.133043552,634,878.133043552,786.133043552,804.133043552,652,631,652,0.400970142376,0.00448111128081,0.0798373884362,0.999999955171,0.000104908956756,-0.000275636000721,5.17441210265e-05,1793243702578725376
+65,1.083333333,BASELINE,765,745,714,680,658.721446358,634,878.721446358,786.721446358,804.721446358,652,631,652,0.400970364928,0.00448279132529,0.0798377806951,0.999999955139,0.000106941284855,-0.000274995284621,5.16009877051e-05,1793243702595392000
+66,1.100000000,BASELINE,765,745,714,679.695212242,659,634,878.695212242,786.695212242,805,652,631,652,0.400970762159,0.00448268793865,0.0798381031686,0.999999955401,0.000105951901662,-0.000274444696696,5.15044814982e-05,1793243702612058368
+67,1.116666667,BASELINE,765,745,714,679.116421065,659,634,878.116421065,786.116421065,805,652,631,652,0.400971316425,0.00448098125188,0.0798383629053,0.999999955918,0.000102246007598,-0.000273975133804,5.14498929561e-05,1793243702628724992
+68,1.133333333,BASELINE,765,745,714,679.462848153,658.537151847,634,878.462848153,786,804.537151847,652,631,652,0.400971401625,0.00448121223401,0.0798388761906,0.999999956051,0.000102413710472,-0.000273434121408,5.1415007817e-05,1793243702645391872
+69,1.150000000,BASELINE,764.958170784,745,714,680,658.041829216,634.041829216,878.958170784,786.041829216,804.041829216,652,631,651.958170784,0.400971366996,0.00448185990808,0.0798393861658,0.999999956079,0.000103449191476,-0.000272941915672,5.14046328988e-05,1793243702662058496
+70,1.166666667,BASELINE,764.384385584,745,714,680,658.615614416,634.615614416,878.384385584,786.615614416,804.615614416,652,631,651.384385584,0.400971310474,0.00448160213997,0.0798390421524,0.999999956004,0.000103116765565,-0.000273299190902,5.16428699142e-05,1793243702678724864
+71,1.183333333,BASELINE,764.194883503,745,714,680,659,634.805116497,878.194883503,787,805,652,631,651.194883503,0.400971333173,0.00448125987886,0.0798388439221,0.999999955945,0.00010298300459,-0.000273530031183,5.18332459318e-05,1793243702695391232
+72,1.200000000,BASELINE,764.785282218,745,714,680,659,634.214717782,878.785282218,787,805,652,631,651.785282218,0.400971516648,0.00448074613953,0.0798389415579,0.999999955919,0.000103252433168,-0.000273504272356,5.19264883086e-05,1793243702712057088
+73,1.216666667,BASELINE,765,745,714,680,659,634,879,786.631964432,805,652.368035568,631,652,0.400970982656,0.00448041552263,0.0798388096397,0.99999995588,0.000102756361191,-0.000273811185015,5.20381696505e-05,1793243702728723712
+74,1.233333333,BASELINE,765,745,714,680,659,634,879,786.053580771,805,652.946419229,631,652,0.4009700386,0.00448018956809,0.0798385465216,0.999999955833,0.000101822772836,-0.000274308233681,5.21603896453e-05,1793243702745390592
+75,1.250000000,BASELINE,765,745,714,680,658.477846192,634.522153808,879,786,805,652.477846192,631.522153808,652,0.400970189222,0.00448008982387,0.0798381912597,0.999999955826,0.000101444355266,-0.000274539152402,5.18263321785e-05,1793243702762057984
+76,1.266666667,BASELINE,764.902681949,745,714,680,658,635,878.902681949,786.097318051,805,652,631.902681949,651.902681949,0.40097044079,0.00448011111696,0.0798378652452,0.999999955769,0.000101557908133,-0.000274750189404,5.1580195286e-05,1793243702778724864
+77,1.283333333,BASELINE,764.328985621,745,714,680,658,635,878.328985621,786.671014379,805,652,631.328985621,651.328985621,0.400970639413,0.0044806618194,0.0798377284496,0.999999955449,0.00010380223033,-0.000274996908171,5.19924697761e-05,1793243702795390976
+78,1.300000000,BASELINE,764.2519207,745,714,679.7480793,658.2519207,634.7480793,878,787,805,652,631,651.2519207,0.400971145009,0.00448094551667,0.0798379585513,0.999999955473,0.000104355829947,-0.000274675835515,5.2117405375e-05,1793243702812057344
+79,1.316666667,BASELINE,764.842519987,745,714,679.157480013,658.842519987,634.157480013,878,787,805,652,631,651.842519987,0.400972063295,0.00448087025596,0.0798386819045,0.999999955962,0.000102636446113,-0.00027359143217,5.18560466429e-05,1793243702828724224
+80,1.333333333,BASELINE,765,745,714,679,659,634,878,786.574437146,805,652,631,651.574437146,0.400972323361,0.00448120803941,0.0798391076556,0.999999956074,0.000104158614326,-0.000272623935258,5.17516351712e-05,1793243702845391104
+81,1.350000000,BASELINE,765,745,714,679.011566327,659,634,878.005783164,786,805,652,631,651.005783164,0.40097234302,0.00448169882361,0.0798394230917,0.999999956046,0.000106826031643,-0.000271702464205,5.17017738576e-05,1793243702862057728
+82,1.366666667,BASELINE,765,745,714,680.15727362,659,634,878.57863681,786,805,652,631,651.57863681,0.400972256502,0.004482466113,0.0798395317711,0.999999956283,0.000106221995802,-0.00027112608339,5.14052952758e-05,1793243702878724352
+83,1.383333333,BASELINE,765,745,714,680.853505406,659,634,879,786.146494594,805,652,631,652,0.400972034595,0.00448283501784,0.0798395695918,0.999999956377,0.00010551430779,-0.000271090628049,5.12147273303e-05,1793243702895390720
+84,1.400000000,BASELINE,765,745,714,680.299543237,659,634,879,786.700456763,805,652,631,652,0.400971436109,0.00448209583567,0.0798394103229,0.999999956077,0.000104518316178,-0.000272559730419,5.13187445902e-05,1793243702912057344
+85,1.416666667,BASELINE,765,745,714,680.284802192,659,634,878.715197808,787,805,652,631,652,0.400970973291,0.00448117191126,0.0798390885097,0.9999999559,0.000103312173525,-0.000273646328816,5.14207877276e-05,1793243702928723968
+86,1.433333333,BASELINE,765,745,714,680.904919687,659,634,878.095080313,787,805,652,631,652,0.400970670204,0.00448003047841,0.0798385753231,0.99999995587,0.000101858607064,-0.000274282581448,5.1520506602e-05,1793243702945391104
+87,1.450000000,BASELINE,765,745,714,680.029060088,659,634.485469956,878.485469956,786.514530044,805,652,631,652,0.400970651726,0.00448029138084,0.0798385758981,0.999999955733,0.000103110903467,-0.000274284634933,5.16696374892e-05,1793243702962057472
+88,1.466666667,BASELINE,765,745,714,679.059067161,659,634.940932839,879,786.059067161,805,651.940932839,631,652,0.400970756125,0.00448079466588,0.0798386343382,0.999999955593,0.000104690499714,-0.000274170771268,5.18086447614e-05,1793243702978724096
+89,1.483333333,BASELINE,765,745,714,679.634520092,659,634.365479908,879,786.634520092,805,651.365479908,631,652,0.400971484182,0.00448119680341,0.0798383852826,0.999999955612,0.000104847613356,-0.000274047567091,5.17809200382e-05,1793243702995390720
+90,1.500000000,BASELINE,765,745,714,680,659,634,878.783362557,787,805,651.216637443,631,652,0.400971884898,0.00448130797454,0.0798386500267,0.99999995578,0.000104365039637,-0.00027360041127,5.18631017905e-05,1793243703012057600
+91,1.516666667,BASELINE,765,745,714,680,659,634,878.189645151,787,805,651.810354849,631,652,0.400971715844,0.0044809126884,0.0798398090927,0.999999956208,0.000102769023631,-0.000272589383992,5.21365871778e-05,1793243703028724224
+92,1.533333333,BASELINE,765,745,714,679.608614895,659,634,878.391385105,787,805.391385105,652,631,652,0.400971899099,0.00448055980303,0.0798399388438,0.999999956463,0.000101509079503,-0.000272161915264,5.19407975265e-05,1793243703045391104
+93,1.550000000,BASELINE,765,745,714,679.033539109,659,634,878.966460891,787,805.966460891,652,631,652,0.400972247705,0.00448022681779,0.0798395855016,0.999999956638,0.000100406865491,-0.000272008330829,5.15247607559e-05,1793243703062057728
+94,1.566666667,BASELINE,765,745.543257379,714,679.543257379,659,634.543257379,879,786.456742621,805.456742621,652,631,652,0.400972447291,0.00448119753465,0.0798398122323,0.999999956468,0.000102857282972,-0.000271765785375,5.12526407336e-05,1793243703078724608
+95,1.583333333,BASELINE,765,745.880697175,714,680,659,634.880697175,878.880697175,786.119302825,805,652,631.119302825,652,0.400972732396,0.00448192642666,0.0798401131393,0.999999956397,0.000104530620981,-0.000271422612681,5.10787830391e-05,1793243703095391232
+96,1.600000000,BASELINE,765,745.30791143,714,680,659,634.30791143,878.30791143,786.69208857,805,652,631.69208857,652,0.400973377651,0.00448142920583,0.0798405594412,0.999999956799,0.000102413854583,-0.00027071788767,5.12445508458e-05,1793243703112058112
+97,1.616666667,BASELINE,765,745,714,680,659,634.276234307,878,786.723765693,805,652,631.723765693,652,0.400973200239,0.00448112174637,0.0798404967578,0.999999956802,0.00010227289385,-0.000270710058397,5.1505495775e-05,1793243703128724736
+98,1.633333333,BASELINE,765,745,714,680,659,634.873585787,878,786.126414213,805,652,631.126414213,652,0.400972066492,0.00448103488095,0.0798398423887,0.999999956342,0.000104428770067,-0.000271512357321,5.18770823047e-05,1793243703145391360
+99,1.650000000,BASELINE,765,745,714,680,659,635,878.454734231,786.454734231,805,652,631,652,0.400971139682,0.00448065585426,0.0798387744305,0.999999956019,0.000103385195918,-0.000273116738936,5.17712304479e-05,1793243703162058240
+100,1.666666667,BASELINE,765,745,714,680,659,634.968635955,879,787,805,652,631.031364045,652,0.400970368676,0.0044802828569,0.0798377106513,0.999999955756,0.000101662048929,-0.000274765181611,5.15370842291e-05,1793243703178724864
+101,1.683333333,BASELINE,765,745,714,680,659,634.39493234,879,787,805,652,631.60506766,652,0.400971331248,0.00448137022638,0.0798386388663,0.999999955988,0.000103038608325,-0.000273452533626,5.1300602783e-05,1793243703195391488
+102,1.700000000,BASELINE,765,745,714,680,659.179804128,634,878.820195872,787,805,652,631.820195872,652,0.400971385607,0.00448164681686,0.0798389556121,0.99999995601,0.000103596289838,-0.000273157988068,5.13141743689e-05,1793243703212058112
+103,1.716666667,BASELINE,765,745,714,680,659.75682225,634,878.24317775,787,805,652,631.24317775,652,0.400969433592,0.00448013227613,0.0798379215315,0.999999955574,0.000102344948453,-0.00027511258197,5.18801502281e-05,1793243703228724736
+104,1.733333333,BASELINE,765,745.341709001,714,680,659.658290999,634,878,786.658290999,804.658290999,652,631,652,0.400970133421,0.00448005314367,0.0798386313799,0.999999955875,0.000101874360303,-0.000274185938799,5.19026457326e-05,1793243703245391104
+105,1.750000000,BASELINE,765,745.932327522,714,680,659.067672478,634,878,786.067672478,804.067672478,652,631,652,0.400972764921,0.00448101959894,0.0798406115503,0.999999956709,0.000101972492523,-0.000271160529521,5.15292563933e-05,1793243703262057728
+106,1.766666667,BASELINE,765,745.488817865,714,680,659,634,878,786,804.511182135,651.488817865,631,652,0.400971332002,0.00448196548469,0.0798395668978,0.999999955999,0.000104575905471,-0.00027277016873,5.15924962734e-05,1793243703278724608
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,746,714,680,658,634,878,787,805,652,631,652,0.400971758577,0.00448055495701,0.0798390774591,0.999999956095,0.000102698428604,-0.000273095544242,5.17949511871e-05,1793243703321923584
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.408578966,745.408578966,714,680,658.591421034,634,878,786.408578966,804.408578966,652,631,652,0.400970446445,0.0044803476694,0.0798382877709,0.999999955824,0.000102158369277,-0.000274252859975,5.19789231475e-05,1793243703338590208
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.179377867,786,804.179377867,652,631,652,0.400969959669,0.00448025877419,0.0798378490881,0.999999955762,0.000101732645131,-0.000274636793514,5.19681678723e-05,1793243703355257088
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.759593709,786,804.759593709,652,631,652,0.400971317234,0.00448043443874,0.0798381947623,0.999999956171,0.000101562414401,-0.000273292526593,5.15222749413e-05,1793243703371923968
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.336496092,745,714,680.336496092,659,634,879,786,805,652,631,652,0.400971173343,0.0044808216013,0.0798388105921,0.999999956163,0.000101571458534,-0.000273358239195,5.13125069773e-05,1793243703388590592
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.911054256,745,714,680.911054256,659,634,879,786,805,652,631,652,0.400969967211,0.00448135839311,0.0798396175498,0.99999995586,0.000101707334892,-0.000274421475037,5.1269791199e-05,1793243703405257216
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.503552864,659,634.496447136,879,786,805,652,631,651.503552864,0.400969365,0.0044813578635,0.079839218226,0.999999955505,0.000102566060697,-0.000275391324164,5.12835941007e-05,1793243703421923584
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.917339254,879,786,804.917339254,652,631,651.082660746,0.400969207355,0.00448135457847,0.0798387112182,0.999999955231,0.000103467476607,-0.000276038354552,5.13323569792e-05,1793243703438589952
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.338116727,879,786,804.338116727,652,631,651.661883273,0.400971055829,0.00448192595341,0.0798388845939,0.999999955511,0.000103829993606,-0.000274848892814,5.15289450863e-05,1793243703455256320
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.759648726,786.240351274,804.240351274,652,631,652,0.400978245755,0.00448189430557,0.0798420011674,0.999999957056,0.00010358702463,-0.000269259815437,5.15380498544e-05,1793243703471922688
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.18223889,786.81776111,804.81776111,652,631,652,0.400992926309,0.00448101700378,0.0798492451581,0.999999960279,0.000102494947435,-0.000257500901395,5.12842358166e-05,1793243703488589568
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.60783253,634,878,786.60783253,805,652,631,652,0.401021430425,0.00448115235904,0.0798604580515,0.999999965274,0.000102954707715,-0.000237171881265,5.10022861512e-05,1793243703505256448
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.034811216,634,878,786.034811216,805,652,631,652,0.401056309481,0.00448175471605,0.0798735012638,0.999999970632,0.00010413012071,-0.000212890628513,5.07073612785e-05,1793243703521923328
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.444468485,745,714,680,658,634.555531515,878,786,805,652,631,652,0.401113636191,0.00448188903904,0.0798903851539,0.999999977284,0.000103549416015,-0.000179504798517,4.98666850039e-05,1793243703538590208
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.143990156,745,714,680,658.143990156,634.856009844,878,786,804.856009844,652,631,652,0.401175526129,0.00448181605554,0.0799059666935,0.999999982233,0.000102241126867,-0.00015064753488,4.88497017167e-05,1793243703555257088
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.723364416,745,714,680,658.723364416,634.276635584,878,786,804.276635584,652,631,652,0.40124682381,0.00448120777233,0.0799168591805,0.999999984548,9.90762831096e-05,-0.000137263925538,4.74063513328e-05,1793243703571923968
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.699646316,634,878,786,804.300353684,652,631,652,0.401323947959,0.00448222851405,0.0799235992684,0.999999986123,9.76422754692e-05,-0.000127228792309,4.50810811767e-05,1793243703588591104
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.124836434,634,878,786,804.875163566,652,631,652,0.401406396195,0.00448473782084,0.0799265449902,0.999999987108,9.77898657443e-05,-0.000120253419348,4.19499333712e-05,1793243703605257728
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.550341439,745,714,680,658,634,878.449658561,786,805,652,631,652,0.401507300353,0.00448659665983,0.0799302523821,0.999999987939,9.73954666034e-05,-0.000114524375266,3.89991257485e-05,1793243703621924352
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.024816003,745,714.024816003,680,658.024816003,634,879,786,805,652,631,652,0.401614490438,0.00448823442429,0.0799342881961,0.999999988744,9.6766783267e-05,-0.000108846891628,3.60519984878e-05,1793243703638590720
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.617120096,745,714.617120096,680,658.617120096,634,879,786,805,652,631,652,0.401748337302,0.00448894341687,0.0799410020981,0.999999990397,9.4219038238e-05,-9.64414760966e-05,3.20449113562e-05,1793243703655257344
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.795111143,745,714.795111143,680,658.795111143,634.204888857,879,786,805,652,631,652,0.401894749011,0.00449076419007,0.0799477969122,0.999999991858,9.20404328052e-05,-8.40090569234e-05,2.74791493233e-05,1793243703671923968
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.215634168,745,714.215634168,680,658.215634168,634.784365832,879,786,805,652,631,652,0.402064132388,0.00449461757647,0.079954739653,0.999999993104,9.05367072489e-05,-7.15272697098e-05,2.1891990169e-05,1793243703688590592
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.360918401,745,714,680,658,634.639081599,878.639081599,786,804.639081599,652,631,652,0.402244867929,0.00449748795644,0.0799590751457,0.999999994156,8.61402217385e-05,-6.33922380433e-05,1.57962141758e-05,1793243703705257216
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.935737854,745,714,680,658,634.064262146,878.064262146,786,804.064262146,652,631,652,0.402432331432,0.00449977575048,0.0799618654334,0.999999995081,8.00293197642e-05,-5.78333431148e-05,9.39900198781e-06,1793243703721924096
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.522043829,634,878,786.522043829,804.522043829,652,631,652,0.402630556499,0.00450376764958,0.0799565667177,0.999999995037,7.22524386671e-05,-6.85671241194e-05,2.18046757142e-06,1793243703738590976
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.108382267,786.891617733,805,652,631,652,0.402838266108,0.00450765836802,0.0799505387166,0.999999994645,6.45805942992e-05,-8.06959389207e-05,-5.20429474469e-06,1793243703755257344
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.68856856,786.31143144,805,652,631,652,0.403081366965,0.00451017492668,0.079945768123,0.999999994172,5.82788047925e-05,-8.997052505e-05,-1.28626582685e-05,1793243703771923968
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.732856976,659,634.267143024,878.732856976,786.267143024,805,652,631,652,0.403352018812,0.00451412823095,0.0799437660981,0.999999993853,5.72317275093e-05,-9.28842471684e-05,-1.97905078138e-05,1793243703788590592
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.156150322,659,634.843849678,878.156150322,786.843849678,805,652,631,652,0.403654596558,0.00451974642669,0.0799449722732,0.999999993817,6.22737775616e-05,-8.8427040165e-05,-2.58718419697e-05,1793243703805257216
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.419280797,714,679.419280797,658.580719203,634.580719203,878,786.580719203,805,652,631,652,0.403982741175,0.00452661604627,0.0799506764469,0.999999991666,9.91024415559e-05,-7.96865920955e-05,-2.22701790634e-05,1793243703821924096
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.994238305,714,679.994238305,658.005761695,634.005761695,878,786.005761695,805,652,631,652,0.404320378627,0.00453395031268,0.0799580507033,0.999999986569,0.000147733304449,-6.93557995243e-05,-1.50732711122e-05,1793243703838590720
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.416236046,714.583763954,680,658.583763954,634,878,786,805,652,631,652,0.40469344669,0.00454153396009,0.0799596388914,0.999999987652,0.000143155765495,-6.14814209852e-05,-2.05491121401e-05,1793243703855257344
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.829414421,745,714.829414421,680.170585579,659,634,878.170585579,786,805,652,631,652,0.405078980134,0.00454828197665,0.0799593203574,0.999999990924,0.000119242469397,-5.73209798407e-05,-2.54615145669e-05,1793243703871923712
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.249436244,745,714.249436244,680.750563756,659,634,878.750563756,786,805,652,631,652,0.405493568775,0.00455301848245,0.0799545663959,0.999999996404,5.02174132979e-05,-6.20140365566e-05,-2.87138430152e-05,1793243703888590592
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.324169391,745,714,680.675830609,659,634,879,786,805,652,631,651.675830609,0.405929223629,0.00456251284971,0.0799480179052,0.999999995767,4.67913309202e-05,-7.295604618e-05,-3.08941272715e-05,1793243703905257472
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.892966187,745,714,680.107033813,659,634,879,786,805,652,631,651.107033813,0.406380775688,0.00457559763449,0.0799401152114,0.999999991241,9.28680848388e-05,-8.86136931869e-05,-3.2265416979e-05,1793243703921924608
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.518489608,634,879,786,805,652,631,651.481510392,0.406849836133,0.00458303552183,0.0799323613373,0.999999987143,0.000120711182564,-0.000100684678289,-3.16952820147e-05,1793243703938590720
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.072917801,745,714,680,658.072917801,634,878.927082199,786,805,651.927082199,631,652,0.407328424104,0.00458975479229,0.0799252262331,0.99999998324,0.000141632474376,-0.000111742488212,-3.12136453516e-05,1793243703955256576
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.652416979,745,714,680,658.652416979,634,878.347583021,786,805,651.347583021,631,652,0.407845008377,0.00460057504711,0.0799221502517,0.999999981677,0.000143828342187,-0.000121537222725,-3.44731854601e-05,1793243703971924224
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.768834796,745,714,680,659,634,878.231165204,786,805,651.231165204,631,652,0.408385502475,0.00461144222832,0.0799199356252,0.999999979833,0.000150600859725,-0.000127775083936,-3.64309988284e-05,1793243703988591360
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.191212092,745,714,680,659,634,878.808787908,786,805,651.808787908,631,652,0.408961831255,0.00462237973951,0.0799190119495,0.99999997757,0.000164232604164,-0.000128682101488,-3.64378566563e-05,1793243704005256960
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,652.382722864,631,652,0.409598037384,0.00462979289926,0.0799401074364,0.999999979467,0.000175264926365,-9.44689614245e-05,-3.77255000489e-05,1793243704021923072
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,652.954832951,631,652,0.410263873305,0.0046354620627,0.0799720989227,0.99999998118,0.000185010945316,-4.28769034876e-05,-3.96469294315e-05,1793243704038589696
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.546668048,680,659,634,879,786,805,652.453331952,631,652,0.410924003609,0.00463999032114,0.0799903603925,0.999999983919,0.000174015769456,-1.31344516409e-05,-4.13228202208e-05,1793243704055256320
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.863433472,680.136566528,659,634,879,786.136566528,805,652,631,652,0.411580051442,0.00463979986077,0.0799962659548,0.999999985661,0.000163805361783,-3.64463466915e-06,-4.28064674991e-05,1793243704071922688
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.285264543,680.714735457,659,634,879,786.714735457,805,652,631,652,0.412224479457,0.00462466714392,0.0799660229116,0.999999984505,0.000161881411878,-5.35878325832e-05,-4.37365303745e-05,1793243704088589568
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.708440357,745.291559643,714,680.708440357,659,634.291559643,879,786.708440357,805,652,631,652,0.412897877344,0.00460694031186,0.0799377853036,0.999999984043,0.00014594934265,-9.31147772353e-05,-4.40763280337e-05,1793243704105256704
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.132925772,745.867074228,714,680.132925772,659,634.867074228,879,786.132925772,805,652,631,652,0.413599489564,0.00458668702465,0.0799115008199,0.999999984765,0.000116374525327,-0.000122497159886,-4.38412563949e-05,1793243704121923328
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.557958923,714,680,659,634.557958923,879.442041077,786,805,652,631,652,0.414367633856,0.00457843909622,0.079918833592,0.999999987779,0.000107915339116,-0.000104401299753,-4.35525999927e-05,1793243704138589952
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.017379826,745,714,680.017379826,659,634,879.982620174,786,805,652,631,652,0.415155099655,0.00457425927656,0.0799361833089,0.999999990831,0.000105843983744,-7.25510033742e-05,-4.32637083786e-05,1793243704155256832
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.610488841,745,714,680.610488841,659,634,879.389511159,786,805,652,631,652,0.41592068603,0.0045853988993,0.0799508975593,0.999999991861,0.000105297319548,-5.74305527669e-05,-4.35001427555e-05,1793243704171922944
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.801356967,745,714,680.801356967,659,634,879,786,805,652,630.801356967,652,0.416692175898,0.00459563493186,0.0799555099852,0.999999991353,0.000111196367291,-5.44384436422e-05,-4.43287204717e-05,1793243704188589312
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.22268208,745,714,680.22268208,659,634,879,786,805,652,630.22268208,652,0.417474959921,0.00460414226962,0.0799407962094,0.999999987767,0.000129426961899,-7.46495459391e-05,-4.62901510461e-05,1793243704205256192
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.35216835,745.35216835,714,680.35216835,659,634,879,786.35216835,805,652,630.35216835,651.64783165,0.418317745151,0.0046049439583,0.0799563174854,0.999999989075,0.000133780091797,-4.09247014499e-05,-4.77307156836e-05,1793243704221922816
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.924626468,745.924626468,714,680.924626468,659,634,879,786.924626468,805,652,630.924626468,651.075373532,0.419198062547,0.00460092557796,0.0799907515136,0.999999990076,0.00012945253282,2.65383750977e-05,-4.88454659234e-05,1793243704238589696
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.489865302,714,681,659.510134698,634,879,786.489865302,805,652,631,651.510134698,0.420038717748,0.00459353520375,0.0799892119959,0.999999992057,0.000113336376818,2.39939437773e-05,-4.96486435324e-05,1793243704255256576
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.903629134,659.903629134,634.096370866,879,786,805.096370866,652,631,652,0.42087723988,0.00458721409216,0.0799820998787,0.999999993705,9.96689516842e-05,1.04572597845e-05,-5.0473188826e-05,1793243704271923200
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680.323670008,659.323670008,634.676329992,879,786,805.676329992,652,631,652,0.421735236329,0.00458882423166,0.079974396205,0.999999992902,0.000107259002244,-4.97085265585e-06,-5.1642027419e-05,1793243704288589824
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.255481822,714,680.255481822,659.255481822,634.744518178,879,786,805.744518178,652,631,652,0.422608775728,0.00459427069254,0.0799799564008,0.999999991855,0.000116806096069,1.47333660075e-06,-5.14306296633e-05,1793243704305256448
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.83361419,714,680.83361419,659.83361419,634.16638581,879,786,805.16638581,652,631,652,0.423501944591,0.00460456208223,0.0800022676687,0.999999989847,0.000128824760346,3.55402721242e-05,-4.94761177565e-05,1793243704321923072
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.589812607,714,681,660,634,879,786,805,651.589812607,631,652,0.424354036507,0.00461209446986,0.0799893401891,0.999999989008,0.000140094179089,3.98873710904e-07,-4.8560718972e-05,1793243704338589696
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.013869494,714,681,660,634,879,786,805,651.013869494,631,652,0.425189529277,0.00461851195089,0.0799621728166,0.999999985469,0.000151060828382,-6.27094449166e-05,-4.80652232176e-05,1793243704355256064
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.426309942,634,879,786,805,651,631,652,0.426068147462,0.00461736984697,0.079926263223,0.999999983511,0.000142093531698,-0.000100962241658,-5.09265246787e-05,1793243704371922944
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.840836967,745,714,681,659.159163033,634,879.159163033,786,805,651,630.840836967,651.840836967,0.42695400014,0.00461540325877,0.0799006862219,0.999999981437,0.000135680350082,-0.000126080319847,-5.31041420477e-05,1793243704388589824
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.261627182,745,714,681,659.738372818,634,879.738372818,786,805,651,630.261627182,651.261627182,0.427856136921,0.00461175306602,0.0799029472463,0.999999982175,0.000137305851821,-0.000118153217144,-5.32588515873e-05,1793243704405256704
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659.684641042,634,879.684641042,786,805,651.315358958,630.315358958,651.315358958,0.428749921137,0.00460708021869,0.0799129234184,0.999999983999,0.000132538472202,-0.000107832371933,-5.29968560736e-05,1793243704421923328
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659.109486787,634,879.109486787,786,805,651.890513213,630.890513213,651.890513213,0.429636824398,0.0046015649003,0.0799292553922,0.99999998656,0.000122504584376,-9.55395423823e-05,-5.23915755027e-05,1793243704438589952
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659.475943156,634,879.475943156,786.475943156,805,652,631,651.524056844,0.430574616935,0.00460379629509,0.0799722148819,0.99999999036,0.000124723344322,-3.2145144899e-05,-5.18779022946e-05,1793243704455256320
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.063276037,745,714,681.063276037,660,634,879.936723963,786.936723963,805.063276037,652,631,651.063276037,0.431515325539,0.00460807860689,0.0800164054656,0.99999998965,0.000129774334425,3.48598627367e-05,-5.14098430347e-05,1793243704471922944
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.646393526,745,714,681.646393526,660,634,879.353606474,786.353606474,805.646393526,652,631,651.646393526,0.43238169259,0.00461424657327,0.0800192762774,0.999999989119,0.000134426158297,3.28197828988e-05,-5.11395765963e-05,1793243704488589312
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.774174792,745,714,682,660,634.225825208,879,786,806,652,631,652,0.433217466848,0.00461916135352,0.0799936221596,0.999999989336,0.000136321672304,-7.46546887051e-06,-5.18568961334e-05,1793243704505256192
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.200421729,745,714,682,660,634.799578271,879,786,806,652,631,652,0.434006107065,0.00462214535664,0.0799240198148,0.999999983873,0.000133970552198,-0.000106674881001,-5.40957844347e-05,1793243704521923328
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.374388685,745.374388685,714,682,660,634.625611315,879.374388685,786,806,652,631,651.625611315,0.434839253935,0.00462249768132,0.0799034344417,0.999999981764,0.000129157132134,-0.000129091421433,-5.59159313946e-05,1793243704538590720
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.949766701,745.949766701,714,682,660,634.050233299,879.949766701,786,806,652,631,651.050233299,0.435696294008,0.00462143719794,0.0799091636724,0.999999984698,0.000123021835037,-0.000110281956616,-5.75112784909e-05,1793243704555258368
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.462270432,714,682,660,634,879.462270432,786,806,652,631,651.537729568,0.436558629278,0.00461496321434,0.079950750375,0.999999988786,0.000125437572604,-6.01330979081e-05,-5.54749621382e-05,1793243704571924224
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.875196273,745,714,682.124803727,660,634,879.124803727,786,806,651.875196273,631,652,0.437415116312,0.00460719071223,0.0799906062164,0.999999991024,0.000122298399781,-1.04625636037e-05,-5.37206404865e-05,1793243704588590592
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.295745,745,714,682.704255,660,634,879.704255,786,806,651.295745,631,652,0.438248453583,0.00459657425582,0.0800116616032,0.999999993573,9.59435004438e-05,2.65447770889e-05,-5.42591079904e-05,1793243704605257472
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.282284778,745.282284778,714,682.717715222,660,634,880,786,806,651,631,652,0.439049249059,0.00459482942613,0.0800173147723,0.99999999379,8.93211214339e-05,3.73978479291e-05,-5.51664976036e-05,1793243704621923840
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.858832704,745.858832704,714,682.141167296,660,634,880,786,806,651,631,652,0.439816121821,0.00460233267925,0.0800069121501,0.999999992854,0.000103268587208,2.0986825738e-05,-5.64584640702e-05,1793243704638590208
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.557562831,714,682,660,634,880,786.442437169,806,651,631,652,0.440491167087,0.00460799643689,0.0799548911665,0.999999989853,0.000116388415988,-5.89166100961e-05,-5.72404770632e-05,1793243704655256576
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714.028022593,682,660,634,879.971977407,786.971977407,805.971977407,651.028022593,631,652,0.441138885503,0.00461277818632,0.0798903246814,0.999999977786,0.000127562851439,-0.000157488270175,-5.79080077349e-05,1793243704671923200
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.607564108,682,660,634,879.392435892,786.392435892,805.392435892,651.607564108,631,652,0.441834766555,0.00461193951385,0.0798444315724,0.999999968808,0.000105731061929,-0.000218301747202,-5.95766203812e-05,1793243704688589824
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.186112213,714.813887787,682,660,634,879.186112213,786,805.186112213,652,631,652,0.442549113571,0.00461068030471,0.079835820888,0.999999968525,9.3748362483e-05,-0.000224719001881,-6.05231985288e-05,1793243704705256704
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.762576844,714.237423156,682,660,634,879.762576844,786,805.762576844,652,631,652,0.4433021913,0.00460853906031,0.0799054064849,0.999999986108,0.000102423175537,-0.000117045437449,-5.99553792335e-05,1793243704721923072
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.664203463,713.664203463,682.335796537,659.664203463,634,880,786,805.664203463,651.664203463,631,652,0.443996077353,0.00461065805574,0.0799554010433,0.999999991591,0.000106115630145,-4.57156471059e-05,-5.88861558826e-05,1793243704738589952
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.093256161,713.093256161,682.906743839,659.093256161,634,880,786,805.093256161,651.093256161,631,652,0.444648512762,0.00461576040146,0.0799916764338,0.999999992697,0.000106319051068,1.63408553811e-07,-5.74658108252e-05,1793243704755256576
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.502419444,745,713.497580556,683,659,634,880,786,805.497580556,651.497580556,631,652,0.445212715047,0.00462451556516,0.0799653276276,0.999999990261,0.000119286504464,-4.50504655645e-05,-5.67431833701e-05,1793243704771923456
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.08992781,745,714,683.08992781,659,633.91007219,880,786,806,651.91007219,631,652,0.445757038284,0.00463390005899,0.0799257913153,0.999999983383,0.000134917937476,-0.000108847688556,-5.6428672101e-05,1793243704788590080
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.669361718,745,714,683.669361718,659,633.330638282,880,786,806,651.330638282,631,652,0.446286915287,0.00464282849554,0.0798810193947,0.999999971203,0.000151486443412,-0.000176999243679,-5.75942330666e-05,1793243704805256704
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,683.754686397,658.754686397,633,880,786,806,651,631,652,0.446799362604,0.00465068748485,0.0798421719004,0.999999958778,0.0001597975116,-0.000231265042125,-5.85194237742e-05,1793243704821923328
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,683.18336201,658.18336201,633,880,786,806,651,631,652,0.447288646605,0.004657125226,0.0798111977067,0.999999950241,0.000157134814466,-0.000267077287675,-5.91251733327e-05,1793243704838590208
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657.598727146,633,880.401272854,786,806,651.401272854,631,652,0.447745495398,0.00466382381386,0.0797837078329,0.999999939526,0.000159036716922,-0.000303302847437,-6.05222107748e-05,1793243704855256576
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657.00780132,633,880.99219868,786,806,651.99219868,631,652,0.448187014432,0.00467064568587,0.079757864745,0.999999927054,0.000163095978708,-0.000339723754198,-6.2293233401e-05,1793243704871923200
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.84916349,713.15083651,684,656.84916349,633,880.15083651,786,806.15083651,652,631,652,0.448987462114,0.00468272578838,0.0797036154653,0.999999885366,0.000191780679043,-0.000434422737101,-6.13643823743e-05,1793243704905256704
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.271724226,713.728275774,684,656.271724226,633,880.728275774,786,806.728275774,652,631,652,0.449390246965,0.00468931389137,0.0796932880092,0.999999877365,0.000203231538295,-0.000447305726799,-6.23290549976e-05,1793243704921923072
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,684,656,633,880.696160692,786,806.696160692,651.696160692,631,652,0.449775493397,0.00469458970869,0.0796929264305,0.999999875723,0.000214225262894,-0.000445829303506,-6.24357588866e-05,1793243704938589440
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,684,656,633,880.12226437,786,806.12226437,651.12226437,631,652,0.45014515139,0.0046986991461,0.0797014226762,0.999999879686,0.000224812678539,-0.000431590013986,-6.17798870088e-05,1793243704955256064
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,713.535875564,684,655.535875564,632.535875564,880,786,806,651,631.464124436,652,0.450474825439,0.00470575844364,0.0797050998198,0.999999878971,0.000234818915458,-0.00042770304565,-6.3150989154e-05,1793243704971922944
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713,684,654.947020777,632,880,786,806,651.052979223,631.947020777,652,0.450790111316,0.00471515546773,0.0797067507023,0.999999876002,0.00024599319226,-0.000428023469726,-6.54119351305e-05,1793243704988589824
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713,684,654.367273108,632,880,786,806,651.632726892,631.367273108,652,0.451069962181,0.00473985614354,0.0797012262813,0.999999863112,0.00027034557198,-0.000442312161038,-7.10644911739e-05,1793243705005256704
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.21136473,745,713,684,653.78863527,632,880.21136473,786,806,652,631,652,0.451328695412,0.00475402543628,0.0796901000921,0.999999853419,0.000268485704591,-0.000464242935876,-7.45420894743e-05,1793243705021923328
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.78808411,745,713,684,653.21191589,632,880.78808411,786,806,652,631,652,0.451550925715,0.00474999069702,0.0796692909632,0.99999984806,0.000221316636593,-0.000499383437402,-7.42601623967e-05,1793243705038589696
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.635486537,745,713,684,653,632,881,786,806.364513463,652,631,652,0.451750281533,0.00473295541742,0.0796471466925,0.999999835619,0.000198201306778,-0.000533243120878,-7.16185946529e-05,1793243705055256064
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.059225608,745,713,684,653,632,881,786,806.940774392,652,631,652,0.451936349483,0.00470836806666,0.0796242268302,0.999999819462,0.000189058894355,-0.000566358775062,-6.76063013235e-05,1793243705071922688
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.472160946,745,713,684,653,632,881,785.472160946,806.472160946,652,631,652,0.452100968023,0.0047073123199,0.0796093357763,0.999999805737,0.000196040389618,-0.000587782912089,-6.78571066408e-05,1793243705088589312
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.114447712,745,713,684,652.885552288,632,880.885552288,785.114447712,806,652,630.885552288,651.885552288,0.452261452346,0.0047102781603,0.0795984699608,0.999999794312,0.00020502848405,-0.000603820171427,-6.88579814086e-05,1793243705105256192
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+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,713,684,652.271570923,632,880,785.728429077,806,652,630.271570923,651.271570923,0.452555299439,0.00472089560527,0.0796000713028,0.999999791237,0.000217879931023,-0.000604037986336,-7.20584454332e-05,1793243705138589440
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,713,684,652.846374759,632,880,785.153625241,806,652,630.846374759,651.846374759,0.452680424089,0.00471634908811,0.0795977719223,0.999999790988,0.000213922841491,-0.000605850453918,-7.21561759534e-05,1793243705155256320
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,713.430055297,684,652.569944703,632,880,785.430055297,806,651.569944703,631,651.569944703,0.452782389825,0.00471888508821,0.0795936187486,0.999999787881,0.000215571102864,-0.000610292733573,-7.28684990549e-05,1793243705171922944
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,713.983242562,684,651.983242562,632,880.016757438,785.983242562,806,651.016757438,631,651.016757438,0.452875191694,0.00472380584939,0.079588694197,0.999999783589,0.000219167008864,-0.000615911124861,-7.37630229218e-05,1793243705188589568
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,713.403799024,684,651.403799024,632,880.596200976,785.403799024,806,651.596200976,631,651.596200976,0.452943930269,0.0047220582023,0.0795805728083,0.999999775523,0.000219508786923,-0.000628812164615,-7.32481865793e-05,1793243705205256192
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,713,683.824623481,651,631.824623481,880.824623481,785,806,651.824623481,631,652,0.453009110685,0.00472211811946,0.0795743290512,0.999999768622,0.000221149065221,-0.00063915289651,-7.30278022893e-05,1793243705221923072
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,713,683.246064124,651,631.246064124,880.246064124,785,806,651.246064124,631,652,0.453066111042,0.00472633354687,0.0795724018867,0.999999764698,0.000225774537988,-0.000643607592605,-7.34843502998e-05,1793243705238589696
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+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,713,684.808621289,651,631,880,785.904310645,806.904310645,651.904310645,631,652,0.453162306774,0.00472809997282,0.0795742891475,0.99999976455,0.000229129484804,-0.000642840327472,-7.18098196756e-05,1793243705271922944
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,713,684,651,631.078878977,880.078878977,785,806.921121023,651.921121023,631,652,0.453218533501,0.00472403754678,0.079570516648,0.99999976253,0.000227419657366,-0.000646770038887,-7.00622660667e-05,1793243705305256192
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,713,684,651,631.658407333,880.658407333,785,806.341592667,651.341592667,631,652,0.453235389834,0.00472660932105,0.0795700630003,0.999999760105,0.000232224924397,-0.000648805020535,-7.00991856059e-05,1793243705321922816
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713,684.140845722,651,631.140845722,880.140845722,785.859154278,806,652,631,652,0.453282539702,0.00472611897091,0.0795682774126,0.999999758527,0.000231625720701,-0.000651656797421,-6.81072413108e-05,1793243705421922816
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713,684.720215854,651,631.720215854,880.720215854,785.279784146,806,652,631,652,0.453282321846,0.0047273048926,0.0795666333342,0.999999756552,0.00023345718457,-0.000654045432162,-6.79517587366e-05,1793243705438589440
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+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713,684,650.069948286,631,880.930051714,785.069948286,806.069948286,651.069948286,631,651.069948286,0.453285634242,0.00472698685793,0.0795628621845,0.999999753806,0.000229708097263,-0.000659622988946,-6.7233538391e-05,1793243705588590336
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713,684.517507691,650,631,880.482492309,785.517507691,806,651,630.482492309,651.517507691,0.453286332575,0.00472561851097,0.0795634469538,0.999999754564,0.000229233178757,-0.000658670502,-6.69170787603e-05,1793243705605256704
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,713,684.895279962,650.104720038,631,880,786,806.104720038,651.104720038,630.104720038,652,0.453286670079,0.00472403940713,0.0795637164162,0.999999754983,0.000228260828828,-0.000658407298478,-6.65590870081e-05,1793243705621923072
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,713,684.31624658,650.68375342,631,880,786,806.68375342,651.68375342,630.68375342,652,0.453286463651,0.00472301253905,0.0795629120334,0.999999754115,0.000227232245222,-0.000660155070866,-6.58029195024e-05,1793243705638589440
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.260696575,745,713.260696575,684,650.739303425,631,880,785.739303425,806.739303425,652,630.739303425,652,0.453286424173,0.00472313272031,0.0795626291737,0.99999975353,0.000226681502214,-0.000661236830656,-6.57430288428e-05,1793243705655256064
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.835124353,745,713.835124353,684,650.164875647,631,880,785.164875647,806.164875647,652,630.164875647,652,0.453286585608,0.00472463329996,0.0795629739327,0.999999753287,0.000226705808844,-0.000661517088268,-6.65210615344e-05,1793243705671922944
+249,4.150000000,HOLD_POSE2,765,745,713,684,650,631,880,785,806,652,631,652,0.45328814085,0.00472467110894,0.0795638281956,0.999999755109,0.000224847213567,-0.000659409648279,-6.63633370914e-05,1793243705705043456
+250,4.166666667,HOLD_POSE2,765,745,713.578973722,684,650,631,880,785,806,652,631,651.421026278,0.453286433843,0.00472428397984,0.0795618536501,0.999999753147,0.000226044150269,-0.000662014431456,-6.59303953565e-05,1793243705721710848
+251,4.183333333,HOLD_POSE2,765,745,713.842397419,684,650.157602581,631,880,785.157602581,806,652,630.842397419,651.157602581,0.453285555337,0.00472413500034,0.0795606629804,0.999999751981,0.000226765750153,-0.000663549209441,-6.57036551015e-05,1793243705738377728
+252,4.200000000,HOLD_POSE2,765,745,713.264687706,684,650.735312294,631,880,785.735312294,806,652,630.264687706,651.735312294,0.453286885294,0.00472462083488,0.0795615618181,0.999999752957,0.00022622028737,-0.000662231770669,-6.60265676341e-05,1793243705755044096
+253,4.216666667,HOLD_POSE2,765,744.68792547,713,684,650.68792547,631,880,785.68792547,806,652,630.31207453,652,0.45328704692,0.00472443304224,0.0795613275433,0.999999752755,0.000226015717717,-0.000662593417932,-6.6155421125e-05,1793243705771710720
+254,4.233333333,HOLD_POSE2,765,744.111964443,713,684,650.111964443,631,880,785.111964443,806,652,630.888035557,652,0.45328622062,0.00472367563849,0.079560135122,0.999999751557,0.000226099403256,-0.000664374880374,-6.61201805883e-05,1793243705788377344
+255,4.250000000,HOLD_POSE2,765,744.474056068,713,684,650,631,880,785,806,651.525943932,631,652,0.453286456153,0.00472362018084,0.0795603158051,0.999999751826,0.000225857682976,-0.000664066348995,-6.59772899222e-05,1793243705805043712
+256,4.266666667,HOLD_POSE2,764.938431354,745.061568646,713.061568646,684,650,631,880,785,806,651.061568646,631,652,0.453286887762,0.00472384754581,0.0795607808362,0.999999752324,0.000225721166702,-0.00066337478421,-6.58539879073e-05,1793243705821710080
+257,4.283333333,HOLD_POSE2,764.358789156,745.641210844,713.641210844,684,650,631,880,785,806,651.641210844,631,652,0.45328681325,0.00472502945861,0.0795608504812,0.999999751769,0.000227130624303,-0.000663703834239,-6.61140965686e-05,1793243705838376192
+258,4.300000000,HOLD_POSE2,764.219207641,745.780792359,713.780792359,684.219207641,650,631,880.219207641,785,806,652,631,652,0.453286561352,0.00472532255131,0.0795605213095,0.999999751249,0.000227627464036,-0.000664316192132,-6.61244676577e-05,1793243705855042560
+259,4.316666667,HOLD_POSE2,764.79453133,745.20546867,713.20546867,684.79453133,650,631,880.79453133,785,806,652,631,652,0.453286021279,0.00472417170201,0.0795595442357,0.999999750785,0.000226641700808,-0.000665388800722,-6.57291249577e-05,1793243705871709440
+260,4.333333333,HOLD_POSE2,765,745,713,684.622469493,650,631,881,785,806,652,631,652,0.453286210275,0.00472265251999,0.0795593216495,0.999999751126,0.000224577861418,-0.000665590797222,-6.55911952522e-05,1793243705888376064
+261,4.350000000,HOLD_POSE2,765,745,713,684.035206232,650,631,881,785,806,652,631,652,0.453286804298,0.00472092871485,0.0795595182102,0.999999751907,0.000221915109059,-0.000665309135236,-6.55962683535e-05,1793243705905042432
+262,4.366666667,HOLD_POSE2,765,745,713,684,650,631,881,785,806,651.455407682,631,652,0.453286376154,0.00472231853585,0.0795595686879,0.999999751334,0.000224152848007,-0.000665451011559,-6.52901211763e-05,1793243705921709056
+263,4.383333333,HOLD_POSE2,765,745,713.12349503,684,650,631,880.87650497,785.12349503,806,651,631,652,0.453285860387,0.00472341747199,0.0795594660452,0.999999750743,0.000225813638075,-0.000665795781277,-6.50971791052e-05,1793243705938375424
+264,4.400000000,HOLD_POSE2,765,745,713.7008551,684,650,631,880.2991449,785.7008551,806,651,631,652,0.453285262163,0.00472271759891,0.0795588348973,0.999999750425,0.000224205487736,-0.00066678695131,-6.53932272953e-05,1793243705955042304
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,713,684,650,631,880,785,806,652,631,652,0.453286650523,0.00472301656003,0.079559418626,0.999999750472,0.000224152835394,-0.00066676569023,-6.50691625744e-05,1793243705992600320
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.411739627,745,713,684,650,631,880.588260373,785,806,651.411739627,631,652,0.453286119167,0.00472382333752,0.0795594782233,0.999999750245,0.000225843180041,-0.000666515135838,-6.52900661662e-05,1793243706009266944
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.826076395,745,713,684,650.173923605,631,880.826076395,785,806,651,631,652,0.453285746131,0.00472422428817,0.0795592789346,0.999999750106,0.000226302303631,-0.000666545958875,-6.55082570668e-05,1793243706025933568
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.246470951,745,713,684,650.753529049,631,880.246470951,785,806,651,631,652,0.453285742378,0.00472367863613,0.079558475787,0.999999750177,0.000223889568825,-0.00066723310286,-6.5720120581e-05,1793243706042600192
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745,713,684,650.669159125,631,880.330840875,785,806,651.330840875,631,652,0.453285923482,0.00472346808424,0.0795585168876,0.999999750245,0.000224048772859,-0.000667096258754,-6.55381928425e-05,1793243706059266816
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,745,713,684,650.093544278,631,880.906455722,785,806,651.906455722,631,652,0.453286241352,0.00472350545761,0.0795591826086,0.999999750309,0.000226110836491,-0.000666349783652,-6.50649170249e-05,1793243706075933184
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.482336606,745,713,684,650,631,881,785,806,652,631,652,0.453286472458,0.00472172503754,0.079558807729,0.999999750811,0.00022365836427,-0.000666448761765,-6.48124499486e-05,1793243706092600064
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,650,631,880.940252409,785,806,652,630.940252409,652,0.45328672946,0.00471993654615,0.0795583447402,0.999999751342,0.000220800605395,-0.000666620787475,-6.4644004183e-05,1793243706109266688
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,650,631,880.349706583,785,806,652,630.349706583,652,0.453287366098,0.00472121006922,0.079558892894,0.99999975146,0.000222124948487,-0.000665984279969,-6.48413492848e-05,1793243706125933312
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,650,631,880,785,806,652,630,652,0.45328355058,0.00472222638713,0.0795573322258,0.999999749656,0.000222971801087,-0.000668371333331,-6.52038487889e-05,1793243706142600192
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,650,631,880,785,806,652,630,652,0.453273270385,0.00472286923454,0.0795527094785,0.999999745029,0.000223125321607,-0.000675148696923,-6.58061579182e-05,1793243706159267072
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.38865014,713,684,650,631,880.38865014,785,806,652,630.38865014,652,0.45324369603,0.00472377916434,0.0795391268918,0.99999972936,0.000225374359886,-0.000697271213552,-6.55632776088e-05,1793243706175933952
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.965658113,713,684,650,631,880.965658113,785,806,652,630.965658113,652,0.453204770832,0.00472481853467,0.0795212019522,0.999999707614,0.000228638982839,-0.000726830701141,-6.49107794144e-05,1793243706192600576
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.460536018,713,684,649.460536018,631,881,785,806,652,631,652,0.453145841366,0.00472248891016,0.0795035396114,0.999999684131,0.000225848609255,-0.000759396398203,-6.36228734655e-05,1793243706209266944
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,649.116517999,631,881,785.116517999,806,652,631,652,0.453083175036,0.00472077757338,0.07948705809,0.999999662133,0.000223931603894,-0.00078847635834,-6.23998020329e-05,1793243706225933568
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,649.70762767,631,881,785.70762767,806,652,631,652,0.453010444329,0.00472245299353,0.0794753184931,0.999999650238,0.000227132677894,-0.000802583624032,-6.16045929726e-05,1793243706242600192
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.293374238,713,684.293374238,650,631,880.706625762,785.706625762,806,652,631,652,0.452929051719,0.00472337704368,0.0794681372063,0.999999642019,0.000230093411663,-0.00081202510809,-6.02820187675e-05,1793243706259267072
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.873871939,713,684.873871939,650,631,880.126128061,785.126128061,806,652,631,652,0.452839181765,0.0047235657328,0.079465417109,0.999999637527,0.000232818925844,-0.000816900221216,-5.8443315775e-05,1793243706275933696
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.550830143,713,684.550830143,650,631,880,785,806,652,631,652,0.452726883201,0.00472236565266,0.0794574130549,0.999999624968,0.000234642707025,-0.000831812181091,-5.56417002183e-05,1793243706292600320
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,650,631,880.023584329,785.023584329,806,651.976415671,631,652,0.45260751219,0.00472074990372,0.0794479896086,0.999999610016,0.000236185547443,-0.000849365825396,-5.25541967749e-05,1793243706309266944
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,650,631,880.611395304,785.611395304,806,651.388604696,631,652,0.452467889447,0.00471841257463,0.0794396995886,0.99999959793,0.000236995615906,-0.000863464051228,-4.90218571817e-05,1793243706325933568
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.803647304,745,713,684,650.392705393,631,880.803647304,786,806,651.196352696,631,652,0.452315634831,0.00471721494478,0.0794315221529,0.999999584466,0.000239289031056,-0.000878495627647,-4.53199260425e-05,1793243706342600192
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.224256648,745,713,684,651.551486704,631,880.224256648,786,806,651.775743352,631,652,0.452138738417,0.00471824060051,0.0794235643432,0.999999568439,0.000244476106869,-0.000895347950141,-4.12871620789e-05,1793243706359266816
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.354463291,745,713,684,651.645536709,631,880.354463291,785.645536709,806,652,631,652,0.451943049435,0.00471783728942,0.0794183335979,0.999999559798,0.000250073983386,-0.00090362121083,-3.6532440849e-05,1793243706375933440
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.932759749,745,713,684,651.067240251,631,880.932759749,785.067240251,806,652,631,652,0.451735493481,0.00471653162783,0.0794148249129,0.999999555909,0.000255931269025,-0.000906477047451,-3.13218243982e-05,1793243706392600320
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,651.503635433,631,880.496364567,785.503635433,806,651.496364567,631,652,0.451515323594,0.00471338814476,0.0794223543871,0.999999562503,0.000260991619646,-0.000897926007098,-2.45987401729e-05,1793243706409266688
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,652,631.076569665,880,786,806,651,631,652,0.451291796822,0.00471026557752,0.0794334784792,0.999999573794,0.00026583912919,-0.000883984939195,-1.76889805955e-05,1793243706425933568
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,652,631.669989998,880,786,806,651,631,652,0.451056813349,0.00470891638803,0.0794590633512,0.99999960751,0.000269957718274,-0.000843791412109,-1.08623906062e-05,1793243706442600448
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.743048636,745,713,684,652.256951364,632,880.256951364,785.743048636,806,651.256951364,631,652,0.45080103335,0.00470539365182,0.0794847415031,0.999999641493,0.000274180492776,-0.000801140000521,-3.63882766631e-06,1793243706459267072
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.164179335,745,713,684,652.835820665,632,880.835820665,785.164179335,806,651.835820665,631,652,0.450519198726,0.00469914781794,0.0795105365178,0.999999675879,0.000278533794292,-0.000755409265071,4.08207688941e-06,1793243706475933696
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764.412814499,745.412814499,713,684,653,632,881,785.412814499,806,651.587185501,631,651.587185501,0.45019069606,0.00469558721789,0.0795283128004,0.999999697394,0.000281268595243,-0.000725249383908,1.06009448069e-05,1793243706492600576
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.989065805,745.989065805,713,684,653,632,881,785.989065805,806,651.010934195,631,651.010934195,0.449843717121,0.00469308972512,0.0795429143974,0.999999713836,0.000283362617815,-0.000701254138848,1.66439159066e-05,1793243706509267712
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.424049739,713,684,653.575950261,632,880.424049739,786,806,651.575950261,631,651.575950261,0.449466142433,0.00468892075108,0.0795504979266,0.99999973243,0.000250842400606,-0.000687097127043,1.07258124432e-05,1793243706525934080
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,654,632.160890151,880,786,806,652,631,652,0.449072212929,0.00468351495051,0.0795577611564,0.99999974677,0.000225059437315,-0.000675091387611,7.76634513181e-06,1793243706542600960
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,654,632.740237445,880,786,806,652,631,652,0.448637285586,0.00467497638908,0.0795645443705,0.999999752798,0.000218540607474,-0.000668185951144,1.31036667426e-05,1793243706559267584
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713.317347793,684,654.634695586,633,880,786,806,652,631,652,0.448178332508,0.00466920983926,0.0795676356838,0.99999975737,0.000208078678692,-0.000664611103752,1.60055379973e-05,1793243706575934208
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713.892639986,684,655.785279971,633,880,786,806,652,631,652,0.447699850953,0.0046656964155,0.0795677261731,0.999999760681,0.000194411747259,-0.000663743401527,1.69278442142e-05,1793243706592601344
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.53078322,745,713.53078322,684,656,633,880,786,806,652,631,652,0.447211113331,0.00465587744706,0.079593520749,0.99999978914,0.000188791761206,-0.000621054076801,1.921935887e-05,1793243706609268480
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.636867786,745,713.636867786,683.363132214,656.636867786,633,880,786,806,651.363132214,631,652,0.446212395289,0.00463473115598,0.0796746231304,0.999999851629,0.000219319313901,-0.00049809594307,2.32545240855e-05,1793243706642601216
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.777146022,683.222853978,657,633,880.222853978,786,806,651.222853978,631,651.777146022,0.445681332773,0.00462572329606,0.079721910842,0.999999881638,0.000227351362475,-0.000429413899743,2.52935942671e-05,1793243706659267584
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.197191876,683.802808124,657,633,880.802808124,786,806,651.802808124,631,651.197191876,0.445110757476,0.0046182781281,0.0797678976886,0.999999914611,0.000197803482457,-0.000361742926503,2.81699941292e-05,1793243706675934208
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,657.378958035,633.378958035,880.621041965,786,806,651.621041965,631,651.378958035,0.444501645818,0.0046092729528,0.0797957492747,0.999999932229,0.000172646015873,-0.0003236897942,3.09725100841e-05,1793243706692600832
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,657.953148059,633.953148059,880.046851941,786,806,651.046851941,631,651.953148059,0.443872680975,0.00459946409155,0.0798142579174,0.999999942949,0.000149750408086,-0.000300895213921,3.37369623916e-05,1793243706709267712
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.896259942,745.896259942,714,683.103740058,658.103740058,634,880,786.896259942,806,651,631,651.103740058,0.442491513949,0.00458646847168,0.0798192659076,0.999999950296,0.000135655468587,-0.000282378110929,3.56147619354e-05,1793243706742600960
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,764.282885129,745,714,683.717114871,658.717114871,633.717114871,880,786,805.717114871,651,631.282885129,652,0.441020214022,0.00457575600391,0.0798024693111,0.99999994077,0.000159256565907,-0.000302615499872,3.9014541732e-05,1793243706775934720
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764.859906506,745,714,683.140093494,658.140093494,633.140093494,880,786,805.140093494,651,631.859906506,652,0.440200249698,0.00456957364707,0.0797552051379,0.999999919324,0.000132113485483,-0.000377332734747,3.89679980284e-05,1793243706792601344
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,658.434727528,633.434727528,880,786,805,651,631.565272472,652,0.439376197635,0.00456020852867,0.0797163487705,0.999999896159,0.000125123031817,-0.000436324375565,4.05779275082e-05,1793243706809268224
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764.990892475,745,714,683,658.990892475,634,880,786,805,651,631,652,0.438551898318,0.00454982842242,0.0796817904004,0.999999872313,0.000124440923938,-0.000487918418146,4.27191639728e-05,1793243706825934848
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.399603796,745,714,683,658.399603796,634,880,786,805,651,631,652,0.437795572184,0.00453980052427,0.0797496480162,0.99999991686,0.000113962532808,-0.000388944800861,4.48723677747e-05,1793243706842601472
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764.187769694,745,714,683,658,634,879.812230306,786,805.187769694,651.187769694,631,652,0.437028481582,0.00453018125288,0.0798139523655,0.999999951045,0.000101405812451,-0.000292310905129,4.66937631318e-05,1793243706859267840
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.656388193,658,634,879,786,806,651.656388193,631,652,0.435397311065,0.00451125897539,0.0798833866109,0.999999978796,7.75956289779e-05,-0.000184374199395,4.89182597674e-05,1793243706892601088
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.081494764,658,634,879,786,806,651.081494764,631,652,0.434520598211,0.00450017022533,0.079866066029,0.999999971762,7.73846041018e-05,-0.000219063138669,4.9989615868e-05,1793243706909267712
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.494413641,658,634,879,786,806,651.494413641,631,652,0.433597281092,0.00449095753464,0.0798262509753,0.99999995827,6.29876736647e-05,-0.000277391458635,5.04629231816e-05,1793243706925934336
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.927639291,658,634,879.072360709,786,805.927639291,652,631,651.927639291,0.432658338647,0.00448189040748,0.0797814160308,0.999999937975,4.89563493546e-05,-0.000345020927803,5.11183046325e-05,1793243706942600704
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.33627265,658,634,879.66372735,786,805.33627265,652,631,651.33627265,0.431662535452,0.0044716448057,0.0797272247901,0.999999895214,5.43531041791e-05,-0.000451357589052,5.3788107186e-05,1793243706959267072
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,713.404539749,682.595460251,658.404539749,634,879,786,806,652,631.404539749,652,0.429052835149,0.00444118349021,0.0798219976347,0.999999955716,2.48583698343e-05,-0.000290943388823,5.74651341429e-05,1793243707009267456
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.372981897,745,714,681.372981897,658.372981897,634,879,786.627018103,805.627018103,652,631,651.627018103,0.420932533531,0.00448433917813,0.0798526027173,0.999999972041,9.18135458927e-05,-0.000211001788763,5.44702744574e-05,1793243707159268096
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.790205673,745.790205673,714,681,658,634,879,786.209794327,806,651.209794327,631,652,0.419183771414,0.00448606110801,0.0798536838095,0.999999970796,9.3702269777e-05,-0.000216117004976,5.40445570771e-05,1793243707192600576
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.63283473,745.63283473,714,681,658,634,879,786.36716527,805.63283473,651.36716527,631,652,0.418296655141,0.00447793974381,0.079823345807,0.999999959156,8.11222707776e-05,-0.000268923391959,5.27868204602e-05,1793243707209266944
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.056041877,745.056041877,714,681,658,634,879,786.943958123,805.056041877,651.943958123,631,652,0.41741509017,0.004466785006,0.0797899793934,0.999999944104,6.34500533371e-05,-0.000324411756484,5.02222209258e-05,1793243707225933568
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.519927561,745,714,681.519927561,658,634,879,786.480072439,805,652,631,652,0.416591171631,0.00446725794636,0.0797999212634,0.999999944078,6.84149328071e-05,-0.000323079743891,5.27561081329e-05,1793243707242600192
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.901606568,657.901606568,634,879,786,805,651.901606568,631,652,0.415773256508,0.00447126526179,0.0798084325617,0.999999943696,7.86976067304e-05,-0.000321524003251,5.51114153884e-05,1793243707259266816
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.310187669,657.310187669,634,879,786,805,651.310187669,631,652,0.41495433754,0.00448671230495,0.0797864218555,0.999999932133,0.000103419517526,-0.000349487298401,5.38225704029e-05,1793243707275933440
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.85256427,714,681,657.85256427,634,879.85256427,786,805,651.85256427,631,652,0.413467027977,0.0044883801461,0.0797982643636,0.999999946295,9.61349099037e-05,-0.000309018844082,5.17187075268e-05,1793243707309266688
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.846930703,658,634,879,786.423465352,805,652,631,652,0.411326347568,0.00447126291464,0.0798065071533,0.999999947059,8.20234935532e-05,-0.000310455171891,5.26513484243e-05,1793243707359266560
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.057340801,714.057340801,680,658,634.057340801,878.057340801,786.057340801,805,651.057340801,631,651.942659199,0.407627495268,0.00447968782247,0.0798199371161,0.999999950978,8.54472466046e-05,-0.000296293546347,5.43339475936e-05,1793243707459266816
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.721222809,745,714,680,658,634,879,786.278777191,804.721222809,652,631,652,0.404109120242,0.00449896719278,0.0798403418206,0.99999995555,0.000122712885569,-0.000266301681838,5.40915875394e-05,1793243707592601856
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.298998427,658,634,878.701001573,786.298998427,805,652,631,652,0.403763893055,0.00449778935303,0.0798415037454,0.999999955383,0.000116343004359,-0.000269887695966,5.34688826211e-05,1793243707609268480
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.875088021,658,634,878.124911979,786.875088021,805,652,631,652,0.403434354464,0.00449501784159,0.0798388188197,0.999999954279,0.000105617370573,-0.000278650842646,5.13966651899e-05,1793243707625934848
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.551009317,658,634,878.448990683,786.551009317,805,652,631,652,0.40314917157,0.00449193763285,0.0798361447284,0.999999953303,9.94508919132e-05,-0.000284318166725,5.16428421184e-05,1793243707642601216
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,651.976974935,0.402877995186,0.00448891431614,0.0798336718271,0.999999952447,9.45333158635e-05,-0.000288815684746,5.24784453403e-05,1793243707659267840
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,651.384715316,0.402649496862,0.00448941040934,0.0798360986671,0.999999953882,8.92860795505e-05,-0.00028558241906,5.20176329709e-05,1793243707675934208
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.79699191,786,805,652,631,651.20300809,0.402432392448,0.00448858017951,0.0798381527384,0.999999955446,8.30771228696e-05,-0.000281995538058,5.18227274829e-05,1793243707692600832
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.217677139,786,805,652,631,651.782322861,0.402236408421,0.00448529140616,0.0798395158257,0.999999957249,7.5085470322e-05,-0.000277753177104,5.21207213018e-05,1793243707709268224
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.066141317,745,714,679.066141317,658,634,878,786,804.066141317,652,631,652,0.401901878905,0.00448186025119,0.0798497092509,0.999999962216,6.96610562394e-05,-0.000260133977031,5.51813258256e-05,1793243707742601728
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.519009222,745.519009222,714,679.519009222,658,634,878,786.519009222,804.519009222,652,631,651.480990778,0.401768029448,0.00447877625155,0.0798511299716,0.999999962274,7.65761170471e-05,-0.000257220626488,5.85218376141e-05,1793243707759268352
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745.895774594,714,680,658,634,878,786.895774594,805,652,631,651.104225406,0.401639568202,0.00447622353061,0.0798505534838,0.999999960884,9.018941213e-05,-0.000257626015895,6.1042273753e-05,1793243707775934720
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745.316306665,714,680,658,634,878,786.316306665,805,652,631,651.683693335,0.401519807388,0.00447712014491,0.0798435610707,0.999999953705,0.000129362518551,-0.000269042855841,5.89193634559e-05,1793243707792601344
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.737322564,745,714,680,658,634,878.262677436,786.262677436,804.737322564,652,631,652,0.401411925245,0.00447949866544,0.0798369951127,0.99999994911,0.000143631782994,-0.000279406419047,5.55169054191e-05,1793243707809268224
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.158920035,745,714,680,658,634,878.841079965,786.841079965,804.158920035,652,631,652,0.401318320675,0.00448365836284,0.0798309417325,0.999999948916,0.00012796787715,-0.000288503996143,5.05764954243e-05,1793243707825935360
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.414676854,745,714,680,658,634,879,786.585323146,804.414676854,652,631,651.585323146,0.401243469527,0.00448194836032,0.0798272989662,0.999999948416,0.000118822898922,-0.000294170745883,5.0122834776e-05,1793243707842602240
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.986453122,745,714,680,658,634,879,786.013546878,804.986453122,652,631,651.013546878,0.401175723073,0.0044780146348,0.079824569456,0.99999994783,0.000112147602455,-0.00029853773402,5.13689693703e-05,1793243707859268608
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.166342301,745,714,680,658.166342301,634,878,786.833657699,804.833657699,652,631,652,0.401086230069,0.00447927734749,0.0798229225991,0.999999947292,0.000111610548304,-0.000300341715774,5.24859515976e-05,1793243707892601856
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.745805173,745,714,680,658.745805173,634,878,786.254194827,804.254194827,652,631,652,0.401053299794,0.00447858305739,0.079822134974,0.999999947051,0.000108926702674,-0.000302092496682,5.26596213131e-05,1793243707909268480
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.104740256,634,878,786.895259744,804,651.104740256,631,652,0.401005437966,0.00447842713952,0.0798225003671,0.999999947258,0.000107340609195,-0.000301931425791,5.29041817354e-05,1793243707942602752
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.528575748,745,714,680,658,634.471424252,878,786.528575748,804.471424252,651.471424252,631,652,0.400992873605,0.0044804799048,0.0798232257964,0.999999947565,0.000109370639907,-0.000300186070572,5.28810669081e-05,1793243707959269120
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.0494569,745,714,680,658,634.9505431,878,786,804.9505431,652,631,652,0.400982834245,0.0044824896202,0.0798240529837,0.999999947951,0.000111255543248,-0.000298208844413,5.2832579682e-05,1793243707975934976
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.641191158,745,714,680,658,634.358808842,878,786,804.358808842,652,631,652,0.400978822968,0.00447923032594,0.0798253340118,0.999999949035,0.00010593305121,-0.000296508011872,5.28268012511e-05,1793243707992600832
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786.226464076,804.226464076,652,631,652,0.40097513734,0.00447793258531,0.0798264376548,0.999999949732,0.000103855615883,-0.000294901432381,5.27648503155e-05,1793243708009267200
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786.80178362,804.80178362,652,631,652,0.400971953358,0.00447965651045,0.0798272680458,0.999999949862,0.000106777012441,-0.000293440044647,5.2616368725e-05,1793243708025934592
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.621637681,745,714,680,658,634,878,786.621637681,805,652,631,652,0.400970776702,0.00448075455186,0.0798281633613,0.999999950182,0.00010787257377,-0.000291996526109,5.23168417576e-05,1793243708042601216
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.04439715,745,714,680,658,634,878,786.04439715,805,652,631,652,0.400970655155,0.00448152361056,0.079829092803,0.999999950605,0.000108008423041,-0.000290562400183,5.19379209629e-05,1793243708059267584
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.543617201,745,714,680,658,634,878,786,805,652,631,652,0.400969640431,0.00448015511861,0.0798288042432,0.999999950689,0.000106921228602,-0.000290664220372,5.20055442548e-05,1793243708075934464
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786.129149153,805,652,631,652,0.400968690394,0.00447900033428,0.0798285733939,0.999999950782,0.00010570467608,-0.0002907878881,5.20171627493e-05,1793243708092600832
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786.703041182,805,652,631,652,0.400968219396,0.00447919480507,0.0798288907573,0.999999951006,0.000104393586969,-0.000290546084812,5.17077949874e-05,1793243708109267200
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.279966193,658,634,878,786.720033807,804.720033807,652,631,652,0.400967526681,0.00448018508193,0.0798290428155,0.999999951043,0.000104670113316,-0.000290358000044,5.14863528532e-05,1793243708125934336
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.860143579,658,634,878,786.139856421,804.139856421,652,631,652,0.400966596219,0.00448202871147,0.079829017615,0.999999950878,0.000106649059086,-0.000290227518272,5.13591944127e-05,1793243708142601728
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.564266329,658,634,878,786,804.435733671,652,631,652,0.400967317034,0.00448184831039,0.0798299238277,0.999999951376,0.000105905951482,-0.00028875859027,5.14816873806e-05,1793243708159268096
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786,805,652,631,652,0.400968530605,0.00448102563905,0.079831104166,0.999999952063,0.000104339552786,-0.00028690880432,5.1681615775e-05,1793243708175934208
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786,805,652,631,652,0.400967929661,0.00448023785304,0.079831042742,0.999999951779,0.000105134931668,-0.000287590450528,5.17751845667e-05,1793243708192600576
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.188599894,658,634,878.188599894,786,805,652,631,652,0.400968005843,0.00447993548769,0.0798313297128,0.999999951767,0.000105532510995,-0.000287481216963,5.17984435145e-05,1793243708209267200
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.766596672,658,634,878.766596672,786,805,652,631,652,0.400969480069,0.00448063535675,0.0798323360046,0.999999952317,0.000105108764743,-0.00028573907619,5.16765357036e-05,1793243708225934080
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.654703161,658,634,878.654703161,786,804.654703161,652,631,652,0.400969544851,0.00448119391158,0.0798323104638,0.99999995236,0.000105484838401,-0.000285513019447,5.13268850797e-05,1793243708242600960
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.075526592,658,634,878.075526592,786,804.075526592,652,631,652,0.400968654974,0.00448165675009,0.0798315860325,0.99999995206,0.000106402653684,-0.000286313851189,5.08229775387e-05,1793243708259268096
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.490935126,658.509064874,634,878,786.509064874,804,652,631,652,0.400968033539,0.00448041625987,0.0798318924501,0.999999952438,0.000104000376814,-0.000285822881569,5.1127800235e-05,1793243708275934720
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.093516658,659,634,878.093516658,786.906483342,804.093516658,652,631,652,0.400967452082,0.00447944858371,0.0798321957708,0.999999952714,0.000102132703566,-0.000285463172465,5.14894198077e-05,1793243708292601600
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.673022466,659,634,878.673022466,786.326977534,804.673022466,652,631,652,0.400966869194,0.00448122608956,0.0798316796493,0.999999951969,0.000105630641209,-0.000286792310817,5.15159530549e-05,1793243708309267712
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.747801626,745,714,680,658.747801626,634,879,786.252198374,805,652,631,652,0.400966713108,0.00448215565356,0.0798314667253,0.999999951717,0.00010676355202,-0.000287269628808,5.14243372713e-05,1793243708325934336
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.169052796,745,714,680,658.169052796,634,879,786.830947204,805,652,631,652,0.400967109656,0.00448198728925,0.0798316463861,0.999999952113,0.00010483418906,-0.000286643996473,5.11797402532e-05,1793243708342601216
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658.403926075,634,878.596073925,786.596073925,805,652,631,652,0.400967928926,0.00448117519158,0.0798317846388,0.999999952488,0.000104780302462,-0.000285356295888,5.1163420314e-05,1793243708359268096
+408,6.800000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658.974524055,634,878.025475945,786.025475945,805,652,631,652,0.400968922624,0.0044800974704,0.0798319058051,0.999999952852,0.000105500293274,-0.000283795406301,5.12412942975e-05,1793243708375934720
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..780ef534a4a3b308073ef1015d98f1149057b7e8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+1,0.016666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+2,0.033333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+3,0.050000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+4,0.066666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+5,0.083333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+6,0.100000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+7,0.116666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+8,0.133333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+9,0.150000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
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+12,0.200000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+13,0.216666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+14,0.233333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
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+16,0.266666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+17,0.283333333,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+18,0.300000000,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
+19,0.316666667,pose1_baseline,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489285,1.06967877788
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+385,6.416666667,pose2_to_pose3_retreat,0.580755375039,0.0100018954775,1.07004091768,0.551327131308,0.0186767095854,1.0696787184
+386,6.433333333,pose2_to_pose3_retreat,0.580751819892,0.0100019106019,1.07004083178,0.551323575585,0.0186767227205,1.06967863174
+387,6.450000000,pose2_to_pose3_retreat,0.58074987883,0.0100019210911,1.07004075134,0.551321634043,0.0186767315297,1.06967855053
+388,6.466666667,pose2_to_pose3_retreat,0.580748442632,0.0100019256746,1.07004072137,0.551320197739,0.0186767357572,1.06967852078
+389,6.483333333,pose2_to_pose3_retreat,0.580747509245,0.0100019197582,1.07004078458,0.551319264986,0.0186767320925,1.06967858637
+390,6.500000000,pose2_to_pose3_retreat,0.580746968643,0.0100019163316,1.07004082119,0.551318724751,0.01867672997,1.06967862436
+391,6.516666667,pose2_to_pose3_retreat,0.580746498106,0.0100019133491,1.07004085306,0.551318254533,0.0186767281226,1.06967865743
+392,6.533333333,pose2_to_pose3_retreat,0.580745910454,0.0100019096242,1.07004089285,0.55131766728,0.0186767258154,1.06967869872
+393,6.550000000,pose2_to_pose3_retreat,0.580745583098,0.0100019064557,1.07004090312,0.551317340072,0.0186767231638,1.0696787094
+394,6.566666667,pose2_to_pose3_retreat,0.580745562144,0.0100019060587,1.07004090166,0.551317319114,0.0186767227515,1.06967870789
+395,6.583333333,pose2_to_pose3_retreat,0.580745524148,0.010001905339,1.07004089902,0.551317281112,0.018676722004,1.06967870516
+396,6.600000000,pose2_to_pose3_retreat,0.580745461312,0.0100019041486,1.07004089465,0.551317218264,0.0186767207677,1.06967870064
+397,6.616666667,pose2_to_pose3_retreat,0.580745083129,0.0100018969846,1.07004086834,0.551316840013,0.0186767133269,1.06967867346
+398,6.633333333,pose2_to_pose3_retreat,0.580744790976,0.0100018914503,1.07004084803,0.551316547808,0.0186767075788,1.06967865247
+399,6.650000000,pose2_to_pose3_retreat,0.580744774667,0.0100018911413,1.07004084689,0.551316531495,0.0186767072579,1.0696786513
+400,6.666666667,pose2_to_pose3_retreat,0.580744761044,0.0100018908833,1.07004084594,0.551316517871,0.0186767069899,1.06967865032
+401,6.683333333,pose2_to_pose3_retreat,0.580744688425,0.0100018895076,1.07004084089,0.551316445238,0.0186767055611,1.0696786451
+402,6.700000000,pose2_to_pose3_retreat,0.580744346039,0.0100018830217,1.07004081708,0.551316102791,0.0186766988246,1.06967862049
+403,6.716666667,pose2_to_pose3_retreat,0.580744023276,0.0100018534512,1.07004084006,0.551315780237,0.018676669882,1.06967864171
+404,6.733333333,pose2_to_pose3_retreat,0.580743876596,0.0100018236519,1.07004088219,0.551315633839,0.0186766409705,1.06967868234
+405,6.750000000,pose2_to_pose3_retreat,0.580743866666,0.0100018216345,1.07004088504,0.551315623928,0.0186766390133,1.0696786851
+406,6.766666667,pose2_to_pose3_retreat,0.580743727084,0.0100017932771,1.07004092514,0.551315484614,0.0186766115009,1.06967872376
+407,6.783333333,pose2_to_pose3_retreat,0.580743592618,0.0100017892392,1.07004097168,0.551315349902,0.01867660642,1.069678765
+408,6.800000000,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315312981,0.01867663609,1.06967878187
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94c4c7f4476f421dd46484482c929ff4d5411d1e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0377d8dc7a915bce933e5f17bd685bbd709f2c9518244790a9440df4320be27
+size 26040607
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bbdc23f015d7485cf8be2b85c84f4ee96bb7cbc4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,714,680,658,634,878,786,805,652,631,652,0.400967916434,0.00448177329431,0.07983329011,0.999999953216,0.000104919590984,-0.000282777452578,5.09681207707e-05,1793243708519561216
+1,0.016666667,BASELINE,764.425964805,745,714,680,658.574035195,634,878,786.574035195,805,652,631,652,0.400967679202,0.00448277118779,0.0798332067342,0.999999952904,0.000106412716966,-0.000283359030084,5.0751693552e-05,1793243708536228608
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+18,0.300000000,BASELINE,764.555412244,745,714,680,658.444587756,634,878,786,804.555412244,651.444587756,631,651.555412244,0.400968268238,0.00448157372356,0.0798343032522,0.999999953961,0.000103085714506,-0.000280897462728,5.0484056065e-05,1793243708819560704
+19,0.316666667,BASELINE,764.021469274,745,714,680,658.978530726,634,878,786.021469274,804.021469274,652,631,651,0.400968297651,0.00448116420672,0.0798343241066,0.999999954006,0.00010280001969,-0.00028087269413,5.03081199034e-05,1793243708836227328
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+21,0.350000000,BASELINE,765,745,714,680,658,634.172737053,878.172737053,786.654525894,805,652,631,651.172737053,0.400969972918,0.00448260033854,0.0798358329646,0.999999954256,0.000106043337509,-0.00027870430721,5.06568317377e-05,1793243708869561088
+22,0.366666667,BASELINE,765,745,714,680,658,634.747524926,878.747524926,785.504950148,805,652,631,651.747524926,0.400971341846,0.00448339899941,0.0798367915937,0.999999954816,0.000104966863836,-0.000277182792124,5.01963583323e-05,1793243708886227712
+23,0.383333333,BASELINE,765,745,714,680,658,634.666623124,878.666623124,785.333376876,805,651.666623124,631,651.666623124,0.40097079382,0.0044832199172,0.0798362863511,0.999999954592,0.000104928633289,-0.000277976797771,5.03466559049e-05,1793243708902894336
+24,0.400000000,BASELINE,765,745,714,680,658,634.072104363,878.072104363,785.927895637,805,651.072104363,631,651.072104363,0.400968744198,0.00448227494612,0.0798346344237,0.99999995375,0.000105703682689,-0.000280584604665,5.09753845849e-05,1793243708919560448
+25,0.416666667,BASELINE,764.491603896,745,714,680,658.508396104,634,878.508396104,786,805,651.508396104,631,651.508396104,0.400968280068,0.00448225789992,0.0798342986089,0.999999953713,0.000106352941411,-0.000280515137664,5.07417677854e-05,1793243708936227072
+26,0.433333333,BASELINE,764,745,714,680,658.914117985,634,879,786,805,651.914117985,631,652,0.400968068767,0.00448226684194,0.0798342186558,0.999999953774,0.000106742955735,-0.000280192693586,5.04916352494e-05,1793243708952893952
+27,0.450000000,BASELINE,764,745,714,680,658.34273568,634,879,786,805,651.34273568,631,652,0.400968049655,0.00448169868503,0.0798345582191,0.999999953767,0.000105765581958,-0.000280529085117,5.08209822367e-05,1793243708969561088
+28,0.466666667,BASELINE,764,745.23124699,714,680,658.23124699,634,879,786,805,651.23124699,631,651.76875301,0.400968549521,0.00448150446993,0.0798349987009,0.999999953878,0.000105307227087,-0.000280299365265,5.08529859847e-05,1793243708986227968
+29,0.483333333,BASELINE,764,745.809127512,714,680,658.809127512,634,879,786,805,651.809127512,631,651.190872488,0.400969827323,0.0044818707844,0.079835590457,0.999999954167,0.000105626868807,-0.000279221058401,5.04392795356e-05,1793243709002894336
+30,0.500000000,BASELINE,764.395340786,745.604659214,714,679.604659214,659,634,878.604659214,786,805,652,631,651,0.400969826639,0.00448263075688,0.0798353077181,0.999999954181,0.000104861020715,-0.000279513644442,5.01427030783e-05,1793243709019560704
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+32,0.533333333,BASELINE,764.437879281,745,714,680.124241438,659,634,878,786.562120719,804.437879281,652,631,651.562120719,0.400969072755,0.00448253979086,0.0798350930483,0.999999954097,0.00010388238682,-0.000280175986748,5.01609949113e-05,1793243709052893696
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+44,0.733333333,BASELINE,765,745,714,680.527839957,658.527839957,634,878.472160043,786.472160043,805,652,631,651.527839957,0.400969561645,0.00448169895031,0.0798358221076,0.999999954369,0.000104636143987,-0.000278866805592,5.04636740363e-05,1793243709252893696
+45,0.750000000,BASELINE,764.897043938,745,714,680.897043938,659,634.102956062,878,786,804.897043938,652,631,652,0.400968855676,0.00448082222452,0.0798354166009,0.999999954163,0.000104608060691,-0.000279565748747,5.07435215875e-05,1793243709269560576
+46,0.766666667,BASELINE,764.327338736,745,714,680.327338736,659,634.672661264,878,786,804.327338736,652,631,652,0.400968821703,0.00448202217792,0.0798351478066,0.999999954018,0.000105238746682,-0.000279920568363,5.03265713878e-05,1793243709286227200
+47,0.783333333,BASELINE,764.248585885,745,714,680,658.751414115,634.751414115,878,786,804.248585885,652,631,652,0.400969156398,0.00448251549162,0.0798352836091,0.999999954096,0.000105148654919,-0.000279709126889,5.01453805135e-05,1793243709302894080
+48,0.800000000,BASELINE,764.832910499,745,714,680,658.167089501,634.167089501,878,786,804.832910499,652,631,652,0.400969989011,0.00448205442179,0.0798359658575,0.999999954473,0.000104085084774,-0.000278732896351,5.02826048287e-05,1793243709319560704
+49,0.816666667,BASELINE,765,745,714,680,658.423765475,634,878,786,805,652,631,652,0.400969655021,0.00448174392841,0.0798356748726,0.999999954347,0.000104184276746,-0.000279120902731,5.04205212e-05,1793243709336227328
+50,0.833333333,BASELINE,764.983340012,745,714,680,658.983340012,634,878,786,805,652,631,651.983340012,0.400968861352,0.00448152452271,0.0798350059926,0.999999954027,0.000104737329384,-0.000280036863662,5.054430469e-05,1793243709352893952
+51,0.850000000,BASELINE,764.409690428,745,714,680,658.409690428,634,878,786,805,652,631,651.409690428,0.400968318686,0.00448233439729,0.0798347334265,0.999999953944,0.000104896248108,-0.00028033835543,5.01863212882e-05,1793243709369560320
+52,0.866666667,BASELINE,764.152157054,745,714,680,658,634.152157054,878.152157054,786,805,652,631,651.152157054,0.400968208975,0.00448285159355,0.079834750352,0.999999953968,0.000104962040885,-0.000280268869752,4.99679062226e-05,1793243709386226944
+53,0.883333333,BASELINE,764.684514185,745,714,680,658,634.684514185,878.684514185,786,805,652,631,651.684514185,0.400969181103,0.00448263746437,0.0798354906403,0.999999954258,0.000104795136642,-0.000279272409921,5.00982353912e-05,1793243709402893568
+54,0.900000000,BASELINE,765,745,714,680,658.26232346,634.73767654,878.73767654,786,804.73767654,652,631,651.73767654,0.400970102951,0.00448259201702,0.0798362795219,0.999999954659,0.000104905386568,-0.000277778276942,5.01534597163e-05,1793243709419560448
+55,0.916666667,BASELINE,765,745,714,680,658.906252566,634.093747434,878.093747434,786,804.093747434,652,631,651.093747434,0.400970951657,0.00448279195353,0.0798371390929,0.999999955222,0.000105418816591,-0.000275560171888,5.00994279526e-05,1793243709436227584
+56,0.933333333,BASELINE,764.509970566,745,714,679.509970566,659,634.490029434,878.490029434,786,804.490029434,652,631,651.490029434,0.400970218494,0.00448219238575,0.0798364934276,0.999999954777,0.000105649723708,-0.000277044910285,5.02949466317e-05,1793243709452894208
+57,0.950000000,BASELINE,764.064096946,745,714,679.064096946,659,634.935903054,878.935903054,786,805,652,631,651.935903054,0.400969323063,0.00448151708165,0.0798356594746,0.99999995424,0.000105666129357,-0.000278939811724,5.04713149261e-05,1793243709469560832
+58,0.966666667,BASELINE,764.642498627,745,714,679.642498627,659,634.357501373,878.357501373,786,805,652,631,651.357501373,0.400969288367,0.00448132717396,0.0798353727077,0.99999995436,0.000104347675009,-0.000279063222663,5.01528343082e-05,1793243709486227200
+59,0.983333333,BASELINE,765,745,714,680.225052154,658.774947846,634,878.225052154,786,805,652,631,651,0.400968999467,0.0044813172117,0.0798351734055,0.999999954293,0.000104051573285,-0.000279422378946,5.00979293039e-05,1793243709502893568
+60,1.000000000,BASELINE,765,745,714,680.814325052,658.185674948,634,878.814325052,786,805,652,631,651,0.400968299168,0.00448159847017,0.0798351156548,0.999999953925,0.000105410030204,-0.000280163061675,5.04695907323e-05,1793243709519560192
+61,1.016666667,BASELINE,765,745,714,680.207003652,658,634,878.603501826,786,805,652,631,651.396498174,0.400968632905,0.00448191974583,0.0798355614124,0.999999953959,0.000106259604019,-0.000279728621804,5.04217613839e-05,1793243709536227072
+62,1.033333333,BASELINE,765,745,714,679.049189971,658,634,878.024594985,786,805,652,631,651.975405015,0.400969442351,0.00448225943134,0.0798362388086,0.999999954178,0.000106875066489,-0.000278753567679,5.01809456179e-05,1793243709552893696
+63,1.050000000,BASELINE,765,745,714,679.553405255,658,634,878,786,805,652,631,651.446594745,0.400970224745,0.00448247059321,0.079836353114,0.999999954515,0.000106291861363,-0.000277763592185,5.01975791502e-05,1793243709569560320
+64,1.066666667,BASELINE,765,745,714,680,658.130339208,634,878.130339208,786,805,652,631,651.130339208,0.400970750038,0.00448236109665,0.0798363903078,0.999999954755,0.000105502219824,-0.000277193812211,5.02242450662e-05,1793243709586226944
+65,1.083333333,BASELINE,765,745,714,680,658.70378489,634,878.70378489,786,805,652,631,651.70378489,0.400970405358,0.00448118086353,0.0798362502878,0.999999954652,0.000104191579416,-0.000278054796844,5.02461830331e-05,1793243709602893568
+66,1.100000000,BASELINE,765,745,714,680,658.714200018,634,878.714200018,786,804.714200018,652,631,652,0.400970173351,0.00448074045694,0.0798361397056,0.999999954612,0.000103635169802,-0.000278407351821,5.02520857975e-05,1793243709619560448
+67,1.116666667,BASELINE,765,745,714,680,658.123028726,634,878.123028726,786,804.123028726,652,631,652,0.400970061733,0.00448109053963,0.079836060577,0.99999995464,0.000103884640121,-0.000278216660276,5.0240855282e-05,1793243709636227328
+68,1.133333333,BASELINE,765,745,714,680,658.459381094,634,878.459381094,786,804.459381094,651.540618906,631,652,0.400969862861,0.00448159979027,0.0798361944727,0.999999954574,0.000104489466483,-0.000278228927004,5.02292711723e-05,1793243709652893696
+69,1.150000000,BASELINE,765,745,714,680,659,634,879,786,804.960815801,651.039184199,631.039184199,651.960815801,0.400969686054,0.00448206229727,0.0798363847671,0.999999954495,0.000105152027722,-0.000278264851338,5.02227384004e-05,1793243709669560576
+70,1.166666667,BASELINE,765,745,714,680,659,634,879,786,804.385177758,651.614822242,631.614822242,651.385177758,0.40097012528,0.00448131218561,0.0798365807518,0.999999954576,0.000105326473784,-0.000277894436854,5.02866335071e-05,1793243709686227200
+71,1.183333333,BASELINE,765,745,714,680,658.80974652,634,879,786.19025348,804.19025348,652,631.80974652,651.19025348,0.400970457202,0.00448091621045,0.0798366918701,0.999999954701,0.000104813273212,-0.000277649588839,5.0224046779e-05,1793243709702893824
+72,1.200000000,BASELINE,765,745,714,680,658.234733411,634,879,786.765266589,804.765266589,652,631.234733411,651.765266589,0.40097057212,0.00448123642405,0.0798366313587,0.999999954912,0.000102909408674,-0.000277658680437,4.99056691879e-05,1793243709719560448
+73,1.216666667,BASELINE,765,745.34927541,714,680,658,634,879,786.65072459,805,652,631,652,0.400970436486,0.00448188508487,0.0798364552619,0.999999954802,0.000103193689798,-0.000277977464414,4.97639222772e-05,1793243709736227072
+74,1.233333333,BASELINE,765,745.939489662,714,680,658,634,879,786.060510338,805,652,631,652,0.400970128015,0.00448276031671,0.0798361994315,0.999999954468,0.000104987408185,-0.000278509881875,4.974401961e-05,1793243709752893696
+75,1.250000000,BASELINE,764.480693407,745.480693407,714,680,658,634,878.480693407,786,805,652,631,652,0.400969019013,0.00448169474681,0.0798355936216,0.999999954215,0.000104644861596,-0.000279514198144,4.99203659179e-05,1793243709769560320
+76,1.266666667,BASELINE,764.097762549,745,714,680,658.097762549,634,878.097762549,786,805,651.902237451,631,652,0.400968270051,0.00448071336799,0.079835225255,0.99999995409,0.000104210821342,-0.000280088299855,5.01058778249e-05,1793243709786226944
+77,1.283333333,BASELINE,764.675368157,745,714,680,658.675368157,634,878.675368157,786,805,651.324631843,631,652,0.400969737106,0.00448123340894,0.0798362185495,0.999999954554,0.000104525490495,-0.000278286211675,5.02263418713e-05,1793243709802893568
+78,1.300000000,BASELINE,765,745,714,680,659,634,878.743691352,786.256308648,805,651.256308648,631,652,0.400970642539,0.004481469932,0.079836561372,0.999999954813,0.000104813469475,-0.000277202542142,5.04725723355e-05,1793243709819560448
+79,1.316666667,BASELINE,765,745,714,680,659,634,878.158471375,786.841528625,805,651.841528625,631,652,0.400970827265,0.00448134262711,0.0798360694677,0.99999995481,0.000105067197927,-0.000277040792604,5.0880194144e-05,1793243709836227072
+80,1.333333333,BASELINE,765,745,714.424344704,680,659,634,878,786.575655296,805,652,631,652,0.400970812274,0.00448204825259,0.0798362213954,0.999999954837,0.000104737183055,-0.000277142528584,5.04858809296e-05,1793243709852893952
+81,1.350000000,BASELINE,765,745,714.99378165,680,658.99378165,634,878.00621835,786,805,652,631,652,0.400970715776,0.00448303720709,0.0798365997705,0.999999954872,0.000104177829116,-0.000277349469207,4.98020063258e-05,1793243709869560320
+82,1.366666667,BASELINE,765,745,714.416481876,680,658.416481876,634,878.583518124,786,805,652,631,652,0.40096994481,0.00448164053811,0.0798358175914,0.9999999548,0.000102464227243,-0.000278232369584,4.98743274593e-05,1793243709886226944
+83,1.383333333,BASELINE,765,745,714,680,658.159741489,634,878.840258511,786.159741489,805,652,631,652,0.400969315302,0.00448068537024,0.0798352192082,0.999999954643,0.000101765400307,-0.000279035858083,4.99644781656e-05,1793243709902893568
+84,1.400000000,BASELINE,765,745,714,680,658.73317732,634,878.26682268,786.73317732,805,652,631,652,0.400969052136,0.00448087359017,0.0798350968146,0.999999954271,0.000103694610676,-0.00027963368796,5.01008034505e-05,1793243709919560192
+85,1.416666667,BASELINE,765,745,714,680,658.684192315,634,878.315807685,786.684192315,805,652,631,652,0.400968692642,0.00448105961914,0.0798350904554,0.999999954106,0.000104233872597,-0.00027999364723,5.02582347641e-05,1793243709936227328
+86,1.433333333,BASELINE,765,745,714,680,658.093560664,634,878.906439336,786.093560664,805,652,631,652,0.40096824932,0.00448124374146,0.0798351850724,0.999999954124,0.000103563565534,-0.000280146605349,5.04340330786e-05,1793243709952894720
+87,1.450000000,BASELINE,765,745,714,680,658,634,878.513852777,786,805,652,631.486147223,652,0.40096873591,0.00448165758802,0.079835958101,0.999999954416,0.000103903708678,-0.000279009817976,5.02469053001e-05,1793243709969561088
+88,1.466666667,BASELINE,765,745,714,679.936360749,658,634,878,786,805,652,631.936360749,652,0.400969373811,0.00448211876113,0.0798367831069,0.99999995473,0.0001044297383,-0.0002777244304,5.00288226787e-05,1793243709986227200
+89,1.483333333,BASELINE,765,745,714,679.360155339,658,634,878,786,805,652,631.360155339,652,0.400969820664,0.00448261285154,0.079836998277,0.999999954821,0.000104921098837,-0.000277197436885,5.01116187945e-05,1793243710002893824
+90,1.500000000,BASELINE,765,745,714,679,658.22083236,634.22083236,878,786.22083236,805,652,631,652,0.400970486956,0.00448270216163,0.0798373164578,0.999999954947,0.000105630938361,-0.00027644803893,5.02398774296e-05,1793243710019560704
+91,1.516666667,BASELINE,765,745,714,679,658.809792072,634.809792072,878,786.809792072,805,652,631,652,0.400971519052,0.00448211670321,0.0798378063571,0.999999955132,0.000106704982116,-0.000275327893022,5.04439220366e-05,1793243710036227328
+92,1.533333333,BASELINE,765,745,714,679.392532986,659,634.607467014,878.392532986,786.607467014,805,652,631,652,0.400969986777,0.00448095621283,0.0798367875047,0.999999954897,0.000105477193398,-0.000276643679098,5.04820647696e-05,1793243710052893952
+93,1.550000000,BASELINE,765,745,714,679.972307533,659,634.027692467,878.972307533,786.027692467,805,652,631,652,0.400967231275,0.00447952142727,0.0798350489651,0.999999954453,0.00010315141118,-0.000279121425268,5.04410709205e-05,1793243710069560576
+94,1.566666667,BASELINE,764.45329475,745,714,680.54670525,659,634.54670525,879,786,805,652,631,651.45329475,0.400968035879,0.00448002159564,0.0798353239638,0.999999954391,0.000104226653764,-0.000278989414648,5.01892591044e-05,1793243710086227456
+95,1.583333333,BASELINE,764.121362547,745,714,680.878637453,658.878637453,634.878637453,878.878637453,786,805,652,631,651,0.400968879817,0.00448045469463,0.0798355946195,0.999999954398,0.000104970535531,-0.000278714380743,5.00254107962e-05,1793243710102894592
+96,1.600000000,BASELINE,764.698005565,745,714,680.301994435,658.301994435,634.301994435,878.301994435,786,805,652,631,651,0.400969201403,0.00448027208728,0.0798354700941,0.999999954596,0.000103831374223,-0.000278393888164,5.0231219243e-05,1793243710119560704
+97,1.616666667,BASELINE,765,745,714,679.718932275,658,634.281067725,878,786.281067725,804.718932275,652,631,651.281067725,0.400969279251,0.00448127000296,0.0798355865067,0.999999954561,0.000104598760535,-0.000278229354632,5.02566197136e-05,1793243710136227328
+98,1.633333333,BASELINE,765,745,714,679.128811875,658,634.871188125,878,786.871188125,804.128811875,652,631,651.871188125,0.400969089094,0.00448356598232,0.0798359678467,0.999999954264,0.000107462522947,-0.000278236308472,5.00836495916e-05,1793243710152893952
+99,1.650000000,BASELINE,764.546983477,745,714,679.453016523,658,634.546983477,878,786.546983477,804.453016523,652,631,651.546983477,0.400970512447,0.00448320189551,0.0798368736223,0.999999954953,0.000106245793497,-0.00027625885036,4.98656750415e-05,1793243710169560832
+100,1.666666667,BASELINE,764.03219127,744.96780873,714,680,658.03219127,634,878,786,805,651.96780873,631,651,0.400972123582,0.00448217847623,0.0798377591917,0.999999955796,0.000104049532513,-0.000274073128406,4.96600859416e-05,1793243710186227456
+101,1.683333333,BASELINE,764.60567823,744.39432177,714,680,658.60567823,634,878,786,805,651.39432177,631,651,0.400969316395,0.00448255812952,0.0798358426259,0.999999954732,0.000104541488735,-0.00027770280943,4.98740660424e-05,1793243710202894080
+102,1.700000000,BASELINE,765,744,714,680,659,634,878.183949231,786,805,651.183949231,631,651.183949231,0.400967330488,0.00448252345117,0.0798343873783,0.999999953863,0.000105068545296,-0.000280569634241,5.01438238742e-05,1793243710219560704
+103,1.716666667,BASELINE,765,744,714,680,659,634,878.772749272,786,805,651.772749272,631,651.772749272,0.40096715212,0.00448157687716,0.0798339474382,0.999999953446,0.000105672853545,-0.000281757501001,5.0536341961e-05,1793243710236227840
+104,1.733333333,BASELINE,765,744.355398974,714,679.644601026,659.355398974,634.355398974,878.644601026,786.355398974,805,652,631,652,0.400968944311,0.00448090150132,0.0798352545444,0.999999954192,0.000105251981293,-0.000279235471406,5.06475014239e-05,1793243710252894720
+105,1.750000000,BASELINE,765,744.934182956,714,679.065817044,659.934182956,634.934182956,878.065817044,786.934182956,805,652,631,652,0.40097197509,0.00448039658624,0.0798376597515,0.999999955651,0.000104186734832,-0.0002743815972,5.05818137673e-05,1793243710269561856
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.400969440627,0.00448105282177,0.0798358260298,0.999999954711,0.000101428013581,-0.000278930249651,4.98735990021e-05,1793243710300348416
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744.425760221,714,680,658,634,879,786,805,652,631,652,0.400969459187,0.00448026446615,0.0798357590893,0.999999954961,0.000100750973592,-0.000278290754718,4.98188914034e-05,1793243710317015296
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.152826275,714,680,658.152826275,634,878.847173725,786,805,652,631,651.847173725,0.40096964421,0.00448007305819,0.0798358236834,0.99999995521,0.000100321639005,-0.000277571865327,4.96869466938e-05,1793243710333682176
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.743876978,714,680,658.743876978,634,878.256123022,786,805,652,631,651.256123022,0.400970306561,0.0044815933783,0.079836265449,0.999999955462,0.000100602591534,-0.000276625314735,4.93335270399e-05,1793243710350348544
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.671689132,744.671689132,714,680,658.671689132,634,878.328310868,786,805,652,631,651.328310868,0.400970272998,0.00448189380059,0.0798364276533,0.999999955445,0.000101165126794,-0.000276471577462,4.93856698964e-05,1793243710367014912
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.092315228,744.092315228,714,680,658.092315228,634,878.907684772,786,805,652,631,651.907684772,0.400969707262,0.00448126135314,0.0798363760737,0.999999955223,0.000101942991535,-0.00027692411356,4.97479510141e-05,1793243710383681792
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.483368121,744.483368121,714,679.516631879,658.483368121,634,879,786.483368121,805,652,631,652,0.4009706135,0.00448196316674,0.0798370713304,0.999999955221,0.00010436013995,-0.000275996249164,4.99358003171e-05,1793243710400348416
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.058382722,658.941617278,634,879,787,805,652,631,652,0.400971614361,0.00448277407514,0.0798377396187,0.999999955216,0.000106727321734,-0.000275084436281,5.00632198374e-05,1793243710417014784
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.633669559,658.366330441,634,879,787,805,652,631,652,0.400970982863,0.00448231185521,0.0798369158711,0.999999954883,0.000105901232087,-0.000276631188325,4.99483251036e-05,1793243710433681664
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.785161046,745,714,680,658.214838954,634,878.785161046,786.785161046,805,651.785161046,631.214838954,652,0.40097277011,0.00448182149467,0.0798376701163,0.999999955107,0.000105543809177,-0.000275960732105,4.99274050131e-05,1793243710450348544
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.193678746,745,714,680,658.806321254,634,878.193678746,786.193678746,805,651.193678746,631.806321254,652,0.400978797761,0.00448128179966,0.0798411908082,0.999999956298,0.000106008026025,-0.00027140319321,5.00712358953e-05,1793243710467015168
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.611719657,634,878,786,804.611719657,651.388280343,631.611719657,652,0.400996642055,0.00448118199323,0.0798491463556,0.999999960125,0.000104571464273,-0.000257534647949,4.99000504861e-05,1793243710483681792
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.034397086,634,878,786,804.034397086,651.965602914,631.034397086,652,0.401020239524,0.0044812963555,0.0798592611035,0.999999964955,0.000102209469586,-0.000239132848274,4.95754929496e-05,1793243710500348672
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.541123907,745,714,679.458876093,658.541123907,634,878,786,804.541123907,652,631,652,0.401067606845,0.00448157652316,0.0798753753358,0.999999971805,0.000103323097893,-0.00020806318752,4.92251709737e-05,1793243710517015040
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.119320172,659.119320172,634,878,786.119320172,805,652,631,652,0.401120488111,0.00448213756449,0.0798918168755,0.9999999778,0.000104018875996,-0.000176691680554,4.85855548745e-05,1793243710533681920
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.708500787,659.708500787,634,878,786.708500787,805,652,631,652,0.401189152159,0.00448376326848,0.0799080505413,0.999999982834,0.000102202139302,-0.00014729193411,4.6813180578e-05,1793243710550348544
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.708465633,634,878,786.708465633,805,652,631,652,0.401262009296,0.00448464665641,0.0799196522567,0.9999999856,0.000101191133611,-0.000128563067659,4.50675224989e-05,1793243710567015168
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.131451462,634,878,786.131451462,805,652,631,652,0.401338972435,0.00448480314454,0.0799267182166,0.999999986729,0.000100969125732,-0.000120283471014,4.33480259303e-05,1793243710583681792
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.55434746,634,878.44565254,786.44565254,805,652,631,651.55434746,0.401426128227,0.00448521813876,0.0799300001785,0.99999998763,9.86075083272e-05,-0.000115577232187,4.07290923273e-05,1793243710600348416
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.976811093,745,714,680,658.023188907,634,878.976811093,787,805,651.976811093,631,651.023188907,0.401517512321,0.00448584580531,0.0799322313366,0.999999988447,9.57498056513e-05,-0.000111844283118,3.77893239809e-05,1793243710617015040
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.389399215,745,714,680,658.610600785,634,878.389399215,787,805,651.389399215,631,651.610600785,0.401638610904,0.00448979247045,0.0799360577809,0.99999998918,9.61805108362e-05,-0.000106142062722,3.34996453179e-05,1793243710633681664
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.804807106,634,878,786.804807106,805,651.195192894,631,651.804807106,0.401770342436,0.00449281306581,0.0799410862238,0.999999990263,9.5400498493e-05,-9.76517518664e-05,2.89458230452e-05,1793243710650348032
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.225760245,634,878,786.225760245,805,651.774239755,631,651.225760245,0.401922984038,0.00449401251061,0.0799484784406,0.99999999196,9.22395657872e-05,-8.36785598044e-05,2.38725532063e-05,1793243710667014912
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.351556375,745,714,680,658.351556375,634,878.351556375,786,804.648443625,652,631,651.351556375,0.402090915424,0.00449627557754,0.0799552708004,0.999999993378,8.86000627941e-05,-7.10404032539e-05,1.86560891069e-05,1793243710683681536
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.927767377,745,714,680,658.927767377,634,878.927767377,786,804.072232623,652,631,651.927767377,0.402268617437,0.0044992183297,0.0799616798352,0.999999994572,8.46547393178e-05,-5.92553713898e-05,1.33481192598e-05,1793243710700348160
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.497357426,786,804,652,631,652,0.402463027196,0.00450139701153,0.0799618347132,0.999999995275,7.7083882525e-05,-5.88268196626e-05,6.88541548177e-06,1793243710717015296
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.9205278,714,680,658.9205278,634.0794722,878,786,804.0794722,652,631.0794722,652,0.402663340309,0.0045036933216,0.0799599863934,0.999999995674,6.92725074183e-05,-6.20775998666e-05,6.94693924764e-08,1793243710733682432
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.329895737,714,680,658.329895737,634.670104263,878,786,804.670104263,652,631.670104263,652,0.402886221349,0.0045074505722,0.0799510190705,0.999999994885,6.32563499301e-05,-7.85245599178e-05,-7.95401234908e-06,1793243710750348800
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.255806124,714,680,658.255806124,634.744193876,878.255806124,786,804.744193876,652,631.744193876,651.744193876,0.403130436996,0.00451144251642,0.0799462192723,0.999999994319,5.88052455452e-05,-8.74945309898e-05,-1.57374269604e-05,1793243710767015424
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.835270029,714,680,658.835270029,634.164729971,878.835270029,786,804.164729971,652,631.164729971,651.164729971,0.403401646162,0.00451573140567,0.0799466924203,0.999999994359,5.63343193639e-05,-8.7004267626e-05,-2.32170970178e-05,1793243710783682048
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680.410588204,659,634.410588204,879,786,804.410588204,652,631,651.410588204,0.403707242228,0.00451914871101,0.0799512047242,0.999999992452,9.17422029314e-05,-7.9697402577e-05,-1.80756162176e-05,1793243710800348672
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.984259705,659,634.984259705,879,786,804.984259705,652,631,651.984259705,0.404026496568,0.0045222198281,0.0799573213578,0.999999987431,0.000142195333871,-6.96830219808e-05,-7.92108594867e-06,1793243710817015296
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680.439483878,658.439483878,634.439483878,878.439483878,786,805,652,631,652,0.404378662944,0.00453625810531,0.0799599313459,0.999999985458,0.000157386886076,-6.39567466864e-05,-1.49010917417e-05,1793243710833681920
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.859523179,745.140476821,714,680,658.140476821,634,878.140476821,786,804.859523179,652,631,652,0.404745332614,0.00454765470482,0.0799619326094,0.999999987734,0.000143797562352,-5.82168923757e-05,-2.15647294166e-05,1793243710850348288
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.267900373,745.732099627,714,680,658.732099627,634,878.732099627,786,804.267900373,652,631,652,0.405155598083,0.00454957380338,0.0799622966478,0.999999997477,4.09723141731e-05,-5.20449123049e-05,-2.56598910113e-05,1793243710867014912
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745.682786563,714,680,659,634,879,786,804.317213437,652,631,652,0.40557166517,0.00455644724518,0.0799565214294,0.999999997685,1.46412180217e-05,-5.99894151462e-05,-2.85972910159e-05,1793243710883681536
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745.103059287,714,680,659,634,879,786,804.896940713,652,631,652,0.405992533502,0.00456742071421,0.0799456655942,0.999999995031,5.16137768485e-05,-7.96161847359e-05,-3.05765719117e-05,1793243710900348160
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.47235836,745,714,680.47235836,659,634,878.52764164,786,805,652,631,651.52764164,0.406450236668,0.0045751895281,0.0799383542793,0.99999999124,8.8881090739e-05,-9.32549013479e-05,-3.0397625197e-05,1793243710917014784
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680.953653266,659,634.046346734,878.046346734,786,805,652,631,651.046346734,0.406918266335,0.0045824511862,0.0799323395151,0.999999986331,0.000124451645114,-0.000104639888922,-3.00073560211e-05,1793243710933681664
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680.385268168,659,634.614731832,878.614731832,786,805,652,631,651.614731832,0.407412907257,0.00459180470166,0.0799322967716,0.999999984109,0.000140192520378,-0.000105222201041,-3.24927572741e-05,1793243710950348288
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.807608452,878.807608452,786,805,652,631,652,0.407924482952,0.00460214666203,0.0799287549448,0.999999981778,0.00014999135459,-0.000112943423378,-3.45108411908e-05,1793243710967014912
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.210435476,878.210435476,786,805,652,631,652,0.408471688465,0.00461456825654,0.0799178512357,0.999999979316,0.000147288454346,-0.000135684527313,-3.55457145188e-05,1793243710983681536
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.627424402,745,714,680,659,634,878.372575598,786,805,652,631,652,0.409062500276,0.00462309114303,0.0799243709064,0.999999978945,0.000157160123869,-0.000126709266914,-3.68074924056e-05,1793243711000348416
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.052119262,745,714,680,659,634,878.947880738,786,805,652,631,652,0.409677039562,0.00462949262532,0.0799403711604,0.999999979107,0.000173873993422,-0.000100476181907,-3.81927358028e-05,1793243711017015552
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.525601586,745,714,680,659,634,879,786,805,651.474398414,631,652,0.410352692558,0.00463625749308,0.07997367471,0.999999982525,0.000177706321354,-4.25504073926e-05,-3.95068518334e-05,1793243711033682432
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.894221661,745,714,680,659,634,879,786,805,651.105778339,631,651.894221661,0.41102602454,0.00464226717084,0.0800004937257,0.999999982994,0.000179781538837,3.45283037324e-06,-4.09699327773e-05,1793243711050349312
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.303897517,745,714,680,659,634,879,786,805,651.696102483,631,651.303897517,0.41166083619,0.00464465167383,0.0799897125621,0.999999982733,0.000179686098239,-1.96206688663e-05,-4.3147844926e-05,1793243711067015680
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.281110175,745,714,680,659.281110175,634,879,786,805,651.718889825,631,651.281110175,0.412320900134,0.0046336200318,0.0799657019291,0.999999982965,0.000169628502493,-5.72313350757e-05,-4.49601329038e-05,1793243711083682304
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.860477205,745,714,680,659.860477205,634,879,786,805,651.139522795,631,651.860477205,0.413007756748,0.00460835390989,0.0799276548767,0.999999981744,0.000149001096672,-0.000110265884368,-4.63844951713e-05,1793243711100348928
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.565211082,634,879,786,805,651.434788918,631,652,0.413734311234,0.00458880354071,0.0799189219408,0.999999985337,0.000119768035203,-0.000113691071265,-4.53326053783e-05,1793243711117017344
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,651.992458718,631,652,0.414474084837,0.00457137143943,0.0799198333204,0.999999990047,8.83824780141e-05,-0.000100994043357,-4.35265798467e-05,1793243711133686016
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,651.416367874,631,652,0.415261100266,0.00457694701106,0.0799467998623,0.999999992222,0.000100520400226,-5.92221051605e-05,-4.40844574523e-05,1793243711150350080
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.835528635,785.835528635,804.835528635,651.164471365,631,652,0.416036814288,0.00458486300166,0.0799633597755,0.999999992086,0.000111464045347,-3.80248388725e-05,-4.42440293012e-05,1793243711167014912
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.242311253,785.242311253,804.242311253,651.757688747,631,652,0.416783067613,0.00459888002548,0.0799527915567,0.999999989462,0.000119294433589,-7.04618882215e-05,-4.33652928285e-05,1793243711183681792
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.658499942,745,714,680.341500058,658.658499942,634,878.341500058,785.341500058,804.341500058,652,631,652,0.417602887683,0.00460419622582,0.0799554253861,0.999999988916,0.000128018280383,-6.14863094494e-05,-4.47141084102e-05,1793243711200348672
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.08118383,745,714,680.91881617,658.08118383,634,878.91881617,785.91881617,804.91881617,652,631,652,0.418473507771,0.00460350424548,0.0799671756269,0.999999989147,0.000137359086746,-2.39140649981e-05,-4.76011156373e-05,1793243711217015552
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.49616308,745,714,681,659.488489241,634,879,786,805,651.50383692,630.50383692,652,0.419337335474,0.0046015582292,0.0799827859854,0.99999999095,0.000125012693327,7.38145128539e-06,-4.91758626595e-05,1793243711233682432
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.925190282,745,714,681,660.850380565,634,879,786,805,651,630.074809718,652,0.420192969731,0.00459866702428,0.0799943000322,0.999999992153,0.000110863059365,2.93649510516e-05,-5.04102821309e-05,1793243711250349312
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.337670755,745,714,681,659.67534151,634,879,786,805,651,630.662329245,652,0.421000067059,0.0045907043095,0.0799734109365,0.99999999279,0.000108676322453,-5.43251439338e-06,-5.07839135979e-05,1793243711267015424
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.246387645,745,714,681,659,634,879,786,805.246387645,651.246387645,631,652,0.421847909757,0.00458878832491,0.0799684604618,0.999999992648,0.000109315674079,-1.37382134242e-05,-5.06531565474e-05,1793243711283681792
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.825768411,745,714,681,659,634,879,786,805.825768411,651.825768411,631,652,0.422750819975,0.00459504450043,0.0799850510448,0.999999992191,0.000113774486649,1.37597284613e-05,-4.98407180579e-05,1793243711300348160
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.403896587,634,879,786,805.596103413,652,631,652,0.423652447114,0.0046042618998,0.0799965531493,0.999999990029,0.0001302500403,2.42801124631e-05,-4.88639534622e-05,1793243711317014784
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.981486062,634,879,786,805.018513938,652,631,652,0.42455352242,0.00461475275229,0.0800058669883,0.999999986943,0.000151893308648,2.74994154399e-05,-4.78165216196e-05,1793243711333681920
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879,786,805,651.444406148,631,652,0.425377943361,0.00461729818124,0.07995578036,0.999999986021,0.000146241548644,-6.46731295235e-05,-4.88809692864e-05,1793243711350348544
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.866780221,634,879,786,805,651,631,652,0.426218981547,0.00461824495453,0.0799154823283,0.999999980226,0.000140011942072,-0.000131904557472,-5.04487907406e-05,1793243711367015424
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.276693752,634,879,786,805,651,631,652,0.427125712562,0.00461461159628,0.0799154994024,0.999999984189,0.000134900453414,-0.000102769105295,-5.35030558662e-05,1793243711383681792
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681.307483276,659.307483276,634,879.307483276,786,805,651,631,652,0.428022018642,0.00460982761097,0.0799185222854,0.999999985458,0.00013107789273,-9.48496159136e-05,-5.39124305344e-05,1793243711400348160
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681.886442839,659.886442839,634,879.886442839,786,805,651,631,652,0.428909120523,0.00460402773983,0.0799241989902,0.999999984824,0.000128393323968,-0.000105661653607,-5.19866372741e-05,1793243711417014784
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+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.789749052,714,682,660,634,879,786.210250948,805.789749052,652,631,651.210250948,0.432554990916,0.00461453799662,0.0800211039887,0.999999989485,0.000130520002116,3.64802629948e-05,-5.16080548273e-05,1793243711483681792
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.210179766,714,682,660,634,879,786.789820234,805.210179766,652,631,651.789820234,0.433354571851,0.00462027212018,0.0799680153492,0.999999987136,0.000142832332242,-5.27717203836e-05,-5.04229938454e-05,1793243711500348672
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.631294208,634,879,786.631294208,805,652,631,652,0.434190951985,0.0046235923882,0.0799287888894,0.999999983091,0.00014053341257,-0.000106423147944,-5.23633528234e-05,1793243711517015296
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.052797722,634,879,786.052797722,805,652,631,652,0.435048270525,0.00462553919107,0.0798974499038,0.999999980213,0.000129920806296,-0.000139818134131,-5.60820513458e-05,1793243711533681408
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.520163818,714,682,659,634,879.520163818,786.520163818,805.520163818,652,631,652,0.435931292568,0.00462155944244,0.0799320175134,0.99999998589,0.000129969127713,-9.06424656689e-05,-5.57895248012e-05,1793243711550348032
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,746,714,682,659.095666915,634,880,787,806,651.904333085,631,651.904333085,0.436802635752,0.00461568939905,0.0799711929492,0.999999989507,0.00012893798384,-3.65200029523e-05,-5.50218404195e-05,1793243711567014912
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,746,714,682,659.687225702,634,880,787,806,651.312774298,631,651.312774298,0.437600060026,0.00460310632266,0.0799999422509,0.999999991732,0.000116761336228,2.58077784812e-07,-5.38794044935e-05,1793243711583681280
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.727058158,714,682,660,634,880,786.727058158,806,651.272941842,631,651.272941842,0.43842307085,0.00459743856826,0.0800201161756,0.99999999262,0.000104014126196,3.15739366715e-05,-5.42611861151e-05,1793243711600348160
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.147897046,714,682,660,634,880,786.147897046,806,651.852102954,631,651.852102954,0.439274787715,0.00459952926178,0.0800306692002,0.999999992695,9.06267909279e-05,5.67616099828e-05,-5.63530199978e-05,1793243711617015040
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764.004422318,746,714,682.995577682,660,634,880,786.004422318,805.995577682,652,631,652,0.440745661761,0.00460983466926,0.0799544339715,0.999999989157,0.0001225044357,-5.76365344744e-05,-5.79373877442e-05,1793243711650348800
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.553904168,746,714,682.446095832,660,634,880,786.553904168,805.446095832,652,631,652,0.441389712192,0.00460988793671,0.0798775969075,0.999999977572,0.0001020234138,-0.000176206306462,-5.82903095491e-05,1793243711667015168
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764.627596027,745,713,684,650,631,880.372403973,785,806,652,631,652.627596027,0.453688756003,0.00473167797601,0.0795582482543,0.999999746225,0.000237969610532,-0.000667892077139,-6.9578345347e-05,1793243712300348160
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,713,684,650,631,880,785,806,652,631,652.582527897,0.453710538137,0.00473295450364,0.0795576052642,0.999999744871,0.000239575414321,-0.000669387465503,-6.914782618e-05,1793243712317014784
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,713,684,650,631,880,785,806,652,631,651.395054577,0.453727210949,0.00473467322124,0.0795573180752,0.999999743094,0.000240077841597,-0.000671850604145,-6.92245990395e-05,1793243712333681408
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,713,684,650,631,880,785,806,652,630.616155196,651.383844804,0.453736551254,0.00473543535502,0.0795542804327,0.999999739844,0.00023966102471,-0.000676808302038,-6.93233684182e-05,1793243712350348032
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,713,684,650,631,880,785,806,652,630.040947387,651.959052613,0.453742235991,0.00473572059092,0.0795498715719,0.999999735829,0.000238785925376,-0.000683009644022,-6.94331039956e-05,1793243712367014656
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713,684,650,631,880,785.534859763,806,651.465140237,630.534859763,652,0.453746477169,0.00473447390398,0.079548654396,0.999999734796,0.000237598030306,-0.000684973379713,-6.90367171313e-05,1793243712383681536
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713,684,650,631,880,785.88708901,806,651,631,652,0.453749990337,0.00473382164518,0.0795475383794,0.999999733672,0.000236734018398,-0.000686945028623,-6.87054331637e-05,1793243712400348160
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713,684,650,631,880,785.299802841,806,651,631,652,0.453750909734,0.00473616005205,0.0795458196353,0.999999731202,0.000237331464487,-0.000690314441871,-6.88106399737e-05,1793243712417014784
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,713,684,650,631,880,785,806,651.863089774,631,652,0.45375233593,0.00473543846767,0.0795449035559,0.999999729203,0.000238699347125,-0.000692770826415,-6.84500969825e-05,1793243712450348032
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713,684,650,631,880,785,806,652,631,652,0.453752678569,0.00473340355195,0.0795440056558,0.999999729197,0.000236293800119,-0.000693624697881,-6.8229957117e-05,1793243712467014912
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,713,684,650,631,880.018461274,785.018461274,806,652,630.981538726,652,0.453752961158,0.00473125477007,0.079542890488,0.999999729339,0.000233053159668,-0.00069453487891,-6.8043070737e-05,1793243712483681280
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713,684,650,631,880.594501603,785.594501603,806,652,630.405498397,652,0.453754230989,0.00473266604239,0.0795433606029,0.99999972968,0.000233735701614,-0.000693786372465,-6.8318841633e-05,1793243712500348160
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.174207137,745,713,684,649.825792863,631,880.825792863,785.825792863,806.174207137,652,630.174207137,652,0.453755673798,0.00473390918952,0.079543950061,0.999999730108,0.000234642923161,-0.000692850586883,-6.8447647822e-05,1793243712517015040
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.762627414,745,713,684,649.237372586,631,880.237372586,785.237372586,806.762627414,652,630.762627414,652,0.453757527898,0.00473475258452,0.0795448232819,0.99999973074,0.000236084366423,-0.000691469506852,-6.82270153122e-05,1793243712533681664
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.654103952,745,713,684,649,631,880,785,806.654103952,652,630.654103952,652,0.45375686691,0.00473450934746,0.0795439923346,0.999999729936,0.000235458305438,-0.0006928772361,-6.78908771776e-05,1793243712550348288
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.074318796,745,713,684,649,631,880,785,806.074318796,652,630.074318796,652,0.453754505263,0.00473353134799,0.0795420090572,0.999999728151,0.000233434232689,-0.000696170711463,-6.74766360849e-05,1793243712567014912
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713,684,649,631,880,785,806,652,630.50190331,652,0.453755337688,0.00473407241672,0.0795422996125,0.999999728075,0.000234638957013,-0.00069586517707,-6.75739325483e-05,1793243712583681536
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713,684,649,631,880,785,806,652,631,652,0.453756342559,0.0047346881688,0.0795427056004,0.999999728103,0.00023605221367,-0.000695334608271,-6.76943934554e-05,1793243712600348160
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,713,684,649,631,880,785,806,652,631,652,0.453755439937,0.00473434969011,0.0795417066159,0.999999727198,0.000235756838927,-0.000696756131832,-6.74807832659e-05,1793243712617014784
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,713,684,649,631,880,785,806,652,631,651.765078027,0.453755533705,0.00473428140042,0.0795414490685,0.999999727128,0.000235561480446,-0.00069693402364,-6.73662368244e-05,1793243712633681408
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,713,684,649,631,880,785,806,652,631,651.172666316,0.453757143715,0.00473462426759,0.079542319794,0.999999728329,0.000235518320485,-0.000695219433724,-6.74024394386e-05,1793243712650348288
+248,4.133333333,HOLD_POSE2,764,745,713,684,650,631,880,785,806,651,631,652,0.453757971952,0.00473419809826,0.0795423676531,0.999999727312,0.000235766264155,-0.000696564223917,-6.77369309416e-05,1793243712684251392
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+251,4.183333333,HOLD_POSE2,765,745,713,684,649,631,880.249758437,785.249758437,806,652,630.750241563,652,0.453756268507,0.00473373634571,0.0795405173287,0.999999726001,0.000236026158589,-0.000698428129148,-6.69876339638e-05,1793243712734251776
+252,4.200000000,HOLD_POSE2,765,745,713,684,649,631,880,785,806,652,631,652,0.453756116446,0.00473465211107,0.0795406623088,0.999999725896,0.000236038442613,-0.000698537102134,-6.73736647538e-05,1793243712750918400
+253,4.216666667,HOLD_POSE2,765,745,713,684,649,631,880,785,806,652,631,652,0.453756415469,0.00473561822759,0.0795409894052,0.999999726677,0.000234520959446,-0.000697853531569,-6.81575002152e-05,1793243712767585024
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+257,4.283333333,HOLD_POSE2,764.762275454,745,713,684,649,631,880,785,806,652,630.237724546,651.762275454,0.453758995109,0.00473306105604,0.0795417463508,0.999999727469,0.000234567229866,-0.000696820875352,-6.69411971872e-05,1793243712834251776
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+259,4.316666667,HOLD_POSE2,764.393842834,745,713,684,649.393842834,631,880.393842834,785,806,651.606157166,631,651.393842834,0.453756276422,0.00473250329968,0.0795387554639,0.999999724886,0.000234523090828,-0.000700536085246,-6.69079097134e-05,1793243712867585024
+260,4.333333333,HOLD_POSE2,764.970214047,745,713,684,649.970214047,631,880.970214047,785,806,651.029785953,631,651.970214047,0.453754886357,0.00473145735152,0.0795377251504,0.99999972425,0.000232742599649,-0.000702043677059,-6.68207990515e-05,1793243712884251648
+261,4.350000000,HOLD_POSE2,765,745,713,684,649.456304417,631,880.456304417,785,806,651.543695583,630.456304417,652,0.453756151056,0.00473197344721,0.0795381300482,0.999999724869,0.000232452870941,-0.000701265270104,-6.67482054771e-05,1793243712900918016
+262,4.366666667,HOLD_POSE2,765,745,713,684,649,631,880,785,806,652,630.120909468,652,0.453757220635,0.00473228781581,0.0795385374525,0.999999725288,0.000232291634959,-0.000700727882512,-6.66749877206e-05,1793243712917584640
+263,4.383333333,HOLD_POSE2,765,745,713,684,649,631,880,785,806,652,630.713291427,652,0.45375696524,0.00473148364595,0.0795386496551,0.999999724665,0.000232314661204,-0.000701616086124,-6.65962512026e-05,1793243712934251264
+264,4.400000000,HOLD_POSE2,765,745,713,684.298761239,649,631,880,785,806,652,631,651.701238761,0.45375730044,0.00473193664868,0.0795385078783,0.999999724151,0.000233476325963,-0.000701954370809,-6.66908839231e-05,1793243712950918144
+265,4.416666667,HOLD_POSE2,765,745,713,684.877747718,649,631,880,785,806,652,631,651.122252282,0.453758189591,0.00473356882548,0.0795381278798,0.999999723735,0.000235705984856,-0.000701776855046,-6.69481295655e-05,1793243712967585024
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,684,649,631,880,785,806,652,631,652,0.45375712614,0.00473130685792,0.0795385607278,0.999999724031,0.000233778717394,-0.000702105726883,-6.58264259814e-05,1793243713000138752
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.588411732,744.411588268,713.411588268,684,649,630.411588268,880.588411732,785,805.411588268,651.411588268,630.411588268,652,0.453757286685,0.00472998828127,0.0795382580812,0.9999997246,0.000230124677408,-0.000702459953225,-6.62738500486e-05,1793243713016805376
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.825920739,744.174079261,713,684,649,630.174079261,881,785,805.174079261,651,630.174079261,652,0.453757474516,0.0047303989202,0.079538187535,0.999999724878,0.00022894110392,-0.000702411180052,-6.66953767672e-05,1793243713033472256
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.24664072,744.75335928,713,684,649,630.75335928,881,785,805.75335928,651,630.75335928,652,0.453757725859,0.00473483461884,0.0795386572438,0.999999724491,0.000233507984353,-0.00070142435318,-6.70566228438e-05,1793243713050138880
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.330965281,745,713,684,649,631,880.669034719,784.669034719,806,651.330965281,630.669034719,651.669034719,0.453757531791,0.00473517283754,0.0795386576586,0.99999972415,0.000234285249329,-0.000701658168993,-6.698177531e-05,1793243713066805504
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.907330021,745,713,684,649,631,880.092669979,784.092669979,806,651.907330021,630.092669979,651.092669979,0.453757007467,0.00473247291444,0.0795383101078,0.999999723851,0.000232252643516,-0.000702797049754,-6.65835792277e-05,1793243713083472128
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,649,631,880,784.482452247,806,651.517547753,630,651.482452247,0.453756643611,0.00473210165608,0.0795378216603,0.999999723516,0.00023238028539,-0.000703228644898,-6.66167635067e-05,1793243713100138752
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,684.058877912,649,631,880.058877912,785,806,651.058877912,630,652,0.453756275676,0.0047320108312,0.0795373275068,0.999999723282,0.000232860117327,-0.000703397033964,-6.66626252637e-05,1793243713116805120
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,684.64921787,649,631,880.64921787,785,806,651.64921787,630,652,0.45375559341,0.00473042422266,0.0795370255102,0.999999724031,0.000232783132121,-0.000702412748277,-6.60769048177e-05,1793243713133472000
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713,684.764890292,649,630.764890292,880.764890292,785,806,652,630,652,0.453749901799,0.00473074327785,0.0795343864879,0.999999721398,0.000233612642832,-0.000705882810161,-6.60238489544e-05,1793243713150138624
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,684.185511843,649,630.185511843,880.185511843,785,806,652,630,652,0.453736875054,0.0047338527771,0.0795283253828,0.99999971374,0.000235769526243,-0.00071587532771,-6.67507684428e-05,1793243713166805504
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.607826566,649,630.392173434,880.392173434,785,806,652,630.392173434,652,0.45370445654,0.00473289345565,0.0795144264519,0.999999696805,0.000234975107406,-0.000739438978191,-6.63808915614e-05,1793243713183472384
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.199764267,745,713,684.800235733,650,631.199764267,880.199764267,785.800235733,806,651.199764267,631,651.800235733,0.452729771429,0.00472763033582,0.0794071403237,0.999999551863,0.000248873222877,-0.000912254549345,-4.61211513459e-05,1793243713350138880
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.778613961,745,713,684.221386039,650,631.778613961,880.778613961,785.221386039,806,651.778613961,631,651.221386039,0.452542066488,0.0047277213068,0.0793917947804,0.999999524678,0.000256557118785,-0.000939727742953,-4.1636529626e-05,1793243713366806528
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.643871407,744.643871407,713,684,650,631.643871407,880.643871407,785,806,652,631,651.356128593,0.452340078879,0.00472714366148,0.0793834653519,0.999999510444,0.000262759686193,-0.000953266544264,-3.67672937517e-05,1793243713383473408
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.067183557,744.067183557,713,684,650,631.067183557,880.067183557,785,806,652,631,651.932816443,0.452129245641,0.00472615192553,0.0793794811755,0.999999504525,0.000268044830996,-0.000958175434235,-3.16598563815e-05,1793243713400139520
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,744.517560973,713,684,650.517560973,631,880.517560973,785,806,652,631,651.482439027,0.451916574582,0.00472357498298,0.0793973752779,0.999999528672,0.000271330819968,-0.000931877203074,-2.53112847402e-05,1793243713416805888
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,745,713,683.897788312,651.102211688,631.102211688,880.897788312,785,806,652,631,651.102211688,0.451694592772,0.00472051070959,0.0794178342567,0.999999555152,0.000274446662714,-0.000902237662705,-1.84909079924e-05,1793243713433472512
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,745,713,683.318533501,651.681466499,631.681466499,880.318533501,785,806,652,631,651.681466499,0.451430286723,0.00471614753055,0.0794367997029,0.999999577435,0.000277998721946,-0.000876209046616,-1.02323368665e-05,1793243713450138624
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.260056956,745,713,683.520113912,652,632,880,785.260056956,806,651.739943044,631,652,0.451153889538,0.00471257131634,0.0794564349531,0.999999601415,0.000283483288076,-0.000846641040778,-2.28793164786e-06,1793243713466805248
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764.837835709,745,713,684.675671418,652,632,880,785.837835709,806,651.162164291,631,652,0.450862720153,0.00470995656823,0.079476888528,0.999999627269,0.000291328873514,-0.000812748824876,5.27264424505e-06,1793243713483472128
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,684.584900023,652.415099977,632,880,785.584900023,806,651,631,651.584900023,0.450541572882,0.00470583076675,0.0794993377589,0.999999656464,0.000295166240589,-0.000774465201105,1.23274840412e-05,1793243713500139264
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,653.578391947,632,880.578391947,785.578391947,806,651.578391947,631,651.578391947,0.449832500127,0.00469594553124,0.0795388048182,0.999999719306,0.000255315418293,-0.000704348880869,9.71736091734e-06,1793243713533472512
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,654,632,880.837131172,785.837131172,806,652,631,652,0.449434905085,0.00468995349509,0.0795526997909,0.999999743985,0.000222764086099,-0.000679989623674,4.56322826742e-06,1793243713550138880
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.678998528,745,713,683.678998528,654,632,880,785.321001472,806.321001472,651.678998528,631,651.678998528,0.448509296621,0.00467612730727,0.0795633865613,0.999999753601,0.000208090052044,-0.000670267665908,1.544091834e-05,1793243713583472640
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.101504142,745,713,683.101504142,654,632,880,785.898495858,806.898495858,651.101504142,631,651.101504142,0.448015163191,0.00467224618796,0.0795614586653,0.999999749825,0.000198549173962,-0.000678671656766,1.82271366517e-05,1793243713600140032
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.046263275,684,656.046263275,632.046263275,880,785.046263275,805.953736725,651,631,651.953736725,0.447020683122,0.004653845273,0.0795926231334,0.99999979375,0.000186349682948,-0.000614313546816,1.98138638488e-05,1793243713633472768
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.637668485,684,656.637668485,632.637668485,880,785.637668485,805.362331515,651,631,651.362331515,0.446512894013,0.00464277827527,0.0796418880239,0.999999826447,0.000228205826855,-0.00054271081477,2.22260514281e-05,1793243713650139136
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.776271471,683.776271471,657,633,880,786,805.223728529,651,631,651.223728529,0.445975081217,0.00463361744857,0.0796916445756,0.999999859766,0.000243005828685,-0.000469901069943,2.46607385301e-05,1793243713666805504
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.198666043,683.198666043,657,633,880,786,805.801333957,651,631,651.801333957,0.445389779252,0.00462747166001,0.0797421787969,0.999999898433,0.000215010465611,-0.00039518217023,2.71310136254e-05,1793243713683472128
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.620787645,745,713,683,657.379212355,633,879.620787645,786,806,651,631,651.620787645,0.444775751157,0.00461674241267,0.0797799385123,0.999999923526,0.000186686332154,-0.000342333996201,3.00447919648e-05,1793243713700139008
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.542764764,745,713.542764764,683.542764764,658,633.542764764,879.542764764,786.542764764,806,651,631,651.542764764,0.443482330103,0.00459706596624,0.0798144211381,0.999999945465,0.000140628878887,-0.000296727327342,3.53134205598e-05,1793243713733472256
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,764.293458303,745,714,683.293458303,658.706541697,634,880,786.293458303,805.293458303,651.706541697,631,652,0.442083179477,0.00458448430354,0.079824270462,0.999999947848,0.00017209649348,-0.000270572130627,3.84492477328e-05,1793243713766805248
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713.987197698,683,658,633.012802302,879,786,806,652,631,651.987197698,0.438770853597,0.00455475036133,0.079671529392,0.999999866658,0.00010057532826,-0.000504787070443,4.19342070696e-05,1793243713833472256
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,713.397673783,683,658,633.602326217,879,786,806,652,631,651.397673783,0.438023734518,0.00454496610025,0.0797240937124,0.999999902575,0.000117708625522,-0.000423196847233,4.35804631488e-05,1793243713850138624
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,713.188672069,682.811327931,658,634,879,786,805.811327931,652,631,651.188672069,0.437262163741,0.00453588335324,0.0797816951344,0.999999935789,0.000119980493497,-0.00033463600323,4.52257659802e-05,1793243713866805504
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,713.768430285,682.231569715,658,634,879,786,805.231569715,652,631,651.768430285,0.436470637019,0.00452825473001,0.0798497376361,0.999999967895,9.14470638422e-05,-0.000231626216678,4.68690929759e-05,1793243713883472128
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745.345312833,714,682.345312833,658,634,879.345312833,786,805.345312833,652,631,651.654687167,0.435613895884,0.00451785800996,0.0798709634981,0.9999999745,8.51995092998e-05,-0.000203359821587,4.88368461321e-05,1793243713900139008
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745.920282837,714,682.920282837,658,634,879.920282837,786,805.920282837,652,631,651.079717163,0.434713782637,0.00450562031234,0.0798610530197,0.999999969034,9.37736209835e-05,-0.000224803011308,5.10203655275e-05,1793243713916806144
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.493831301,714,682.493831301,658,634,879.493831301,786,806,652,631,651.506168699,0.433815020652,0.00449620156108,0.0798308239106,0.999999960441,7.42583220243e-05,-0.000266311765747,5.17828304549e-05,1793243713933472512
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,634,879,786,806,652,631,652,0.432900511371,0.00448739459006,0.0797931629198,0.999999945225,5.58173267498e-05,-0.00032201549983,5.23565733421e-05,1793243713950138624
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,634,879,786,806,652,631,652,0.431901962567,0.00447941953228,0.0797335963309,0.99999990155,6.68322315572e-05,-0.000435440693587,5.31409555502e-05,1793243713966805504
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,634,879,786,805.74964967,652,631,652,0.430959638204,0.00446829636249,0.0797132848439,0.999999883857,6.13582815789e-05,-0.000474912961018,5.45835620018e-05,1793243713983472128
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,634,879,786,805.171218199,652,631,652,0.430090995166,0.00445304762809,0.0797444166943,0.999999910653,3.4275885019e-05,-0.000417470815104,5.68887641887e-05,1793243714000139008
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,634,879,786,805.402625942,652,631,652,0.429230378021,0.00444375420618,0.0798026778819,0.999999946306,2.84242628245e-05,-0.000321247164434,5.81376215243e-05,1793243714016805376
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,634,879,786,805.974541246,652,631,652,0.428373135521,0.0044369647745,0.0798723459537,0.999999975985,3.14993996975e-05,-0.000208717321461,5.89423241015e-05,1793243714033471744
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.565001118,714,682,658.565001118,634,879.565001118,786.565001118,805.434998882,652,631,652,0.427448928717,0.00442683687146,0.0798537677285,0.999999969994,2.10632068215e-05,-0.000236571359736,6.00256496683e-05,1793243714050138880
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.276236801,714,682,658.276236801,634,879.276236801,786.276236801,805.723763199,652,631,651.276236801,0.42557160803,0.00440303407811,0.0797814067503,0.99999993827,-7.80811105828e-06,-0.000346312625881,5.88719788695e-05,1793243714083472128
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,634,879,786,805.699721891,652,631,651.300278109,0.424607634124,0.00440212698257,0.0797469793639,0.999999917864,-5.79407213017e-06,-0.000400871568678,5.95014346003e-05,1793243714100138752
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,634,879,786,805.119399641,652,631,651.880600359,0.423626202317,0.00441235127927,0.0797215073821,0.999999899397,1.33898306844e-05,-0.000444029046756,6.21637717577e-05,1793243714116805632
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,634,879,786.453013504,805,651.546986496,631,651.546986496,0.422741441458,0.00443923503546,0.0797409566507,0.999999914686,4.48124367623e-05,-0.000406019367255,6.13853522949e-05,1793243714133472512
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.976177093,658,634,879,786.976177093,805,651.023822907,631,651.023822907,0.421885127396,0.00446973108848,0.0797733301115,0.999999935643,7.84322517002e-05,-0.000344981164877,5.9581703627e-05,1793243714150138880
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.882341306,658,634,879.882341306,787,805,652,631,652,0.415918109204,0.00447201027008,0.0798036124862,0.999999943829,7.5907195123e-05,-0.00032211486912,5.31227444713e-05,1793243714266805504
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.302951229,658,634,879.302951229,787,805,652,631,652,0.415097274469,0.004482119757,0.0797826636975,0.999999931981,8.93530395191e-05,-0.000353948682673,5.2673460603e-05,1793243714283472384
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.275144695,658,634,879,787,805.275144695,652,631,652,0.414327516821,0.00448780456788,0.0797799933845,0.999999932089,9.70571953276e-05,-0.000351708002815,5.19898781544e-05,1793243714300139008
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.851822309,658,634,879,787,805.851822309,652,631,652,0.41361373495,0.00448864034587,0.0797973545773,0.999999945138,9.84689951278e-05,-0.000312124854514,5.10495263388e-05,1793243714316805632
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.425282487,745,714,681,658.425282487,634,879,787,805.574717513,652,631,652,0.412897165176,0.00448369561623,0.0798095807198,0.999999952185,8.78157217568e-05,-0.000292068594514,5.11217149628e-05,1793243714333472512
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.997630103,745,714,681,658.997630103,634,879,787,805.002369897,652,631,652,0.41217963127,0.00447675195388,0.0798200311338,0.999999957153,7.29902768345e-05,-0.000278764841559,5.1544045816e-05,1793243714350139392
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.409799047,745,714,681,658.409799047,634.590200953,879,787,805,652,631,652,0.411445873269,0.00447355312598,0.079803803735,0.999999945779,8.59388799497e-05,-0.000313452963821,5.29530533043e-05,1793243714366805760
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,635,879,786.830536257,805,652,631,652,0.410741422997,0.00447445289293,0.0797930330605,0.999999937391,9.56025100849e-05,-0.000336457124812,5.36201079883e-05,1793243714383472128
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,635,879,786.281286553,805,652,631,652,0.410102805452,0.00448450314352,0.0797947400628,0.999999938461,9.76453700445e-05,-0.000332829115296,5.26151752105e-05,1793243714400138752
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634.70448195,878.70448195,786.29551805,805,652,631,652,0.409491403564,0.00449058552527,0.0798089152712,0.999999946154,0.000103875332544,-0.000306792369791,5.2735593765e-05,1793243714416805632
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634.098752427,878.098752427,786.901247573,805,652,631,652,0.408908570558,0.00449250275156,0.079836178616,0.9999999589,0.000114500583781,-0.000257232705357,5.40373170956e-05,1793243714433472256
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.506366652,658,634,878.493633348,786.506366652,805,652,631,652,0.408315191847,0.00448864115919,0.0798343654942,0.999999958273,0.000101034646881,-0.000265199125944,5.40026257188e-05,1793243714450138880
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.08193638,658,634,879,786,805,652,631,652,0.407722750283,0.00448405417115,0.0798226094284,0.999999952475,8.7013862005e-05,-0.000290845707823,5.37413182702e-05,1793243714466805248
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.661234082,658,634,879,786,805,652,631,652,0.407148466231,0.0044818966869,0.0797848780258,0.999999930451,9.81098805909e-05,-0.000355795169501,5.36845717895e-05,1793243714483472128
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.760220387,745,714,680.760220387,658,634,879,786,805,652,631,652,0.40662017353,0.00448126466478,0.0797661550731,0.999999919606,0.000101576530185,-0.000384253417721,5.3097454362e-05,1793243714500138752
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.182734265,745,714,680.182734265,658,634,879,786,805,652,631,652,0.406156655271,0.0044827811094,0.0797742036958,0.999999928939,9.4297947315e-05,-0.00036131729987,5.17633607423e-05,1793243714516805376
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.392927289,745,714,680,658,634,878.607072711,786,805,652,631,652,0.40572724971,0.00448912031734,0.0797894422075,0.999999939047,0.000100437668127,-0.000330454381606,5.11646249052e-05,1793243714533472000
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.967744283,745,714,680,658,634,878.032255717,786,805,652,631,652,0.405313635194,0.00449769202752,0.0798080089866,0.999999948559,0.000112788846096,-0.00029592207119,5.09062928764e-05,1793243714550138880
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745.856546287,714,679.856546287,658.856546287,634,878.856546287,786,804.856546287,652,631.143453713,652,0.404520161095,0.00450116336706,0.0798306722242,0.999999952645,0.000132797004368,-0.000272685866189,5.21216134704e-05,1793243714583472640
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745.277251993,714,679.277251993,658.277251993,634,878.277251993,786,804.277251993,652,631.722748007,652,0.404155167519,0.00450038049641,0.0798339667781,0.999999952474,0.000124993868207,-0.00027678105201,5.31158131569e-05,1793243714600139008
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.302073431,658,634,878,786.302073431,804.302073431,652,631.697926569,652,0.403818405285,0.00449915033676,0.0798357418602,0.999999952916,0.00011453661363,-0.000279792371975,5.259399582e-05,1793243714616805376
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.881427397,658,634,878,786.881427397,804.881427397,652,631.118572603,652,0.403507557309,0.00449750959973,0.0798361221822,0.999999953842,0.000101643079807,-0.000281808784901,5.06805896013e-05,1793243714633472000
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.543844571,745,714,680,658,634,878.456155429,786.543844571,805,652,631,652,0.403213197446,0.00449450016223,0.0798344745319,0.999999953133,9.65341815876e-05,-0.000286016855646,5.10929970584e-05,1793243714650138624
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.030464553,745,714,680,658,634,879.030464553,786.030464553,804.969535447,652,631.030464553,652,0.40292575643,0.00449122085971,0.0798324982381,0.999999952137,9.3250004943e-05,-0.000290385697164,5.20289074061e-05,1793243714666805248
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.61890388,745,714,680,658,634,879.61890388,786.61890388,804.38109612,652,631.61890388,652,0.402687327169,0.00448944969265,0.0798340607504,0.99999995362,8.6696609009e-05,-0.000287369580225,5.15911998534e-05,1793243714683472128
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.796408268,786.796408268,804.203591732,652,631.796408268,652,0.402463567573,0.00448656519291,0.0798359526481,0.999999955298,7.92232333708e-05,-0.000283642185766,5.17177134272e-05,1793243714700139008
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.218615679,786.218615679,804.781384321,652,631.218615679,652,0.40226677079,0.00448163439201,0.0798384499547,0.999999957337,7.00589391348e-05,-0.000278607466172,5.28812634106e-05,1793243714716805888
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.642407099,786.357592901,805,652,631,651.642407099,0.402093466063,0.00447465926254,0.0798428885044,0.999999959929,6.21203554092e-05,-0.000270532522797,5.56366819048e-05,1793243714733472768
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.06716258,786.93283742,805,652,631,651.06716258,0.401934459934,0.00446643983659,0.0798485086066,0.999999962772,5.49278087425e-05,-0.000260607123772,5.93610032843e-05,1793243714750139136
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786.479707253,805,652,631,651.520292747,0.401797185759,0.00446372497228,0.0798512202233,0.999999963446,5.47680763267e-05,-0.000257607770368,6.12036764732e-05,1793243714766805504
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.892522337,714,680,658,634,878.107477663,786,805,652,631,652,0.401664582859,0.00446493088385,0.0798516184315,0.999999962393,6.88149668734e-05,-0.000258079540173,6.22428162719e-05,1793243714783472128
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.313603598,714,680,658,634,878.686396402,786,805,652,631,652,0.401539869132,0.00448014319893,0.0798435555182,0.999999951809,0.00014110007139,-0.000269761128632,6.08483710714e-05,1793243714800138752
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.263693638,714,680,658,634,878.736306362,786,805,652,631,652,0.401429094508,0.00448807678711,0.0798371887615,0.999999945423,0.000166379368979,-0.00027974425998,5.66987467613e-05,1793243714816805376
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.839074216,714,680,658,634,878.160925784,786,805,652,631,652,0.401334795967,0.00448740688995,0.0798328268692,0.999999948133,0.000136097610239,-0.000287719808617,4.92924900111e-05,1793243714833472256
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786,804.586699164,652.413300836,631,652,0.40125781228,0.00448401070662,0.0798291867994,0.999999948477,0.000121039815574,-0.00029341690465,4.79816547548e-05,1793243714850138880
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786,804.01292062,652.98707938,631,652,0.401187551659,0.00447955595259,0.0798258270012,0.999999948067,0.000111893228788,-0.000298229316026,4.90375685077e-05,1793243714866805760
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.42088572,745,714,680,658,634,878,786,804,651.84177144,631,652,0.401137987196,0.00448280710333,0.0798234585528,0.99999994658,0.000116889024168,-0.000301173768994,4.97135507765e-05,1793243714883472128
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.167554449,745,714,679.832445551,658,634,878,786,804.167554449,651.167554449,631,652,0.401092792453,0.00448430452376,0.0798217236108,0.999999945607,0.000118821699308,-0.000303511036727,5.04857469649e-05,1793243714900138752
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.746144395,745,714,679.253855605,658,634,878,786,804.746144395,651.746144395,631,652,0.40105714766,0.00448106429819,0.0798214867282,0.999999946002,0.000112440854467,-0.000304464355395,5.15154411706e-05,1793243714916805120
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.323462551,658.323462551,634,878,786.323462551,805,651.676537449,631,652,0.401030116893,0.00448054505,0.0798221931141,0.999999946592,0.000110768795484,-0.000303091558621,5.17883528413e-05,1793243714933472000
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.899786569,658.899786569,634,878,786.899786569,805,651.100213431,631,652,0.401009819995,0.00448215288023,0.0798236368846,0.999999947346,0.000112777750794,-0.000299900359922,5.14696624715e-05,1793243714950138624
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.525277095,745,714,680,658.525277095,634,878,786.525277095,804.525277095,651.474722905,631,652,0.4009966857,0.00448256171661,0.0798243257397,0.999999947736,0.000112629036014,-0.000298646326195,5.15170522067e-05,1793243714966805248
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.050813467,745,714,680,658,634,878,786,804,652,631,652,0.400985591459,0.00448259559605,0.0798249025842,0.999999948102,0.000111813318298,-0.000297703092491,5.16371275915e-05,1793243714983471872
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.642293479,745,714,680,658,634,878,786,804,652,631,652,0.400980162514,0.00448132510699,0.0798259783137,0.999999949024,0.000108732840245,-0.000295728381528,5.17107246716e-05,1793243715000138752
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.226606009,658,634,878,786,804.226606009,652,631,652,0.40097557898,0.00448157174683,0.0798270946858,0.999999949543,0.000108415544745,-0.000294071612721,5.17881289475e-05,1793243715016805632
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.79995124,658,634,878,786,804.79995124,652,631,652,0.400972289047,0.00448413980841,0.0798282732467,0.99999994945,0.000112326309308,-0.00029290134047,5.18713587672e-05,1793243715033472256
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.623081549,745,714,680.246163098,658,634,878.376918451,786,805,652,631,652,0.400970082083,0.00448425331983,0.0798283333675,0.999999949697,0.000111363802594,-0.000292491101253,5.15170221464e-05,1793243715050138880
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.044173346,745,714,679.088346693,658,634,878.955826654,786,805,652,631,652,0.400968455481,0.00448305144326,0.0798277941188,0.999999950119,0.000107789720621,-0.000292488162067,5.09281946498e-05,1793243715066805760
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.544920447,745,714,679.544920447,658,634,879,786,804.455079553,652,631,652,0.400968752221,0.00448089473406,0.079829035907,0.99999995067,0.000106379361406,-0.000291045771815,5.13489313421e-05,1793243715083472128
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.867547396,745,714,680,658,634,879,786,804.132452604,652,631,652,0.400969064764,0.00447959150212,0.0798300931874,0.999999951154,0.000105446991154,-0.000289674084725,5.15855221121e-05,1793243715100138496
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.288124613,745,714,680,658,634,879,786,804.711875387,652,631,652,0.400968894472,0.0044814345617,0.0798300313408,0.999999951392,0.000105524454516,-0.000288942260597,5.09192678251e-05,1793243715116805120
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.28769166,745,714,680,658,634,879,786.28769166,805,652,631,652,0.400968586978,0.0044824286193,0.0798303614361,0.99999995147,0.00010678516381,-0.000288221313906,5.08486525006e-05,1793243715133472000
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.859940783,745,714,680,658,634,879,786.859940783,805,652,631,652,0.400968143775,0.0044825829244,0.0798310792035,0.999999951385,0.00010921622842,-0.000287511126059,5.13671869941e-05,1793243715150138880
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.563141557,786.563141557,805,652,631,652,0.400968724881,0.00448361201901,0.0798313766562,0.999999951473,0.000110614017934,-0.000286740523144,5.09750219022e-05,1793243715166805760
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.984367334,658,634,878,786.015632666,805,652,631,651.984367334,0.400969622879,0.00448482512533,0.0798315530724,0.99999995163,0.000111562245667,-0.000285942577663,5.03113230056e-05,1793243715183472640
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.392934653,658,634,878,786.607065347,805,652,631,651.392934653,0.400969966356,0.00448237406876,0.0798322884127,0.999999952289,0.000108285359455,-0.000284858660344,5.05167157073e-05,1793243715200139008
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.806698822,745,714,679.193301178,658,634,878,786.806698822,804.806698822,651.806698822,631,651.193301178,0.400969658394,0.00448127549135,0.0798325803317,0.999999952568,0.00010667564035,-0.000284466594147,5.06301265568e-05,1793243715216805376
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.230750395,745,714,679.769249605,658,634,878,786.230750395,804.230750395,651.230750395,631,651.769249605,0.40096806088,0.00448285419952,0.0798319944809,0.999999952111,0.000108366143994,-0.000285444074402,5.05614557177e-05,1793243715233471744
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..663d862a44542a5aedf6a927ad68659ba28f6073
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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+347,5.783333333,pose2_to_pose3_retreat,0.591219213906,0.0100017646183,1.07004073479,0.561790934037,0.0186765949133,1.06967853303
+348,5.800000000,pose2_to_pose3_retreat,0.590560673096,0.0100017670079,1.07004080718,0.561132393699,0.0186765984994,1.06967859812
+349,5.816666667,pose2_to_pose3_retreat,0.589921967708,0.0100017869498,1.07004067614,0.560493688435,0.0186766189406,1.06967846876
+350,5.833333333,pose2_to_pose3_retreat,0.589308626962,0.0100018683446,1.07004072077,0.559880346007,0.0186766946635,1.06967851377
+351,5.850000000,pose2_to_pose3_retreat,0.58872158324,0.0100018996235,1.07004086784,0.559293301522,0.0186767234279,1.06967866264
+352,5.866666667,pose2_to_pose3_retreat,0.588155551657,0.0100018588635,1.0700408158,0.558727270874,0.0186766860388,1.06967861545
+353,5.883333333,pose2_to_pose3_retreat,0.587601716329,0.0100018063149,1.07004071688,0.558173436836,0.018676637844,1.06967851592
+354,5.900000000,pose2_to_pose3_retreat,0.587063573154,0.0100017864189,1.07004085041,0.55763529447,0.0186766205418,1.06967864585
+355,5.916666667,pose2_to_pose3_retreat,0.586547833762,0.0100019072694,1.0700409159,0.557119552923,0.018676734325,1.06967871717
+356,5.933333333,pose2_to_pose3_retreat,0.586062891649,0.0100019153677,1.070040885,0.556634610963,0.0186767430737,1.0696786896
+357,5.950000000,pose2_to_pose3_retreat,0.58561159141,0.010001948742,1.07004082191,0.556183310064,0.0186767738775,1.06967861983
+358,5.966666667,pose2_to_pose3_retreat,0.585192622421,0.0100019159759,1.07004108436,0.555764339264,0.018676734464,1.06967887031
+359,5.983333333,pose2_to_pose3_retreat,0.584799385469,0.0100020435103,1.07004093017,0.555371103099,0.0186768653578,1.06967873231
+360,6.000000000,pose2_to_pose3_retreat,0.584424701446,0.0100019496251,1.07004094887,0.554996421148,0.018676778145,1.0696787424
+361,6.016666667,pose2_to_pose3_retreat,0.584067410998,0.0100018470744,1.07004078233,0.554639131573,0.0186766787285,1.06967857997
+362,6.033333333,pose2_to_pose3_retreat,0.583729408566,0.01000188087,1.07004080648,0.554301126396,0.0186767033311,1.069678607
+363,6.050000000,pose2_to_pose3_retreat,0.583411583095,0.010001910163,1.07004089031,0.553983300451,0.018676730762,1.06967868474
+364,6.066666667,pose2_to_pose3_retreat,0.583113471599,0.0100018798746,1.07004094073,0.553685191229,0.0186767079304,1.06967872899
+365,6.083333333,pose2_to_pose3_retreat,0.582839128832,0.0100018716674,1.07004105987,0.553410848483,0.0186766996925,1.0696788457
+366,6.100000000,pose2_to_pose3_retreat,0.582585984736,0.0100018669146,1.07004096645,0.553157704384,0.0186766950659,1.06967875563
+367,6.116666667,pose2_to_pose3_retreat,0.582354367705,0.01000195133,1.07004089079,0.552926086049,0.0186767754772,1.06967869039
+368,6.133333333,pose2_to_pose3_retreat,0.58214538509,0.0100017874841,1.07004071988,0.552717105572,0.0186766185685,1.06967851194
+369,6.150000000,pose2_to_pose3_retreat,0.581960640248,0.0100018011703,1.07004092553,0.552532359263,0.0186766274504,1.06967872168
+370,6.166666667,pose2_to_pose3_retreat,0.581794743166,0.0100018367389,1.07004073423,0.552366464182,0.0186766699629,1.06967853418
+371,6.183333333,pose2_to_pose3_retreat,0.581645996508,0.0100019493042,1.07004081308,0.552217714742,0.0186767733215,1.06967861858
+372,6.200000000,pose2_to_pose3_retreat,0.58151081284,0.0100019469396,1.07004084037,0.552082530471,0.0186767688569,1.06967864462
+373,6.216666667,pose2_to_pose3_retreat,0.581387453354,0.0100019038855,1.07004082814,0.551959172414,0.0186767302422,1.06967862257
+374,6.233333333,pose2_to_pose3_retreat,0.581276263581,0.0100018536334,1.07004089232,0.551847984104,0.0186766846443,1.06967867997
+375,6.250000000,pose2_to_pose3_retreat,0.58117635999,0.0100017244354,1.07004098607,0.551748082048,0.0186765607258,1.06967877637
+376,6.266666667,pose2_to_pose3_retreat,0.58108834582,0.0100017575839,1.07004110468,0.551660066425,0.0186765887685,1.06967889025
+377,6.283333333,pose2_to_pose3_retreat,0.581014332432,0.0100018288385,1.0700410569,0.5515860528,0.0186766595161,1.06967884941
+378,6.300000000,pose2_to_pose3_retreat,0.580952565438,0.0100018000668,1.07004095825,0.551524284983,0.0186766280143,1.06967875216
+379,6.316666667,pose2_to_pose3_retreat,0.580901762297,0.0100019676674,1.07004104441,0.551473479219,0.0186767867993,1.06967884024
+380,6.333333333,pose2_to_pose3_retreat,0.580860344207,0.0100017795818,1.07004081871,0.551432062905,0.0186766047408,1.0696786147
+381,6.350000000,pose2_to_pose3_retreat,0.580828287392,0.0100018296985,1.07004100545,0.551400007472,0.0186766598033,1.06967880758
+382,6.366666667,pose2_to_pose3_retreat,0.580803020365,0.0100018749123,1.07004064176,0.551374740421,0.0186767048506,1.069678442
+383,6.383333333,pose2_to_pose3_retreat,0.580784009297,0.010001801283,1.07004086225,0.551355729805,0.018676632344,1.06967865276
+384,6.400000000,pose2_to_pose3_retreat,0.580770490486,0.0100018314264,1.07004087621,0.551342210811,0.0186766620312,1.06967867091
+385,6.416666667,pose2_to_pose3_retreat,0.580761119757,0.0100018916975,1.07004071009,0.551332839708,0.0186767212848,1.06967851048
+386,6.433333333,pose2_to_pose3_retreat,0.58075486373,0.0100019165984,1.07004056318,0.55132658344,0.0186767454039,1.06967836363
+387,6.450000000,pose2_to_pose3_retreat,0.580750549296,0.0100019086072,1.07004065652,0.551322268216,0.0186767347207,1.06967845682
+388,6.466666667,pose2_to_pose3_retreat,0.58074790666,0.0100018465953,1.07004074146,0.551319626549,0.0186766758785,1.06967853908
+389,6.483333333,pose2_to_pose3_retreat,0.580746220351,0.0100017747268,1.07004081137,0.551317941679,0.0186766087572,1.0696786058
+390,6.500000000,pose2_to_pose3_retreat,0.580745322647,0.0100017756912,1.07004077232,0.551317042873,0.0186766059716,1.06967856658
+391,6.516666667,pose2_to_pose3_retreat,0.58074486514,0.0100017828388,1.07004073947,0.551316584487,0.0186766101428,1.06967853391
+392,6.533333333,pose2_to_pose3_retreat,0.580744663636,0.0100017859869,1.07004072501,0.551316382595,0.0186766119799,1.06967851952
+393,6.550000000,pose2_to_pose3_retreat,0.580744621625,0.0100017866433,1.07004072199,0.551316340504,0.018676612363,1.06967851652
+394,6.566666667,pose2_to_pose3_retreat,0.580744617941,0.0100017867008,1.07004072173,0.551316336812,0.0186766123966,1.06967851625
+395,6.583333333,pose2_to_pose3_retreat,0.58074454272,0.010001787876,1.07004071633,0.551316261447,0.0186766130824,1.06967851088
+396,6.600000000,pose2_to_pose3_retreat,0.580744398256,0.010001790133,1.07004070596,0.551316116706,0.0186766143995,1.06967850057
+397,6.616666667,pose2_to_pose3_retreat,0.580744264533,0.0100017916852,1.07004071401,0.551315982938,0.0186766157905,1.06967850841
+398,6.633333333,pose2_to_pose3_retreat,0.58074425585,0.0100017916958,1.0700407175,0.551315974287,0.0186766159097,1.06967851184
+399,6.650000000,pose2_to_pose3_retreat,0.580744116772,0.010001791865,1.07004077339,0.551315835733,0.0186766178188,1.06967856683
+400,6.666666667,pose2_to_pose3_retreat,0.580743879499,0.0100017921536,1.07004086874,0.551315599354,0.0186766210759,1.06967866063
+401,6.683333333,pose2_to_pose3_retreat,0.58074371639,0.010001792352,1.07004093429,0.55131543686,0.0186766233149,1.06967872512
+402,6.700000000,pose2_to_pose3_retreat,0.580743688503,0.0100017923859,1.0700409455,0.551315409078,0.0186766236977,1.06967873614
+403,6.716666667,pose2_to_pose3_retreat,0.580743597668,0.0100017936102,1.07004096753,0.551315318469,0.0186766256398,1.06967875704
+404,6.733333333,pose2_to_pose3_retreat,0.580743505151,0.0100017959762,1.07004097543,0.551315226064,0.0186766283161,1.06967876326
+405,6.750000000,pose2_to_pose3_retreat,0.580743485467,0.0100018026503,1.07004098269,0.55131520608,0.0186766338955,1.06967876868
+406,6.766666667,pose2_to_pose3_retreat,0.580743499363,0.0100018064122,1.07004098522,0.551315219742,0.0186766368362,1.06967877048
+407,6.783333333,pose2_to_pose3_retreat,0.580743506577,0.0100018083654,1.07004098654,0.551315226836,0.0186766383631,1.06967877142
+408,6.800000000,pose2_to_pose3_retreat,0.580743521336,0.0100018123611,1.07004098924,0.551315241348,0.0186766414866,1.06967877333
+409,6.816666667,pose2_to_pose3_retreat,0.580743556494,0.0100018218793,1.07004099565,0.551315275916,0.0186766489276,1.06967877788
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d54d6ed3bea70acf186aa9370c86b2e572e059d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80a683be043cadf2dd5bc39c148a28af943eafbd47dbc9060e956ecad2c1b7a5
+size 26104365
diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e5daab6c0cb499100c0ce42a8f7ccb5c120f0273
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_05/franka_data.csv
@@ -0,0 +1,412 @@
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+23,0.383333333,BASELINE,765,745,714,680,658.671061377,634,878.671061377,786.328938623,805,652,631,652,0.400969826647,0.00448199577532,0.0798360956574,0.999999954456,0.000104677635701,-0.00027867678306,4.97039351364e-05,1793243715910467072
+24,0.400000000,BASELINE,765,745,714,680,658.095725991,634,878.095725991,786.904274009,805,652,631,652,0.400968044926,0.00448254070656,0.0798346700486,0.999999953756,0.000106120846448,-0.000280673646907,4.94758934156e-05,1793243715927133440
+25,0.416666667,BASELINE,765,745,714,679.504313543,658,634,878.495686457,787,805,652,631,652,0.400967799865,0.00448178925457,0.0798351627807,0.999999953801,0.00010620741507,-0.0002804311465,4.97715377863e-05,1793243715943800320
+26,0.433333333,BASELINE,765,745,714,679.087145536,658,634,879,786.912854464,805,652,631,652,0.400967830966,0.00448137027054,0.079835856965,0.99999995389,0.000106695781671,-0.000279870900566,5.00872725679e-05,1793243715960466944
+27,0.450000000,BASELINE,765,745,714,679.660945809,658,634,879,786.339054191,805,652,631,652,0.400967691503,0.00448425286245,0.0798355379589,0.999999953391,0.00011094005486,-0.00028003222856,4.99315010944e-05,1793243715977134336
+28,0.466666667,BASELINE,765,745,714,680,658.218340663,634,879,786.218340663,805,652,631,651.781659337,0.400967691153,0.00448579617716,0.0798353829853,0.99999995314,0.000113071126916,-0.000280089630135,4.98388912383e-05,1793243715993800960
+29,0.483333333,BASELINE,765,745,714,680,658.752040409,634,879,786.752040409,805,652,631,651.247959591,0.400967891729,0.00448540511436,0.0798354649308,0.99999995327,0.000112150008791,-0.000279996926182,4.98375085119e-05,1793243716010467072
+30,0.500000000,BASELINE,764.654757615,745,714,680,659,634.345242385,879,786.654757615,805.345242385,652,631.345242385,651.345242385,0.40096880234,0.00448465874677,0.0798353862567,0.999999953652,0.000110254791648,-0.000279405437376,4.97340578924e-05,1793243716027133184
+31,0.516666667,BASELINE,764.009920827,745,714,680,659,634.990079173,879,786.009920827,805.990079173,652,631.990079173,651.990079173,0.400970329102,0.00448360405284,0.0798351682002,0.999999954245,0.000107514271002,-0.000278381113105,4.95420348068e-05,1793243716043799808
+32,0.533333333,BASELINE,764.568600979,745,714,680,658.431399021,634.431399021,878.431399021,786.568600979,804.862798042,652,631.431399021,652,0.400969451967,0.00448291849097,0.0798355576567,0.99999995425,0.000106611016023,-0.000278682495389,4.9697628897e-05,1793243716060466432
+33,0.550000000,BASELINE,765,745,714,680,658.145032918,634,878,786.854967082,804.145032918,652,631,652,0.400969041446,0.00448300406669,0.0798360046004,0.999999954232,0.000106678444527,-0.000278719622161,4.97109488563e-05,1793243716077133312
+34,0.566666667,BASELINE,765,745,714,680,658.718353235,634,878,786.281646765,804.718353235,652,631,652,0.400970119776,0.00448534980684,0.0798365932734,0.999999954169,0.000109527560383,-0.000277915221587,4.92880882882e-05,1793243716093800704
+35,0.583333333,BASELINE,764.699283852,745,714,680.300716148,658.699283852,634,878,786.300716148,804.699283852,652,631,652,0.400970159871,0.00448558614346,0.0798364908639,0.999999954036,0.000109979675103,-0.000278218118319,4.92666355638e-05,1793243716110467328
+36,0.600000000,BASELINE,764.108189129,745,714,680.891810871,658.108189129,634,878,786.891810871,804.108189129,652,631,652,0.400969197422,0.00448378559075,0.0798357211289,0.999999953838,0.000108117189566,-0.00027959024724,4.96327916311e-05,1793243716127133952
+37,0.616666667,BASELINE,764.473318354,745,714,680.526681646,658,634,878.473318354,786.526681646,804.473318354,652,631,652,0.400969108025,0.00448228089703,0.0798356079771,0.99999995419,0.000104626220199,-0.000279668010015,4.95886764646e-05,1793243716143800576
+38,0.633333333,BASELINE,765,745,714,680,658.05230167,634,878.94769833,786,805,652,631.05230167,652,0.400969215333,0.00448108708157,0.079835648278,0.999999954592,0.000101378535198,-0.000279447745359,4.9467695201e-05,1793243716160466944
+39,0.650000000,BASELINE,765,745,714,680,658.627523436,634,878.372476564,786,805,652,631.627523436,652,0.400969333709,0.00448233875996,0.0798357520988,0.999999954383,0.000104210988157,-0.000279147091179,4.94971879164e-05,1793243716177133312
+40,0.666666667,BASELINE,765,745,714,680,658.79830471,634,878.20169529,786,805,652,631.79830471,651.79830471,0.400969798145,0.004483117175,0.0798362534854,0.999999954368,0.000106276721852,-0.000278414963453,4.95385914787e-05,1793243716193800192
+41,0.683333333,BASELINE,765,745,714,680,658.226061751,634,878.773938249,786,805,652,631.226061751,651.226061751,0.400970898351,0.00448302612676,0.0798374852663,0.999999954718,0.000106933865046,-0.000276890147356,4.96018772391e-05,1793243716210467328
+42,0.700000000,BASELINE,765,745,714,680,658,634,878.640341729,786,804.640341729,652,631,651,0.400970937398,0.00448352078811,0.0798373251038,0.999999954521,0.000108398074652,-0.000276987255284,4.98550348114e-05,1793243716227133696
+43,0.716666667,BASELINE,765,745,714,680,658,634,878.045820996,786,804.045820996,652,631,651,0.400970283492,0.00448439792696,0.0798362559806,0.999999953964,0.00011038931119,-0.000278143504962,5.02321816366e-05,1793243716243800064
+44,0.733333333,BASELINE,764.469813416,745,714,680.530186584,658,634.530186584,878,786.530186584,804.530186584,652,631,651.530186584,0.400968755252,0.0044849341465,0.0798357630967,0.999999953686,0.000109982516977,-0.000279389386054,4.97403664021e-05,1793243716260466688
+45,0.750000000,BASELINE,764.105153488,745,714,680.894846512,658,634.894846512,878.105153488,786.894846512,805,652,631,652,0.400967587697,0.0044852836099,0.0798354095172,0.999999953512,0.000109344254441,-0.000280341224277,4.92734441201e-05,1793243716277133312
+46,0.766666667,BASELINE,764.682388861,745,714,680.317611139,658,634.317611139,878.682388861,786.317611139,805,652,631,652,0.40096836722,0.00448492245276,0.0798354653031,0.999999953711,0.000108565863655,-0.00027993936639,4.92440576681e-05,1793243716293800192
+47,0.783333333,BASELINE,764.734614648,745,714,680,658.265385352,634,878.734614648,786,805,652,631,652,0.400968048054,0.00448484429891,0.0798353846594,0.999999953712,0.000108170992906,-0.000280079765123,4.93042395174e-05,1793243716310466816
+48,0.800000000,BASELINE,764.144570217,745,714,680,658.855429783,634,878.144570217,786,805,652,631,652,0.400966384807,0.00448511235698,0.0798351371147,0.99999995347,0.000108245301159,-0.000280883533255,4.9473994713e-05,1793243716327133696
+49,0.816666667,BASELINE,764.437416138,745,714,680.437416138,658.562583862,634,878,786,805,652,631,652,0.40096834958,0.00448377444631,0.0798362467413,0.99999995413,0.000107211651163,-0.00027887890286,4.97190008801e-05,1793243716343800064
+50,0.833333333,BASELINE,765,745,714,680.983308983,658,634,878,786,805,651.983308983,631,651.983308983,0.400971377506,0.00448199052533,0.0798377332329,0.999999955038,0.000105879095076,-0.000276074170166,4.99742174347e-05,1793243716360466944
+51,0.850000000,BASELINE,765,745,714,680.40726284,658,634,878,786,805,651.40726284,631,651.40726284,0.400970576609,0.0044827259382,0.0798370890387,0.999999954718,0.000106579420811,-0.000276999698701,4.97531943236e-05,1793243716377134336
+52,0.866666667,BASELINE,765,745,714,680,658.16793434,634.16793434,878.16793434,786.16793434,805,651,631,651.16793434,0.400969609539,0.00448352928762,0.0798362377088,0.999999954292,0.000107390848794,-0.00027824887924,4.95979062233e-05,1793243716393801728
+53,0.883333333,BASELINE,765,745,714,680,658.741082996,634.741082996,878.741082996,786.741082996,805,651,631,651.741082996,0.40096824151,0.00448449656336,0.0798348865743,0.999999953609,0.000108470359013,-0.000280279010332,4.96012323156e-05,1793243716410468608
+54,0.900000000,BASELINE,765,745,714,680,658.675075232,635,879,786.675075232,804.675075232,651.324924768,631,651.675075232,0.400968433381,0.00448463456597,0.0798350286399,0.999999953645,0.000108367384817,-0.00028019070989,4.95956358247e-05,1793243716427134720
+55,0.916666667,BASELINE,765,745,714,680,658.082422699,635,879,786.082422699,804.082422699,651.917577301,631,651.082422699,0.400969910561,0.00448408927362,0.0798364010554,0.999999954274,0.000107290080683,-0.000278356888542,4.95826874063e-05,1793243716443800576
+56,0.933333333,BASELINE,765,745,714,680,658.498220263,634.501779737,878.501779737,786.498220263,804,652,631,651.498220263,0.400968755736,0.00448413446911,0.0798351589258,0.999999953946,0.000106563330029,-0.00027983048292,4.94706902321e-05,1793243716460467456
+57,0.950000000,BASELINE,764.923391432,745,714,680,658.923391432,634,878.076608568,787,804.076608568,652,631,652,0.400967648475,0.00448422839385,0.079833987089,0.999999953635,0.000106100950482,-0.000281134201391,4.93665333123e-05,1793243716477134080
+58,0.966666667,BASELINE,764.347055736,745,714,680,658.347055736,634,878.652944264,787,804.652944264,652,631,652,0.40096962496,0.00448401796035,0.0798360288516,0.999999954456,0.000106993701696,-0.000277844616375,4.94178917768e-05,1793243716493800704
+59,0.983333333,BASELINE,764.227823684,745,714,680,658.227823684,634,878.772176316,786.772176316,804.772176316,652,631,652,0.400970471493,0.0044833989826,0.0798369912548,0.999999954817,0.000106804367201,-0.000276604534504,4.94791950736e-05,1793243716510467328
+60,1.000000000,BASELINE,764.80049886,745,714,680,658.80049886,634,878.19950114,786.19950114,804.19950114,652,631,652,0.400969607642,0.00448216160072,0.0798363198566,0.99999995449,0.00010497710449,-0.000278466738103,4.95555516434e-05,1793243716527133952
+61,1.016666667,BASELINE,765,745,714,680,659,634,878.386949406,786,804,652,631,652,0.400969698194,0.00448284905003,0.0798364079487,0.99999995442,0.000106115660277,-0.00027830075649,4.94811988244e-05,1793243716543800320
+62,1.033333333,BASELINE,765,745,714,680,659,634,878.980764315,786,804,652,631,652,0.400970298974,0.00448456552586,0.0798369020689,0.999999954482,0.000108839760757,-0.00027705049463,4.93262758457e-05,1793243716560466944
+63,1.050000000,BASELINE,764.442067991,745,714,680,659,634,879,786.557932009,804.557932009,652,631,652,0.400969874365,0.00448427417303,0.0798365203751,0.999999954223,0.000108743613289,-0.000277988563063,4.95161534006e-05,1793243716577133568
+64,1.066666667,BASELINE,764.134286861,745,714,680,659,634,879,786.865713139,805,651.865713139,631,652,0.400969535883,0.00448415686774,0.0798362817271,0.999999954024,0.000108553381989,-0.000278754297721,4.96308155729e-05,1793243716593800192
+65,1.083333333,BASELINE,764.709802087,745,714,680,659,634,879,786.290197913,805,651.290197913,631,652,0.400969593182,0.00448483229166,0.0798366094255,0.999999954065,0.0001083642417,-0.000278713079106,4.94604137997e-05,1793243716610467072
+66,1.100000000,BASELINE,764.716690424,745,714,680,658.716690424,634,878.716690424,786,805,651.283309576,631,652,0.40097027175,0.00448546001467,0.079837208165,0.999999954305,0.000108983090578,-0.000277599025827,4.95072823689e-05,1793243716627133440
+67,1.116666667,BASELINE,764.145225052,745,714,680,658.145225052,634,878.145225052,786,805,651.854774948,631,652,0.400971582216,0.00448603922079,0.0798380825819,0.999999954744,0.00011042374989,-0.000275393786255,4.97751378607e-05,1793243716643799808
+68,1.133333333,BASELINE,764.443800629,745,714,680,658,634,878,786,804.556199371,652,631,652,0.400971579553,0.00448641309119,0.0798383962969,0.999999954797,0.0001108710453,-0.000275048129818,4.96147530143e-05,1793243716660466688
+69,1.150000000,BASELINE,765,745,714,680.03758885,658.03758885,634,878,786,804.03758885,652,631,652,0.400971087911,0.00448663660878,0.0798384550539,0.999999954713,0.0001108672742,-0.000275411651135,4.93129223408e-05,1793243716677133312
+70,1.166666667,BASELINE,765,745,714,680.613885227,658.613885227,634,878,786,804.613885227,652,631,652,0.400970000341,0.00448570797424,0.079837597733,0.999999954503,0.000109249540336,-0.00027685858317,4.90750202353e-05,1793243716693800192
+71,1.183333333,BASELINE,765,745,714,680.812185132,659,634,878,786.187814868,805,652,631,651.812185132,0.400969430008,0.00448480899136,0.0798370519063,0.999999954373,0.000108184510405,-0.00027775693238,4.8998092628e-05,1793243716710467072
+72,1.200000000,BASELINE,765,745,714,680.243060438,659,634,878,786.756939562,805,652,631,651.243060438,0.400969909792,0.00448397020841,0.0798371384883,0.999999954415,0.000108241603491,-0.000277541525396,4.92479823323e-05,1793243716727133440
+73,1.216666667,BASELINE,765,745.343563313,714,680.343563313,658.656436687,634,878,786.656436687,804.656436687,651.656436687,631,651.343563313,0.400969714147,0.00448405499367,0.0798367042407,0.999999954334,0.000108484929533,-0.000277682826484,4.95423298452e-05,1793243716743800320
+74,1.233333333,BASELINE,765,745.943231476,714,680.943231476,658.056768524,634,878,786.056768524,804.056768524,651.056768524,631,651.943231476,0.400969015013,0.00448482824103,0.0798358817473,0.999999954163,0.000108867080533,-0.000278090031027,4.98698178442e-05,1793243716760466944
+75,1.250000000,BASELINE,764.477416952,745.477416952,714,680.477416952,658,634,878,786,804.522583048,651.522583048,631,652,0.400969866075,0.00448516865865,0.079836980815,0.999999954302,0.000109901298978,-0.000277224079474,4.96454400925e-05,1793243716777133568
+76,1.266666667,BASELINE,764.099751646,745,714,680,658.099751646,634,878,786,805,652,631,652,0.400970472951,0.00448518686246,0.0798378556574,0.999999954378,0.00011061721306,-0.000276695352629,4.94696228143e-05,1793243716793800192
+77,1.283333333,BASELINE,764.676640111,745,714,680,658.676640111,634,878,786,805,652,631,652,0.400969136479,0.00448388032297,0.0798366968826,0.999999954009,0.000109484459011,-0.0002784164397,4.98021047296e-05,1793243716810466816
+78,1.300000000,BASELINE,765,745,714,680,659,634,878.258399903,786,804.741600097,652,631,652,0.400968795037,0.00448318206598,0.0798362291119,0.99999995396,0.000108647356377,-0.000278909895609,4.98461027538e-05,1793243716827133440
+79,1.316666667,BASELINE,765,745,714,680,659,634,878.846372724,786,804.153627276,652,631,652,0.400969722694,0.0044832596354,0.0798366426736,0.999999954325,0.000108187338724,-0.000277837584606,4.95221575892e-05,1793243716843800064
+80,1.333333333,BASELINE,765,745,714,680,658.57208089,634,879,786,804,652,631,652,0.400969973374,0.0044835370344,0.0798368252512,0.999999954297,0.000108840457954,-0.000277692860909,4.94633243303e-05,1793243716860466944
+81,1.350000000,BASELINE,765,745,714,680,658.007152548,634,878.992847452,786,804.007152548,652,631,652,0.400969987473,0.00448389020457,0.079836926219,0.999999954133,0.000109879181898,-0.000277866062866,4.94976779898e-05,1793243716877133568
+82,1.366666667,BASELINE,765,745,714,680,658.583206276,634,878.416793724,786,804.583206276,652,631,652,0.400970229441,0.00448464836426,0.0798370342595,0.999999954267,0.000110272852095,-0.000277231124059,4.94856837459e-05,1793243716893800192
+83,1.383333333,BASELINE,765,745,714,680,658.841148107,634,878,786,805,652,631,652,0.400970195108,0.0044850136674,0.0798368115458,0.999999954323,0.000109858601292,-0.000277214493279,4.93755408349e-05,1793243716910467072
+84,1.400000000,BASELINE,765,745,714,680,658.266570418,634,878,786,805,652,631,652,0.400969437673,0.00448435083946,0.0798357232268,0.99999995417,0.000107329968464,-0.000278816014912,4.90085364383e-05,1793243716927134720
+85,1.416666667,BASELINE,765,745,714,680,658.316800932,634,878,786,804.683199068,652,631,651.683199068,0.400968911609,0.00448463320485,0.0798358210474,0.999999954116,0.000107470663699,-0.000278951851425,4.90282964381e-05,1793243716943801344
+86,1.433333333,BASELINE,765,745,714,680,658.907782878,634,878,786,804.092217122,652,631,651.092217122,0.400968585791,0.00448573360471,0.0798369454337,0.999999954148,0.000109921576644,-0.000277819184529,4.93827886016e-05,1793243716960467200
+87,1.450000000,BASELINE,765,745,714,680,658.512033518,634.487966482,878.487966482,786,804,652,631,651.487966482,0.400968974011,0.00448391301603,0.0798370920179,0.999999954598,0.000107087333695,-0.000277266422285,4.9592310554e-05,1793243716977133568
+88,1.466666667,BASELINE,764.934229746,745,714,680,658,634.934229746,879,786,804.065770254,652,631,652,0.400969467178,0.00448193473621,0.0798370568572,0.99999995502,0.00010397611583,-0.000276899346709,4.97533633277e-05,1793243716993800192
+89,1.483333333,BASELINE,764.359392841,745,714,680,658,634.359392841,879,786,804.640607159,652,631,652,0.400969750799,0.00448291605423,0.0798370142799,0.999999954711,0.000106284519443,-0.000277139615596,4.97467235898e-05,1793243717010467328
+90,1.500000000,BASELINE,764.214975091,745,714,680,658,634,879,786,805,652,631,651.785024909,0.400969669638,0.00448372698599,0.0798369454799,0.999999954413,0.000107894749208,-0.00027760295818,4.96823190062e-05,1793243717027134464
+91,1.516666667,BASELINE,764.788560651,745,714,680,658,634,879,786,805,652,631,651.211439349,0.400968979965,0.004484253688,0.0798368329364,0.999999954141,0.000108340320787,-0.00027843842089,4.95215540578e-05,1793243717043800832
+92,1.533333333,BASELINE,764.624393943,745,714,680,658,634,879,786,804.624393943,652,631,651.375606057,0.400968859457,0.0044835402943,0.0798368106623,0.999999954334,0.000107899129845,-0.000277902160335,4.95974014614e-05,1793243717060467200
+93,1.550000000,BASELINE,764.029489938,745,714,680,658,634,879,786,804.029489938,652,631,651.970510062,0.400969071255,0.00448210286962,0.0798368410921,0.999999954797,0.000106940201817,-0.000276565017948,4.98113951929e-05,1793243717077134080
+94,1.566666667,BASELINE,764.548104545,745,714,680,658,634,878.451895455,785.451895455,804.548104545,652,631,652,0.400968636248,0.00448238510128,0.0798361520243,0.999999954376,0.000106946673935,-0.000278173615134,4.93021185553e-05,1793243717093800448
+95,1.583333333,BASELINE,764.875931924,745,714,680,658.124068076,634,878,785.124068076,804.875931924,652,631,651.875931924,0.400968570608,0.0044827941472,0.0798357876618,0.99999995415,0.000106735502352,-0.000279138084124,4.88743930442e-05,1793243717110467072
+96,1.600000000,BASELINE,764.302604922,745,714,680,658.697395078,634,878,785.697395078,804.302604922,652,631,651.302604922,0.400969964629,0.00448333761906,0.079836734965,0.999999954811,0.000105553901035,-0.000277213784236,4.88785676298e-05,1793243717127133696
+97,1.616666667,BASELINE,764.272686213,745,713.727313787,679.727313787,659,634,878.272686213,786,804,652,631,651.272686213,0.400970633617,0.00448337693791,0.0798373402768,0.99999995501,0.000105827322461,-0.00027634690024,4.91279136591e-05,1793243717143800320
+98,1.633333333,BASELINE,764.850172761,745,713.149827239,679.149827239,659,634,878.850172761,786,804,652,631,651.850172761,0.400970492185,0.00448285272986,0.0798375633209,0.999999954694,0.000107727124009,-0.000276661963595,4.96513048518e-05,1793243717160466944
+99,1.650000000,BASELINE,765,745,713.438687974,679.438687974,659,634,879,786,804.438687974,652,631,652,0.40097135156,0.0044837931997,0.079838040697,0.999999954861,0.000109614934689,-0.000275322399081,4.95942181471e-05,1793243717177133824
+100,1.666666667,BASELINE,765,745,714,680,659,634,879,786,804.969772965,652,631,652,0.4009724266,0.00448517183373,0.0798385138965,0.999999955151,0.000111375700197,-0.000273601948729,4.93449912744e-05,1793243717193800448
+101,1.683333333,BASELINE,765,745,714,680,659,634,879,786,804.393409978,652,631,652,0.400971063189,0.00448519583977,0.0798373017356,0.999999954691,0.000110916941105,-0.000275473387812,4.92985919786e-05,1793243717210467584
+102,1.700000000,BASELINE,765,745,714,680,658.817624081,634,879,786,804.182375919,652,631,652,0.400970111977,0.00448505546601,0.079836552122,0.999999954371,0.000110613329342,-0.000276745369323,4.93455437922e-05,1793243717227134464
+103,1.716666667,BASELINE,765,745,714,680,658.243079193,634,879,786,804.756920807,652,631,652,0.400970047131,0.00448456162093,0.0798367971391,0.99999995436,0.000110643336073,-0.000276728317154,4.95932315902e-05,1793243717243800832
+104,1.733333333,BASELINE,764.660137236,745,714,680,658,634,878.660137236,786.339862764,805,652,631,652,0.400969448604,0.00448441137109,0.0798367767196,0.99999995435,0.000109840434938,-0.000277085419805,4.95775132289e-05,1793243717260467200
+105,1.750000000,BASELINE,764.071037256,745,714,680,658,634,878.071037256,786.928962744,805,652,631,652,0.400968458702,0.0044845130956,0.079836561643,0.99999995434,0.000108426723622,-0.000277716907631,4.93686268718e-05,1793243717277133824
+106,1.766666667,BASELINE,764,745,714,680,658.504957781,634,878.504957781,786.495042219,805,652,631,652,0.40096971291,0.00448452936995,0.0798369647202,0.999999954661,0.000108576445631,-0.000276489609892,4.94320747786e-05,1793243717293800192
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,878,786,804,652,631,652,0.400968267583,0.00448631306937,0.0798356078035,0.999999953489,0.000112685448681,-0.000279221299013,4.85775702339e-05,1793243717336837632
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.57267612,658,634.57267612,878,786,804.57267612,652,631,651.42732388,0.400968201787,0.00448399438713,0.0798358139831,0.999999954087,0.000107602579049,-0.000278980654709,4.91757710551e-05,1793243717353504768
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634.848609161,878.151390839,786,804.848609161,652,631,651.151390839,0.400968744359,0.00448254736045,0.0798364109166,0.99999995465,0.000104767324164,-0.000277971737023,4.95474981163e-05,1793243717370171392
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634.252141308,878.747858692,786,804.252141308,652,631,651.747858692,0.400971075486,0.00448366293118,0.079838156636,0.999999955165,0.000108539876511,-0.000274704156706,4.9253410496e-05,1793243717386837760
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.332084292,745,714,680,658.332084292,634,878.667915708,786.332084292,804.332084292,652,631,652,0.40097172149,0.00448493013261,0.0798384615185,0.999999955235,0.000110094014047,-0.000273865222376,4.90564992296e-05,1793243717403504384
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.907345176,745,714,680,658.907345176,634,878.092654824,786.907345176,804.907345176,652,631,652,0.400971133523,0.00448630836916,0.079837711314,0.999999954991,0.000110023664548,-0.000274804721814,4.8930747669e-05,1793243717420170752
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.516989239,745,714,680,659,634,878,786.516989239,805,652,631,652,0.400970245589,0.00448628584279,0.0798369137008,0.999999954518,0.00010967114105,-0.000276630308071,4.91166326648e-05,1793243717436837376
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.059987436,745.059987436,714,679.940012564,659,634,878,786,804.940012564,652,631,651.940012564,0.400969842435,0.00448588066417,0.0798364712378,0.999999954159,0.000109207481675,-0.000278062104472,4.9358156963e-05,1793243717453503744
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.647817028,745.647817028,714,679.352182972,659,634,878,786,804.352182972,652,631,651.352182972,0.400974211713,0.00448447482285,0.0798392339053,0.99999995523,0.000108242604152,-0.000274531951929,4.95628007939e-05,1793243717470170368
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.76708767,745.76708767,714,679.23291233,658.76708767,634,878,786,804.23291233,652,631,651,0.400985153652,0.0044835936016,0.0798444106051,0.999999957613,0.000107599906699,-0.00026596204908,4.96045001563e-05,1793243717486837248
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.186078924,745.186078924,714,679.813921076,658.186078924,634,878,786,804.813921076,652,631,651,0.401005918685,0.00448349644529,0.0798531951684,0.999999961793,0.000107438719798,-0.000249860046234,4.94026727302e-05,1793243717503503872
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.391351237,745,714,680,658.391351237,634,878,786.391351237,804.608648763,652,631,651,0.40104360508,0.00448468270342,0.0798673673102,0.999999967939,0.000107949031042,-0.000223807576054,4.87704402813e-05,1793243717520170752
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.967095328,745,714,680,658.967095328,634,878,786.967095328,804.032904672,652,631,651,0.401089264311,0.00448647366755,0.0798840779167,0.999999974298,0.000108775731789,-0.000193066745357,4.79354139648e-05,1793243717536837376
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.536522483,786.463477517,804,651.463477517,631,651.536522483,0.401153008621,0.00448639498673,0.0798982842393,0.999999979429,0.000109010730353,-0.000164504132831,4.68700957147e-05,1793243717553503744
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.88930054,634,878.88930054,786,804.11069946,651.11069946,631,652,0.401219159818,0.00448648568383,0.0799112832498,0.999999983225,0.000108796752883,-0.000140115077773,4.56270524286e-05,1793243717570170624
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.292588768,634,878.292588768,786,804.707411232,651.707411232,631,652,0.401291065257,0.00448781757557,0.0799196481666,0.99999998444,0.000106769069518,-0.000133469821525,4.36650158636e-05,1793243717586836992
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.294946579,634,878.294946579,786.294946579,805,652,631,652,0.401375026936,0.00448846328313,0.0799257926156,0.999999985895,0.000104446077432,-0.000124854791309,4.13919374663e-05,1793243717603503616
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.873653495,634,878.873653495,786.873653495,805,652,631,652,0.401470587601,0.00448844883087,0.0799298008104,0.999999987524,0.000101838976716,-0.000114344693829,3.88196140293e-05,1793243717620170496
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.55455316,805,652,631,651.55455316,0.401578222102,0.00449027587682,0.0799328687997,0.999999988148,0.000101392341074,-0.000110367509457,3.5249384389e-05,1793243717636837120
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.984061962,634.015938038,879,786,804.984061962,651.984061962,631,651.031876077,0.40169016931,0.00449256875,0.079935818995,0.999999988547,0.000101423888156,-0.000107865990961,3.13816313748e-05,1793243717653504000
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.390791324,634.609208676,879,786,804.390791324,651.390791324,631,652.218417352,0.401836182127,0.0044931043339,0.0799440147325,0.999999990645,9.69185827535e-05,-9.27221153789e-05,2.68327563567e-05,1793243717670170624
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.802651034,745,714,680,658.197348966,634.802651034,878.802651034,786.197348966,804.197348966,651.197348966,631,652.605302068,0.401991104054,0.00449509254134,0.0799512195331,0.999999992235,9.35107105094e-05,-7.94339517537e-05,2.18316878123e-05,1793243717686837248
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.224412539,745,714,680,658.775587461,634.224412539,878.224412539,786.775587461,804.775587461,651.775587461,631,651.448825079,0.402163220819,0.00449988435646,0.0799565117943,0.999999993189,9.22209183099e-05,-6.97273706301e-05,1.5957872497e-05,1793243717703503872
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.352754201,745,714,680,659,634,878.352754201,786.647245799,805,652,631,651.352754201,0.402353798215,0.00450327691565,0.079960120886,0.999999994231,8.65293251552e-05,-6.29096096672e-05,9.60959572398e-06,1793243717720170240
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.929241244,745,714,680,659,634,878.929241244,786.070758756,805,652,631,651.929241244,0.402556084204,0.00450578200321,0.0799626624351,0.999999995272,7.80459084693e-05,-5.79240695615e-05,2.96039322747e-06,1793243717736836864
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.499519783,634,879,786,805,652,630.499519783,651.499519783,0.402769122826,0.00450832166445,0.0799575909935,0.99999999528,6.89956691838e-05,-6.82563114193e-05,-4.58621040535e-06,1793243717753503744
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.925884236,714,680,658.074115764,634,878.925884236,786,805,651.925884236,630.074115764,651,0.402988845046,0.00451099570267,0.0799517938378,0.999999994893,6.07811764774e-05,-7.98144561539e-05,-1.21881428965e-05,1793243717770170368
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.33021661,714,680,658.66978339,634,878.33021661,786,805,651.33021661,630.66978339,651,0.403245012974,0.00451458131117,0.0799483854154,0.999999994467,5.90059001822e-05,-8.49177311989e-05,-1.92958668378e-05,1793243717786836992
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.741735514,744.258264486,714,680,658.741735514,634,878,786,805,651.258264486,631,651,0.403526871857,0.00451887491773,0.0799483233128,0.999999994154,6.31190288938e-05,-8.41864664656e-05,-2.49181415227e-05,1793243717803503872
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.162194377,744.837805623,714,680,658.162194377,634,878,786,805,651.837805623,631,651,0.403840689841,0.00452404926168,0.0799524239755,0.999999993906,7.45572339306e-05,-7.61971326294e-05,-2.86925420314e-05,1793243717820170496
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.414070573,744.585929427,714,680,658.414070573,634,878.414070573,786,805,652,631,651.414070573,0.404186418152,0.00453385757144,0.0799572356352,0.999999990823,0.000114316349448,-6.82714738251e-05,-2.49948645697e-05,1793243717836837120
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.989062278,744.010937722,714,680,658.989062278,634,878.989062278,786,805,652,631,651.989062278,0.404544547835,0.00454546678909,0.079962323611,0.999999984383,0.000165081880359,-6.03705612165e-05,-1.8393297346e-05,1793243717853503744
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.564921426,714,679.435078574,658.435078574,634,878.435078574,786.564921426,805,652,631,652,0.404936935879,0.00454997610775,0.0799617559957,0.999999995816,6.80278063515e-05,-5.64394252559e-05,-2.35556422191e-05,1793243717870170624
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.144557166,658.144557166,634,878,786.855442834,805,651.855442834,631,652,0.405334515153,0.00455503694563,0.0799595988905,0.999999998049,4.47446775698e-07,-5.58600474433e-05,-2.79438487089e-05,1793243717886837248
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.735810878,658.735810878,634,878,786.264189122,805,651.264189122,631,652,0.405746082993,0.00456222746711,0.0799528689871,0.999999996896,3.28014249902e-05,-6.5400076984e-05,-2.92349818037e-05,1793243717903504128
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,786,805,651.31937981,631,651.68062019,0.406182299314,0.0045711723051,0.0799434686079,0.999999993713,7.01533800463e-05,-8.20688730666e-05,-3.02719380216e-05,1793243717920170752
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,786,805,651.89674136,631,651.10325864,0.406638425697,0.00458153420787,0.0799319111285,0.999999987836,0.000111542496562,-0.000104495991512,-3.11035808269e-05,1793243717936837376
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.530024923,714,680,659,634,878,786,805,652,631,651.469975077,0.407139033053,0.00458920206827,0.0799305759388,0.999999984603,0.000135431155152,-0.000106886666781,-3.20563147728e-05,1793243717953504000
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.043736836,714,680,658.956263164,634,878,786,805,651.956263164,631,652,0.407649618742,0.00459670099886,0.0799306860494,0.999999981936,0.000153887220395,-0.000106552768826,-3.30539734637e-05,1793243717970170880
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.635376401,714,680,658.364623599,634,878,786,805,651.364623599,631,652,0.408163843636,0.00460943416389,0.0799210112009,0.999999979821,0.000152036242664,-0.000126755094773,-3.42840304789e-05,1793243717986837504
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,786,805.22246051,651.22246051,631,652,0.408710703629,0.00461952996809,0.0799181545248,0.99999997833,0.00015543705815,-0.000133880995631,-3.54313348765e-05,1793243718003504128
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,786,805.802227802,651.802227802,631,652,0.409309980721,0.00462538975271,0.0799262489128,0.999999978145,0.00016727308473,-0.000120004087445,-3.64457254123e-05,1793243718020170752
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.379425682,634,878,786,805.241148636,651.620574318,631,652,0.40996278412,0.00463140431849,0.0799550496288,0.999999980762,0.000178269710903,-7.27775826687e-05,-3.74060565851e-05,1793243718036837120
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.955293269,634,878,786,804.089413461,651.044706731,631,652,0.410643299935,0.00463749901969,0.0799945707323,0.999999981402,0.000188831749239,-8.28482906794e-06,-3.83383991811e-05,1793243718053503744
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.524607524,786,804.524607524,651.524607524,631,652,0.411304076948,0.00464046691468,0.0799944651823,0.999999983178,0.000178496364413,-1.13160486885e-05,-4.06737382476e-05,1793243718070170624
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.098086792,659,634,879,786,805,651.901913208,631,651.901913208,0.411962975904,0.0046391687808,0.079986070065,0.999999984786,0.000166988481865,-2.64508789617e-05,-4.29366021884e-05,1793243718086837504
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680.695580309,659,634,879,786,805,651.304419691,631,651.304419691,0.412620771408,0.00461749021426,0.0799524503816,0.999999983708,0.000158466225016,-7.42742919093e-05,-4.42292205788e-05,1793243718103504128
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680.71546304,659,634,878.71546304,786,804.71546304,651,631,651,0.413310799698,0.00459620455362,0.079927185042,0.999999984454,0.00013402622547,-0.000105590461218,-4.45013500805e-05,1793243718120171008
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680.135373677,659,634,878.135373677,786,804.135373677,651,631,651,0.414034308703,0.00457532700704,0.0799105974686,0.999999987544,9.305224947e-05,-0.000119760338251,-4.37134840931e-05,1793243718136837376
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,786,804.439712782,651,631,651.439712782,0.414802634998,0.00457356014598,0.0799263606707,0.999999990339,9.50036831377e-05,-9.16378550144e-05,-4.35762515103e-05,1793243718153504000
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.013612046,786,805,651.013612046,631,652,0.415584211792,0.00457779260363,0.0799513388329,0.999999991674,0.000109733636301,-5.20426053642e-05,-4.3604581236e-05,1793243718170170624
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.601680589,786,805,651.601680589,631,652,0.416349242833,0.00458970291798,0.0799496125407,0.999999990239,0.000112301433089,-7.15824543566e-05,-4.22616100093e-05,1793243718186837248
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785.813557031,805,651.813557031,631,651.813557031,0.417135872016,0.00459939902796,0.0799490895552,0.999999988867,0.000119983122109,-7.78991133546e-05,-4.24525844506e-05,1793243718203503872
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785.23573495,805,651.23573495,631,651.23573495,0.417967839744,0.00460444710279,0.0799510925381,0.999999987777,0.000138399839554,-5.6457790411e-05,-4.5863601524e-05,1793243718220171008
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.342805246,659,634,879,785.342805246,805,651.342805246,631,651.342805246,0.418826886179,0.00460333432258,0.0799688018043,0.999999989883,0.000132459207495,-1.87296012627e-05,-4.83598751427e-05,1793243718236837632
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.921840278,659,634,879,785.921840278,805,651.921840278,631,651.921840278,0.419704592728,0.0045979760486,0.0799973343936,0.999999992261,0.00010973373369,3.02219943766e-05,-5.02257916327e-05,1793243718253504256
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.501648123,659,634,879,786,805,652,630.501648123,652,0.420544579607,0.0045922998986,0.079983578998,0.999999992994,0.000106675422169,8.18938294766e-06,-5.06531801448e-05,1793243718270170880
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.076039071,659,634,878.923960929,786,805,652,630,651.923960929,0.42138573061,0.00458771102719,0.0799672124558,0.999999992782,0.000107353951844,-1.84404639822e-05,-5.07133637066e-05,1793243718286837504
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680.664297679,659,634,878.335702321,786,805,652,630,651.335702321,0.422274372828,0.00459078049963,0.0799777083771,0.999999992427,0.000112531324997,-1.42207646342e-06,-4.98120931805e-05,1793243718303504128
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.238433569,634,878.238433569,786,805,652,630.238433569,651,0.423165054388,0.00459816537077,0.0799907208073,0.999999991046,0.000123325682847,1.66554286886e-05,-4.92167566789e-05,1793243718320170752
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.793797368,634,878.793797368,786,805,652,630.793797368,651,0.424058446803,0.00461128634871,0.0800070782285,0.999999988122,0.000141586239482,3.61407346102e-05,-4.90280731049e-05,1793243718336837376
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.622336285,745,714,681,659.622336285,634,879,786,805,651.622336285,631,651.377663715,0.424903285205,0.00461674828607,0.0799817307302,0.999999987501,0.000149178048223,-2.00412619555e-05,-4.83984380121e-05,1793243718353504256
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.021637345,745,714,681,659.021637345,634,879,786,805,651.021637345,631,651.978362655,0.425719449219,0.00461768705623,0.0799317537373,0.999999980241,0.000150469258455,-0.000120909770544,-4.75083917153e-05,1793243718370170880
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,879,786,805,651,631,651.434431716,0.42664953452,0.00461367486162,0.0799201008601,0.999999983074,0.000139214678311,-0.000108744030917,-5.14308551181e-05,1793243718386837504
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.150442493,745,714,681,659,634,878.849557507,786,805,651,631,651.150442493,0.427571647766,0.0046091390579,0.0799135305928,0.999999985195,0.000129950850342,-9.8985859083e-05,-5.40781984511e-05,1793243718403504384
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.73010352,745,714,681,659,634,878.26989648,786,805,651,631,651.73010352,0.428458871519,0.00460363718562,0.0799173755858,0.999999984616,0.000127704193224,-0.000108146858426,-5.25745234034e-05,1793243718420170752
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.309366732,634,878.618733464,786,805,651.309366732,631,652,0.429372140325,0.00460237055601,0.0799365063519,0.999999987179,0.000123823067233,-8.70011199923e-05,-5.235833927e-05,1793243718436837120
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.8882833,634,879.776566599,786,805,651.8882833,631,652,0.430308102021,0.00460479407448,0.0799689555427,0.99999999078,0.000118517835808,-3.94492572599e-05,-5.32639401415e-05,1793243718453503744
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.53593913,745,714,681,659.53593913,634,879.53593913,786,805,652,631,652,0.431232251111,0.00460974492859,0.0800053576004,0.999999990794,0.000124296523602,1.42397437314e-05,-5.25239925895e-05,1793243718470170368
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.03994923,745,714,681,659,634,879.03994923,786,805,652,631,652,0.432146751631,0.00461527602901,0.0800370179674,0.999999988048,0.000132803165932,6.02013317464e-05,-5.14027466428e-05,1793243718486837504
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.627647587,745,714,681,659,634,879.627647587,786,805,652,631,652,0.432967687252,0.0046204768298,0.0799907044794,0.999999988394,0.000142373388159,-1.99099407781e-05,-5.04485691144e-05,1793243718503504128
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.787730563,745,714,681.212269437,659,634,880,786,805.212269437,652,631,652,0.433798601093,0.00462444640611,0.0799457478179,0.999999984121,0.000145650651898,-8.90009730826e-05,-5.12052366146e-05,1793243718520171264
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.208428175,745,714,681.791571825,659,634,880,786,805.791571825,652,631,652,0.434646768311,0.00462628708536,0.0799031372242,0.999999979298,0.000138046826923,-0.000139037031905,-5.49201092946e-05,1793243718536838912
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.369281131,745.369281131,714,682,659.369281131,634,880,786,805.630718869,652,631,652,0.435520011854,0.0046222668399,0.0799135471204,0.999999982998,0.000130265357728,-0.00011767629238,-5.64616769474e-05,1793243718553505792
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.946095105,745.946095105,714,682,659.946095105,634,880,786,805.053904895,652,631,652,0.436407348028,0.00461495280468,0.0799537540817,0.99999998932,0.000122384054172,-5.61911586413e-05,-5.67818653889e-05,1793243718570172416
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.47998953,714,682,660,634,880,786,805.52001047,651.47998953,631,651.47998953,0.437262373803,0.00460624676164,0.0799872339733,0.999999991455,0.000117698340244,-1.52447564814e-05,-5.48163426702e-05,1793243718586838528
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.903469266,745,714,682,660,634,879.903469266,786,806,651,631,651.096530734,0.438112726295,0.0045990357309,0.0800165770771,0.999999992099,0.000111703120367,2.18374069919e-05,-5.33547052238e-05,1793243718603504640
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.312062832,745,714,682,660,634,879.312062832,786,806,651,631,651.687937168,0.438956196206,0.00460022470467,0.0800282676246,0.999999992467,9.73057505281e-05,4.99635220494e-05,-5.56842565358e-05,1793243718620171008
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.272925813,745.272925813,714,682,659.727074187,634,879.272925813,786,806,651.272925813,631,651.727074187,0.439747351165,0.00460387540868,0.0800149934141,0.999999992771,0.000100123605273,3.44145680693e-05,-5.70076622556e-05,1793243718636837888
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.850744924,745.850744924,714,682,659.149255076,634,879.850744924,786,806,651.850744924,631,651.149255076,0.440480063525,0.00461027618246,0.079973830352,0.999999990453,0.000122173084576,-2.99250670471e-05,-5.72070734169e-05,1793243718653504512
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.573818716,746,714,682.426181284,659,634,880,786.426181284,806,652,631,651.426181284,0.441157352696,0.00461318105299,0.0799035993573,0.999999982286,0.00011261332469,-0.000139257047668,-5.79071012431e-05,1793243718670171392
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.000808046,746,714,682.999191954,659.000808046,634,879.999191954,786.999191954,805.999191954,651.999191954,631,652,0.441815465434,0.00461486277203,0.0798233900886,0.999999959181,9.20893828016e-05,-0.000264012280353,-5.87827371853e-05,1793243718686838016
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.590141079,746,714,682.409858921,659.590141079,634,879.409858921,786.409858921,805.409858921,651.409858921,631,652,0.442565078294,0.00461243603712,0.079848904474,0.999999970831,0.000103832664317,-0.00020949344398,-6.05761460799e-05,1793243718703504640
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714,682.176571732,660,634,879.176571732,786.176571732,805.176571732,651.176571732,631,652,0.443318871335,0.00460901800076,0.079887445564,0.999999981876,0.000110653975519,-0.000142416485398,-6.09972341537e-05,1793243718720171008
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,746,714,682.756374435,660,634,879.756374435,786.756374435,805.756374435,651.756374435,631,652,0.444082210663,0.00460333616189,0.0799557353092,0.99999999157,0.000106235149631,-4.6660951631e-05,-5.82843993113e-05,1793243718736837888
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.665853969,713.665853969,683,659.665853969,633.665853969,880,786.665853969,806,652,631,652,0.444761505185,0.00460669385118,0.0799773466685,0.999999992594,0.000105528405668,-2.01624736134e-05,-5.71744022683e-05,1793243718753504768
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.089554338,713.089554338,683,659.089554338,633.089554338,880,786.089554338,806,652,631,652,0.4453798929,0.00461660243198,0.0799651304809,0.999999991622,0.000107511785646,-4.38541691324e-05,-5.72259724539e-05,1793243718770171136
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.481743613,713.481743613,682.518256387,658.518256387,633.481743613,880,786,805.518256387,651.518256387,631,652,0.445942521935,0.00462775396714,0.0799275690928,0.999999983959,0.000131937848718,-0.000106836186877,-5.71069705051e-05,1793243718786838016
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.945652466,713.945652466,682.054347534,658,633.945652466,880,786.054347534,805.054347534,651,631,652,0.446492419106,0.00463889801687,0.0798855214685,0.999999970378,0.000158870795189,-0.000175339208954,-5.70897985051e-05,1793243718803504384
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.350912723,713.350912723,682.649087277,658,633.350912723,880,786.649087277,805.649087277,651,631,652,0.44701772616,0.00464769374831,0.0798452330741,0.999999958168,0.000169673210262,-0.000226860462564,-5.83972004854e-05,1793243718820171520
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.762509537,745,713.237490463,683,657.762509537,633,880,786.762509537,806,651,631,652,0.447536004944,0.00465555805743,0.0798076615606,0.999999946173,0.000166667839699,-0.000276197482294,-5.99240885023e-05,1793243718836838400
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.183225895,745,713.816774105,683,657.183225895,633,880,786.183225895,806,651,631,652,0.448044168686,0.00466208187494,0.0797740001501,0.999999935787,0.000143790483211,-0.000322390976876,-6.17668579251e-05,1793243718853504768
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.393831213,745.393831213,714,683.393831213,656.606168787,633,880,786,806,651.393831213,631,652,0.448499117683,0.00466770052467,0.0797373763238,0.999999914096,0.000151261345812,-0.000380888583917,-6.20650834137e-05,1793243718870171392
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.969858322,745.969858322,714,683.969858322,656.030141678,633,880,786,806,651.969858322,631,652,0.44892944829,0.00467290042234,0.079699382009,0.999999884127,0.000172772030101,-0.000445078375472,-6.16487652903e-05,1793243718886838272
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.44307413,714,684,656,632.44307413,880.55692587,786,806,652,631,652,0.449361537452,0.00468045503749,0.0796899365488,0.999999876643,0.000188388194048,-0.000455297192761,-6.26693462755e-05,1793243718903504896
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,684,655.857496098,632.142503902,880.857496098,785.857496098,806,652,631,652,0.449793503652,0.00468770433536,0.0796878027613,0.999999873534,0.000203299287866,-0.000455633041889,-6.32507927666e-05,1793243718920171520
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,684,655.278349799,632.721650201,880.278349799,785.278349799,806,652,631,652,0.450224795671,0.00469361973474,0.0797032423988,0.999999879975,0.00021704727065,-0.000434817900835,-6.22435956785e-05,1793243718936837632
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,684,655,632.701422526,880.298577474,785.298577474,806,652,631,652,0.450633337346,0.00470114612607,0.0797143403094,0.999999884048,0.000227215223187,-0.000419839291999,-6.33358934856e-05,1793243718953504512
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,684,655,632.126548723,880.873451277,785.873451277,806,652,631,652,0.451020826379,0.00471016328979,0.0797214204906,0.999999886246,0.000234070302076,-0.000410261669463,-6.63710128688e-05,1793243718970171648
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.45116218,714,684,654.54883782,632,880.54883782,785.54883782,806,652,631,652,0.451338302647,0.00473347257352,0.0797067458776,0.999999868009,0.000258638008269,-0.000438398650199,-6.99665300701e-05,1793243718986838528
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,713.969787252,684,654,632,880,785.030212748,806,652,631,652,0.451632813842,0.00475965716838,0.0796854896928,0.999999842461,0.000285610656776,-0.000477599594504,-7.35118430827e-05,1793243719003504896
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,746,713.380770418,684,654,632,880,785.619229582,806,652,631,652,0.451868091566,0.00476440669897,0.0796560797727,0.999999824747,0.000264590817234,-0.000524536592956,-7.32028961699e-05,1793243719020171008
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.795440122,713,684,653.795440122,632,880.204559878,785.795440122,806.204559878,652,631,652,0.452106026887,0.00476513832006,0.0796285984705,0.999999806702,0.000244945056319,-0.000566685581592,-7.39267843098e-05,1793243719036837376
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.216850578,713,684,653.216850578,632,880.783149422,785.216850578,806.783149422,652,631,652,0.452348821493,0.00475852335164,0.079604643573,0.999999791074,0.000227811747075,-0.0006000798796,-7.65391708498e-05,1793243719053504256
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,713,684,652.640376163,632,881,785,807,651.640376163,631,652,0.4525794535,0.00475572569642,0.0795928287038,0.999999782156,0.00022467338678,-0.000615630463101,-7.87979033915e-05,1793243719070170880
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,713,684,652.065169643,632,881,785,807,651.065169643,631,652,0.452802794451,0.00475521639448,0.0795882913808,0.999999777799,0.00022992453735,-0.000620484329165,-8.08446322652e-05,1793243719086837504
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,713,683.490332827,652,631.490332827,880.490332827,785.509667173,806.490332827,651.509667173,631,652,0.452989993206,0.00473815668875,0.0795833990771,0.999999774587,0.000226380716643,-0.000627545220211,-7.59259762495e-05,1793243719103503872
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,713,683.087117202,651.912882798,631,880,785.912882798,806,652,631,652,0.453168597567,0.00472231802338,0.0795789739678,0.999999771055,0.000224770136024,-0.000634341100546,-7.05678299697e-05,1793243719120170496
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,713,683.680013327,651.319986673,631,880,785.319986673,806,652,631,652,0.453324116404,0.00472584585856,0.0795775245927,0.999999765184,0.000240907739043,-0.000637961180628,-6.782520575e-05,1793243719136837376
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,713,684,651,631,880.265915477,785,806,651.734084523,631,652,0.453464988137,0.00473120056045,0.0795739343379,0.999999758069,0.000251799270137,-0.000644921788961,-6.73463516721e-05,1793243719153503744
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,713,684,651,631,880.843617146,785,806,651.156382854,631,652,0.453588686115,0.00473869726538,0.0795678338991,0.999999749641,0.000256539775122,-0.000655799170265,-6.95217707825e-05,1793243719170170368
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,713,684,650.580792088,631,880.580792088,785,806,651.419207912,631,652,0.453692966282,0.00473734178492,0.0795592316403,0.999999742272,0.000250698367139,-0.000669067766631,-7.03839464949e-05,1793243719186837248
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,713,684,650.005984847,631,880.005984847,785,806,651.994015153,631,652,0.453790039048,0.00473270059796,0.0795497007696,0.999999735076,0.000240929221705,-0.000683223920896,-7.07586795534e-05,1793243719203503872
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,713,684.567988904,650.567988904,631,880,785.567988904,805.432011096,651.432011096,631,652,0.45386289794,0.00473693180053,0.0795436487864,0.99999972736,0.000244317052223,-0.000693085961944,-7.22571122687e-05,1793243719220170240
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,713.14705132,684.85294868,650.85294868,631,880.14705132,786,805.14705132,651.14705132,631,652,0.453931969631,0.00473964995094,0.0795382953307,0.999999721111,0.00024581136595,-0.000701420993812,-7.32306903519e-05,1793243719236837120
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,713.741626752,684.258373248,650.258373248,631,880.741626752,786,805.741626752,651.741626752,631,652,0.453990290979,0.00473747930423,0.0795349563235,0.999999719611,0.000241121814193,-0.000705246345952,-7.25709869058e-05,1793243719253503488
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,713.673462911,684,649.673462911,631,880.673462911,785.673462911,806,651.673462911,631,652,0.454043595593,0.0047371925685,0.0795340193733,0.999999720231,0.000238492896471,-0.000705251163803,-7.26595710634e-05,1793243719270170112
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,713.09598019,684,649.09598019,631,880.09598019,785.09598019,806,651.09598019,631,652,0.454093044825,0.00473835362895,0.0795349284172,0.999999722495,0.000237447587361,-0.000702319879499,-7.3323218478e-05,1793243719286836736
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,713,684,649,631,880.949185221,785,806.050814779,652,630,652,0.454158160048,0.00474347377828,0.0795340234215,0.99999971692,0.000244828078262,-0.000707670195044,-7.36348816306e-05,1793243719320172032
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,713,684,649,631,880.359935303,785,806.640064697,652,630,652,0.45417396684,0.00474302230215,0.0795307269813,0.999999712917,0.000244031691637,-0.000713612259783,-7.32996663687e-05,1793243719336838400
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.775624346,745,713,684,649,631,880,785,806.775624346,652,630.224375654,652,0.454188395366,0.00474359407626,0.0795276858098,0.999999709528,0.000243989750963,-0.000718381149057,-7.30913774332e-05,1793243719353505024
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.199065684,745,713,684,649,631,880,785,806.199065684,652,630.800934316,652,0.454200660548,0.00474577195758,0.0795250453117,0.999999707142,0.000245131998738,-0.000721308606196,-7.30823137698e-05,1793243719370171392
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764.958613415,745,713,684,649,631,880.958613415,785,806,652,631,652,0.454220577017,0.00474315201937,0.0795272208127,0.99999971105,0.000242311405365,-0.000716906476506,-7.23252967999e-05,1793243719403504640
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.530861924,745,712.469138076,684,648.469138076,631,880.469138076,785,806,651.469138076,631,652,0.454223532759,0.0047436425077,0.0795259349663,0.999999709683,0.000242280319597,-0.00071885286286,-7.2003090661e-05,1793243719420172032
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.893483821,745,712.106516179,684,648.106516179,631,880.106516179,785,806,651.106516179,631,652,0.454225715288,0.00474398582123,0.0795245747,0.999999708244,0.000241837455178,-0.000721035054817,-7.16654440584e-05,1793243719436838912
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.299765019,745,712.700234981,684,648.700234981,631,880.700234981,785,806,651.700234981,631,652,0.454226655997,0.00474276626446,0.079523983079,0.999999707969,0.000238838344831,-0.000722459725802,-7.12102329164e-05,1793243719453505536
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.712751919,745,713,684,649,631,881,785,806,652,631,652,0.454228563782,0.00474187358279,0.0795240051735,0.999999708237,0.000237773364607,-0.000722469694602,-7.09031644588e-05,1793243719470171904
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.132577017,745,713,684,649,631,881,785,806,652,631,652,0.454231457762,0.00474131423821,0.0795246531163,0.999999709066,0.00023868075086,-0.00072103699349,-7.0747167332e-05,1793243719486838528
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.443003578,745,713,684,648.556996422,631,880.113992844,785.443003578,806,652,630.556996422,652,0.454231787952,0.00474144306432,0.0795247213532,0.99999970886,0.000238852684559,-0.000721273408994,-7.06632692452e-05,1793243719503505152
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713,684,648,631,879.01762326,785.98237674,806,651.98237674,630,652,0.454231352295,0.00474180139481,0.0795245783236,0.999999708296,0.00023886032008,-0.000722057872532,-7.06097136238e-05,1793243719520171776
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713,684,648,631,879.6051769,785.3948231,806,651.3948231,630,652,0.454230707678,0.00474298990064,0.0795231559515,0.99999970604,0.000240599435707,-0.000724577722804,-7.08467934234e-05,1793243719536838144
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,713,684,648.190053185,631,880,785,806.190053185,651.190053185,630,652,0.454230466339,0.00474400004142,0.0795222810458,0.99999970459,0.000241808364984,-0.000726169134079,-7.09006698958e-05,1793243719553504768
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,713,684,648.769444672,631,880,785,806.769444672,651.769444672,630,652,0.454231051146,0.00474464478785,0.0795225276662,0.999999704809,0.000241931167379,-0.000725858567818,-7.0579240504e-05,1793243719570171392
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,713,684,649,631,880,785,806.653471179,651.653471179,630.346528821,652,0.454231161484,0.00474508595492,0.0795222611189,0.999999704654,0.000242213363162,-0.000725991345615,-7.04372510583e-05,1793243719586838016
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713,684,649,631,880,785,806.077912035,651.077912035,630.922087965,652,0.454230958234,0.00474539257082,0.079521655405,0.999999704252,0.000242600906366,-0.000726417141573,-7.04138583664e-05,1793243719603505152
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713,684,648.503758655,631,880,785,806.496241345,651.496241345,631,652,0.454231491423,0.0047439777971,0.0795216806152,0.999999704703,0.000241775501738,-0.000726088493,-7.02384806908e-05,1793243719620172288
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,713,684,648.072462292,631,880,785,806.927537708,651.927537708,631,652,0.454232221864,0.00474278568567,0.0795219251968,0.999999705212,0.000241045969457,-0.000725644396414,-7.00864553783e-05,1793243719636839168
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,713,684,648.665105195,631,880,785,806.334894805,651.334894805,631,652,0.454233540621,0.00474512664585,0.079523035476,0.999999705188,0.000242367894804,-0.000725219455782,-7.02728832761e-05,1793243719653505024
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,713,684,649,631,880,785.25207345,806,651.25207345,631,652,0.454233305499,0.00474591250554,0.0795226774513,0.999999704301,0.000242830401818,-0.000726278387223,-7.03634456932e-05,1793243719670171392
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745,713,684,649,631,880,785.831668655,806,651.831668655,631,652,0.454231051404,0.0047446778067,0.0795204116437,0.999999702288,0.00024217625749,-0.000729265329609,-7.03294490812e-05,1793243719686838016
+249,4.150000000,HOLD_POSE2,765,745,713,684,648,631,880,785,806,652,631,652,0.454231386444,0.00474392893625,0.0795196522168,0.999999702763,0.000238778780722,-0.000729760572584,-7.00648692381e-05,1793243719720787712
+250,4.166666667,HOLD_POSE2,765,745,713,684,648,631,880,785,805.410059307,651.410059307,631,652,0.454232962207,0.00474352064592,0.0795207837606,0.999999703884,0.000239729492647,-0.0007279115963,-7.00439958303e-05,1793243719737454848
+251,4.183333333,HOLD_POSE2,765,745,713,684,648.176453975,631,880,785,805.176453975,651.176453975,631,652,0.454233577368,0.00474321657485,0.0795211636005,0.999999704298,0.00024020034784,-0.0007271903283,-7.00168117601e-05,1793243719754121728
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+253,4.216666667,HOLD_POSE2,765,745,713,684,649,631,880,785,806,652,631,652,0.454232046507,0.00474301428366,0.079519659131,0.999999702895,0.000239709322529,-0.000729306356037,-6.97191296229e-05,1793243719787454720
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,713,684.408892195,648,631,880,785,806,651.591107805,630.591107805,652,0.454235495359,0.00474313012631,0.0795200822539,0.99999970313,0.000239145383012,-0.000729228604303,-6.91042337011e-05,1793243720053383936
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.821717558,745,713,684,648,631,880,785,806,652,631,651.821717558,0.454235620968,0.00474370661656,0.0795204232945,0.999999703624,0.000238522982005,-0.000728718906214,-6.94800574299e-05,1793243720070050560
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.332733082,745,713,684,648,631,880,785,806,651.667266918,631,651.332733082,0.454235422298,0.00474399423996,0.0795211432787,0.999999703575,0.000241185847149,-0.000727923553903,-6.93285933028e-05,1793243720103383552
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,764.677353732,745,713.677353732,683,658,634,879.677353732,786,806,651.322646268,631,652,0.432098424946,0.00448430257641,0.0797446036543,0.999999908348,7.76692602271e-05,-0.000417654539375,5.32525280074e-05,1793243721003381760
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.255662476,714,682.744337524,658.255662476,634,879.744337524,786,806,651.255662476,631,652,0.431140848996,0.00447417187771,0.0797168975811,0.999999885009,7.29910107867e-05,-0.000470787881731,5.48900107972e-05,1793243721020048640
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745.832875419,714,682.167124581,658.832875419,634,879.167124581,786,806,651.832875419,631,652,0.43025071446,0.00446057025183,0.0797305135075,0.999999899525,3.82755360338e-05,-0.000443217739119,5.51547171341e-05,1793243721036715520
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.593345831,745.593345831,714,682,658.593345831,634,879,786,805.593345831,652,631,651.593345831,0.429406742293,0.00444895384137,0.079786465816,0.99999993691,3.06825692227e-05,-0.000349401917514,5.61772632903e-05,1793243721053382144
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.020966662,745.020966662,714,682,658.020966662,634,879,786,805.020966662,652,631,651.020966662,0.428581582868,0.00443814647255,0.079859671597,0.999999971637,3.41429215784e-05,-0.000228588792028,5.75086535046e-05,1793243721070048512
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.140499016,745,714,682.570249508,658,634,879,786.570249508,805.570249508,651.429750492,631,651.570249508,0.427637305528,0.00443327953064,0.0798545274831,0.999999970605,2.53938987839e-05,-0.000234029333155,5.81004754764e-05,1793243721086715136
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.841736259,745,714,682.841736259,658,634,879.158263741,786.841736259,806,651.158263741,631,652,0.426683679668,0.00442872530789,0.0798350522052,0.999999963728,1.66995175022e-05,-0.000262598123293,5.75163638865e-05,1793243721103382272
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.264104486,745,714,682.264104486,658,634,879.735895514,786.264104486,806,651.735895514,631,652,0.425717283831,0.00442440120244,0.0797854962831,0.999999940795,9.38008146266e-06,-0.000339731571475,5.38907727454e-05,1793243721120049920
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,634,879.687322097,786.312677903,805.687322097,652,631,652,0.424750712689,0.00442945814649,0.0797513941384,0.999999921049,1.92264514635e-05,-0.00039324459043,5.37674084465e-05,1793243721136717056
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,634,879.111255228,786.888744772,805.111255228,652,631,652,0.423783993925,0.00444241735983,0.0797303097195,0.999999906346,4.35326984739e-05,-0.000426860580096,5.65941982644e-05,1793243721153383424
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,634,879.474629183,786.525370817,805,652,631,652,0.422905439666,0.00447408556315,0.079737122941,0.999999911071,8.07330739165e-05,-0.000410316589397,5.45854662746e-05,1793243721170050560
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.061926151,634,880,786,805,652,631,652,0.422051014364,0.00450615453254,0.0797565178023,0.999999922588,0.000116268007445,-0.00037232645804,5.1756991149e-05,1793243721186717440
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.641389225,634,880,786,805,652,631,652,0.421221881342,0.00450414787916,0.0798252558505,0.999999959753,0.000112091229994,-0.000255442597067,5.17504997738e-05,1793243721203384320
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.78014714,634,879.78014714,786.21985286,805.21985286,651.78014714,631,652,0.42037479139,0.00449798799004,0.079866150542,0.99999997562,0.000104514875113,-0.000187428788866,5.20239309801e-05,1793243721220050944
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.20330626,634,879.20330626,786.79669374,805.79669374,651.20330626,631,652,0.419498543583,0.00448508424748,0.0798618343485,0.999999974676,9.14184277331e-05,-0.000198768145711,5.2751889865e-05,1793243721236717056
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745.371443554,714,681.628556446,658,634,879,787,806,651.371443554,631,652,0.418609402603,0.00447518346658,0.0798341049867,0.999999965295,7.55126658917e-05,-0.000247076456066,5.15889040848e-05,1793243721253383936
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.945055217,714,681.054944783,658,634,879,787,806,651.945055217,631,652,0.417713244221,0.00446691712882,0.0797936323808,0.999999947321,5.80778598556e-05,-0.00031550610833,4.93967207506e-05,1793243721270050816
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.464984866,714,681.535015134,658.535015134,634,879,786.464984866,805.464984866,652,631,652,0.416894220364,0.00446992810343,0.0798038154916,0.999999948136,6.53962100765e-05,-0.000311238547608,5.08109368081e-05,1793243721286716672
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.876103788,658.876103788,634,879,786,805,652,631,652,0.41607513909,0.00447605066214,0.0798114237775,0.999999947792,7.70372010192e-05,-0.00030944285954,5.22227048068e-05,1793243721303383040
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.297537296,658.297537296,634,879,786,805,652,631,652,0.415225860669,0.00448920789396,0.0797898903679,0.999999934626,9.49183531666e-05,-0.000344979806711,5.22234814618e-05,1793243721320050688
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.721282176,681,658.278717824,634,879,786,805,652,631.278717824,652,0.414437260399,0.00449495290284,0.0797835774684,0.999999932234,0.000103745743103,-0.00034945318829,5.14930481613e-05,1793243721336717568
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.147474238,681,658.852525762,634,879,786,805,652,631.852525762,652,0.413712902656,0.0044928502832,0.0797933791551,0.999999941915,0.000102987538624,-0.000321038283336,4.99884526066e-05,1793243721353383424
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.427790725,681,658.572209275,634.427790725,879,786.427790725,804.572209275,652,631.572209275,652,0.412993671742,0.00448570304189,0.0798052181975,0.999999949668,8.82479331423e-05,-0.00030052900841,5.05891541002e-05,1793243721370049280
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.003644574,745,714,681,658,634.996355426,879,786.996355426,804.003644574,652,631.003644574,652,0.412276246298,0.00447686116862,0.0798175992672,0.999999956222,6.88845799539e-05,-0.000283049239996,5.19091948464e-05,1793243721386715648
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.593135356,745,714,681,658,634.406864644,879,786.406864644,804.593135356,652,631.593135356,652,0.4115639797,0.00447611559382,0.0798038237986,0.999999946183,8.3695236747e-05,-0.000312965120768,5.17970319036e-05,1793243721403382016
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.819429607,745,714,680.819429607,658,634,879,786.180570393,805.180570393,652,631.819429607,652,0.410861604528,0.00447797644982,0.0797935998279,0.999999938279,9.41398423775e-05,-0.000334514957481,5.17612454413e-05,1793243721420048640
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.236574364,745,714,680.236574364,658,634,879,786.763425636,805.763425636,652,631.236574364,652,0.410181265892,0.00448564405839,0.0797912880805,0.999999937226,9.48575173335e-05,-0.000337426458347,5.1895614874e-05,1793243721436715264
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.341283049,658,634.341283049,879,787,805.658716951,652,631,652,0.409563147634,0.00449114725536,0.0798080181521,0.999999946305,0.000102463096552,-0.000306877178067,5.21357825591e-05,1793243721453382400
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.915725979,658,634.915725979,879,787,805.084274021,652,631,652,0.408987537522,0.00449517175567,0.0798377573325,0.999999959915,0.000114774396842,-0.000253467951896,5.2448230021e-05,1793243721470050048
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.498990761,714,681,658,634.501009239,879.498990761,787,805,652,631,652,0.408420245599,0.00449093709372,0.0798405518594,0.999999961349,9.89583763059e-05,-0.000254434157516,5.26569151107e-05,1793243721486716672
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745.916637996,714,680.916637996,658.083362004,634,879.916637996,787,805,652,631,652,0.407850639106,0.00448599240555,0.0798332003096,0.999999957764,8.3468384473e-05,-0.000273337102018,5.28344668272e-05,1793243721503383296
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.334720392,714,680.334720392,658.665279608,634,879.334720392,787,805,652,631,652,0.407258636997,0.00448529370749,0.0797928745371,0.999999934682,9.88498066192e-05,-0.000343601824127,5.2932514243e-05,1793243721520050176
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.244310021,658.755689979,634,879,786.755689979,805,651.755689979,631,652,0.406713009642,0.00448489148428,0.0797712345567,0.999999921883,0.000104174879871,-0.000377645959528,5.25824159367e-05,1793243721536717056
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.819430953,658.180569047,634,879,786.180569047,805,651.180569047,631,652,0.406230176625,0.00448489070643,0.0797748963005,0.999999928315,9.58830327296e-05,-0.000362645171788,5.16255008203e-05,1793243721553384448
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.395015737,745,714.395015737,681,658,634,879,786,805,651.395015737,631,652,0.40579207052,0.00448874298162,0.0797886042576,0.999999938702,9.70281926381e-05,-0.000332558001134,5.08583944607e-05,1793243721570051072
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.970812856,745,714.970812856,681,658,634,879,786,805,651.970812856,631,652,0.40537443392,0.00449435863023,0.0798069099264,0.999999949809,0.000102492256065,-0.000295566452827,5.01781551074e-05,1793243721586716928
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.44131005,745,714.44131005,680.44131005,658,634.55868995,879,786.55868995,805,652,631,652,0.404987218765,0.0045000516547,0.0798212828592,0.999999952131,0.000122984682057,-0.000279473016686,5.00793436953e-05,1793243721603383552
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.85480045,879.14519955,786.85480045,805.14519955,652,631,652,0.40460449423,0.00450402423304,0.0798327442558,0.999999953278,0.000137047580903,-0.000268539148425,5.04865064064e-05,1793243721620050432
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.274323822,879.725676178,786.274323822,805.725676178,652,631,652,0.40423036191,0.00450282689891,0.079836107015,0.999999953879,0.000129430527414,-0.000269727357337,5.23174008101e-05,1793243721636716544
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.30293876,658,634.30293876,879.69706124,786.30293876,805.69706124,652,631,652,0.403875303757,0.0045021261989,0.0798361155398,0.999999953361,0.000120889596198,-0.000275525040565,5.24326106929e-05,1793243721653382912
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.877321408,658,634.877321408,879.122678592,786.877321408,805.122678592,652,631,652,0.403537336755,0.00450187050077,0.0798331185511,0.999999951739,0.000111520838171,-0.000285452976385,5.10105061977e-05,1793243721670050048
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.547751622,658,634.547751622,879,786.547751622,805,652,631,652,0.403246755333,0.0044981682872,0.0798347777179,0.999999952365,0.000104461913016,-0.000285888146523,5.12401119635e-05,1793243721686716928
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,804.971763318,652,631,651.971763318,0.40297085789,0.00449355150192,0.0798375454004,0.99999995357,9.78300294203e-05,-0.000283896968886,5.18735155467e-05,1793243721703384320
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,804.377461781,652,631,651.377461781,0.402731335915,0.00448936511979,0.0798371846747,0.99999995427,8.71829531033e-05,-0.000284948917351,5.16089831296e-05,1793243721720050688
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.789653536,786.210346464,804.210346464,652,631,651.210346464,0.402506096054,0.00448244518139,0.0798377468856,0.999999955576,7.52412434523e-05,-0.000283557726191,5.27436542314e-05,1793243721736717056
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.213148486,786.786851514,804.786851514,652,631,651.786851514,0.402305717671,0.00447076683162,0.0798399156897,0.999999957933,6.10459143907e-05,-0.000277913663115,5.6313975428e-05,1793243721753383936
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786.639290788,805,652,631,652,0.402128622515,0.00445749622226,0.0798441377704,0.999999961177,4.30424141676e-05,-0.000268968225299,5.87382833221e-05,1793243721770050816
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786.066985997,805,652,631,652,0.40196518551,0.0044432915766,0.0798495643235,0.999999964606,2.28050018379e-05,-0.000258086167891,6.0490328837e-05,1793243721786717440
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.511032789,786.511032789,805,652,631.511032789,652,0.40182169895,0.00444786593896,0.0798511531233,0.999999964744,3.51351237904e-05,-0.00025586221033,6.17497254123e-05,1793243721803383808
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.908263046,745,714,680,658,634,879,787,805,652,631.908263046,652,0.401684036449,0.00445562515891,0.0798513207307,0.999999963394,5.9884009341e-05,-0.00025633629167,6.25974968699e-05,1793243721820050432
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.317062039,745,714,680,658,634,879,787,805,652,631.317062039,652,0.401563684167,0.00446717092528,0.0798465204678,0.999999954639,0.000128741989775,-0.000265251045728,6.15597284032e-05,1793243721836718336
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.267775268,745,714,680,658.267775268,634,879,787,805,652,631,652,0.401453225828,0.00447989887615,0.0798407543169,0.999999948228,0.000158094869314,-0.000274493870014,5.65938755399e-05,1793243721853385472
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.845252451,745,714,680,658.845252451,634,879,787,805,652,631,652,0.401354210572,0.00449399411021,0.0798338710452,0.999999948483,0.000141757172398,-0.000284116132316,4.70849026693e-05,1793243721870051072
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.005811636,786.005811636,805,652,631,652,0.401202614545,0.00448458845795,0.0798297717588,0.999999949351,0.000120509886726,-0.000290540846951,4.8596567963e-05,1793243721903383808
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e00956197ee13805d2abc0565cb297cc36eae400
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_15/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,412 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e62e96b017c02d25e092012bb1fe1b15c5b26df7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:743c1c382e5e68f9231f6c310db390350ece14d9f6ab97ab94da5ca0e30949fb
+size 27831197
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..97f784706d8a51bf93d3885c4e720c3ed45b873f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_01/franka_data.csv
@@ -0,0 +1,439 @@
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+4,0.066666667,BASELINE,766.374138514,746,715.374138514,679,663,637,879.625861486,787.625861486,803,653,632,653,0.400803036709,-0.00544453395021,0.0598921517913,0.99999994175,-9.918582764e-05,-0.000324607966024,-3.59356997423e-05,1793237874791665664
+5,0.083333333,BASELINE,766.949757794,746,715.949757794,679,663,637,879.050242206,787.050242206,803,653,632,653,0.400800135936,-0.005443656653,0.0598902573821,0.999999940643,-9.82407602875e-05,-0.000328249671582,-3.62704688414e-05,1793237874808332288
+6,0.100000000,BASELINE,767,746,716,679,663,637,879.537635334,787.537635334,803,653,632.537635334,653.537635334,0.400800769113,-0.00544329079286,0.0598901193176,0.999999940927,-9.76207629414e-05,-0.000327548835105,-3.6430065863e-05,1793237874824999168
+7,0.116666667,BASELINE,767,746,716,679.124674956,663,637,880,788,803.124674956,653,632.875325044,653.875325044,0.40080135071,-0.00544276717742,0.0598901500484,0.999999941223,-9.66725218821e-05,-0.000326912764179,-3.6566990871e-05,1793237874841665792
+8,0.133333333,BASELINE,767,746,716,679.70437796,663,637,880,788,803.70437796,653,632.29562204,653.29562204,0.400800510622,-0.00544148929576,0.0598901838254,0.999999941069,-9.44128273133e-05,-0.000328028724776,-3.66823089198e-05,1793237874858332416
+9,0.150000000,BASELINE,767,746,716,679.717460136,663,637,880,788,803.717460136,653,632,653,0.400799792553,-0.0054420175943,0.0598900144531,0.99999994071,-9.53860669887e-05,-0.000328847424843,-3.66147605112e-05,1793237874874999040
+10,0.166666667,BASELINE,767,746,716,679.140901978,663,637,880,788,803.140901978,653,632,653,0.400799201458,-0.00544442545078,0.0598896336783,0.999999940129,-9.97235818514e-05,-0.000329356787834,-3.63569165267e-05,1793237874891665664
+11,0.183333333,BASELINE,767,746,716,679,663,637,880,788,803,653,632,653,0.400798810962,-0.00544463880207,0.0598894087785,0.999999939953,-9.95589221479e-05,-0.000329930820959,-3.64340332685e-05,1793237874908332288
+12,0.200000000,BASELINE,766.98671872,746,716,679,663,637,880,788,803.01328128,653.01328128,632,653,0.40079853716,-0.00544416003425,0.0598892525239,0.999999939921,-9.80177238343e-05,-0.000330468314867,-3.66152745294e-05,1793237874924999168
+13,0.216666667,BASELINE,766.39793744,746,716,679,663,637,880,788,803.60206256,653.60206256,632,653,0.40080050859,-0.00544444555741,0.0598898862744,0.999999940376,-9.99246891088e-05,-0.000328516179969,-3.66140862328e-05,1793237874941666048
+14,0.233333333,BASELINE,766,746,716,679,663.187347364,637,880.187347364,788,803.812652636,653.812652636,632,653.187347364,0.400801496683,-0.00544526625249,0.0598903569099,0.999999940565,-0.000101474139338,-0.000327484540797,-3.6427633006e-05,1793237874958332672
+15,0.250000000,BASELINE,766,746,716,679,663.765341611,637,880.765341611,788,803.234658389,653.234658389,632,653.765341611,0.400800434373,-0.00544720285999,0.059890487427,0.999999940213,-0.000102278118328,-0.000328372270611,-3.58548750772e-05,1793237874974999296
+16,0.266666667,BASELINE,766.342174107,746,716,679,663.657825893,637,880.657825893,788,803,653,632,653.657825893,0.400799344934,-0.00544617948399,0.0598899502636,0.999999940204,-9.94284012841e-05,-0.00032927912338,-3.57856740764e-05,1793237874991665920
+17,0.283333333,BASELINE,766.918212549,746,716,679,663.081787451,637,880.081787451,788,803,653,632,653.081787451,0.400798236952,-0.00544313306008,0.0598889567632,0.999999940408,-9.40815075203e-05,-0.000330199045977,-3.6060637101e-05,1793237875008332544
+18,0.300000000,BASELINE,767,746,715.495078849,679,663,637,880,788,803.504921151,653,632,653,0.400799067399,-0.00544371331939,0.0598894871879,0.999999940459,-9.63672459024e-05,-0.000329392484654,-3.59956864315e-05,1793237875024999424
+19,0.316666667,BASELINE,766.913671945,746,715.086328055,679,663,637,880,788,803.913671945,653,632,653,0.400799750306,-0.00544470462822,0.0598899518482,0.999999940373,-9.93208782701e-05,-0.000328785296581,-3.59222171229e-05,1793237875041666048
+20,0.333333333,BASELINE,766.369728391,746,715.630271609,679,663,637,880,788,803.369728391,653,632,653,0.400797950777,-0.00544469361737,0.0598887311452,0.999999939738,-9.91197635471e-05,-0.000330749398388,-3.61017563723e-05,1793237875058332672
+21,0.350000000,BASELINE,766.186422241,746,716,679,663,637,880,788,803,653.186422241,632,653,0.400796583159,-0.0054443077371,0.0598877439856,0.999999939261,-9.83842618688e-05,-0.000332391025399,-3.62731264079e-05,1793237875074999808
+22,0.366666667,BASELINE,766.768479292,746,716,679,663,637,880,788,803,653.768479292,632,653,0.400796132168,-0.00544312628977,0.0598872524643,0.999999939118,-9.65146569048e-05,-0.000333348279669,-3.64271592978e-05,1793237875091666432
+23,0.383333333,BASELINE,767,746,716,679,663,637,880,788,803.364881925,654,632,653,0.40079648758,-0.0054433038452,0.0598874810248,0.99999993912,-9.74270349858e-05,-0.000333083529437,-3.63883825612e-05,1793237875108333056
+24,0.400000000,BASELINE,767,746,716,679,663,637,880,788,803.970759524,654,632,653,0.400797375602,-0.00544437898894,0.0598881851818,0.99999993921,-0.000100176845308,-0.000332011674922,-3.62222597509e-05,1793237875124999680
+25,0.416666667,BASELINE,766.435223966,746,716,679,663,637,880,788,804,653.435223966,632,653,0.400798062489,-0.0054451995903,0.0598889206358,0.999999939311,-0.000100493019389,-0.000331637328613,-3.59949211773e-05,1793237875141666048
+26,0.433333333,BASELINE,766,746,716,679,663,637,879.84597299,788,804,653,632,653,0.40079823132,-0.00544600843196,0.0598893244191,0.999999939335,-0.000100617629821,-0.000331548722882,-3.58059659558e-05,1793237875158332416
+27,0.450000000,BASELINE,766,746,716,679,663,637,879.268178318,788,804,653,632,653,0.400797002908,-0.00544682043166,0.0598888113258,0.999999939145,-0.00010055472215,-0.000332148951381,-3.57311534491e-05,1793237875174999040
+28,0.466666667,BASELINE,766.307453321,746,716,679,663,637,879.307453321,787.692546679,803.692546679,653.307453321,632,653.307453321,0.40079617118,-0.00544657808782,0.0598883036131,0.999999938861,-0.000100431822429,-0.000333023636007,-3.58607137738e-05,1793237875191665920
+29,0.483333333,BASELINE,766.881211386,746,716,679,663,637,879.881211386,787.118788614,803.118788614,653.881211386,632,653.881211386,0.400795683045,-0.00544542251037,0.0598878005611,0.999999938497,-0.000100256959806,-0.000334136044387,-3.61672943237e-05,1793237875208332544
+30,0.500000000,BASELINE,767,746,716,679,663,637,880,787.45350611,803.45350611,653.54649389,632,654,0.400798249687,-0.00544399792958,0.059888997079,0.999999939482,-9.84757685287e-05,-0.000331707147227,-3.61914635565e-05,1793237875224999424
+31,0.516666667,BASELINE,767,746,716,679,663,637,880,788,803.973399867,653,632,653.973399867,0.400801410206,-0.00544256419552,0.0598905735868,0.999999940739,-9.64635979072e-05,-0.000328495116761,-3.61499590676e-05,1793237875241666304
+32,0.533333333,BASELINE,767,746,716,679,663,637,880,788,803.374906806,653,632,653.374906806,0.400800191268,-0.00544244368392,0.0598907794228,0.999999940592,-9.85023705419e-05,-0.00032832466213,-3.62817726627e-05,1793237875258332928
+33,0.550000000,BASELINE,766.784327912,746,716,679,663,637,880.215672088,788,803,653.215672088,632,653.215672088,0.400798948097,-0.00544242366442,0.0598904539258,0.999999940296,-9.95281917081e-05,-0.000328904369094,-3.63900713046e-05,1793237875274999552
+34,0.566666667,BASELINE,766.207019459,746,716,679,663,637,880.792980541,788,803,653.792980541,632,653.792980541,0.400797664289,-0.00544257214886,0.0598892374956,0.999999939754,-9.8855507826e-05,-0.000330741938016,-3.64589403429e-05,1793237875291666432
+35,0.583333333,BASELINE,766,746,716,679,662.631648796,637,880.631648796,788,803.368351204,653.631648796,632.368351204,653.631648796,0.40079697081,-0.00544322994993,0.0598886627614,0.999999939323,-9.84147018429e-05,-0.000332182288179,-3.63745604514e-05,1793237875308333056
+36,0.600000000,BASELINE,766,746,716,679,662.05736145,637,880.05736145,788,803.94263855,653.05736145,632.94263855,653.05736145,0.400796607367,-0.00544417249749,0.0598884467834,0.999999938954,-9.81035330542e-05,-0.000333400563228,-3.62045028408e-05,1793237875324999424
+37,0.616666667,BASELINE,766,746,716,679,662.529635834,637,880,788,804,653,633,653.529635834,0.400795587058,-0.00544429945916,0.0598877053757,0.999999938577,-9.8727385597e-05,-0.00033432664996,-3.64028403694e-05,1793237875341666048
+38,0.633333333,BASELINE,766,746,716,679.11618786,663,636.88381214,880,788,803.88381214,653,632.88381214,653.88381214,0.400794689655,-0.00544442443087,0.0598871065114,0.999999938323,-9.95134952669e-05,-0.000334837374282,-3.65496011998e-05,1793237875358332672
+39,0.650000000,BASELINE,766,746,716,679.695345974,663,636.304654026,880,788,803.304654026,653,632.304654026,653.304654026,0.400794572437,-0.00544490209664,0.0598873079616,0.999999938568,-0.000100532712702,-0.000333822212228,-3.6327954631e-05,1793237875374999296
+40,0.666666667,BASELINE,766,746,716,679.727814672,663,636.272185328,880,788,803,653,632,653.272185328,0.400795663261,-0.00544510031144,0.059888013044,0.999999938978,-0.000100719874222,-0.000332555586275,-3.61430077322e-05,1793237875391665920
+41,0.683333333,BASELINE,766,746,716,679.153548791,663,636.846451209,880,788,803,653,632,653.846451209,0.40079809481,-0.00544498838199,0.0598892770743,0.99999993957,-9.99835916664e-05,-0.000331009877174,-3.59987913914e-05,1793237875408332544
+42,0.700000000,BASELINE,766,746,716,678.578592755,663,637,880,788,803,653,632,654,0.40079865364,-0.00544491381004,0.0598897086752,0.99999993991,-9.88985637134e-05,-0.000330304580457,-3.60262890343e-05,1793237875424999168
+43,0.716666667,BASELINE,766,746,716,678.003384845,663,637,880,788,803,653,632,654,0.400798528985,-0.00544485287243,0.0598898364649,0.999999940158,-9.76862544493e-05,-0.000329906008406,-3.61164569949e-05,1793237875441666048
+44,0.733333333,BASELINE,766.590162595,746,716,678.590162595,663,637,880,788,803,653,632,653.409837405,0.400797248269,-0.00544386517342,0.059888549555,0.999999939443,-9.77526242644e-05,-0.000332045663694,-3.6117497123e-05,1793237875458332416
+45,0.750000000,BASELINE,767,746.179279275,716,679,663,637,880.179279275,788,803.179279275,653,632,653,0.400796893586,-0.00544348936321,0.0598880491971,0.999999939141,-9.82549367673e-05,-0.000332806980309,-3.60923852303e-05,1793237875474999040
+46,0.766666667,BASELINE,767,746.758275121,716,679,663,637,880.758275121,788,803.758275121,653,632,653,0.400798618818,-0.00544449003623,0.0598893211865,0.999999939778,-9.97123404778e-05,-0.000330461688472,-3.60101417334e-05,1793237875491665664
+47,0.783333333,BASELINE,766.665542012,746.665542012,716,679,663,637,880.665542012,788,803.665542012,653,632.334457988,653.334457988,0.400798182075,-0.00544500730043,0.0598892777178,0.999999939577,-0.000100056067093,-0.000330965672547,-3.5996305549e-05,1793237875508332544
+48,0.800000000,BASELINE,766.091375171,746.091375171,716,679,663,637,880.091375171,788,803.091375171,653,632.908624829,653.908624829,0.400796195828,-0.00544517810158,0.0598882914493,0.999999938776,-9.96016121219e-05,-0.000333511756379,-3.60314974523e-05,1793237875524999424
+49,0.816666667,BASELINE,766.484724953,746,716,679,663,637,880,788,803,653.484724953,632.515275047,653.515275047,0.400795262659,-0.00544355692356,0.0598875594842,0.999999938396,-9.85784688962e-05,-0.000334919450721,-3.63088148962e-05,1793237875541665792
+50,0.833333333,BASELINE,766.937467994,746,716,679,663,637,880,788,803,653.937467994,632,653,0.400794585675,-0.00544201887258,0.0598869044727,0.999999938113,-9.76642655154e-05,-0.000336004214565,-3.65589360533e-05,1793237875558332672
+51,0.850000000,BASELINE,766.348368139,746,716,679,663,637,880,788,803,653.348368139,632,653,0.400794387611,-0.00544403678261,0.059886492172,0.999999937977,-9.85737666045e-05,-0.000336183963711,-3.61941558506e-05,1793237875574999296
+52,0.866666667,BASELINE,766,746,716,679,663.236367993,637,880,788,803,653.236367993,632,653,0.400794868744,-0.00544553828676,0.0598867651162,0.999999938142,-9.9597964516e-05,-0.000335409637982,-3.60100261268e-05,1793237875591665920
+53,0.883333333,BASELINE,766,746,716,679,663.814789251,637,880,788,803,653.814789251,632,653,0.400796332756,-0.00544629248859,0.0598880296931,0.99999993874,-0.00010078814264,-0.000333254649724,-3.60873196637e-05,1793237875608332288
+54,0.900000000,BASELINE,766,746,716,679,663.609465023,637,880,788,803,653.609465023,632,653,0.400796152816,-0.00544543449268,0.0598880690212,0.999999938757,-0.000100047425072,-0.000333410074497,-3.62543595121e-05,1793237875624998912
+55,0.916666667,BASELINE,766,746,716,679,663.034979547,637,880,788,803,653.034979547,632,653,0.400795198539,-0.00544381711642,0.0598875312302,0.999999938498,-9.83972134546e-05,-0.000334653754297,-3.64636718297e-05,1793237875641665536
+56,0.933333333,BASELINE,766.53990711,746,716,679.53990711,663.53990711,637,880,788,803.53990711,653,632,653,0.40079574338,-0.00544432254995,0.059887747524,0.999999938665,-9.81813212328e-05,-0.000334220777303,-3.64188447457e-05,1793237875658332416
+57,0.950000000,BASELINE,767,746,716,679.881481699,663.881481699,637,880,788,804,653,632.118518301,653,0.400796140638,-0.00544484943874,0.0598878672432,0.999999938775,-9.83740637429e-05,-0.000333834650491,-3.64242390375e-05,1793237875674999296
+58,0.966666667,BASELINE,767,746,716,679.288050357,663.288050357,637,880,788,804,653,632.711949643,653,0.400795557037,-0.00544491078502,0.0598874040649,0.999999938541,-9.98315982468e-05,-0.000334071859471,-3.66969012776e-05,1793237875691666176
+59,0.983333333,BASELINE,766.706254803,746,716,679.293745197,663,637,880.293745197,788,804,653,632.706254803,653,0.40079518653,-0.00544493448691,0.0598872595237,0.999999938407,-9.99649605481e-05,-0.000334450662378,-3.65448809072e-05,1793237875708332800
+60,1.000000000,BASELINE,766.13543463,746,716,679.86456537,663,637,880.86456537,788,804,653,632.13543463,653,0.400795017025,-0.00544492268078,0.0598874155366,0.999999938367,-9.88492984033e-05,-0.0003349630237,-3.59922789572e-05,1793237875724999936
+61,1.016666667,BASELINE,766.438283209,746,716,679.561716791,663,637,880.561716791,788,803.123433582,653,632.438283209,653,0.400796283874,-0.00544438789941,0.0598882502506,0.999999938847,-9.84763501351e-05,-0.000333633494298,-3.60162681231e-05,1793237875741666560
+62,1.033333333,BASELINE,767,746,716,679,663,637,880.013438362,788,802.026876724,653,633,653.013438362,0.400797956587,-0.00544372667315,0.059889268733,0.999999939469,-9.83682376756e-05,-0.000331774673947,-3.62122065295e-05,1793237875758333440
+63,1.050000000,BASELINE,767,746,716,679,663,637,880.611927806,788,803.223855612,653,633,653.611927806,0.400797846917,-0.0054446430161,0.0598890963402,0.999999939325,-9.97316852546e-05,-0.000331816748375,-3.60855461343e-05,1793237875774999808
+64,1.066666667,BASELINE,767,746,716,679,663,637,880.796870482,788.203129518,804,653,632.796870482,653.796870482,0.400796980932,-0.00544497341491,0.0598885639817,0.999999939047,-0.000100024520881,-0.000332568547057,-3.60472916047e-05,1793237875791666176
+65,1.083333333,BASELINE,767,746,716,679,663,637,880.219109554,788.780890446,804,653,632.219109554,653.219109554,0.400794720076,-0.00544422315794,0.059887367739,0.999999938522,-9.83428287101e-05,-0.000334629288914,-3.61720838629e-05,1793237875808333056
+66,1.100000000,BASELINE,766.642093513,746,716,679,663,637,880,788.642093513,804,653.357906487,632,653,0.400793680886,-0.00544275954097,0.0598867258451,0.999999938166,-9.68482982045e-05,-0.000336098902299,-3.64146538737e-05,1793237875824999168
+67,1.116666667,BASELINE,766.065532562,746,716,679,663,637,880,788.065532562,804,653.934467438,632,653,0.400793388046,-0.00544086011367,0.0598864226176,0.999999937914,-9.54681097322e-05,-0.000337207379716,-3.67291773987e-05,1793237875841665792
+68,1.133333333,BASELINE,766.520590205,746,716,679.520590205,663,637,880,788,803.479409795,653.479409795,632,653.520590205,0.400795525216,-0.00544137930033,0.0598873607856,0.999999938736,-9.51301332372e-05,-0.000334861682797,-3.66751463917e-05,1793237875858333184
+69,1.150000000,BASELINE,767,746,716,680,663,637,880,788,803,653,632,653.893518737,0.400797068436,-0.00544229453329,0.0598880249536,0.999999939311,-9.53982648321e-05,-0.000333073789761,-3.66019939637e-05,1793237875875000576
+70,1.166666667,BASELINE,767,746,716,680,663,637,880,788,803,653,632,653.314103025,0.400794589599,-0.0054435912509,0.0598867651055,0.999999938192,-9.77648109387e-05,-0.000335730733955,-3.66538282596e-05,1793237875891666688
+71,1.183333333,BASELINE,767,746,716,679.736279255,663,637,880,788,803.263720745,653,632.263720745,653,0.400793918422,-0.0054436776852,0.0598864730635,0.999999937829,-9.85557134439e-05,-0.000336563067087,-3.67896992159e-05,1793237875908333056
+72,1.200000000,BASELINE,767,746,716,679.160340108,663,637,880,788,803.839659892,653,632.839659892,653,0.400795387329,-0.00544233126796,0.0598873268046,0.999999938372,-9.74812153103e-05,-0.0003352352476,-3.70250609944e-05,1793237875924999680
+73,1.216666667,BASELINE,767,746,716,679.414029481,663,637,880,788,804,653,632.585970519,653.414029481,0.400794721666,-0.00544318051672,0.0598868607317,0.999999938244,-9.66564196228e-05,-0.000335893731811,-3.667715414e-05,1793237875941666048
+74,1.233333333,BASELINE,767,746,716,679.987793491,663,637,880,788,804,653,632.012206509,653.987793491,0.400793232475,-0.00544487686388,0.0598858854683,0.999999937855,-9.59279603829e-05,-0.00033731854145,-3.61042194769e-05,1793237875958332672
+75,1.250000000,BASELINE,766.419515574,746,716,680,663.580484426,637,880.580484426,788,804,653,632,654,0.400795767141,-0.0054454018178,0.0598883545501,0.999999938837,-9.78203629594e-05,-0.000333863291823,-3.59492693126e-05,1793237875974999552
+76,1.266666667,BASELINE,766,746,716,679.830336075,664,637,880.830336075,788,804,653,632,653.830336075,0.400797318633,-0.00544522312708,0.0598899007258,0.999999939417,-9.91738882531e-05,-0.000331723452297,-3.59286975563e-05,1793237875991665920
+77,1.283333333,BASELINE,766,746,716,679.250637144,664,637,880.250637144,788,804,653,632,653.250637144,0.400796282658,-0.00544340544065,0.0598890355291,0.999999938984,-9.90874020598e-05,-0.000333018990207,-3.6210926802e-05,1793237876008332544
+78,1.300000000,BASELINE,766.326164583,746,716,679,663.673835417,637,880,788,804,653,632,653.326164583,0.400795445321,-0.00544362208531,0.0598880954519,0.999999938565,-9.90929058587e-05,-0.000334280594858,-3.6163792427e-05,1793237876024999424
+79,1.316666667,BASELINE,766.900759565,746,716,679,663.099240435,637,880,788,804,653,632,653.900759565,0.40079475928,-0.0054453882229,0.0598870983403,0.999999938154,-9.9168475854e-05,-0.000335516353441,-3.58657910233e-05,1793237876041665792
+80,1.333333333,BASELINE,766.524212954,746,716,679.475787046,663,637.475787046,880,788,803.524212954,653.475787046,632,654,0.400794862575,-0.00544440748329,0.0598873867171,0.999999938334,-9.79260886546e-05,-0.000335327466016,-3.60145010408e-05,1793237876058332672
+81,1.350000000,BASELINE,766.052149641,746,716,679.947850359,663,637.947850359,880.052149641,788,803.052149641,653.947850359,632.052149641,654,0.40079525769,-0.00544314093748,0.0598880163092,0.999999938675,-9.67120073359e-05,-0.000334645830131,-3.61916955151e-05,1793237876074999040
+82,1.366666667,BASELINE,766.641330839,746,716,679.358669161,663,637.358669161,880.641330839,788,803.641330839,653.358669161,632.641330839,654,0.400796960938,-0.00544483671841,0.0598893960201,0.999999939403,-9.86229023827e-05,-0.000331952777517,-3.57018321595e-05,1793237876091665920
+83,1.383333333,BASELINE,767,746,716,679,663,637,880.773743347,788,803.773743347,653,632.773743347,653.773743347,0.400797452615,-0.00544583164155,0.059889776501,0.999999939569,-9.98133536006e-05,-0.000331117543497,-3.55127631986e-05,1793237876108332800
+84,1.400000000,BASELINE,767,746,716,679,663,637,880.195438682,788,803.195438682,653,632.195438682,653.195438682,0.400796059129,-0.00544573605298,0.0598886022124,0.999999938869,-9.98828178854e-05,-0.000333173014532,-3.57917204836e-05,1793237876124999680
+85,1.416666667,BASELINE,767,746,716,679,663,637,880,788,803,653,632,653.381311108,0.400796274141,-0.00544416216126,0.0598887215942,0.999999939066,-9.8091627658e-05,-0.000333075895446,-3.6152698682e-05,1793237876141666304
+86,1.433333333,BASELINE,767,746,716,679,663,637,880,788,803,653,632,653.957267158,0.400797310231,-0.00544183365154,0.0598895013461,0.999999939714,-9.53506434571e-05,-0.000331879960146,-3.65555454471e-05,1793237876158332672
+87,1.450000000,BASELINE,767,746,716,679,663,637,880,788,803.544152767,653,632,653.455847233,0.40079644832,-0.00544363990877,0.0598888400996,0.999999939136,-9.8487558921e-05,-0.000332727891877,-3.63386178265e-05,1793237876174999296
+88,1.466666667,BASELINE,766.87018561,746.12981439,716,679,663,637,880,788,803.87018561,653,632.12981439,653.12981439,0.400795662286,-0.00544483676753,0.0598882800075,0.999999938665,-0.000100449340616,-0.000333575198585,-3.61460232819e-05,1793237876191666176
+89,1.483333333,BASELINE,766.291780451,746.708219549,716,679,663,637,880,788,803.291780451,653,632.708219549,653.708219549,0.400795664077,-0.00544278270136,0.0598884685326,0.999999938937,-9.6722487161e-05,-0.000333854323989,-3.62091530691e-05,1793237876208332800
+90,1.500000000,BASELINE,766,746.713762501,716,679,663,637,880.286237499,788,803.286237499,653,632.713762501,653.713762501,0.400795243751,-0.0054429794303,0.0598882138735,0.999999938771,-9.66650684266e-05,-0.000334370966202,-3.61856911536e-05,1793237876224999168
+91,1.516666667,BASELINE,766,746.136138762,716,679,663,637,880.863861238,788,803.863861238,653,632.136138762,653.136138762,0.400794393713,-0.00544546744102,0.0598875080584,0.999999938159,-0.000100343089169,-0.000335129397579,-3.607407995e-05,1793237876241665792
+92,1.533333333,BASELINE,766,746,716,679,663,637,880.561461914,788.438538086,804,653,632,653.438538086,0.40079539805,-0.00544595407185,0.0598879797811,0.999999938421,-0.00010137660183,-0.000334030954891,-3.61089117322e-05,1793237876258332928
+93,1.550000000,BASELINE,766.012698604,746,716,679,663,637,880.012698604,788.987301396,803.987301396,653,632.012698604,654,0.400796885349,-0.00544580217187,0.0598887721772,0.999999938927,-0.000101539509282,-0.000332453988944,-3.61879294325e-05,1793237876274999808
+94,1.566666667,BASELINE,766.604759459,746,716,679,663,637,880.604759459,788.395240541,803.395240541,653,632.604759459,654,0.400794318378,-0.00544467509469,0.0598876283418,0.999999938256,-9.91871598887e-05,-0.000335169012573,-3.6222597727e-05,1793237876291666688
+95,1.583333333,BASELINE,767,746,716,679,663,637,881,788,803.191896511,653,632.808103489,653.808103489,0.400793219619,-0.00544383672087,0.059887205843,0.999999938001,-9.78115207192e-05,-0.000336333263899,-3.62156542996e-05,1793237876308333312
+96,1.600000000,BASELINE,767,746,716,679,663,637,881,788,803.769146039,653,632.230853961,653.230853961,0.400795069219,-0.00544357810051,0.0598882318808,0.9999999386,-9.83972415908e-05,-0.000334383364344,-3.61251491588e-05,1793237876324999936
+97,1.616666667,BASELINE,766.654314768,746,716,679,663,637,881,788,803.654314768,653,632,653.345685232,0.400795217944,-0.00544334764513,0.0598881894193,0.999999938604,-9.86293501352e-05,-0.000334300143985,-3.61709835276e-05,1793237876341666304
+98,1.633333333,BASELINE,766.078249008,746,716,679,663,637,881,788,803.078249008,653,632,653.921750992,0.400794233128,-0.00544313596021,0.0598874348608,0.99999993821,-9.86257951369e-05,-0.000335460964559,-3.63076808175e-05,1793237876358332672
+99,1.650000000,BASELINE,766,746,716,678.491158211,663,637,880.491158211,788,803,653,632,653.491158211,0.40079368856,-0.00544343956495,0.0598865668439,0.999999937943,-9.81940254609e-05,-0.000336394586527,-3.62020537621e-05,1793237876374999296
+100,1.666666667,BASELINE,766.0961194,746,716,678.192238801,663,637,880,788,803,653,632,653.0961194,0.400793443446,-0.00544349976699,0.0598860264231,0.999999937806,-9.75889001782e-05,-0.000336983631171,-3.61315825751e-05,1793237876391665920
+101,1.683333333,BASELINE,766.675621446,746,716,679.351242891,663,637,880,788,803,653,632,653.675621446,0.400794356277,-0.00544192857667,0.0598872231629,0.999999938231,-9.645046677e-05,-0.000336019398279,-3.6429461452e-05,1793237876408333056
+102,1.700000000,BASELINE,767,746,716,680,663,637,880,788,803.253417208,653,632,654,0.400794957568,-0.00544211967676,0.0598878748267,0.999999938449,-9.6793772179e-05,-0.000335263483283,-3.65011888319e-05,1793237876424999936
+103,1.716666667,BASELINE,767,746,716,680,663,637,880,788,803.829043461,653,632,654,0.400795162749,-0.00544455145319,0.0598878334498,0.999999938403,-9.90210446455e-05,-0.000334772435575,-3.62853743189e-05,1793237876441666816
+104,1.733333333,BASELINE,766.596197295,746,716,679.192394591,663,637,880,788,803.596197295,653,632,653.596197295,0.400794926127,-0.00544547682561,0.0598874646467,0.999999938199,-9.99857744353e-05,-0.000335094365784,-3.62934591287e-05,1793237876458333184
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+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,716,679,663,637,881,788,803,653,632,654,0.400796806504,-0.00544503972528,0.0598887783013,0.999999938283,-0.000101723992949,-0.00033427992346,-3.66469063344e-05,1793237876532682752
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.576330215,746,716,679,663,637,881,788,803.576330215,653,632,653.423669785,0.400795167457,-0.00544427389374,0.059887533592,0.999999937976,-0.00010028395915,-0.000335664579842,-3.63296052521e-05,1793237876549349632
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.847722501,788,803.847722501,653,632,653.152277499,0.400794119685,-0.00544379689734,0.0598868014142,0.999999937855,-9.8995580854e-05,-0.000336425699044,-3.61582354219e-05,1793237876566016000
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.272837817,788,803.272837817,653,632,653.727162183,0.400794712844,-0.00544412148868,0.0598874916356,0.999999938258,-9.81280832322e-05,-0.00033545635086,-3.63918603242e-05,1793237876582682368
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.689183897,746.310816103,716,679,663,637,880,788,803.310816103,653.310816103,632,654,0.400794867228,-0.00544439638991,0.0598877964664,0.999999938382,-9.86370525574e-05,-0.000334932775321,-3.64296174027e-05,1793237876599348736
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.097608795,746.902391205,716,679,663,637,880,788,803.902391205,653.902391205,632,654,0.400794625266,-0.00544462640624,0.059887753175,0.999999938253,-0.000100389379273,-0.00033481186457,-3.62904478098e-05,1793237876616015104
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746.517023881,716,679.482976119,663,637.482976119,880,788,803.517023881,653.517023881,632,653.517023881,0.400796468504,-0.0054453694787,0.0598886188167,0.999999938728,-0.000100518642822,-0.000333368810123,-3.61356500719e-05,1793237876632681728
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,716,679.939414503,663,637.939414503,880,788,803.060585497,653,632.060585497,653.060585497,0.400798524013,-0.00544586606035,0.0598896010518,0.999999939232,-0.000100219227854,-0.000331954811888,-3.6023157951e-05,1793237876649348352
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+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,716,679,663,637,880.210244304,788,803.789755696,653,632.789755696,654,0.400801896554,-0.00544264494089,0.0598912146542,0.999999939066,-9.90790633043e-05,-0.000332771547979,-3.62648074738e-05,1793237876682681088
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+127,2.116666667,POSE1_TO_POSE2_PRESS,766.598588724,746.598588724,716,679.401411276,663,637,880,788,803.598588724,653,632,653.598588724,0.401316232959,-0.00545643464681,0.0599086240043,0.999999948263,-0.000106253747344,-0.000301005740079,-3.97493270025e-05,1793237876866015488
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.819766554,663,636.180233446,881,789,804,653.819766554,632.819766554,653.180233446,0.417339784525,-0.0053816126797,0.0598283414787,0.999999939739,0.000198367766935,-0.000283610067225,2.71644963704e-05,1793237880750235648
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.595325125,663,636.404674875,881,788.595325125,804,653.595325125,633,653.404674875,0.416637182796,-0.00538314443569,0.0598452855441,0.999999944752,0.000197001819998,-0.0002661445326,2.92199701983e-05,1793237880766902272
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.157015874,746,716,680,663,637,880.157015874,788,803.842984126,653,632.157015874,654,0.414518321666,-0.00538149356946,0.0598327119227,0.999999936253,0.000192925216771,-0.000299072674822,2.87845713821e-05,1793237880816902400
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.669256794,663,637,881,788.330743206,803.330743206,653,633,653.669256794,0.413198496792,-0.00537887416864,0.059828178882,0.999999930675,0.000209956446297,-0.000306116596707,2.93489624168e-05,1793237880850235648
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.089438917,663,637,881,788.910561083,803.910561083,653,633,653.089438917,0.412519627333,-0.00537374450925,0.0598061007921,0.999999916871,0.0002147929759,-0.000345394077362,2.8722613904e-05,1793237880866902528
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.061611375,663,637,880,788,804,653,633,653.938388625,0.411256918619,-0.00537382497889,0.0597673471576,0.999999898263,0.000211690219463,-0.00039750977626,2.54299086605e-05,1793237880900236032
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.650162767,663,637,880,788,804,653,633,653.349837233,0.410702740593,-0.0053744605226,0.0597940409526,0.999999917458,0.000210273380984,-0.000346672447065,2.62218410028e-05,1793237880916903168
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.184893117,746,716,680,663,637,880.815106883,788,804,653,632.184893117,653.815106883,0.40961894761,-0.00537685209782,0.059850393023,0.999999943422,0.000208685583273,-0.000262068727585,3.04482984483e-05,1793237880950235648
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.706128709,663,636.706128709,880,788,803,653.706128709,633,654,0.40662256223,-0.00536733559314,0.0598360060505,0.999999932833,0.000233308784501,-0.000281194160746,2.88321070403e-05,1793237881050235648
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.027548332,663,637,880,788,804,653,632.027548332,654,0.405419901912,-0.00536914763765,0.0598556627721,0.999999945523,0.000220788207632,-0.000243502732225,3.02023321688e-05,1793237881100235520
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.6140674,663,637,880,788,804,653,632.6140674,654,0.405026869852,-0.00536512511615,0.0598379232842,0.999999936877,0.000228153995381,-0.000270934209847,2.80325818417e-05,1793237881116902400
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880,788,803.93302928,654,632,654,0.403683577196,-0.00535605888033,0.059793619611,0.999999913169,0.000238061520894,-0.000341247427989,2.32316936767e-05,1793237881183569152
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.086559239,663,637,880,788,803.913440761,653.086559239,632,654,0.403207018586,-0.0053577053366,0.0598294205293,0.999999932827,0.000237676340958,-0.000277903098143,2.50111845368e-05,1793237881216902144
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746.262258519,716,679.737741481,663.262258519,637,880,788.262258519,803.262258519,653.737741481,632.262258519,654,0.402765958876,-0.00536079121914,0.0598492608323,0.999999941871,0.000234732542336,-0.000245848323669,2.6780545309e-05,1793237881250235648
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746.841875579,716,679.158124421,663.841875579,637,880,788.841875579,803.841875579,653.158124421,632.841875579,654,0.402563138059,-0.00536317552766,0.0598530766432,0.999999943687,0.000233196990322,-0.000239826590756,2.69818125829e-05,1793237881266902272
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767.417522722,746.582477278,716,679.417522722,663.582477278,637,880,788.582477278,804,653,632.582477278,654,0.402371664708,-0.00536497071641,0.0598505007313,0.999999943375,0.000228675323624,-0.000245523056879,2.6002953207e-05,1793237881283568896
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767.991680523,746.008319477,716,679.991680523,663.008319477,637,880,788.008319477,804,653,632.008319477,654,0.402184448402,-0.0053665448948,0.0598455269425,0.999999942156,0.000223033405784,-0.000255615645624,2.45813652681e-05,1793237881300235776
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767.435755058,746,716,679.435755058,663,637,880.564244942,788,804,653.564244942,632,654,0.402025388907,-0.00536673977469,0.0598424471267,0.999999939638,0.000222373555638,-0.000265846812214,2.44814499452e-05,1793237881316902656
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.858235486,788,804,654,632.141764514,654,0.401873379311,-0.00536706825359,0.0598397527766,0.99999993743,0.000222090963786,-0.000274258340632,2.44687116718e-05,1793237881333569024
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.264855907,788,804,654,632.735144093,654,0.401742509573,-0.00536788693945,0.0598381976824,0.999999936553,0.000222776839385,-0.000276866608254,2.46717854057e-05,1793237881350235392
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788,804,653.678537267,632.678537267,653.678537267,0.40162763732,-0.00536737605985,0.0598382753352,0.999999936107,0.000225178173768,-0.00027653882025,2.46425847044e-05,1793237881366902016
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788,804,653.097911094,632.097911094,653.097911094,0.401525662234,-0.0053657932839,0.0598396693092,0.999999935995,0.000228962512076,-0.000273843982802,2.44261242426e-05,1793237881383568640
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746.476204083,716,679,663,637,880,788,803.523795917,653,632,653.476204083,0.401442043982,-0.00536523802358,0.0598436169273,0.999999937244,0.000231810185481,-0.000266740058589,2.50349529733e-05,1793237881400235520
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746.949595974,716,679.050404026,663,637,880,788,803.050404026,653.050404026,632,654,0.401363174849,-0.00536493134441,0.0598476163852,0.999999938556,0.000234212020952,-0.00025955931593,2.57165193205e-05,1793237881416902400
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746.360371658,716,679.639628342,663,637,880,788,803.639628342,653.639628342,632,654,0.401295270707,-0.00536505403959,0.0598466329428,0.999999938237,0.000233878812178,-0.000261117607893,2.53861770339e-05,1793237881433569280
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746.225066973,716,679.774933027,663,637,880,788,804,654,632,654,0.401230598216,-0.00536447237827,0.0598440262444,0.999999936767,0.000234700561558,-0.000266002333874,2.49936413736e-05,1793237881450235648
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746.804544296,716,679.195455704,663,637,880,788,804,654,632,654,0.401171014571,-0.00536278157494,0.0598388634238,0.999999933412,0.00023734101014,-0.000276125156779,2.45031705482e-05,1793237881466902016
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,747,716,679.381818919,663,637,880.381818919,788,804,654,632,654,0.401124500448,-0.00536187960289,0.0598360763627,0.999999931449,0.000239935764129,-0.000280975550921,2.41891160362e-05,1793237881483568896
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,747,716,679.957972415,663,637,880.957972415,788,804,654,632,654,0.401084638328,-0.00536137912275,0.0598344984934,0.999999930223,0.000242507260843,-0.000283142433911,2.39648522439e-05,1793237881500235520
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746.469246856,716,680,663,637,881,788,804,654,632.530753144,654,0.401060167317,-0.00536311277657,0.0598366929271,0.999999931458,0.000241077866101,-0.000279975232488,2.40809285119e-05,1793237881516902144
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.893247502,663,637,880.893247502,788.106752498,804,654,633,654,0.401038159058,-0.00536440858271,0.0598388085231,0.999999932481,0.000240191135773,-0.000277053255146,2.4248684085e-05,1793237881533568768
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.301417154,663,637,880.301417154,788.698582846,804,654,633,654,0.401021838491,-0.00536291603954,0.059839217136,0.999999931719,0.000243200722374,-0.000277152711047,2.45295826579e-05,1793237881550235392
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.98529425,663.98529425,637,880.01470575,788.98529425,804,653.98529425,632,653.01470575,0.400988555927,-0.00536162938542,0.0598459624151,0.999999934592,0.000244913847372,-0.000265060195592,2.40017976566e-05,1793237881616902400
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.396669135,663.396669135,637,880.603330865,788.396669135,804,653.396669135,632,653.603330865,0.400986327447,-0.00536389684957,0.0598469067977,0.999999935561,0.000242215261674,-0.000263855242474,2.42975437024e-05,1793237881633568768
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,881,788.18907009,804,653.18907009,632,654,0.400984160812,-0.00536513141574,0.0598475732515,0.999999936135,0.00024054138983,-0.000263196292512,2.44310665765e-05,1793237881650235392
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,881,788.768845712,804,653.768845712,632,654,0.400982121975,-0.00536423154075,0.0598476653769,0.99999993591,0.000240985047,-0.000263665635593,2.42293619505e-05,1793237881666902016
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4524c53508bcb60fe9165fecd57c4683180349dd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,439 @@
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+417,6.950000000,pose2_to_pose3_retreat,0.578253713711,1.26864402734e-06,1.05001165204,0.548824948126,0.00867493304311,1.04966118679
+418,6.966666667,pose2_to_pose3_retreat,0.578253642132,1.26629797743e-06,1.05001164516,0.548824876688,0.00867493118915,1.04966118016
+419,6.983333333,pose2_to_pose3_retreat,0.578253573434,1.26404636609e-06,1.05001163855,0.548824808127,0.00867492940982,1.0496611738
+420,7.000000000,pose2_to_pose3_retreat,0.57825341083,1.25871693395e-06,1.05001162291,0.548824645845,0.00867492519825,1.04966115874
+421,7.016666667,pose2_to_pose3_retreat,0.57825336178,1.25710929029e-06,1.0500116182,0.548824596892,0.00867492392781,1.0496611542
+422,7.033333333,pose2_to_pose3_retreat,0.578253170195,1.25082997294e-06,1.05001159977,0.548824405687,0.0086749189656,1.04966113646
+423,7.050000000,pose2_to_pose3_retreat,0.578253044845,1.24672156505e-06,1.05001158772,0.548824280586,0.00867491571894,1.04966112485
+424,7.066666667,pose2_to_pose3_retreat,0.578253013331,1.24568868157e-06,1.05001158469,0.548824249134,0.0086749149027,1.04966112193
+425,7.083333333,pose2_to_pose3_retreat,0.57825296156,1.24399184941e-06,1.05001157971,0.548824197466,0.00867491356179,1.04966111714
+426,7.100000000,pose2_to_pose3_retreat,0.578252816292,1.23923062529e-06,1.05001156574,0.548824052486,0.00867490979924,1.04966110369
+427,7.116666667,pose2_to_pose3_retreat,0.578252626296,1.23300339662e-06,1.05001154747,0.548823862867,0.00867490487819,1.0496610861
+428,7.133333333,pose2_to_pose3_retreat,0.578252484876,1.24927721263e-06,1.05001150432,0.54882372127,0.0086749206284,1.04966104486
+429,7.150000000,pose2_to_pose3_retreat,0.578252371042,1.26326331456e-06,1.05001146834,0.548823607275,0.0086749341296,1.04966101047
+430,7.166666667,pose2_to_pose3_retreat,0.578252355696,1.26514878387e-06,1.05001146349,0.548823591907,0.0086749359497,1.04966100584
+431,7.183333333,pose2_to_pose3_retreat,0.578252316772,1.26993119984e-06,1.05001145119,0.548823552927,0.00867494056631,1.04966099408
+432,7.200000000,pose2_to_pose3_retreat,0.578252232042,1.2803414544e-06,1.05001142441,0.548823468077,0.00867495061564,1.04966096848
+433,7.216666667,pose2_to_pose3_retreat,0.578252113697,1.29631312499e-06,1.05001139636,0.548823349506,0.00867496587297,1.04966094181
+434,7.233333333,pose2_to_pose3_retreat,0.578252132347,1.3169813381e-06,1.05001155229,0.548823367242,0.00867498324864,1.04966109302
+435,7.250000000,pose2_to_pose3_retreat,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537933,1.04966119859
+436,7.266666667,pose2_to_pose3_retreat,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537934,1.04966119859
+437,7.283333333,pose2_to_pose3_retreat,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537936,1.04966119859
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..93e79660318f109765764ac93356bd0704415d6f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f78d89bd50bd5b1ccaa930b3f7ee1ac146fe08792fdfcf2b13a70dd1b6b196b
+size 27834544
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..900684c78835c567b3c3539ad4cb8d3d91298f92
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_02/franka_data.csv
@@ -0,0 +1,439 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,746,716,680,663,637,880,788,804,653,633,653,0.4009807962,-0.00537017284574,0.0598542114184,0.999999939458,0.000237244682833,-0.000253436234286,2.38737048249e-05,1793237882190516480
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+45,0.750000000,BASELINE,767,746.89293911,716,679,663,637,880.89293911,788,803.89293911,653.89293911,632,654,0.400981742958,-0.00536853516665,0.0598549981796,0.999999940028,0.000238084056187,-0.000250454862295,2.30538854812e-05,1793237882940516608
+46,0.766666667,BASELINE,767,746.318108556,716,679,663,637,880.318108556,788,803.318108556,653.318108556,632,654,0.400982110164,-0.00536961926569,0.0598554594537,0.999999940251,0.000238622644048,-0.000249042553356,2.31276865618e-05,1793237882957183232
+47,0.783333333,BASELINE,767.262214939,746,716,679,663,637,880.262214939,788,803,653.262214939,632,654,0.400982673659,-0.00537036065727,0.0598558841655,0.999999940523,0.000238298785775,-0.000248250284389,2.32158436276e-05,1793237882973849856
+48,0.800000000,BASELINE,767.849344907,746,716,679,663,637,880.849344907,788,803,653.849344907,632,654,0.400983480376,-0.0053706773943,0.0598562635723,0.999999940858,0.000236906255775,-0.000248226317398,2.33217894512e-05,1793237882990516224
+49,0.816666667,BASELINE,767.567870235,746,716,679.432129765,663,637,881,788.432129765,803,654,632,653.567870235,0.400982234407,-0.00537104862969,0.0598552646002,0.999999940705,0.000235765102756,-0.000249939558049,2.31198868075e-05,1793237883007183104
+50,0.833333333,BASELINE,767,746,716,679.986731941,663,637,880.986731941,789,803.013268059,653.986731941,632,653,0.400980322343,-0.00537143254345,0.0598538286403,0.999999940382,0.0002347748522,-0.000252183484713,2.2828373118e-05,1793237883023849728
+51,0.850000000,BASELINE,767,746,716,679.411806048,663,637,880.411806048,789,803.588193952,653.411806048,632,653,0.400980205918,-0.00537155686119,0.0598540342111,0.999999940135,0.0002364995923,-0.000251509322238,2.3241549647e-05,1793237883040516608
+52,0.866666667,BASELINE,767,746,716,679.163178155,663,637,880,788.836821845,804.163178155,653.163178155,632,653.163178155,0.400980001447,-0.00537149276822,0.0598542204182,0.999999939957,0.000237585231617,-0.00025117874644,2.34288113326e-05,1793237883057183232
+53,0.883333333,BASELINE,767,746,716,679.738309531,663,637,880,788.261690469,804.738309531,653.738309531,632,653.738309531,0.400979574697,-0.00537095302091,0.0598543577401,0.999999939956,0.000237057421867,-0.000251715576235,2.30457371723e-05,1793237883073849856
+54,0.900000000,BASELINE,767,746,716,680,663,637,880.322130484,788,804.677869516,653.677869516,632.322130484,654,0.400980163921,-0.00537077570309,0.0598546008143,0.999999939946,0.0002372359906,-0.000251589035103,2.30040929457e-05,1793237883090516480
+55,0.916666667,BASELINE,767,746,716,680,663,637,880.913206299,788,804.086793701,653.086793701,632.913206299,654,0.400981601377,-0.0053709009761,0.0598549321804,0.999999939929,0.000238004311659,-0.000250908648467,2.3247507094e-05,1793237883107182848
+56,0.933333333,BASELINE,767,746,716,679.505316894,663,637,881,788,804,653,632.505316894,654,0.400981825893,-0.00537065413325,0.0598554919728,0.999999940181,0.000237663260459,-0.000250205231933,2.34888421478e-05,1793237883123849472
+57,0.950000000,BASELINE,767,746,716,679.073755852,663,637,880.926244148,788,804,653.073755852,632.073755852,654,0.400982040894,-0.00537039629296,0.0598561422608,0.999999940537,0.000237147275638,-0.000249256991794,2.3642599032e-05,1793237883140516096
+58,0.966666667,BASELINE,767,746,716,679.647728597,663,637,880.352271403,788,804,653.647728597,632.647728597,654,0.40098360721,-0.00537049823243,0.0598571396585,0.999999941284,0.00023673983252,-0.000246675225107,2.32048219626e-05,1793237883157182976
+59,0.983333333,BASELINE,767,746,716,679.779209013,663,636.779209013,880.220790987,788,804,654,632.779209013,654,0.400984187475,-0.00537101603772,0.0598572708396,0.999999941488,0.000236588633251,-0.000245997858217,2.31403467359e-05,1793237883173849856
+60,1.000000000,BASELINE,767,746,716,679.207593038,663,636.207593038,880.792406962,788,804,654,632.207593038,654,0.400983200959,-0.00537219463144,0.0598560256495,0.999999940834,0.000236844591595,-0.000248346479635,2.36690279644e-05,1793237883190516992
+61,1.016666667,BASELINE,767,746,716,679.380048907,663,636.380048907,880.619951093,788,804,654,632.380048907,654,0.400981784978,-0.00537160226885,0.0598550495006,0.999999940305,0.00023732583236,-0.000250032728091,2.346253659e-05,1793237883207183104
+62,1.033333333,BASELINE,767,746,716,679.97683002,663,636.97683002,880.02316998,788,804,654,632.97683002,654,0.400980124084,-0.00536999997495,0.0598542267793,0.999999939846,0.000237935545933,-0.000251341241988,2.28367949852e-05,1793237883223849472
+63,1.050000000,BASELINE,767,746,716,679.445616225,663,637,880,788,804,653.445616225,632.445616225,654,0.400980821426,-0.00537109033648,0.0598545189675,0.999999940551,0.000236286568237,-0.00025008189157,2.29190422717e-05,1793237883240516096
+64,1.066666667,BASELINE,767,746,716,679.130340129,663,637,880,788,804,653,632.130340129,654,0.40098169698,-0.00537196941311,0.0598549002998,0.999999941155,0.000235024498204,-0.000248848969661,2.29756371442e-05,1793237883257182720
+65,1.083333333,BASELINE,767,746,716,679.703507983,663,637,880,788,804,653,632.703507983,654,0.400982854373,-0.00537176112744,0.0598554314926,0.999999941269,0.000235386909935,-0.000248058238844,2.28479176755e-05,1793237883273849344
+66,1.100000000,BASELINE,767.285026067,746,716,680,663,637,880.285026067,788,803.714973933,653,633,654,0.400983057512,-0.00537155462737,0.0598557103212,0.99999994114,0.000235849289917,-0.000248134251472,2.29167051166e-05,1793237883290516224
+67,1.116666667,BASELINE,767.875492405,746,716,680,663,637,880.875492405,788,803.124507595,653,633,654,0.400982238052,-0.00537135004083,0.0598557187106,0.999999940749,0.000236418798075,-0.000249139085698,2.31960737399e-05,1793237883307183104
+68,1.133333333,BASELINE,767.543446579,746,716,680,663,637,880.543446579,788,803,653,632.543446579,654,0.400982041892,-0.00537125485453,0.0598555320985,0.99999994092,0.000235791862082,-0.000249058484316,2.30721092711e-05,1793237883323849984
+69,1.150000000,BASELINE,767,746,716,679.965011198,663.034988802,637,880,788,803.034988802,653,632,654,0.400982039434,-0.00537122277399,0.0598553572048,0.999999941217,0.00023494233855,-0.000248689444949,2.28534737506e-05,1793237883340516864
+70,1.166666667,BASELINE,767,746,716,679.38831768,663.61168232,637,880,788,803.61168232,653,632,654,0.40098245734,-0.00537171512662,0.0598561704533,0.999999941149,0.000235596312885,-0.000248345152429,2.28376945899e-05,1793237883357183232
+71,1.183333333,BASELINE,766.807962889,746,716,679,663.807962889,636.807962889,880.192037111,788,803.807962889,653,632,654,0.400982465221,-0.00537175891732,0.0598566060472,0.999999941024,0.000236127749955,-0.000248340430483,2.28599751139e-05,1793237883373849600
+72,1.200000000,BASELINE,766.220060647,746,716,679,663.220060647,636.220060647,880.779939353,788,803.220060647,653,632,654,0.400981627877,-0.00537087804295,0.0598562631444,0.999999940783,0.000236406588942,-0.000249035698958,2.29607118351e-05,1793237883390516224
+73,1.216666667,BASELINE,766.725158697,746,716,679,663,636.362579348,880.637420652,788,803,653,632,654,0.400982197072,-0.00537059548102,0.0598564684636,0.999999940782,0.000236835631046,-0.000248609383335,2.31985302489e-05,1793237883407182848
+74,1.233333333,BASELINE,767.884142356,746,716,679,663,636.942071178,880.057928822,788,803,653,632,654,0.400983607728,-0.00537067085855,0.0598570017555,0.999999940924,0.000237354531898,-0.000247512081882,2.35183575469e-05,1793237883423849472
+75,1.250000000,BASELINE,767.479873738,746,716,679.520126262,663,637,880.520126262,788,803.520126262,653,632,653.479873738,0.400982871239,-0.00537053208566,0.0598561621563,0.999999940941,0.000236768489624,-0.000248041440527,2.30970116773e-05,1793237883440516096
+76,1.266666667,BASELINE,767,746,716,679.902912153,663,637,880.902912153,788,804,653,632.097087847,653.097087847,0.400982072724,-0.00537031276906,0.0598554223928,0.999999940974,0.000236138752823,-0.000248547203992,2.26720604594e-05,1793237883457182976
+77,1.283333333,BASELINE,767,746,716,679.330522683,663,637,880.330522683,788,804,653,632.669477317,653.669477317,0.40098213804,-0.00536981558642,0.0598559178814,0.999999941155,0.00023589590909,-0.000248052972954,2.26324654533e-05,1793237883473849600
+78,1.300000000,BASELINE,767,746,716,679,663,637,880,788,803.749882046,653,632.749882046,654,0.400981961014,-0.00536929187508,0.0598560330129,0.999999940951,0.000236505436349,-0.00024829428482,2.26322931188e-05,1793237883490516224
+79,1.316666667,BASELINE,767,746,716,679,663,637,880,788,803.157965836,653,632.157965836,654,0.400981452816,-0.00536873191101,0.0598556283679,0.999999940219,0.000238279769724,-0.000249540751599,2.26859937708e-05,1793237883507182848
+80,1.333333333,BASELINE,767,746,716,679,663,637,880,788,803,653.424998043,632,654,0.400981797484,-0.00536963962559,0.059856205005,0.999999940662,0.000237555859705,-0.00024843482328,2.28679826987e-05,1793237883523849472
+81,1.350000000,BASELINE,767,746,716,679,663,637,880,788,803.004667016,653.995332984,632,654,0.400982443683,-0.00537107348863,0.0598571296441,0.999999941519,0.000235942887727,-0.000246493983555,2.30951695215e-05,1793237883540516096
+82,1.366666667,BASELINE,767,746,716,679,663,637,880,788,803.579917153,653.420082847,632,654,0.400981998339,-0.00537151541658,0.0598569291868,0.999999941145,0.000236817176435,-0.000247169894535,2.31387982122e-05,1793237883557182720
+83,1.383333333,BASELINE,767,746,716,679,663,637,880,788.157193717,803.842806283,653.157193717,632,654,0.40098200189,-0.00537176355511,0.0598569199014,0.99999994108,0.000236940983374,-0.00024730564701,2.32026778931e-05,1793237883573849600
+84,1.400000000,BASELINE,767,746,716,679,663,637,880,788.739956538,803.260043462,653.739956538,632,654,0.400983220727,-0.00537148704943,0.0598574281741,0.999999941855,0.000235033018131,-0.000245979033496,2.33213829032e-05,1793237883590516992
+85,1.416666667,BASELINE,767,746,716,679,663,637,880,788.678264577,803.321735423,653.678264577,632.321735423,654,0.400982808318,-0.00537166081175,0.0598568509988,0.999999941887,0.000234280433532,-0.000246579042554,2.31708986363e-05,1793237883607184128
+86,1.433333333,BASELINE,767,746,716,679,663,637,880,788.09727857,803.90272143,653.09727857,632.90272143,654,0.40098108147,-0.00537219739469,0.0598553991825,0.999999941321,0.000234458841053,-0.000248731501291,2.28035048384e-05,1793237883623850752
+87,1.450000000,BASELINE,767,746,716,679.481313661,663,637,880,788,804,653.481313661,632.518686339,654,0.400982135821,-0.00537266368075,0.0598558561084,0.999999941467,0.000234631047023,-0.000247948345858,2.31680525242e-05,1793237883640517376
+88,1.466666667,BASELINE,767,746.0592355,716,680,663,637,880,788,804,653.9407645,632,654,0.400983376989,-0.00537291555824,0.0598564669719,0.99999994164,0.000234909346348,-0.000246946530285,2.35456593572e-05,1793237883657184000
+89,1.483333333,BASELINE,767,746.635507872,716,680,663,637,880,788,804,653.364492128,632,654,0.400981366697,-0.00537141936976,0.0598550708905,0.999999940816,0.000236124567341,-0.000249189290982,2.27524094529e-05,1793237883673850624
+90,1.500000000,BASELINE,767,746.783911248,716,679.783911248,663,637,880,788,804,653.216088752,632.216088752,654,0.400980157212,-0.00537093619229,0.0598542681774,0.999999940628,0.000235640573773,-0.00025044196048,2.22962648643e-05,1793237883690516992
+91,1.516666667,BASELINE,767,746.195915111,716,679.195915111,663,637,880,788,804,653.804084889,632.804084889,654,0.400980325988,-0.00537219649427,0.0598544867025,0.999999941535,0.00023223208523,-0.00024999059738,2.24203076872e-05,1793237883707183104
+92,1.533333333,BASELINE,767,746,716,679.386465601,663,637,880,788,803.613534399,653.613534399,633,654,0.400980818582,-0.0053720889654,0.0598551930123,0.999999941539,0.000233195275125,-0.000249047062825,2.27414317196e-05,1793237883723849984
+93,1.550000000,BASELINE,767,746,716,679.96604045,663,637,880,788,803.03395955,653.03395955,633,654,0.400981472981,-0.00537129795849,0.0598561430585,0.999999941086,0.000236342906296,-0.000247857599851,2.31610333607e-05,1793237883740516608
+94,1.566666667,BASELINE,767,746,716,680,663,637,880.542677804,788,803.542677804,653,632.457322196,654,0.400979765636,-0.00537141487231,0.0598542964955,0.9999999406,0.000235627696966,-0.000250517737692,2.28280212855e-05,1793237883757183232
+95,1.583333333,BASELINE,767,746,716,680.118839996,663,637,881,788.118839996,804,653,632.118839996,654,0.400978643399,-0.00537129714083,0.0598530316254,0.999999940166,0.000235609463617,-0.000252280267758,2.25978403761e-05,1793237883773849856
+96,1.600000000,BASELINE,767,746,716,680.693880166,663,637,881,788.693880166,804,653,632.693880166,654,0.400980331552,-0.0053700617303,0.059854667934,0.999999939962,0.000239189708179,-0.000249677303224,2.29422261814e-05,1793237883790516224
+97,1.616666667,BASELINE,767,746,716,680.7250325,663,637,881,788.7250325,804,653,633,654,0.400981325313,-0.00536936749689,0.0598557346252,0.999999940134,0.00024006389987,-0.000248136130366,2.30130013948e-05,1793237883807183104
+98,1.633333333,BASELINE,767,746,716,680.13706154,663,637,881,788.13706154,804,653,633,654,0.400981528629,-0.00536928930113,0.0598561529043,0.999999940749,0.000237857713078,-0.000247803625852,2.27723177349e-05,1793237883823849472
+99,1.650000000,BASELINE,767,746,716,680,663,637,880.554299672,788,804,653,632.554299672,654,0.400982288373,-0.00537036823376,0.0598565750678,0.999999941173,0.000237034651569,-0.000246862785005,2.29782276587e-05,1793237883840516096
+100,1.666666667,BASELINE,767,746,716,680,663,637,880.026610294,788,804,653,632,653.973389706,0.400983114754,-0.00537169699292,0.0598569624653,0.999999941492,0.000236713911921,-0.00024584527898,2.32903649106e-05,1793237883857182720
+101,1.683333333,BASELINE,767,746,716,680,663,637,880.601983165,788,804,653,632,653.398016835,0.400981827426,-0.0053709243058,0.0598566085605,0.999999940875,0.000238082079105,-0.000247060102783,2.29936869307e-05,1793237883873849344
+102,1.700000000,BASELINE,767,746,716,680,663,637,881,788,804,653.179345853,632,653,0.400981050171,-0.00537022639462,0.0598563435634,0.999999940437,0.000239092151871,-0.000247867335455,2.28594947785e-05,1793237883890516224
+103,1.716666667,BASELINE,767,746,716,680,663,637,881,788,804,653.761173944,632,653,0.400981417604,-0.00536969629331,0.0598562780897,0.999999940409,0.000239298600391,-0.000247759864948,2.30899481758e-05,1793237883907182848
+104,1.733333333,BASELINE,767,746,716,679.656138698,663,637,880.656138698,788.343861302,803.656138698,654,632.343861302,653.343861302,0.400980858861,-0.00537025545626,0.0598555787486,0.999999940669,0.000237280843537,-0.000248646572935,2.31120649101e-05,1793237883923849472
+105,1.750000000,BASELINE,767,746,716,679.07285299,663,637,880.07285299,788.92714701,803.07285299,654,632.92714701,653.92714701,0.400979655238,-0.00537157305414,0.059854438057,0.999999941118,0.000233714412723,-0.000250225509414,2.29891206168e-05,1793237883940516096
+106,1.766666667,BASELINE,767,746,716,679.504309526,662.495690474,637,880.504309526,788.495690474,803,653.495690474,632.495690474,654,0.400981721557,-0.0053707878308,0.0598564271704,0.999999941398,0.000235511726315,-0.000247391903761,2.31287810783e-05,1793237883957182720
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788,803,654,632,654,0.400982576376,-0.00537070129009,0.0598577462857,0.999999941418,0.000237078676575,-0.000245861137019,2.25680060697e-05,1793237884000377600
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.588846536,788,803,654,632,654,0.400981918339,-0.0053708547891,0.0598568542395,0.999999940636,0.00023916895605,-0.000246991234021,2.28262428319e-05,1793237884017044480
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.825118058,746,716,679,663,637,880.825118058,788,803.174881942,654,632.174881942,654,0.400981501762,-0.00537099793408,0.0598562812695,0.999999940255,0.000239999279615,-0.000247714588018,2.29699940252e-05,1793237884033711104
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.245587042,746,716,679,663,637,880.245587042,788,803.754412958,654,632.754412958,654,0.400981643886,-0.00537111712152,0.0598564465911,0.99999994081,0.00023791426547,-0.000247496803443,2.28488438224e-05,1793237884050377728
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.33180292,746,716,679,663,637,880.33180292,788,804,653.66819708,632.66819708,654,0.400981620189,-0.00537148124414,0.0598562211345,0.999999941166,0.000236093355496,-0.000247809577718,2.27723952417e-05,1793237884067044352
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.907618286,746,716,679,663,637,880.907618286,788,804,653.092381714,632.092381714,654,0.400981474544,-0.00537202549547,0.0598557082942,0.999999941375,0.0002344666715,-0.000248512532305,2.27288208582e-05,1793237884083710720
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,803.506621269,653,632.493378731,654,0.40098186161,-0.00537253539606,0.0598561980294,0.999999941327,0.000235423987223,-0.000247767975108,2.30982049897e-05,1793237884100377344
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.920041365,788,803,653.079958635,632.920041365,654,0.40098240174,-0.00537271111899,0.05985688641,0.999999941191,0.000236892669938,-0.000246873492401,2.35023714215e-05,1793237884117043712
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.340219312,788,803,653.659780688,632.340219312,654,0.400983262363,-0.00537083875841,0.0598576189154,0.999999940839,0.000238471240615,-0.000246770994373,2.36306457219e-05,1793237884133710080
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788,803.238047927,654,632,654,0.400986095746,-0.00537048570765,0.0598591416448,0.99999994148,0.000237764206868,-0.000244851941729,2.35586726491e-05,1793237884150376704
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788,803.814107389,654,632,654,0.400991730311,-0.00537228997156,0.0598617864373,0.999999943512,0.000233811773329,-0.00024035350761,2.32023621926e-05,1793237884167043584
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746.388757761,716,679,663,637,880.777515523,788,804,653.611242239,632,654,0.40100879852,-0.0053713409809,0.0598693494714,0.999999946168,0.000235783511718,-0.000226976474899,2.34940292927e-05,1793237884183710208
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746.962736832,716,679,663,637,881.925473664,788,804,653.037263168,632,654,0.401031314222,-0.00536908021873,0.0598792557725,0.999999948853,0.000240577785955,-0.000209369286567,2.4094421384e-05,1793237884200377088
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746.448531332,716,679,663,637,881.448531332,788.551468668,803.448531332,653,632.551468668,654,0.401076202544,-0.00537341680798,0.0598965249799,0.99999995596,0.000236048998585,-0.000178122539153,2.51684477093e-05,1793237884217043712
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716,679.13879225,663,637,880.86120775,788.86120775,803,653,632.86120775,654,0.401126059169,-0.00537724301896,0.0599139458307,0.999999961812,0.000232375261088,-0.000147270606717,2.62505084944e-05,1793237884233710336
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716,679.718390297,663,637,880.281609703,788.281609703,803,653,632.281609703,654,0.401186761937,-0.00537799351835,0.0599302247532,0.999999965092,0.000233472947946,-0.000120680187336,2.72536486892e-05,1793237884250376704
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,679.70404575,663,637,880,788,803.29595425,653.29595425,632,654,0.401253333281,-0.00537954768789,0.0599428484879,0.999999967236,0.000233763616974,-0.000100564461298,2.77517831049e-05,1793237884267043328
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,679.128404123,663,637,880,788,803.871595877,653.871595877,632,654,0.401325450637,-0.00538186135447,0.059952017938,0.999999968655,0.000233291625233,-8.65675542376e-05,2.77726689031e-05,1793237884283709952
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679.443531905,663,637,880,788,804,654,632,653.556468095,0.40140238812,-0.00538300609913,0.0599547713352,0.999999969691,0.000231129402546,-8.04804780318e-05,2.68261557523e-05,1793237884300376832
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679.984979302,663,637,880,788,804,653.984979302,632.015020698,653,0.401481289746,-0.00538390034087,0.0599557151364,0.999999970632,0.000228489352209,-7.66299398268e-05,2.56256555195e-05,1793237884317043456
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,679.389666837,663,637,880,788,804,653.389666837,632.610333163,653,0.401582608466,-0.00538808225129,0.0599579139207,0.999999971557,0.000226136964035,-7.14498906024e-05,2.53429924881e-05,1793237884333710336
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.20011642,788,803.79988358,653.20011642,633,653.20011642,0.4016900096,-0.00539208643695,0.0599595510258,0.999999972434,0.0002235611845,-6.73671131781e-05,2.47759081181e-05,1793237884350377216
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.779422613,788,803.220577387,653.779422613,633,653.779422613,0.40180893596,-0.00539575386111,0.0599601238353,0.99999997326,0.00022056211304,-6.53634972993e-05,2.36698891788e-05,1793237884367043584
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.645094688,788,803,653.645094688,632.645094688,653.645094688,0.401943579654,-0.00539932376231,0.0599598375652,0.999999974136,0.000217434482454,-6.28651774487e-05,2.23358991256e-05,1793237884383710464
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.071962947,788,803,653.071962947,632.071962947,653.071962947,0.402087887734,-0.00540283369832,0.0599590230589,0.999999975032,0.000214227802323,-6.00626706893e-05,2.08617326417e-05,1793237884400377344
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,679.505718434,663,637,880,788,803.505718434,653,632,653.505718434,0.402256784458,-0.00540687522823,0.059961208412,0.999999975905,0.000211825139147,-5.42366415874e-05,1.94778314264e-05,1793237884417043712
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,679.914469703,663,637,880,788,804,653,632,654,0.40243289161,-0.00541122136399,0.0599637125596,0.9999999768,0.0002092297986,-4.79456645714e-05,1.7998170536e-05,1793237884433710080
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679.325970812,663,637,880,788,804,653,632,654,0.402630637869,-0.00541690988808,0.0599655583404,0.999999978038,0.000204822492419,-4.14735650718e-05,1.58791661423e-05,1793237884450376704
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679.25859924,663,637,880.25859924,788,804,653,632,654,0.402844456202,-0.00542245034228,0.0599673571908,0.999999979241,0.000200323886988,-3.45976487326e-05,1.38277237165e-05,1793237884467043328
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679.838290973,663,637,880.838290973,788,804,653,632,654,0.403078230584,-0.00542780694356,0.0599690977695,0.999999980408,0.000195711919142,-2.72203293152e-05,1.1860170453e-05,1793237884483710208
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679.585806669,663,637,881,788,804,653.414193331,632,654,0.403332544851,-0.00543415433855,0.0599696217795,0.999999981569,0.00019009915634,-2.51256586598e-05,9.59443480478e-06,1793237884500376832
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679.011370358,663,637,881,788,804,653.988629642,632,654,0.403594805576,-0.00544088505135,0.0599696751236,0.999999982713,0.000184099206416,-2.50747376099e-05,7.21333849807e-06,1793237884517043200
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,803.422715496,653.422715496,632.577284504,654,0.403870521035,-0.00544905929488,0.0599622489035,0.999999984413,0.000173166809228,-3.4244196472e-05,3.88014605594e-06,1793237884533709824
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,803.163369406,653.163369406,632.836630594,654,0.404152902775,-0.00545678192806,0.0599533964456,0.99999998571,0.000162437262096,-4.6841144904e-05,4.13313502147e-07,1793237884550376192
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,803.742188624,653.742188624,632.257811376,654,0.404451545943,-0.00546328198188,0.0599413011492,0.999999986079,0.000152476860291,-6.76807367508e-05,-3.34447384785e-06,1793237884567043072
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.680327901,746,716,679,663,637,881,788,803.680327901,654,632.319672099,654,0.40477729127,-0.00547079311817,0.0599328764207,0.999999986576,0.000141652904916,-8.20665734316e-05,-6.90869704905e-06,1793237884583709696
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.10391714,746,716,679,663,637,881,788,803.10391714,654,632.89608286,654,0.405124803219,-0.00547911628714,0.0599273996387,0.999999987314,0.000130135401598,-9.12691997179e-05,-1.03174632342e-05,1793237884600376576
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,716,679,663.469384824,637,880.530615176,788,803,653.530615176,633,654,0.405524270641,-0.00548845963588,0.0599353798835,0.999999993123,8.57338315058e-05,-7.8931927977e-05,-1.31618422027e-05,1793237884617043200
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.04364253,746,716,679,663.95635747,637,880,788,803,653,632.95635747,654,0.405938174754,-0.00549816064678,0.0599473833754,0.999999997438,3.59117255716e-05,-5.98689639697e-05,-1.57857772908e-05,1793237884633709824
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.638611796,746,716,679,663.361388204,637,880,788,803,653,632.361388204,654,0.406390103206,-0.00550954549617,0.0599728230705,0.999999999689,8.977276997e-06,-1.56876043908e-05,-1.71929722205e-05,1793237884650376192
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,679.226691852,663,636.773308148,880,788,803.226691852,653,632.226691852,654,0.406852682502,-0.00551815770233,0.0599955271688,0.999999999544,-7.49934392768e-06,2.27718355482e-05,-1.83823253242e-05,1793237884667042816
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,679.804113136,663,636.195886864,880,788,803.804113136,653,632.804113136,654,0.407331740373,-0.00552248017449,0.0600139988493,0.999999998413,-7.79599061044e-06,5.23785257271e-05,-1.92346413978e-05,1793237884683709440
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.620832782,746,716,679.620832782,663,636.379167218,880,788,804,653,633,653.620832782,0.40780143093,-0.00551469465379,0.0600157543762,0.999999998534,-8.95995984745e-07,4.91645218583e-05,-2.26720303369e-05,1793237884700376320
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.046994083,746,716,679.046994083,663,636.953005917,880,788,804,653,633,653.046994083,0.40826631212,-0.00550069266489,0.0600089275194,0.999999999153,9.69888774817e-06,2.90997641351e-05,-2.74366435913e-05,1793237884717042944
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.539470028,746,716,679.539470028,663,637,880,788,804,653.539470028,633,653.539470028,0.408764254193,-0.00550291678636,0.0599968503648,0.999999999489,-6.73909630603e-06,2.69138596129e-06,-3.11214323536e-05,1793237884733709824
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716,679.874048235,663,637,880,788,804,653.874048235,632.874048235,654,0.409278987785,-0.00550854826402,0.0599878409791,0.999999998871,-2.7477708422e-05,-1.76296051404e-05,-3.45322892232e-05,1793237884750376192
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,679.291584576,663,637,880,788,804,653.291584576,632.291584576,654,0.40984389343,-0.0055212837609,0.0599916481503,0.999999997693,-5.50641511424e-05,-1.3835963112e-05,-3.72993892702e-05,1793237884767042816
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663.288053688,637,880.288053688,788,804,653,632,654,0.410427164546,-0.00552777103594,0.0599983753553,0.999999997108,-6.53160734459e-05,1.27859042965e-06,-3.89313641906e-05,1793237884783709696
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663.864859771,637,880.864859771,788,804,653,632,654,0.411028845751,-0.00552799493488,0.0600080296773,0.999999997145,-5.81914317166e-05,2.77415161446e-05,-3.94254609372e-05,1793237884800376320
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.561051307,746,716,679,663.561051307,637,881,788,804,653,632,654,0.411633448129,-0.00552451896294,0.0600078764704,0.999999998823,-2.23483381965e-05,2.79066618664e-05,-3.28002784875e-05,1793237884817042944
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.012554265,746,716,679.012554265,663,637,880.987445735,788,804,653,632,654,0.412238712994,-0.00551987360524,0.0600041951054,0.999999999305,2.08670866223e-05,1.90694401751e-05,-2.43008387817e-05,1793237884833709568
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.602159036,746,716,679.602159036,663,637,880.397840964,788,804,653,632,654,0.412833346654,-0.00551351352659,0.0599762782281,0.999999998988,-9.523382514e-07,-3.37012988916e-05,-2.97786605029e-05,1793237884850376192
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,653,632,654,0.413444186236,-0.00551015031079,0.0599527486393,0.999999996171,-1.652063599e-05,-7.87423778333e-05,-3.44204949539e-05,1793237884867043072
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,653,632,654,0.414088647241,-0.00551300450795,0.0599383210979,0.999999993316,-1.91200918885e-05,-0.000107747189053,-3.7327956313e-05,1793237884883709696
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,679.654823494,663,637,880.345176506,788,804,653,632,653.654823494,0.414791919587,-0.005520020651,0.0599563043804,0.999999996126,-2.27723362332e-05,-7.63415677504e-05,-3.74307145142e-05,1793237884900376320
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,679.079200739,663,637,880.920799261,788,804,653,632,653.079200739,0.415534455453,-0.00552981538632,0.0599959257316,0.999999998986,-2.71274415142e-05,-4.60481799886e-06,-3.56610005283e-05,1793237884917043200
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.493280379,746,716,679,663,637,881,788,804.506719621,653,632,653,0.416270759083,-0.00553141729934,0.0600218525134,0.999999998263,-2.99053776546e-05,3.71241912519e-05,-3.46712246271e-05,1793237884933709568
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.093007355,746,716,679.093007355,663,637,881,788,805,653,632,653,0.417000651699,-0.00553115889395,0.0600386438305,0.999999996961,-3.15716124116e-05,6.24991645064e-05,-3.42811857901e-05,1793237884950376448
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.672621366,746,716,679.672621366,663,637,881,788,805,653,632,653,0.417702204311,-0.00552800614228,0.0600190702376,0.999999998551,-2.87380071795e-05,2.73591372492e-05,-3.63778941214e-05,1793237884967043328
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746.251663727,716,680,663,637,881,788,805,653,632,653,0.41842042441,-0.0055266357893,0.0600026669909,0.999999998867,-2.79477820703e-05,1.41658377881e-06,-3.85179547548e-05,1793237884983709952
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746.829964218,716,680,663,637,881,788,805,653,632,653,0.419160277497,-0.00552757882822,0.059990378564,0.999999998648,-2.98096792538e-05,-1.2588485105e-05,-4.07142830867e-05,1793237885000376320
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.594817425,716,679.594817425,663,637,881,788,804.594817425,653,632,653,0.419891965298,-0.00552860478905,0.059974907107,0.999999997876,-3.55807202442e-05,-3.40352671871e-05,-4.27044693658e-05,1793237885017042944
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.020882763,716,679.020882763,663,637,881,788,804.020882763,653,632,653,0.420620252343,-0.00552966528548,0.0599581099695,0.999999996366,-4.29798572186e-05,-5.85814033948e-05,-4.46088006107e-05,1793237885033709568
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679.568165315,663.568165315,637,881.568165315,788,804,653,632,653,0.421351667363,-0.00552994848716,0.0599371660815,0.999999992695,-4.24242590924e-05,-0.000103524419944,-4.57549876882e-05,1793237885050376448
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746.1552009,716,680,664,637,881.8447991,788,804,653,632,653.1552009,0.42210067523,-0.00552973949894,0.0599241986104,0.999999989593,-4.02060764189e-05,-0.000130437260591,-4.67366547451e-05,1793237885067043072
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746.73516667,716,680,664,637,881.26483333,788,804,653,632,653.73516667,0.422897509164,-0.00552826377743,0.0599334900992,0.999999992685,-3.42596716294e-05,-0.000105895977891,-4.73463998941e-05,1793237885083709952
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746.688248939,716,679.688248939,664,637,881,788.311751061,804,653,632,654,0.423719821591,-0.00553058467923,0.059968311514,0.99999999714,-3.72224380366e-05,-4.66736348584e-05,-4.64310973936e-05,1793237885100376576
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746.114506245,716,679.114506245,664,637,881,788.885493755,804,653,632,654,0.424563545779,-0.00553609621512,0.0600245879539,0.999999997016,-4.7672358855e-05,4.16942298913e-05,-4.42341639198e-05,1793237885117043200
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.53908542,746,716,679.46091458,663.53908542,637,881,788.53908542,804,653,632,653.53908542,0.425353230899,-0.00553915180729,0.060041262859,0.999999995243,-5.29202617371e-05,6.8984292313e-05,-4.42021288461e-05,1793237885133709824
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.03763736,746.03763736,716,680,663,637,881,788,804,653,632.03763736,653.03763736,0.426129785788,-0.00554158850015,0.0600462371768,0.999999994286,-5.64808302079e-05,7.89263689002e-05,-4.48151612544e-05,1793237885150376192
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.627318606,746.627318606,716,680,663,637,881,788,804,653,632.627318606,653.627318606,0.426911383923,-0.005543929367,0.0600244240261,0.999999995752,-5.4317266855e-05,5.77908123345e-05,-4.69722436441e-05,1793237885167043072
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.786600941,716,680,663,637,881.213399059,788,804,653,633,653.786600941,0.427685465122,-0.00554515572468,0.0600046179347,0.999999996776,-5.4177581931e-05,3.36416309442e-05,-4.87923052786e-05,1793237885183709696
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.206704491,716,680,663,637,881.793295509,788,804,653,633,653.206704491,0.428446636658,-0.00554446799415,0.0599882588186,0.999999997085,-5.75137609135e-05,4.31676428821e-06,-5.00335585887e-05,1793237885200376320
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881.631953853,788,804.368046147,653,632.631953853,653.368046147,0.429186764995,-0.00554369328431,0.0599721230466,0.999999996408,-6.29798469288e-05,-2.33286437574e-05,-5.17049725344e-05,1793237885217043200
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881.060053425,788,804.939946575,653,632.060053425,653.939946575,0.429915237831,-0.00554287039821,0.0599561109821,0.999999994887,-6.96256507371e-05,-5.00438274719e-05,-5.3614644794e-05,1793237885233709824
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.529479136,637,881.529479136,788,805,653,632,653.470520864,0.430664266259,-0.00554523480107,0.0599505370479,0.999999994704,-6.73948111451e-05,-5.59176424898e-05,-5.40683183445e-05,1793237885250376448
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746.118662422,716,680,664,637,881.881337578,788,805,653,632,653,0.431434139457,-0.00554801913289,0.0599570832922,0.999999995499,-6.61931455509e-05,-4.11680088294e-05,-5.40974849543e-05,1793237885267043072
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746.698449297,716,680,664,637,881.301550703,788,805,653,632,653,0.432275643802,-0.00555098212132,0.0600059696783,0.999999994943,-7.30380386735e-05,4.42224422129e-05,-5.31408493753e-05,1793237885283709696
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,747,716,680,664,637,881,788,804.725696123,653,632.274303877,653,0.433056451275,-0.00555312891538,0.0600317634998,0.999999991932,-7.81101725698e-05,8.53671077295e-05,-5.24178910674e-05,1793237885300376320
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,747,716,680,664,637,881,788,804.154103378,653,632.845896622,653,0.433771475794,-0.00555439112276,0.0600325297377,0.999999992263,-8.12610008438e-05,7.85584558994e-05,-5.19481911392e-05,1793237885317042944
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.578974555,716,680,664,637,881.421025445,788,804,653,632.578974555,653,0.434468423383,-0.00555365701855,0.0600100378374,0.999999994333,-8.16179030157e-05,4.20612596392e-05,-5.38889811063e-05,1793237885333709568
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.002540449,716,680,664,637,881.997459551,788,804,653,632.002540449,653,0.435158698483,-0.0055521860371,0.0599789609071,0.999999995101,-8.09435129533e-05,-5.3945550566e-06,-5.67195295213e-05,1793237885350376192
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.588782714,716,679.411217286,664,636.411217286,881.411217286,788,804,653,632.588782714,653.588782714,0.435829876192,-0.00555207448413,0.0599641927045,0.999999994288,-8.21632779466e-05,-3.6487089498e-05,-5.78146913913e-05,1793237885367042816
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.823834416,716,679.176165584,664,636.176165584,881,788,804.176165584,653,633,654,0.436507241776,-0.00555227686876,0.0599554287229,0.99999999326,-8.36872896713e-05,-5.51703558078e-05,-5.85895279418e-05,1793237885383709696
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.245595039,716,679.754404961,664,636.754404961,881,788,804.754404961,653,633,654,0.437198923414,-0.00555318203815,0.0599602037776,0.999999993548,-8.58865659994e-05,-4.56964984074e-05,-5.86507993349e-05,1793237885400376320
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.331711676,716,680.331711676,664,636.668288324,881.331711676,788,804.668288324,653,633,654,0.437849681791,-0.00555302649248,0.0599554576857,0.99999999285,-8.54824869515e-05,-5.9552884247e-05,-5.87115305674e-05,1793237885417042944
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.908329761,716,680.908329761,664,636.091670239,881.908329761,788,804.091670239,653,633,654,0.438470226029,-0.00555208780905,0.0599436820252,0.999999990708,-8.31563215608e-05,-9.06342479701e-05,-5.87718629476e-05,1793237885433709568
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.505640077,716,681,663.505640077,636.494359923,882,788,804.494359923,653,632.505640077,654,0.439103722159,-0.00555286011206,0.0599568957488,0.999999992526,-8.27846079354e-05,-6.83763362174e-05,-5.84819317449e-05,1793237885450376448
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.081018612,715.918981388,681,663.081018612,637,881.918981388,788,805,653,632,654,0.439742021549,-0.00555419645177,0.0599776303416,0.99999999434,-8.30935811253e-05,-3.25917939535e-05,-5.7903319072e-05,1793237885467043072
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.66059663,715.33940337,681,663.66059663,637,881.33940337,788,805,653,632,654,0.440394812454,-0.00555701340046,0.0600155772678,0.999999994498,-8.53177803213e-05,2.43849445466e-05,-5.59557015631e-05,1793237885483709696
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,747,715.23938296,680.76061704,664,636.76061704,881.478765919,788,805,653,632,654,0.441011651125,-0.00555913110034,0.0600341273297,0.999999993264,-8.90594178859e-05,5.03661736037e-05,-5.48100782029e-05,1793237885500376320
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,747,715.817050464,680.182949536,664,636.182949536,882.634100927,788,805,653,632,654,0.441577683764,-0.00556026065501,0.060025266668,0.999999993462,-9.49454268487e-05,3.25460270639e-05,-5.47977949543e-05,1793237885517042944
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.600155089,746.600155089,716,680,664,636.399844911,882.600155089,788.399844911,805,653,632.399844911,653.600155089,0.442086904234,-0.00556027612276,0.0599993806938,0.999999993583,-9.77909072302e-05,-9.09197577861e-06,-5.64720621199e-05,1793237885533709568
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.014984281,746.014984281,716,680,664,636.985015719,882.014984281,788.985015719,805,653,632.985015719,653.014984281,0.44256979263,-0.00555977521749,0.0599656035811,0.999999991433,-9.9227119791e-05,-6.17694243448e-05,-5.8928035913e-05,1793237885550376192
+201,3.350000000,POSE1_TO_POSE2_PRESS,766.564551892,746.564551892,716,680.564551892,664,637,882,788.435448108,804.435448108,653,632.435448108,653,0.443057033016,-0.00555669366531,0.0599574290069,0.999999991258,-9.70226237001e-05,-6.60050941172e-05,-6.09401784698e-05,1793237885567043072
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.855909393,716,681,664,637,882,788.144090607,804.144090607,652.855909393,632.144090607,653,0.443550543972,-0.00555480640031,0.0599556844359,0.999999991424,-9.63103743581e-05,-6.30595761658e-05,-6.2441332803e-05,1793237885583709696
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.275914888,716,681,664,637,882,788.724085112,804.724085112,652.275914888,632.724085112,653,0.444062678828,-0.00555673726505,0.0599713565191,0.999999992119,-0.000100401920525,-4.22406630855e-05,-6.2431927647e-05,1793237885600376320
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,716,681,664,637,882,788.698873332,805,652.301126668,632.698873332,653.301126668,0.444535067303,-0.00555861552058,0.0599775442333,0.999999991953,-0.000104162196815,-3.51341669987e-05,-6.33209718512e-05,1793237885617042944
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664,637,882,788.124511251,805,652.875488749,632.124511251,653.875488749,0.444971390793,-0.00556044603962,0.0599751260483,0.999999991276,-0.000107621886217,-4.0470004047e-05,-6.50252483632e-05,1793237885633709568
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663.551001727,636.551001727,882,788,805,653,632.448998273,654,0.445336224059,-0.00556208447335,0.059947065219,0.999999987545,-0.00010906462268,-9.23865354345e-05,-6.69336262092e-05,1793237885650376192
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746.022975705,716,681,663,636,882,788.022975705,805.022975705,653,633,654,0.445679898173,-0.00556376979522,0.0599118393857,0.999999979252,-0.000109987995213,-0.000157009027068,-6.8896059805e-05,1793237885667043072
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746.61436726,716,681,663,636,882,788.61436726,805.61436726,653,633,654,0.445989633208,-0.00556793044385,0.0598749424799,0.999999967689,-0.00011187363975,-0.000217010054021,-7.07982308603e-05,1793237885683709696
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,747,716,681,663,636,882,788.798806137,805.597612273,653,633,653.798806137,0.446308732129,-0.00557205571425,0.0598486704648,0.999999958142,-0.000111414360765,-0.000257267833576,-7.15310784367e-05,1793237885700376576
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,747,716,681,663,636,882,788.220535221,804.441070442,653,633,653.220535221,0.446645380793,-0.00557611467838,0.0598423115982,0.999999957931,-0.000106560232192,-0.00026052286108,-7.00723829572e-05,1793237885717044224
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,747,716,681.353267642,663,636,882,788,804.353267642,653,632.646732358,653,0.446959633014,-0.00557786594893,0.0598429527602,0.999999961348,-8.5334347808e-05,-0.000256821946601,-6.37497638671e-05,1793237885733711360
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,747,716,681.924316115,663,636,882,788,804.924316115,653,632.075683885,653,0.44726007841,-0.00557819458342,0.0598479092673,0.999999966101,-5.40156771731e-05,-0.000248832864669,-5.44286550308e-05,1793237885750377728
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746.485309165,716,681.485309165,663,636,882,788,805,652.485309165,632,653,0.447544136656,-0.0055766125428,0.0598481870818,0.999999962912,-0.000102054565742,-0.000246725284274,-5.37312040064e-05,1793237885767043840
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746,716,681,662.894572489,636,882,788,805,652.105427511,632.105427511,653.105427511,0.447816371329,-0.00557307144833,0.0598460387395,0.999999956481,-0.000148587405424,-0.000248943699582,-5.46482855054e-05,1793237885783710464
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746,716,681,662.315475631,636,882,788,805,652.684524369,632.684524369,653.684524369,0.448046733351,-0.00556204018554,0.0598362016738,0.999999953892,-0.000133879971508,-0.000266560869042,-5.68996248946e-05,1793237885800377344
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746.263214321,716,681,662.263214321,635.736785679,881.736785679,787.736785679,805,653,632.736785679,654,0.448263390504,-0.0055541156008,0.0598253075219,0.999999950809,-0.000120885648202,-0.000283357912005,-5.89635830447e-05,1793237885817043968
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+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746.638925283,716,681.361074717,661.361074717,634,882.277850565,787,804.638925283,653,632,653.638925283,0.449638848326,-0.0055709407652,0.0597262972449,0.999999896459,-0.000117839799478,-0.000434333486632,-6.74620741404e-05,1793237886000376320
+228,3.800000000,POSE1_TO_POSE2_PRESS,766.775333585,747,716,681,661.224666415,634.224666415,882.775333585,787,805,653,632,654,0.449698086233,-0.00557138519129,0.0597225483092,0.999999893875,-0.000117553731655,-0.000440278798551,-6.77155726592e-05,1793237886017043200
+229,3.816666667,POSE1_TO_POSE2_PRESS,766.197284324,747,716,681,661.802715676,634.802715676,882.197284324,787,805,653,632,654,0.449750953273,-0.00557160028215,0.0597202102731,0.999999893213,-0.000117542573599,-0.000441767199661,-6.78129294445e-05,1793237886033710848
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+232,3.866666667,POSE1_TO_POSE2_PRESS,766.542121884,746.457878116,716,681,662,634,882.457878116,788,805,653,632,653.457878116,0.449855783655,-0.00556978969207,0.0597115663727,0.999999886094,-0.000116868405683,-0.000457769143343,-6.78311771774e-05,1793237886083710208
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+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746.712265219,716,681.712265219,661.712265219,634,882.712265219,787,804.712265219,653,632,653.712265219,0.449920105328,-0.00556917884012,0.0597116772535,0.999999886673,-0.000116190148504,-0.000456716507732,-6.75502807791e-05,1793237886133710848
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746.131341306,716,681.131341306,661.131341306,634,882.131341306,787,804.131341306,653,632,653.131341306,0.449933477608,-0.00556614630621,0.0597107296181,0.999999886617,-0.000115040315836,-0.000457052668123,-6.8075535145e-05,1793237886150377216
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766.985032038,746.014967962,716,681,662,634,882,787,805,652.014967962,632,653.985032038,0.449940983574,-0.00556901688817,0.0597032397698,0.999999881542,-0.000114661898169,-0.000468247185695,-6.71867600038e-05,1793237886183709952
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.395751452,746.604248548,716,681,662,634,882,787,805,652.604248548,632,653.395751452,0.449944751098,-0.00557040968874,0.05970310631,0.99999988053,-0.000118361184183,-0.000469509185593,-6.70230603078e-05,1793237886200376576
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+244,4.066666667,POSE1_TO_POSE2_PRESS,766.508741732,746.491258268,716,682,661.508741732,634,882,787,805,653,632,653,0.449954013262,-0.0055666254948,0.0597027028422,0.99999988028,-0.000115916373321,-0.0004707162807,-6.655662444e-05,1793237886283710464
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+263,4.383333333,HOLD_POSE2,766,746,716,682,661,634,882,787,805,653,632,654,0.449955750808,-0.0055662430564,0.0596982429041,0.999999877696,-0.000116107097221,-0.000476240017142,-6.57483101921e-05,1793237886614292992
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+267,4.450000000,HOLD_POSE2,767,746.675590792,716,681.675590792,662,634,882,787,804.675590792,653,632,653.324409208,0.449955388226,-0.00556444252017,0.0596979413685,0.999999877423,-0.000114158495692,-0.000477274817591,-6.58109983084e-05,1793237886680958976
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+269,4.483333333,HOLD_POSE2,767,746.495233855,716,681.495233855,661.504766145,634,882,787,804,653,632,653.504766145,0.449957673788,-0.00556552893174,0.059699828579,0.999999878471,-0.000115569015477,-0.000474782339836,-6.54471745694e-05,1793237886714291968
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746.076640684,716,681.923359316,661.923359316,634,882,787,805,652.923359316,632,653.076640684,0.449957146409,-0.00556215400581,0.0596970093212,0.99999987741,-0.000111131071414,-0.000478074186198,-6.53785958373e-05,1793237887017939200
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746.655213221,716,681.344786779,661.344786779,634,882,787,805,652.344786779,632,653.655213221,0.449958624472,-0.00556121351588,0.0596987202082,0.999999878334,-0.000111597036678,-0.000475975720939,-6.57664786421e-05,1793237887034605824
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,747,716,681,661,634,882,787,805,652.232360504,632,653.767639496,0.449958120688,-0.00556100942816,0.0596989463635,0.999999878228,-0.000112620690937,-0.000475917966829,-6.60507059926e-05,1793237887051272448
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,747,716,681,661,634,882,787,805,652.807405773,632,653.192594227,0.449954694081,-0.00556189138488,0.0596969828397,0.9999998766,-0.000114466823671,-0.000478869849262,-6.61820624704e-05,1793237887067939072
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746.614677596,716,681.385322404,661,634,882.385322404,786.614677596,805,653,631.614677596,653,0.449943793813,-0.00556145762202,0.0596913383117,0.999999872765,-0.000113469308106,-0.000487031645853,-6.62962499174e-05,1793237887084605696
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746.022279379,716.977720621,682,662,634.022279379,882,787,804.977720621,653,632,653,0.449546390203,-0.00554741209417,0.0596040287792,0.99999980878,-0.000105661178969,-0.000605282283049,-7.00611093081e-05,1793237887217939456
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746.644232647,716,682,662,634,881.355767353,787.355767353,804.644232647,653,632.355767353,654,0.449117837313,-0.00553659707086,0.0595856205189,0.999999789504,-9.41411870177e-05,-0.000638425227777,-6.73998188947e-05,1793237887284605952
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766.485944563,746.514055437,716,682,662,634.514055437,882,788,805.028110874,653,632.485944563,653.485944563,0.448822481916,-0.0055278207134,0.0595728682688,0.999999776627,-8.76882513883e-05,-0.00065929557868,-6.6230178399e-05,1793237887317939712
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746.519243086,716,681.519243086,662.519243086,636,882,788,805,652.519243086,633,653.519243086,0.445849733813,-0.00543492690608,0.0596979062874,0.999999885363,5.18236352525e-06,-0.00047718699772,-3.92399845301e-05,1793237887517939200
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,681.953045171,663.953045171,636.046954829,881.093909658,788,805.906090342,653,632.046954829,653.046954829,0.443466894757,-0.00538261059205,0.0598353995693,0.999999968303,6.14506017345e-05,-0.000243200039469,-2.17068759818e-05,1793237887617939200
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.564678135,746.435321865,716,680.435321865,663.564678135,637,881.435321865,788.435321865,804,653,632.564678135,653,0.430447805173,-0.00540412003065,0.05983109747,0.999999957793,0.000139938205785,-0.000254202471213,1.45644272613e-05,1793237887951273728
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746.149866129,716,680.149866129,663.850133871,637,881.149866129,788,804.149866129,653,633,653,0.429689171639,-0.00540030693663,0.0598372330659,0.999999955188,0.000159161069152,-0.000252827325619,1.92150883613e-05,1793237887967939840
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746.727928221,716,680.727928221,663.272071779,637,881.727928221,788,804.727928221,653,633,653,0.428847112928,-0.00539160232021,0.0598049805905,0.999999934435,0.000175246491489,-0.00031627816175,1.96678201809e-05,1793237887984606208
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746.69536093,716,680.69536093,663,637,881.69536093,788,805,653,633,653.30463907,0.428043086389,-0.0053872746192,0.0597819027981,0.999999922326,0.000180039660853,-0.000350129566117,1.85428629312e-05,1793237888001273088
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746.119851571,716,680.119851571,663,637,881.119851571,788,805,653,633,653.880148429,0.427272876257,-0.00538683865958,0.0597669826907,0.999999920634,0.000174792306108,-0.000357662588676,1.60151010991e-05,1793237888017939712
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.454050694,663.454050694,637,881,788.454050694,804.545949306,653,632.545949306,654,0.426522854301,-0.00539015626067,0.0597877638358,0.999999932373,0.000172031023024,-0.000324572468555,1.76577382735e-05,1793237888034606592
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.971479408,663.971479408,637,881,789,804,653,632.028520592,653.971479408,0.425776907705,-0.00539418233325,0.0598172580733,0.999999945475,0.000170141341923,-0.000282288432055,2.03681336868e-05,1793237888051272960
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.377370956,663.377370956,637,881,789,804,653,632.622629044,653.377370956,0.425006476467,-0.00539267902409,0.0598333188321,0.999999948521,0.000172568671059,-0.000269575858186,2.24998427019e-05,1793237888067939584
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746.211386143,716,680,663.211386143,637,881.211386143,789,804,653,633,653,0.424225461887,-0.00539113479749,0.0598428198714,0.999999950442,0.000174156929362,-0.000261155894632,2.41240182128e-05,1793237888084606464
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746.790825868,716,680,663.790825868,637,881.790825868,789,804,653,633,653,0.423426020064,-0.00538951932748,0.0598408995011,0.999999950649,0.00017428424549,-0.000260209979026,2.48645054856e-05,1793237888101273088
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.632297321,746.632297321,716,680,663.264594641,637,881.632297321,789,804,653,633,653.367702679,0.422652283604,-0.00538834423496,0.0598454452663,0.999999951655,0.000179006911617,-0.000252980736575,2.54464475817e-05,1793237888117939712
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.05686841,746.05686841,716,680,662.11373682,637,881.05686841,789,804,653,633,653.94313159,0.421893068921,-0.00538741792493,0.0598536439447,0.999999952974,0.000186325628246,-0.000242201855051,2.59388227217e-05,1793237888134606336
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.514771061,746,716,680,662.514771061,637,881.514771061,789,804.514771061,653.514771061,633,654,0.42108126208,-0.00538385682578,0.0598198076248,0.999999935085,0.000189228968484,-0.000305644218097,2.45833399895e-05,1793237888151272704
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,882,788.910030919,804.910030919,653.910030919,633,654,0.420273320288,-0.0053802443173,0.0597835634569,0.999999912799,0.000190816837505,-0.000370763589122,2.29213537185e-05,1793237888167939584
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,882,788.312408826,804.312408826,653.312408826,633,654,0.419519730821,-0.00537797211922,0.0597597439014,0.999999902401,0.000187714332338,-0.000399417949126,2.06733548256e-05,1793237888184606208
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745.725036975,716,680,663.274963025,637,881.450073949,788,804,653,633,654,0.418781778608,-0.00537887336933,0.0597610548728,0.999999906975,0.000187288353479,-0.000388009949025,2.05072910704e-05,1793237888201273088
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.14889278,716,680,663.85110722,637,880.29778556,788,804,653,633,654,0.418060954736,-0.00538325066091,0.0597898926069,0.999999926382,0.000189794111704,-0.00033271957915,2.26216782611e-05,1793237888217939712
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745.853366077,716,680,663.573316961,637,880.426683039,788,804,653,633,654,0.417357604808,-0.00538334942196,0.0598187885712,0.999999937892,0.000195084247695,-0.000292418190191,2.54910488184e-05,1793237888234606080
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746.99789647,716,680,663,637,881.00210353,788.00210353,804,653,632.99789647,654,0.416660365368,-0.00538194768755,0.0598475860187,0.999999946166,0.00020132129827,-0.000257525877019,2.86119964157e-05,1793237888251272960
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746.410597057,716,680,663,637,881.589402943,788.589402943,804,653,632.410597057,654,0.415968982439,-0.00537791117487,0.0598433303977,0.999999941775,0.000201044861926,-0.000274258889898,2.85261004351e-05,1793237888267939584
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746.175242084,716,680,663,637,881.824757916,789,804,653,632,654,0.415278256859,-0.00537562092827,0.0598397093169,0.999999938586,0.000200985993562,-0.000285710907108,2.83353755437e-05,1793237888284606208
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746.757688157,716,680,663,637,881.242311843,789,804,653,632,654,0.414589058603,-0.00537738841915,0.0598375626947,0.999999938742,0.000201432680469,-0.00028489166025,2.79010633251e-05,1793237888301273088
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,747,716,680,663,637,881.333915904,788.666084096,804,653,632,654,0.413905985455,-0.00537746775563,0.0598377348304,0.999999938036,0.000205701016431,-0.000284274185827,2.83430086776e-05,1793237888317939712
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,747,716,680,663,637,881.905713677,788.094286323,804,653,632,654,0.41322727588,-0.00537634444991,0.0598395588507,0.999999936677,0.000212691897197,-0.000283800454232,2.94092004195e-05,1793237888334606848
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746.508415679,716,680,663,637,881.016831357,788,803.508415679,653,632.491584321,654,0.412557407983,-0.00537298368597,0.0598099769289,0.999999920198,0.000215951396362,-0.000334935021363,2.80629091153e-05,1793237888351273472
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.921062641,746,716,680,663,637,880.078937359,788,803,653,632.921062641,654,0.41189970566,-0.00536996583602,0.0597785172727,0.999999901078,0.00021745689238,-0.000387124470416,2.62764751039e-05,1793237888367939840
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.341924124,746,716,680,663,637,880.658075876,788,803,653,632.341924124,654,0.411308030028,-0.00537192043342,0.0597744541445,0.99999990437,0.000212516535457,-0.000381426037147,2.4719496756e-05,1793237888384606208
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.236568005,746,716,680,663,637,881,788,803.236568005,653,632.236568005,653.763431995,0.410736271279,-0.00537265930716,0.0597871932261,0.999999914179,0.000212536927474,-0.000354754763223,2.48769859175e-05,1793237888401273088
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788,803.609879444,653,633,653.390120556,0.409646409816,-0.00537116690683,0.0598486163669,0.999999940889,0.00021880416493,-0.000263596864646,2.94003265801e-05,1793237888434606592
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788,803.034631371,653,633,653.965368629,0.409097813792,-0.00537094166986,0.059867153125,0.999999947788,0.000214068838642,-0.000240087062441,3.09465375132e-05,1793237888451272960
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788,803.55397902,653,632.44602098,654,0.408574733354,-0.00537024005227,0.0598601552103,0.999999944537,0.000214891065002,-0.00025258095267,3.08216626036e-05,1793237888467939584
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.858750044,663,637,881,788.141249956,803.858750044,653,632,654,0.408058896655,-0.00536958250175,0.0598504162691,0.999999939482,0.000219258976578,-0.000268405479078,3.03447278221e-05,1793237888484606208
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.278305317,663,637,881,788.721694683,803.278305317,653,632,654,0.407560500876,-0.005369156857,0.0598372405653,0.999999931001,0.000233544683361,-0.000287414833727,2.91059670108e-05,1793237888501272832
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.700146396,788.700146396,803.299853604,653,632.299853604,654,0.407090622557,-0.00536934395146,0.0598321699595,0.999999929385,0.000236628418499,-0.000290566768225,2.84205925388e-05,1793237888517939712
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.124093001,788.124093001,803.875906999,653,632.875906999,654,0.40664701214,-0.00537009544952,0.0598345650855,0.999999934339,0.000229393843562,-0.000279112186779,2.82449508611e-05,1793237888534606080
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746.451485762,716,679.451485762,663,637,880.451485762,788,803.548514238,653,633,654,0.40622902266,-0.00536836896648,0.0598449057105,0.99999994091,0.000224190723401,-0.000259107433161,2.79570570718e-05,1793237888551272960
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746.972499344,716,680,663,637,880.972499344,788,803.027500656,653,632.972499344,654,0.405819298573,-0.00536596485653,0.0598566191068,0.999999947019,0.000220147156214,-0.000238181146955,2.76787574274e-05,1793237888567939328
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746.384948556,716,680,663,637,880.384948556,788,803.615051444,653,632.384948556,654,0.405434638614,-0.0053636166009,0.0598518614505,0.999999943197,0.000228358912153,-0.000246296424676,2.82235036162e-05,1793237888584605952
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.800582373,663,637,880.199417627,788.199417627,804,653,632.199417627,653.800582373,0.4050512317,-0.00536019723028,0.0598410769724,0.999999936442,0.000237991728658,-0.000263966626694,2.82557771803e-05,1793237888601272576
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.222267073,663,637,880.777732927,788.777732927,804,653,632.777732927,653.222267073,0.404670205641,-0.00535474271898,0.0598188414072,0.999999923358,0.000250324588919,-0.0002997913841,2.73143419285e-05,1793237888617939200
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.64535603,788.64535603,804,653,633,653.35464397,0.404318433134,-0.0053512571832,0.0598013321943,0.999999912147,0.000258366621376,-0.000328977338453,2.69436923284e-05,1793237888634606848
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.069321554,788.069321554,804,653,633,653.930678446,0.403984922451,-0.00534900080211,0.059786773458,0.999999902196,0.000263730057321,-0.000354018948508,2.69293620306e-05,1793237888651275008
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.517451924,663,637,880,788,803.482548076,653,633,654,0.403711189963,-0.00534610787519,0.05979557638,0.999999907712,0.000267101973492,-0.000335399429722,2.7210087812e-05,1793237888667940352
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.895954356,663,637,880.104045644,788,803.208091288,653.104045644,632.895954356,654,0.403452188505,-0.00534385226531,0.0598088797558,0.999999915316,0.000269674266535,-0.000309628444284,2.78304543173e-05,1793237888684605952
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.316888584,663,637,880.683111416,788,804.366222832,653.683111416,632.316888584,654,0.403223104629,-0.00534490390336,0.0598281385085,0.999999924374,0.000269839765251,-0.000278477714497,2.98171610306e-05,1793237888701272576
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.261072776,663,637,881,788.261072776,804.738927224,654,632,654,0.403002331752,-0.0053473018536,0.0598437054758,0.999999932355,0.000265443498421,-0.000252729397908,3.09402619861e-05,1793237888717939456
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.83769922,663,637,881,788.83769922,804.16230078,654,632,654,0.402791604234,-0.00535132706557,0.0598548102515,0.999999939607,0.000255533513041,-0.00023351087677,3.10195390909e-05,1793237888734606080
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.585317706,662.585317706,637,880.585317706,788.585317706,804,653.585317706,632,654,0.402585269931,-0.00536089464229,0.0598546673048,0.999999948704,0.000214791489523,-0.000236362384444,2.42721481504e-05,1793237888751272704
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.008194947,662.008194947,637,880.008194947,788.008194947,804,653.008194947,632,654,0.402380656556,-0.00537263328899,0.0598501183698,0.999999956055,0.000161971856606,-0.000247859223177,1.48505963368e-05,1793237888767939584
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,662.578298658,637,880,788.578298658,804,653,632.578298658,654,0.402197906641,-0.00537762025502,0.0598419912692,0.999999952708,0.000160914287603,-0.000261594948509,1.60992683293e-05,1793237888784606208
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767.162600101,746,716,679.162600101,662.837399899,637,880,788.837399899,804,653.162600101,632.837399899,654,0.402025526942,-0.00537958864734,0.0598356901747,0.999999947494,0.000173803791571,-0.000272961978223,1.7220215618e-05,1793237888801272832
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767.740951203,746,716,679.740951203,662.259048797,637,880,788.259048797,804,653.740951203,632.259048797,654,0.40187885757,-0.00537408753429,0.0598341897671,0.999999936851,0.000220448067935,-0.000278190046972,1.76216002019e-05,1793237888817939200
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767.68233828,746,716,680,662.31766172,637,880,788,803.68233828,654,632,654,0.401752057868,-0.00537112934133,0.0598361148144,0.999999932242,0.000242015887114,-0.000276762876807,1.85936391745e-05,1793237888834605824
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767.1069587,746,716,680,662.8930413,637,880,788,803.1069587,654,632,654,0.401641378345,-0.0053702342101,0.0598408189212,0.999999933784,0.000243239268289,-0.000269936335148,2.00286481532e-05,1793237888851272448
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746.467020594,716,679.532979406,663,637,880,788.467020594,803,653.532979406,632,653.532979406,0.401542997654,-0.00536985679379,0.0598420249292,0.999999935454,0.000239424404141,-0.000267109667253,2.04831541113e-05,1793237888867939328
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.455508216,663.544491784,637,880.455508216,788,804,653.544491784,632.455508216,654,0.401096141555,-0.00536141759794,0.0598363860205,0.999999931048,0.000246110871336,-0.000277209604897,2.20861599025e-05,1793237888984606208
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+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.734544314,663,637,880.265455686,788.265455686,804,653,632,654,0.400983297849,-0.00536672874216,0.0598524242941,0.999999939163,0.000239955842198,-0.000252167333364,2.25013982786e-05,1793237889334606336
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+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.966637665,637,880,788,804,653.033362335,632.033362335,654,0.400986932392,-0.0053678029933,0.0598547470432,0.999999940473,0.000238913263841,-0.00024791178679,2.26572954166e-05,1793237889401272832
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.374945128,637,880,788,804,653.625054872,632.625054872,654,0.400985753064,-0.0053674734025,0.0598544726664,0.999999940367,0.00023854137559,-0.000248717181693,2.24629509492e-05,1793237889417939456
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.788021192,663,637,880.211978808,788,804,654,632.788021192,654,0.400984732946,-0.00536712987501,0.05985411274,0.999999940112,0.000238775132892,-0.000249528371629,2.23204224296e-05,1793237889434606080
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.20934623,663,637,880.79065377,788,804,654,632.20934623,654,0.40098398824,-0.00536676223876,0.0598536048235,0.999999939601,0.000240056579276,-0.000250349586359,2.22675288235e-05,1793237889451272704
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.366517265,663,637,881,788,804,653.633482735,632,654,0.400983777236,-0.0053676991186,0.0598534670946,0.99999993987,0.000238786747898,-0.000250484667341,2.23014426305e-05,1793237889467939840
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.940787103,663,637,881,788,804,653.059212897,632,654,0.40098386875,-0.00536937543589,0.0598535391988,0.999999940577,0.000236070778499,-0.000250230827842,2.23845613901e-05,1793237889484606976
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.47061264,663,637,880.47061264,788.52938736,803.47061264,653,632,654,0.400984891602,-0.00536744501974,0.0598540239464,0.999999940006,0.000240145734379,-0.000248642552607,2.22550202168e-05,1793237889501273600
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.117528085,788.882471915,803.117528085,653,632,654,0.400985752764,-0.00536593411779,0.0598545585646,0.99999993957,0.000243290956225,-0.000247341858292,2.21768269164e-05,1793237889517939968
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.697380377,788.302619623,803.697380377,653,632,654,0.400985556701,-0.00536770457122,0.0598551027479,0.999999940323,0.000239707744461,-0.000247775911978,2.23967951648e-05,1793237889534606336
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8c0719c209942aaa8baa26ddf62794bcce4926db
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,439 @@
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+388,6.466666667,pose2_to_pose3_retreat,0.580068386194,1.35078877871e-06,1.05001170896,0.550639660909,0.00867500359513,1.04966124707
+389,6.483333333,pose2_to_pose3_retreat,0.579875246284,1.29493945048e-06,1.05001169259,0.550446522291,0.00867495139079,1.04966122858
+390,6.500000000,pose2_to_pose3_retreat,0.579690527296,1.24455230769e-06,1.0500115806,0.550261804255,0.0086749035476,1.04966111527
+391,6.516666667,pose2_to_pose3_retreat,0.579514519549,1.30314360852e-06,1.05001168197,0.55008579504,0.00867495650618,1.04966121559
+392,6.533333333,pose2_to_pose3_retreat,0.579350318503,1.16267520565e-06,1.0500116027,0.549921595551,0.00867482061439,1.04966113292
+393,6.550000000,pose2_to_pose3_retreat,0.57920046064,1.32058516941e-06,1.05001166529,0.549771734693,0.00867496777706,1.04966119381
+394,6.566666667,pose2_to_pose3_retreat,0.579067680435,1.43183805342e-06,1.05001182053,0.549638953395,0.00867507484423,1.04966134865
+395,6.583333333,pose2_to_pose3_retreat,0.578950200254,1.37393085721e-06,1.05001187324,0.549521475159,0.00867502332255,1.0496614046
+396,6.600000000,pose2_to_pose3_retreat,0.578846767351,1.15882937637e-06,1.0500116546,0.549418045833,0.00867482052765,1.04966119493
+397,6.616666667,pose2_to_pose3_retreat,0.578755911036,1.19076350338e-06,1.05001185426,0.549327188885,0.00867484988979,1.04966139297
+398,6.633333333,pose2_to_pose3_retreat,0.578674766656,1.18323978216e-06,1.05001184736,0.549246045221,0.00867484389472,1.04966138205
+399,6.650000000,pose2_to_pose3_retreat,0.57860196854,1.27294802761e-06,1.05001185192,0.549173246473,0.0086749309086,1.04966138292
+400,6.666666667,pose2_to_pose3_retreat,0.578537177748,1.41943536965e-06,1.05001192711,0.54910845376,0.00867507085876,1.04966145663
+401,6.683333333,pose2_to_pose3_retreat,0.578480708634,1.14171662338e-06,1.05001181053,0.549051987912,0.00867480357254,1.04966134201
+402,6.700000000,pose2_to_pose3_retreat,0.57843222643,1.3164333314e-06,1.05001175068,0.549003501868,0.00867496620347,1.04966129508
+403,6.716666667,pose2_to_pose3_retreat,0.578391384957,1.32173575099e-06,1.05001172413,0.548962659366,0.00867496721979,1.0496612579
+404,6.733333333,pose2_to_pose3_retreat,0.578357916581,1.34062265195e-06,1.05001169848,0.548929190811,0.00867498514416,1.04966122704
+405,6.750000000,pose2_to_pose3_retreat,0.578330943538,1.39443083993e-06,1.05001169697,0.548902217715,0.00867503943982,1.04966123284
+406,6.766666667,pose2_to_pose3_retreat,0.578310498718,1.19440696535e-06,1.05001181817,0.548881775477,0.00867484785058,1.04966134704
+407,6.783333333,pose2_to_pose3_retreat,0.578294456631,1.23002778542e-06,1.05001174653,0.548865733463,0.00867488347294,1.04966127655
+408,6.800000000,pose2_to_pose3_retreat,0.578282404486,1.30003909491e-06,1.05001174301,0.54885368113,0.00867495283351,1.04966127425
+409,6.816666667,pose2_to_pose3_retreat,0.578274140832,1.36280325823e-06,1.05001180459,0.548845417368,0.00867501537403,1.04966133616
+410,6.833333333,pose2_to_pose3_retreat,0.578268530254,1.42002903858e-06,1.05001183392,0.548839805703,0.00867506867235,1.04966136007
+411,6.850000000,pose2_to_pose3_retreat,0.578264199973,1.46592552481e-06,1.05001185508,0.548835474462,0.00867511109078,1.04966137637
+412,6.866666667,pose2_to_pose3_retreat,0.578261192816,1.36330615234e-06,1.05001177467,0.54883246881,0.0086750138304,1.04966130293
+413,6.883333333,pose2_to_pose3_retreat,0.578259420791,1.28863446612e-06,1.05001171725,0.548830697902,0.0086749431375,1.04966125071
+414,6.900000000,pose2_to_pose3_retreat,0.578257956278,1.22692105543e-06,1.0500116698,0.548829234311,0.00867488471241,1.04966120754
+415,6.916666667,pose2_to_pose3_retreat,0.578257037319,1.23253603638e-06,1.05001160541,0.548828314965,0.00867488910237,1.04966114469
+416,6.933333333,pose2_to_pose3_retreat,0.578256860161,1.23529511326e-06,1.05001159169,0.548828137696,0.00867489150094,1.04966113122
+417,6.950000000,pose2_to_pose3_retreat,0.578256748675,1.23703140298e-06,1.05001158306,0.54882802614,0.00867489301037,1.04966112274
+418,6.966666667,pose2_to_pose3_retreat,0.578256668544,1.23827936744e-06,1.05001157685,0.548827945959,0.00867489409527,1.04966111665
+419,6.983333333,pose2_to_pose3_retreat,0.578256541074,1.24026460482e-06,1.05001156698,0.548827818409,0.00867489582111,1.04966110696
+420,7.000000000,pose2_to_pose3_retreat,0.578256157423,1.2462396163e-06,1.05001153727,0.548827434518,0.00867490101542,1.04966107779
+421,7.016666667,pose2_to_pose3_retreat,0.578255865234,1.25079019651e-06,1.05001151464,0.548827142146,0.00867490497141,1.04966105557
+422,7.033333333,pose2_to_pose3_retreat,0.578255720136,1.25304996953e-06,1.0500115034,0.548826996957,0.00867490693592,1.04966104454
+423,7.050000000,pose2_to_pose3_retreat,0.578255668278,1.25385761824e-06,1.05001149938,0.548826945066,0.00867490763804,1.0496610406
+424,7.066666667,pose2_to_pose3_retreat,0.578255359377,1.25866847407e-06,1.05001147546,0.548826635971,0.0086749118203,1.04966101711
+425,7.083333333,pose2_to_pose3_retreat,0.578254782484,1.26765305794e-06,1.05001143078,0.548826058717,0.00867491963094,1.04966097325
+426,7.100000000,pose2_to_pose3_retreat,0.578254200791,1.27113708251e-06,1.05001147908,0.548825477273,0.00867492393051,1.04966102056
+427,7.116666667,pose2_to_pose3_retreat,0.578253616653,1.26934880832e-06,1.05001161611,0.548824893965,0.00867492485705,1.04966115487
+428,7.133333333,pose2_to_pose3_retreat,0.578253302619,1.2683874283e-06,1.05001168978,0.548824580378,0.00867492535516,1.04966122708
+429,7.150000000,pose2_to_pose3_retreat,0.578253208342,1.26809880774e-06,1.0500117119,0.548824486235,0.0086749255047,1.04966124876
+430,7.166666667,pose2_to_pose3_retreat,0.578253143539,1.2679004229e-06,1.0500117271,0.548824421525,0.00867492560749,1.04966126366
+431,7.183333333,pose2_to_pose3_retreat,0.578252898601,1.26715057103e-06,1.05001178456,0.548824176935,0.008674925996,1.04966131998
+432,7.200000000,pose2_to_pose3_retreat,0.578252611185,1.29138897097e-06,1.05001163595,0.548823888664,0.00867494732024,1.04966117122
+433,7.216666667,pose2_to_pose3_retreat,0.578252533743,1.29902693857e-06,1.05001158638,0.548823810937,0.00867495398569,1.04966112167
+434,7.233333333,pose2_to_pose3_retreat,0.578252442066,1.30806893561e-06,1.05001152771,0.548823718921,0.0086749618764,1.04966106301
+435,7.250000000,pose2_to_pose3_retreat,0.578252301068,1.32197535783e-06,1.05001143747,0.548823577403,0.00867497401215,1.0496609728
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..715bef70b812a6febee9ed600a94f76b68092c03
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:532e6ee09d28cbf1c6da79c6482131eb9da5d421d9f9ba6f321f8cc52e24225c
+size 27893407
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9481442200919a055748482f9a08e95546d48e03
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_03/franka_data.csv
@@ -0,0 +1,440 @@
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+28,0.466666667,BASELINE,767,746,716,679,663,637,880.244470831,788,803.244470831,654,632,654,0.400984416444,-0.00536675242329,0.0598561316068,0.999999940979,0.000238630830667,-0.000246221649883,2.17451069108e-05,1793237890125196288
+29,0.483333333,BASELINE,767,746,716,679,663,637,880.836032012,788,803.836032012,654,632,654,0.400984492255,-0.00536672596966,0.0598567926098,0.999999940852,0.000239960327232,-0.000245424683258,2.19548456983e-05,1793237890141862912
+30,0.500000000,BASELINE,767,746,716,679.41900518,663,637,880.58099482,788.41900518,803.58099482,654,632.41900518,654,0.400984891978,-0.00536683113727,0.0598570331629,0.999999941136,0.000239253941343,-0.000244977475492,2.17377766346e-05,1793237890158529792
+31,0.516666667,BASELINE,767,746,716,679.998685112,663,637,880.001314888,788.998685112,803.001314888,654,632.998685112,654,0.40098541591,-0.00536698677731,0.0598571124873,0.999999941575,0.000237766861229,-0.000244664388803,2.13570407443e-05,1793237890175196416
+32,0.533333333,BASELINE,767,746.575301504,716,679.424698496,663,637,881.150603008,789,803,654,632.424698496,654,0.400984702996,-0.00536812693673,0.0598564693083,0.999999941634,0.000236572370851,-0.000245569407849,2.14711490457e-05,1793237890191863040
+33,0.550000000,BASELINE,767,747,716,679.15099284,663,637,881.84900716,788.84900716,803.15099284,654,632,653.84900716,0.400984033992,-0.00536893864373,0.0598560590923,0.999999941672,0.000235690340165,-0.000246248241949,2.16101335134e-05,1793237890208529664
+34,0.566666667,BASELINE,767,747,716,679.724117367,663,637,881.275882633,788.275882633,803.724117367,654,632,653.275882633,0.400983495608,-0.0053688258364,0.0598563047644,0.999999941661,0.000235679995646,-0.000246286986961,2.18155192359e-05,1793237890225196288
+35,0.583333333,BASELINE,767,746.692866308,716,679.692866308,663,637,881.307133692,788,804,654,632,653.307133692,0.400983478419,-0.00536820120575,0.0598564523828,0.999999941395,0.000236845791706,-0.000246240918495,2.18785772229e-05,1793237890241862912
+36,0.600000000,BASELINE,767,746.100668922,716,679.100668922,663,637,881.899331078,788,804,654,632,653.899331078,0.40098394497,-0.00536710153033,0.0598565089932,0.99999994089,0.000239103213281,-0.00024611613108,2.18095348782e-05,1793237890258529536
+37,0.616666667,BASELINE,767,746,716,679.479848896,663,637,881.040302209,788,803.520151104,654,632,654,0.400983520993,-0.00536782037898,0.0598557824075,0.999999940913,0.000238087154623,-0.000247003616524,2.18449169475e-05,1793237890275196160
+38,0.633333333,BASELINE,767,746,716,679.942641723,663,637,880.057358277,788,803,653.942641723,632,654,0.400982972024,-0.00536883890813,0.0598550404084,0.999999941019,0.000236672119609,-0.000247924358325,2.19393678013e-05,1793237890291862784
+39,0.650000000,BASELINE,767,746,716,679.370662085,663,637,880.629337915,788,803,653.370662085,632,654,0.400982938024,-0.00536920456297,0.0598555992779,0.999999940926,0.000237692621414,-0.000247283379521,2.23719020394e-05,1793237890308529408
+40,0.666666667,BASELINE,767.20763857,746,716,679.20763857,663,637,880.79236143,788,803.20763857,653.20763857,632,654,0.400983019522,-0.00536908513632,0.0598558955117,0.999999940947,0.000237957571009,-0.000246933786445,2.25116920324e-05,1793237890325196288
+41,0.683333333,BASELINE,767.797577327,746,716,679.797577327,663,637,880.202422673,788,803.797577327,653.797577327,632,654,0.400983313672,-0.00536807258683,0.0598557081853,0.999999941177,0.000236831412179,-0.000247120687266,2.21124868613e-05,1793237890341862912
+42,0.700000000,BASELINE,767.617198348,746,716,679.617198348,663,637,880,788,804,653.617198348,632,654,0.400982712381,-0.00536825634322,0.0598556194814,0.999999941152,0.00023641274175,-0.00024762800497,2.20385199053e-05,1793237890358529536
+43,0.716666667,BASELINE,767.034436669,746,716,679.034436669,663,637,880,788,804,653.034436669,632,654,0.400981643347,-0.00536906500121,0.0598555822939,0.999999940994,0.000236363634546,-0.000248302695426,2.21344441888e-05,1793237890375196160
+44,0.733333333,BASELINE,767,746,716,679,663,637,880,788.537487241,803.462512759,653.537487241,632,654,0.400983089084,-0.00536904405796,0.0598564750205,0.999999941343,0.000236468983792,-0.000246805751279,2.20058357978e-05,1793237890391863808
+45,0.750000000,BASELINE,767,746,716,679.109873914,663,637,880,788.890126086,803,653.890126086,632,654,0.400984241503,-0.0053690418856,0.0598570504694,0.99999994163,0.000236553088724,-0.000245567379019,2.18751887695e-05,1793237890408531200
+46,0.766666667,BASELINE,767,746,716,679.687124221,663,637,880,788.312875779,803,653.312875779,632,654,0.400983474399,-0.00536934118801,0.0598560278709,0.999999941535,0.000236505562536,-0.000246009060214,2.17958538375e-05,1793237890425197056
+47,0.783333333,BASELINE,767,746,716,680,663.270001835,637,880,788,803.270001835,653,632,653.729998165,0.400984162264,-0.00536974810322,0.0598559835063,0.999999941809,0.000235915025129,-0.000245467396145,2.17382871413e-05,1793237890441863680
+48,0.800000000,BASELINE,767,746,716,680,663.8595392,637,880,788,803.8595392,653,632,653.1404608,0.400986572021,-0.00537028237359,0.0598570968392,0.999999942517,0.00023468185735,-0.000243761985414,2.17064822034e-05,1793237890458530816
+49,0.816666667,BASELINE,767,746,716,679.55828651,663.55828651,637,880,788,804,653.44171349,632,653,0.400985431217,-0.00536884789281,0.0598570983955,0.999999941557,0.000237744995385,-0.000244731348631,2.168626012e-05,1793237890475197184
+50,0.833333333,BASELINE,767,746,716,679,663,637,880,788.021400288,804,654,632.021400288,653.021400288,0.400983302354,-0.00536689387815,0.0598567709649,0.999999940139,0.000241907921941,-0.000246441566761,2.16717676302e-05,1793237890491863296
+51,0.850000000,BASELINE,767,746,716,679,663,637,880,788.596316146,804,654,632.596316146,653.596316146,0.400984341294,-0.0053674292526,0.0598569285311,0.999999940844,0.000239759908165,-0.000245675156365,2.17117657659e-05,1793237890508530432
+52,0.866666667,BASELINE,767,746,716,679.175442671,663,637,880,788.824557329,803.824557329,653.824557329,632.824557329,654,0.400985183827,-0.00536840879995,0.0598573970612,0.999999941703,0.00023709914417,-0.000244748062707,2.18260001448e-05,1793237890525197056
+53,0.883333333,BASELINE,767,746,716,679.764495915,663,637,880,788.235504085,803.235504085,653.235504085,632.235504085,654,0.400985563324,-0.00537043549623,0.059858598697,0.999999942925,0.000233229558578,-0.000243442154212,2.2115248358e-05,1793237890541863424
+54,0.900000000,BASELINE,767,746,716,679.652314254,663,637,880.347685746,788.347685746,803.347685746,653,632,653.652314254,0.400984826098,-0.00537002100483,0.0598580635883,0.999999942751,0.000233792275736,-0.000243640497053,2.18697774619e-05,1793237890558530048
+55,0.916666667,BASELINE,767,746,716,679.073030149,663,637,880.926969851,788.926969851,803.926969851,653,632,653.073030149,0.400983345006,-0.00536798040392,0.0598563716098,0.999999941643,0.000237307412186,-0.000244840842896,2.12681226423e-05,1793237890575196672
+56,0.933333333,BASELINE,767,746,716,679,663,637,880.496437849,788.496437849,804,653,632,653,0.400983940562,-0.005368066285,0.059856848032,0.999999941218,0.000238982759729,-0.000244914890583,2.1610054618e-05,1793237890591863296
+57,0.950000000,BASELINE,767,746,716,679,663,637,880,788,803.918770025,653.081229975,632,653,0.400984660406,-0.00536849335111,0.0598574644583,0.999999940948,0.00024020057355,-0.000244790156592,2.20494693155e-05,1793237890608530176
+58,0.966666667,BASELINE,767,746,716,679,663,637,880,788,803.331992041,653.668007959,632,653,0.400984289366,-0.00536913468117,0.0598570054314,0.999999941024,0.000240222614351,-0.000244439463456,2.22484307523e-05,1793237890625196800
+59,0.983333333,BASELINE,767,746,716,679,663,637,880.251514808,788,803,653.748485192,632,653.251514808,0.400984177061,-0.00536950354802,0.0598569292159,0.999999941128,0.00024014547933,-0.00024408901737,2.22530866854e-05,1793237890641863424
+60,1.000000000,BASELINE,767,746,716,679,663,637,880.830759373,788,803,653.169240627,632,653.830759373,0.400984401896,-0.00536951738897,0.0598573518126,0.999999941268,0.000239939115866,-0.000243738893151,2.20045579698e-05,1793237890658530048
+61,1.016666667,BASELINE,767,746,716,679.410153185,663,637,880.589846815,788.410153185,803,653,632,654,0.400984510689,-0.00536973323053,0.0598574493303,0.999999941701,0.000237686909141,-0.000244175264543,2.19540554571e-05,1793237890675196928
+62,1.033333333,BASELINE,767,746,716,679.989608568,663,637,880.010391432,788.989608568,803,653,632,654,0.400984571582,-0.00537003245351,0.0598574126624,0.999999942245,0.000234590223406,-0.000244936284012,2.19852938124e-05,1793237890691863808
+63,1.050000000,BASELINE,767,746,716,679.437982473,663,637,880.562017527,788.437982473,803.562017527,653,632,654,0.400985376615,-0.00536938846875,0.0598575507211,0.999999942094,0.000236381463672,-0.000243857007343,2.16822919112e-05,1793237890708529920
+64,1.066666667,BASELINE,767,746,716,679,663,637,880.866389881,788,804,653,632,654,0.40098593332,-0.0053688805599,0.0598577050842,0.999999942001,0.000237660655208,-0.000243011041157,2.14691100597e-05,1793237890725196544
+65,1.083333333,BASELINE,767,746,716,679,663,637,880.297040084,788,804,653,632,654,0.400985635846,-0.00536887260304,0.0598579022151,0.999999942155,0.000236978824032,-0.000243035560029,2.15687612715e-05,1793237890741863168
+66,1.100000000,BASELINE,767,746,716,679,663,636.71227807,880,788,803.71227807,653.28772193,632,653.71227807,0.400984172402,-0.00536831944155,0.0598569797511,0.999999941731,0.000237032056197,-0.000244724658481,2.15486857019e-05,1793237890758529792
+67,1.116666667,BASELINE,767,746,716,679,663,636.110704186,880,788,803.110704186,653.889295814,632,653.110704186,0.400981437098,-0.00536717156163,0.0598548360142,0.999999940667,0.000237887107945,-0.000248229508518,2.13980101254e-05,1793237890775196416
+68,1.133333333,BASELINE,767,746,716,679,663,636,880.469655711,788,803,654,632,653.469655711,0.400982385751,-0.00536866143345,0.0598559457318,0.999999941072,0.000237526401852,-0.000246905510633,2.18137365256e-05,1793237890791863296
+69,1.150000000,BASELINE,767,746,716,678.955013452,663,636.044986548,881,788,803.044986548,654,632,654,0.400984025976,-0.00537057330265,0.0598576310516,0.999999941781,0.00023682738882,-0.000244649057216,2.23075159295e-05,1793237890808530176
+70,1.166666667,BASELINE,767,746,716,678.382552759,663,636.617447241,881,788,803.617447241,654,632,654,0.400984033364,-0.00537045805678,0.0598574621722,0.999999942228,0.00023537654579,-0.00024422850976,2.22187221719e-05,1793237890825196800
+71,1.183333333,BASELINE,767,746,716,678.196241508,663,637,880.803758492,788,803.803758492,653.803758492,632,654,0.400984552689,-0.00537010032941,0.0598573770147,0.999999942406,0.000235128357929,-0.000243749415863,2.21056228031e-05,1793237890841863168
+72,1.200000000,BASELINE,767,746,716,678.787794304,663,637,880.212205696,788,803.212205696,653.212205696,632,654,0.400986103266,-0.00536925414433,0.0598574605079,0.999999942041,0.000237302813061,-0.000243152385224,2.19435618982e-05,1793237890858529792
+73,1.216666667,BASELINE,767,746,716,679,663,637,880.37140929,788,803.37140929,653,632,654,0.400986451455,-0.00536900251908,0.0598577906164,0.999999941926,0.000237962085328,-0.000242992397389,2.18342728349e-05,1793237890875196416
+74,1.233333333,BASELINE,767,746,716,679,663,637,880.950583851,788,803.950583851,653,632,654,0.400986127032,-0.0053690834889,0.0598582586808,0.999999941952,0.000237773768599,-0.000243076890059,2.17545041955e-05,1793237890891863040
+75,1.250000000,BASELINE,767,746,716,679.526969973,663,637,881,788,804,653,632,654,0.400984338084,-0.00536884575952,0.059857513958,0.999999941651,0.000237509564784,-0.00024457269669,2.17037421346e-05,1793237890908529664
+76,1.266666667,BASELINE,767.104987197,746,716,679.895012803,663,637,880.895012803,788.104987197,804,653.104987197,632,653.895012803,0.400982696541,-0.00536897054813,0.0598566790636,0.999999941403,0.000237123069217,-0.000245959395038,2.17146656897e-05,1793237890925196288
+77,1.283333333,BASELINE,767.691681739,746,716,679.308318261,663,637,880.308318261,788.691681739,804,653.691681739,632,653.308318261,0.400982358139,-0.00537089506083,0.0598559495054,0.999999941544,0.000236207947957,-0.000246241443139,2.19962035295e-05,1793237890941863424
+78,1.300000000,BASELINE,767.724952001,746,716,679.275047999,663,637,880,788.724952001,804,653.724952001,632,653,0.400982242948,-0.00537147964064,0.0598557070152,0.999999941447,0.000236346541215,-0.000246489313419,2.21191108198e-05,1793237890958530048
+79,1.316666667,BASELINE,767.145272048,746,716,679.854727952,663,637,880,788.145272048,804,653.145272048,632,653,0.400982374977,-0.0053705801653,0.0598560039816,0.999999941087,0.000237652185787,-0.00024669932972,2.20663253605e-05,1793237890975196672
+80,1.333333333,BASELINE,767,746,716,679.565938063,663,637,880.434061937,788,804,653,632,653.434061937,0.400982674316,-0.00537033396451,0.0598564595225,0.99999994147,0.000236955703615,-0.000245825528672,2.1958579438e-05,1793237890991863296
+81,1.350000000,BASELINE,767,746,716,679,663,637,880.986938376,788,803.986938376,653,632,654,0.400983058626,-0.00537029977148,0.05985696508,0.999999942091,0.000235620259505,-0.000244592499594,2.18310685303e-05,1793237891008529920
+82,1.366666667,BASELINE,767,746,716,679,663,637,880.417256327,788,803.417256327,653,632,654,0.400984679639,-0.00536999044178,0.0598573422403,0.99999994237,0.000235587861765,-0.000243496506264,2.16445175375e-05,1793237891025196544
+83,1.383333333,BASELINE,767,746,716,679,663,637,880,788.158721044,803.158721044,653,632,654,0.400985753181,-0.00536974335585,0.0598575668992,0.99999994248,0.000235866245455,-0.00024277859515,2.15624050783e-05,1793237891041863424
+84,1.400000000,BASELINE,767,746,716,679,663,637,880,788.751931621,803.751931621,653,632,654,0.400985328053,-0.00536966665852,0.0598573740947,0.999999942132,0.000236995375044,-0.000243095661644,2.17661869265e-05,1793237891058530560
+85,1.416666667,BASELINE,767,746,716,679.337392523,662.662607477,637,880,788.662607477,804,653,632,654,0.400984264438,-0.00536942222692,0.0598570928575,0.999999941758,0.000237188958814,-0.000244438229309,2.18024110265e-05,1793237891075197184
+86,1.433333333,BASELINE,767,746,716,679.917283369,662.082716631,637,880,788.082716631,804,653,632,654,0.400982741916,-0.00536905723759,0.0598567480602,0.999999941363,0.000236710126039,-0.000246517868162,2.17182042507e-05,1793237891091863808
+87,1.450000000,BASELINE,767,746,716,680,662.494072997,637,880.494072997,788,803.505927003,653,632.494072997,654,0.400983652559,-0.00536934733446,0.0598571920389,0.999999941464,0.00023798872339,-0.000244863917289,2.17924058346e-05,1793237891108530688
+88,1.466666667,BASELINE,767,746,716,679.930423752,663,636.930423752,881,788,803.069576248,653.069576248,633,654,0.400984971215,-0.00536970371646,0.0598577842568,0.99999994167,0.000239317970437,-0.000242709012136,2.18882651898e-05,1793237891125197312
+89,1.483333333,BASELINE,767,746,716,679.360461258,663,636.360461258,881,788,803.639538742,653.639538742,633,654,0.400986312874,-0.00536975297588,0.0598584987935,0.999999942079,0.000238908643552,-0.00024141869153,2.19503427896e-05,1793237891141863680
+90,1.500000000,BASELINE,766.780919501,746,716,679,662.780919501,636.219080499,881,788.219080499,803.780919501,653.780919501,632.780919501,654,0.400987266389,-0.00536993634288,0.0598591026172,0.999999942523,0.000238062587924,-0.000240412688051,2.19662826675e-05,1793237891158529792
+91,1.516666667,BASELINE,766.184896026,746,716,679,662.184896026,636.815103974,881,788.815103974,803.184896026,653.184896026,632.184896026,654,0.400987552075,-0.00537035045117,0.0598595159517,0.999999943027,0.000236465110679,-0.000239895871759,2.19028394343e-05,1793237891175196416
+92,1.533333333,BASELINE,766.399143046,746,716,679,662.399143046,637,881,788.600856954,803,653.399143046,632,653.600856954,0.40098724171,-0.00536949137505,0.0598589717459,0.999999942842,0.000236715928565,-0.000240463611148,2.13966979539e-05,1793237891191863296
+93,1.550000000,BASELINE,766.977792432,746,716,679,662.977792432,637,881,788.022207568,803,653.977792432,632,653.022207568,0.400986663283,-0.00536805971057,0.0598579969062,0.999999942346,0.000237797978871,-0.000241519107009,2.06914620747e-05,1793237891208529920
+94,1.566666667,BASELINE,767,746,716,679.553109016,663,637,881,788,803,654,632,653.553109016,0.400984356894,-0.00536990847548,0.0598575026883,0.999999942146,0.000236923819035,-0.000243153285933,2.12627407717e-05,1793237891225196800
+95,1.583333333,BASELINE,767,746,716,680,663,637,880.869249617,788,803.130750383,653.869249617,632,654,0.400982847841,-0.00537112237686,0.0598572844112,0.999999942017,0.000236359875751,-0.000244185374968,2.17792100952e-05,1793237891241863424
+96,1.600000000,BASELINE,767,746,716,680,663,637,880.283046677,788,803.716953323,653.283046677,632,654,0.40098435643,-0.00536966876167,0.059857960522,0.999999942106,0.00023714848759,-0.000243039710564,2.19272952659e-05,1793237891258530304
+97,1.616666667,BASELINE,767,746.301673032,716,679.698326968,663,637.301673032,880.301673032,788.301673032,803.698326968,653.301673032,632.301673032,653.698326968,0.400985294363,-0.00536923421925,0.0598584388819,0.999999942396,0.00023696945317,-0.000242012695958,2.19717838146e-05,1793237891275196672
+98,1.633333333,BASELINE,767,746.885007865,716,679.114992135,663,637.885007865,880.885007865,788.885007865,803.114992135,653.885007865,632.885007865,653.114992135,0.400985699496,-0.00536975115034,0.0598587326086,0.999999942875,0.000235886960463,-0.00024109646068,2.19195477289e-05,1793237891291863296
+99,1.650000000,BASELINE,767,746.538978608,716,679.461021392,663.461021392,637.538978608,880.538978608,788.538978608,803.461021392,653.538978608,632.538978608,653.461021392,0.400985967771,-0.00537103112321,0.05985884612,0.999999943077,0.000234875948363,-0.000241217578121,2.2214168057e-05,1793237891308529920
+100,1.666666667,BASELINE,767,746,716,679.964713581,663.964713581,637,880.070572839,788,804,653,632,654,0.400986201386,-0.00537240890387,0.0598589129364,0.999999943207,0.000233962470567,-0.000241536699213,2.25477230281e-05,1793237891325196544
+101,1.683333333,BASELINE,767,746,716,679.389697431,663.389697431,637,881.220605139,788,804,653,632,654,0.400986418837,-0.00537241708236,0.0598589423255,0.999999943275,0.00023427239726,-0.000240988594262,2.21741744881e-05,1793237891341863424
+102,1.700000000,BASELINE,767,746,716,679,663,637,881.620727189,788,804,653,632,653.810363595,0.400986457239,-0.00537148478885,0.0598590541668,0.99999994319,0.000235037281792,-0.000240634073888,2.17626312507e-05,1793237891358530048
+103,1.716666667,BASELINE,767,746,716,679,663,637,880.443900774,788,804,653,632,653.221950387,0.400986119129,-0.00536857482435,0.0598593393923,0.999999942781,0.000236758874103,-0.000240686632795,2.1271190934e-05,1793237891375196928
+104,1.733333333,BASELINE,767,746,716,679,663,637,880,788,803.638679401,653,632,653.361320599,0.400986038307,-0.00536860002016,0.059859205842,0.999999942597,0.000237136682685,-0.000241076703103,2.1329775914e-05,1793237891391864064
+105,1.750000000,BASELINE,767,746,716,679,663,637,880,788,803.058522776,653,632,653.941477224,0.400986113311,-0.00537040291344,0.0598588186575,0.999999942548,0.000236700620614,-0.000241671189257,2.17214870243e-05,1793237891408531200
+106,1.766666667,BASELINE,767,746,716,679.517509571,663,637,880,788,803,653,632,654,0.400984553912,-0.00537041471076,0.0598575908162,0.999999942414,0.000235585334865,-0.000243311230714,2.17069544982e-05,1793237891425197312
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,747,716,679,663,637,880,789,803,653,633,654,0.400986892079,-0.0053701754029,0.0598597318183,0.999999943051,0.000236005257522,-0.000240245934375,2.19484979679e-05,1793237891467538432
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.421592638,716,679,663,636.421592638,880,788.421592638,803,653,633,654,0.400986588867,-0.00536937433507,0.0598589933766,0.999999942494,0.000237827317976,-0.000240797709445,2.16150846827e-05,1793237891484205568
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,636.156443175,880,788,803.156443175,653,633,654,0.400985995023,-0.00536916508027,0.059858246614,0.999999942129,0.000238563502182,-0.00024160422589,2.13928419697e-05,1793237891500872704
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,636.733480215,880,788,803.733480215,653,633,654,0.400984619821,-0.00537054690096,0.0598574774806,0.999999942284,0.000236380333556,-0.000243095608766,2.14694787011e-05,1793237891517539072
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679.310672757,663,637,880.310672757,788,804,653.310672757,632.689327243,654,0.400984389483,-0.00537050664061,0.0598574464033,0.999999942299,0.00023618867728,-0.000243219637581,2.1492149664e-05,1793237891534205440
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679.887998733,663,637,880.887998733,788,804,653.887998733,632.112001267,654,0.400985141792,-0.00536924579524,0.0598580488062,0.999999942194,0.000237706354085,-0.000242170054026,2.14685013179e-05,1793237891550871808
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679.527863002,663,637,881,788,803.527863002,654,632.472136998,654,0.400984716686,-0.00537021906968,0.0598579951698,0.999999942285,0.000236465376847,-0.000242978493287,2.17932928465e-05,1793237891567538432
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.942793332,788,803,653.942793332,632.942793332,653.942793332,0.400984248189,-0.00537142772144,0.0598578994235,0.999999942404,0.000235008624723,-0.000243871460066,2.21386344535e-05,1793237891584205056
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.364179196,788,803,653.364179196,632.364179196,653.364179196,0.40098596723,-0.00536988049252,0.0598588590889,0.999999942373,0.00023763714307,-0.000241458714936,2.19068707332e-05,1793237891600871680
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679.214083293,663,637,880,788.214083293,803,653,632,653.214083293,0.40098731343,-0.00536902632247,0.0598595260969,0.999999942369,0.000238742050533,-0.000240391830852,2.18193310955e-05,1793237891617538560
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679.791748515,663,637,880,788.791748515,803,653,632,653.791748515,0.40098802643,-0.0053693491883,0.0598596960791,0.999999942425,0.000237259378961,-0.000241610649688,2.19767301189e-05,1793237891634205440
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679.63082321,663,637,880,788.63082321,803,653,632,654,0.400998691446,-0.0053703394592,0.0598645773562,0.999999944732,0.000235850542662,-0.000233255368021,2.24302361225e-05,1793237891650871808
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679.053528454,663,637,880,788.053528454,803,653,632,654,0.401014966764,-0.00537170596987,0.0598721145564,0.999999948152,0.000234483329732,-0.000219502828628,2.30506680755e-05,1793237891667538432
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788,803,653,632,654,0.401050080724,-0.0053739094127,0.0598871403232,0.999999953617,0.000234223472649,-0.000193216658536,2.39446649461e-05,1793237891684205312
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.118190843,788,803.118190843,653,632.118190843,654,0.401090974041,-0.005375546736,0.059903511874,0.999999958576,0.000234523077792,-0.000165021194481,2.48076708121e-05,1793237891700872192
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.698920397,788,803.698920397,653,632.698920397,654,0.401146950208,-0.00537463382129,0.0599221550509,0.999999962667,0.000236569240515,-0.000134366610834,2.54399802752e-05,1793237891717538560
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,679.276855336,663,637,881,788,804,653.276855336,633,654,0.401207714219,-0.00537595416614,0.0599374919862,0.99999996561,0.000236536309207,-0.000110206757372,2.61829000005e-05,1793237891734205184
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,679.851781472,663,637,881,788,804,653.851781472,633,654,0.401273632961,-0.00537967890561,0.0599492693209,0.999999967866,0.000234264962594,-9.3039328137e-05,2.70449060445e-05,1793237891750871552
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679.563799039,662.563799039,637,881,788,804,653.563799039,632.563799039,654,0.401344448656,-0.00538149580339,0.0599542426955,0.999999969215,0.000232220171605,-8.33413553767e-05,2.64239809122e-05,1793237891767538176
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679,662.02353322,637,880.97646678,788,804,653,632,654,0.401417778822,-0.00538265493623,0.0599567524719,0.999999970232,0.000230306724782,-7.65180790528e-05,2.53033604951e-05,1793237891784205056
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,679,662.601795574,637,880.398204426,788,804,653,632,654,0.401510284928,-0.00538393030864,0.0599568999261,0.999999970422,0.000229634332998,-7.62985914027e-05,2.45459056659e-05,1793237891800871680
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716,678.819878174,663,637,880.180121826,788.180121826,804,653.180121826,632.180121826,653.819878174,0.401609261395,-0.00538599969127,0.0599578661886,0.999999970769,0.00022905216445,-7.36570134224e-05,2.39224540785e-05,1793237891817538304
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,678.241410686,663,637,880.758589314,788.758589314,804,653.758589314,632.758589314,653.241410686,0.401722547278,-0.00538982505481,0.059960643274,0.999999971421,0.0002286695278,-6.56588987451e-05,2.35953554045e-05,1793237891834205184
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,678.333730048,663,637,880.666269952,789,804,654,632.666269952,653,0.401844898306,-0.00539325375304,0.0599609981864,0.999999972336,0.00022570062342,-6.23232445872e-05,2.2429180147e-05,1793237891850871808
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,678.906488117,663,637,880.093511883,789,804,654,632.093511883,653,0.40197374209,-0.00539639834741,0.059959618262,0.99999997345,0.000220879352221,-6.23269913575e-05,2.06620316576e-05,1793237891867538176
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.495661178,788.504338822,804,653.504338822,632,653.495661178,0.402125695754,-0.00540088442069,0.0599605682219,0.999999974748,0.000216293666455,-5.79392125341e-05,1.90625595851e-05,1793237891884205056
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,803.914103466,653,632.085896534,654,0.402287897527,-0.00540552739795,0.0599621104435,0.999999975977,0.000212107199944,-5.24502750995e-05,1.74733432619e-05,1793237891900871936
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,803.336130986,653,632.663869014,654,0.402482975515,-0.0054095697269,0.0599644412105,0.9999999768,0.000209944403442,-4.55619754335e-05,1.57554495512e-05,1793237891917538304
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.75857881,746,716,679,663,637,881,788,803.24142119,653,632.75857881,653.75857881,0.402686350859,-0.00541414282863,0.0599652657174,0.999999977717,0.000206690999522,-4.06878571434e-05,1.37241374245e-05,1793237891934204672
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.181610842,746,716,679,663,637,881,788,803.818389158,653,632.181610842,653.181610842,0.402901258531,-0.00541945364125,0.0599639967016,0.999999978805,0.000201921780968,-3.86132121434e-05,1.12572110301e-05,1793237891950871296
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.402485282,746,716,679.402485282,663,637,881,788,804,653,632.402485282,653,0.403135774468,-0.00542622986249,0.0599669294147,0.999999979916,0.000197701623363,-3.14081819348e-05,9.73875277904e-06,1793237891967538176
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.989855771,746,716,679.989855771,663,637,881,788,804,653,632.989855771,653,0.403379297631,-0.00543367923212,0.0599717922295,0.999999980958,0.000193733681921,-2.18464635364e-05,8.65598190371e-06,1793237891984204800
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,804,653,632.430067195,653.569932805,0.403653414639,-0.00544117992056,0.0599681880975,0.999999983141,0.00018171031494,-2.59466590426e-05,5.10549714323e-06,1793237892000871424
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679.851289792,663,637,881,788,803.851289792,653,632,654,0.403934238364,-0.00544862001397,0.0599626125544,0.999999984856,0.000170782122243,-3.3445536897e-05,1.57903170056e-06,1793237892017538304
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679.27587384,663,637,881,788,803.27587384,653,632,654,0.404232763401,-0.00545588364826,0.0599518072489,0.999999985398,0.000163402608949,-5.00075916797e-05,-1.75407391666e-06,1793237892034204928
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679.296903284,663,637,880.703096716,788,803,653,632,654,0.404541221584,-0.00546370023044,0.0599412689016,0.99999998582,0.000154310972038,-6.72429339108e-05,-5.18655058667e-06,1793237892050871552
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679.86725015,663,637,880.13274985,788,803,653,632,654,0.404858828082,-0.00547202607038,0.0599309764178,0.999999986025,0.000143642493446,-8.50983659373e-05,-8.71054692658e-06,1793237892067538432
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,679.54475065,663,637,880,788,803,653,631.54475065,653.54475065,0.405217366016,-0.00548125288698,0.059931775337,0.999999987716,0.000130963850379,-8.52710931281e-05,-1.20672641505e-05,1793237892084205056
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.95254385,746,716,679,663,637,880.04745615,788,803,653,631.04745615,653.04745615,0.405594009927,-0.00549059590517,0.0599372912179,0.999999989931,0.000117824182337,-7.76043803875e-05,-1.52811397378e-05,1793237892100871424
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.373197039,746,716,679,663,637,880.626802961,788,803,653,631.626802961,653.626802961,0.406034416415,-0.00549817792744,0.0599579633253,0.999999993302,0.000106352042537,-4.21955376514e-05,-1.74628051977e-05,1793237892117538560
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+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788,804,653,632,654,0.407910478695,-0.00550584539069,0.0600160681094,0.999999998537,-2.56572408199e-05,4.06562237414e-05,-2.47830309335e-05,1793237892184204800
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.519228011,716,679,663,637,880.519228011,788,804,653,632,654,0.408381491873,-0.00549791422106,0.0600062432265,0.999999999415,-1.14445512674e-05,1.43135289959e-05,-2.88830700847e-05,1793237892200871424
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.889466034,716,679,663,637,881,788,803.889466034,653,632,653.889466034,0.408865302893,-0.00549348321725,0.0599954623567,0.999999999363,-4.994097068e-06,-1.18101408004e-05,-3.33193715464e-05,1793237892217538048
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.30982491,716,679,663,637,881,788,803.30982491,653,632,653.30982491,0.409401896872,-0.0055060299247,0.0599894396705,0.999999998571,-3.18122380704e-05,-2.16082089809e-05,-3.71412101907e-05,1793237892234205184
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,803,653,632,653,0.409970751749,-0.00551727379628,0.0599922291428,0.999999997458,-5.71113891398e-05,-1.31904804472e-05,-4.06030097531e-05,1793237892250871808
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,803,653,632,653,0.410576651288,-0.00552702164707,0.0600051374537,0.999999995663,-8.06663155012e-05,1.61441104053e-05,-4.36513835539e-05,1793237892267538688
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,803.415846508,653,632,653.415846508,0.411184636145,-0.00553027880905,0.0600117950391,0.999999994318,-9.11807020837e-05,2.89348576477e-05,-4.70346916115e-05,1793237892284205312
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,803.993278895,653,632,653.993278895,0.411793431259,-0.00553101387722,0.0600160237732,0.999999993431,-9.66279121361e-05,3.52971458407e-05,-5.05481452266e-05,1793237892300871936
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,804,653,632,654,0.412383714395,-0.00552595474157,0.0600000571152,0.99999999938,-1.62152451639e-05,1.01410396907e-05,-2.95503934128e-05,1793237892317538560
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,679.172141005,663,637,881,788,804,653,632,654,0.412975348192,-0.00551935268811,0.0599787712898,0.999999998781,3.6502035944e-05,-2.87067084637e-05,-1.6797912527e-05,1793237892334204928
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,679.74729191,663,637,881,788,804,653,632,654,0.413570654466,-0.00550929816822,0.0599455892465,0.999999994594,2.20126800251e-05,-9.87398008083e-05,-2.40247477692e-05,1793237892350871808
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.321565904,716,680,663,637,881,788,804,653,632,654,0.414240401836,-0.00550861735722,0.059942064924,0.999999993765,1.14366896902e-05,-0.000107177337288,-2.91963501105e-05,1793237892367538176
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746.895152609,716,680,663,637,881,788,804,653,632,654,0.414968490886,-0.00551528300225,0.0599617842443,0.999999997188,3.92772152576e-06,-6.73405944085e-05,-3.27572047609e-05,1793237892384204800
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.517570785,746.517570785,716,679.517570785,663.482429215,637.482429215,881,788,804,653,632,654,0.415710614383,-0.00552618855346,0.0600019952665,0.999999999377,-1.28918396973e-05,2.96113426827e-06,-3.2741742946e-05,1793237892400871936
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.071527004,746,716,679,663.928472996,637.928472996,881,788,804.071527004,653,632,654,0.416450332041,-0.00553654169855,0.0600403592506,0.999999996697,-2.99532053817e-05,6.84080545633e-05,-3.20904491066e-05,1793237892417538816
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.651797955,746,716,679,663.348202045,637.348202045,881,788,804.651797955,653,632,654,0.417150609454,-0.00553622032391,0.0600329847488,0.9999999976,-3.3921771615e-05,5.08564080105e-05,-3.26064561121e-05,1793237892434206464
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679.228087323,663.228087323,637,881,788,804.771912677,653,632,653.771912677,0.417856098934,-0.0055339264214,0.0600196452555,0.999999998481,-3.30025710137e-05,2.80561676543e-05,-3.40695593705e-05,1793237892450873856
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679.798402709,663.798402709,637,881,788,804.201597291,653,632,653.201597291,0.418569408836,-0.00552867288749,0.0599973557351,0.999999999008,-2.47496404001e-05,-2.6191999683e-06,-3.69537101807e-05,1793237892467541504
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.38319553,716,679.61680447,663.61680447,637,881,788,804,653,632,653.38319553,0.419305012599,-0.00552765266658,0.0599803118132,0.999999998461,-2.39011860163e-05,-3.13526626118e-05,-3.90450244255e-05,1793237892484207616
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.97590388,716,679.02409612,663.02409612,637,881,788,804,653,632,653.97590388,0.420052805527,-0.0055289470172,0.0599661359327,0.999999997062,-2.71011423316e-05,-5.90243834882e-05,-4.07028537205e-05,1793237892500872704
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746.444743662,716,679.555256338,663,637,881,788,804,653,632,654,0.420797714276,-0.00553121288511,0.0599531198996,0.999999995716,-3.8475498028e-05,-7.25188531206e-05,-4.27716951924e-05,1793237892517539584
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679.866392102,663,637,881,788,804,653,632,654,0.42154081169,-0.00553253237377,0.0599393676063,0.999999993831,-4.47105616464e-05,-9.14969385744e-05,-4.43457913717e-05,1793237892534206208
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679.289483589,663,637,881,788,804,653,632,654,0.422278304726,-0.00553057525045,0.0599230093809,0.99999998995,-3.27445013691e-05,-0.000130662609947,-4.42205711408e-05,1793237892550872832
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.714977401,746,716,679.285022599,663,637,881.285022599,788.285022599,804,653,632,653.714977401,0.423073921579,-0.00553084890071,0.059939965477,0.999999993289,-2.97089426804e-05,-0.000103037430444,-4.38560417616e-05,1793237892567539456
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.142890782,746,716,679.857109218,663,637,881.857109218,788.857109218,804,653,632,653.142890782,0.423928078504,-0.00553336930215,0.0599904745032,0.999999998395,-3.56678492402e-05,-8.14301972214e-06,-4.32504889911e-05,1793237892584206080
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.44454219,746,716,680,663.44454219,637,881.55545781,788.55545781,804,653,632,653.44454219,0.424754100776,-0.00553717327719,0.0600251725835,0.999999996902,-4.6240928076e-05,4.74876543242e-05,-4.24696568019e-05,1793237892600872960
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.963854457,637,881.036145543,788,804,653,632,654,0.425568086452,-0.0055413069176,0.0600517227518,0.999999993775,-5.74269036662e-05,8.60703897529e-05,-4.17704158347e-05,1793237892617539328
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.386313805,637,881.613686195,788,804,653,632,654,0.426342082092,-0.00554397762294,0.0600350753899,0.999999995449,-5.47837235388e-05,6.50999098936e-05,-4.31673211232e-05,1793237892634205952
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.190203833,716,680,663.190203833,636.809796167,881.809796167,788,804.190203833,653,632,653.809796167,0.427113802755,-0.00554573601054,0.0600184033858,0.999999996657,-5.21337146255e-05,4.43370846761e-05,-4.47416556471e-05,1793237892650872320
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.764654895,716,680,663.764654895,636.235345105,881.235345105,788,804.764654895,653,632,653.235345105,0.427880927682,-0.00554565134657,0.0600016815969,0.999999997399,-4.94699098377e-05,2.39937568088e-05,-4.66744306019e-05,1793237892667538944
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.658078909,746.658078909,716,679.658078909,664,636.341921091,881.341921091,788,804.658078909,653,632.341921091,653.341921091,0.428645043357,-0.00554712361403,0.0599878650779,0.999999997177,-5.73835756386e-05,6.6158173497e-06,-4.80540074879e-05,1793237892684205568
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.078858998,746.078858998,716,679.078858998,664,636.921141002,881.921141002,788,804.078858998,653,632.921141002,653.921141002,0.429407070516,-0.00554967641733,0.0599760648646,0.999999996121,-7.26381788454e-05,-8.70409292579e-06,-4.90496557594e-05,1793237892700871936
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.512074093,746,716,679.512074093,664,637,882,788.512074093,804,653,632.487925907,653.487925907,0.430155149889,-0.00554737243762,0.0599575757637,0.999999995698,-6.45985658555e-05,-4.36791710365e-05,-5.02264246784e-05,1793237892717538816
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.897928824,636.897928824,882,788.897928824,804,653,632,653,0.430914838383,-0.00554533951314,0.0599480820089,0.999999995184,-5.58299958525e-05,-6.23935563894e-05,-5.12005814275e-05,1793237892734205440
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.320877814,636.320877814,882,788.320877814,804,653,632,653,0.431738778248,-0.00554812987868,0.059985352978,0.999999996809,-6.07532246597e-05,8.9749252377e-06,-5.1099065627e-05,1793237892750871552
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.255014868,636.255014868,881.744985132,788,804,653,632.255014868,653.255014868,0.432531566702,-0.0055518092505,0.0600154732858,0.999999994597,-6.82577800989e-05,6.00140193768e-05,-5.04519224464e-05,1793237892767538176
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.829456604,636.829456604,881.170543396,788,804,653,632.829456604,653.829456604,0.433285335418,-0.0055566021748,0.0600366368058,0.999999992011,-7.89956570538e-05,8.55888964676e-05,-4.91213368155e-05,1793237892784204544
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881.413886237,788,804,653,632.586113763,653.586113763,0.434011573708,-0.00555662501125,0.0600255350124,0.999999993669,-7.84080095706e-05,6.32885544156e-05,-5.00952991572e-05,1793237892800871424
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.997507825,637,881.997507825,788,804,653,632,653.002492175,0.4347260752,-0.00555464658919,0.0600007866412,0.99999999576,-7.30802183824e-05,2.0761117799e-05,-5.20448474302e-05,1793237892817538048
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.418403623,637,881.418403623,788,804,653,632,653.581596377,0.43541458936,-0.00555564811373,0.059970772044,0.999999995209,-7.74663260074e-05,-2.45652075475e-05,-5.45741451396e-05,1793237892834204928
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.159890201,716,680,663.159890201,637,881.159890201,788,804,653,632.159890201,654,0.436103324272,-0.00555630046457,0.0599495506701,0.999999993458,-8.13568561505e-05,-5.73281035024e-05,-5.63829743929e-05,1793237892850872064
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.736074231,716,680,663.736074231,637,881.736074231,788,804,653,632.736074231,654,0.436792634087,-0.00555604369888,0.059951223529,0.999999993244,-8.39570905966e-05,-5.7380573706e-05,-5.63159760933e-05,1793237892867538944
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.688536131,747,716,680,664,637,881.688536131,788,804.311463869,652.688536131,632.688536131,653.688536131,0.437454219004,-0.00555445403703,0.0599496962659,0.999999992594,-8.3058380578e-05,-6.88268507871e-05,-5.63502343671e-05,1793237892884205824
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.113817961,747,716,680,664,637,881.113817961,788,804.886182039,652.113817961,632.113817961,653.113817961,0.438092370346,-0.0055517377898,0.0599454642078,0.999999991228,-7.9202305916e-05,-8.99033577145e-05,-5.64700763192e-05,1793237892900872960
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.474340147,747,716,680.474340147,664,636.525659853,881.474340147,788,804.525659853,652.474340147,632,653.474340147,0.438756088861,-0.00555163785949,0.0599495082836,0.999999992068,-7.67487060507e-05,-8.24046046304e-05,-5.64151086956e-05,1793237892917539584
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,747,716,681,664,636.064346968,882,788.064346968,804,653,632,653.935653032,0.439426369979,-0.00555287986006,0.0599594660178,0.99999999362,-7.56895980692e-05,-6.24120287497e-05,-5.59984871232e-05,1793237892934205952
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,747,716,681,664,636.642611508,882,788.642611508,804,653,632,653.357388492,0.440098638729,-0.00555967929305,0.0600003312729,0.999999995148,-8.30017497009e-05,1.00600001292e-06,-5.30382310897e-05,1793237892950872064
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.781429856,716,681,664,637,882,788.781429856,804,653,632,653.218570144,0.440737909874,-0.00556436544574,0.0600280665072,0.99999999371,-9.03124425511e-05,4.22920785979e-05,-5.1341759707e-05,1793237892967538688
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.209202345,716,681,664,637,882,788.209202345,804,653,632,653.790797655,0.441323789191,-0.0055656322051,0.0600345567105,0.999999992758,-9.76207747535e-05,4.77675547109e-05,-5.16901553233e-05,1793237892984206080
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.365023011,716,680.634976989,664,637,882,788,804,653,632,653.634976989,0.44186532576,-0.00556522913949,0.0600155318742,0.999999993642,-9.81407579323e-05,1.59804428079e-05,-5.31838459199e-05,1793237893000873216
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.94039973,716,680.05960027,664,637,882,788,804,653,632,653.05960027,0.442381308758,-0.00556386379527,0.059981803354,0.999999993285,-9.47487843935e-05,-3.72801739398e-05,-5.53375415198e-05,1793237893017539584
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.467517403,716,680.532482597,664,637,882,788,804.532482597,653,632.532482597,653.532482597,0.442910285411,-0.00555919731249,0.0599641173195,0.999999992485,-9.16569889527e-05,-5.68933041818e-05,-5.82416031251e-05,1793237893034206208
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636.876965083,882,788,805,653,633,654,0.443436062581,-0.00555572603166,0.0599542483572,0.999999991849,-9.08585994147e-05,-6.60447176495e-05,-6.07060384506e-05,1793237893050872576
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636.299204201,882,788,805,653,633,654,0.44394446559,-0.00555808195467,0.0599664191783,0.999999991988,-9.84082308275e-05,-5.09007038049e-05,-6.1225190037e-05,1793237893067538944
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636.277478308,882,788,805,653,633,654,0.444429837446,-0.00555982451413,0.059974182216,0.999999991861,-0.000103436470167,-4.10624809918e-05,-6.23841495693e-05,1793237893084205568
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636.853002477,882,788,805,653,633,654,0.444890470977,-0.00556090824549,0.0599772107509,0.999999991663,-0.000105756423591,-3.69233318421e-05,-6.42303415814e-05,1793237893100871936
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.561949975,746.438050025,716,681,663.561949975,636.561949975,882,788,805,653,633,654,0.44528352797,-0.00556271031969,0.0599554899786,0.999999988978,-0.000107853823392,-7.74933507917e-05,-6.63816107074e-05,1793237893117538816
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.025988819,746.974011181,716,681,663,636,882,788,804.974011181,653,632.974011181,654,0.445652394087,-0.00556486457276,0.0599247009123,0.999999982603,-0.000109989830135,-0.000134100108593,-6.86523796034e-05,1793237893134205440
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.605922907,746.394077093,716,681,663,636,882,788,804.394077093,653,632.394077093,654,0.445999730503,-0.00556927319573,0.0598815804496,0.999999969757,-0.000114575964275,-0.000205630416892,-7.12396588599e-05,1793237893150872064
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746.183457253,716,681.183457253,663.183457253,636,882,788,804.183457253,653,632.183457253,654,0.446346599993,-0.00557459373708,0.0598488013793,0.999999957006,-0.000119868578609,-0.0002573190154,-7.35266991271e-05,1793237893167538688
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746.755903298,716,681.755903298,663.755903298,636,882,788,804.755903298,653,632.755903298,654,0.446692479407,-0.00558184784021,0.0598379494157,0.999999953525,-0.000126659160214,-0.000266936755859,-7.51771358168e-05,1793237893184205056
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,747,716,682,663.679456584,636,882,788,804.679456584,653,633,654,0.447031750172,-0.00558666429788,0.0598358033316,0.999999953058,-0.000130752512815,-0.00026652261503,-7.58506411844e-05,1793237893200871680
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,747,716,682,663.120619376,636,882,788,804.120619376,653,633,654,0.447366108064,-0.00558966859689,0.0598401292467,0.999999954854,-0.000132840730808,-0.000258650717843,-7.57978904479e-05,1793237893217538304
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,747,716,682,663,636,882,788,804.480618275,653.480618275,633,654,0.447669567897,-0.00558750781584,0.05984290014,0.999999963302,-8.25103196498e-05,-0.000251001599578,-5.98772054074e-05,1793237893234205184
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,747,716,681.91214614,663,636,882,788,805,653.91214614,633,653.91214614,0.447958345241,-0.00558296342705,0.0598433056989,0.999999967732,-3.57051331235e-05,-0.000247817904193,-4.29772912183e-05,1793237893250872320
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,747,716,681.336412987,663,636,882,788,805,653.336412987,633,653.336412987,0.448212815475,-0.00557307719933,0.0598329527582,0.999999958862,-8.86008664757e-05,-0.000269091538486,-4.48942824597e-05,1793237893267540224
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,747,716,681.239866806,663,635.760133194,882,787.760133194,804.760133194,653,633,653,0.448447602589,-0.00556225866924,0.0598185291874,0.999999949297,-0.000114175727491,-0.00029338619576,-4.7891733436e-05,1793237893284206848
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,747,716,681.816914979,663,635.183085021,882,787.183085021,804.183085021,653,633,653,0.448654721077,-0.0055501296,0.0597983835227,0.999999941673,-0.000101345567143,-0.000321927512088,-5.24079893751e-05,1793237893300871680
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,747,716,681.596556301,663,635,882,787,804.403443699,653,632.596556301,653,0.448835904045,-0.00554962279611,0.0597762519785,0.999999930457,-9.96507910261e-05,-0.000355113194584,-5.52327348669e-05,1793237893317538048
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,747,716,681.005621738,663,635,882,787,804.994378262,653,632.005621738,653,0.449005034092,-0.00555451716394,0.0597531975447,0.999999916814,-0.000103130920155,-0.000390457234719,-5.72713909428e-05,1793237893334204672
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,746.427378796,716,681.572621204,662.427378796,635,882,787.572621204,805,653,632,653.572621204,0.449165242072,-0.00556028954827,0.0597403687025,0.999999907501,-0.000109430392642,-0.000411722744851,-5.92213826731e-05,1793237893350871296
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746.150035576,716,682,662.150035576,634.849964424,882,787.849964424,805,653,632.150035576,653.849964424,0.449323640224,-0.00556445437026,0.0597308749218,0.999999900555,-0.000113095824792,-0.00042708642684,-6.07979650592e-05,1793237893367538176
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746.725446323,716,682,662.725446323,634.274553677,882,787.274553677,805,653,632.725446323,653.274553677,0.449477150146,-0.00556403758239,0.0597305581323,0.999999901375,-0.000109216551802,-0.000426100836134,-6.13182855787e-05,1793237893384204544
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,747,716,681.701827654,662.701827654,634,882,787,804.701827654,653,632.701827654,653.298172346,0.449613934494,-0.00556566300288,0.059729218818,0.999999900875,-0.000108156470707,-0.000427476304305,-6.17824186619e-05,1793237893400871680
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,747,716,681.13155157,662.13155157,634,882,787,804.13155157,653,632.13155157,653.86844843,0.44973545557,-0.00556915208552,0.059726946376,0.999999899169,-0.00010966910479,-0.000431006408615,-6.21952767234e-05,1793237893417539584
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,747,716,681,662,634,882,787,804,653,632,653.541919042,0.449837042868,-0.00556935502915,0.0597212406357,0.999999894669,-0.000109503492481,-0.000441277396106,-6.28085727445e-05,1793237893434206464
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,747,716,681.052042398,661.947957602,634,882,787,804.052042398,653,632,653.052042398,0.449931214609,-0.00556866796244,0.059714773082,0.999999889462,-0.000108963773083,-0.000452962071713,-6.34727268542e-05,1793237893450873088
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,747,716,681.631067171,661.368932829,634,882,787,804.631067171,653,632,653.631067171,0.450010821027,-0.00556894629605,0.0597110158669,0.99999988682,-0.000109731476343,-0.000458494529757,-6.40432842121e-05,1793237893467539712
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,747,716,682,661.208143414,634.208143414,882.208143414,787,805,653,632,653.791856586,0.450085764004,-0.00556961104257,0.0597085124818,0.999999885057,-0.000110478106764,-0.000462103091484,-6.43579838134e-05,1793237893484206592
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,747,716,682,661.781797899,634.781797899,882.781797899,787,805,653,632,653.218202101,0.450152517722,-0.00557095435097,0.05970821089,0.99999988488,-0.000111187732103,-0.000462333187099,-6.42233833489e-05,1793237893500873472
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766.044993844,746.044993844,716,681.044993844,662,634.044993844,882.044993844,787,804.044993844,652.044993844,632,653.955006156,0.450260581952,-0.00557130446138,0.0597056323112,0.999999884382,-0.000111544556519,-0.000463289860748,-6.44691677547e-05,1793237893534206464
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746.53531066,716,681,662,634,882,787,804.53531066,652,632,654,0.450298460393,-0.00557159326837,0.059707104835,0.999999884937,-0.000112213159243,-0.000461998715588,-6.39654729476e-05,1793237893550873600
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,747,716,681.114278037,661.885721963,634,882.114278037,787,805,652.228556074,632,654,0.450333904153,-0.0055721266517,0.0597088963664,0.999999885731,-0.000113377978883,-0.00046004218648,-6.35944271132e-05,1793237893567540736
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766.843236854,747,716.843236854,682,661.843236854,634,882.156763146,787,805,653.156763146,632,653.156763146,0.450407738638,-0.00557135605731,0.0597112121169,0.99999988873,-0.000111153624924,-0.000454008140733,-6.37329344644e-05,1793237893617539840
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+238,3.966666667,POSE1_TO_POSE2_PRESS,767,747,716.019241222,682,662,634,882,787,805,653,632,653.980758778,0.450430805293,-0.00557019138871,0.0597109012066,0.999999888091,-0.000110840291717,-0.000455410184733,-6.42944842204e-05,1793237893650873088
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,747,716.597071331,682,662,634,882,787,805,653,632,653.402928669,0.450433301563,-0.00557065172343,0.0597074170058,0.999999885074,-0.000112292637316,-0.000461693154799,-6.38881379801e-05,1793237893667539456
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,747,716.826019465,681.826019465,661.826019465,634,882,787,805,653,631.826019465,653,0.450435219429,-0.00557068522446,0.0597042530988,0.999999882408,-0.000112242974845,-0.000467493920141,-6.35226081638e-05,1793237893684205824
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,747,716.251231825,681.251231825,661.251231825,634,882,787,805,653,631.251231825,653,0.450435804796,-0.0055697354087,0.0597018270679,0.999999880609,-0.000108733065972,-0.000472183807534,-6.32511090828e-05,1793237893700872704
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.677214028,746.677214028,716,681.322785972,661,634,882,787,805,653,631.322785972,653,0.450436491707,-0.00556918452717,0.0596997283012,0.999999879228,-0.00010777056411,-0.000475326055233,-6.32022595669e-05,1793237893717539584
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.10379402,746.10379402,716,681.89620598,661,634,882,787,805,653,631.89620598,653,0.450437257465,-0.00556894340664,0.0596978836458,0.999999878186,-0.00010878605079,-0.000477266604952,-6.3326291057e-05,1793237893734206464
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.48531332,746.48531332,716,682,661,634.48531332,882,787,804.51468668,653,632,653,0.450438606072,-0.00556830503622,0.0596974162723,0.999999877946,-0.000108789560926,-0.000477748639671,-6.34691126616e-05,1793237893750873088
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+247,4.116666667,POSE1_TO_POSE2_PRESS,767,747,716,681.233049555,661,634,882,787,804.233049555,653.233049555,632,654,0.450439810863,-0.00556739135865,0.0596955264969,0.999999876905,-0.000108693474247,-0.000479940937474,-6.34946366771e-05,1793237893800872960
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,747,716,681.808062129,661,634,882,787,804.808062129,653.808062129,632,654,0.45043989814,-0.00556613855823,0.0596949749855,0.999999876823,-0.000107930204807,-0.000480321014525,-6.32150781799e-05,1793237893817540096
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,747,716.391353144,681.608646856,661.391353144,634,882.391353144,786.608646856,805,653.608646856,632.391353144,653.608646856,0.450440938925,-0.00556738667888,0.0596956802345,0.999999877191,-0.000108920915325,-0.000479373725182,-6.28914387072e-05,1793237893834206464
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,747,716.978792,681.021208,661.978792,634,882.978792,786.021208,805,653.021208,632.978792,653.021208,0.450442457461,-0.00556988787471,0.0596970151775,0.999999877779,-0.000110790449562,-0.000477761364922,-6.2545712679e-05,1793237893850872576
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,747,716.440167832,681.559832168,662,634,882.440167832,786.559832168,805,653,632.440167832,653.559832168,0.45044268374,-0.0055682638521,0.0596964887683,0.99999987779,-0.000109725963833,-0.000477909382413,-6.31156304538e-05,1793237893867539456
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+254,4.233333333,POSE1_TO_POSE2_PRESS,767,747,716,681.28934875,662,634,882,787,805.71065125,653,632,654,0.450444294601,-0.00556780603492,0.0596963484537,0.99999987782,-0.0001079925633,-0.000478325413691,-6.24714758749e-05,1793237893917539840
+255,4.250000000,POSE1_TO_POSE2_PRESS,767,747,716,681.865065157,662,634,882,787,805.134934843,653,632,654,0.450443588249,-0.00556441352337,0.059695386816,0.999999877265,-0.000105817586038,-0.000479855305635,-6.33430813595e-05,1793237893934206464
+256,4.266666667,POSE1_TO_POSE2_PRESS,767,747,716,682,662,634,882,787,804.545825378,652.545825378,632,654,0.450443978507,-0.00556449554298,0.0596956187758,0.999999877415,-0.000105009966674,-0.000479714892807,-6.33738052972e-05,1793237893950873088
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+269,4.483333333,HOLD_POSE2,767,747,716,682.90744727,662,633.09255273,881,787.09255273,804.185105459,653,632.09255273,654,0.450445307587,-0.00556615322809,0.0596955454459,0.999999876757,-0.000108112722923,-0.000480586329463,-6.19193759982e-05,1793237894193623808
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,663.14471645,636,882,788,804,652.85528355,632.85528355,653,0.441111965918,-0.00539942582593,0.059780678274,0.999999936333,4.32548454013e-05,-0.000354203828438,-1.69022968475e-06,1793237895197229824
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.410364014,746,716,682,664,637,882.589635986,788,804,653,633,653,0.439319835973,-0.00538316764437,0.0598095807769,0.999999930214,0.00020912992291,-0.000309378328094,1.10724376521e-05,1793237895247229696
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746.926278909,716,681,663.073721091,636,881,788.073721091,804.926278909,653,633,653,0.435222288881,-0.00538809338289,0.0597651724996,0.999999903109,0.000239176604778,-0.000368232872443,3.13326513325e-05,1793237895347229184
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746.350510911,716,681,663.649489089,636,881,788.649489089,804.350510911,653,633,653,0.43453401481,-0.00538284580618,0.0597850605375,0.999999914758,0.000249187873866,-0.000327367511994,3.49288135523e-05,1793237895363895808
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,747,716,681,664,637,882,788,804.134439349,653,633,653.865560651,0.430072453142,-0.00540039822745,0.059836495628,0.999999958492,0.000151391221645,-0.000244623498838,1.60174274576e-05,1793237895463895552
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,716.26860922,679.26860922,663,637,881.73139078,789,804.73139078,653,632.26860922,653,0.419120574163,-0.00537308368579,0.0597533375706,0.999999898209,0.000194592194099,-0.000406563500755,2.05607974496e-05,1793237895697228800
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+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.935410506,663,637,881,788,804,654,632,653.935410506,0.404120425412,-0.00534308712742,0.059791832133,0.999999901289,0.000274719195001,-0.000348151903289,2.7248424534e-05,1793237896147228416
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767.510294405,746,716,679.489705595,663,637,880.489705595,788,804,654,632.510294405,654,0.403836151195,-0.00534044935119,0.059795664341,0.999999904321,0.000277440279434,-0.000337043722053,2.80287638375e-05,1793237896163895040
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767.913562205,746.086437795,716,679.086437795,663,637,880.086437795,788,804.086437795,653.913562205,633,654,0.4035659945,-0.00533837111797,0.0598041858906,0.999999909651,0.000280181020827,-0.000318346009575,2.91894674885e-05,1793237896180561664
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767.325628212,746.674371788,716,679.674371788,663,637,880.674371788,788,804.674371788,653.325628212,633,654,0.403326401594,-0.00533820544852,0.0598213670171,0.999999916506,0.000284624048816,-0.000291520865073,3.14963538798e-05,1793237896197228288
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746.741907132,716,680,663,637,881,788.258092868,804.483814264,653,632.741907132,654,0.403097757797,-0.00534033972644,0.0598366402265,0.999999923913,0.000283125160575,-0.000266258797148,3.34815989685e-05,1793237896213895168
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746.163416027,716,680,663,637,881,788.836583973,803.326832053,653,632.163416027,654,0.402882706311,-0.00534532917466,0.0598495449337,0.999999932269,0.000274249937034,-0.000242937144779,3.50675562321e-05,1793237896230561792
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.583588495,788.583588495,803.416411505,653.416411505,632,654,0.402678024079,-0.00535391399266,0.0598553764142,0.999999937527,0.000263170535252,-0.000233174793198,3.62750720209e-05,1793237896247228160
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.003234822,788.003234822,803.996765178,653.996765178,632,654,0.402477424252,-0.0053639143159,0.0598584231488,0.999999941583,0.000251223343644,-0.000228750770078,3.7333594494e-05,1793237896263895040
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880,788,803.429626431,654,632,654,0.402283336048,-0.00537034368005,0.0598474130695,0.999999940702,0.000234013019663,-0.000250161217352,3.53963737643e-05,1793237896280561920
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.147148877,788,803.147148877,653.852851123,632,654,0.402098398847,-0.00537515074037,0.0598378524532,0.999999941646,0.000207821564564,-0.00026943148597,3.04067363923e-05,1793237896297228544
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.733489145,788,803.733489145,653.266510855,632,654,0.401940665506,-0.00537517549206,0.059832853176,0.999999948139,0.000154912415653,-0.000281881818866,1.63567487138e-05,1793237896313894912
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788,804,653,632,654,0.401804438914,-0.00537344411998,0.0598338581565,0.999999946457,0.000164659985692,-0.000282588402087,1.0799636834e-05,1793237896330561536
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788,804,653,632,654,0.401686133681,-0.00537024938606,0.0598398664295,0.999999936842,0.000226618819531,-0.000273509027355,1.23195589895e-05,1793237896347227904
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.522231017,663,637,881,788,804,653,632,654,0.401583938264,-0.00536910364082,0.0598408750122,0.999999935292,0.00023747747803,-0.000269885560697,1.35024797022e-05,1793237896363894528
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.626759087,663,636.373240913,880.373240913,788,804,653.626759087,632.626759087,654,0.401409221846,-0.00536728159238,0.0598458574828,0.999999937519,0.000238380726969,-0.000260554694038,1.571288635e-05,1793237896397228544
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.793925363,636.206074637,880,788,804,653.793925363,632.793925363,654,0.401334329139,-0.00536565170165,0.0598482682439,0.999999937852,0.000239949640996,-0.000257767004619,1.66158903357e-05,1793237896413895424
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.204467078,636.795532922,880,788,804,653.204467078,632.204467078,654,0.401264766423,-0.00536296797311,0.0598466589676,0.999999935919,0.000243566815552,-0.00026180549245,1.71565671504e-05,1793237896430562560
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746.378060307,716,679.621939693,662.378060307,637.378060307,880,788.378060307,804,653,632,654,0.401205930384,-0.0053620466164,0.0598441518696,0.999999934933,0.000242988332235,-0.000266066387706,1.73149825058e-05,1793237896447229440
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746.956906704,716,679.043093296,662.956906704,637.956906704,880,788.956906704,804,653,632,654,0.401152791234,-0.00536206124735,0.0598411679428,0.999999934437,0.000240181554211,-0.000270445402388,1.72703805417e-05,1793237896463895552
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,747,716,679.535200744,663,637.464799256,880.535200744,788.464799256,804,653,632,654,0.401113644883,-0.00536198182927,0.0598390903551,0.999999932976,0.000242566478371,-0.000273638682813,1.81785852299e-05,1793237896480561920
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746.885014781,716,679.885014781,663,637,881,788,804,653,632,654,0.4010784882,-0.00536201842828,0.0598379338931,0.999999931956,0.000244542052616,-0.000275544585258,1.90338617384e-05,1793237896497228544
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746.298942221,716,679.298942221,663,637,881,788,804,653,632,654,0.401055065809,-0.00536256133484,0.059840252554,0.99999993311,0.000243129685848,-0.000272566922346,1.93583092738e-05,1793237896513895936
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.716012129,788,803.716012129,653.283987871,632.283987871,654,0.401035441987,-0.00536248912884,0.0598422436786,0.999999934137,0.000242000628962,-0.000269784031463,1.94717066868e-05,1793237896530562560
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.136353708,788,803.136353708,653.863646292,632.863646292,654,0.401019772995,-0.00536177650588,0.0598438937932,0.999999935033,0.000241166536573,-0.000267203924768,1.93653718477e-05,1793237896547228416
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.439676459,663,637,880.879352918,788,803.439676459,653.560323541,633,654,0.401009830792,-0.00536233698675,0.0598450770589,0.999999936004,0.000239945912169,-0.000264649487002,1.94785275846e-05,1793237896563895040
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.985369024,662.985369024,637,881.985369024,788,803.985369024,653.014630976,632.985369024,654,0.401001762331,-0.00536332656362,0.0598461455951,0.999999937,0.000238586899205,-0.000262085325508,1.96664710699e-05,1793237896580561664
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.408863795,662.408863795,637,881.408863795,788,803.408863795,653.591136205,632.408863795,654,0.40099800534,-0.00536575659791,0.0598483226786,0.999999938336,0.000236479128626,-0.000258844530801,2.01338289213e-05,1793237896597229056
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.762099327,662.762099327,637,881,788,803,653.237900673,632,653.237900673,0.400988622793,-0.00536486231827,0.0598490183818,0.999999937684,0.000239956007058,-0.000258157417057,2.01943089231e-05,1793237896630562816
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.65454426,663,637,880.65454426,788,803.34545574,653,632,653,0.400987047911,-0.00536293779632,0.0598497535571,0.999999937522,0.000242036081756,-0.000256870098386,1.98066655287e-05,1793237896647229696
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.075950497,663,637,880.075950497,788,803.924049503,653,632,653,0.400987922624,-0.00536108309108,0.0598514284068,0.999999938083,0.000242920538016,-0.000253871563835,1.92990885073e-05,1793237896663896320
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.500264214,663,637,880.500264214,788,803.499735786,653.500264214,632,653,0.400986748117,-0.00536348114695,0.0598510155847,0.999999938518,0.000241086920023,-0.000253872577468,1.97566256742e-05,1793237896680563200
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.924060605,788,803.075939395,654,632,653.075939395,0.400985235018,-0.00536606089625,0.0598503659486,0.999999938836,0.000239176306807,-0.000254387218629,2.0224207438e-05,1793237896697230336
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.349567743,788,803.650432257,654,632,653.650432257,0.400983531857,-0.00536561471381,0.059850232581,0.999999938546,0.000239456562054,-0.000255298323931,1.98003317973e-05,1793237896713896704
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.232223586,637,880.232223586,788,803.767776414,654,632,654,0.400983178919,-0.00536503389413,0.0598509170099,0.999999938578,0.000239859351213,-0.000254816455792,1.95166988856e-05,1793237896730563072
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.82535793,637,880.82535793,788,803.17464207,654,632,654,0.400984924431,-0.00536424382762,0.059852872419,0.999999939107,0.000240452576743,-0.000252169695285,1.94510244314e-05,1793237896747229440
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746.407552048,716,679.592447952,663.592447952,637,881,788.407552048,803.407552048,654,632.407552048,654,0.400983861702,-0.00536388176458,0.0598525872867,0.999999938921,0.000240683460415,-0.000252683167419,1.94991818423e-05,1793237896763896320
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746.985180638,716,679.014819362,663.014819362,637,881,788.985180638,803.985180638,654,632.985180638,654,0.400981627059,-0.00536369831275,0.0598513671484,0.999999938436,0.000240763134284,-0.000254515444116,1.9594842711e-05,1793237896780563200
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746.442234436,716,679,663,637,881.557765564,788.442234436,803.442234436,654,632.442234436,653.442234436,0.400983500797,-0.00536528297432,0.0598526195491,0.999999939674,0.000238096306587,-0.000252133152891,1.97828195454e-05,1793237896797230080
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746.130886107,716,679,663,637,881.738227785,788,803.130886107,654,632,653.130886107,0.400984683064,-0.00536646430869,0.0598534183365,0.999999940444,0.000236539697918,-0.000250532633763,1.98731754616e-05,1793237896813896448
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746.706276657,716,679,663,637,880.587446685,788,803.706276657,654,632,653.706276657,0.400983149625,-0.00536611778631,0.0598524554973,0.999999939504,0.000238999123679,-0.000251963984459,1.96237441752e-05,1793237896830563072
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746.70999729,716,679,663,637,880.29000271,788,804,653.70999729,632,654,0.400982578875,-0.00536632849356,0.0598519583021,0.99999993909,0.000240040136932,-0.000252619108722,1.9618426757e-05,1793237896847230464
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746.117578988,716,679,663,637,880.882421012,788,804,653.117578988,632,654,0.400983012021,-0.00536712028136,0.0598519466818,0.999999939229,0.000239602025726,-0.000252464781924,1.98676719404e-05,1793237896863897856
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.463517038,663,637,881,788,804,653,632,654,0.400985214238,-0.00536665954845,0.0598540973952,0.9999999402,0.000238823563945,-0.000249322787052,2.0021707646e-05,1793237896880563968
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788,804,653.042364423,632,654,0.400987462099,-0.00536600241158,0.0598564412031,0.99999994125,0.000237922253285,-0.000245941057984,2.01339327948e-05,1793237896897229824
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788,804,653.628332308,632,654,0.400984674688,-0.00536680478454,0.0598543922462,0.999999940833,0.000236526005596,-0.000248976002029,2.00121744215e-05,1793237896913896704
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746.211546489,716,680,663.211546489,637,881,788,804,653.788453511,632,654,0.400982991103,-0.00536687222899,0.0598532574814,0.999999940301,0.000236876770639,-0.000250778011677,1.99475114969e-05,1793237896930563584
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746.789984926,716,680,663.789984926,637,881,788,804,653.210015074,632,654,0.400983221919,-0.00536566506322,0.0598537082291,0.999999939578,0.000240257436381,-0.000250441703652,1.99818710435e-05,1793237896947229696
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767.368852636,746.631147364,716,679.631147364,663.631147364,637,881,788.368852636,804,653.368852636,632,654,0.400983015751,-0.00536587081567,0.0598535672067,0.999999939705,0.000239276757525,-0.000250877562404,1.99218257242e-05,1793237896963895552
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767.947965014,746.052034986,716,679.052034986,663.052034986,637,881,788.947965014,804,653.947965014,632,654,0.400982560487,-0.00536688198419,0.0598530888532,0.999999940311,0.000235809949608,-0.000251753584995,1.98079661129e-05,1793237896980561408
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767.477116951,746,716,679.522883049,663,637,881,789,804,654,632,654,0.400983896433,-0.00536631846641,0.0598542326482,0.999999940613,0.000236563957806,-0.000249839294206,1.98044365073e-05,1793237896997228544
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767.097107216,746,716,679.902892784,663,637,880.902892784,788.902892784,804,654,632,654,0.400985216141,-0.00536579450449,0.0598554474586,0.999999940917,0.000237376675515,-0.000247844468868,1.97973173188e-05,1793237897013895424
+438,7.300000000,POSE2_TO_POSE3_RETREAT,767.669960631,746,716,679.330039369,663,637,880.330039369,788.330039369,804,654,632,654,0.400985589946,-0.00536622595518,0.059856225609,0.999999941398,0.000236435559876,-0.000246804667575,1.97192493117e-05,1793237897030562304
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..833c68809840619ff5272cc7ccc43bc08824f7b7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,440 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+1,0.016666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+2,0.033333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0779c110204364e2b3221ba7122e797acc087ef
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a88f69758b5c9ce839f43516c1e204f0acc2dec2f91cdad3bb5b36b6890507b
+size 28031122
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09b04f3ec36e958b889ef6cba769562335b90e84
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_04/franka_data.csv
@@ -0,0 +1,442 @@
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+10,0.166666667,BASELINE,766.189036104,746,716,679,663,636.189036104,880,788.189036104,804.810963896,654,632.810963896,654,0.40098373207,-0.00536575034538,0.059855521064,0.999999940906,0.000237995809404,-0.000247321967874,1.94122551431e-05,1793237897349974528
+11,0.183333333,BASELINE,766.394721785,746,716.394721785,679.394721785,663,636.394721785,880.394721785,788.394721785,804.210556429,654,632.605278215,654,0.400983039115,-0.0053663819167,0.0598549565565,0.999999940887,0.000237334539579,-0.000248038595115,1.93613148203e-05,1793237897366640896
+12,0.200000000,BASELINE,766.974763221,746,716.974763221,679.974763221,663,636.974763221,880.974763221,788.974763221,803.050473557,654,632.025236779,654,0.400981936247,-0.00536736693419,0.0598541489584,0.999999940895,0.000236228170732,-0.000249068609751,1.92853484146e-05,1793237897383307264
+13,0.216666667,BASELINE,767,746,716.451582249,680,663,637,881,788.451582249,803,654,632.548417751,654,0.400983244454,-0.00536774878617,0.0598546920601,0.999999941123,0.000237210968627,-0.000247206017037,1.93580441191e-05,1793237897399974144
+14,0.233333333,BASELINE,767,746,716,679.878081665,663.121918335,637,880.878081665,788,803.121918335,654,633,654,0.400984694371,-0.0053677445349,0.0598556134942,0.999999941371,0.000238213582776,-0.000245220903058,1.94581715842e-05,1793237897416640768
+15,0.250000000,BASELINE,767,746,716,679.304074465,663.695925535,637,880.304074465,788,803.695925535,654,633,654,0.400986263086,-0.00536641030172,0.059857710006,0.999999941672,0.000238937289964,-0.000243269372083,1.96349441083e-05,1793237897433306880
+16,0.266666667,BASELINE,767,746.279908588,716,679,663.720091412,637,880,788,803.720091412,653.720091412,633,654,0.400986476323,-0.00536618182022,0.0598582292383,0.999999941858,0.000238399628922,-0.000243028370573,1.96637793452e-05,1793237897449972992
+17,0.283333333,BASELINE,767,746.875129228,716,679,663.124870772,637,880,788,803.124870772,653.124870772,633,654,0.400985162638,-0.00536719894841,0.0598569716932,0.999999941915,0.000236441058941,-0.000244714250232,1.95259658456e-05,1793237897466640128
+18,0.300000000,BASELINE,767,746.543556764,716,679,663,637,880.456443236,788,803.456443236,653,632.543556764,653.543556764,0.400984925094,-0.00536726566115,0.0598568149522,0.999999941925,0.000236044242931,-0.000245065982766,1.93675681698e-05,1793237897483307008
+19,0.316666667,BASELINE,767,746,716,679.033976247,663,637,880.966023753,788,804,653,632,653.033976247,0.400985003322,-0.00536706655027,0.0598569564162,0.999999941916,0.000236125254202,-0.000245035276448,1.92265542593e-05,1793237897499973376
+20,0.333333333,BASELINE,767,746,716,679.610089319,663,637,880.389910681,788,804,653,632,653.610089319,0.400985561435,-0.00536665198543,0.0598571929519,0.999999941772,0.000237214790264,-0.00024455391527,1.94501197782e-05,1793237897516640000
+21,0.350000000,BASELINE,767,746,716,679.814981083,663,637,880,788,804,653,632,654,0.40098538595,-0.00536727429926,0.0598568207898,0.999999941732,0.000237122019393,-0.000244787812878,1.97076931092e-05,1793237897533306368
+22,0.366666667,BASELINE,767,746,716,679.242529768,663,637,880,788,804,653,632,654,0.400983674304,-0.00537006785268,0.0598551740052,0.999999941906,0.000234553479876,-0.000246519473205,2.0036479282e-05,1793237897549972992
+23,0.383333333,BASELINE,767,746,716,679.341762084,663,637,880.341762084,788.341762084,803.658237916,653,632.341762084,654,0.400982632996,-0.00536954047488,0.0598546675088,0.999999941482,0.000235171994388,-0.000247660738363,1.98683214491e-05,1793237897566639360
+24,0.400000000,BASELINE,767,746,716,679.934758137,663,637,880.934758137,788.934758137,803.065241863,653,632.934758137,654,0.400982084462,-0.00536657183556,0.0598549992534,0.999999940616,0.000238133355508,-0.000248367996164,1.93348533351e-05,1793237897583305984
+25,0.416666667,BASELINE,767,746.512569682,716,679.487430318,662.487430318,637,881,788.487430318,803.512569682,653.512569682,632.487430318,654,0.400984367286,-0.00536583164033,0.0598566166476,0.99999994156,0.000236895197917,-0.000245752271124,1.91369467163e-05,1793237897599972864
+26,0.433333333,BASELINE,767,746.911666526,716,679.088333474,662.176666949,637,881,788.088333474,804,653.911666526,632,654,0.400986516603,-0.00536547553521,0.0598580649766,0.999999942432,0.000235794171448,-0.000243259866922,1.90306880106e-05,1793237897616639744
+27,0.450000000,BASELINE,767,746.336842176,716,679.663157824,663.326315648,637,881,788.663157824,804,653.336842176,632,654,0.400986002943,-0.00536571757095,0.0598577068717,0.999999941723,0.000238307578728,-0.000243709057435,1.92007110196e-05,1793237897633306880
+28,0.466666667,BASELINE,767,746,716,680,663.762536646,637,881,788.762536646,803.762536646,653.237463354,632,654,0.400985010017,-0.00536641741408,0.0598571234733,0.999999941374,0.000238839938676,-0.000244611031706,1.93140646919e-05,1793237897649973504
+29,0.483333333,BASELINE,767,746,716,680,663.188965491,637,881,788.188965491,803.188965491,653.811034509,632,654,0.400983338737,-0.00536776524196,0.0598562211925,0.999999941535,0.00023656830599,-0.000246153880217,1.93472080574e-05,1793237897666639616
+30,0.500000000,BASELINE,767,746,716,679.599100813,663,637,880.599100813,788.400899187,803.400899187,654,632,654,0.400983419839,-0.0053684279855,0.0598559887852,0.999999941597,0.000236121498779,-0.000246310745174,1.95777166519e-05,1793237897683306240
+31,0.516666667,BASELINE,767,746,716,679.001230775,663,637,880.001230775,788.998769225,803.998769225,654,632,654,0.400984361926,-0.00536875413154,0.059856085502,0.999999941613,0.000236571269725,-0.000245786644975,1.99051952526e-05,1793237897699972864
+32,0.533333333,BASELINE,767.575194209,746,716,679,663,637,881.150388417,788.424805791,803.424805791,653.424805791,632.575194209,654,0.400985621802,-0.00536869978636,0.0598571238759,0.999999942313,0.00023528670298,-0.000244167616873,1.99270573527e-05,1793237897716639488
+33,0.550000000,BASELINE,767.849667569,746,716,679.150332431,663,637,881.699335138,788,803.150332431,653.150332431,632.849667569,654,0.400986238328,-0.00536867515945,0.0598577905087,0.999999942751,0.000234396297812,-0.000243228250663,1.98871956644e-05,1793237897733306368
+34,0.566666667,BASELINE,767.278011755,746,716,679.721988245,663,637,880.556023509,788,803.721988245,653.721988245,632.278011755,654,0.40098504996,-0.00536873602102,0.0598574098514,0.999999942466,0.000234620601418,-0.000244200043056,1.96761130587e-05,1793237897749973248
+35,0.583333333,BASELINE,767,746,716,680,663,637,880.305428791,788,803.694571209,654,632,654,0.400984818139,-0.00536869312016,0.0598572228736,0.999999942159,0.000235377375188,-0.000244733504555,1.96274029425e-05,1793237897766640128
+36,0.600000000,BASELINE,767,746,716,680,663,637,880.900026771,788,803.099973229,654,632,654,0.400985491944,-0.00536855198069,0.0598572192645,0.99999994183,0.000236638272924,-0.000244851969964,1.9732421338e-05,1793237897783306496
+37,0.616666667,BASELINE,767,746,716,679.520092513,663,637,880.520092513,788,803,653.520092513,632,654,0.400985124995,-0.00536783882752,0.0598573542269,0.999999941941,0.000237143678256,-0.00024390612794,1.9767446219e-05,1793237897799973120
+38,0.633333333,BASELINE,767,746,716,679.056659673,663,637,880.056659673,788.056659673,803.056659673,653.056659673,632,654,0.400984834354,-0.00536714339518,0.0598576355549,0.999999942197,0.000237380479977,-0.00024262128581,1.97789853554e-05,1793237897816639744
+39,0.650000000,BASELINE,767,746,716,679.63200348,663,637,880.63200348,788.63200348,803.63200348,653.63200348,632,654,0.400987167955,-0.00536766856927,0.0598590003739,0.999999942978,0.000236556252885,-0.000240202371109,1.97050344901e-05,1793237897833306112
+40,0.666666667,BASELINE,767,746,716,679.788508438,663,637,881,788.788508438,804,654,632,654,0.400987802088,-0.00536794363685,0.059859355596,0.999999943004,0.000236720816272,-0.00023992793893,1.9746722622e-05,1793237897849972736
+41,0.683333333,BASELINE,767,746,716,679.201665201,663,637,881,788.201665201,804,654,632,654,0.400985420034,-0.00536777481956,0.0598579190025,0.999999941689,0.000238640268451,-0.000243459498473,1.99936449094e-05,1793237897866639616
+42,0.700000000,BASELINE,767,746,716,679.380492093,663,637,880.619507907,788.380492093,804,653.619507907,632,654,0.400984702174,-0.00536764806358,0.0598577163506,0.999999941538,0.000238419484254,-0.000244305963716,1.98879365667e-05,1793237897883306496
+43,0.716666667,BASELINE,767,746,716,679.960195978,663,637,880.039804022,788.960195978,804,653.039804022,632,654,0.400984855624,-0.00536754332937,0.0598581597456,0.999999941999,0.000237078150232,-0.000243746611329,1.95976036698e-05,1793237897899973120
+44,0.733333333,BASELINE,767,746,716,680,663,637,880,788.464590467,804,653,632,653.464590467,0.400986338479,-0.00536888412247,0.0598586102722,0.999999942849,0.000235109899647,-0.000242158985598,1.95836040321e-05,1793237897916640512
+45,0.750000000,BASELINE,767,746,716,680,663,637,880.112786249,788,803.887213751,653,632,653.112786249,0.400987228701,-0.00536988018163,0.0598588288113,0.999999943442,0.000233523743412,-0.000241243221767,1.95990187371e-05,1793237897933307648
+46,0.766666667,BASELINE,767,746,716,680,663,637,880.70066933,788,803.29933067,653,632,653.70066933,0.400985209687,-0.00536897517835,0.0598580679193,0.999999942849,0.00023374180116,-0.000243476922172,1.96525204726e-05,1793237897949973760
+47,0.783333333,BASELINE,767,746,716,679.723198759,663,636.723198759,881,788,803.276801241,653,632,653.723198759,0.400985003331,-0.00536828011625,0.0598578255846,0.999999942576,0.000234651723784,-0.000243723376949,1.96442104062e-05,1793237897966639872
+48,0.800000000,BASELINE,767,746,716,679.159256888,663,636.159256888,881,788,803.840743112,653,632,653.159256888,0.400986677341,-0.00536780283717,0.0598581211768,0.999999942635,0.000236279354618,-0.000241908356554,1.95717796807e-05,1793237897983306496
+49,0.816666667,BASELINE,767,746.42487441,716,679.42487441,663,636.42487441,880.57512559,788,804,653.42487441,632.42487441,653,0.400987553759,-0.00536811504507,0.059858627956,0.999999943037,0.000235259268173,-0.00024123620879,1.95962235074e-05,1793237897999973120
+50,0.833333333,BASELINE,767,746.983488822,716,679.983488822,663,637,880,788,804,654,632.983488822,653,0.400988061964,-0.00536873574307,0.0598591741156,0.999999943548,0.000233269479948,-0.000241044324013,1.96595118574e-05,1793237898016640000
+51,0.850000000,BASELINE,767,746.406770559,716,679.406770559,663,637,880,788,804,654,632.406770559,653,0.400986726695,-0.00536928183022,0.0598582366099,0.999999943235,0.000233731471873,-0.000241887438764,1.97472696334e-05,1793237898033306368
+52,0.866666667,BASELINE,767,746,716,679.174050323,663,637,880.174050323,788,803.825949677,654,632.174050323,653,0.400985700126,-0.00536941423878,0.0598576401148,0.999999942804,0.000234759361038,-0.000242677614335,1.96905141029e-05,1793237898049972736
+53,0.883333333,BASELINE,767,746,716,679.764690806,663,637,880.764690806,788,803.235309194,654,632.764690806,653,0.400985412432,-0.00536855650591,0.0598578598298,0.999999942088,0.000237141727538,-0.00024334107971,1.92878653757e-05,1793237898066639360
+54,0.900000000,BASELINE,767,746,716,679.651004126,663,637,881,788,803,654,632.651004126,653.348995874,0.400985892334,-0.00536815284371,0.0598580100099,0.9999999422,0.000237201073548,-0.000242828883046,1.92064717787e-05,1793237898083306240
+55,0.916666667,BASELINE,767,746,716,679.070894552,663,637,881,788,803,654,632.070894552,653.929105448,0.400986880555,-0.00536804987838,0.0598581141422,0.99999994286,0.000235722057831,-0.000241538133874,1.93378212917e-05,1793237898099972864
+56,0.933333333,BASELINE,767,746.504764188,716,679,663,637,880.495235812,788,803.504764188,654,632,654,0.400985963696,-0.00536852775846,0.0598579462982,0.999999942581,0.000236077092464,-0.000242336013542,1.94575761802e-05,1793237898116639488
+57,0.950000000,BASELINE,767,746.920250475,716.079749525,679,663,637,880,788,803.920250475,654,632,654,0.400984817452,-0.0053689715881,0.0598577118139,0.999999942241,0.000236407041702,-0.000243408135467,1.95656610145e-05,1793237898133306112
+58,0.966666667,BASELINE,767,746.345598892,716.654401108,679,663,637,880,788,803.345598892,654,632,654,0.400983893669,-0.00536870227274,0.0598572987619,0.999999942336,0.000234996738494,-0.000244377593704,1.96113423835e-05,1793237898149972736
+59,0.983333333,BASELINE,767,746,716.765054474,679.234945526,663,637,880.234945526,788,803.234945526,653.765054474,632.234945526,654,0.400983805448,-0.00536881413019,0.0598572813926,0.999999942373,0.000234570491853,-0.000244639014371,1.95470118459e-05,1793237898166639360
+60,1.000000000,BASELINE,767,746,716.175618751,679.824381249,663,637,880.824381249,788,803.824381249,653.175618751,632.824381249,654,0.400984977942,-0.00536950110827,0.0598578610369,0.999999942326,0.000235629007923,-0.000243832134878,1.9316693296e-05,1793237898183305728
+61,1.016666667,BASELINE,767.407564389,746,716.407564389,679.592435611,663,637,880.592435611,788,804.407564389,653,632.592435611,654,0.400985054696,-0.00536921267778,0.0598574554833,0.999999942405,0.000235114372807,-0.000244010038491,1.92255954913e-05,1793237898199972608
+62,1.033333333,BASELINE,767.988093976,746,716.988093976,679.011906024,663,637,880.011906024,788,804.988093976,653,632.011906024,654,0.400984666432,-0.00536851029612,0.0598566318241,0.999999942538,0.00023393211206,-0.000244605871711,1.91935812327e-05,1793237898216639232
+63,1.050000000,BASELINE,767.438764896,746,716.438764896,679,662.438764896,636.438764896,880,788,803.877529792,653,632,653.438764896,0.400985231124,-0.00536897359229,0.0598571375765,0.999999942928,0.000233259607995,-0.000243644389387,1.92713616334e-05,1793237898233305856
+64,1.066666667,BASELINE,767,746,716,679.138000392,662.138000392,636.138000392,880,788,803.138000392,653,632,653.138000392,0.400985524481,-0.00536917313769,0.0598576213328,0.999999943112,0.000233113116178,-0.000243025547909,1.93220508047e-05,1793237898249972480
+65,1.083333333,BASELINE,767,746,716,679.727118598,662.727118598,636.727118598,880,788,803.727118598,653,632,653.727118598,0.400984865629,-0.00536843070561,0.0598579421908,0.999999942605,0.000234651246523,-0.000243633378715,1.92766647504e-05,1793237898266638848
+66,1.100000000,BASELINE,767,746,716,680,663,637,880.31120133,788,804,653,632,653.68879867,0.400985273124,-0.00536767988643,0.0598583989643,0.999999942493,0.000236035530444,-0.000242760820295,1.91962357933e-05,1793237898283305728
+67,1.116666667,BASELINE,767,746,716,680,663,637,880.890938911,788,804,653,632,653.109061089,0.400986600772,-0.00536692183003,0.0598589730196,0.999999942719,0.000237287059899,-0.000240610831015,1.90855682475e-05,1793237898299972352
+68,1.133333333,BASELINE,767,746,716,680,663,637,880.530709884,788,804,653.469290116,632.469290116,653,0.400986000911,-0.0053683910439,0.0598584929126,0.999999943178,0.000234659703837,-0.000241248205082,1.94673488965e-05,1793237898316639232
+69,1.150000000,BASELINE,767,746,716,679.952983246,663,637,880.047016754,788,804,653.952983246,633,653.047016754,0.400985223848,-0.00537021151349,0.0598579182424,0.999999943659,0.000231535488534,-0.000242234494422,1.99066007428e-05,1793237898333305856
+70,1.166666667,BASELINE,767,746,716,679.378659012,663,637,880.621340988,788,804,653.378659012,633,653.621340988,0.400987468465,-0.00537018338321,0.0598590224841,0.999999943906,0.000232918962746,-0.000239890413424,1.97106770848e-05,1793237898349972480
+71,1.183333333,BASELINE,767,746,716,679,663,637,881,788,803.799079801,653.200920199,632.799079801,653.799079801,0.400988353181,-0.00537013330157,0.0598594439741,0.999999943832,0.000234095142496,-0.00023906201879,1.96401537624e-05,1793237898366639104
+72,1.200000000,BASELINE,767,746,716,679,663,637,881,788,803.209330845,653.790669155,632.209330845,653.209330845,0.400986606161,-0.00537004073877,0.0598585441761,0.999999943141,0.000234870158006,-0.000241166840242,1.98123101194e-05,1793237898383305728
+73,1.216666667,BASELINE,767,746,716,679,663,636.627402329,880.627402329,788,803.372597671,654,632,653,0.400984869133,-0.00536978621609,0.0598574291925,0.999999942661,0.000234829632774,-0.000243195247837,1.97095650873e-05,1793237898399973120
+74,1.233333333,BASELINE,767,746,716,679,663,636.049777163,880.049777163,788,803.950222837,654,632,653,0.400983137604,-0.00536944257255,0.0598561957999,0.999999942296,0.000234340343886,-0.000245181607425,1.94555514045e-05,1793237898416640768
+75,1.250000000,BASELINE,767,746,716,679.527768124,663,636.527768124,880,788,803.472231876,653.472231876,632,653.527768124,0.400984138972,-0.00536970287287,0.0598572898989,0.999999942845,0.000233465975352,-0.000243770603811,1.94616765745e-05,1793237898433306880
+76,1.266666667,BASELINE,767,746,716,679.896723018,663,637,880,788.103276982,803.103276982,653.103276982,632,654,0.400985322028,-0.00536968161437,0.0598584890996,0.999999943329,0.000233020258495,-0.000242210186325,1.94499939763e-05,1793237898449972736
+77,1.283333333,BASELINE,767,746,716,679.33031253,663,637,880,788.66968747,803.66968747,653.66968747,632,654,0.400986164134,-0.00536814233866,0.0598591753508,0.999999943141,0.000234659624845,-0.000241416439279,1.92484452968e-05,1793237898466639360
+78,1.300000000,BASELINE,767,746,716.249224751,679,663,637,880.249224751,789,804,653.750775249,632,654,0.400986592831,-0.00536756500972,0.0598593365387,0.999999943002,0.000235694564134,-0.000240982401714,1.92576030318e-05,1793237898483306240
+79,1.316666667,BASELINE,767,746,716.847127004,679,663,637,880.847127004,789,804,653.152872996,632,654,0.400986443149,-0.00536833349105,0.0598587631377,0.999999942935,0.000235883880541,-0.000241051615207,1.95615492669e-05,1793237898499972864
+80,1.333333333,BASELINE,767,746,716.568883034,679,663,637,880.568883034,789,804,653.431116966,632,654,0.400986013365,-0.00536858682612,0.0598581174666,0.999999942979,0.000234931668204,-0.000241827251733,1.92000336228e-05,1793237898516639744
+81,1.350000000,BASELINE,767,746,716,679.010154286,663,637,880.010154286,788.989845714,803.989845714,654,632,654,0.400985486356,-0.00536865396457,0.0598574541503,0.999999943053,0.000233622858379,-0.000242834460742,1.86206813714e-05,1793237898533306880
+82,1.366666667,BASELINE,767,746,716,679.579626774,663,637,880.579626774,788.420373226,803.420373226,654,632,654,0.400984904014,-0.00536821227814,0.0598571863495,0.999999942804,0.000234271205868,-0.00024323066978,1.86338867469e-05,1793237898549973248
+83,1.383333333,BASELINE,767,746,716,679.848373219,663,637,880.848373219,788.151626781,803.151626781,654,632,654,0.400984676838,-0.00536777256485,0.0598570784231,0.999999942555,0.000235210067156,-0.000243340049631,1.8731844067e-05,1793237898566639360
+84,1.400000000,BASELINE,767,746,716,679.269246943,663,637,880.269246943,788.730753057,803.730753057,654,632,654,0.400985451022,-0.00536733841453,0.0598574212496,0.999999942304,0.000236968008841,-0.000242640737781,1.90687526714e-05,1793237898583305984
+85,1.416666667,BASELINE,767,746,716,679,663,637,880,789,804,653.682014819,632.317985181,654,0.400986096721,-0.00536790546453,0.0598578936359,0.999999942532,0.000236519522061,-0.000242119964329,1.93205717961e-05,1793237898599972864
+86,1.433333333,BASELINE,767,746,716,679,663,637,880,789,804,653.087739749,632.912260251,654,0.400986630783,-0.00536934243411,0.0598584785937,0.999999943173,0.000234153921067,-0.000241754318761,1.94984586409e-05,1793237898616639744
+87,1.450000000,BASELINE,767,746,716,679,663,637,880.487939012,788.512060988,804,653.487939012,632.512060988,654,0.400986253369,-0.00536794201026,0.0598581178626,0.999999942636,0.00023625308966,-0.000241976943548,1.89841544435e-05,1793237898633306368
+88,1.466666667,BASELINE,767,746,716,679,663,637,880.937606542,788,804,654,632,654,0.400985680584,-0.00536655355031,0.0598576019252,0.999999942053,0.0002383488138,-0.000242368379837,1.84888135133e-05,1793237898649972736
+89,1.483333333,BASELINE,767,746,716,679,663,637,880.346222143,788,804,654,632,654,0.400984789954,-0.00536943344612,0.0598571589155,0.999999942867,0.000233858490338,-0.000243327133463,1.91707827579e-05,1793237898666639104
+90,1.500000000,BASELINE,767,746,716,679.240300611,663,637,880,788,804,653.759699389,632,654,0.400984467076,-0.00537034154915,0.0598571762839,0.999999943211,0.000232121502193,-0.000243541633725,1.96039425968e-05,1793237898683305984
+91,1.516666667,BASELINE,767,746,716,679.819957621,663,637,880,788,804,653.180042379,632,654,0.400984945984,-0.00536846505437,0.0598578438058,0.999999942911,0.000234272818971,-0.000242705087308,1.96857297229e-05,1793237898699972864
+92,1.533333333,BASELINE,767,746,716,679.60379413,663,637,880.39620587,788,803.60379413,653.39620587,632.39620587,653.60379413,0.400985306912,-0.0053678480701,0.0598581716355,0.999999942706,0.000235229869937,-0.000242638343628,1.95195550836e-05,1793237898716639488
+93,1.550000000,BASELINE,767,746,716,679.029081614,663,637,880.970918386,788,803.029081614,653.970918386,632.970918386,653.029081614,0.400985614685,-0.00536779854572,0.0598583464202,0.999999942545,0.00023564885641,-0.000242918426908,1.92416637237e-05,1793237898733306112
+94,1.566666667,BASELINE,767,746,716,679.547512192,663,637,880.452487808,788,803.547512192,653.452487808,632.452487808,653,0.400987993888,-0.00536842842785,0.0598602708347,0.999999943354,0.000236579743089,-0.000238619292292,1.95420913331e-05,1793237898749972992
+95,1.583333333,BASELINE,767,746,716,679.877038192,663,637,880.122961808,788.122961808,804,653,632,653.122961808,0.400989440668,-0.00536909620572,0.0598615366073,0.999999943945,0.00023690751416,-0.000235780670923,1.97985672305e-05,1793237898766639872
+96,1.600000000,BASELINE,767,746,716,679.306122031,663,637,880.693877969,788.693877969,804,653,632,653.693877969,0.400987088384,-0.0053697701187,0.059860063198,0.999999943609,0.00023493871747,-0.000239151900005,1.97826330953e-05,1793237898783306496
+97,1.616666667,BASELINE,767,746.276885011,716,679.276885011,663,637,880.723114989,788.723114989,804,653,632.276885011,654,0.400986082562,-0.00537002153677,0.0598592888263,0.999999943258,0.000234714883403,-0.000240826411156,1.98838376642e-05,1793237898799973120
+98,1.633333333,BASELINE,767,746.873869988,716,679.873869988,663,637,880.126130012,788.126130012,804,653,632.873869988,654,0.400986633351,-0.00536978451881,0.0598593225949,0.9999999429,0.000236508357929,-0.000240539388138,2.01204634156e-05,1793237898816639744
+99,1.650000000,BASELINE,767,747,716.455269644,679.544730356,663,637,880.455269644,788,803.544730356,653,633,654,0.400986866838,-0.00536783529816,0.0598595015568,0.999999942533,0.000238467772565,-0.000240163286469,1.96918663636e-05,1793237898833306112
+100,1.666666667,BASELINE,767,746.967491203,717,679.032508797,663,637,881,788,803,653.032508797,632.967491203,654,0.400986872924,-0.00536571654964,0.059859595404,0.999999942182,0.000240200575042,-0.000239943375793,1.91359372939e-05,1793237898849972736
+101,1.683333333,BASELINE,767,746.390010418,717,679.609989582,663,637,881,788,803,653.609989582,632.390010418,654,0.400984491759,-0.00536844468481,0.0598576103962,0.999999942173,0.00023738931897,-0.000242741841267,1.94326864756e-05,1793237898866639360
+102,1.700000000,BASELINE,767,746,716.808975938,679.808975938,663,637,880.808975938,788,803.191024062,654,632,654,0.40098335326,-0.00536986128663,0.0598568916214,0.999999942374,0.000235402123331,-0.000243839257702,1.94853186091e-05,1793237898883305984
+103,1.716666667,BASELINE,767,746,716.22054848,679.22054848,663,637,880.22054848,788,803.77945152,654,632,654,0.40098479998,-0.00536854939516,0.0598588070976,0.99999994304,0.00023512929016,-0.000241397838636,1.90300935118e-05,1793237898899972608
+104,1.733333333,BASELINE,767,746,716,679.362671731,663,637,880.362671731,788,804,653.637328269,632,654,0.400985433649,-0.00536843583659,0.0598592197112,0.999999943201,0.000234485491654,-0.000241354430494,1.9027814937e-05,1793237898916638976
+105,1.750000000,BASELINE,767,746,716,679.94277018,663,637,880.94277018,788,804,653.05722982,632,654,0.400985579882,-0.00536904069503,0.059858731338,0.999999943061,0.000233619294271,-0.000242748662833,1.92970840239e-05,1793237898933305856
+106,1.766666667,BASELINE,767.516506969,746,716,680,663,637,881,788,803.483493031,653,632.516506969,654,0.400985065098,-0.00536963514294,0.0598584267629,0.999999942866,0.000234603554746,-0.000242586935665,1.95026804161e-05,1793237898949972480
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,803,653,633,654,0.40098731979,-0.00536865517852,0.0598591052349,0.999999943556,0.000233922623246,-0.000240433625657,1.89578741882e-05,1793237898993104128
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.592550784,746,716,679.592550784,663,637,881,788,803.592550784,653.592550784,632.407449216,654,0.40098533419,-0.00536956112601,0.0598581839268,0.999999943087,0.000234228689657,-0.000242063199632,1.91815685276e-05,1793237899009770752
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.819311812,746,716,679.819311812,663,637,880.819311812,788.180688188,804,653.819311812,632,653.819311812,0.400983761,-0.00537021912531,0.0598573512398,0.999999942662,0.000234625170092,-0.000243419800181,1.93229789889e-05,1793237899026437120
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.240889114,746,716,679.240889114,663,637,880.240889114,788.759110886,804,653.240889114,632,653.240889114,0.400983095614,-0.0053703313362,0.0598567136272,0.999999942339,0.000235220671773,-0.000244175526389,1.92832645492e-05,1793237899043103744
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.337001848,789,804,653.337001848,632,653.337001848,0.400984097412,-0.00537020696253,0.0598575006787,0.999999942858,0.000233865916601,-0.000243345922281,1.93351338296e-05,1793237899059769856
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.914513288,789,804,653.914513288,632,653.914513288,0.400986289037,-0.0053699137445,0.0598593044765,0.999999943969,0.000231119312994,-0.000241384908459,1.94523640688e-05,1793237899076435968
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716.499400156,679.499400156,663,637,880.500599844,789,804,654,632.499400156,654,0.40098757945,-0.0053701254736,0.0598604794403,0.999999943962,0.000232650010283,-0.000239923122418,1.96627962748e-05,1793237899093102848
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,717,679.915359879,663,637,880,788.915359879,804,654,632.915359879,654,0.400988350676,-0.00537033715473,0.0598612251538,0.999999943744,0.000234554495342,-0.000238961927501,1.98363345142e-05,1793237899109769472
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,717,679.335550998,663,637,880,788.335550998,804,654,632.335550998,654,0.400987000555,-0.0053700352986,0.0598600988131,0.999999943457,0.000234298056326,-0.000240421889762,1.96992968533e-05,1793237899126435840
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716.756429129,679,663,637,880.243570871,788,803.756429129,653.756429129,632,654,0.400988185432,-0.00536985722556,0.0598601519232,0.999999943682,0.000233799883823,-0.000239974618808,1.96356529103e-05,1793237899143102464
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716.178251094,679,663,637,880.821748906,788,803.178251094,653.178251094,632,654,0.40099285278,-0.00536984920044,0.0598618253119,0.999999944607,0.000232969628298,-0.000236907272956,1.96728341039e-05,1793237899159769344
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679.395310582,663,637,880.604689418,788.395310582,803,653.395310582,632.395310582,654,0.401009785327,-0.00536968606652,0.0598696993116,0.999999947392,0.000233867017603,-0.000223875673469,2.00315127099e-05,1793237899176435968
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679.966814754,663,637,880.033185246,788.966814754,803,653.966814754,632.966814754,654,0.401032184588,-0.00536945379918,0.0598803369813,0.99999995075,0.000235534434086,-0.000206402913479,2.05334856897e-05,1793237899193102336
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.557864234,789,803.557864234,654,633,654,0.401076033898,-0.00537125727799,0.0598975860433,0.999999957087,0.000234252259861,-0.000174617569707,2.14475907383e-05,1793237899209768960
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746.146767694,716,679.853232306,663,637,880.853232306,789,803.853232306,653.853232306,632.853232306,654,0.40112448057,-0.00537325144564,0.0599148501245,0.999999962319,0.00023261518218,-0.000144057930503,2.23471822585e-05,1793237899226435840
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746.725802042,716,679.274197958,663,637,880.274197958,789,803.274197958,653.274197958,632.274197958,654,0.401182573083,-0.00537543762327,0.0599309580626,0.99999996601,0.000230468363141,-0.000119706914371,2.31292003529e-05,1793237899243102976
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746.697155968,716,679.302844032,663,637,880,788.697155968,803.302844032,653,632,654,0.4012458343,-0.0053774494624,0.0599434885493,0.999999968231,0.000229867762052,-0.000100682083809,2.36920170528e-05,1793237899259769600
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746.121906124,716,679.878093876,663,637,880,788.121906124,803.878093876,653,632,654,0.401313744724,-0.00537930448531,0.0599528011458,0.999999969372,0.000230657971973,-8.64481165524e-05,2.40576637901e-05,1793237899276436224
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,653.452106058,632.452106058,654,0.401388991722,-0.00538169684473,0.0599548003812,0.999999970005,0.000229935871618,-8.10239908655e-05,2.3563418532e-05,1793237899293102592
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679.973362716,663,637,880.026637284,788.026637284,803.973362716,654,632.973362716,654,0.401467400308,-0.00538417403792,0.0599549868547,0.999999970558,0.000228721748459,-7.77804553997e-05,2.28255114474e-05,1793237899309768960
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,679.380730913,663,637,880.619269087,788.619269087,803.380730913,654,632.380730913,654,0.401571067761,-0.00538538359785,0.0599584420051,0.999999971806,0.000225693964827,-7.05334383824e-05,2.18234234634e-05,1793237899326435584
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788.793389734,803.206610266,654,632,654,0.401680136052,-0.00538776988136,0.0599616292884,0.999999972898,0.000222998815553,-6.35241215668e-05,2.09758558368e-05,1793237899343102464
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788.215554497,803.784445503,654,632,654,0.401798908234,-0.0053922704313,0.0599643352838,0.999999973772,0.000220901324138,-5.69418910447e-05,2.04059212569e-05,1793237899359769600
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746.360554305,716,679.360554305,663,637,881,788.360554305,804,653.639445695,632.360554305,654,0.401928922081,-0.00539492885093,0.0599646436562,0.999999974221,0.000219553367218,-5.46489935343e-05,1.91659955047e-05,1793237899376436736
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746.935635944,716,679.935635944,663,637,881,788.935635944,804,653.064364056,632.935635944,654,0.402065624651,-0.0053964912161,0.0599635254596,0.999999974435,0.000218651377977,-5.4908219076e-05,1.75274295528e-05,1793237899393103616
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746.476062971,716,680,663,637,880.476062971,789,804,653,633,654,0.402223564323,-0.00540193021188,0.0599625750596,0.999999975297,0.000215221002217,-5.3286745614e-05,1.57173650709e-05,1793237899409769984
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716.111637998,679.888362002,663,637,880.111637998,788.888362002,803.888362002,653.111637998,632.888362002,654.111637998,0.402392483924,-0.0054075685328,0.0599618778745,0.99999997622,0.000211574681369,-5.10145581569e-05,1.39319284143e-05,1793237899426436608
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716.689867886,679.310132114,663,637,880.689867886,788.310132114,803.310132114,653.689867886,632.310132114,654.689867886,0.402596108063,-0.00541199800042,0.0599621506197,0.999999977112,0.000208357591236,-4.70133257376e-05,1.23397567343e-05,1793237899443102976
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716.732012875,679,663,637,881,788,803.267987125,654,632,654.732012875,0.402812522963,-0.00541707619133,0.0599637063907,0.999999978595,0.000202711441241,-4.01674643126e-05,1.02282229791e-05,1793237899459769344
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716.154021669,679,663,637,881,788,803.845978331,654,632,654.154021669,0.403043734041,-0.0054229048168,0.0599667463497,0.999999980653,0.000194255386007,-3.00309726382e-05,7.51589790588e-06,1793237899476435712
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.570544138,788,804,653.570544138,632,654,0.403287805659,-0.0054293513028,0.0599704823357,0.999999982174,0.000187257852757,-2.35915622287e-05,5.48802607994e-06,1793237899493102592
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.01479419,788,804,653.01479419,632,654,0.403537236805,-0.00543600761335,0.0599741449974,0.999999983476,0.000180767143846,-1.89369129048e-05,3.66769624227e-06,1793237899509769472
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.595075915,788,804,653.595075915,632,654,0.403812946481,-0.00544210453489,0.0599653398677,0.999999984481,0.000173395969443,-3.11644034652e-05,2.76013268117e-07,1793237899526436352
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.174125662,746,716,679.174125662,663,637,881,788,804,654,632.174125662,654,0.404098265442,-0.00544863256492,0.0599560660163,0.999999985283,0.000165534809559,-4.49690529017e-05,-3.22975710092e-06,1793237899543103232
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.750330528,746,716,679.750330528,663,637,881,788,804,654,632.750330528,654,0.404405773475,-0.00545615608064,0.059945709826,0.999999985775,0.000156542209376,-6.24155692943e-05,-6.99896989848e-06,1793237899559769856
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.673433298,746,716,679.673433298,663,637,880.673433298,788,804,653.673433298,632.673433298,654,0.404728200731,-0.0054652609244,0.0599362743254,0.999999986238,0.000145846213275,-7.83705947393e-05,-1.05640568602e-05,1793237899576436224
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.097173126,746,716,679.097173126,663,637,880.097173126,788,804,653.097173126,632.097173126,654,0.405062035284,-0.00547557485511,0.0599275427845,0.999999986603,0.00013384779672,-9.31852254445e-05,-1.39730692499e-05,1793237899593102848
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,679.487691626,663,637,880,788,804,653,632.487691626,654,0.405440018111,-0.00548535252113,0.0599331086657,0.999999988657,0.000122930364234,-8.5398231996e-05,-1.67655262895e-05,1793237899609769216
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,679.926550906,663,637,880.073449094,788,804,653.073449094,632.926550906,654,0.40583534877,-0.00549474974938,0.0599436920731,0.999999991119,0.00011233476768,-6.90475132109e-05,-1.93865539493e-05,1793237899626435840
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,679.346671465,663,637,880.653328535,788,804,653.653328535,632.346671465,654,0.406288550908,-0.00550227384034,0.0599688761863,0.999999994198,0.000102446454655,-2.52585944503e-05,-2.16878377251e-05,1793237899643102720
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.768122759,746,716,679.231877241,663,637,880.768122759,788,803.768122759,653.768122759,632,654,0.406757467772,-0.00550914445841,0.0599922369319,0.999999998034,5.5922369007e-05,1.51064006438e-05,-2.3994890149e-05,1793237899659769344
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.191552269,746,716,679.808447731,663,637,880.191552269,788,803.191552269,653.191552269,632,654,0.407249745073,-0.00551504366681,0.0600128871794,0.999999997369,-4.50620136999e-05,5.03816163769e-05,-2.6310517589e-05,1793237899676436224
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.383361541,746,716,679.616638459,663,637,880.766723082,788,803.383361541,653,632.383361541,654,0.407720363787,-0.00551113088084,0.0600157639424,0.999999996211,-6.61386252671e-05,4.93699932175e-05,-2.76744858423e-05,1793237899693103360
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.957451111,746,716,679.042548889,663,637,881.914902223,788,803.957451111,653,632.957451111,654,0.408180207019,-0.00550233648257,0.0600097981337,0.999999998007,-4.74599377677e-05,3.03051309335e-05,-2.85649896124e-05,1793237899709770240
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881.452849333,788,804,653,632.452849333,654,0.408664895744,-0.00549824706625,0.0599999006741,0.999999998967,-3.13169340353e-05,6.33285342841e-06,-3.23241249903e-05,1793237899726436608
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.864660787,746,716,679,663,637,880.864660787,788,804,653,632.135339213,654,0.409165932438,-0.00549980636311,0.0599913559407,0.999999998914,-2.58169516801e-05,-1.42917009183e-05,-3.6059215717e-05,1793237899743102976
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.28552465,746,716,679,663,637,880.28552465,788,804,653,632.71447535,654,0.409714054702,-0.00551865360166,0.0599882790128,0.999999997497,-5.45513937028e-05,-2.26504337001e-05,-3.89624733475e-05,1793237899759769344
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.291758929,746,716,679.291758929,663,637,880.291758929,788,804,653,632.708241071,654,0.410297223431,-0.00553070385195,0.0599926799555,0.99999999582,-7.9926776213e-05,-1.27642219211e-05,-4.25280420973e-05,1793237899776435968
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.867241044,746,716,679.867241044,663,637,880.867241044,788,804,653,632.132758956,654,0.410914473426,-0.00553614432165,0.0600043528097,0.999999993592,-0.000102035619178,1.48644236701e-05,-4.67376806515e-05,1793237899793102592
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,804,653,632,654,0.411524725677,-0.00553805172625,0.0600067622513,0.999999991782,-0.000115859413929,2.02437212335e-05,-5.10156954553e-05,1793237899809768960
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,803.983359659,653,632,654,0.412132306221,-0.00553864765387,0.0600058307791,0.999999990671,-0.000123997140243,1.79058930884e-05,-5.44296286213e-05,1793237899826435840
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,803.388687531,653,632,654,0.412719973472,-0.00553048921337,0.0599853389055,0.999999999198,-2.0920268023e-05,-2.07400554324e-05,-2.71159208554e-05,1793237899843102464
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,679.800888848,663,637,881,788,803.199111152,653,632.199111152,654,0.413319741642,-0.00551901969257,0.0599633792596,0.999999996731,4.9459329649e-05,-6.28674987419e-05,-1.18177336894e-05,1793237899859768832
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,679.226060211,663,637,881,788,803.773939789,653,632.773939789,654,0.413942343889,-0.00550130225118,0.0599386499672,0.999999991902,5.8140027043e-05,-0.000111564428829,-1.91925187609e-05,1793237899876435200
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.349903898,716,679.349903898,663.349903898,637,881,788,804.349903898,653.349903898,632.650096102,654,0.414648031294,-0.00550424129158,0.0599497371756,0.999999994475,4.53448190034e-05,-9.178328239e-05,-2.38619749551e-05,1793237899893102080
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746.926603961,716,679.926603961,663.926603961,637,881,788,804.926603961,653.926603961,632.073396039,654,0.415407571732,-0.00552056918278,0.0599840394594,0.999999999087,1.86296370044e-05,-2.76169034147e-05,-2.6777925855e-05,1793237899909768704
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746.488243619,716,680,663.488243619,637,881,788,804.488243619,653.488243619,632,654,0.416135089449,-0.00553292092078,0.0600158149652,0.999999999212,-1.15837575203e-05,2.55460821761e-05,-2.80914678677e-05,1793237899926435584
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,804,653,632,654,0.416854121901,-0.00554197522337,0.0600392087841,0.999999996901,-3.67006568912e-05,6.31210434798e-05,-2.94440081136e-05,1793237899943102208
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,804,653,632,654,0.41755417267,-0.00553750974328,0.0600227376865,0.999999998423,-3.39251141129e-05,3.11299174019e-05,-3.2153078709e-05,1793237899959769344
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746.252142529,716,679.747857471,663,637,881.252142529,788.252142529,804,653,632,654,0.418268175211,-0.00553252078168,0.0600066538335,0.999999999029,-2.69487174204e-05,5.23985289787e-06,-3.4483062316e-05,1793237899976435968
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746.824034907,716,679.175965093,663,637,881.824034907,788.824034907,804,653,632,654,0.418999870527,-0.00552686797616,0.059991061055,0.999999999149,-1.46450857759e-05,-1.29132684117e-05,-3.6332314214e-05,1793237899993102336
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.600302174,716,679.399697826,663,637,881.600302174,788.600302174,804,653,632,654,0.419754471241,-0.0055259820117,0.0599756525196,0.999999998523,-1.79358770205e-05,-3.37270073201e-05,-3.86514073874e-05,1793237900009769216
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.022963519,716,679.977036481,663,637,881.022963519,788.022963519,804,653,632,654,0.420519251936,-0.00552721461203,0.0599603258696,0.999999997203,-2.81574202976e-05,-5.57232242094e-05,-4.11793156677e-05,1793237900026436608
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746.571344695,716,680,663,637,881,788,804,653,632,653.428655305,0.421236154482,-0.00552998587075,0.0599389034241,0.999999993569,-3.47968509487e-05,-9.92664540183e-05,-4.23837121709e-05,1793237900043103232
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.839009787,746.839009787,716,679.839009787,663,637,881,788,804,652.839009787,632,653,0.421969926162,-0.00553286144794,0.0599243152104,0.999999990125,-3.8324748186e-05,-0.000128102835185,-4.32542662856e-05,1793237900059769856
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.263190084,746.263190084,716,679.263190084,663,637,881,788,804,652.263190084,632,653,0.422752275383,-0.00553584159828,0.0599279876499,0.999999991658,-3.42173759477e-05,-0.000116743718724,-4.34058607502e-05,1793237900076436224
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.312498228,746,716,679.312498228,663,637,881,788,804,652,632,653,0.423578662567,-0.00553820274031,0.0599616659909,0.999999996676,-3.66101415106e-05,-5.91596130299e-05,-4.25161702976e-05,1793237900093102592
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.888075897,746,716,679.888075897,663,637,881,788,804,652,632,653,0.424442123466,-0.00554004276448,0.0600206050695,0.999999997484,-4.44751064437e-05,3.73394151746e-05,-4.07498644676e-05,1793237900109769472
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,804,652.476081419,632,653.476081419,0.425256766901,-0.0055413848739,0.0600430680584,0.999999995282,-4.95308838235e-05,7.31553186766e-05,-4.03740817098e-05,1793237900126436352
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881.065797239,788,804,652.934202761,632,653.934202761,0.426056886303,-0.00554264649388,0.0600523744263,0.999999993842,-5.28251940743e-05,8.87487635769e-05,-4.0620175976e-05,1793237900143102720
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881.645440479,788,804,652.354559521,632,653.354559521,0.426835609485,-0.0055442181922,0.0600276980533,0.999999996086,-4.76591126361e-05,6.0813420889e-05,-4.3101440446e-05,1793237900159769600
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,882,788,804,652.221659302,632,653.221659302,0.427607141605,-0.00554551137546,0.0600072596283,0.999999997353,-4.62318578654e-05,3.35668317893e-05,-4.50591011671e-05,1793237900176436224
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,882,788,804,652.792483952,632,653.792483952,0.428367346235,-0.00554636583245,0.0599934969611,0.999999997621,-5.06941305675e-05,7.40518673128e-06,-4.61919636765e-05,1793237900193102848
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.376531845,637,881.623468155,788,804.376531845,653,632,654,0.429104721694,-0.00554636469122,0.0599783312191,0.999999997032,-5.81071399705e-05,-1.70823052371e-05,-4.76194004275e-05,1793237900209769472
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.968132607,637,881.031867393,788,804.968132607,653,632,654,0.429829057453,-0.00554587484603,0.0599623640643,0.999999995706,-6.72055623003e-05,-4.06135463861e-05,-4.9215093154e-05,1793237900226435840
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881.548266175,788,805,652.451733825,632.548266175,654,0.430628168062,-0.00554648466774,0.0599542205119,0.999999995445,-6.15624523576e-05,-5.27498200192e-05,-5.03802005921e-05,1793237900243102464
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680.12722557,664,637,882,788,804.87277443,652.12722557,632.87277443,653.87277443,0.431438287531,-0.00554805975841,0.0599592003729,0.999999996112,-5.82024197642e-05,-4.2459841414e-05,-5.08411596695e-05,1793237900259769344
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680.7043415,664,637,882,788,804.2956585,652.7043415,632.2956585,653.2956585,0.432272282046,-0.00555282680713,0.060009011677,0.999999995629,-6.58835594194e-05,4.48389316092e-05,-4.8898822613e-05,1793237900276437248
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.280849402,716.280849402,680.719150598,664,637,882,788,804,653,632.280849402,653.280849402,0.433058492182,-0.00555616161027,0.0600353784639,0.9999999924,-7.22440207615e-05,8.77295838523e-05,-4.77940583177e-05,1793237900293104128
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746.856718562,716.856718562,680.143281438,664,637,882,788,804,653,632.856718562,653.856718562,0.433794506911,-0.00555799190308,0.060037117829,0.999999992362,-7.72171684325e-05,8.3971482982e-05,-4.75691272265e-05,1793237900309770240
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.56876894,716.56876894,680,663.56876894,637,882,788,804.43123106,653,633,654,0.434507414321,-0.00555696029243,0.0600127364165,0.999999994749,-7.78445243539e-05,4.40327356668e-05,-5.00259786555e-05,1793237900326436352
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716.005459709,680,663.005459709,637,881.994540291,788,805,653,633,653.994540291,0.435212596511,-0.00555500850751,0.0599798190194,0.999999995577,-7.70668123908e-05,-7.77177250448e-06,-5.33489958365e-05,1793237900343102464
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716.597463699,680,663.597463699,637,881.402536301,788,805,653,633,653.402536301,0.435910077393,-0.00555603727692,0.059959334243,0.999999994228,-7.99785988665e-05,-4.69020804343e-05,-5.4298557563e-05,1793237900359769600
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716.81499251,680,664,637,881,788.18500749,804.81499251,653,632.81499251,653,0.436607016985,-0.00555670471195,0.0599475715621,0.999999992685,-8.26701863015e-05,-6.91122862865e-05,-5.49480486526e-05,1793237900376436480
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716.236924589,680,664,637,881,788.763075411,804.236924589,653,632.236924589,653,0.437302806699,-0.0055566044688,0.0599543395364,0.999999993353,-8.48939473247e-05,-5.53746434859e-05,-5.49600204996e-05,1793237900393102592
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.338381673,716,680.338381673,664,637,881.338381673,788.661618327,804,653,632.338381673,653.338381673,0.437962546711,-0.00555436148837,0.0599500844869,0.99999999282,-8.05690523011e-05,-6.9499895704e-05,-5.51205724122e-05,1793237900409769472
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.911769925,716,680.911769925,664,637,881.911769925,788.088230075,804,653,632.911769925,653.911769925,0.438597250111,-0.0055506303737,0.0599381739304,0.999999990594,-7.16961056378e-05,-0.000102975971028,-5.53843133548e-05,1793237900426436864
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.499693066,716,681,664,636.499693066,882.500306934,788,804.500306934,653,632.499693066,653.499693066,0.439286587302,-0.00555302005792,0.0599582451378,0.999999993742,-7.07128835032e-05,-6.78148288162e-05,-5.39986037649e-05,1793237900443102976
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636.089669474,882.910330526,788,805,652.910330526,632.089669474,653,0.439979295746,-0.00555684304107,0.0599854162075,0.999999995729,-7.34956730882e-05,-2.00982724253e-05,-5.23043602158e-05,1793237900459769088
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636.668506709,882.331493291,788,805,652.331493291,632.668506709,653,0.440636194089,-0.00556241268259,0.0600195902175,0.999999994369,-8.89956955899e-05,2.80173975536e-05,-5.05633790084e-05,1793237900476435712
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.245688281,716,681,664,637,881.754311719,788.245688281,805,652.245688281,633,653.245688281,0.441254354148,-0.00556621061185,0.0600326006747,0.999999993017,-9.75494737466e-05,4.40545931654e-05,-5.00856522087e-05,1793237900493102080
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.820650866,716,681,664,637,881.179349134,788.820650866,805,652.820650866,633,653.820650866,0.441820596652,-0.0055676340712,0.0600172474885,0.999999993853,-9.67938130258e-05,1.70998388449e-05,-5.13009539748e-05,1793237900509768704
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.6054675,716,681,664,637,881.3945325,789,805,653,633,654,0.442357634909,-0.00556757928054,0.059992497734,0.999999993674,-9.67087943158e-05,-2.09836684834e-05,-5.34678863752e-05,1793237900526435584
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.03207586,716,681,664,637,881.96792414,789,805,653,633,654,0.44288143363,-0.0055668543335,0.0599634880954,0.999999991676,-9.69278072775e-05,-6.41123371348e-05,-5.60662353259e-05,1793237900543102464
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663.852884894,636.147115106,882.852884894,789,804.147115106,653,633,653.147115106,0.443955308571,-0.00555457294258,0.0599621074514,0.999999992607,-9.00719984218e-05,-5.38522108039e-05,-6.14185873905e-05,1793237900576436736
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+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663,637,882,788.117885225,804.117885225,653,633,654,0.445366930995,-0.00556367554237,0.0599583525159,0.999999990071,-0.00010457751432,-6.86642273339e-05,-6.48548039735e-05,1793237900626436608
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716.467236435,681,663.467236435,636.532763565,882,788,804.467236435,653,633,654,0.445738771464,-0.00556785455482,0.0599227362828,0.999999982414,-0.000112326451753,-0.000134153955862,-6.75119567175e-05,1793237900643102720
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746.05377955,716.94622045,681,663.94622045,636,882,788,805,652.94622045,633,654,0.446095814394,-0.00557225389628,0.0598823319585,0.999999968847,-0.000120960037318,-0.0002066988807,-7.03613102351e-05,1793237900659769088
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746.633694104,716.366305896,681,663.366305896,636,882,788,805,652.366305896,633,654,0.446467977179,-0.00557757962003,0.0598524788234,0.999999958854,-0.000126634349809,-0.000246847919735,-7.29479133894e-05,1793237900676435456
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+250,4.166666667,POSE1_TO_POSE2_PRESS,766.968355223,746.968355223,716,681,661.968355223,634,881.968355223,787,805,653,632,654,0.450931464897,-0.0055732700823,0.0596952155461,0.999999879136,-0.000108899769026,-0.000475579761776,-6.07660688351e-05,1793237901376435456
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,747,716,681.567981095,661.432018905,634,882,787,804.432018905,653,632,654,0.450931300466,-0.00557262621999,0.0596951799748,0.999999878859,-0.000108868354219,-0.000476211439576,-6.04315339516e-05,1793237901393102080
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+253,4.216666667,POSE1_TO_POSE2_PRESS,767,746.259688748,716,681.259688748,661,633.259688748,882,787,804.740311252,653,632,654,0.450930693618,-0.00557088387204,0.0596947737914,0.999999878285,-0.000109457387768,-0.000477241915515,-6.07442246112e-05,1793237901426435328
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+256,4.266666667,POSE1_TO_POSE2_PRESS,766.520561468,746.479438532,716,681,661.520561468,633,882,787,805,652.479438532,632,653.479438532,0.450931988983,-0.00556890847188,0.0596940341908,0.999999878264,-0.00010558068115,-0.00047811439162,-6.10884755585e-05,1793237901476435456
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,747,716,682,661,634,882,787,805.369020368,653,632,654,0.450931247145,-0.0055678534457,0.0596901487535,0.999999874364,-0.000107497549459,-0.000485860375238,-6.04679125627e-05,1793237902055265536
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746.258847002,716,679.741152998,663,637,881,788,804,653,632.741152998,654,0.415448036302,-0.00536946803586,0.0598409080326,0.999999938713,0.000204414172692,-0.000282915941004,2.73266809604e-05,1793237903321931520
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788,804,653,632.676171609,654,0.414763565226,-0.00536851840388,0.059837070604,0.999999935788,0.000209695649591,-0.000289373842121,2.67195849297e-05,1793237903338598400
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788,804,653,632.096382817,654,0.414087783499,-0.00537202018193,0.0598398972465,0.999999937494,0.000217171390063,-0.000277736395578,2.66784636685e-05,1793237903355265024
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.517388553,746,716,679.517388553,663,636.517388553,880.517388553,788,804,653,632,653.517388553,0.413393246595,-0.00537234465209,0.0598317727398,0.999999932689,0.000217325676745,-0.00029438944514,2.69547589511e-05,1793237903371931904
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.060967271,746,716,679,663,636.060967271,880.060967271,788,804,653,632.060967271,653.060967271,0.412699684738,-0.00537159323891,0.0598191523838,0.999999925206,0.000216195204144,-0.000319557841249,2.70398834965e-05,1793237903388599296
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.635281278,746,716,679,663,636.635281278,880.635281278,788,804,653,632.635281278,653.635281278,0.412045819173,-0.00536711694467,0.0597870617087,0.999999908188,0.000216538342792,-0.000368931401077,2.49824610416e-05,1793237903405265408
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,715.78495251,679.21504749,663,637,881,788,803.78495251,653,632.78495251,654,0.411425288437,-0.00536453401832,0.0597696091741,0.999999899391,0.000218499428932,-0.000391051035197,2.35519111e-05,1793237903421931520
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,715.195698925,679.804301075,663,637,881,788,803.195698925,653,632.195698925,654,0.410862764011,-0.00536524575911,0.0597776286043,0.99999990792,0.000223275920838,-0.000365745861233,2.32121880111e-05,1793237903438598144
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746.387082007,715.387082007,680,663,637,880.612917993,788,803,653,632,654,0.410314670999,-0.00536632441537,0.0598049053015,0.999999922276,0.000224866621687,-0.000322892827048,2.49740798114e-05,1793237903455264768
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746.9666444,715.9666444,680,663,637,880.0333556,788,803,653,632,654,0.409773754102,-0.00536758552406,0.0598417578673,0.999999937525,0.000224873156152,-0.000271313941505,2.77810204864e-05,1793237903471931392
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,715.307906222,680,663,636,881,788,804,653,632,654,0.408174162405,-0.00536667779552,0.0598544415271,0.999999942056,0.000221006928977,-0.000257344572537,2.85931670547e-05,1793237903521931520
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,715.27303222,679.72696778,663,636.27303222,881,788,804,653,632,654,0.407673980344,-0.00536961315279,0.0598420210625,0.999999935804,0.000223830053869,-0.000278426774015,2.77581982854e-05,1793237903538598144
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,715.863235102,679.136764898,663,636.863235102,881,788,804,653,632,654,0.407197572134,-0.00537221014615,0.0598313226635,0.999999929781,0.000228083540927,-0.000296121999389,2.69832215111e-05,1793237903555264768
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.553669663,788,804.446330337,653,632,654.446330337,0.406761387365,-0.00537037567823,0.059837684138,0.999999934955,0.000228472862173,-0.000277763009338,2.71786125731e-05,1793237903571931392
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.026952897,663,637,880.026952897,788,804.946094205,653,632,654.946094205,0.406338078177,-0.00536718670297,0.0598489765966,0.999999942512,0.000228027361296,-0.000249427061561,2.7663506667e-05,1793237903588597760
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.600901138,663,637,880.600901138,788,803.798197724,653,632,653.798197724,0.405929857439,-0.00536363444715,0.0598559143748,0.999999943525,0.000234292814822,-0.000239308051292,2.80839250254e-05,1793237903605265408
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746.178800651,716,679.821199349,663,637,880.821199349,788.178800651,803.178800651,653.178800651,632,653.178800651,0.405528984654,-0.0053599142138,0.0598567508772,0.99999994181,0.000242086818958,-0.000238676455527,2.8410652857e-05,1793237903621932544
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746.765718981,716,679.234281019,663,637,880.234281019,788.765718981,803.765718981,653.765718981,632,653.765718981,0.405144883844,-0.00535581056733,0.0598436610395,0.999999933773,0.000253369783371,-0.000259700160262,2.852352928e-05,1793237903638598400
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.651233544,747,716,679.348766456,663,637,880,789,804,653.651233544,632,654,0.404768527702,-0.00535018475561,0.0598253358843,0.999999922577,0.000264024247292,-0.000290416591797,2.82160955228e-05,1793237903655265024
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.070757684,747,716,679.929242316,663,637,880,789,804,653.070757684,632,654,0.404397316833,-0.00534354766502,0.0598035325482,0.999999908357,0.000274261156245,-0.000327572566304,2.76294209599e-05,1793237903671931648
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.506818978,746.493181022,716,679.493181022,663,637,880.506818978,788.493181022,804,653,632,654,0.40407558223,-0.00533921379872,0.059793433606,0.999999901591,0.000280726155739,-0.000342385353667,2.79895494315e-05,1793237903688598272
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.658169994,663,637,880.341830006,788.658169994,803.341830006,653,632,653.341830006,0.403522579484,-0.00533255026961,0.0598109925355,0.999999909714,0.000291169800178,-0.000307995753208,3.05055839794e-05,1793237903721932032
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.76040424,663,637,880,788.76040424,803.23959576,653,632,653.23959576,0.403283276554,-0.00533152783289,0.0598289499961,0.999999918208,0.000293072667305,-0.000276844225476,3.23922337882e-05,1793237903738598656
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.168890592,663,637,880,788.168890592,803.831109408,653,632,653.831109408,0.403056577409,-0.00533314971549,0.0598414847743,0.999999924112,0.00029088902947,-0.000256862835045,3.4362478594e-05,1793237903755265024
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,636.587099272,880,788,804,653,632.412900728,654,0.402845046289,-0.00533520894992,0.0598497111988,0.999999928722,0.000287287790411,-0.000242392491856,3.55961917517e-05,1793237903771931648
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,636.009193248,880,788,804,653,632.990806752,654,0.40263957669,-0.00533744296087,0.0598562158987,0.999999932775,0.000283120043041,-0.0002301244993,3.65355686801e-05,1793237903788598016
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.563095716,663,636.563095716,880.563095716,788,804,653,632.436904284,654,0.402443193734,-0.00535372189831,0.0598515831938,0.999999935822,0.000263251247264,-0.000240098189739,3.75089738738e-05,1793237903805264896
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.864222819,663,637,880.864222819,788,804,653,632.135777181,654,0.402251585457,-0.00536764409175,0.0598464202552,0.999999937413,0.000245944299363,-0.000251435599749,3.82696777399e-05,1793237903821931776
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.289980745,663,637,880.289980745,788,804,653,632.710019255,654,0.402074921742,-0.00537322248673,0.059840126426,0.999999935625,0.00023772994458,-0.000266015812037,3.83417292962e-05,1793237903838598656
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,636.703805483,880.296194517,788,804,653.296194517,632.703805483,654,0.401919275062,-0.00537377421925,0.0598377127634,0.999999940748,0.000206432433718,-0.000273979330505,2.8717598363e-05,1793237903855265280
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,636.10545686,880.89454314,788,804,653.89454314,632.10545686,654,0.401785068269,-0.0053691981509,0.0598392573376,0.999999950603,0.000151587320156,-0.000275193024952,9.20219263041e-06,1793237903871931648
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,636.473825202,881,788,803.526174798,653.526174798,632.473825202,654,0.401673279161,-0.00537561468838,0.0598409664723,0.999999947357,0.000176849129359,-0.000271917141927,8.44900691019e-06,1793237903888598272
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.951148001,788,803.048851999,653.048851999,633,654,0.401567864601,-0.00538304464591,0.0598427798208,0.999999940793,0.000216033231439,-0.000267608258918,1.14028412073e-05,1793237903905264640
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.378008279,788,803.621991721,653.621991721,633,654,0.401479387082,-0.00537610952623,0.0598453337467,0.999999941127,0.000220691809555,-0.000262522039318,1.10591288763e-05,1793237903921931520
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.201115454,663,637,880.201115454,788,803.798884546,654,632.798884546,654,0.401396441502,-0.00537227967674,0.0598478349308,0.999999941725,0.000223290782109,-0.000257992432532,1.14659006039e-05,1793237903938598400
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.791831363,663,637,880.791831363,788,803.208168637,654,632.208168637,654,0.401324212388,-0.00537446535088,0.059850233943,0.999999942896,0.000221899890616,-0.000254541095301,1.33265085736e-05,1793237903955265024
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788,803.375446579,654,632,654,0.401259096659,-0.00537339141596,0.0598487208909,0.999999941952,0.000223050393636,-0.000257185569485,1.41160153033e-05,1793237903971932160
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788,803.955197833,654,632,654,0.401197851784,-0.00537054371765,0.0598450790324,0.99999993983,0.000225583833191,-0.000263147167516,1.43226667765e-05,1793237903988599296
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881.530813838,788,803.469186162,654,632,654,0.401151479917,-0.00536806805417,0.0598421746236,0.999999937774,0.000228001589745,-0.000268822214226,1.42102020551e-05,1793237904005265664
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881.787271481,788.10636426,803.10636426,654,632,654,0.401109431483,-0.00536663764203,0.059840159193,0.999999936443,0.000229092150973,-0.000272811951601,1.43285425954e-05,1793237904021932032
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.63368762,788.68315619,803.68315619,654,632,654,0.401080995608,-0.00536969236074,0.059841802375,0.999999938408,0.000224355644507,-0.000269454045787,1.55858924075e-05,1793237904038598400
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746.264761146,716,680,663.264761146,637,880,788.735238854,804,654,632,654,0.401056240572,-0.00537002272994,0.0598434348428,0.999999939364,0.000223156261614,-0.000266861620515,1.60707602372e-05,1793237904055265024
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746.85223265,716,680,663.85223265,637,880,788.14776735,804,654,632,654,0.401035972009,-0.00536703246201,0.0598450542518,0.999999939113,0.000226268184439,-0.000265202218781,1.56140703843e-05,1793237904071931648
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746.564718675,716,679.564718675,663.564718675,637,880.435281325,788,803.564718675,653.564718675,632,654,0.401021560536,-0.0053675479622,0.0598455382053,0.999999939218,0.000227091163276,-0.000264079659628,1.60079939648e-05,1793237904088598528
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,881,788,803,653,632.0166711,654,0.401009245654,-0.00536913181289,0.0598456078573,0.999999939418,0.000227180891316,-0.000263203347531,1.66547597379e-05,1793237904105265408
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,881,788,803,653,632.592276579,654,0.401001230722,-0.00536703435673,0.0598445805206,0.999999938779,0.000228476713581,-0.000264534302613,1.61946054725e-05,1793237904121932032
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.834291269,788,803.165708731,653.165708731,632.834291269,654,0.400994797541,-0.00536586844911,0.0598445135389,0.999999938693,0.000229020849463,-0.000264400868463,1.60003779752e-05,1793237904138598912
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.266137359,788,803.733862641,653.733862641,632.266137359,654,0.40099220585,-0.00536696492825,0.0598467789041,0.999999939947,0.000227739417232,-0.000260710974743,1.64519882085e-05,1793237904155265536
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788,804,654,632,654,0.400990062447,-0.0053670725241,0.059847775438,0.999999940283,0.000228413735803,-0.000258812379157,1.66605949554e-05,1793237904171931904
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788,804,654,632,654,0.400988314076,-0.0053663087148,0.059847653876,0.999999939815,0.000230811464267,-0.000258492277717,1.66550667309e-05,1793237904188598528
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746.494619798,716,679.494619798,663,637,880.494619798,788,804,654,632.494619798,654,0.400987351516,-0.00536696003986,0.059848757994,0.999999940254,0.000229446700555,-0.000258006044612,1.67087802527e-05,1793237904205264896
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746.929233782,716.070766218,680,663,637.070766218,881,788,804,654,633,654,0.400986753633,-0.00536774567831,0.0598499838935,0.999999940809,0.00022779905735,-0.000257308512153,1.67991922049e-05,1793237904221931520
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746.342864923,716.657135077,680,663,637.657135077,881,788,804,654,633,654,0.40098788532,-0.00536783969645,0.0598506504707,0.99999994116,0.000228531076073,-0.000255267531562,1.70870681861e-05,1793237904238598400
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a5c5c3e4b70229dfafa616fc64258a0e3207c07e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,442 @@
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+422,7.033333333,pose2_to_pose3_retreat,0.578254740016,1.24755103227e-06,1.05001159671,0.548826017317,0.0086749026717,1.049661127
+423,7.050000000,pose2_to_pose3_retreat,0.57825428455,1.20791296748e-06,1.05001166162,0.548825562817,0.0086748663503,1.04966119287
+424,7.066666667,pose2_to_pose3_retreat,0.578254049555,1.1874619246e-06,1.05001169511,0.548825328321,0.00867484761047,1.04966122686
+425,7.083333333,pose2_to_pose3_retreat,0.578253988955,1.18218806121e-06,1.05001170374,0.548825267849,0.00867484277789,1.04966123562
+426,7.100000000,pose2_to_pose3_retreat,0.578253982066,1.18158856301e-06,1.05001170472,0.548825260975,0.00867484222855,1.04966123662
+427,7.116666667,pose2_to_pose3_retreat,0.578253826311,1.16803358223e-06,1.05001172692,0.54882510555,0.00867482980777,1.04966125914
+428,7.133333333,pose2_to_pose3_retreat,0.578253540325,1.14314495598e-06,1.05001176767,0.548824820171,0.00867480700166,1.0496613005
+429,7.150000000,pose2_to_pose3_retreat,0.578253479606,1.13786073104e-06,1.05001177632,0.548824759581,0.00867480215959,1.04966130928
+430,7.166666667,pose2_to_pose3_retreat,0.578253290636,1.13898780476e-06,1.05001179166,0.548824570624,0.00867480333531,1.04966132474
+431,7.183333333,pose2_to_pose3_retreat,0.578253161536,1.18201259969e-06,1.05001177426,0.5488244406,0.00867484320145,1.04966130676
+432,7.200000000,pose2_to_pose3_retreat,0.578253042045,1.22183530966e-06,1.05001175816,0.548824320252,0.0086748801006,1.04966129011
+433,7.216666667,pose2_to_pose3_retreat,0.578252999185,1.23611912262e-06,1.05001175238,0.548824277086,0.00867489333577,1.04966128414
+434,7.233333333,pose2_to_pose3_retreat,0.578252941668,1.25528757449e-06,1.05001174463,0.548824219157,0.00867491109698,1.04966127613
+435,7.250000000,pose2_to_pose3_retreat,0.578252789666,1.30594512687e-06,1.05001172414,0.548824066066,0.00867495803553,1.04966125495
+436,7.266666667,pose2_to_pose3_retreat,0.578252519057,1.36836532219e-06,1.05001169015,0.548823794381,0.00867501684068,1.04966122195
+437,7.283333333,pose2_to_pose3_retreat,0.578252308647,1.3617079258e-06,1.05001166863,0.548823584842,0.00867501334757,1.04966120562
+438,7.300000000,pose2_to_pose3_retreat,0.578252230187,1.35922545211e-06,1.05001166061,0.548823506707,0.00867501204502,1.04966119953
+439,7.316666667,pose2_to_pose3_retreat,0.578252163259,1.34737585299e-06,1.05001165734,0.548823439854,0.00867500044847,1.04966119629
+440,7.333333333,pose2_to_pose3_retreat,0.578252145367,1.33141068729e-06,1.05001166116,0.548823421716,0.00867498356076,1.04966119798
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4908c154e37ac19e5a0f4b258bd7033fb81db2d0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:388758f90965cc1c5b2a6257f163cb9cd5f797d1bac4383d0216c43e3d967433
+size 28097275
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ef5801a1c1cfdfed50c25f4baba76ec6964188ea
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_05/franka_data.csv
@@ -0,0 +1,443 @@
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+46,0.766666667,BASELINE,767,746,716.700356747,680,663,637,881,789,804,654,633,654,0.400985715432,-0.0053694664886,0.0598563886757,0.999999943289,0.000230239157312,-0.000245191513432,1.70912876885e-05,1793237905503535360
+47,0.783333333,BASELINE,767,746,716.714681262,679.714681262,663,637,881,788.714681262,803.714681262,653.714681262,633,654,0.400986245404,-0.00536908367322,0.0598572356095,0.999999943411,0.000230947267959,-0.000244020484935,1.71597512485e-05,1793237905520201984
+48,0.800000000,BASELINE,767,746,716.136640929,679.136640929,663,637,881,788.136640929,803.136640929,653.136640929,633,654,0.400987705906,-0.00536856122485,0.059858477457,0.999999943931,0.000231063171584,-0.000241758536316,1.7320518224e-05,1793237905536868608
+49,0.816666667,BASELINE,767.438735393,746,716,679.438735393,663,637,881,788,803.438735393,653,632.561264607,654,0.40098664952,-0.00536978642044,0.0598579386726,0.99999994404,0.000229306932538,-0.000242967071813,1.74987856927e-05,1793237905553535488
+50,0.833333333,BASELINE,767.986714307,746,716,680,663,637,881,788,804,653,632.013285693,654,0.400984821274,-0.00537148103663,0.0598568381062,0.99999994399,0.00022707344691,-0.000245246747413,1.76732279451e-05,1793237905570202368
+51,0.850000000,BASELINE,767.412219207,746,716,680,663,637,881,788,804,653,632.587780793,654,0.400983300358,-0.00537015177588,0.0598552912849,0.999999942989,0.000229161255175,-0.000247391534283,1.74572429961e-05,1793237905586869248
+52,0.866666667,BASELINE,767,746,716.167228211,680,663,637,881,788,804,653,633,654,0.400983034975,-0.00536905259172,0.0598548049379,0.999999942482,0.000230757207799,-0.000247970835096,1.72413819255e-05,1793237905603536128
+53,0.883333333,BASELINE,767,746,716.759255654,680,663,637,881,788,804,653,633,654,0.400985958943,-0.00536853785662,0.0598570124469,0.999999943243,0.000231103730563,-0.000244573430699,1.70258355488e-05,1793237905620202496
+54,0.900000000,BASELINE,767,746,716.65659704,679.65659704,663,637,881,788.34340296,803.65659704,653.34340296,632.65659704,654,0.400986588711,-0.00536882261016,0.0598578186354,0.999999943698,0.000230320454756,-0.000243450774309,1.69896013438e-05,1793237905636869120
+55,0.916666667,BASELINE,767,746,716.07785024,679.07785024,663,637,881,788.92214976,803.07785024,653.92214976,632.07785024,654,0.400985646198,-0.00536965527609,0.059857664459,0.999999943948,0.00022876289576,-0.000243887067722,1.70762548915e-05,1793237905653535488
+56,0.933333333,BASELINE,767.497689215,746,716,679.497689215,663,637.497689215,881,789,803,654,632.497689215,654,0.400986429304,-0.00537026616476,0.0598579152547,0.999999944031,0.000228988492451,-0.000243312224113,1.73674644341e-05,1793237905670202112
+57,0.950000000,BASELINE,767.925612169,746.074387831,716.074387831,680,663.074387831,637.925612169,881,789,803,654,633,654,0.400987278544,-0.00537066346587,0.0598581616005,0.999999944067,0.000229438867202,-0.00024272418611,1.75963706515e-05,1793237905686868992
+58,0.966666667,BASELINE,767.337465265,746.662534735,716.662534735,680,663.662534735,637.337465265,881,789,803,654,633,654,0.400986732219,-0.00536982368563,0.059857942508,0.999999943955,0.000229527595679,-0.000243130395746,1.71754047898e-05,1793237905703535616
+59,0.983333333,BASELINE,767,746.752839976,716.752839976,680,663.752839976,637,880.752839976,788.752839976,803.247160024,654,633,653.752839976,0.400986040315,-0.00536876384258,0.0598575883893,0.999999943671,0.000230030744964,-0.000243839164168,1.68939078947e-05,1793237905720202240
+60,1.000000000,BASELINE,767,746.17295537,716.17295537,680,663.17295537,637,880.17295537,788.17295537,803.82704463,654,633,653.17295537,0.400985152435,-0.00536740775287,0.0598570524998,0.999999943156,0.000231091783795,-0.000244955234543,1.68001627982e-05,1793237905736869376
+61,1.016666667,BASELINE,767,746,716,679.596532351,663,637,880.403467649,788,803.596532351,653.596532351,633,653.403467649,0.400985552582,-0.00536815460548,0.059857384342,0.999999943508,0.000230056268127,-0.000244473222587,1.70684860034e-05,1793237905753536000
+62,1.033333333,BASELINE,767,746,716,679.02158063,663,637,880.97841937,788,803.02158063,653.02158063,633,653.97841937,0.400986500173,-0.00536979526247,0.0598580849925,0.999999944225,0.000228129663098,-0.00024331198469,1.74906975047e-05,1793237905770202368
+63,1.050000000,BASELINE,767,746,716,679,663,637,881,788,803,653,632.449588075,654,0.400986011205,-0.00536892011597,0.0598575988457,0.999999943594,0.000230769676674,-0.000243437240565,1.71925603348e-05,1793237905786868992
+64,1.066666667,BASELINE,767,746,716,679.127506242,663,636.872493758,881,788,803,653,632,654,0.400985975121,-0.00536807747679,0.0598574217328,0.999999943065,0.000233221389681,-0.00024329167709,1.69407247269e-05,1793237905803535616
+65,1.083333333,BASELINE,767,746,716,679.723781107,663,636.276218893,881,788,803,653,632,654,0.400987810008,-0.00536771505321,0.0598585509212,0.999999943128,0.000234326086521,-0.000241966011822,1.69623941984e-05,1793237905820201984
+66,1.100000000,BASELINE,767,746,716,679.690051958,663,636.309948042,880.690051958,788,803,653.309948042,632,653.690051958,0.400987977948,-0.0053681073695,0.0598587662884,0.999999943004,0.000234795005216,-0.000242010139207,1.71569209191e-05,1793237905836868864
+67,1.116666667,BASELINE,767,746,716,679.112608534,663,636.887391466,880.112608534,788,803,653.887391466,632,653.112608534,0.400986707257,-0.00536915105121,0.0598581929977,0.999999942719,0.000234715226346,-0.000243236442902,1.75006291468e-05,1793237905853535744
+68,1.133333333,BASELINE,767,746,716,679.463913599,663,637,880.463913599,788.463913599,803.463913599,654,632,653.463913599,0.400986367453,-0.00536937128315,0.0598578267169,0.999999943008,0.000233131054585,-0.000243583016273,1.73594677196e-05,1793237905870202624
+69,1.150000000,BASELINE,767,746,716,679.959206024,663,637,881,788.959206024,804,653.959206024,632,654,0.400986271078,-0.00536945345217,0.0598575134115,0.999999943416,0.000231234810124,-0.000243730186022,1.71331907074e-05,1793237905886869504
+70,1.166666667,BASELINE,767,746,716,679.374574962,663,637,881,788.374574962,804,653.374574962,632,654,0.400986413568,-0.00537035445455,0.0598572377832,0.999999943609,0.000230036779707,-0.000244060199433,1.73381347025e-05,1793237905903536128
+71,1.183333333,BASELINE,767,746,716,679.208596011,663,637,881,788,803.791403989,653.208596011,632.208596011,654,0.400986650257,-0.0053709824407,0.0598573454493,0.999999943765,0.00022936928515,-0.000244040308942,1.74553070284e-05,1793237905920202496
+72,1.200000000,BASELINE,767,746,716,679.789163428,663,637,881,788,803.210836572,653.789163428,632.789163428,654,0.400987054922,-0.00537112358053,0.0598581366114,0.999999943858,0.000229647849567,-0.000243396464835,1.74159636863e-05,1793237905936868864
+73,1.216666667,BASELINE,767,746,716,679.63302689,663,637,881,788,803,654,632.63302689,654,0.400987560518,-0.00537013857505,0.0598587965408,0.999999943824,0.000230792884683,-0.00024246169927,1.72813315556e-05,1793237905953535488
+74,1.233333333,BASELINE,767,746,716,679.056789825,663,637,881,788,803,654,632.056789825,654,0.400988123669,-0.00536851139276,0.0598593816355,0.999999943714,0.000232432018892,-0.00024136103773,1.70923616341e-05,1793237905970202368
+75,1.250000000,BASELINE,767,746,716,679,663,637,881,788,803,654,632,654,0.400987217527,-0.00536886528415,0.0598587029564,0.999999943717,0.000231200985319,-0.000242528665732,1.70842700102e-05,1793237905986868992
+76,1.266666667,BASELINE,767,746,716,679.096231207,663,637,881.096231207,788,803,654,632.096231207,653.903768793,0.400986354228,-0.00536940644983,0.059857929632,0.999999943771,0.000229845602697,-0.000243594378641,1.70730076786e-05,1793237906003535872
+77,1.283333333,BASELINE,767,746,716,679.687004132,663,637,881.687004132,788,803,654,632.687004132,653.312995868,0.400986536626,-0.00536979698142,0.0598573799607,0.999999944039,0.000229463765829,-0.000242861913868,1.69438253003e-05,1793237906020202496
+78,1.300000000,BASELINE,767.27246029,746,716,680,663,637,881.72753971,788,803.27246029,653.72753971,632.72753971,653.27246029,0.400986027573,-0.00536980560433,0.0598568432124,0.999999943959,0.0002291938158,-0.000243451473341,1.68314386362e-05,1793237906036868864
+79,1.316666667,BASELINE,767.851925539,746,716,680,663,637,881.148074461,788,803.851925539,653.148074461,632.148074461,653.851925539,0.400984739403,-0.00536938389712,0.0598563210254,0.999999943485,0.000229049938533,-0.000245530673795,1.67379771888e-05,1793237906053535232
+80,1.333333333,BASELINE,767.571671684,746,716,680,663,637,880.571671684,788,803.571671684,653.428328316,632.428328316,653.571671684,0.400985599557,-0.00536955223619,0.0598572623983,0.999999943877,0.00022865798342,-0.000244282711877,1.69260241513e-05,1793237906070202112
+81,1.350000000,BASELINE,767,746,716,679.996332619,663,637,880.003667381,788,803.003667381,653.996332619,632.996332619,653,0.40098718656,-0.00536991872475,0.0598586983872,0.999999944555,0.000228196509028,-0.000241907403759,1.72092580966e-05,1793237906086868992
+82,1.366666667,BASELINE,767,746,716,679.42294601,663,637,880.57705399,788,803.57705399,653.42294601,632.42294601,653,0.400987133002,-0.00536960427044,0.05985893052,0.999999944126,0.000230163622156,-0.000241815580242,1.72687101266e-05,1793237906103535872
+83,1.383333333,BASELINE,767,746,716,679,663,637,881,788,803.844869825,653.155130175,632,653,0.400986958221,-0.00536957354408,0.0598588513709,0.999999943932,0.000230745851836,-0.000242058596399,1.72979158522e-05,1793237906120202240
+84,1.400000000,BASELINE,767,746,716,679,663,637,881,788,803.253609317,653.746390683,632,653,0.400986442638,-0.00537034048557,0.0598578970895,0.999999944405,0.000227434644226,-0.000243242975091,1.72420876464e-05,1793237906136868864
+85,1.416666667,BASELINE,767,746,716,679.330036861,663,637,881,788.330036861,803,653.669963139,632,653.330036861,0.400986295165,-0.00537011905277,0.0598573503304,0.999999944182,0.00022769354645,-0.000243924021709,1.71348092201e-05,1793237906153535744
+86,1.433333333,BASELINE,767,746,716,679.907963891,663,637,881,788.907963891,803,653.092036109,632,653.907963891,0.400986424177,-0.00536915525353,0.0598571096607,0.999999943436,0.000230633952791,-0.000244227016319,1.69888866169e-05,1793237906170202368
+87,1.450000000,BASELINE,767,746.484460039,716,680,663,637,880.515539961,789,803,653.484460039,632.484460039,654,0.400987481909,-0.00536919519636,0.0598584134343,0.999999943606,0.000231825620936,-0.00024238185137,1.71752677934e-05,1793237906186868992
+88,1.466666667,BASELINE,767,746.93798865,716.06201135,680,663,637,880,788.93798865,803,654,633,654,0.400988506711,-0.00536942512446,0.0598597546029,0.999999943898,0.000232578583289,-0.000240432855073,1.73898992911e-05,1793237906203536128
+89,1.483333333,BASELINE,767,746.349170837,716.650829163,680,663,637,880,788.349170837,803,654,633,654,0.400987757311,-0.00536965385677,0.0598589281962,0.999999943786,0.000232418598657,-0.000241058511387,1.73097962863e-05,1793237906220202752
+90,1.500000000,BASELINE,767,746.235859754,716.764140246,679.764140246,663,637,880,788,803,653.764140246,632.764140246,654,0.40098727411,-0.00536937387186,0.0598582778397,0.999999943655,0.000232213212291,-0.000241810619671,1.7155980232e-05,1793237906236869120
+91,1.516666667,BASELINE,767,746.815372231,716.184627769,679.184627769,663,637,880,788,803,653.184627769,632.184627769,654,0.400987178768,-0.00536835267503,0.0598578839921,0.999999943496,0.000231941674633,-0.000242746971132,1.68947626901e-05,1793237906253535488
+92,1.533333333,BASELINE,767,746.60757447,716,679.39242553,663,637,880.39242553,788.39242553,803.39242553,653.39242553,632.39242553,654,0.400986623956,-0.00536886985656,0.0598576880003,0.99999994387,0.000230261338011,-0.000242792130192,1.70703363875e-05,1793237906270202112
+93,1.550000000,BASELINE,767,746.031670906,716,679.968329094,663,637,880.968329094,788.968329094,803.968329094,653.968329094,632.968329094,654,0.400985854319,-0.00537010630476,0.0598575845158,0.99999994449,0.000227922319279,-0.000242420613513,1.74501312245e-05,1793237906286868736
+94,1.566666667,BASELINE,767,746,716,679.446041806,663,637,880.446041806,789,803.446041806,654,633,654,0.400987008314,-0.00537061003464,0.0598582635151,0.999999944396,0.000228953481711,-0.000241831073128,1.74691329548e-05,1793237906303535616
+95,1.583333333,BASELINE,767,746,716,679.138753562,663,637,880,788.861246438,803,653.861246438,632.861246438,654,0.400988004082,-0.00537076006568,0.0598588761086,0.999999944303,0.00022989064275,-0.000241327868119,1.74660292159e-05,1793237906320202752
+96,1.600000000,BASELINE,767,746,716,679.719094504,663,637,880,788.280905496,803,653.280905496,632.280905496,654,0.400988140028,-0.00536992014141,0.0598591324453,0.999999944345,0.000229904473631,-0.000241139806568,1.74593941817e-05,1793237906336869376
+97,1.616666667,BASELINE,767,746,716,679.701736256,663,637,880.298263744,788,803.298263744,653,632,654,0.400987501937,-0.00536940954369,0.0598588930055,0.99999994416,0.000230396881097,-0.000241442073031,1.73889678522e-05,1793237906353535744
+98,1.633333333,BASELINE,767,746,716,679.123666245,663,637,880.876333755,788,803.876333755,653,632,654,0.40098613771,-0.00536920789283,0.0598581884692,0.999999943761,0.00023133824936,-0.000242204324518,1.7258697829e-05,1793237906370202112
+99,1.650000000,BASELINE,767,746,716,679,663,637,880.547818449,788,804,653,632.452181551,654,0.4009869237,-0.0053686799829,0.0598586767459,0.999999943628,0.000232330787488,-0.000241790443717,1.74576627055e-05,1793237906386868736
+100,1.666666667,BASELINE,767,746,716,679.028028365,663,636.971971635,880,788,804,653.028028365,632.971971635,654,0.400988163051,-0.00536809734006,0.0598594080786,0.999999943568,0.000233206279427,-0.000241173620578,1.76980222017e-05,1793237906403535360
+101,1.683333333,BASELINE,767,746,716,679.61593642,663,636.38406358,880,788,804,653.61593642,632.38406358,654,0.400986769168,-0.0053681950352,0.0598585100384,0.999999943568,0.000231465542725,-0.000242896778224,1.69754274781e-05,1793237906420201984
+102,1.700000000,BASELINE,767,746.201290987,716,679.798709013,663,636,880,788,804,653.798709013,632,654,0.400986150087,-0.00536848994557,0.059858206183,0.999999943666,0.00023038517138,-0.000243540539467,1.667912891e-05,1793237906436868864
+103,1.716666667,BASELINE,767,746.781834461,716,679.218165539,663,636,880,788,804,653.218165539,632,654,0.400986990813,-0.00536915642929,0.0598590218318,0.999999943957,0.000230548995055,-0.000242150609019,1.7186015303e-05,1793237906453535744
+104,1.733333333,BASELINE,767,746.640966809,716,679,662.640966809,636.359033191,880,788,803.640966809,653,632,654,0.400986905374,-0.00537025005211,0.0598591513719,0.999999944254,0.000229356143835,-0.000242033921126,1.75482256346e-05,1793237906470202368
+105,1.750000000,BASELINE,767,746.065781689,716,679,662.065781689,636.934218311,880,788,803.065781689,653,632,654,0.400986262349,-0.00537160082932,0.0598588678481,0.99999994455,0.000227346521635,-0.000242683774583,1.78233354051e-05,1793237906486869248
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637,880,789,803,653,632,654,0.400985086975,-0.00536995975404,0.0598572736762,0.999999943187,0.000232581928479,-0.000243369366402,1.7435379908e-05,1793237906518212608
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746.597798542,716.597798542,679.597798542,664,637,880.597798542,789,804.195597085,653.597798542,632.597798542,654,0.400985290804,-0.00536824587927,0.0598569155427,0.999999942944,0.000232718890829,-0.000244269372585,1.69146093242e-05,1793237906534879488
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.810081936,716.810081936,680,663.810081936,637,881,789,804.810081936,654,632.810081936,653.810081936,0.40098568744,-0.00536794282306,0.0598569289695,0.999999943092,0.000232053357182,-0.000244306836733,1.67593086238e-05,1793237906551546368
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746.229639938,716.229639938,680,663.229639938,637,881,789,804.229639938,654,632.229639938,653.229639938,0.400986480541,-0.00537054079869,0.0598577064268,0.999999944039,0.000229737670401,-0.000242570676666,1.7355514734e-05,1793237906568212736
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,789,804,654,632.348113871,653.348113871,0.400986223047,-0.00537117184151,0.0598579263876,0.999999944204,0.000228871759123,-0.000242703422725,1.74472678668e-05,1793237906584879616
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,789,804,654,632.92410792,653.92410792,0.400985277818,-0.00537051530261,0.0598577814034,0.999999943859,0.000228954891175,-0.000244059580806,1.72087990349e-05,1793237906601546496
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,789,804,653.490272886,632.490272886,654,0.400985548382,-0.00536940621427,0.0598582010013,0.999999943806,0.000229781548627,-0.000243512791789,1.70440729237e-05,1793237906618213888
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679.904366649,663,637,881,788.904366649,804,653,632,654,0.400986091514,-0.00536849056794,0.0598586519641,0.999999943822,0.000230585696581,-0.000242691824542,1.69333067467e-05,1793237906634880768
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679.324404067,663,637,881,788.324404067,804,653,632,654,0.400987080668,-0.00536890240132,0.0598588278662,0.999999943974,0.000230704413948,-0.000241944798656,1.7039142756e-05,1793237906651546624
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679.253904247,663,637,881,788.253904247,804,653.253904247,632,654,0.400987662951,-0.00536930435366,0.0598589380762,0.999999943969,0.000230798493555,-0.000241865820941,1.71597660368e-05,1793237906668212992
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679.8301126,663,637,881,788.8301126,804,653.8301126,632,654,0.400987728757,-0.00536969376307,0.0598589648973,0.999999943766,0.000230861298169,-0.000242634858515,1.72991601587e-05,1793237906684879616
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788.594825656,804,654,632,654,0.400994975418,-0.00537010789182,0.0598622016009,0.999999945265,0.000230042785956,-0.000237172824363,1.73131898588e-05,1793237906701546240
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788.020243272,804,654,632,654,0.401005224478,-0.00537053235603,0.0598667803931,0.999999947419,0.000228855785063,-0.00022910550772,1.72748032675e-05,1793237906718212864
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881.55429279,788,804,654,632,654,0.401037690582,-0.00537167986054,0.0598806377129,0.99999995298,0.000227726285254,-0.000204589052109,1.80208371329e-05,1793237906734879488
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881.732427158,788.133786421,804,654,632,654,0.401076093414,-0.00537291495336,0.0598960374369,0.999999958359,0.000227080689457,-0.00017708783662,1.88550943121e-05,1793237906751546112
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.53912418,788.73043791,804,654,632,654,0.401132228792,-0.00537436172819,0.0599156012022,0.999999963799,0.000228102006671,-0.000141338363734,1.98954754704e-05,1793237906768212736
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.315445154,788.684554846,803.684554846,654,632,654,0.401193186301,-0.0053764129972,0.0599323778969,0.999999967582,0.000226824094227,-0.00011380769109,2.08338682887e-05,1793237906784879616
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.890856065,788.109143935,803.109143935,654,632,654,0.401258117836,-0.00537896244396,0.0599468577002,0.999999970426,0.000223651332674,-9.30503269046e-05,2.16882100675e-05,1793237906801546240
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,803.460766522,654,632.460766522,654,0.401327398395,-0.00538043346501,0.059952250814,0.999999971401,0.000223252634969,-8.30557375058e-05,2.13804111452e-05,1793237906818212864
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.030822975,716.030822975,680,663,637,881,788.030822975,804,654,633,654,0.401398641446,-0.00538173956632,0.0599554123471,0.999999971931,0.000223495424481,-7.58664792117e-05,2.08075863419e-05,1793237906834879488
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746.627182053,716.627182053,680,663,637,881,788.627182053,804,654,633,654,0.401487213552,-0.00538465144714,0.0599566553303,0.999999972063,0.000223593878535,-7.39242911204e-05,2.0363350933e-05,1793237906851545856
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746.782938366,716.782938366,680,663,637,881,788.782938366,804,653.782938366,633,654,0.401583330332,-0.0053870677175,0.0599582206044,0.999999972493,0.000222619266315,-7.1186338955e-05,1.96903167081e-05,1793237906868212736
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746.20386523,716.20386523,680,663,637,881,788.20386523,804,653.20386523,633,654,0.401692029977,-0.00538865741733,0.0599603233897,0.999999973406,0.000219855013396,-6.71212259314e-05,1.86356959657e-05,1793237906884879360
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,679.627939123,663,636.627939123,881,788,804,653.372060877,632.627939123,654,0.40181222236,-0.00539115952499,0.059961041798,0.999999974051,0.00021817925561,-6.31666910518e-05,1.74937359552e-05,1793237906901545984
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,679.053722868,663,636.053722868,881,788,804,653.946277132,632.053722868,654,0.401938659212,-0.00539415738003,0.0599610080196,0.999999974545,0.000217094919991,-5.92722372712e-05,1.63043209709e-05,1793237906918212608
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,636.533821456,881,788.533821456,803.466178544,654,632.533821456,654,0.402081196296,-0.00539760208512,0.0599590546358,0.999999975103,0.000214235854684,-6.06644860277e-05,1.4691350972e-05,1793237906934879232
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.120820278,746.120820278,716,679,663,637,880.879179722,788.879179722,803.120820278,654,632.879179722,654,0.402234722722,-0.00540125534954,0.0599578742334,0.999999975703,0.000211578149058,-6.0496936335e-05,1.30025913747e-05,1793237906951546112
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.700522591,746.700522591,716,679,663,637,880.299477409,788.299477409,803.700522591,654,632.299477409,654,0.402423675744,-0.00540552556185,0.0599603821741,0.999999976438,0.00021038094233,-5.23327085805e-05,1.11920191327e-05,1793237906968212736
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.721427007,747,716,679.278572993,663.278572993,637,880.278572993,788,804,653.721427007,632,654,0.402623537688,-0.00541103085691,0.0599620043948,0.999999977702,0.000205980054736,-4.56262538013e-05,9.25656895047e-06,1793237906984879360
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.145142042,747,716,679.854857958,663.854857958,637,880.854857958,788,804,653.145142042,632,654,0.402835058025,-0.00541785608915,0.0599626800432,0.999999979522,0.000198155381819,-4.04777267916e-05,7.18766136784e-06,1793237907001545984
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746.562975938,716,679.562975938,663.562975938,637,881,788.437024062,804,653,632,654,0.403063300552,-0.00542432395516,0.059965400172,0.999999981197,0.000190854263318,-3.39519828747e-05,5.27571203297e-06,1793237907018212608
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746.021088251,716,679.021088251,663,637,881,789,803.978911749,653.021088251,632,654,0.403298324869,-0.00543063132974,0.0599686096454,0.999999982746,0.000183707713221,-2.73597964422e-05,3.37894185376e-06,1793237907034879232
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746.602978183,716,679.602978183,663,637,881,789,803.397021817,653.602978183,632,654,0.403563993908,-0.00543587003978,0.0599665292449,0.999999984024,0.000175984529154,-3.13301270537e-05,4.80674364815e-07,1793237907051545856
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746.816513138,716.183486862,680,663,637,880.816513138,788.816513138,803,653.816513138,632.183486862,654,0.403841137846,-0.0054419614015,0.0599628920285,0.999999985238,0.000167868244613,-3.65826215876e-05,-2.60476364613e-06,1793237907068212480
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746.238970904,716.761029096,680,663,637,880.238970904,788.238970904,803,653.238970904,632.761029096,654,0.40414292518,-0.0054498839126,0.0599559114031,0.999999986362,0.00015890774067,-4.45886837728e-05,-6.09216766318e-06,1793237907084879104
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716.664650155,680,663,637,880,788,803.335349845,653.335349845,632.664650155,654,0.40444775074,-0.00545820012779,0.0599460667253,0.999999986845,0.000150020630254,-6.09453403539e-05,-9.50586170108e-06,1793237907101545984
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716.092603141,680,663,637,880,788,803.907396859,653.907396859,632.092603141,654,0.404754720776,-0.00546679422866,0.0599342005365,0.99999998649,0.000141185321602,-8.31960277766e-05,-1.28675299956e-05,1793237907118212864
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716.496118205,680,663,637,880.496118205,788,804,653.503881795,632,654,0.405102490958,-0.00547296107564,0.059929662999,0.999999987191,0.000131653570467,-8.94580898122e-05,-1.67827197988e-05,1793237907134879488
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746.0853996,716.9146004,680,663,637,881,788,803.9146004,653,632.0853996,654,0.405467087112,-0.00547914867777,0.0599289922893,0.999999988348,0.000122322138171,-8.89901418126e-05,-2.0542297042e-05,1793237907151545856
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746.659457532,716.340542468,680,663,637,881,788,803.340542468,653,632.659457532,654,0.405882870022,-0.0054881376233,0.0599423480896,0.999999990848,0.000114906632724,-6.76834221072e-05,-2.2799710431e-05,1793237907168212736
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,747,716,679.764495369,663.235504631,637,881.235504631,788,803.235504631,653.235504631,632.764495369,654,0.406325314729,-0.00549727238174,0.0599615401695,0.999999996211,7.52682203875e-05,-3.58979110458e-05,-2.49791542406e-05,1793237907184879616
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,747,716,679.185547444,663.814452556,637,881.814452556,788,803.814452556,653.814452556,632.185547444,654,0.406806641088,-0.00550661978285,0.0599892434658,0.999999999507,-1.13617998565e-05,1.11691270128e-05,-2.70448924439e-05,1793237907201546752
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746.609450197,716,679,663.609450197,637,881.609450197,788,804,654,632.390549803,654,0.407285077504,-0.00551436999055,0.060007113262,0.999999997271,-5.7562600453e-05,3.59067788726e-05,-2.92446978407e-05,1793237907218213376
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746.034697487,716,679,663.034697487,637,881.034697487,788,804,654,632.965302513,654,0.407762150864,-0.00552136688135,0.0600203450849,0.999999994661,-8.46949478085e-05,5.01127692502e-05,-3.15077360635e-05,1793237907234879744
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746.555656839,716,679,663,637,881,788,804,653.444343161,633,654,0.408224022102,-0.0055096145578,0.0600093784923,0.999999997302,-6.14978217999e-05,2.33933250129e-05,-3.26532763785e-05,1793237907251546112
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,747,716,679,663,637,881,788.143776199,804,653,632.856223801,654,0.408700030639,-0.00549934224833,0.0599976571402,0.999999998606,-3.98486486773e-05,-2.96637180565e-06,-3.45078264235e-05,1793237907268212736
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,747,716,679,663,637,881,788.722110704,804,653,632.277889296,654,0.409221720619,-0.00549718408983,0.0599883535834,0.999999998511,-3.26514583697e-05,-2.02915382314e-05,-3.87223363168e-05,1793237907284879872
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.7005405,747,716,679,663.2994595,637,881,789,804,653,632,654,0.409782913747,-0.00550837074738,0.0599892171692,0.999999997774,-4.88983744406e-05,-1.69738676721e-05,-4.21104602987e-05,1793237907301546496
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.124103343,747,716,679,663.875896657,637,881,789,804,653,632,654,0.410380644396,-0.00553190036214,0.059999484601,0.999999995215,-8.68293358145e-05,5.43688227722e-06,-4.47342395119e-05,1793237907318213120
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.448830502,746.551169498,716,679.448830502,663.551169498,637,881,788.551169498,804,653,632.448830502,654,0.410981364017,-0.00553868838369,0.0600065200263,0.999999992376,-0.000111383151462,2.11819178143e-05,-4.8926163481e-05,1793237907334879744
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,804,653,632.978318084,654,0.411582725102,-0.00554070765852,0.0600120369432,0.999999989316,-0.000131758376016,3.38048165399e-05,-5.35288131878e-05,1793237907351546368
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,804,653,632.382183795,654,0.412179355305,-0.00553807754896,0.0600008154789,0.999999988653,-0.000138663635206,1.21619247715e-05,-5.76144548982e-05,1793237907368212992
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746.206380458,716,679.793619542,663,637,881,788,804,653,632,653.793619542,0.412773642758,-0.00553138182492,0.0599812683849,0.999999993196,-0.000101812727618,-2.68262163345e-05,-5.02337716251e-05,1793237907384879616
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746.781422182,716,679.218577818,663,637,881,788,804,653,632,653.218577818,0.413363745276,-0.00551742361806,0.059946849064,0.999999994978,1.32006394401e-05,-9.6798498721e-05,-2.23705770665e-05,1793237907401546240
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746.643678929,716,679,663,637,881,788,804.356321071,653,632,653.356321071,0.414022290809,-0.00550823781398,0.0599372644417,0.999999991798,5.71046730539e-05,-0.000113542230672,-1.5845635138e-05,1793237907418212608
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.068867644,716,679,663,637,881,788,804.931132356,653,632,653.931132356,0.414722804451,-0.00550197836924,0.0599429080491,0.999999993334,5.74056303554e-05,-9.7647090242e-05,-2.24049595234e-05,1793237907434879232
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,679.486517456,663.973034912,637,881,788,805,653,632,654,0.415478160148,-0.00551580712817,0.0599856529066,0.999999999029,2.81065464069e-05,-2.30161312148e-05,-2.49416206964e-05,1793237907451546112
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,679.955710853,664.955710853,637,881,788.044289147,804.955710853,653,632.044289147,654,0.41623652245,-0.0055317070323,0.0600302382232,0.999999998187,-4.87587653187e-06,5.36233290379e-05,-2.69544745588e-05,1793237907468212736
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,679.332138556,664.332138556,637,881,788.667861444,804.332138556,653,632.667861444,654,0.416936570852,-0.00553893247873,0.0600328425111,0.999999997666,-3.33361813894e-05,5.19624298278e-05,-2.92779223146e-05,1793237907484879360
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+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663.156380809,637,881,788.156380809,804,653,632.156380809,654,0.418363120038,-0.00553627665626,0.0600037999917,0.99999999903,-2.79275008882e-05,3.67754645422e-06,-3.38629468357e-05,1793237907518212608
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679.419973971,663,637,881,788,804,653,632,654,0.419114855619,-0.00553076133859,0.0599898581018,0.999999998962,-1.9961343262e-05,-1.96002797303e-05,-3.59630242699e-05,1793237907534879232
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679.996863853,663,637,881,788,804,653,632,654,0.419879167617,-0.00552484151989,0.0599784553382,0.999999998396,-1.42559077461e-05,-3.9505994496e-05,-3.7995397259e-05,1793237907551545856
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,804,653,632.583161609,653.416838391,0.42060448932,-0.00552811610545,0.0599620518902,0.999999997149,-3.04583814359e-05,-5.65650720755e-05,-3.96840790787e-05,1793237907568212480
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.832040606,746,716,679.832040606,663,637,881,788,804,653,632.832040606,653.167959394,0.421331516544,-0.00553144776246,0.0599437343964,0.999999994845,-4.02470345196e-05,-8.37830932586e-05,-4.08658347157e-05,1793237907584879360
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.251057839,746,716,679.251057839,663,637,881,788,804,653,632.251057839,653.748942161,0.422063261793,-0.00553479617706,0.059920777353,0.99999998934,-3.39692024547e-05,-0.000136020897025,-4.08056445256e-05,1793237907601545984
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.32606869,746,716,679.32606869,663,636.67393131,881,788,804,653,632,654,0.422860236918,-0.00553716901852,0.0599327503093,0.999999991909,-3.19849811186e-05,-0.000116033291318,-4.11680627358e-05,1793237907618212608
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.90026077,746,716,679.90026077,663,636.09973923,881,788,804,653,632,654,0.423706848968,-0.0055387994932,0.059971303402,0.999999997727,-3.32680017809e-05,-4.10854426609e-05,-4.18520665345e-05,1793237907634879232
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679.513492972,663.486507028,636.486507028,881,788,804,653,632,654,0.424542599955,-0.00553880965083,0.0600115342536,0.999999998016,-4.26997584653e-05,2.18891997403e-05,-4.07997034777e-05,1793237907651545856
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679.074090655,663.925909345,637,881,788,804.074090655,653,632,654,0.425370518108,-0.00553896584505,0.0600458859169,0.999999995151,-5.19666908811e-05,7.36252997496e-05,-3.96969056782e-05,1793237907668212736
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679.653512289,663.346487711,637,881,788,804.653512289,653,632,654,0.426160584949,-0.00554244126732,0.0600377333469,0.999999995828,-4.84258708905e-05,6.58766077671e-05,-4.07397068825e-05,1793237907684879360
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746.231390211,716,680,663.231390211,636.768609789,881.231390211,788,804.768609789,653,632.231390211,654,0.42694727096,-0.00554579744354,0.0600259329531,0.999999996516,-4.68062362611e-05,5.46547870124e-05,-4.23123172471e-05,1793237907701545984
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.806971955,716,680,663.806971955,636.193028045,881.806971955,788,804.193028045,653,632.806971955,654,0.427728928123,-0.00554897624251,0.0600087064423,0.999999997116,-4.80443526532e-05,3.82667071438e-05,-4.46730156704e-05,1793237907718212608
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.617571214,716,680,663.617571214,636.382428786,881.617571214,788,804,653,632.617571214,653.617571214,0.428500877297,-0.00554950237731,0.059993346396,0.999999997237,-5.58016145362e-05,1.66531625773e-05,-4.61953937172e-05,1793237907734879488
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.042177447,716,680,663.042177447,636.957822553,881.042177447,788,804,653,632.042177447,653.042177447,0.429267927992,-0.00554869003713,0.0599789281267,0.999999996618,-6.68482908227e-05,-7.59703322568e-06,-4.72947739516e-05,1793237907751546112
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.548245584,716,680.548245584,663.548245584,637,881,788.548245584,804.548245584,653,632.548245584,653.548245584,0.43001905084,-0.00554685669275,0.0599587634793,0.999999995798,-6.2912620843e-05,-4.57759975677e-05,-4.84744983942e-05,1793237907768212736
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.863005686,716,680.726011372,664,636.863005686,881.136994314,788.863005686,804.863005686,653,632.863005686,654,0.430787030594,-0.00554597302073,0.0599493908886,0.99999999507,-5.88862504988e-05,-6.28515262101e-05,-4.94140168741e-05,1793237907784879360
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746.283505152,716,679.567010304,664,636.283505152,881.716494848,788.283505152,804.283505152,653,632.283505152,654,0.431613529507,-0.00554841775983,0.0599763460002,0.999999997033,-5.83949226997e-05,-8.20188589376e-06,-4.95571165035e-05,1793237907801545984
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716,679.294198163,664,636.294198163,882,788,804.294198163,653,632,654,0.432421923799,-0.00555203515997,0.0600064957908,0.999999995837,-6.4114082671e-05,4.29087157127e-05,-4.87345122841e-05,1793237907818212864
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679.870180064,664,636.870180064,882,788,804.870180064,653,632,654,0.43321297739,-0.00555677573767,0.0600397054512,0.999999991918,-7.57816634234e-05,9.062961399e-05,-4.69869545075e-05,1793237907834879488
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,882,788,804.547148071,653,632.452851929,654,0.433952555436,-0.00555861234703,0.0600278159123,0.999999993591,-7.74097835331e-05,6.73088753932e-05,-4.79061961172e-05,1793237907851546112
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.037287231,716,680,664,637,882,788,804.037287231,653,633,654,0.434676365591,-0.00555942622132,0.0600026257287,0.999999995601,-7.60798399499e-05,2.33280387171e-05,-4.96517415585e-05,1793237907868212736
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.619047592,716,680,664,637,882,788,804.619047592,653,633,654,0.435388638826,-0.00555764432906,0.0599748347649,0.999999995677,-7.42114078352e-05,-2.04933343226e-05,-5.21324169391e-05,1793237907884879360
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.800740072,716,680,664,636.800740072,882,788,805,653,633,653.800740072,0.43609775737,-0.00555699657922,0.0599547555196,0.999999994272,-7.60652302355e-05,-5.26311726851e-05,-5.38595041315e-05,1793237907901545984
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.223464392,716,680,664,636.223464392,882,788,805,653,633,653.223464392,0.436800891277,-0.00555850040922,0.0599493061608,0.999999992963,-8.49805367521e-05,-6.26042002078e-05,-5.41569607298e-05,1793237907918212608
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664,636.350207207,882,788.350207207,805,653,633,653,0.437475030252,-0.00555791868221,0.0599451425254,0.999999991858,-8.51010855484e-05,-7.80651890549e-05,-5.42907191562e-05,1793237907934879232
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,636.921602465,882,788.921602465,805,653,633,653,0.438130856218,-0.00555601973413,0.0599417909429,0.999999990647,-7.96669356844e-05,-9.69923294341e-05,-5.43210871057e-05,1793237907951546112
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.509454387,716,680.509454387,664.509454387,637,882,789,805,653.509454387,633,653.509454387,0.438816785941,-0.00555489449417,0.0599454643896,0.999999991965,-7.2788340114e-05,-8.88505325151e-05,-5.36326773453e-05,1793237907968212736
+194,3.233333333,POSE1_TO_POSE2_PRESS,767.098097241,747,716,681,664.901902759,636.901902759,882.098097241,789,805,654,633,654,0.439509314431,-0.00555489040002,0.0599566667773,0.999999993987,-6.90316449125e-05,-6.70811594594e-05,-5.25456491021e-05,1793237907984879360
+195,3.250000000,POSE1_TO_POSE2_PRESS,767.677775647,747,716,681,664.322224353,636.322224353,882.677775647,789,805,654,633,654,0.440210736476,-0.00555978624531,0.059999346146,0.999999995407,-8.17286949992e-05,4.56975361838e-07,-5.00628457041e-05,1793237908001545984
+196,3.266666667,POSE1_TO_POSE2_PRESS,767.743924255,747,716,681,664,636.256075745,882.743924255,789,805,653.743924255,633,654,0.440872956737,-0.00556409037398,0.0600256173288,0.999999993916,-9.06421892411e-05,3.944357801e-05,-4.89546694361e-05,1793237908018212608
+197,3.283333333,POSE1_TO_POSE2_PRESS,767.167349262,747,716,681,664,636.832650738,882.167349262,789,805,653.167349262,633,654,0.441486112782,-0.00556765392165,0.060031352353,0.999999993365,-9.48202605964e-05,4.26956528286e-05,-4.9566949221e-05,1793237908034879488
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.584641813,716,681,664,637,882,788.584641813,804.584641813,653,633,653.584641813,0.442041018407,-0.00556970058515,0.0600072095889,0.999999993937,-9.71208170991e-05,4.73811440002e-06,-5.16739659645e-05,1793237908051546112
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.000568854,716,681,664.000568854,637,882,788.000568854,804.000568854,653,633,653.000568854,0.442572139843,-0.00557112104341,0.0599708739619,0.999999992403,-9.86502566294e-05,-5.00267743009e-05,-5.4392157524e-05,1793237908068212992
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.581043824,716,681,664.581043824,637,882,788.581043824,804.581043824,653,633,653.581043824,0.443140738666,-0.0055665381568,0.0599604308207,0.999999991952,-9.67914497461e-05,-5.89548964413e-05,-5.70238905174e-05,1793237908084879616
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,747,716.160958082,681,664.839041918,637,882,788.839041918,805,653,633,654,0.44370175447,-0.00556229064885,0.0599567758685,0.999999991877,-9.58060031783e-05,-5.96144017783e-05,-5.92752368284e-05,1793237908101545984
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,747,716.739418061,681,664.260581939,637,882,788.260581939,805,653,633,654,0.44424310115,-0.00555891306342,0.0599707284907,0.999999992701,-9.70859260583e-05,-3.88263175637e-05,-6.05399158763e-05,1793237908118212608
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.683984307,716.683984307,681,663.683984307,637,882.316015693,788,805,653,633,654,0.444747182556,-0.00555798468407,0.0599754732207,0.999999992589,-9.91557385245e-05,-3.40037165098e-05,-6.19204244042e-05,1793237908134879744
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.108913378,716.108913378,681,663.108913378,637,882.891086622,788,805,653,633,654,0.44522071556,-0.00555906405224,0.0599726697402,0.999999991908,-0.000101873066353,-4.22688908863e-05,-6.33958845875e-05,1793237908151547136
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663.463590922,636.536409078,883,788,805,653,633,653.536409078,0.445621134604,-0.00556408474612,0.0599380411546,0.999999986383,-0.000107363910032,-0.000106630087899,-6.58600745383e-05,1793237908168213504
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746.037038245,716,681,664,636,882.962961755,788,805,653,632.962961755,653,0.44600479811,-0.00556989952502,0.059896306854,0.999999974548,-0.000113461717226,-0.000182569361629,-6.854877249e-05,1793237908184879616
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746.633798823,716,681,664,636,882.366201177,788,805,653,632.366201177,653,0.446393401155,-0.00557379856927,0.0598595583751,0.999999962686,-0.000118939296427,-0.00023541391631,-7.11392552413e-05,1793237908201546496
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,747,716,681.222229999,663.777770001,636,882,788,805.222229999,653,632,653,0.446779805644,-0.00557691272462,0.0598356755726,0.999999953774,-0.000123438937927,-0.00026806532488,-7.31805706398e-05,1793237908218213376
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,747,716,681.797431397,663.202568603,636,882,788,805.797431397,653,632,653,0.447162718096,-0.00557878022821,0.0598322275295,0.999999953165,-0.000126385305526,-0.000268643638038,-7.43496349151e-05,1793237908234880256
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,747,716.373470845,682,663,636,882.373470845,788,805.626529155,653,632.373470845,653.373470845,0.447535705741,-0.00558204262929,0.0598359116487,0.99999995571,-0.000125517927915,-0.000259783222975,-7.30574565584e-05,1793237908251547136
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,747,716.949965924,682,663,636,882.949965924,788,805.050034076,653,632.949965924,653.949965924,0.447903298151,-0.00558606331728,0.0598434729158,0.999999959801,-0.000122577342683,-0.000245791776724,-7.04273106779e-05,1793237908268213504
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,747,716.464065091,681.464065091,663,635.464065091,882.464065091,787.464065091,805,653,632.464065091,654,0.44821874768,-0.0055851274592,0.0598411113244,0.999999965163,-6.60170008865e-05,-0.000249991404318,-5.31060586443e-05,1793237908284879872
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,747,716,681,663,635,882,787.121826766,805,653,632,654,0.44851798587,-0.00558152384803,0.0598323487008,0.999999964081,-1.57654607458e-05,-0.000264687213767,-3.91249487939e-05,1793237908301546240
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,747,716,681,663,635,882,787.704024862,805,653,632,654,0.448774689753,-0.00556961916054,0.059802960914,0.999999950204,-8.61130685574e-06,-0.000312513899675,-4.30420836252e-05,1793237908318212864
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,747,716,681.281972821,663,635,882,788,805,652.718027179,632,654,0.449013022401,-0.00555973052393,0.0597729733807,0.999999933746,-2.87940197675e-05,-0.00035980916344,-4.70815407198e-05,1793237908334879744
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,747,716,681.855525797,663,635,882,788,805,652.144474203,632,654,0.449232357858,-0.00555192662947,0.059742365668,0.99999991306,-7.72450173236e-05,-0.00040655489507,-5.1247487512e-05,1793237908351546368
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+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746.332530378,716,682.332530378,661.667469622,634,882,787.667469622,805,653,632,654,0.450860540051,-0.00557664887737,0.0597068956035,0.999999886381,-0.000119376547711,-0.000457516712758,-6.05527824871e-05,1793237908518213632
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746.246332038,716,682,662,634,882,788,805,653,632,654,0.450950834478,-0.00557840328265,0.0597040861826,0.99999988426,-0.000120317969281,-0.000461872741903,-6.06422554932e-05,1793237908534880512
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746.822109151,716,682,662,634,882,788,805,653,632,654,0.451025837477,-0.00558038051311,0.0596970267435,0.999999879866,-0.000121207470788,-0.000471019079739,-6.09675491976e-05,1793237908551547648
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,747,716.405540626,682,661.594459374,634,882,787.594459374,805,653,632,654,0.451086529584,-0.00557835541665,0.0596906140666,0.999999875656,-0.000119049282719,-0.000480308764455,-6.17981940178e-05,1793237908568213760
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,747,716.992394271,682,661.007605729,634,882,787.007605729,805,653,632,654,0.451140823435,-0.00557454092117,0.0596844905506,0.999999871467,-0.000115528504132,-0.000489662537805,-6.28547760824e-05,1793237908584879360
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,747,716.428179413,682,662.71546176,634,882.571820587,787,805,653,632,654,0.45118654049,-0.00557724092637,0.0596814283314,0.999999869221,-0.000117588277321,-0.000493786236303,-6.25056987299e-05,1793237908601545728
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,747,716,682,663.548272141,634,882.849424047,787,805.150575953,653,632,653.849424047,0.451231063586,-0.00557918972106,0.059680260249,0.999999868348,-0.00011952511133,-0.000495117423352,-6.22625110546e-05,1793237908618212608
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,747,716,682,661.816879581,634,882.272293194,787,805.727706806,653,632,653.272293194,0.451272523426,-0.00557876815637,0.0596843440524,0.999999871316,-0.000120906106214,-0.00048873245893,-6.23715749095e-05,1793237908634880256
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+235,3.916666667,POSE1_TO_POSE2_PRESS,767,747,716,682,661,634,882,787,805.122144435,653,632,653.877855565,0.451337963136,-0.00557751295641,0.0596911823449,0.999999876803,-0.000116337283611,-0.000478588723434,-6.17468717389e-05,1793237908668213760
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,747,716,681.547294434,661,634,882,786.547294434,805,653,632,654,0.451355868146,-0.0055773626983,0.059691304507,0.999999876384,-0.000115592102541,-0.000479680880882,-6.14484804539e-05,1793237908684880128
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,747,716,681.028651378,661,633.971348622,882,786.028651378,805.028651378,653,632,654,0.451370063033,-0.00557733678157,0.0596903865467,0.999999874998,-0.000115593020309,-0.00048259170001,-6.12215946173e-05,1793237908701546752
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,747,716,681.624082149,661,633.375917851,882,786.624082149,805.624082149,653,632,654,0.4513755935,-0.00557688070212,0.0596854098924,0.999999870962,-0.000116084911984,-0.000490715388675,-6.16395974199e-05,1793237908718213120
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,747,716,682,661.21177547,633.21177547,882,787.21177547,805.78822453,653,632,653.78822453,0.451379968169,-0.00557663155301,0.0596809041581,0.99999986731,-0.000116704361342,-0.0004979309683,-6.18467691433e-05,1793237908734879744
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,747,716,682,661.7862183,633.7862183,882,787.7862183,805.2137817,653,632,653.2137817,0.451382363525,-0.005576736774,0.0596772048788,0.999999864387,-0.000117542254336,-0.000503591402724,-6.16928907622e-05,1793237908751546368
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,747,716,681.639097181,661.639097181,634,882,787.639097181,804.639097181,653,632,653.360902819,0.451386291483,-0.00557624061759,0.0596760711413,0.999999863899,-0.000117107989538,-0.000504662614748,-6.16648634414e-05,1793237908768212736
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,747,716,681.064269421,661.064269421,634,882,787.064269421,804.064269421,653,632,653.935730579,0.45139112789,-0.00557538799507,0.0596764581273,0.999999864866,-0.000115919653907,-0.000503013567618,-6.17114342708e-05,1793237908784879104
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,747,716,681.522843161,661,634,882,787.522843161,804.522843161,653,632,654,0.451393050912,-0.00557633859235,0.0596762489207,0.999999864605,-0.000116675719057,-0.000503411940237,-6.12581323337e-05,1793237908801546240
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,747,716,682,661,634,882,787.890316097,805,653,632,653.890316097,0.451394379226,-0.00557720543814,0.0596758951345,0.999999864165,-0.000117573543736,-0.000504126986561,-6.08458265317e-05,1793237908818213120
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,747,716,682,661,634,882,787.311256501,805,653,632,653.311256501,0.451394731982,-0.00557674251015,0.0596752438027,0.999999863621,-0.000118030582657,-0.000505094271021,-6.08782327428e-05,1793237908834879744
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+247,4.116666667,POSE1_TO_POSE2_PRESS,767,747,716,682,661,633.159989566,882,787,805,653,632,653.840010434,0.451398438861,-0.00557651918424,0.0596776295821,0.999999865053,-0.000116559832382,-0.000502612545695,-6.07397937863e-05,1793237908868212992
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+256,4.266666667,POSE1_TO_POSE2_PRESS,767,747,716.078559557,681.921440443,661,634,882,787,805,653,632,654,0.451397898215,-0.00557311922085,0.0596738133769,0.999999863128,-0.000112435960537,-0.000507365541203,-6.06808019054e-05,1793237909018212864
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+262,4.366666667,POSE1_TO_POSE2_PRESS,767,746.553118879,716,681.446881121,661,633,882,787,805,653,632,654,0.45139745684,-0.00557500523609,0.0596725442796,0.999999860904,-0.000116885530387,-0.000510796204455,-6.01338300798e-05,1793237909118212864
+263,4.383333333,POSE1_TO_POSE2_PRESS,767,747,716,681.14202282,661,633,882,787,805,653,632,654,0.451398599707,-0.00557523204915,0.0596729375933,0.999999861724,-0.000117521582556,-0.000509046973096,-6.00903992022e-05,1793237909134879744
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+265,4.416666667,HOLD_POSE2,767,747,716,682,661,633,882,787,805,653,632,654,0.451400286771,-0.0055715614299,0.059673859331,0.999999863524,-0.000109225536008,-0.000507389928206,-5.98018615526e-05,1793237909188729088
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+267,4.450000000,HOLD_POSE2,767,747,716.825427426,681.174572574,661,633.825427426,882,787.174572574,805,653,632,654,0.451401232197,-0.00557182590192,0.0596740416206,0.999999862238,-0.000112986865087,-0.000509037360688,-6.03235313166e-05,1793237909222062080
+268,4.466666667,HOLD_POSE2,767,747,716.245742735,681.754257265,661,633.245742735,882,787.754257265,805,653,632,654,0.451401787549,-0.0055748601787,0.0596746326796,0.999999862569,-0.000113868007065,-0.00050827447214,-5.96139155788e-05,1793237909238728960
+269,4.483333333,HOLD_POSE2,767,747,716.332308078,682,661,633.332308078,882,787.667691922,805,653,632,654,0.451401513511,-0.00557495693135,0.0596743337074,0.999999862568,-0.000112560416603,-0.000508581505709,-5.94843150866e-05,1793237909255395584
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+271,4.516666667,HOLD_POSE2,767,747,716.515929522,682,661,633.515929522,882.484070478,787,805,653,632,654,0.451400990804,-0.00557301749916,0.0596733098215,0.999999862179,-0.000110980612459,-0.000509661691501,-5.97549275818e-05,1793237909288728832
+272,4.533333333,HOLD_POSE2,767,747,716,682,661,633,882.939628977,787,804.939628977,652.939628977,632,654,0.45140157869,-0.00557343445794,0.0596733652158,0.99999986208,-0.000112933663065,-0.000509431453049,-5.97161877169e-05,1793237909305395456
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+274,4.566666667,HOLD_POSE2,767,746.762323561,716,682,661,633,882,787,804.475352879,652.237676439,632,653.762323561,0.451401635615,-0.00557311644196,0.0596726589274,0.999999861891,-0.000113443146926,-0.000509634201793,-6.01821894965e-05,1793237909338728704
+275,4.583333333,HOLD_POSE2,767,746.185363647,716,682,661,633,882,787,805.629272707,652.814636353,632,653.185363647,0.451399734375,-0.00557473932797,0.0596720840295,0.999999861072,-0.000113293246693,-0.000511313890498,-5.98205976178e-05,1793237909355395328
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,636.563240822,882,788,804.436759178,652.436759178,633,653,0.432118941388,-0.00539730989134,0.0598123849286,0.999999950179,0.000128474996399,-0.000288319890773,2.6978205003e-06,1793237910526018304
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767.141320412,745.858679588,716,681,663,637,881.858679588,788,804,652.141320412,633,653.141320412,0.43135556638,-0.00539755378524,0.0598163862366,0.999999949913,0.000136805876126,-0.000285285271516,8.38724462988e-06,1793237910542684928
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767.729370536,745.270629464,716,681,663,637,881.270629464,788,804,652.729370536,633,653.729370536,0.430595162866,-0.00539633223204,0.0598335149764,0.999999957138,0.000147563424579,-0.00025252719828,1.33997054643e-05,1793237910559352320
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767.68602684,745.31397316,716,681,663.31397316,637,881.31397316,788,804,653,633,653.68602684,0.429797669701,-0.00539199470774,0.0598317759619,0.999999952826,0.000164284659577,-0.000258959192043,1.7263149801e-05,1793237910576019456
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767.10436355,745.89563645,716,681,663.89563645,637,881.89563645,788,804,653,633,653.10436355,0.428968554337,-0.00538500054015,0.0598139505027,0.99999993784,0.000186090468738,-0.000298804215896,2.01469547866e-05,1793237910592686080
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,663.529403456,637,881.529403456,788,804,653,633,653,0.428158475343,-0.0053809020502,0.0597860144807,0.999999923458,0.000188633160034,-0.00034229404373,1.83510209307e-05,1793237910609352192
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,663.043940837,636.956059163,881,788,804,653,632.956059163,653.043940837,0.427357021428,-0.00537828711011,0.0597599229681,0.999999910499,0.000185935795359,-0.000379710348548,1.5781510608e-05,1793237910626018816
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,663.615482127,636.384517873,881,788,804,653,632.384517873,653.615482127,0.426609152152,-0.00538588295726,0.0597825228358,0.999999929277,0.000170894019047,-0.000334632391688,1.62097787044e-05,1793237910642686464
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,663.804825226,636.195174774,881,788.195174774,804.195174774,653,632,654,0.425843829334,-0.00539124872901,0.059806062548,0.999999943015,0.000162934370527,-0.000295152293772,1.75517726326e-05,1793237910659353088
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,663.208373382,636.791626618,881,788.791626618,804.791626618,653,632,654,0.425042622103,-0.00539202949303,0.0598315345739,0.99999994972,0.000169535492378,-0.000267181321739,2.07723764003e-05,1793237910676018944
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746.37645668,716,680.62354332,663,637,881.37645668,789,804.62354332,653,632,654,0.424247285527,-0.0053892144482,0.0598397603819,0.999999950271,0.000174710111786,-0.000261571720795,2.26954178783e-05,1793237910692685312
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746.955046551,716,680.044953449,663,637,881.955046551,789,804.044953449,653,632,654,0.423455101166,-0.00538446868365,0.059838726071,0.999999947768,0.000179118790145,-0.000267968749579,2.39217510981e-05,1793237910709351680
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746.469817847,716,680,663,636.469817847,881.469817847,789,804,653,632.530182153,654,0.422694374896,-0.00538474560026,0.059848947011,0.999999952877,0.00018098390684,-0.000246742805232,2.46780210325e-05,1793237910726018560
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767.107614082,746,716,680,663,636.107614082,881.107614082,788.892385918,804,653,632.892385918,654,0.421927478934,-0.00538418541199,0.0598533500801,0.99999995456,0.000184826906454,-0.000236832389015,2.51011738654e-05,1793237910742685440
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767.696619862,746,716,680,663,636.696619862,881.696619862,788.303380138,804,653,632.303380138,654,0.42112112963,-0.00537798788593,0.0598274866472,0.999999938553,0.000198476093502,-0.000287949099828,2.4211323507e-05,1793237910759351808
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767.438206563,746.280896718,716,680,663,637,882,788.280896718,804,653,632,654,0.420310072998,-0.00537428204712,0.0597948243573,0.999999920095,0.000201415618217,-0.000344568261275,2.26655566257e-05,1793237910776018432
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.436217148,746.563782852,716,680,663.436217148,637,881.563782852,788.563782852,804,653,632,654,0.418761674225,-0.0053761556014,0.0597619661459,0.999999908947,0.000188800285543,-0.000382171027711,2.0149805622e-05,1793237910809351680
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746.011281378,716,680,664,637,881,788.011281378,804,653,632.011281378,653.988718622,0.418056056243,-0.00538025242117,0.0597841361487,0.99999992808,0.000186216264371,-0.000329757847053,2.0556203103e-05,1793237910826018304
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746.586954693,716,680,664,637,881,788.586954693,804,653,632.586954693,653.413045307,0.417354469832,-0.00537901789189,0.0598170433657,0.999999938707,0.00019567851782,-0.000289375398803,2.36125685316e-05,1793237910842685184
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746.833633629,716,679.833633629,663.833633629,637,881,789,804,653,632.833633629,653.166366371,0.416654054949,-0.00537738488291,0.0598415296233,0.999999944996,0.000201642117479,-0.000262047406581,2.60811080746e-05,1793237910859352320
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746.244727066,716,679.244727066,663.244727066,637,881,789,804,653,632.244727066,653.755272934,0.415956615384,-0.00537473980801,0.0598446281892,0.999999944011,0.0001987197784,-0.000267875340325,2.70566779928e-05,1793237910876019456
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.660094402,746,716,679.339905598,663,636.660094402,881,788.660094402,804,653,632.339905598,654,0.415251755979,-0.00537375789831,0.059842428646,0.999999942098,0.00019898690061,-0.000274732794599,2.70296875205e-05,1793237910892686080
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.078500705,746,716,679.921499295,663,636.078500705,881,788.078500705,804,653,632.921499295,654,0.414541620777,-0.00537395857368,0.0598364619099,0.999999939496,0.000201521872759,-0.000282322283705,2.62898316661e-05,1793237910909352448
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.494172638,746.494172638,716.494172638,680,663,636.494172638,881,788,804.494172638,653,633,654,0.413874779422,-0.00537642603622,0.0598394927901,0.999999939349,0.000206280456656,-0.000279315575942,2.70806082976e-05,1793237910926018816
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746.932414855,716.932414855,680,663,637,881,788,805,653,632.932414855,654,0.413213214148,-0.00537833680295,0.0598395219335,0.999999937611,0.000211030803739,-0.00028190196218,2.78401490751e-05,1793237910942685184
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746.342533559,716.342533559,680,663,637,881,788,805,653,632.342533559,654,0.412540216684,-0.00537321204964,0.0598055040218,0.99999991899,0.000213036169371,-0.00034048897823,2.65125970909e-05,1793237910959351808
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788,804.75699764,653,632.24300236,654,0.411891927618,-0.00536932933925,0.0597814078226,0.999999905819,0.000213221974946,-0.000377201401876,2.48653627957e-05,1793237910976018432
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788,804.177479359,653,632.822520641,654,0.411277855433,-0.00536716664226,0.0597710514688,0.999999903921,0.000210888007572,-0.000383621323635,2.27754244203e-05,1793237910992685056
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788.400804191,804,653,632.599195809,654,0.410704993693,-0.00536622268143,0.0597930293475,0.999999916561,0.000218749988247,-0.000344166173449,2.39835725564e-05,1793237911009351936
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788.978542722,804,653,632.021457278,654,0.41015032418,-0.00536581672945,0.0598292811181,0.99999993248,0.000231112952243,-0.000284459548973,2.66476552091e-05,1793237911026018816
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746.553217017,716,680.553217017,663,637,881,789,804.553217017,653,632.553217017,654,0.409618245446,-0.00536443215717,0.0598517349904,0.999999941485,0.000226567619404,-0.000254768564566,2.81215525708e-05,1793237911042685440
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746.868725055,716,680.868725055,663,637,881,788.868725055,804.73745011,653,633,654,0.409088866186,-0.00536382940166,0.0598675939875,0.999999947365,0.000221709226539,-0.000235079680184,2.91827754607e-05,1793237911059352064
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746.278422154,716,680.278422154,663,637,881,788.278422154,803.556844309,653,633,654,0.408565879042,-0.00536609241096,0.0598622537654,0.999999945475,0.000218036696735,-0.000246316628991,2.89615320397e-05,1793237911076018432
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.693792362,663,637,881,788,803.306207638,653,632.693792362,654,0.408051179393,-0.00536943364501,0.0598534605073,0.999999941397,0.000219358854281,-0.000261282357088,2.86221256794e-05,1793237911092684800
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.114227101,663,637,881,788,803.885772899,653,632.114227101,654,0.407543878186,-0.00537373743151,0.0598415846561,0.999999935177,0.000225139868322,-0.00027957683958,2.81772329309e-05,1793237911109351680
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716.461447598,679.922895197,663,637,880.538552402,788.461447598,804,653.461447598,632.461447598,654,0.407072275526,-0.0053720398307,0.0598366311221,0.999999934383,0.000226767608504,-0.000281184601361,2.73038799093e-05,1793237911126018304
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716.963945755,680.963945755,663,636.963945755,880.036054245,788.963945755,804,653.963945755,632.963945755,654,0.406613560869,-0.00536881651937,0.0598344295673,0.999999935224,0.000227869999645,-0.000277360706889,2.64363113883e-05,1793237911142684928
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716.391022138,680.391022138,663,636.391022138,880.608977862,788.391022138,804,653.391022138,632.391022138,654,0.406216270428,-0.00536481081126,0.0598479040918,0.999999939534,0.000236330729095,-0.000253649707953,2.72209910079e-05,1793237911159352064
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746.188947012,716,680,662.811052988,636.188947012,881,788,804,653.188947012,632,654,0.405821906022,-0.0053610856974,0.0598564714188,0.999999941292,0.000244433669387,-0.000238510084978,2.79369701179e-05,1793237911176019200
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746.78406142,716,680,662.21593858,636.78406142,881,788,804,653.78406142,632,654,0.405433831577,-0.00535796375972,0.0598544900532,0.999999938668,0.000251767492207,-0.000241795808126,2.85052680323e-05,1793237911192685824
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746.63266765,716,680,662.36733235,637,881.36733235,788.36733235,804,653.63266765,632,654,0.405046952192,-0.00535173842954,0.0598405380107,0.999999930883,0.000260425965341,-0.00026384559462,2.82584361191e-05,1793237911209352448
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746.056141462,716,680,662.943858538,637,881.943858538,788.943858538,804,653.056141462,632,654,0.404660753351,-0.00534374573341,0.0598197687307,0.999999919234,0.000269838820296,-0.000296581416366,2.75473920924e-05,1793237911226018816
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.481928505,663,637,881.481928505,788.481928505,804,653,632.518071495,654,0.404308067759,-0.00533776168221,0.0598019509316,0.999999907359,0.000278271804253,-0.000327268828863,2.72340379235e-05,1793237911242685440
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767.094811396,746,716,679.094811396,662.905188604,637,881.094811396,788,804,653,633,654,0.40397200912,-0.00533277267671,0.0597884904606,0.999999897502,0.000285635764317,-0.000350238515144,2.72186002081e-05,1793237911259352064
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767.686090321,746,716,679.686090321,662.313909679,637,881.686090321,788,804,653,633,654,0.403704082812,-0.00533185936592,0.0597961792038,0.999999902371,0.000287955476191,-0.000333952540077,2.85384989459e-05,1793237911276018944
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767.728199677,746,716.271800323,680,662.271800323,637,881.456399354,788.271800323,803.728199677,653.271800323,633,653.728199677,0.403455077301,-0.0053315446693,0.0598103339832,0.999999910077,0.000289121019832,-0.000308746913213,3.05159778978e-05,1793237911292685824
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767.148792278,746,716.851207722,680,662.851207722,637,880.297584556,788.851207722,803.148792278,653.851207722,633,653.148792278,0.403227485214,-0.00533190744784,0.0598318066286,0.999999920306,0.000288980345721,-0.000273446567661,3.32376660452e-05,1793237911309352960
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716.573536489,679.573536489,663,636.573536489,880,788.573536489,803.426463511,653.573536489,632.573536489,653.426463511,0.403007391955,-0.00533163575404,0.0598443095471,0.999999925867,0.000289642251361,-0.000251333054406,3.47147203286e-05,1793237911326019584
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,636,880,788,803.999715472,653.000284528,632.000284528,654,0.40278989426,-0.00533114952308,0.0598537075547,0.999999929815,0.000290574866117,-0.00023378800687,3.57613487926e-05,1793237911342685952
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,636,880,788,803.426370279,653.573629721,632.573629721,654,0.402581373521,-0.005340118906,0.0598519015463,0.999999931772,0.000278195131014,-0.000240337290329,3.60785719518e-05,1793237911359352576
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,636.151804841,880,788,803.151804841,654,632.848195159,654,0.402380045889,-0.00535134281572,0.0598490945985,0.99999993377,0.000263589639479,-0.000248256120167,3.67441479736e-05,1793237911376018944
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,636.743991347,880,788,803.743991347,654,632.256008653,654,0.402199585302,-0.00536910704413,0.0598433839537,0.999999936014,0.000242527291962,-0.000260147965263,3.84202860155e-05,1793237911392685568
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.329624639,788,804,654,632.329624639,654,0.402037039776,-0.00537436065584,0.0598407037656,0.999999935696,0.000236261212286,-0.000267006568419,3.86918670675e-05,1793237911409351936
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.910267541,788,804,654,632.910267541,654,0.401888137043,-0.00537008708947,0.0598403313533,0.999999933719,0.000241262896847,-0.000270032220233,3.7893839389e-05,1793237911426018304
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.483599673,663,637,881,788,804,654,632.516400327,654,0.40176373003,-0.00536698132087,0.0598417084426,0.999999932693,0.000248698979909,-0.000268596300883,2.48694261281e-05,1793237911442684928
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788.057308098,804,653.942691902,632.057308098,654,0.401645672179,-0.00536558409196,0.0598432380881,0.999999932458,0.000252726867267,-0.000266631528961,1.1031557595e-05,1793237911459351808
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788.646924528,804,653.353075472,632.646924528,654,0.401544999072,-0.00537807396999,0.059843214398,0.999999939801,0.000220964413086,-0.000267329485762,1.03962128737e-05,1793237911476018432
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.609848919,788.390151081,804,654,632,654,0.401306995218,-0.00537331400959,0.05984740316,0.999999943317,0.000215082756089,-0.000258821216148,1.08560890367e-05,1793237911526018560
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.457732196,663,637,880,789,804,654,632,654,0.40119184529,-0.00537208556817,0.0598447187167,0.99999994207,0.000215581261138,-0.000263133098106,1.20762393842e-05,1793237911559351808
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+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,881,788,804,653,632.864213823,653.135786177,0.400986008472,-0.00536977924306,0.05985191563,0.999999943583,0.000221084381196,-0.000252448437966,1.5030422222e-05,1793237911942684928
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.453115313,663,637,881,788,804,653,632.546884687,653.453115313,0.400986081343,-0.00536927889949,0.0598522594263,0.99999994319,0.00022309526986,-0.000252240097389,1.49772879978e-05,1793237911959351552
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.948214971,663,637,881,788,804,653.051785029,632,654,0.400986368689,-0.00536869628299,0.0598526383849,0.999999942694,0.000225595728006,-0.000251985473366,1.49086391962e-05,1793237911976018176
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.359534928,663,637,881,788,804,653.640465072,632,654,0.400988498138,-0.00536884200189,0.0598533671063,0.999999943628,0.000223634903952,-0.000250014586843,1.49518297751e-05,1793237911992684800
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+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.618946447,663.381053553,637,880.381053553,788,803.381053553,653,633,653.618946447,0.400986577539,-0.00536969221999,0.0598525657602,0.999999943781,0.000221759729955,-0.000251059099388,1.51492371467e-05,1793237912042684672
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.043954876,663.956045124,637,880.956045124,788,803.956045124,653,633,653.043954876,0.400987305191,-0.00536994054548,0.059853311084,0.999999944089,0.000222142531127,-0.000249497685298,1.50426734246e-05,1793237912059351552
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.53140719,663.46859281,637,881,788,803.46859281,653.53140719,633,653.53140719,0.400988214765,-0.00536886842226,0.0598543973457,0.999999944277,0.000223216396375,-0.000247765396733,1.52315354921e-05,1793237912076018176
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+439,7.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788,803.697862483,654,632.302137517,654,0.400988033838,-0.00537013396178,0.0598553781159,0.999999944994,0.000220969796729,-0.000246860623771,1.56377771923e-05,1793237912109351424
+440,7.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.717093035,788,804,653.717093035,632,654,0.400987390979,-0.00537133739809,0.0598550822842,0.999999945235,0.000219139769182,-0.000247513214494,1.56616657973e-05,1793237912126018304
+441,7.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.135808436,788,804,653.135808436,632,654,0.400986900906,-0.00537182840991,0.0598544093716,0.999999945225,0.000218197552634,-0.00024839373028,1.55039060922e-05,1793237912142684928
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..30bf93745543d04c7cf8e55ad065427353c29b79
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,443 @@
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+387,6.450000000,pose2_to_pose3_retreat,0.581375077334,1.32406126442e-06,1.05001164615,0.551946311866,0.00867498920993,1.0496611887
+388,6.466666667,pose2_to_pose3_retreat,0.581076841465,1.18326113021e-06,1.0500117517,0.551648078002,0.0086748549279,1.04966128723
+389,6.483333333,pose2_to_pose3_retreat,0.580808384556,1.1877527601e-06,1.05001187864,0.551379621733,0.0086748613386,1.04966140797
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+393,6.550000000,pose2_to_pose3_retreat,0.579932340891,1.20129260873e-06,1.05001181964,0.550503575709,0.00867486695231,1.04966135091
+394,6.566666667,pose2_to_pose3_retreat,0.579740178054,1.15496079621e-06,1.05001174061,0.550311413349,0.00867482219376,1.04966127081
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+396,6.600000000,pose2_to_pose3_retreat,0.579390607962,1.21049878802e-06,1.05001163472,0.549961842924,0.00867487718081,1.04966117932
+397,6.616666667,pose2_to_pose3_retreat,0.579237990696,1.20804786939e-06,1.05001145714,0.54980922615,0.00867487626466,1.04966099845
+398,6.633333333,pose2_to_pose3_retreat,0.579101193497,1.25993642871e-06,1.05001148621,0.549672427977,0.00867492489273,1.04966102864
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+400,6.666666667,pose2_to_pose3_retreat,0.578870846144,1.20326724064e-06,1.05001171495,0.549442080859,0.00867486888561,1.04966125414
+401,6.683333333,pose2_to_pose3_retreat,0.578775647198,1.35483208504e-06,1.0500115465,0.549346879653,0.0086750127424,1.0496610848
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+403,6.716666667,pose2_to_pose3_retreat,0.578616503081,1.37697775035e-06,1.05001179452,0.549187736779,0.00867503892082,1.04966132932
+404,6.733333333,pose2_to_pose3_retreat,0.578551296431,1.32732884565e-06,1.05001179952,0.549122530078,0.00867498904544,1.04966133266
+405,6.750000000,pose2_to_pose3_retreat,0.578494365329,1.22139242159e-06,1.05001173686,0.549065599687,0.00867488553025,1.04966127006
+406,6.766666667,pose2_to_pose3_retreat,0.578444670648,1.22320803855e-06,1.05001143889,0.549015905298,0.00867488848502,1.04966097577
+407,6.783333333,pose2_to_pose3_retreat,0.578401918536,1.25598878603e-06,1.05001154859,0.548973153982,0.00867492377907,1.04966108078
+408,6.800000000,pose2_to_pose3_retreat,0.578366528124,1.20096864257e-06,1.05001163937,0.548937763743,0.00867486940014,1.04966117283
+409,6.816666667,pose2_to_pose3_retreat,0.578337354564,1.1621635869e-06,1.05001162029,0.548908589594,0.0086748286686,1.04966115555
+410,6.833333333,pose2_to_pose3_retreat,0.578314301736,1.20080820476e-06,1.05001153466,0.548885536121,0.00867486504567,1.04966106804
+411,6.850000000,pose2_to_pose3_retreat,0.578297315144,1.31344484003e-06,1.05001147131,0.548868549568,0.00867497755432,1.0496609983
+412,6.866666667,pose2_to_pose3_retreat,0.578285245601,1.21912891052e-06,1.05001171521,0.548856481357,0.00867488785751,1.04966124474
+413,6.883333333,pose2_to_pose3_retreat,0.578276908695,1.22101309355e-06,1.05001173964,0.548848144358,0.0086748895384,1.04966127206
+414,6.900000000,pose2_to_pose3_retreat,0.578271008855,1.2928309431e-06,1.05001160571,0.54884224339,0.00867495765559,1.04966114134
+415,6.916666667,pose2_to_pose3_retreat,0.578267155513,1.31611022057e-06,1.05001159631,0.548838389294,0.00867497835028,1.04966113112
+416,6.933333333,pose2_to_pose3_retreat,0.578263768637,1.29394862641e-06,1.05001172888,0.548835001723,0.00867495361465,1.04966125769
+417,6.950000000,pose2_to_pose3_retreat,0.578260751861,1.27431639156e-06,1.05001184642,0.548831984335,0.00867493171149,1.04966136993
+418,6.966666667,pose2_to_pose3_retreat,0.578258741355,1.28201846625e-06,1.05001181776,0.54882997455,0.0086749421146,1.04966134774
+419,6.983333333,pose2_to_pose3_retreat,0.578257435191,1.28702226728e-06,1.05001179915,0.548828668855,0.00867494887318,1.04966133332
+420,7.000000000,pose2_to_pose3_retreat,0.578256702955,1.28982740085e-06,1.05001178872,0.548827936882,0.00867495266205,1.04966132524
+421,7.016666667,pose2_to_pose3_retreat,0.578256640166,1.29006794049e-06,1.05001178782,0.548827874115,0.00867495298694,1.04966132455
+422,7.033333333,pose2_to_pose3_retreat,0.57825589442,1.29046109074e-06,1.05001177281,0.548827128734,0.0086749546483,1.04966131038
+423,7.050000000,pose2_to_pose3_retreat,0.578255538937,1.28824342916e-06,1.05001176139,0.54882677352,0.00867495329516,1.04966129783
+424,7.066666667,pose2_to_pose3_retreat,0.578255499355,1.28799650216e-06,1.05001176011,0.548826733968,0.0086749531445,1.04966129643
+425,7.083333333,pose2_to_pose3_retreat,0.578255247727,1.28642672973e-06,1.05001175202,0.54882648253,0.00867495218667,1.04966128754
+426,7.100000000,pose2_to_pose3_retreat,0.578254762154,1.28339750953e-06,1.05001173641,0.548825997324,0.00867495033834,1.0496612704
+427,7.116666667,pose2_to_pose3_retreat,0.578254110388,1.27933149661e-06,1.05001171546,0.54882534605,0.0086749478574,1.04966124739
+428,7.133333333,pose2_to_pose3_retreat,0.57825364001,1.2778015693e-06,1.05001169311,0.548824875899,0.00867494705908,1.0496612242
+429,7.150000000,pose2_to_pose3_retreat,0.578253398042,1.28035607779e-06,1.05001166442,0.548824633739,0.00867494900894,1.04966119664
+430,7.166666667,pose2_to_pose3_retreat,0.578253161629,1.28285193621e-06,1.05001163639,0.54882439714,0.00867495091403,1.04966116971
+431,7.183333333,pose2_to_pose3_retreat,0.578252773525,1.28694923687e-06,1.05001159037,0.548824008729,0.0086749540415,1.0496611255
+432,7.200000000,pose2_to_pose3_retreat,0.578252665615,1.28808846583e-06,1.05001157757,0.548823900734,0.00867495491108,1.04966111321
+433,7.216666667,pose2_to_pose3_retreat,0.578252599537,1.28878606955e-06,1.05001156974,0.548823834603,0.00867495544356,1.04966110569
+434,7.233333333,pose2_to_pose3_retreat,0.578252486366,1.29308498222e-06,1.05001155611,0.548823721373,0.00867495957977,1.04966109297
+435,7.250000000,pose2_to_pose3_retreat,0.57825246438,1.29755291101e-06,1.05001155322,0.548823699412,0.00867496415664,1.04966109071
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+437,7.283333333,pose2_to_pose3_retreat,0.578252359077,1.31895251349e-06,1.0500115394,0.548823594227,0.00867498607803,1.04966107986
+438,7.300000000,pose2_to_pose3_retreat,0.578252295965,1.3317779838e-06,1.05001153111,0.548823531187,0.00867499921623,1.04966107337
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ccf5a1f385675f25339721e01fb680e594f61f98
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be3c48cbcaef2af1d4e9f96d39b3291019253543ccc5ef9c0c8631f0f6acf47f
+size 27494880
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4fd2382ccf2bb91c3f3bdbe9d68a92e83a62c2b8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_01/franka_data.csv
@@ -0,0 +1,435 @@
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+26,0.433333333,BASELINE,767,746,716,679.139729058,666,636.860270942,881.139729058,788.860270942,803,654,632.860270942,653.860270942,0.400944604847,-0.00543486108706,0.0499415245333,0.999999976298,6.78421777845e-05,-0.000205269991057,-2.5786915285e-05,1793237913902611712
+27,0.450000000,BASELINE,767,746,716,679.714764367,666,636.285235633,881.714764367,788.285235633,803,654,632.285235633,653.285235633,0.400945327853,-0.00543519218258,0.049942113053,0.999999976575,6.82740389179e-05,-0.000203751446524,-2.59609294198e-05,1793237913919278336
+28,0.466666667,BASELINE,767,746,716,679.711622583,665.711622583,636.288377417,881.711622583,788.288377417,803.288377417,654,632,653.288377417,0.400944943992,-0.00543555757568,0.049942089073,0.999999976595,6.78580875405e-05,-0.000203782081681,-2.60287653501e-05,1793237913935944960
+29,0.483333333,BASELINE,767,746,716,679.139409429,665.139409429,636.860590571,881.139409429,788.860590571,803.860590571,654,632,653.860590571,0.400943470696,-0.00543595672618,0.0499414622396,0.999999976362,6.66076758931e-05,-0.000205337498466,-2.59920952742e-05,1793237913952611840
+30,0.500000000,BASELINE,767.447922556,746,716,679,665.447922556,637,881,788.552077444,803.552077444,654,632,654,0.400943796123,-0.00543648139774,0.0499413839205,0.999999976373,6.62853124063e-05,-0.000205421205974,-2.57428560313e-05,1793237913969278464
+31,0.516666667,BASELINE,767.960670847,746,715.960670847,679,665.960670847,637,880.960670847,788,803,654,632,654,0.400944587411,-0.00543684363503,0.0499414534907,0.999999976434,6.64114804648e-05,-0.000205117133122,-2.54792308713e-05,1793237913985945088
+32,0.533333333,BASELINE,767.380206526,746,715.380206526,679,665.380206526,637,880.380206526,788,803,654,632,654,0.40094381674,-0.00543441461743,0.0499411269147,0.999999976092,6.85960159871e-05,-0.000206000041425,-2.59597582975e-05,1793237914002611712
+33,0.550000000,BASELINE,767,746,715.198250172,679,665,637,880.198250172,788.198250172,803,653.801749828,632.198250172,654,0.400943601198,-0.00543329242475,0.0499410377185,0.999999975962,6.97578254026e-05,-0.000206221943705,-2.61282025758e-05,1793237914019278592
+34,0.566666667,BASELINE,767,746,715.772895157,679,665,637,880.772895157,788.772895157,803,653.227104843,632.772895157,654,0.400944439616,-0.00543465135064,0.0499413992081,0.999999976239,6.89779020611e-05,-0.000205188869729,-2.57041303969e-05,1793237914035944960
+35,0.583333333,BASELINE,767,746,716,679,665,637,881,788.654895341,803.345104659,653,632.654895341,654,0.400944062993,-0.00543485298106,0.0499413129533,0.999999976149,6.97816014356e-05,-0.000205375681219,-2.55636983508e-05,1793237914052611584
+36,0.600000000,BASELINE,767,746,716,679,665,637,881,788.084277284,803.915722716,653,632.084277284,654,0.400942892385,-0.00543429836093,0.0499409341138,0.999999975815,7.1620140837e-05,-0.000206359643587,-2.56086148192e-05,1793237914069278464
+37,0.616666667,BASELINE,767,746,715.491556053,679.508443947,665.508443947,637,881,788.508443947,803.491556053,653.508443947,632,654,0.400943348293,-0.00543419462964,0.0499410430299,0.999999976001,7.0146132304e-05,-0.000205916514848,-2.59919540369e-05,1793237914085945088
+38,0.633333333,BASELINE,767,746,715,679.898525509,665.898525509,637,881,789,803.101474491,654,632,654,0.400944077797,-0.00543453211781,0.0499411969789,0.999999976255,6.81900326042e-05,-0.000205310755205,-2.62313493786e-05,1793237914102611712
+39,0.650000000,BASELINE,767,746,715,679.3219786,665.3219786,637,881,789,803.6780214,654,632,654,0.400944768628,-0.00543656946127,0.0499411660496,0.999999976419,6.66643457053e-05,-0.000205101383203,-2.55222869471e-05,1793237914119278336
+40,0.666666667,BASELINE,767,746,715.253880863,679,665.253880863,637,881,789,804,653.746119137,632,654,0.40094451791,-0.00543754358784,0.049940874036,0.999999976442,6.5838268559e-05,-0.000205291667595,-2.52124138003e-05,1793237914135944960
+41,0.683333333,BASELINE,767,746,715.828870807,679,665.828870807,637,881,789,804,653.171129193,632,654,0.400943076318,-0.00543717295521,0.0499402518023,0.999999976291,6.58970594775e-05,-0.000205987438301,-2.54074361923e-05,1793237914152611584
+42,0.700000000,BASELINE,767,746,716,679,666,637,881,789,803.584896245,653.415103755,632,654,0.400944029634,-0.00543534921064,0.0499406473208,0.999999976338,6.80310832896e-05,-0.000205011136139,-2.58184399311e-05,1793237914169278464
+43,0.716666667,BASELINE,767,746,716,679,665.994017987,637,881,788.994017987,803.005982013,654,632.005982013,654,0.400945971081,-0.00543294333456,0.0499414630028,0.999999976457,7.10175847072e-05,-0.000203348283115,-2.6311442193e-05,1793237914185944832
+44,0.733333333,BASELINE,767,746,716,679,665.414520597,637,881,788.414520597,803.585479403,654,632.585479403,654,0.400945355544,-0.00543375881487,0.0499412152809,0.999999976348,7.14282280369e-05,-0.000203790982473,-2.58917379307e-05,1793237914202611456
+45,0.750000000,BASELINE,767,746,716,679,665,637,880.836682622,788.163317378,804,654,633,654,0.400944653319,-0.00543469267823,0.0499408463793,0.999999976273,7.09091553106e-05,-0.000204382170956,-2.55783506972e-05,1793237914219278080
+46,0.766666667,BASELINE,767,746,716,679,665,637,880.263014182,788.736985818,804,654,633,654,0.40094373328,-0.00543592399061,0.0499401730018,0.999999976275,6.80540789971e-05,-0.000205346452981,-2.55320955751e-05,1793237914235944704
+47,0.783333333,BASELINE,767,746.319032803,716,679,665,637,880.319032803,789,804,654,632.680967197,654,0.400943214249,-0.0054361911298,0.0499398242446,0.999999976165,6.75470754569e-05,-0.000206058339299,-2.54590479348e-05,1793237914252611328
+48,0.800000000,BASELINE,767,746.908173514,716,679,665,637,880.908173514,789,804,654,632.091826486,654,0.400943034728,-0.00543564195556,0.0499397503259,0.999999975963,6.90280584753e-05,-0.00020655653586,-2.53633165057e-05,1793237914269278208
+49,0.816666667,BASELINE,767,746.510521826,716,679,665,637,881,789,804,654,632,653.510521826,0.400943958031,-0.00543542256641,0.0499403836885,0.999999976154,6.94669325669e-05,-0.000205446589563,-2.56568891438e-05,1793237914285945088
+50,0.833333333,BASELINE,767,746,716,679,665,637,881,788.930986935,803.930986935,654,632.069013065,653.069013065,0.400944884045,-0.00543541016322,0.0499410225239,0.999999976384,6.94685987267e-05,-0.000204282588391,-2.59642389786e-05,1793237914302611712
+51,0.850000000,BASELINE,767,746,716,679,665,637,881,788.353829141,803.353829141,654,632.646170859,653.646170859,0.400944330691,-0.00543647344503,0.049940740076,0.999999976383,6.76678859861e-05,-0.000204906919862,-2.58437548842e-05,1793237914319278336
+52,0.866666667,BASELINE,767,746,716,679,665,637,881,788.222803716,803.222803716,654,633,654,0.400944005309,-0.00543669357634,0.049940522999,0.999999976364,6.70341852237e-05,-0.00020521581662,-2.58028389936e-05,1793237914335944960
+53,0.883333333,BASELINE,767,746,716,679,665,637,881,788.798604859,803.798604859,654,633,654,0.400944041114,-0.00543557786829,0.0499404094917,0.999999976318,6.82494314028e-05,-0.000205024956678,-2.58879864079e-05,1793237914352611584
+54,0.900000000,BASELINE,767,746,716,679,665.380212247,637,881,789,804,654,633,654,0.400943872481,-0.00543552551983,0.0499403637699,0.999999976292,6.79537904088e-05,-0.000205236734615,-2.59851570824e-05,1793237914369278208
+55,0.916666667,BASELINE,767,746,716,679,665.964942829,637,881,789,804,654,633,654,0.400943593882,-0.0054360451586,0.0499403545103,0.999999976276,6.68454345545e-05,-0.000205665093766,-2.60887951344e-05,1793237914385945088
+56,0.933333333,BASELINE,767,746.545561276,716,679,666,637,881,789,803.454438724,654,632.454438724,654,0.400944223411,-0.00543525948763,0.0499411342555,0.999999976403,6.93451529976e-05,-0.000204252850567,-2.58116160133e-05,1793237914402611712
+57,0.950000000,BASELINE,767,746.874702161,715.874702161,679,665.874702161,637,881,788.874702161,803.125297839,654,632,654,0.400944508285,-0.00543503782969,0.049941556708,0.999999976497,7.05910815009e-05,-0.00020339810407,-2.55402505963e-05,1793237914419278336
+58,0.966666667,BASELINE,767,746.297201953,715.297201953,679,665.297201953,637,881,788.297201953,803.702798047,654,632,654,0.40094334026,-0.00543715215801,0.0499405080734,0.99999997646,6.64815620688e-05,-0.00020497903833,-2.53775222674e-05,1793237914435944960
+59,0.983333333,BASELINE,767,746,715.278682991,679,665,637,881,788,804,654,632,654,0.400942841493,-0.0054372569772,0.0499398362191,0.99999997632,6.56508284356e-05,-0.000205911787767,-2.55199150935e-05,1793237914452611584
+60,1.000000000,BASELINE,767,746,715.85285533,679,665,637,881,788,804,654,632,654,0.400943052347,-0.00543523110133,0.0499395638673,0.99999997608,6.8296611734e-05,-0.000206157262908,-2.59858298011e-05,1793237914469278208
+61,1.016666667,BASELINE,767.43959934,746,716,679.43959934,665.43959934,637,880.56040066,788.43959934,804,654,632.43959934,654,0.400943947164,-0.00543522980119,0.049939809301,0.999999976184,6.82944311574e-05,-0.000205641501337,-2.6068164014e-05,1793237914485944832
+62,1.033333333,BASELINE,767.969939807,746,716,679.969939807,665.969939807,637,880,789,804,654,632.969939807,654,0.400944897369,-0.00543598422119,0.0499401587978,0.999999976389,6.72528838622e-05,-0.000204993463816,-2.60150846727e-05,1793237914502611456
+63,1.050000000,BASELINE,767.390715192,746,716,679.390715192,665.390715192,637,880,789,804,654,632.390715192,654,0.400942553889,-0.00543779995728,0.0499391499191,0.999999976257,6.38923898136e-05,-0.000206720921933,-2.59028168612e-05,1793237914519278080
+64,1.066666667,BASELINE,767.186920578,746,715.813079422,679,665,637,880.186920578,789,803.813079422,654,632,653.813079422,0.400941384749,-0.00543827746427,0.0499386456764,0.999999976135,6.30128184309e-05,-0.000207580485772,-2.58803387061e-05,1793237914535944960
+65,1.083333333,BASELINE,767.761263183,746,715.238736817,679,665,637,880.761263183,789,803.238736817,654,632,653.238736817,0.400942649615,-0.00543598128277,0.0499391873704,0.999999976048,6.7275346099e-05,-0.000206641203371,-2.60439636143e-05,1793237914552611584
+66,1.100000000,BASELINE,767.655567668,746,715.344432332,679,665,637,881,788.655567668,803.344432332,654,632,653.344432332,0.400943501944,-0.00543563734077,0.0499395739539,0.999999976195,6.69987320718e-05,-0.000206027968589,-2.59661008611e-05,1793237914569277952
+67,1.116666667,BASELINE,767.066119687,746,715.933880313,679,665,637,881,788.066119687,803.933880313,654,632,653.933880313,0.400944060812,-0.00543668214545,0.0499398501978,0.999999976508,6.34931505359e-05,-0.000205646671332,-2.57164532525e-05,1793237914585944576
+68,1.133333333,BASELINE,767,746,716,679,665,637,881,788,804,654,632,654,0.400944489689,-0.00543673184066,0.0499400073447,0.999999976392,6.47130398391e-05,-0.000205834068815,-2.56947687165e-05,1793237914602611200
+69,1.150000000,BASELINE,767,746,716,679,665,637,881,788.093240642,804,654,632,654,0.400944649964,-0.00543655512733,0.0499400086937,0.99999997622,6.63334803487e-05,-0.000206152542344,-2.57123648036e-05,1793237914619278080
+70,1.166666667,BASELINE,767,746,716,679,665,637,881,788.670385825,804,654,632,654,0.400943501464,-0.00543585589071,0.049939279568,0.999999976049,6.69341863077e-05,-0.000206778382083,-2.5784343865e-05,1793237914635944960
+71,1.183333333,BASELINE,767,746,716,679,665.245809958,637,881,788.754190042,803.754190042,654,632.245809958,654,0.400943137349,-0.00543552831041,0.0499390894451,0.999999976017,6.73513741492e-05,-0.00020679037528,-2.58269274504e-05,1793237914652611584
+72,1.200000000,BASELINE,767,746,716,679,665.818942408,637,881,788.181057592,803.181057592,654,632.818942408,654,0.400943817726,-0.00543569563054,0.0499396170624,0.999999976172,6.75241878918e-05,-0.000205984965634,-2.58303677965e-05,1793237914669278208
+73,1.216666667,BASELINE,767,746,716,679,666,637,881,788.403318344,803.403318344,654,632.596681656,654,0.400943381204,-0.00543570050381,0.0499397022089,0.999999976107,6.81178237438e-05,-0.00020611825529,-2.57135179415e-05,1793237914685944832
+74,1.233333333,BASELINE,767,746,716,679,666,637,881,788.992886413,803.992886413,654,632.007113587,654,0.400942428905,-0.00543563036018,0.0499395830251,0.99999997594,6.89057924328e-05,-0.000206685030079,-2.55411188727e-05,1793237914702611456
+75,1.250000000,BASELINE,767,746,716,679,665.427346234,637,881.572653766,788.427346234,804,654,632,654,0.400942336127,-0.00543458239978,0.0499392693017,0.999999975782,7.00401745069e-05,-0.000207018538747,-2.59399702931e-05,1793237914719277824
+76,1.266666667,BASELINE,767,746,716,679,665,637,882,788.151082431,803.848917569,654,632,654,0.400942208776,-0.00543427987215,0.0499388619212,0.999999975704,6.97822490896e-05,-0.000207451879538,-2.61869910724e-05,1793237914735944704
+77,1.283333333,BASELINE,767,746,716,679,665,637,882,788.726090665,803.273909335,654,632,654,0.400941954963,-0.00543610248113,0.0499381984126,0.999999975842,6.56057434612e-05,-0.000208173335473,-2.59884103688e-05,1793237914752611328
+78,1.300000000,BASELINE,767,746,716,679,665,637,881.692662814,788.692662814,803.307337186,654,632.307337186,654,0.400942220733,-0.00543739515031,0.0499383420172,0.999999975956,6.45502115451e-05,-0.000207985838854,-2.57609145519e-05,1793237914769278464
+79,1.316666667,BASELINE,767,746,716,679,665,637,881.105741363,788.105741363,803.894258637,654,632.894258637,654,0.400942959168,-0.00543820573379,0.0499392198518,0.999999976056,6.63338258581e-05,-0.000206971469165,-2.55071147023e-05,1793237914785946112
+80,1.333333333,BASELINE,767,746,715.524241532,679,665.475758468,637,881,788.475758468,804,654,632.524241532,654,0.400943815885,-0.00543862396618,0.0499399533735,0.999999976419,6.48932596466e-05,-0.000205684422636,-2.5399175673e-05,1793237914802612992
+81,1.350000000,BASELINE,767,746,715.055594939,679,666,637,881,789,804,654,632,654,0.400944524707,-0.00543886970874,0.0499405224455,0.999999976769,6.29961343655e-05,-0.000204574763524,-2.53554736545e-05,1793237914819279360
+82,1.366666667,BASELINE,767,746,715.631018282,679,666,637,881,789,804,654,632,654,0.400943607622,-0.0054383088115,0.0499398503935,0.999999976506,6.34549850351e-05,-0.000205684014495,-2.56126963053e-05,1793237914835945984
+83,1.383333333,BASELINE,767,746,716,679.206548472,665.793451528,637.206548472,881,789,803.793451528,654,632.206548472,654,0.400943456307,-0.00543774489848,0.0499395922911,0.999999976373,6.43232675081e-05,-0.000206055399297,-2.56560046346e-05,1793237914852612608
+84,1.400000000,BASELINE,767,746,716,679.782269732,665.217730268,637.782269732,881,789,803.217730268,654,632.782269732,654,0.400944673685,-0.00543717559516,0.0499400740583,0.999999976472,6.59233447706e-05,-0.000205107964992,-2.5316974927e-05,1793237914869278464
+85,1.416666667,BASELINE,767,746,716,679.642559717,665.357440283,637.642559717,881,789,803,654,632.642559717,654,0.400944594998,-0.00543694122087,0.0499400224853,0.99999997648,6.59669708874e-05,-0.000205064712456,-2.5245527201e-05,1793237914885944832
+86,1.433333333,BASELINE,767,746,716,679.067724141,665.932275859,637.067724141,881,789,803,654,632.067724141,654,0.400943728045,-0.00543691055057,0.0499396465346,0.999999976433,6.50639628283e-05,-0.000205571383616,-2.53368229413e-05,1793237914902611456
+87,1.450000000,BASELINE,767,746,716,679,665.476299458,637,881,788.476299458,803.523700542,654,632.523700542,654,0.400943293084,-0.00543663370129,0.0499394640349,0.999999976192,6.70567086228e-05,-0.00020609306269,-2.54108715236e-05,1793237914919278336
+88,1.466666667,BASELINE,767,746,716,679,665,637,881.113410648,788.113410648,804,654,633,654,0.400942952244,-0.00543634847716,0.0499392662488,0.999999975978,6.86936871951e-05,-0.000206582866545,-2.54859256349e-05,1793237914935944960
+89,1.483333333,BASELINE,767,746,716,679,665,637,881.687168278,788.687168278,804,654,633,654,0.400942759276,-0.00543616270981,0.0499389015451,0.999999975996,6.73168054036e-05,-0.000206935149529,-2.55744108203e-05,1793237914952611584
+90,1.500000000,BASELINE,767,746,716,679,665,637,881.475931233,789,804,654,632.737965616,654,0.400942873905,-0.00543650355841,0.0499389249049,0.99999997604,6.70308195797e-05,-0.000206818360576,-2.55570930104e-05,1793237914969278464
+91,1.516666667,BASELINE,767,746,716,679,665,637,880.323541141,789,804,654,632.16177057,654,0.40094335732,-0.00543747578223,0.0499394135255,0.999999976115,6.80527408373e-05,-0.00020613918758,-2.54129248979e-05,1793237914985945088
+92,1.533333333,BASELINE,767,746,715.572814729,679,665,637,880.427185271,789,804,653.572814729,632.427185271,654,0.4009438757,-0.00543802205647,0.0499399561644,0.999999976344,6.66059865604e-05,-0.000205495915643,-2.54349099352e-05,1793237915002611456
+93,1.550000000,BASELINE,767,746,715.020537896,679.020537896,665,637,881,789,804,653.020537896,632.979462104,654,0.4009443647,-0.00543836431506,0.04994046809,0.99999997661,6.43251060178e-05,-0.000204918696,-2.55184462572e-05,1793237915019278080
+94,1.566666667,BASELINE,767,746,715.598041086,679.598041086,665,637,881,789,804,653.598041086,632.401958914,654,0.400943686794,-0.00543768293547,0.049939575275,0.999999976359,6.55567013428e-05,-0.000205752700128,-2.55123113413e-05,1793237915035944960
+95,1.583333333,BASELINE,767,746,716,679.824973248,665.175026752,637,881,789,803.824973248,653.824973248,632.175026752,654,0.400943520356,-0.00543710972501,0.0499390875103,0.999999976219,6.64424950792e-05,-0.000206145813154,-2.55389202243e-05,1793237915052611584
+96,1.600000000,BASELINE,767,746,716,679.249172488,665.750827512,637,881,789,803.249172488,653.249172488,632.750827512,654,0.400944525073,-0.00543678419868,0.0499395272243,0.999999976337,6.65364770269e-05,-0.000205529379572,-2.5640505436e-05,1793237915069278208
+97,1.616666667,BASELINE,767,746,715.667882924,679,666,637,881,788.667882924,803,653.332117076,632.667882924,654,0.400944817797,-0.00543685690017,0.0499398134841,0.999999976417,6.644780147e-05,-0.0002051769593,-2.55500033664e-05,1793237915085944832
+98,1.633333333,BASELINE,767,746,715.082406193,679,666,637,881,788.082406193,803,653.917593807,632.082406193,654,0.400944567369,-0.00543723339473,0.0499399826795,0.999999976469,6.62197833508e-05,-0.000205025944912,-2.5312965111e-05,1793237915102611456
+99,1.650000000,BASELINE,767,746,715.498421206,679,665.501578794,637,881.498421206,788,803,654,632,654,0.400945028489,-0.00543779091245,0.0499402163942,0.999999976711,6.46474373065e-05,-0.000204323801316,-2.54892888591e-05,1793237915119278080
+100,1.666666667,BASELINE,767,746,715.921660524,679,665,637,881.921660524,788.078339476,803,654,632.078339476,654,0.400945530414,-0.0054383524185,0.0499403910453,0.999999976939,6.31109976186e-05,-0.000203666013998,-2.56614149802e-05,1793237915135944704
+101,1.683333333,BASELINE,767,746,715.342685107,679,665,637,881.342685107,788.657314893,803,654,632.657314893,654,0.400945548245,-0.00543874991355,0.0499401207048,0.999999976899,6.32112913243e-05,-0.000203868623246,-2.53739998384e-05,1793237915152611584
+102,1.700000000,BASELINE,767.234313608,746,715,679,665,637,881,789,803,654,632.765686392,654,0.400945657067,-0.00543858204199,0.0499401151906,0.999999976825,6.43943221732e-05,-0.000203873273744,-2.52693883772e-05,1793237915169278208
+103,1.716666667,BASELINE,767.808445519,746,715,679,665,637,881,789,803,654,632.191554481,654,0.400945897849,-0.00543759423543,0.0499404937463,0.999999976698,6.7147615622e-05,-0.000203590830328,-2.54298918732e-05,1793237915185944832
+104,1.733333333,BASELINE,767.607368269,746,715.392631731,679,665.392631731,637,880.607368269,788.607368269,803,653.607368269,632.392631731,654,0.400945046541,-0.00543819844709,0.0499404365636,0.99999997664,6.71149105926e-05,-0.000203913523808,-2.51876597746e-05,1793237915202611712
+105,1.750000000,BASELINE,767.01814787,746,715.98185213,679,665.98185213,637,880.01814787,788.01814787,803,653.01814787,632.98185213,654,0.400943648429,-0.00543959977392,0.0499401612091,0.999999976618,6.56872708418e-05,-0.000204539206165,-2.47437800698e-05,1793237915219278336
+106,1.766666667,BASELINE,767,746,715.437577702,679,665.437577702,637,880.562422298,788,803.562422298,653.562422298,632.437577702,654,0.400944247358,-0.00543762955566,0.0499404266834,0.999999976582,6.81314266016e-05,-0.000203874755363,-2.50812672897e-05,1793237915235944704
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,679,665,637,881,789,804,654,632,654,0.40094433293,-0.00543781170255,0.0499399149288,0.999999976386,6.62337674565e-05,-0.000205443985539,-2.51591247363e-05,1793237915277276928
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.569883463,715,679,665,637,881,789,804,654,632,654,0.400945204627,-0.00543778751497,0.049940329126,0.999999976645,6.53399764778e-05,-0.000204438300247,-2.54254055683e-05,1793237915293943552
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746.854441362,715.145558638,679.145558638,665,637,881,789,803.854441362,654,632.145558638,654,0.400945310602,-0.0054376917404,0.0499403117682,0.99999997672,6.48197462682e-05,-0.000204214246643,-2.55955793728e-05,1793237915310610176
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746.260942714,715.739057286,679.739057286,665,637,881,789,803.260942714,654,632.739057286,654,0.400943060155,-0.00543737566507,0.0499389663496,0.999999976234,6.54491062463e-05,-0.000206395574634,-2.5469994893e-05,1793237915327276800
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.323574867,746,716,679.676425133,665,637,881,789,803,653.676425133,632.676425133,654,0.400943450053,-0.00543760337153,0.0499389963817,0.999999976387,6.52224251983e-05,-0.000205723858529,-2.5482360334e-05,1793237915343943424
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.901045347,746,716,679.098954653,665,637,881,789,803,653.098954653,632.098954653,654,0.400945911718,-0.00543825776076,0.0499401056722,0.999999977037,6.43240446596e-05,-0.000202813478373,-2.56029692938e-05,1793237915360610048
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.524583409,746,715.524583409,679,665,637,881.475416591,789,803,653.475416591,632,654,0.400947112833,-0.00543792072047,0.0499407084996,0.999999977097,6.47822292481e-05,-0.000202366383905,-2.5625921199e-05,1793237915377276672
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,715.050317037,679,665,637,881.949682963,789,803.050317037,654,632,654,0.400948725077,-0.00543734236315,0.0499414489834,0.999999977163,6.5670346061e-05,-0.000201754859899,-2.56166467622e-05,1793237915393943296
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,715.637707012,679,665,637,881.362292988,789,803.637707012,654,632,654,0.400957508024,-0.00543637660716,0.0499447766873,0.999999978544,6.81531406548e-05,-0.000193951081459,-2.54789522772e-05,1793237915410611200
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715.777569337,679,665.222430663,637,881,789,804,654,632,654,0.400968375234,-0.00543651119761,0.0499479200993,0.999999980051,6.84719120842e-05,-0.000185929858032,-2.52913931694e-05,1793237915427278080
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715.197137183,679,665.802862817,637,881,789,804,654,632,654,0.400982597059,-0.0054384167925,0.0499507668937,0.999999981791,6.5307694433e-05,-0.000177558658304,-2.50235771139e-05,1793237915443944448
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,715.380869575,679,665.619130425,637,881,788.619130425,804,654,632,654,0.401005585153,-0.00543833684481,0.0499549357928,0.999999984131,6.67748522952e-05,-0.000163259483106,-2.5002634339e-05,1793237915460610816
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,715.95762895,679,665.04237105,637,881,788.04237105,804,654,632,654,0.401033081937,-0.00543723568804,0.0499597846804,0.999999986546,7.06240305919e-05,-0.000145911415809,-2.51086640221e-05,1793237915477276928
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.53267765,746,716,679.53267765,665,637,881,788,803.46732235,654,632,653.46732235,0.401070564495,-0.00543840498955,0.049964303889,0.999999989383,6.88424327622e-05,-0.000125890870816,-2.54116308974e-05,1793237915493943552
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.889441054,746.110558946,716,679.889441054,665,637,881,788.110558946,803.110558946,654,632,653.110558946,0.401111569997,-0.00543966384901,0.0499690778292,0.999999991935,6.69673248908e-05,-0.000104803118184,-2.5730483678e-05,1793237915510610432
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.298666983,746.701333017,716,679.298666983,665,637,881,788.701333017,803.701333017,654,632,653.701333017,0.401164438462,-0.00544052977597,0.0499750717422,0.999999994241,6.6625252939e-05,-8.00003026109e-05,-2.60505135833e-05,1793237915527277056
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746.714045775,716,679,665,637,881,788.714045775,803.714045775,654,632,654,0.401218995889,-0.00544250356891,0.0499784928486,0.999999995383,6.48273738701e-05,-6.60167373816e-05,-2.5959371878e-05,1793237915543943680
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746.13571564,716,679,665,637,881,788.13571564,803.13571564,654,632,654,0.401275280203,-0.00544561010716,0.0499792833705,0.999999995792,6.15409946162e-05,-6.3095392361e-05,-2.54478248578e-05,1793237915560610816
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665.439600513,637,881.439600513,788.439600513,803,654,632,654,0.401342993625,-0.00544943154806,0.0499807858274,0.999999996221,5.74766889516e-05,-6.03491177651e-05,-2.47579932283e-05,1793237915577277696
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,882,788.985631555,803.014368445,654,632,654,0.401414756788,-0.00545338607684,0.0499825278884,0.999999996628,5.33757301146e-05,-5.76028990203e-05,-2.40150495401e-05,1793237915593944576
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,882,788.395806998,803.604193002,654,632,654,0.401508359983,-0.0054538916039,0.0499851233596,0.999999996694,5.7359928623e-05,-5.27090093089e-05,-2.33343448419e-05,1793237915610610688
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,636.809237907,881.809237907,788.190762093,804,654,632,654,0.40160790009,-0.00545580052232,0.0499870038773,0.999999996831,5.86866846988e-05,-4.88138501253e-05,-2.25982309968e-05,1793237915627277056
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,636.229310222,881.229310222,788.770689778,804,654,632,654,0.40171955183,-0.0054605724394,0.0499874258484,0.999999997171,5.45921055814e-05,-4.69561590005e-05,-2.17490794046e-05,1793237915643943680
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,636.347657493,881,789,803.652342507,654,632,654,0.401846292073,-0.00546555058517,0.0499891707223,0.999999997492,5.17458225597e-05,-4.36927113011e-05,-2.06960658435e-05,1793237915660610304
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,636.92268939,881,789,803.07731061,654,632,654,0.401982900487,-0.00547066360876,0.0499917807992,0.999999997793,4.97159477729e-05,-3.95098727215e-05,-1.95097227149e-05,1793237915677276928
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665.502470454,637,881,788.502470454,803,654,632,654,0.402133697725,-0.00547675913227,0.0499900899285,0.999999997858,4.59633793393e-05,-4.27280661543e-05,-1.86102202909e-05,1793237915693943808
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665.074099452,637,881,788.074099452,803,654,632,654,0.402291045649,-0.00548299323122,0.0499877549846,0.999999997875,4.20270164983e-05,-4.65814619616e-05,-1.77291914223e-05,1793237915710610688
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665.662891298,637,881,788.662891298,803,654,632,654,0.402478586017,-0.00548912984364,0.0499855866671,0.999999998015,3.86726549556e-05,-4.68618997803e-05,-1.66670032627e-05,1793237915727277568
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665.752051619,637,881,788.752051619,803,654,632,654,0.402680514929,-0.00549532349317,0.0499861885908,0.999999998321,3.57645601049e-05,-4.28890802704e-05,-1.54996362584e-05,1793237915743944448
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665.171996975,637,881,788.171996975,803,654,632,654,0.402901716088,-0.00550159353881,0.0499905010227,0.999999998788,3.34542026206e-05,-3.32193758226e-05,-1.41913909903e-05,1793237915760610816
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746.405486198,715.594513802,679,665.405486198,637,881,788,803,654,632,654,0.403147557469,-0.005510354964,0.0499953438887,0.999999999237,3.03562177843e-05,-2.14209107681e-05,-1.20715134135e-05,1793237915777277696
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746.981885477,715.018114523,679,665.981885477,637,881,788,803,654,632,654,0.403403784736,-0.00552016650951,0.0500004103334,0.999999999553,2.69262468146e-05,-8.72516995667e-06,-9.60953155261e-06,1793237915793944832
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746.446671975,715,679,665.446671975,637,881,788.553328025,803,654,632,653.446671975,0.403685986548,-0.00552923609753,0.0500054576139,0.99999999972,2.1938517155e-05,3.95198699976e-06,-7.92364298175e-06,1793237915810610944
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,715,678.870224927,665.129775073,637,881,789,803.129775073,654,632,653.129775073,0.403978981854,-0.00553768594215,0.0500106030357,0.999999999685,1.82179223718e-05,1.61801414393e-05,-6.03180683247e-06,1793237915827277056
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,715,678.275262543,665.724737457,637,881,789,803.724737457,654,632,653.724737457,0.404307646059,-0.00554400056888,0.0500161024794,0.999999999451,1.92206363092e-05,2.68009753576e-05,-3.31147290394e-06,1793237915843943936
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,715.309785447,678.309785447,666,637,881,789,804,653.690214553,632,654,0.404650403487,-0.00555005076676,0.0500223182962,0.999999998999,2.08756222751e-05,3.95667168923e-05,-2.9311815047e-07,1793237915860610816
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,715.886297177,678.886297177,666,637,881,789,804,653.113702823,632,654,0.405005295264,-0.00555587329124,0.0500291509131,0.999999998261,2.30922166996e-05,5.41792320783e-05,2.98183381122e-06,1793237915877277440
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,679.462422694,666,637,881.462422694,789,804,653.462422694,632,654,0.405370528975,-0.00555327867003,0.0500240628083,0.999999998351,3.59712547317e-05,4.44538051615e-05,5.32276053704e-06,1793237915893944320
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665.960856363,637,881.960856363,789,804,654,632,654,0.405738296566,-0.00554848317955,0.0500152650552,0.999999998271,5.15835426143e-05,2.72365967982e-05,7.37314459188e-06,1793237915910610688
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665.374484368,637,881.374484368,789,804,654,632,654,0.406105967662,-0.00554182909637,0.0499955493685,0.999999997536,6.87854034802e-05,-1.11245409837e-05,8.56975065454e-06,1793237915927277312
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,679.578662285,665.210668857,637,881,788.789331143,803.789331143,654,632,654,0.406503403791,-0.00553938575088,0.0499791880782,0.999999995851,8.12306966515e-05,-3.99378400455e-05,1.02240741891e-05,1793237915943943936
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,678.412663946,665.793668027,637,881,788.206331973,803.206331973,654,632,654,0.406953445795,-0.00554438434713,0.0499687552567,0.999999994938,8.52693627523e-05,-5.18765507127e-05,1.26873548754e-05,1793237915960610560
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,678.371437628,666,637,881,788,803,654,632,654,0.407425188229,-0.00554862379351,0.0499694969143,0.999999994545,9.13315526572e-05,-4.81618240664e-05,1.57616104924e-05,1793237915977277440
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,678.946342539,666,637,881,788,803,654,632,654,0.407908817779,-0.00555244739019,0.0499763597638,0.999999994321,9.85021947163e-05,-3.58724074035e-05,1.9170547815e-05,1793237915993944576
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,788,803.522524623,653.477475377,632,654,0.408442953902,-0.00555566240647,0.0499947153589,0.999999994433,0.000103015422583,-1.37190177975e-06,2.27941914288e-05,1793237916010610688
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,788,803.898972193,653,632,654,0.4089829275,-0.00555848338821,0.0500128719367,0.999999993577,0.000105848534052,3.11492448587e-05,2.59130164778e-05,1793237916027276800
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,788,803.309891369,653,632,654,0.409525984494,-0.00555970347885,0.0500243518192,0.999999993532,0.000101886720476,4.30629211688e-05,2.64863516456e-05,1793237916043943680
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665.725283856,637,881,788,803,653.274716144,632,654,0.410080304639,-0.00555913233199,0.0500260264737,0.999999993812,9.99979389099e-05,4.08599540906e-05,2.65932366593e-05,1793237916060610304
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665.145641503,637,881,788,803,653.854358497,632,654,0.410647126593,-0.00555657296846,0.0500168176376,0.999999994352,0.000100410156642,2.29879619086e-05,2.61823768603e-05,1793237916077276928
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881,788,803.430154937,654.430154937,632,654,0.411202478078,-0.00555438591238,0.0499933530513,0.99999999406,0.00010306731189,-2.43781629519e-05,2.57597694173e-05,1793237916093943552
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,715.995221982,679,665,637,881,788,803.995221982,654.995221982,632,654,0.411754667613,-0.00555240777546,0.0499654062718,0.999999990745,0.000106372843955,-8.09430197982e-05,2.53425895786e-05,1793237916110609920
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,715.406259419,679,665,637,881,788,803.406259419,654.406259419,632,654,0.412390893331,-0.00556069752134,0.0499743509225,0.999999993616,9.68434532891e-05,-5.20603358035e-05,2.60710223699e-05,1793237916127276544
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,715.17973845,679,665,637,880.82026155,788,803.17973845,654,632,653.82026155,0.41304750546,-0.00556693748568,0.0499879777637,0.999999995331,9.07703708633e-05,-1.87683776412e-05,2.73166124249e-05,1793237916143943168
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,715.759143976,679,665,637,880.240856024,788,803.759143976,654,632,653.240856024,0.413749448852,-0.00556861954773,0.0500120159403,0.999999994995,9.23827487382e-05,2.43280569434e-05,2.97121552362e-05,1793237916160609792
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.337181626,716,679,665.337181626,637,880.674363252,788.337181626,803.662818374,653.662818374,632,653.337181626,0.414427630646,-0.00556888432245,0.0500115357126,0.999999994755,9.52478562924e-05,2.10048847802e-05,3.1235807624e-05,1793237916177276672
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746.914246098,716,679,665.914246098,637,881.828492195,788.914246098,803.085753902,653.085753902,632,653.914246098,0.415088907574,-0.00556814078913,0.0499936122305,0.999999994465,9.90041996349e-05,-1.53428269709e-05,3.21391664513e-05,1793237916193943296
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746.511761188,716,679.488238812,666,637,881.511761188,788.511761188,803,653.488238812,632,654,0.415753806379,-0.00556695252086,0.0499693250282,0.999999993325,9.75594340646e-05,-5.3644137016e-05,3.09091780587e-05,1793237916210609920
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,715.936229213,679.936229213,666,636.936229213,881,788,803.063770787,653.936229213,632,653.936229213,0.416425660761,-0.00556612823546,0.0499485543469,0.999999991494,9.46049278861e-05,-8.47950278266e-05,2.95368596725e-05,1793237916227276544
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,715.343482147,679.343482147,666,636.343482147,881,788,803.656517853,653.343482147,632,653.343482147,0.417149967198,-0.00556896706768,0.0499661665597,0.999999994346,8.66574108875e-05,-5.3804994345e-05,3.0072606525e-05,1793237916243943168
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746.242591109,715.242591109,679.242591109,666,636.242591109,881,788,804,653.242591109,632,653.242591109,0.417894735268,-0.00557135488598,0.0499878154816,0.999999996141,8.08998492962e-05,-1.4557763355e-05,3.10169130419e-05,1793237916260609792
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746.819468067,715.819468067,679.819468067,666,636.819468067,881,788,804,653.819468067,632,653.819468067,0.418667699177,-0.00557312121622,0.0500150269128,0.999999995766,7.8160002654e-05,3.60677302984e-05,3.2524206918e-05,1793237916277276416
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.604685282,716,680,666,637,881,788,804,653.604685282,632,654,0.419403403528,-0.00557115178028,0.0500083464072,0.999999995881,8.26006164012e-05,1.80131988145e-05,3.30105324106e-05,1793237916293943296
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.029307961,716,680,666,637,881,788,804,653.029307961,632,654,0.420122136411,-0.00556748073348,0.0499862284014,0.999999994886,9.0311870833e-05,-3.13245221252e-05,3.30318150697e-05,1793237916310609920
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,715.442596965,679.442596965,665.442596965,636.442596965,881,788,804,653,632,654,0.420884047319,-0.00556750605083,0.0499898090217,0.999999995563,8.75237589379e-05,-1.15256185187e-05,3.28775968081e-05,1793237916327276544
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.857112608,746,715.142887392,679,665.142887392,636.142887392,881,788,804,653,632,654,0.421657152383,-0.00556842040984,0.0499987507275,0.999999995743,8.45910233869e-05,1.59478856617e-05,3.3214539701e-05,1793237916343943168
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.27723994,746,715.72276006,679,665.72276006,636.72276006,881,788,804,653,632,654,0.422457404746,-0.00557144696396,0.0500198698332,0.999999994403,8.29393439873e-05,5.55442429912e-05,3.50823823685e-05,1793237916360610048
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.300507521,746,716,679.300507521,666,637,881,788,803.699492479,653,632,654,0.423231448697,-0.00557286686942,0.0500203800157,0.999999994405,8.19434885276e-05,5.65716823494e-05,3.57141593e-05,1793237916377276672
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.876308062,746,716,679.876308062,666,637,881,788,803.123691938,653,632,654,0.423981483246,-0.00557281493414,0.0500020104943,0.999999995807,8.15484292945e-05,2.22663802075e-05,3.52135842113e-05,1793237916393943552
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679.097612535,665.548806267,637,881.451193733,788,803.451193733,653,632,654,0.424766662622,-0.0055749908951,0.0499959602889,0.999999996421,7.5765781409e-05,1.37008065076e-05,3.50792132009e-05,1793237916410610944
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,678.026452505,665.026452505,637,881.973547495,788,804,653,632,653.973547495,0.425560945482,-0.00557765071069,0.0499943813918,0.999999996919,6.88943740859e-05,1.34060635324e-05,3.51403684183e-05,1793237916427278592
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,678.614956072,665.614956072,637,881.385043928,788,804,653,632,653.385043928,0.426344353531,-0.00557764027249,0.0500161934861,0.999999996073,7.02080788775e-05,3.9218710411e-05,3.72271979675e-05,1793237916443944192
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,715.798436045,679,666,637,881.201563955,788,804,653,632,653.201563955,0.427111953276,-0.00557662091349,0.0500241285114,0.999999995733,7.27484344856e-05,4.17658961619e-05,3.86899564629e-05,1793237916460610304
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,715.21541561,679,666,637,881.78458439,788,804,653,632,653.78458439,0.427849636199,-0.00557369218841,0.0500058014147,0.999999996229,7.76102068773e-05,2.83582513979e-07,3.89716710741e-05,1793237916477276928
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.361097425,715,679,666,636.638902575,881.638902575,788.361097425,804,653,632,654,0.428594207381,-0.00557263229576,0.0499841593897,0.999999995587,7.86864129646e-05,-3.42781246078e-05,3.82093573496e-05,1793237916493943552
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.933797106,715,679,666,636.066202894,881.066202894,788.933797106,804,653,632,654,0.429342815022,-0.00557266753475,0.0499605748254,0.999999994217,7.75442856739e-05,-6.47843698401e-05,3.6835245421e-05,1793237916510610176
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.4918044,747,715.5081956,679.5081956,666,636.5081956,881,788.4918044,804,653,632.5081956,654,0.430151347046,-0.00557630736783,0.0499777892872,0.999999996126,7.40407943705e-05,-2.84940218971e-05,3.81191531931e-05,1793237916527276800
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.085357846,746.914642154,716.085357846,680,666,637,881.085357846,788.085357846,804,653,633,654,0.430952040699,-0.00557975703434,0.0499950432652,0.999999996699,7.07819165741e-05,4.99204201061e-06,3.95755317948e-05,1793237916543943424
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.677614013,746.322385987,716.677614013,680,666,637,881.677614013,788.677614013,804,653,633,654,0.431659672361,-0.00557927948298,0.0499808634107,0.999999996243,7.08085868622e-05,-3.00231601042e-05,3.99929561353e-05,1793237916560610048
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716.736364226,680,665.736364226,636.736364226,882,789,804,653,633,654,0.432373848216,-0.00557869423244,0.0499674318853,0.999999995136,7.01054030124e-05,-5.69202119478e-05,3.96687887938e-05,1793237916577276928
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716.157790108,680,665.157790108,636.157790108,882,789,804,653,633,654,0.433095841688,-0.0055779803249,0.049954894312,0.999999994165,6.85303381037e-05,-7.41193482646e-05,3.84587187097e-05,1793237916593944064
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.417980089,716,679.582019911,665.417980089,636,882,788.582019911,804,653,633,654,0.433835005631,-0.00558052839747,0.0499703746024,0.999999995894,6.66481583856e-05,-4.70549737264e-05,3.9436345052e-05,1793237916610610688
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.992698887,716,679.007301113,665.992698887,636,882,788.007301113,804,653,633,654,0.434580608404,-0.00558429968268,0.0499963613342,0.999999997054,6.46508131878e-05,-3.39218884772e-06,4.12343373811e-05,1793237916627277312
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.418043768,716,679.581956232,666,636.581956232,882,788.581956232,804,653,633,653.418043768,0.435277808843,-0.00558349926595,0.0500014670078,0.999999997026,6.44922802083e-05,-3.96059497719e-06,4.21168489129e-05,1793237916643944192
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,745.831302183,716,680,665.831302183,637,882,788.831302183,804,653,633,653.168697817,0.435957703834,-0.00558217990172,0.049997473759,0.999999996702,6.59685690097e-05,-2.02582713985e-05,4.28226269499e-05,1793237916660610816
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,745.251152647,716,680,665.251152647,637,882,788.251152647,804,653,633,653.748847353,0.436596910226,-0.00557973830539,0.0499719436732,0.999999993819,7.13744585434e-05,-7.35313169813e-05,4.31260850637e-05,1793237916677277184
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,745.326147594,716,680,665.652295187,636.673852406,882,788,804,653,633,654,0.43725723624,-0.00557972812104,0.0499693507239,0.999999993526,7.30791227592e-05,-7.56035784607e-05,4.34861325855e-05,1793237916693944320
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,745.901272678,716,680,666.802545356,636.098727322,882,788,804,653,633,654,0.437933684702,-0.00558157405004,0.049984267734,0.999999995703,7.19583119303e-05,-3.85897205706e-05,4.38893798427e-05,1793237916710611712
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.477095993,716,680,666.522904007,636.477095993,882,788.477095993,804,653,633,654,0.438596102849,-0.00558330376794,0.0500046398165,0.999999996483,7.04078233828e-05,-2.87976690724e-06,4.54804710269e-05,1793237916727278336
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.945854477,716,680,665.945854477,637,882,788.945854477,804.054145523,653,633,654,0.439247229403,-0.00558487702585,0.05002183166,0.999999996197,6.87560899352e-05,2.59247405422e-05,4.69762451124e-05,1793237916743944448
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.358147431,716,680,665.358147431,637,882,788.358147431,804.641852569,653,633,654,0.439815738366,-0.00558514581544,0.0499965446259,0.999999996682,6.69841384546e-05,-1.06557087091e-05,4.51069782895e-05,1793237916760611328
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680.226923016,665,637,882,788.226923016,805,653,633.226923016,653.773076984,0.440379262224,-0.00558479761388,0.0499751004071,0.999999995963,6.59744664272e-05,-4.23950189915e-05,4.38686898266e-05,1793237916777278208
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680.807879916,665,637,882,788.807879916,805,653,633.807879916,653.192120084,0.440935008519,-0.0055834868137,0.0499596515578,0.999999994644,6.6154064746e-05,-6.65814241359e-05,4.36148223237e-05,1793237916793945344
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716,680.615667689,665.384332311,637,882,788.615667689,804.615667689,653,633.615667689,653.384332311,0.441491794349,-0.00558414205178,0.0499683839076,0.999999995669,6.46042439407e-05,-5.06300864674e-05,4.38740865779e-05,1793237916810611200
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680.041440869,665.958559131,637,882,788.041440869,804.041440869,653,633.041440869,653.958559131,0.442049093853,-0.00558576868835,0.0499890639292,0.99999999697,6.21999354933e-05,-1.48471189597e-05,4.43868837159e-05,1793237916827276800
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.454789475,788,804,653,633,654,0.442590640159,-0.00558698887601,0.0500077067045,0.999999996835,6.22685660315e-05,2.04595015619e-05,4.50892429531e-05,1793237916843944192
+202,3.366666667,POSE1_TO_POSE2_PRESS,766.868984155,746,716,680,666,636.868984155,881.131015845,788,804.131015845,653,633,654,0.443113132235,-0.00558826572182,0.0500207111703,0.999999996003,6.21356602166e-05,4.52752732787e-05,4.56428200679e-05,1793237916860611840
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.289384394,746,716,680,666,636.289384394,881.710615606,788,804.710615606,653,633,654,0.443574580173,-0.00558984480275,0.0500149532367,0.999999996531,6.06541350099e-05,3.42983948096e-05,4.56365005534e-05,1793237916877278720
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.288973169,746,716,680.288973169,665.711026831,636,882,788.288973169,804.711026831,653,633,654,0.444006246861,-0.00558997019704,0.0499970672772,0.99999999722,5.954946032e-05,2.81848255462e-06,4.47949570509e-05,1793237916893945344
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.866092057,746,716,680.866092057,665.133907943,636,882,788.866092057,804.133907943,653,633,654,0.444408217547,-0.0055886460671,0.0499670880198,0.999999996135,5.88205570411e-05,-4.91057541672e-05,4.31205810663e-05,1793237916910611968
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716,680.561923671,665.438076329,636.438076329,882,789,804.438076329,653,633,654,0.444806274708,-0.00559183860938,0.04995525506,0.999999995328,5.54007035713e-05,-6.67314709434e-05,4.26850698227e-05,1793237916927278336
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.991113854,746,715.991113854,680,666,636.991113854,882,788.991113854,805,653,633,653.991113854,0.44520325918,-0.00559642318486,0.0499492063141,0.999999995091,5.10801365981e-05,-7.34210660821e-05,4.26350372494e-05,1793237916943944704
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.395415861,746,715.395415861,680,666,636.395415861,882,788.395415861,805,653,633,653.395415861,0.445607488881,-0.00560281748208,0.0499630773755,0.99999999733,4.09686089683e-05,-4.22411372385e-05,4.33232100574e-05,1793237916960611072
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.194418162,746,715.194418162,680.194418162,665.805581838,636,881.805581838,788.194418162,805,653,633,653.194418162,0.44599095562,-0.00560507227772,0.0499718355802,0.999999998188,3.58448903231e-05,-2.04495717273e-05,4.38237049364e-05,1793237916977277184
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.772674913,746,715.772674913,680.772674913,665.227325087,636,881.227325087,788.772674913,805,653,633,653.772674913,0.446333430122,-0.0055991544799,0.0499704995012,0.999999998063,4.05685737608e-05,-1.7193398368e-05,4.395366842e-05,1793237916993943552
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746,716,680.650715189,665,636,881.349284811,788.650715189,805,653,633,653.650715189,0.446634153608,-0.00559070280757,0.0499563714722,0.999999997163,4.9422066969e-05,-3.77867648022e-05,4.24678785393e-05,1793237917010610176
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746,716,680.075172025,665,636,881.924827975,788.075172025,805,653,633,653.075172025,0.446907831818,-0.0055806097513,0.0499339571235,0.99999999462,6.09507526581e-05,-7.38292927614e-05,3.9935442209e-05,1793237917027277056
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636,882,788,805,653,632.500824476,653.499175524,0.44713821547,-0.00558338062094,0.0499029703989,0.999999989864,5.64202698738e-05,-0.000124928798915,3.84806537076e-05,1793237917043943424
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,635.924424793,882,788,805,653,632.075575207,654,0.447362084075,-0.00558839431965,0.0498719754869,0.999999982801,4.90495248933e-05,-0.000174945751475,3.72319217241e-05,1793237917060610048
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,635.332785333,882,788,805,653,632.667214667,654,0.447585879069,-0.00559552655066,0.0498497187162,0.999999978164,3.87585576985e-05,-0.000202124165288,3.62847271734e-05,1793237917077276672
+216,3.600000000,POSE1_TO_POSE2_PRESS,766.74706113,746,716,680.25293887,665,635,881.74706113,788.25293887,804.74706113,653,632.74706113,653.74706113,0.447801483805,-0.00560060503893,0.049835807089,0.999999974555,3.23126103825e-05,-0.000220356495179,3.5913760515e-05,1793237917093943808
+217,3.616666667,POSE1_TO_POSE2_PRESS,766.168941671,746,716,680.831058329,665,635,881.168941671,788.831058329,804.168941671,653,632.168941671,653.168941671,0.448006559053,-0.00560304321584,0.0498326240581,0.999999973083,3.08098573977e-05,-0.000227087654063,3.62835979356e-05,1793237917110611200
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,716,681,665,635,881.407787483,789,804.407787483,653,632,653,0.44819746985,-0.00560485297195,0.0498347760719,0.999999973322,2.8876183789e-05,-0.000226266909552,3.63954462469e-05,1793237917127277568
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,716,681,665,635,881.983942592,789,804.983942592,653,632,653,0.448382532413,-0.00560640326512,0.0498391308233,0.999999974264,2.67645913611e-05,-0.00022232812888,3.64007757964e-05,1793237917143943680
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.572418051,746,716,681,664.427581949,635,882,788.427581949,804.427581949,653,632,653,0.448539170068,-0.00560726002173,0.0498370007738,0.999999974152,2.34385872687e-05,-0.000223266844506,3.60383387419e-05,1793237917160610048
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664,635,882,788.158645015,804,653,632.158645015,653,0.44868808804,-0.0056080371026,0.049834163079,0.999999973526,2.10894581822e-05,-0.000226316503876,3.58292296034e-05,1793237917177277184
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746,716,681,664,635,882,788.737972876,804,653,632.737972876,653,0.448818696435,-0.00560865562936,0.0498299418926,0.999999971604,2.14230550179e-05,-0.000234593006285,3.60546622886e-05,1793237917193944064
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746,716,680.685773768,664,635,882,788.685773768,804.314226232,653,632.685773768,653,0.448931998446,-0.00560852994804,0.0498250482204,0.999999969228,2.30034141074e-05,-0.000244352029405,3.61479702432e-05,1793237917210610432
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746,716,680.112059278,664,635,882,788.112059278,804.887940722,653,632.112059278,653,0.449031008846,-0.00560778969918,0.0498195992085,0.999999966421,2.56133504429e-05,-0.000255335320138,3.61321695181e-05,1793237917227276800
+225,3.750000000,POSE1_TO_POSE2_PRESS,766.536462118,746,716,680.463537882,664,635,882,788,804.536462118,653,632.463537882,653,0.449116640491,-0.00560347288825,0.0498154048755,0.999999964396,2.86425409799e-05,-0.00026289767776,3.56707213171e-05,1793237917243943424
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,716,680.959422527,664,635,882,788,804,653,632.959422527,653.040577473,0.4491979362,-0.00559843996965,0.0498116509394,0.999999962593,3.18343204003e-05,-0.000269381709685,3.51303440139e-05,1793237917260610048
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,716,680.369029877,664,635,882,788,804,653,632.369029877,653.630970123,0.449264483582,-0.00559546721307,0.0498097376548,0.999999961616,3.58502230416e-05,-0.000272506084386,3.4986223075e-05,1793237917277276672
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746.217301756,716,680.217301756,664,635,881.782698244,788,804,653,632,654,0.44932578104,-0.00559384114676,0.0498076422818,0.999999960596,3.7310925773e-05,-0.000276049498349,3.4816643059e-05,1793237917293943296
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746.796863308,716,680.796863308,664,635,881.203136692,788,804,653,632,654,0.449378326442,-0.00559446012346,0.0498052433528,0.999999959524,3.4511901072e-05,-0.000280291484841,3.46046206889e-05,1793237917310610176
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746.626330003,716,681,664,635,881.373669997,788,804.373669997,653.373669997,632.373669997,654,0.44942401921,-0.00559568691291,0.0498050393153,0.999999959518,3.26331193029e-05,-0.000280533781263,3.46453919449e-05,1793237917327276800
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746.051009989,716,681,664,635,881.948990011,788,804.948990011,653.948990011,632.948990011,654,0.44946601397,-0.00559724170687,0.0498060197451,0.999999960091,3.12509442699e-05,-0.000278617655463,3.48225826144e-05,1793237917343943680
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746.522953947,716,681,664,635,882,788,804.477046053,653.477046053,633,654,0.449494471587,-0.00559470988501,0.049804870262,0.999999959461,3.48539299669e-05,-0.000280441127993,3.48746282884e-05,1793237917360610048
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.100329143,746.899670857,716,681,664,635,882,788,804.100329143,653,632.899670857,654,0.449520507901,-0.00559254549767,0.0498037867341,0.999999958832,3.78863726938e-05,-0.000282270553695,3.49799170655e-05,1793237917377276672
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.695168114,746.304831886,716,681,664,635,882,788,804.695168114,653,632.304831886,654,0.449541101364,-0.00559415180102,0.0498040496473,0.999999958878,3.57161498101e-05,-0.000282336075268,3.54076450989e-05,1793237917393943296
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664,635,882,788,804.719117924,653,632,654,0.44955620292,-0.00559514438964,0.0498028963798,0.999999958404,3.33817723585e-05,-0.000284308164195,3.52976467134e-05,1793237917410609920
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664,635,882,788,804.142995358,653,632,654,0.449565531832,-0.00559549189123,0.0498002545377,0.99999995737,3.08748486521e-05,-0.000288284282322,3.46224339176e-05,1793237917427276544
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680.569145436,664,635,882,788,804.430854564,653,632,654,0.44957280806,-0.0055936803098,0.0497992991718,0.999999956771,3.20747807352e-05,-0.000290265874945,3.42889887185e-05,1793237917443943424
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680.004074638,664,635,882,788,805,653,632.004074638,654,0.44957938288,-0.00559118418317,0.0497988917758,0.999999956311,3.44714972721e-05,-0.00029159684219,3.40675444294e-05,1793237917460610048
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680.59463791,664,635,882,788,805,653,632.59463791,654,0.449582543252,-0.00559275684633,0.0497972157312,0.999999955652,3.29790199099e-05,-0.000294059145786,3.37262845328e-05,1793237917477276672
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.818211976,746.181788024,716,681,664,635,882,788,805,653,632.818211976,654,0.449585318443,-0.00559356071562,0.0497959581148,0.999999955126,3.26037967058e-05,-0.000295893983107,3.36531416993e-05,1793237917493943552
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.238532502,746.761467498,716,681,664,635,882,788,805,653,632.238532502,654,0.44958725056,-0.00559268187492,0.04979561634,0.999999954902,3.46739815379e-05,-0.00029635544342,3.4166844406e-05,1793237917510609920
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.338894802,747,716.338894802,681,664.338894802,635,882,788,805,653,632,654,0.449589051777,-0.0055911922894,0.0497958006622,0.999999954851,3.6248026824e-05,-0.000296329127092,3.42642772574e-05,1793237917527276800
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.914747347,747,716.914747347,681,664.914747347,635,882,788,805,653,632,654,0.449590761468,-0.00558927566664,0.0497963528354,0.999999954921,3.7475167596e-05,-0.000295961753722,3.40706511364e-05,1793237917543943680
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746.49978042,716.49978042,681,664.49978042,635,882,788,805,653,632,653.49978042,0.449591678599,-0.00558816364696,0.0497963107724,0.999999954699,3.98596333539e-05,-0.000296438133562,3.37275307289e-05,1793237917560610048
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664,635,882,788,805,653,632,653.086241382,0.449592460845,-0.00558762343266,0.049796214415,0.999999954512,4.14311885355e-05,-0.000296886179812,3.34266347314e-05,1793237917577276672
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,746,716,681,664,635,882,788,805,653,632,653.665843944,0.449593259334,-0.00558955449118,0.0497963981848,0.99999995484,3.72018283054e-05,-0.000296333363432,3.35159042663e-05,1793237917593943296
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664,635,882,788,805,653,632,654,0.4495935681,-0.00559053490538,0.0497960630399,0.99999995491,3.48143078314e-05,-0.000296391191024,3.3463731163e-05,1793237917610610176
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664,635,882,788,805,653,632,654,0.449593210149,-0.00559022109229,0.0497950214335,0.99999995465,3.49343069085e-05,-0.000297280362346,3.32189950312e-05,1793237917627277824
+249,4.150000000,POSE1_TO_POSE2_PRESS,766.604568027,746.395431973,716,681,664,635,882,788.395431973,805,653,632,654,0.449593612733,-0.00558980938796,0.049795349851,0.999999954606,3.61866869418e-05,-0.000297279132589,3.32143083748e-05,1793237917643945216
+250,4.166666667,POSE1_TO_POSE2_PRESS,766.027847703,746.972152297,716,681,664,635,882,788.972152297,805,653,632,654,0.449594363988,-0.00558935280478,0.0497963063649,0.999999954659,3.79582143528e-05,-0.000296869692635,3.331967397e-05,1793237917660612096
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746.440865928,716,680.440865928,664,634.440865928,882,788.440865928,805,653,632,654,0.449594288964,-0.00558946803391,0.0497948512132,0.999999954251,3.81365172231e-05,-0.0002982261161,3.3243661462e-05,1793237917677277696
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+255,4.250000000,POSE1_TO_POSE2_PRESS,767,746,716,680.120255261,664,634.879744739,882,788.120255261,805,653,632.120255261,654,0.44959108886,-0.00558848549189,0.0497907847545,0.999999952761,3.58640001871e-05,-0.000303501568591,3.28444865477e-05,1793237917743943680
+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746.453531074,716.453531074,680,664,635,882,788,804.546468926,653.453531074,632,654,0.449591238484,-0.00558777179882,0.0497913064408,0.999999952746,3.59025478663e-05,-0.000303586129841,3.2470709042e-05,1793237917760610304
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746.97213389,716.97213389,680.02786611,664,634.97213389,882,788,804,653.97213389,632,654,0.449591620729,-0.00558688273662,0.0497921070724,0.999999952757,3.65727864745e-05,-0.000303509625915,3.20873696415e-05,1793237917777276928
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+261,4.350000000,HOLD_POSE2,766,746,716,681,664,634,882,788,805,653,632,654,0.449593815181,-0.00558949932323,0.0497923064448,0.99999995284,3.87621159175e-05,-0.000302859087553,3.30877602711e-05,1793237917862418688
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+265,4.416666667,HOLD_POSE2,766,746.330005192,716,681,664,634,882,788.669994808,804.669994808,653,632,653.330005192,0.449594677294,-0.00558823100618,0.049791733859,0.999999952907,3.65404241761e-05,-0.000303002098037,3.22559799494e-05,1793237917929085440
+266,4.433333333,HOLD_POSE2,766,746.907665133,716,681,664,634,882,788.092334867,804.092334867,653,632,653.907665133,0.449593983887,-0.00558859686278,0.0497916252788,0.999999952934,3.45053085516e-05,-0.000303153677018,3.22285537266e-05,1793237917945752064
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+268,4.466666667,HOLD_POSE2,766,746.076467767,716,680.076467767,663.923532233,634,882.923532233,788,805,653,632,654,0.449593699369,-0.00558866438943,0.0497915344224,0.999999952547,3.86425158719e-05,-0.000303891891533,3.26025213006e-05,1793237917979085312
+269,4.483333333,HOLD_POSE2,766,746.656294539,716,680.656294539,663.343705461,634,882.343705461,788,805,653,632,654,0.449594746412,-0.00558918500274,0.0497919201725,0.999999952871,3.70228014554e-05,-0.000303019835594,3.26677990587e-05,1793237917995751936
+270,4.500000000,HOLD_POSE2,766.235299989,746.764700011,716,680.764700011,663.235299989,634,882,788,804.764700011,653,632,654,0.44959506808,-0.00558976916023,0.0497917277402,0.999999952918,3.5801827064e-05,-0.000303001296184,3.27534575904e-05,1793237918012418304
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746.107609597,716,681,666,636,882,788,804.107609597,653,633,653.107609597,0.441842581348,-0.00541534045093,0.0498044457442,0.999999952584,0.000105785985892,-0.000288981043883,-1.14468211907e-05,1793237918899488768
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746.6965957,716,681,666,636,882,788,804.6965957,653,633,653.6965957,0.441339885376,-0.00541645109033,0.0498296846362,0.999999963444,9.65280648258e-05,-0.000252234231952,-1.31497249406e-05,1793237918916155648
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746.718949137,716,680.718949137,665.718949137,636,881.718949137,788,805,653,633,654,0.440801554908,-0.00542566635106,0.0498424533841,0.999999969879,7.75604614627e-05,-0.000232410974928,-1.45185577692e-05,1793237918932822528
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746.13930761,716,680.13930761,665.13930761,636,881.13930761,788,805,653,633,654,0.440225366005,-0.00544349202585,0.0498419737554,0.999999972133,4.82772135743e-05,-0.000230567432368,-1.55324712199e-05,1793237918949489152
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.560928688,746,716,680.439071312,665,636,881,788,804.560928688,653,633,653.560928688,0.439594440961,-0.00544765881936,0.0498157336897,0.99999996114,3.42711026419e-05,-0.000275999561287,-1.92341179171e-05,1793237918966155776
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766.016870561,746,716,680.983129439,665,636.016870561,881.016870561,788.016870561,804,653,633,653.016870561,0.438945842645,-0.00544715664915,0.0497818890519,0.999999943151,2.54701866651e-05,-0.000335386335566,-2.37851253843e-05,1793237918982822656
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.588741982,746,716,680.411258018,665,636.588741982,881.588741982,788.588741982,804,653,633,653.588741982,0.438285514952,-0.00543521502457,0.0497659803973,0.999999933727,2.8907027434e-05,-0.000361814161396,-2.83048148496e-05,1793237918999489280
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.166482369,665.166482369,636.833517631,882,788.833517631,804,653,633,653.833517631,0.437638653917,-0.00542570388454,0.0497632154986,0.999999930771,3.04014004115e-05,-0.000369505690293,-3.16127918806e-05,1793237919016155648
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.759250482,665.759250482,636.240749518,882,788.240749518,804,653,633,653.240749518,0.437026274923,-0.00542241611244,0.0497941057904,0.999999944938,2.69219953069e-05,-0.000329222069972,-3.1818123379e-05,1793237919032822272
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,715.656681293,680.313362586,665.656681293,636,881.656681293,788.343318707,804,653,633,653.343318707,0.436387500949,-0.00542058024872,0.0498210570151,0.999999957422,2.17966729152e-05,-0.000289152679313,-3.27244760655e-05,1793237919049489152
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,715.078563043,679.157126085,665.078563043,636,881.078563043,788.921436957,804,653,633,653.921436957,0.435730675175,-0.00541973736167,0.0498453142659,0.99999996824,1.55456892275e-05,-0.00024922980426,-3.41102650374e-05,1793237919066155776
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746,715.496220605,679.496220605,665,636.496220605,881.496220605,788.503779395,804,653,633,654,0.435005321921,-0.00542160202436,0.0498221265228,0.999999956387,4.76578820128e-06,-0.000292962135577,-3.71114100952e-05,1793237919082822400
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.070694724,636.929305276,882,788,804,653,632.929305276,654,0.434271258465,-0.00542339917639,0.0497954752711,0.999999940848,-5.74703102412e-06,-0.000341541831987,-4.02582027598e-05,1793237919099488768
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.646704573,636.353295427,882,788,804,653,632.353295427,654,0.43355196883,-0.00542167017855,0.0497974009528,0.999999944357,-9.25976805844e-06,-0.000330731801096,-4.26302181592e-05,1793237919116155392
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,788,804,653,632.229809522,654,0.432840109679,-0.00541927128829,0.0498083842935,0.999999951152,4.09690554207e-06,-0.000310006938599,-3.96956251949e-05,1793237919132822272
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,788,804,653,632.824169632,654,0.432140037517,-0.0054158097365,0.0498337359463,0.999999961205,4.42137994549e-05,-0.000273554014939,-2.83430732388e-05,1793237919149488896
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.406231591,881.593768409,788,804,653,633,654,0.431394456492,-0.00540961027897,0.0498282672625,0.999999958266,6.16494290871e-05,-0.000281030519611,-2.62427834866e-05,1793237919166155264
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.983126885,881.016873115,788,804,653,633,654,0.430629756585,-0.00540226058827,0.0498098505128,0.999999950075,6.95563327049e-05,-0.000306962407837,-2.80295021404e-05,1793237919182822144
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.444515812,637,881.555484188,788,804,653.555484188,633,654,0.429838356078,-0.0054011645236,0.0497844930482,0.999999936021,6.07980067495e-05,-0.00035100084639,-3.25503571131e-05,1793237919199489024
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.868464009,881.868464009,788,804,653.868464009,633,654,0.42905663035,-0.00540129312083,0.0497698161757,0.99999992726,5.12539834967e-05,-0.00037621889652,-3.62362246366e-05,1793237919216155904
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.279076472,881.279076472,788,804,653.279076472,633,654,0.428311380926,-0.00540502868496,0.0497930443006,0.999999942709,4.07228580305e-05,-0.000334027868884,-3.67289196641e-05,1793237919232822528
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.304716167,636,881,788.304716167,804,653,633,654,0.427536632311,-0.00540377180573,0.0498013003014,0.999999945593,3.92356463749e-05,-0.000325410293758,-3.71824745908e-05,1793237919249489920
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.883477035,636,881,788.883477035,804,653,633,654,0.426735353812,-0.00539802500157,0.0497960912086,0.999999938041,4.58820262549e-05,-0.000346986809136,-3.7600829102e-05,1793237919266157824
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.538421021,636,881,788.538421021,804,653,633,654,0.425975401464,-0.00539610631085,0.0497960703312,0.999999941282,5.05550444316e-05,-0.000336773644396,-3.82566781244e-05,1793237919282823680
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.040059278,636.040059278,881,788.040059278,804,653,633,654,0.425226087684,-0.00539538299605,0.049799392277,0.999999947831,5.39921285015e-05,-0.00031608698637,-3.88773013174e-05,1793237919299489280
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.625957663,636.625957663,881,788.625957663,804,653,633,654,0.424479784455,-0.00539779863039,0.0498304420787,0.999999963857,4.73668331848e-05,-0.000261883494337,-3.82021867489e-05,1793237919316155904
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746.209511451,716,680,665.790488549,636.790488549,881,788.790488549,804,653,633,654,0.423719175874,-0.00539911187135,0.0498478475886,0.999999971594,4.3084592046e-05,-0.000231317842319,-3.80468396002e-05,1793237919332822528
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746.788925834,716,680,665.211074166,636.211074166,881,788.211074166,804,653,633,654,0.422933310355,-0.00539847878213,0.0498411634249,0.999999968925,4.29391292035e-05,-0.000242485969758,-3.88091678451e-05,1793237919349489408
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746.633112439,715.633112439,680,665,636,881,788.366887561,804,653,633,654,0.422132514762,-0.00539495908889,0.0498200821638,0.999999957993,4.81695490728e-05,-0.000283024133944,-3.98950643396e-05,1793237919366156032
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746.055983179,715.055983179,680,665,636,881,788.944016821,804,653,633,654,0.421323163668,-0.00538978525257,0.0497907507728,0.999999939624,5.64805712688e-05,-0.000340392538718,-4.11663786287e-05,1793237919382822656
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746.51893999,715.51893999,679.48106001,665,636.51893999,881,789,804,653,633,653.48106001,0.420586559264,-0.00539280959915,0.049803973534,0.99999994722,5.25753332716e-05,-0.000318027416885,-4.06845382298e-05,1793237919399489792
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746.904208585,716,679,665.095791415,636.904208585,881,789,804,653,633,653.095791415,0.419852496742,-0.00539575942691,0.0498202229312,0.999999955382,4.87791365891e-05,-0.000291982081355,-4.00270669055e-05,1793237919416156416
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746.316231962,716,679,665.683768038,636.316231962,881,789,804,653,633,653.683768038,0.419091342102,-0.00539380137954,0.0498285356844,0.999999955504,5.22859743675e-05,-0.000291036419115,-3.94348421238e-05,1793237919432822784
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,665.731741244,636,881,788.731741244,804,653,633,654,0.418337252685,-0.00539116737707,0.0498233703905,0.999999951298,5.67238183997e-05,-0.000304286955804,-3.99455261719e-05,1793237919449489152
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,665.15130715,636,881,788.15130715,804,653,633,654,0.41759138519,-0.00538774675918,0.0498025205607,0.999999941394,6.22450832373e-05,-0.000334057747955,-4.17396760317e-05,1793237919466156032
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.425262422,665.850524844,636.425262422,881,788.425262422,804,653,633,654,0.416889617425,-0.00538941610658,0.0498107021551,0.999999947208,6.08209758794e-05,-0.000316469597469,-4.16060744026e-05,1793237919482822656
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.999529975,637,881,789,804,653,633,654,0.416203406036,-0.00539287787778,0.0498291105351,0.999999957729,5.6948381781e-05,-0.000282196258581,-4.07945653627e-05,1793237919499489280
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.423603107,637,881,789,804,653,633,654,0.415525978809,-0.00539356958497,0.0498358972648,0.99999996279,5.356935865e-05,-0.000264139661822,-4.21921309028e-05,1793237919516156160
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746,715.843893907,680,666,636.843893907,880.843893907,788.843893907,803.843893907,653,633,654,0.414837194329,-0.0053932989372,0.049833993956,0.999999962761,5.22653551937e-05,-0.000264295644188,-4.3523662653e-05,1793237919532822784
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,715.253666138,680,666,636.253666138,880.253666138,788.253666138,803.253666138,653,633,654,0.414116825858,-0.00539035203821,0.0498079241733,0.999999947749,5.67318561034e-05,-0.000315099711689,-4.46715586781e-05,1793237919549489664
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.670328713,746,715.329671287,680,665.670328713,636.329671287,880.329671287,788.329671287,803.329671287,653,633,654,0.413431043751,-0.00538899569853,0.0497922140459,0.9999999383,6.06637272955e-05,-0.000343001431986,-4.55003453916e-05,1793237919566156288
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.092184567,746,715.907815433,680,665.092184567,636.907815433,880.907815433,788.907815433,803.907815433,653,633,654,0.412771329386,-0.00538883816168,0.0497843119799,0.999999934346,6.41926485111e-05,-0.000353641677736,-4.6088619785e-05,1793237919582822912
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.060919422,746,716,679.060919422,666,636.060919422,881,789,803.060919422,653,632.939080578,653.939080578,0.411573533326,-0.00539214063154,0.0498305547782,0.999999954826,6.07356548816e-05,-0.000291164038961,-4.33865037e-05,1793237919616156416
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.649612842,746,716,679.649612842,666,636.649612842,881,789,803.649612842,653,632.350387158,653.350387158,0.41098423825,-0.00539317039908,0.0498340815955,0.999999955809,6.10198231988e-05,-0.000287754955251,-4.30671505685e-05,1793237919632822784
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745.765542198,715.765542198,680,666,636.765542198,880.765542198,788.765542198,803.765542198,653.234457802,632,653.234457802,0.41038563712,-0.00539260179203,0.0498262125477,0.999999950599,6.26378040848e-05,-0.000304914203225,-4.36593460802e-05,1793237919649489664
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745.186355767,715.186355767,680,666,636.186355767,880.186355767,788.186355767,803.186355767,653.813644233,632,653.813644233,0.40977335314,-0.00538968305842,0.0498015879005,0.999999934705,6.62169197526e-05,-0.000352315536118,-4.5591812219e-05,1793237919666156288
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,715.536774953,679,665.536774953,636.536774953,881,789,804,653.536774953,632,654,0.408267867226,-0.00540051355938,0.0498325269462,0.999999956392,6.01514982302e-05,-0.00028575107753,-4.40919975333e-05,1793237919716156928
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,715.225163032,679,665,637,880.225163032,788.225163032,803,654,632,653.774836968,0.404478861346,-0.00540267303953,0.0498346135275,0.999999952529,7.23561809564e-05,-0.000296294101951,-4.37709199187e-05,1793237919866156544
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,715.934164167,679,665,637,880.934164167,788.934164167,803,654,632.934164167,654,0.403867655632,-0.00540797346683,0.0498652770031,0.999999964858,6.71410908842e-05,-0.000253020416108,-4.19200883315e-05,1793237919899489792
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746.508735849,715.491264151,679,665,637,881,788.491264151,803.508735849,654,632.491264151,654,0.403578998109,-0.0054069277008,0.0498581712468,0.999999960716,6.98648382418e-05,-0.000268123903465,-4.23813482288e-05,1793237919916156160
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746.914724422,715,679,665,637,881,788.085275578,804,654,632,654,0.40329763466,-0.00540548802249,0.049848724222,0.999999955282,7.31872574055e-05,-0.000286773083658,-4.29103178168e-05,1793237919932822272
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746.325327867,715,679,665,637,881,788.674672133,804,654,632,654,0.403046550924,-0.00540378719152,0.0498413549875,0.999999950743,7.69788921191e-05,-0.000301249404966,-4.28545644371e-05,1793237919949489152
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.740280255,746,715.259719745,679,665,637,881,789,804,654,632.259719745,654,0.402808029343,-0.00540318654654,0.0498359006334,0.999999946969,7.91440880372e-05,-0.000313011269622,-4.26773741474e-05,1793237919966156032
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.416297083,746,716,679,665,637,881,789,803.583702917,653.583702917,633,654,0.402382637981,-0.00540424950154,0.0498290348673,0.999999942041,8.06068610867e-05,-0.000328065696769,-4.23549691085e-05,1793237919999490048
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.898049248,665,637,880.898049248,789,804,653.898049248,632,654,0.401559378756,-0.00540455157838,0.0498436749601,0.999999951013,0.000101224070613,-0.000293691646622,-3.8388404926e-05,1793237920099489536
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.526902155,665,636.526902155,880.526902155,789,804,654,632,654,0.401468508125,-0.00540735078995,0.0498456799944,0.999999952427,9.85122489093e-05,-0.000289793258262,-3.82175609503e-05,1793237920116155904
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,715.951683936,679,665,636.048316064,880,789,804,654,632.048316064,654,0.401382693392,-0.00541084008047,0.0498473150267,0.999999953796,9.42873560338e-05,-0.000286464599255,-3.81521125358e-05,1793237920132822272
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,715.362516796,679,665,636.637483204,880,789,804,654,632.637483204,654,0.40131642425,-0.00541565428461,0.049847000008,0.99999995524,8.55529551512e-05,-0.000284103376339,-3.8544301209e-05,1793237920149488896
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,715.22311141,679,665,637,880,789,804,654,632.77688859,654,0.401255433898,-0.00541944072653,0.0498469641144,0.999999956322,7.85407023189e-05,-0.0002822804185,-3.87915428952e-05,1793237920166155520
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,665,637,880.377867114,788.622132886,803.622132886,654,632,654,0.40116096597,-0.00542203779684,0.049849376633,0.999999957936,7.55655857452e-05,-0.00027738955035,-3.83760505706e-05,1793237920199489024
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,665,637,880.949992048,788.050007952,803.050007952,654,632,654,0.401124508147,-0.00542162444964,0.0498521967258,0.999999959139,7.9696488876e-05,-0.000271935499901,-3.77157122231e-05,1793237920216155904
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,665,637,881,789,804,654,632,654,0.401025529276,-0.00542292735672,0.0498553544106,0.999999961694,7.5675644503e-05,-0.000263485558946,-3.82090854568e-05,1793237920299489024
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,715.44282346,679.55717654,665.44282346,637,881,789,804.44282346,654,632,654,0.401017945026,-0.00542276396373,0.0498563074928,0.999999962054,7.63053828023e-05,-0.000261957820678,-3.80570987048e-05,1793237920316156416
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,767.589435636,746,716,679,665.410564364,637,881,789,804.410564364,654,632.589435636,654,0.401010286868,-0.00542302614041,0.0498583027895,0.999999963223,7.63923319999e-05,-0.000257454070183,-3.7879342371e-05,1793237920349489920
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767.832560204,746,716,679.167439796,665,637,881,789,804.167439796,654,632.832560204,654,0.401007937664,-0.00542320101323,0.0498589941601,0.999999963675,7.63243778848e-05,-0.000255731693407,-3.77740198512e-05,1793237920366156032
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767.240930944,746,716,679.759069056,665,637,881,789,804.759069056,654,632.240930944,654,0.401005273606,-0.00542298747384,0.049859227721,0.999999963543,7.77077872066e-05,-0.000255866044965,-3.75159108307e-05,1793237920382822656
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,715.338683465,679,665,636.661316535,881,789,803,654,632,654.338683465,0.401006241281,-0.00542392152423,0.0498620737545,0.999999965111,7.90944122542e-05,-0.000249323382922,-3.68775270809e-05,1793237920466156032
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,715.251351483,679.251351483,665,637,881,788.748648517,803.251351483,654,632,654,0.401006961719,-0.00542359604428,0.0498631365786,0.99999996545,7.97461599034e-05,-0.000247773790749,-3.67326531828e-05,1793237920482822656
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+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.595997413,665,637,881,788,804,654,632,653.595997413,0.401005333121,-0.00542322903339,0.049863078913,0.999999965423,7.75425589818e-05,-0.000248531187753,-3.70550474891e-05,1793237920516156160
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.025523102,665,637,881,788,804,654,632,653.025523102,0.401002725659,-0.00542518150711,0.0498621255639,0.999999965116,7.42235205607e-05,-0.000250775350235,-3.70099514289e-05,1793237920532822528
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,715.450087499,679,665,637,881,788.549912501,804,654,632,653.549912501,0.401003916115,-0.00542589602281,0.0498629769338,0.999999965324,7.6100676008e-05,-0.000249433636232,-3.66599260066e-05,1793237920549489152
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,715.129491603,679.129491603,665.129491603,637,881,789,803.870508397,654,632,654,0.401005069649,-0.00542613408942,0.049863744524,0.999999965529,7.81548041252e-05,-0.000248001500703,-3.64458545657e-05,1793237920566155776
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,715.723088401,679.723088401,665.723088401,637,881,789,803.276911599,654,632,654,0.401005453322,-0.00542487234091,0.0498639089003,0.99999996566,7.9970972155e-05,-0.000246847219396,-3.67702357113e-05,1793237920582822400
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.69227991,666,637,880.69227991,789,803.30772009,654,632.30772009,654,0.401005046033,-0.00542441182061,0.0498639780031,0.99999996571,8.01690200028e-05,-0.000246564623057,-3.68751850396e-05,1793237920599489024
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.115487401,666,637,880.115487401,789,803.884512599,654,632.884512599,654,0.401003947121,-0.00542465189946,0.0498639637982,0.999999965691,7.89521730909e-05,-0.000247044233706,-3.67882617626e-05,1793237920616155648
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+430,7.166666667,POSE2_TO_POSE3_RETREAT,767.793167285,746,715.793167285,679,665,637,881,789,803.793167285,654,632,654,0.401005706779,-0.00542532847573,0.0498653611179,0.999999966592,7.84192010399e-05,-0.000243593224651,-3.64530676484e-05,1793237920699489024
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767.631739838,746,715.631739838,679,665,637,881,789,804,654,632.368260162,654,0.401005277586,-0.00542452118001,0.0498650962216,0.999999966444,7.89280931026e-05,-0.000244025251227,-3.65222436416e-05,1793237920716155904
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767.058981665,746,715.058981665,679,665,637,881,789,804,654,632.941018335,654,0.401003347014,-0.00542387860021,0.0498639319586,0.999999965906,7.79052643293e-05,-0.000246519024476,-3.67122678192e-05,1793237920732822528
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..03d17937910c2276e7f62f33bef6901e01ee65d0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,435 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..11c1840be61b5cc470e473798fcf022c1623fdff
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6f187dfa751a059d6d1a579b2b81722483f51d4d348b7661491a75f37a1e6f2
+size 27625981
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ba44bec93611b9d151f10ac939ad921512814f7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_02/franka_data.csv
@@ -0,0 +1,437 @@
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+12,0.200000000,BASELINE,767.032046737,746,716,679,665,637,881,788.032046737,803,654.967953263,632.967953263,654,0.401004638489,-0.0054268780011,0.0498653794857,0.999999967161,7.45504033496e-05,-0.000242488335904,-3.63156320742e-05,1793237921106520832
+13,0.216666667,BASELINE,767,746,716,679,665,637,881,788.543964486,803.543964486,654.456035514,632.456035514,654,0.401004259359,-0.00542670265818,0.0498656320987,0.999999967018,7.54696387205e-05,-0.000242794529725,-3.63069175536e-05,1793237921123187456
+14,0.233333333,BASELINE,767,746,716,679,665.119394541,637,880.880605459,788.880605459,804,653.880605459,632,654,0.401003882232,-0.00542655808494,0.0498658314487,0.999999966901,7.6384418831e-05,-0.000242998443264,-3.62540498254e-05,1793237921139854336
+15,0.250000000,BASELINE,767,746,716,679,665.693400753,637,880.306599247,788.306599247,804,653.306599247,632,654,0.40100399305,-0.00542672577251,0.0498658728859,0.999999967007,7.71034348418e-05,-0.000242376685098,-3.59711315552e-05,1793237921156521472
+16,0.266666667,BASELINE,767,746,716,679,666,637,880.274744615,788.274744615,803.725255385,653.274744615,632,654,0.401003447966,-0.00542712322612,0.0498655788273,0.9999999669,7.72584585932e-05,-0.0002427775346,-3.59212932018e-05,1793237921173188352
+17,0.283333333,BASELINE,767,746,716,679,666,637,880.864501527,788.864501527,803.135498473,653.864501527,632,654,0.401002150848,-0.0054277841212,0.0498649001015,0.999999966547,7.67668290522e-05,-0.000244350869329,-3.61386959188e-05,1793237921189854976
+18,0.300000000,BASELINE,767,746,715.553555643,679,665.553555643,637,881,789,803,654,632,654,0.40100359703,-0.00542658278525,0.0498656859129,0.99999996681,7.79317722368e-05,-0.000242889347891,-3.62087635078e-05,1793237921206521088
+19,0.316666667,BASELINE,767,746,715.025914885,679,665,637,881.025914885,789,803,654,632,653.974085115,0.401005684931,-0.00542493979672,0.0498668000581,0.999999967219,7.94306686449e-05,-0.000240707317765,-3.62355515836e-05,1793237921223187712
+20,0.333333333,BASELINE,767,746,715.602379959,679,665,637,881.602379959,789,803,654,632,653.397620041,0.401004021768,-0.00542571492618,0.0498656088362,0.999999966946,7.75266648605e-05,-0.000242450076975,-3.62765383353e-05,1793237921239854336
+21,0.350000000,BASELINE,767,746,716,679,665,637,881.821895297,789,803,654,632,653.178104703,0.401002412895,-0.00542649741347,0.0498646120598,0.999999966657,7.6212325156e-05,-0.000244059422167,-3.62182625952e-05,1793237921256520704
+22,0.366666667,BASELINE,767,746,716,679,665,637,881.247816584,789,803,654,632,653.752183416,0.401000924724,-0.00542729625908,0.0498640475874,0.999999966347,7.62089654147e-05,-0.000245372152375,-3.59392999928e-05,1793237921273187328
+23,0.383333333,BASELINE,767,746,715.663192276,679,665,637,881,789,803.336807724,654,632,654,0.401001637282,-0.00542769159169,0.0498644080366,0.999999966559,7.60747749959e-05,-0.000244558423892,-3.58673413349e-05,1793237921289854464
+24,0.400000000,BASELINE,767,746,715.070557866,679,665,637,881,789,803.929442134,654,632,654,0.401004021432,-0.00542778043084,0.0498654710221,0.999999967164,7.58412104337e-05,-0.000242129516193,-3.59526151855e-05,1793237921306521344
+25,0.416666667,BASELINE,767,746,715.507138341,679,665.507138341,637,881,789,804,654,632.507138341,654,0.401004941746,-0.00542720553606,0.0498666446736,0.999999967462,7.60368803216e-05,-0.000240823809236,-3.60377974631e-05,1793237921323187968
+26,0.433333333,BASELINE,767,746,716,679.0827192,666,637,881,789,803.9172808,654,632.9172808,654,0.401005338097,-0.00542679293189,0.0498674802318,0.999999967631,7.60686689693e-05,-0.000240107720145,-3.6059121712e-05,1793237921339854848
+27,0.450000000,BASELINE,767,746,716,679.65772616,666,637,881,789,803.34227384,654,632.34227384,654,0.401003793566,-0.00542788001799,0.0498662146817,0.999999967285,7.47799113886e-05,-0.000241997227764,-3.57004806026e-05,1793237921356520960
+28,0.466666667,BASELINE,767,746,716,679.761752431,665.761752431,637,881,788.761752431,803.476495138,654,632,654,0.401003197521,-0.00542864316714,0.0498655162625,0.999999967157,7.39584034004e-05,-0.000242799780689,-3.55621561511e-05,1793237921373187584
+29,0.483333333,BASELINE,767,746,716,679.173121115,665.173121115,637,881,788.173121115,804.653757769,654,632,654,0.401003996386,-0.0054289299116,0.049865651906,0.999999967353,7.38240658286e-05,-0.000242003780957,-3.57478449997e-05,1793237921389853952
+30,0.500000000,BASELINE,767,746,716,679,665,637,881,788.409416005,804.18116799,654,632,654,0.401003980624,-0.00542790847591,0.0498655407991,0.999999967177,7.57560490788e-05,-0.000242131199973,-3.57773093215e-05,1793237921406520576
+31,0.516666667,BASELINE,767,746,716,679,665,637,881,788.989413982,803.021172037,654,632,654,0.40100362545,-0.00542634199082,0.0498653268843,0.999999966838,7.85489588132e-05,-0.000242643358708,-3.57416831496e-05,1793237921423187200
+32,0.533333333,BASELINE,767,746,716,679.565509642,665,637,881,788.434490358,803.565509642,654,632,654,0.401004078148,-0.00542716823315,0.0498660934247,0.999999967034,7.85376019698e-05,-0.000241884168043,-3.54421728419e-05,1793237921439853824
+33,0.550000000,BASELINE,767,746,716,679.859570161,665,637,881,788.140429839,804,654,632,654,0.401004069032,-0.00542762085331,0.0498664510903,0.999999967089,7.85152583275e-05,-0.000241684233442,-3.53037877265e-05,1793237921456520704
+34,0.566666667,BASELINE,767,746,716,679.288035907,665,637,881,788.711964093,804,654,632,654,0.40100259609,-0.00542678993403,0.0498654975969,0.999999966682,7.86192337433e-05,-0.000243273714084,-3.56751001871e-05,1793237921473187328
+35,0.583333333,BASELINE,767,746,716,679,665,637,881,789,804,654,632,654,0.401001895577,-0.00542620948736,0.0498650370256,0.999999966511,7.87160851148e-05,-0.000243908176448,-3.59329907901e-05,1793237921489853952
+36,0.600000000,BASELINE,767,746,716,679,665,637,881,789,804,654,632,654,0.401001979857,-0.00542588352223,0.0498650772658,0.99999996658,7.8805698428e-05,-0.000243572334859,-3.60756441692e-05,1793237921506520576
+37,0.616666667,BASELINE,767,746,715.526887113,679,665,637,881,788.526887113,803.526887113,654,632,653.526887113,0.401001332552,-0.0054251780916,0.0498648523791,0.999999966354,7.9693029851e-05,-0.000244229345172,-3.59670639305e-05,1793237921523187200
+38,0.633333333,BASELINE,767,746.051761916,715,679,665,636.948238084,881,788.051761916,803,654,632,653.051761916,0.401000644739,-0.00542454265191,0.0498646097533,0.9999999661,8.05613562457e-05,-0.000245002856448,-3.58248810079e-05,1793237921539853824
+39,0.650000000,BASELINE,767,746.625150459,715,679,665,636.374849541,881,788.625150459,803,654,632,653.625150459,0.401001201396,-0.00542546977729,0.0498647873029,0.999999966259,7.94360641746e-05,-0.000244707480058,-3.59116227883e-05,1793237921556520448
+40,0.666666667,BASELINE,767,746.795760253,715.204239747,679,665,636.204239747,881,788.795760253,803.204239747,654,632,654,0.401001645667,-0.00542633387819,0.0498651498438,0.999999966489,7.82358932616e-05,-0.000244153515087,-3.5932407386e-05,1793237921573187328
+41,0.683333333,BASELINE,767,746.205907767,715.794092233,679,665,636.794092233,881,788.205907767,803.794092233,654,632,654,0.401001877749,-0.00542707898631,0.0498658616557,0.99999996685,7.68943481936e-05,-0.000243111324639,-3.58286622023e-05,1793237921589853952
+42,0.700000000,BASELINE,767,746,715.622664047,679,665,637,880.622664047,788.377335953,803.622664047,654,632,654,0.401001984486,-0.00542667435434,0.0498653994465,0.999999966728,7.75975612808e-05,-0.000243379105834,-3.59023116768e-05,1793237921606520576
+43,0.716666667,BASELINE,767,746,715.042964598,679,665,637,880.042964598,788.957035402,803.042964598,654,632,654,0.401002024002,-0.00542565312213,0.0498643076153,0.999999966344,7.93973685958e-05,-0.000244349418693,-3.60710970756e-05,1793237921623187456
+44,0.733333333,BASELINE,767,746,715.532987916,679,665,637,880.532987916,789,803,654,632,654,0.401003696088,-0.00542556028263,0.0498659696161,0.999999966946,7.89514761132e-05,-0.00024203684284,-3.59613043045e-05,1793237921639854080
+45,0.750000000,BASELINE,767,746.108553241,716,679.108553241,665,637,881,789,803.108553241,654,632.108553241,654,0.401005024966,-0.00542576483208,0.0498674712984,0.999999967513,7.82395629392e-05,-0.000239939951784,-3.5807806397e-05,1793237921656520704
+46,0.766666667,BASELINE,767,746.683743324,716,679.683743324,665,637,881,789,803.683743324,654,632.683743324,654,0.401004316725,-0.00542692830295,0.0498673362209,0.999999967615,7.71568589529e-05,-0.000239899872287,-3.55622929514e-05,1793237921673188352
+47,0.783333333,BASELINE,767,746.735033308,716,679.735033308,665,637,881,788.735033308,803.735033308,654,632.735033308,653.735033308,0.401003299733,-0.00542786055768,0.0498666959085,0.999999967395,7.6226099843e-05,-0.000241123450082,-3.54910871852e-05,1793237921689855488
+48,0.800000000,BASELINE,767,746.146440914,716,679.146440914,665,637,881,788.146440914,803.146440914,654,632.146440914,653.146440914,0.401001905637,-0.00542851040922,0.0498654385111,0.999999966775,7.54809234144e-05,-0.000243890436882,-3.563277775e-05,1793237921706521856
+49,0.816666667,BASELINE,767,746,716,679,665.432908213,637,881,788.432908213,803.432908213,654,632,653.432908213,0.401002233317,-0.00542781968654,0.0498652005282,0.999999966691,7.78237287392e-05,-0.000243512183592,-3.55460563563e-05,1793237921723188224
+50,0.833333333,BASELINE,767,746,716,679,665.990782974,637,881,789,804,654,632,654,0.401003113659,-0.00542670178665,0.0498653051684,0.999999966773,8.11131104164e-05,-0.000242119915314,-3.53863396127e-05,1793237921739854336
+51,0.850000000,BASELINE,767,746,716,679,665.413172987,637,881,789,804,654,632,654,0.401002909251,-0.00542662125729,0.0498657176702,0.99999996681,7.97055461199e-05,-0.000242435280781,-3.53903419424e-05,1793237921756520960
+52,0.866666667,BASELINE,767,746,716,679,665,637,880.836011961,789,803.836011961,654,632.163988039,654,0.401002675908,-0.00542695816424,0.0498658884382,0.999999966892,7.78527974536e-05,-0.000242696792581,-3.53956298739e-05,1793237921773187584
+53,0.883333333,BASELINE,767,746,716,679,665,637,880.259979053,789,803.259979053,654,632.740020947,654,0.401002369862,-0.00542834394335,0.0498654518135,0.999999967088,7.4881455485e-05,-0.000242822988833,-3.54041480748e-05,1793237921789854464
+54,0.900000000,BASELINE,767,746,716,679.325602303,665,637,880.325602303,789,803.325602303,654,633,654,0.401002523705,-0.00542870248637,0.0498655834935,0.999999967194,7.51166753022e-05,-0.000242313317547,-3.54035941255e-05,1793237921806521344
+55,0.916666667,BASELINE,767,746,716,679.919037976,665,637,880.919037976,789,803.919037976,654,633,654,0.401003055842,-0.00542821604725,0.0498661826485,0.999999967224,7.79895432312e-05,-0.000241280595453,-3.53955776225e-05,1793237921823187968
+56,0.933333333,BASELINE,767,746,715.501103785,680,665,637,881,788.501103785,804,654,632.501103785,654,0.4010023372,-0.00542687514057,0.0498657860777,0.99999996687,7.85614400407e-05,-0.000242517872631,-3.5686271787e-05,1793237921839854336
+57,0.950000000,BASELINE,767.075861595,746,715.075861595,679.924138405,665,637,881,788.075861595,803.924138405,654,632,654,0.401001525022,-0.00542566893146,0.0498653129869,0.999999966514,7.86655518225e-05,-0.00024390497524,-3.59676341101e-05,1793237921856520704
+58,0.966666667,BASELINE,767.64793496,746,715.64793496,679.35206504,665,637,881,788.64793496,803.35206504,654,632,654,0.401001393538,-0.00542622676092,0.04986536833,0.999999966557,7.80876243707e-05,-0.00024392634334,-3.58792785968e-05,1793237921873187584
+59,0.983333333,BASELINE,767.773496244,746,716,679.226503756,665,637,881,789,803,654,632.226503756,654,0.401001542816,-0.00542646587605,0.0498656460067,0.999999966689,7.8142604563e-05,-0.000243394097727,-3.5719267974e-05,1793237921889854208
+60,1.000000000,BASELINE,767.184533139,746,716,679.815466861,665,637,881,789,803,654,632.815466861,654,0.401002141379,-0.00542619497326,0.0498662794695,0.999999966959,7.92103859375e-05,-0.000241975939811,-3.54445922877e-05,1793237921906521088
+61,1.016666667,BASELINE,767,746,716,680,665,637,881,788.601538816,803.398461184,653.601538816,632.601538816,653.601538816,0.401002771036,-0.00542695042095,0.0498664691467,0.999999967242,7.82929085976e-05,-0.000241101475349,-3.54403153747e-05,1793237921923187712
+62,1.033333333,BASELINE,767,746,716,680,665,637,881,788.021267961,803.978732039,653.021267961,632.021267961,653.021267961,0.401003414881,-0.00542817417134,0.0498664563336,0.99999996753,7.64695983355e-05,-0.000240475087152,-3.55594158959e-05,1793237921939854336
+63,1.050000000,BASELINE,767,746,716,680,665,637,881,788,804,653.555586895,632,653.555586895,0.401003511154,-0.00542720168873,0.0498665349162,0.999999967535,7.66732650987e-05,-0.000240352052521,-3.58028567841e-05,1793237921956520704
+64,1.066666667,BASELINE,767,746,716,679.868203562,665,637,881,788.131796438,804,654,632,654,0.401003688316,-0.0054266177536,0.0498666590523,0.999999967486,7.70253647939e-05,-0.00024041967196,-3.59510694791e-05,1793237921973187328
+65,1.083333333,BASELINE,767,746,716,679.293725012,665,637,881,788.706274988,804,654,632,654,0.401004207142,-0.005427619543,0.0498669245151,0.999999967293,7.76169964633e-05,-0.00024106334239,-3.576353707e-05,1793237921989854208
+66,1.100000000,BASELINE,767,746,716,679,665.288930194,637,881,789,804,654,632.288930194,654,0.401004729921,-0.00542804274219,0.0498673272389,0.999999967349,7.75236992793e-05,-0.000240884559648,-3.56008807539e-05,1793237922006521088
+67,1.116666667,BASELINE,767,746,716,679,665.880139799,637,881,789,804,654,632.880139799,654,0.401005256834,-0.00542786061896,0.0498678735654,0.999999967666,7.67138279698e-05,-0.000239845324526,-3.54642498733e-05,1793237922023187712
+68,1.133333333,BASELINE,767,746.461952689,716,679,666,637,881.461952689,789,804,654,632.538047311,654,0.401004285912,-0.00542733154641,0.0498675228423,0.999999967499,7.61670894329e-05,-0.000240688786399,-3.56195713003e-05,1793237922039854592
+69,1.150000000,BASELINE,767,746.958939658,716,679,665.958939658,637,881.958939658,789,804,654,632,654,0.401003026767,-0.00542683168603,0.0498669409339,0.99999996724,7.56567616659e-05,-0.00024189601338,-3.58182357686e-05,1793237922056521472
+70,1.166666667,BASELINE,767,746.383938273,716,679,665.383938273,637,881.383938273,789,804,654,632,654,0.401002972611,-0.00542785897419,0.0498663190632,0.999999967385,7.47497960993e-05,-0.000241607944168,-3.56151084013e-05,1793237922073187840
+71,1.183333333,BASELINE,767,746,716,679,665.190500163,637,881,789,803.809499837,654,632,654,0.401003661343,-0.00542811029739,0.0498664146016,0.999999967577,7.48256884646e-05,-0.000240798871988,-3.5547916062e-05,1793237922089854464
+72,1.200000000,BASELINE,767,746,716,679,665.763807464,637,881,789,803.236192536,654,632,654,0.401005842896,-0.00542680233117,0.0498679517626,0.999999967859,7.68766185151e-05,-0.000238942852327,-3.57538830272e-05,1793237922106520832
+73,1.216666667,BASELINE,767,746,715.650127086,679,665.650127086,637,881,789,803,654,632,654,0.401005140053,-0.00542681799513,0.0498677642076,0.999999967719,7.67740987386e-05,-0.000239575965206,-3.56518119719e-05,1793237922123187456
+74,1.233333333,BASELINE,767,746,715.055122936,679,665.055122936,637,881,789,803,654,632,654,0.401002416319,-0.00542776103335,0.0498663682659,0.99999996728,7.51628086676e-05,-0.000241953037531,-3.53339204235e-05,1793237922139854080
+75,1.250000000,BASELINE,767,746,715.522464214,679,665,637,881,789,803.522464214,654,632.522464214,654,0.401002074898,-0.00542734610916,0.0498661054271,0.999999967012,7.738266202e-05,-0.000242334153368,-3.55317148429e-05,1793237922156520960
+76,1.266666667,BASELINE,767,746,716,679,665,637,881,788.902044643,804,654,632.902044643,654,0.401002153145,-0.00542688351556,0.0498660050458,0.999999966824,7.95792658935e-05,-0.000242369400885,-3.57104838722e-05,1793237922173187328
+77,1.283333333,BASELINE,767,746,716,679,665,637,881,788.328097292,804,654,632.328097292,654,0.401003088703,-0.00542686302484,0.0498661319108,0.999999966975,7.97621047304e-05,-0.00024171425611,-3.55409500725e-05,1793237922189854464
+78,1.300000000,BASELINE,767,746,716,679,665,637,881,788.25272236,803.74727764,654,632,654,0.401003756222,-0.00542688081247,0.0498665204374,0.999999967163,7.92160816344e-05,-0.000241121289516,-3.54978884218e-05,1793237922206521344
+79,1.316666667,BASELINE,767,746,716,679,665,637,881,788.84271334,803.15728666,654,632,654,0.40100406603,-0.00542694968416,0.0498672581623,0.9999999674,7.76973616143e-05,-0.000240611302371,-3.56236091875e-05,1793237922223187712
+80,1.333333333,BASELINE,767,746,716,679,665,636.574803471,881,789,803.425196529,654,632,654,0.401004067289,-0.00542750517473,0.0498674192882,0.999999967618,7.64272298763e-05,-0.000240123976034,-3.55419643062e-05,1793237922239854336
+81,1.350000000,BASELINE,767,746,716,679.004913776,665.004913776,636.004913776,881,789,804,654,632,654,0.401003950363,-0.0054282364777,0.0498673706515,0.999999967824,7.52625907504e-05,-0.000239656347326,-3.53846865518e-05,1793237922256520704
+82,1.366666667,BASELINE,767,746,716,679.580343178,665.580343178,636.580343178,881,789,804,654,632,654,0.401003133614,-0.00542884330659,0.0498673021829,0.999999967579,7.58548170387e-05,-0.000240519348234,-3.51976742726e-05,1793237922273187328
+83,1.383333333,BASELINE,767,746,716,679.841005614,665.841005614,637,881,789,804,654,632,654,0.401002512172,-0.00542908186659,0.0498670741193,0.999999967365,7.65908475068e-05,-0.000241194132851,-3.50708418124e-05,1793237922289853952
+84,1.400000000,BASELINE,767,746,716,679.253674619,665.253674619,637,881,789,804,654,632,654,0.401002416894,-0.00542832829703,0.0498664161007,0.999999967236,7.77142917546e-05,-0.000241361856184,-3.51061359139e-05,1793237922306520832
+85,1.416666667,BASELINE,767,746,716,679.329374571,665,637,881.329374571,788.670625429,803.670625429,654,632,654,0.401003726238,-0.00542777023044,0.0498668984177,0.999999967561,7.77805696401e-05,-0.000239975498113,-3.52261384445e-05,1793237922323187712
+86,1.433333333,BASELINE,767,746,716,679.909168324,665,637,881.909168324,788.090831676,803.090831676,654,632,654,0.401006103497,-0.00542736080225,0.049868247717,0.999999968224,7.70430976876e-05,-0.000237407592249,-3.54105436845e-05,1793237922339854336
+87,1.450000000,BASELINE,767,746,716,679.516872971,665,637,881.033745943,788.483127029,803.483127029,654,632.483127029,653.516872971,0.401004705776,-0.00542693735111,0.0498677025165,0.999999967663,7.79389217101e-05,-0.000239443460188,-3.55726304797e-05,1793237922356520960
+88,1.466666667,BASELINE,767,746,716,679,665,637,880.056710909,789,803.943289091,654,632.943289091,653.056710909,0.401002964675,-0.00542651701087,0.0498669583367,0.999999966976,7.91102537769e-05,-0.000241898272235,-3.56982141848e-05,1793237922373187584
+89,1.483333333,BASELINE,767,746,716,679,665,637,880.636839692,789,803.363160308,654,632.363160308,653.636839692,0.401004526625,-0.00542614942553,0.0498676258322,0.999999967289,8.00240809419e-05,-0.000240326472478,-3.55251552625e-05,1793237922389854464
+90,1.500000000,BASELINE,767,746,716,679,665,637,881,788.779445275,803.220554725,654,632.220554725,654,0.401004619196,-0.005426611886,0.0498675411107,0.999999967418,7.91208554495e-05,-0.000240098362042,-3.5457151539e-05,1793237922406521088
+91,1.516666667,BASELINE,767,746,716,679,665,637,881,788.189727662,803.810272338,654,632.810272338,654,0.401002252329,-0.00542846367112,0.0498661973339,0.999999967231,7.51762603939e-05,-0.000242119309135,-3.55649884566e-05,1793237922423187712
+92,1.533333333,BASELINE,767.393501731,746,716,679.393501731,665,637,881,788.393501731,804,654,632.606498269,654,0.401001934891,-0.00542899166771,0.0498659580056,0.999999967111,7.54406529824e-05,-0.000242554351376,-3.540662027e-05,1793237922439854336
+93,1.550000000,BASELINE,767.97365361,746,716,679.97365361,665,637,881,788.97365361,804,654,632.02634639,654,0.401002589562,-0.00542889175025,0.0498662425517,0.999999967025,7.7701499388e-05,-0.000242237149644,-3.51219827061e-05,1793237922456520960
+94,1.566666667,BASELINE,767.454293683,746,716,679.454293683,665.545706317,637,881,788.454293683,804,654,632.545706317,654,0.401003086156,-0.00542883514531,0.0498664552824,0.999999967332,7.66908416722e-05,-0.000241232908742,-3.55235291903e-05,1793237922473187584
+95,1.583333333,BASELINE,767,746,716,679.118038425,666,637,881.23607685,788.118038425,804,654,632.881961575,654,0.401003419106,-0.00542850538273,0.0498667198453,0.999999967562,7.60925957029e-05,-0.000240420245017,-3.58250353997e-05,1793237922489854464
+96,1.600000000,BASELINE,767,746,716,679.692943436,666,637,882.385886871,788.692943436,804,654,632.307056564,654,0.401003147777,-0.00542711039095,0.0498671982476,0.999999967434,7.76929744877e-05,-0.000240475584672,-3.56129882059e-05,1793237922506521088
+97,1.616666667,BASELINE,767,746,715.723613462,679.723613462,666,637,882.447226923,789,804,654,632.276386538,654,0.401003299001,-0.0054261742469,0.0498674567746,0.999999967417,7.87552392294e-05,-0.000240214052479,-3.55156229907e-05,1793237922523187712
+98,1.633333333,BASELINE,767,746,715.130382481,679.130382481,666,637,881.260764963,789,804,654,632.869617519,654,0.40100393463,-0.00542576411755,0.0498674632406,0.99999996753,7.92006198378e-05,-0.000239589264228,-3.55497270982e-05,1793237922539854336
+99,1.650000000,BASELINE,767,746,715,679.451248425,665.548751575,637,881,789,804,654,632.548751575,654,0.401003707434,-0.00542673181935,0.0498672906116,0.999999967476,7.76004675895e-05,-0.00024034620747,-3.549792943e-05,1793237922556520960
+100,1.666666667,BASELINE,767,746,715.029524012,679.970475988,665,637,881,789,803.970475988,654,632,654,0.401003303236,-0.00542811589662,0.0498671114152,0.999999967406,7.5426962342e-05,-0.000241335886164,-3.54254737865e-05,1793237922573187328
+101,1.683333333,BASELINE,767,746,715.606175893,679.393824107,665,637,881,789,803.393824107,654,632,654,0.401004123091,-0.00543002342248,0.0498677454401,0.999999968024,7.3306550186e-05,-0.000239425504841,-3.54186236816e-05,1793237922589853952
+102,1.700000000,BASELINE,767,746,715.813642948,679,665.186357052,637,881,789,803.186357052,654,632.186357052,654,0.401004498658,-0.00543073705559,0.0498681187708,0.999999968299,7.29331332462e-05,-0.000238397658015,-3.53458297484e-05,1793237922606520832
+103,1.716666667,BASELINE,767,746,715.225859551,679,665.774140449,637,881,789,803.774140449,654,632.774140449,654,0.401003917198,-0.00542887895856,0.0498679305477,0.999999967845,7.63228685516e-05,-0.000239270853521,-3.51309881188e-05,1793237922623187712
+104,1.733333333,BASELINE,767,746,715,679,665.642941608,637,881,788.642941608,803.642941608,654,632.642941608,654,0.401003898878,-0.00542869651461,0.0498677356402,0.999999967773,7.71306074478e-05,-0.000239320323558,-3.50739124705e-05,1793237922639854336
+105,1.750000000,BASELINE,767,746,715,679,665.063059907,637,881,788.063059907,803.063059907,654,632.063059907,654,0.401004231987,-0.00542955976655,0.0498675365615,0.999999967945,7.63270444504e-05,-0.000238855745454,-3.51152911122e-05,1793237922656520960
+106,1.766666667,BASELINE,767,746,715.512364526,679,665,637,881,788.512364526,803.512364526,654,632.512364526,654,0.401003976521,-0.00542896476133,0.0498676380565,0.99999996769,7.71582513712e-05,-0.000239656649853,-3.50885730283e-05,1793237922673187584
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,788,804,654,632,653,0.401003623184,-0.00542797850759,0.049867237204,0.999999967663,7.82464033903e-05,-0.000239377114126,-3.53590402665e-05,1793237922716420096
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.59100124,716,679,666,637,881,788.59100124,803.40899876,654,632,653.59100124,0.401006439424,-0.00542773717065,0.0498688422658,0.999999968386,7.79832644529e-05,-0.000236420459999,-3.53876437463e-05,1793237922733086720
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746.82151303,716,679,665.82151303,637,881,789,803.17848697,654,632,654,0.401007951965,-0.00542767652625,0.0498696449079,0.999999968754,7.78595069304e-05,-0.000234906355646,-3.53494976254e-05,1793237922749753088
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746.241927298,716,679,665.241927298,637,881,789,803.758072702,654,632,654,0.401006534813,-0.00542802193699,0.0498686443397,0.999999968338,7.8048969494e-05,-0.000236633971559,-3.51613507444e-05,1793237922766419712
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,715.664653491,679,665,637,881,789,804,654,632.335346509,654,0.401005786665,-0.00542759112609,0.0498685058111,0.999999968192,7.83962482771e-05,-0.000237139882269,-3.51423278879e-05,1793237922783086336
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,715.089036179,679,665,637,881,789,804,654,632.910963821,654,0.401005517848,-0.00542660416385,0.0498689849211,0.99999996824,7.88566000312e-05,-0.000236770459206,-3.52444798995e-05,1793237922799752448
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,715.487689005,679.487689005,665,637,881,789,804,654,632.512310995,654,0.401003564954,-0.0054263405507,0.0498674608433,0.99999996767,7.85730525746e-05,-0.00023920437348,-3.55917299924e-05,1793237922816418816
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.066063497,746,716,679.933936503,665,637,881,788.933936503,804,654,632.066063497,654,0.401001639446,-0.0054264123011,0.0498658121008,0.999999967075,7.80671364936e-05,-0.000241800879563,-3.58948728016e-05,1793237922833085184
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.655907174,746,716,679.344092826,665,637,881,788.344092826,804,654,632.655907174,654,0.401002374277,-0.00542809354619,0.0498660811281,0.999999967225,7.68774122048e-05,-0.000241619485023,-3.5492732777e-05,1793237922849751808
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.75922861,746,716,679,665,637,881,788.24077139,804,654,632.75922861,654,0.401004809668,-0.00542904841185,0.049867282093,0.999999967747,7.60484641275e-05,-0.000239756951259,-3.51973164986e-05,1793237922866418432
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.181336532,746,716,679,665,637,881,788.818663468,804,654,632.181336532,654,0.401009626129,-0.00542898622323,0.0498697879283,0.999999968779,7.57246638936e-05,-0.000235540538122,-3.5051331557e-05,1793237922883085056
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881,789,804,654,632,654,0.401026774261,-0.00542958318965,0.0498768821011,0.999999971772,7.5898023588e-05,-0.000222515168059,-3.43892662667e-05,1793237922899751680
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881,789,804,654,632,654,0.401049561409,-0.00543048157392,0.0498860744252,0.999999975421,7.62987241046e-05,-0.000205461645251,-3.34912081729e-05,1793237922916418560
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881,789,803.45869207,654,632.54130793,654,0.401098333204,-0.005431942127,0.0499032329874,0.999999982178,7.66220204276e-05,-0.000169443818964,-3.25728084517e-05,1793237922933085184
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881,789,803.241541565,654,633,654,0.40115125382,-0.00543371271353,0.0499204705608,0.99999998769,7.64850879252e-05,-0.000133300516609,-3.16395351467e-05,1793237922949752064
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881,789,804.429977617,654,633,654,0.401213966867,-0.0054365586817,0.0499360337758,0.999999991611,7.45632392222e-05,-0.000101388640455,-3.06530204521e-05,1793237922966418432
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881.299903351,789,804.700096649,654,632.700096649,654,0.401278772605,-0.00543864066587,0.0499478719657,0.999999993502,7.30989874889e-05,-8.23792896959e-05,-2.94238765794e-05,1793237922983085056
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881.876242381,789,804.123757619,654,632.123757619,654,0.401345507276,-0.00544001844822,0.049956276616,0.99999999418,7.20565255662e-05,-7.52628335448e-05,-2.7971089532e-05,1793237922999751680
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.450065277,746,716,679,665,637,881.099869446,789,804,654,632,654,0.401421294386,-0.00544221003645,0.0499583284044,0.999999994465,7.23474418895e-05,-7.13105338455e-05,-2.73932166753e-05,1793237923016418304
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.975996729,746,715.975996729,679,665,637,880,788.975996729,804,654,632,654,0.401500276616,-0.00544468454047,0.0499585764875,0.999999994641,7.27934003592e-05,-6.84715228821e-05,-2.70480308613e-05,1793237923033084928
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.383021198,746,715.383021198,679,665,637,880,788.383021198,804,654,632,654,0.401596319679,-0.00544859033554,0.0499572476426,0.99999999476,6.82717733024e-05,-7.1512405803e-05,-2.65474238694e-05,1793237923049751808
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715,679,665,637,880.204858716,788.204858716,804,654,632,654,0.40170078117,-0.00545264482778,0.0499568159974,0.999999994875,6.51887051704e-05,-7.3060976999e-05,-2.57437536228e-05,1793237923066418432
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715,679,665,637,880.783442596,788.783442596,804,654,632,654,0.401820600445,-0.00545697058887,0.0499580211199,0.999999995024,6.47300104757e-05,-7.18871133225e-05,-2.43872030523e-05,1793237923083085312
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,715,679,665.360040554,637,881,789,804,654,632,654,0.401957651256,-0.00546187511131,0.0499616367645,0.999999995557,6.21534457796e-05,-6.70200038638e-05,-2.3063770676e-05,1793237923099751680
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,715,679,665.935450626,637,881,789,804,654,632,654,0.40210500966,-0.00546712583835,0.0499666943384,0.999999996267,5.8310010856e-05,-5.99436638138e-05,-2.17601488521e-05,1793237923116418048
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,715.52276563,679,665.47723437,637,881,789,804,654,632.52276563,654,0.402269119997,-0.00547369216405,0.0499643318916,0.999999996296,5.35676182272e-05,-6.40598933164e-05,-2.08441713583e-05,1793237923133084928
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.890166773,746,716,679,665,637,881,789,804,654,633,654,0.402441363879,-0.00548002446723,0.0499619616204,0.99999999625,4.98086441889e-05,-6.79988012449e-05,-1.98656771463e-05,1793237923149751808
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.310590554,746,716,679,665,637,881,789,804,654,633,654,0.402639341209,-0.00548464493666,0.0499635676701,0.999999996422,5.07414247063e-05,-6.513085341e-05,-1.84103231012e-05,1793237923166418432
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.265357966,746,716,679,665,637,881,789,803.734642034,654,632.734642034,654,0.402852630349,-0.00549086992479,0.0499659003401,0.999999996851,4.91919832886e-05,-5.99330133266e-05,-1.68996367118e-05,1793237923183085056
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.837117645,746,716,679,665,637,881,789,803.162882355,654,632.162882355,654,0.403083599611,-0.00549894760726,0.0499690720189,0.999999997526,4.47763868395e-05,-5.20449094356e-05,-1.53250596376e-05,1793237923199751936
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665.411393185,637,881,788.588606815,803,654,632.411393185,654,0.40334198012,-0.00550800059585,0.0499756083484,0.999999998346,4.14721567723e-05,-3.76089003667e-05,-1.31904227822e-05,1793237923216418304
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665.986670941,637,881,788.013329059,803,654,632.986670941,654,0.403611280299,-0.00551744211188,0.0499834850363,0.999999998984,3.86106560684e-05,-2.05644364144e-05,-1.08326778476e-05,1793237923233084928
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,715.421368733,679,665.421368733,637,881,788.578631267,803.578631267,654,633,654,0.403917862086,-0.00552835178481,0.0499902594663,0.999999999393,3.30626707024e-05,-7.514298845e-06,-8.00090898965e-06,1793237923249751808
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,715,678.833117417,665.166882583,637,881,788.833117417,804,654,633,654,0.404231622493,-0.00553832338211,0.0499960856977,0.999999999567,2.87359716255e-05,3.38348400968e-06,-5.27846729487e-06,1793237923266418432
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,715,678.254981539,665.745018461,637,881,788.254981539,804,654,633,654,0.404560894129,-0.00554589743538,0.0499996396859,0.999999999573,2.7575953532e-05,9.21063590052e-06,-2.85315170141e-06,1793237923283085056
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,715.321385796,678.321385796,665.678614204,637,880.678614204,788.321385796,804,654,633,654,0.404910483785,-0.00555263223345,0.0500028127786,0.999999999482,2.81321719447e-05,1.56149738316e-05,-7.97462690862e-08,1793237923299751936
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,715.896357744,678.896357744,665.103642256,637,880.103642256,788.896357744,804,654,633,654,0.4052761052,-0.00555870482666,0.05000568533,0.999999999292,3.00425689686e-05,2.24747350873e-05,2.96831612523e-06,1793237923316418816
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,880.482820371,789,804,654,632.517179629,654,0.4056363057,-0.00554912016918,0.0499940344269,0.999999998717,5.04357688229e-05,7.86357750649e-08,4.79110098902e-06,1793237923333085440
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665.070643947,637,881,789,804,654,632,654,0.406002031968,-0.00553627698865,0.0499791442416,0.999999996794,7.45653865918e-05,-2.85447590641e-05,6.17696685241e-06,1793237923349752064
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665.650071807,637,881,789,804,654,632,654,0.406416140536,-0.005524761881,0.049963925119,0.999999993789,9.63339766258e-05,-5.56854516908e-05,6.35656561729e-06,1793237923366418688
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665.77225185,637,881,788.77225185,804,653.77225185,632,654,0.406845361236,-0.00552080904781,0.0499534227554,0.999999991153,0.000110619537842,-7.34580818126e-05,7.80988716085e-06,1793237923383085312
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665.197246155,637,881,788.197246155,804,653.197246155,632,654,0.407297624036,-0.00552838674527,0.0499501122411,0.999999990536,0.000113495397222,-7.6946816573e-05,1.12053094217e-05,1793237923399751680
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881,788,804,653,632.377141164,654,0.407790949426,-0.00553580407964,0.0499598728321,0.999999991605,0.000115509370769,-5.67824228182e-05,1.49146274345e-05,1793237923416418304
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881,788,804,653,632.951205582,654,0.408305715523,-0.00554313768063,0.049976458466,0.999999992676,0.000117073312735,-2.42676108925e-05,1.87878451583e-05,1793237923433084928
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665.54317468,637,881,788,804,653.54317468,632.45682532,654,0.408845907559,-0.00554583459551,0.049998102604,0.999999991578,0.000127347328562,6.89042827357e-06,2.40792994222e-05,1793237923449751552
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716,679.133478559,666,636.866521441,881,788,804,653.866521441,632,654,0.409394433512,-0.00554655144247,0.0500150290974,0.999999989468,0.000139046023058,2.99567911559e-05,2.88548650971e-05,1793237923466418176
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,679.712667949,666,636.287332051,881,788,804,653.287332051,632,654,0.409962901013,-0.00554209471605,0.0500146333518,0.999999987482,0.000152800207511,2.64243275084e-05,3.14678532279e-05,1793237923483084800
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,679.712310634,666,636.287689366,881,788.287689366,803.712310634,653.287689366,632,654,0.410516803445,-0.00553693811559,0.0500056987911,0.999999985643,0.0001661098509,5.89319802184e-06,3.2974557477e-05,1793237923499751680
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,679.141392498,666,636.858607502,881,788.858607502,803.141392498,653.858607502,632,654,0.411056366705,-0.00553109249201,0.0499883578088,0.999999982933,0.00017898184726,-3.1373035131e-05,3.33921309423e-05,1793237923516418816
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665.567758857,637,881,789,803.432241143,654,632,654,0.411633977479,-0.00553286756371,0.0499691231114,0.999999988363,0.000136782408986,-6.35853636862e-05,2.28370097639e-05,1793237923533085440
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665.00704838,637,881,788.99295162,804,653.99295162,632,653.99295162,0.412225225915,-0.00553722907018,0.0499498115804,0.999999992645,7.72089756298e-05,-9.31049433517e-05,8.9076432412e-06,1793237923549751808
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665.605319851,637,881,788.394680149,804,653.394680149,632,653.394680149,0.412909842579,-0.00554811921486,0.0499763445354,0.999999995955,8.09299708252e-05,-3.63039086804e-05,1.49232135847e-05,1793237923566418432
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.804728799,746,716,679,665.804728799,637,881.195271201,788.195271201,804,653.195271201,632.195271201,653.195271201,0.413594884753,-0.00555450544476,0.0499972655768,0.999999995936,8.78013941981e-05,3.63489367846e-06,2.01467051718e-05,1793237923583085056
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.230906789,746,716,679,665.230906789,637,881.769093211,788.769093211,804,653.769093211,632.769093211,653.769093211,0.414280751777,-0.00555216042967,0.0500073074165,0.999999994578,0.000100780206473,1.08847366939e-05,2.38346804802e-05,1793237923599751680
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.343454411,746,716,679,665.343454411,637,881.656545589,788.656545589,804,653.656545589,632.656545589,654,0.414943735176,-0.00554776084404,0.04999331347,0.999999993426,0.000111170840765,-1.3231500583e-05,2.47686649355e-05,1793237923616418304
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.91817866,746,716,679,665.91817866,637,881.08182134,788.08182134,804,653.08182134,632.08182134,654,0.415591309537,-0.00554197778465,0.0499631346898,0.999999990828,0.000119818688468,-5.84685275789e-05,2.38482108925e-05,1793237923633085184
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,715.493276218,679,665.493276218,637,880.493276218,788,804,653,632,654,0.416270633547,-0.00554097630895,0.0499512107816,0.999999989948,0.00011774142533,-7.57815045189e-05,2.23248780795e-05,1793237923649751808
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,715.095626419,679.095626419,665.095626419,637,880.095626419,788.095626419,804,653,632,654,0.416969087657,-0.00554038312793,0.0499487631837,0.999999990258,0.000113926308713,-7.79220178707e-05,2.08225132559e-05,1793237923666418176
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,715.674736778,679.674736778,665.674736778,637,880.674736778,788.674736778,804,653,632,654,0.417737615664,-0.00553784116049,0.0499789064566,0.999999993357,0.000110326087541,-2.67872947746e-05,1.99321494172e-05,1793237923683084800
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.749082103,746,716,679.749082103,666,636.749082103,881,789,803.749082103,653,632,654,0.418499098728,-0.00553558419544,0.0499994625783,0.999999993564,0.000111462107047,6.43794544787e-06,2.01471201307e-05,1793237923699751424
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.176654245,746,716,679.176654245,666,636.176654245,881,789,803.176654245,653,632,654,0.419251554963,-0.00553369241368,0.0500077343488,0.999999992582,0.000118666838775,1.67151397447e-05,2.17783949686e-05,1793237923716418048
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.399372856,746,716,679.399372856,665.600627144,636.399372856,881,789,803.798745713,653,632,654,0.419987862136,-0.00553037978659,0.0499949784,0.999999992056,0.000124121919428,-4.04733370115e-06,2.15679905714e-05,1793237923733086720
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.977006451,746,716,679.977006451,665.022993549,636.977006451,881,789,804.954012901,653,632,654,0.420716961103,-0.00552643296295,0.0499728366935,0.999999990747,0.000128796039861,-3.86644150348e-05,2.05355494685e-05,1793237923749756160
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679.430468532,665,637,881,789,804.430468532,653,632,654,0.421510740985,-0.00553246478357,0.0499959914717,0.99999999226,0.000122102499237,6.52438333423e-06,2.29854158488e-05,1793237923766420480
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665.158744212,637,881,789,803.841255788,653,632,654,0.422303709775,-0.00553677031107,0.0500144689095,0.999999991879,0.000117013852424,4.40174296738e-05,2.47546472778e-05,1793237923783085056
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665.737558329,637,881,789,803.262441671,653,632,654,0.423087436522,-0.00553541302371,0.0500155999795,0.999999991438,0.000117419152887,5.23909836408e-05,2.43407587664e-05,1793237923799751936
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679.313609469,665.686390531,637,881.313609469,789,803.313609469,653,632,654,0.423862140945,-0.00553477799223,0.0500048984368,0.999999992353,0.000116429541722,3.42758603306e-05,2.37242154131e-05,1793237923816418560
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679.887368596,665.112631404,637,881.887368596,789,803.887368596,653,632,654,0.424629361006,-0.00553474209649,0.0499843813417,0.99999999319,0.00011428280404,-5.81251689586e-06,2.2939563008e-05,1793237923833085184
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680.474338165,665.474338165,636.525661835,881.525661835,788.525661835,804,653.474338165,632,654,0.425414730611,-0.00553651569344,0.049994993964,0.999999993329,0.0001126577098,7.90893814797e-06,2.4225966403e-05,1793237923849751808
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680.873252859,666,636,881,788,804,653.93662643,632.06337357,654,0.426203780926,-0.00553848514198,0.0500122743826,0.999999992902,0.000111582220685,3.26692788455e-05,2.60227909818e-05,1793237923866418432
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679.714093931,666,636,881,788,804,653.357046966,632.642953034,654,0.426986702503,-0.00553844982612,0.050021933082,0.999999992309,0.000113945679391,4.02893263099e-05,2.7856769997e-05,1793237923883084800
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679.221402962,666,636.221402962,881.221402962,788.221402962,804,653,632.778597038,654,0.427747003076,-0.00553759620417,0.0500133042298,0.999999992736,0.000115676676631,1.83573860034e-05,2.84685595066e-05,1793237923899751424
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679.798040673,666,636.798040673,881.798040673,788.798040673,804,653,632.201959327,654,0.428471009012,-0.00553542963339,0.0499753335233,0.999999991559,0.000116392907453,-5.09898760863e-05,2.71193809511e-05,1793237923916418048
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.62946818,637,881.62946818,788.62946818,804,653,632,654,0.429251391003,-0.00553560701268,0.0499671627522,0.99999999143,0.000114020558882,-5.86967423543e-05,2.63301967328e-05,1793237923933084928
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665.05921215,637,881.05921215,788.05921215,804,653,632,654,0.430062160795,-0.00553704782902,0.0499750547566,0.999999993068,0.000109983403104,-3.3178173642e-05,2.58428610002e-05,1793237923949751808
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665.531254731,637,881,788.531254731,804,653,632,654,0.430819058148,-0.00553941266764,0.0499802136544,0.999999993362,0.000108932216927,-2.58341990944e-05,2.72435097538e-05,1793237923966418432
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.121927032,789,804.121927032,653,632.121927032,654,0.431565095807,-0.00554118144517,0.0499802901126,0.99999999329,0.000108577956275,-2.86663310326e-05,2.8447835478e-05,1793237923983085056
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.704527745,789,804.704527745,653,632.704527745,654,0.432293686288,-0.00554029363149,0.0499623601959,0.999999991684,0.000109549702826,-6.19902845412e-05,2.80838959713e-05,1793237923999751424
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.718025707,789,804.718025707,653,633,654,0.433030829922,-0.00554056376938,0.049958453231,0.999999991473,0.000108013327058,-6.7834946845e-05,2.80326679989e-05,1793237924016418304
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.145883136,789,804.145883136,653,633,654,0.433776775212,-0.0055420255082,0.0499689767168,0.999999993172,0.000103895944596,-4.54017859882e-05,2.83032387855e-05,1793237924033084928
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680.4379982,666,637,881,789,804.8759964,653,632.5620018,654,0.434521950146,-0.0055436229846,0.0499904787854,0.999999994162,0.000102809950367,-1.45301190178e-05,2.99116538487e-05,1793237924049751552
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,715.974480311,680.974480311,665.974480311,637,881.025519689,789,805.974480311,653.025519689,632,654,0.435262931959,-0.00554508113585,0.0500137726779,0.99999999407,0.000102920124194,1.58157340078e-05,3.1902275224e-05,1793237924066418176
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,715.395148343,680.395148343,665.395148343,637,881.604851657,789,805.395148343,653.604851657,632,654,0.435918637485,-0.00554250760286,0.0499944127148,0.999999993422,0.000106474416,-2.79228450048e-05,3.22510143076e-05,1793237924083085056
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,715.183635928,680,665,636.816364072,882,789,805,654,632.183635928,654,0.436577138129,-0.00554046432228,0.0499769739641,0.999999991564,0.000109164406183,-6.26395472521e-05,3.21076891882e-05,1793237924099751936
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,715.761245274,680,665,636.238754726,882,789,805,654,632.761245274,654,0.437241635558,-0.00553955864735,0.0499636569878,0.99999999043,0.00011000012046,-7.80006792848e-05,3.09086872924e-05,1793237924116418560
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.337417007,746,716,680,665.337417007,636.337417007,882,789,805,653.662582993,632.662582993,654,0.437930238317,-0.0055419309151,0.0499783521246,0.999999992934,0.000105556913208,-4.50146686799e-05,3.10319618592e-05,1793237924133085184
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.912575772,746,716,680,665.912575772,636.912575772,882,789,805,653.087424228,632.087424228,654,0.438635825491,-0.00554661279933,0.050012784409,0.9999999945,9.73942128504e-05,2.20364152964e-05,3.20869035118e-05,1793237924149751808
+194,3.233333333,POSE1_TO_POSE2_PRESS,767.513602699,746,716,680,666,637,881.513602699,789,804.513602699,653,632,653.513602699,0.439265619654,-0.00554728078388,0.0500096891589,0.999999994867,9.50823353345e-05,1.38971182932e-05,3.21392298537e-05,1793237924166418432
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.061901298,788.938098702,804.061901298,653,632.061901298,653.061901298,0.439875472373,-0.00554719849076,0.0499980440271,0.999999994981,9.44789932765e-05,-9.40663067172e-06,3.19780421803e-05,1793237924183084800
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.653864839,788.346135161,804.653864839,653,632.653864839,653.653864839,0.440430899513,-0.00554685242089,0.0499707864536,0.999999993439,9.95255482859e-05,-4.71554594477e-05,3.15274266908e-05,1793237924199751680
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636.760347329,881.760347329,788.239652671,805.239652671,653,633,653.760347329,0.440993309613,-0.00554703399813,0.0499585946687,0.999999992189,0.000103258977013,-6.28296249515e-05,3.17983515119e-05,1793237924216418560
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636.183255163,881.183255163,788.816744837,805.816744837,653,633,653.183255163,0.441565551922,-0.00554795852135,0.049967616053,0.999999992801,0.000105143476897,-4.74218754813e-05,3.30852308648e-05,1793237924233085696
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716,680.39199847,666,636,881.39199847,789,805.21600306,653,633,653.39199847,0.442138135443,-0.00554788841892,0.0499874039527,0.999999993541,0.000107621128564,-1.12613418492e-05,3.47798698185e-05,1793237924249753088
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680.966396672,666,636,881.966396672,789,804.067206656,653,633,653.966396672,0.442710877783,-0.00554735551004,0.050012201591,0.99999999264,0.000110374778042,3.45556141759e-05,3.66642423266e-05,1793237924266420224
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,715.442626913,681,666,636,882,788.442626913,804.557373087,653,633,654,0.443220489498,-0.0055488364867,0.050016668455,0.99999999217,0.000112357852801,3.95569298017e-05,3.83552478653e-05,1793237924283085824
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,715.145848865,680.854151135,665.854151135,636.145848865,882,788.145848865,805,653,633,654,0.443707494262,-0.00554997074311,0.0500122563279,0.999999992313,0.000113915146041,2.9063262871e-05,3.94092586561e-05,1793237924299751936
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,715.723862797,680.276137203,665.276137203,636.723862797,882,788.723862797,805,653,633,654,0.444139135927,-0.00554970683981,0.0499852781073,0.99999999252,0.000114352682176,-1.98287221253e-05,3.86113917049e-05,1793237924316418560
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680.300941624,665.300941624,636.699058376,882,789,805,653,633,653.699058376,0.444564784235,-0.0055491464718,0.0499650721919,0.99999999113,0.000115833850421,-5.37081825335e-05,3.7922522475e-05,1793237924333085184
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,716,680.877165043,665.877165043,636.122834957,882,789,805,653,633,653.122834957,0.444984950182,-0.00554831491722,0.049951061142,0.999999989582,0.000118269665461,-7.38551604394e-05,3.73333573584e-05,1793237924349752064
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716,681,666,636.462755238,882,789,805,653,633,653.462755238,0.445409633183,-0.00555431565016,0.0499562993964,0.999999991797,0.000108468001937,-5.69457694745e-05,3.7391342329e-05,1793237924366418944
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716,680.949835537,666,636.949835537,881.949835537,789,804.949835537,653,632.949835537,654,0.445831645177,-0.00556146076012,0.0499661416437,0.999999994462,9.35440620281e-05,-3.12696105889e-05,3.67039396734e-05,1793237924383085824
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,716,680.370014332,666,636.370014332,881.370014332,789,804.370014332,653,632.370014332,654,0.446212534384,-0.00556114455341,0.049969531079,0.9999999977,5.95429943189e-05,-1.90320298536e-05,2.62952259307e-05,1793237924399752192
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680.209073679,666,636,881.209073679,788.790926321,804.209073679,653,632.209073679,654,0.44656483052,-0.00555836952089,0.0499635902102,0.999999998657,4.1697545434e-05,-2.38094068679e-05,1.95249509068e-05,1793237924416418816
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680.786868571,666,636,881.786868571,788.213131429,804.786868571,653,632.786868571,654,0.446866700029,-0.00555125811646,0.0499411944672,0.99999999673,5.23440624305e-05,-5.85942728997e-05,1.91714079143e-05,1793237924433085440
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.636751243,746,716,681,665.636751243,636,882,788,805,653,632.636751243,654,0.447134943979,-0.00554943260592,0.0499111581839,0.999999992274,5.78311412391e-05,-0.000108429816687,1.87147581852e-05,1793237924449751808
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.061197844,746,716,681,665.061197844,636,882,788,805,653,632.061197844,654,0.447383535138,-0.00555069649225,0.0498766563025,0.999999984061,6.0302731782e-05,-0.000167061894038,1.81978465385e-05,1793237924466418432
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.525934227,746.525934227,716,681,665,636,882,788,805,653,632.525934227,653.474065773,0.447628501725,-0.00555723839236,0.0498499699863,0.999999977858,5.37820249299e-05,-0.000202654801465,1.79615324965e-05,1793237924483085056
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746.887293825,716,681,665,635.887293825,882,788.112706175,804.887293825,653.112706175,633,653.112706175,0.447871069945,-0.00556387774702,0.0498289390045,0.999999972267,4.73257636778e-05,-0.000230009072228,1.79643591832e-05,1793237924499751680
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746.307720044,716,681,665,635.307720044,882,788.692279956,804.307720044,653.692279956,633,653.692279956,0.448105489767,-0.00556831950126,0.0498274824117,0.999999971268,4.55683500824e-05,-0.00023459105533,1.88194949307e-05,1793237924516418560
+216,3.600000000,POSE1_TO_POSE2_PRESS,766.73038931,746,716,681,664.73038931,635,882,788.73038931,804.26961069,653.46077862,632.73038931,654,0.448330539728,-0.00557178100643,0.0498298358438,0.999999971833,4.35443383628e-05,-0.00023249114381,1.96200052979e-05,1793237924533085440
+217,3.616666667,POSE1_TO_POSE2_PRESS,766.155597586,746,716,681,664.155597586,635,882,788.155597586,804.844402414,652.311195172,632.155597586,654,0.448544983627,-0.00557413293581,0.0498365019659,0.999999974117,4.1218555733e-05,-0.000222827780027,2.03586833839e-05,1793237924549752064
+218,3.633333333,POSE1_TO_POSE2_PRESS,766.418765731,746,716,681,664,635,882,788,804.581234269,652.418765731,632,654,0.448730334792,-0.00557567622451,0.0498355682816,0.999999973676,3.93548115958e-05,-0.000225070222804,2.10323544911e-05,1793237924566418432
+219,3.650000000,POSE1_TO_POSE2_PRESS,766.992970017,746,716,681,664,635,882,788,804.007029983,652.992970017,632,654,0.448904887235,-0.0055769193598,0.0498318136811,0.999999972206,3.76625681621e-05,-0.000231731894111,2.16818961215e-05,1793237924583085312
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.413572548,746,716,680.413572548,664.586427452,635,882,788,804.586427452,653,632,654,0.449051733669,-0.00557234498195,0.0498244735899,0.999999968333,4.56489215841e-05,-0.000246494812634,2.21516611125e-05,1793237924599751680
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746.175221644,716,680.175221644,665,635,882,788.175221644,804.824778356,653,632,654,0.449189948019,-0.00556660977998,0.0498175490258,0.999999964546,5.36450198402e-05,-0.000259869081499,2.23020186815e-05,1793237924616418304
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746.752760796,716,680.752760796,665,635,882,788.752760796,804.247239204,653,632,654,0.449309131146,-0.00555837482972,0.0498116805727,0.999999961477,6.13880488792e-05,-0.000269824387525,2.17241173096e-05,1793237924633085184
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,746.674667311,716,681,665,635,882,788.674667311,804.325332689,653,632,654,0.449417229438,-0.00555489210166,0.0498068071639,0.999999959049,6.58017481322e-05,-0.000277672609441,2.16990725523e-05,1793237924649751808
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746.105813497,716,681,665,635,882,788.105813497,804.894186503,653,632,654,0.449517030416,-0.00555496655139,0.0498026785744,0.999999957151,6.77233465396e-05,-0.000283943617737,2.20878572372e-05,1793237924666418688
+225,3.750000000,POSE1_TO_POSE2_PRESS,766.482687161,746.482687161,716,681,665,635,882,788,805,653.482687161,632,654,0.449603792973,-0.00555609753207,0.0498004637715,0.999999956159,6.67675477667e-05,-0.000287636647323,2.20993293394e-05,1793237924683085312
+226,3.766666667,POSE1_TO_POSE2_PRESS,766.926051224,747,716,681,664.926051224,635,882,788,805.073948776,653.926051224,632,654,0.44968606742,-0.00555760085489,0.049798806188,0.999999955427,6.49423993046e-05,-0.000290586977252,2.20709483303e-05,1793237924699752192
+227,3.783333333,POSE1_TO_POSE2_PRESS,766.346606443,747,716,681,664.346606443,635,882,788,805.653393557,653.346606443,632,654,0.449758029602,-0.00555999901178,0.0497979680943,0.999999955074,6.16693690519e-05,-0.000292487454926,2.23595412339e-05,1793237924716418816
+228,3.800000000,POSE1_TO_POSE2_PRESS,766.230365521,747,716,681,664,634.769634479,882,788.230365521,805.769634479,653,632,654,0.449821582801,-0.00556100800238,0.0497964842999,0.999999954349,6.06161943844e-05,-0.000295168207731,2.24184500874e-05,1793237924733085440
+229,3.816666667,POSE1_TO_POSE2_PRESS,766.80365638,747,716,681,664,634.19634362,882,788.80365638,805.19634362,653,632,654,0.449872618265,-0.00555994906046,0.0497940393067,0.999999953075,6.28675280003e-05,-0.000299010488899,2.21354480326e-05,1793237924749751808
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+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746.02203719,716,681,664,634,881.02203719,789,805,653,632,653.02203719,0.449953021597,-0.0055608736277,0.0497930381109,0.999999953007,6.12315421692e-05,-0.000299610430951,2.16723947897e-05,1793237924783086336
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746,716.558030448,680.441969552,664,634,881.558030448,788.441969552,805,653,632,653,0.44998338307,-0.00556021722796,0.049793555318,0.999999953031,6.10986290098e-05,-0.000299553772235,2.17501758177e-05,1793237924799752448
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,716.862699949,680,664,634.137300051,882,788,805,653,632,653,0.450011080127,-0.00555984489332,0.0497942396703,0.999999953075,6.12834352299e-05,-0.000299355248392,2.19449679165e-05,1793237924816419072
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746,716.284752682,680,664,634.715247318,882,788,805,653,632,653,0.450031172638,-0.00556056266974,0.0497953837434,0.999999953208,6.23236432913e-05,-0.00029865469318,2.2478101358e-05,1793237924833085696
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766.131527204,746,716,680.868472796,664,635,882,788,805,653,632,653.868472796,0.450056707721,-0.00555910599813,0.0497942981953,0.999999952459,6.13692509406e-05,-0.000301377445252,2.20792671906e-05,1793237924866418432
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746.442180728,716,681,664,634.557819272,882.442180728,788,805,653.442180728,632.442180728,654,0.450063306886,-0.00555877982164,0.04979266457,0.999999951364,6.19320094823e-05,-0.000304885321416,2.19594305704e-05,1793237924883085312
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+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,716.194940475,681,664,634,882,788,804.805059525,653,632,653,0.450075714724,-0.00556012997349,0.0497889166557,0.999999950045,5.81278544738e-05,-0.000309919822952,2.19082614138e-05,1793237924933084928
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,716.772738157,681,664,634,882,788,804.227261843,653,632,653,0.450080794168,-0.00555967976261,0.0497916172482,0.999999951361,5.82058879187e-05,-0.000305631927952,2.18979209951e-05,1793237924949751808
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.65036967,746,716.65036967,681,664,634,882,788,804,653.34963033,632,653,0.45008228472,-0.00555880296573,0.0497916405348,0.999999951314,5.97679233603e-05,-0.000305490048498,2.18072063194e-05,1793237924966418944
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.074064584,746,716.074064584,681,664,634,882,788,804,653.925935416,632,653,0.450081448498,-0.00555764960167,0.0497899280516,0.999999950382,6.22920772427e-05,-0.000308036142699,2.16643828496e-05,1793237924983085824
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+251,4.183333333,POSE1_TO_POSE2_PRESS,767,746.415121795,716,680,664,634,881.584878205,788,804.584878205,653,632,653.415121795,0.450082957806,-0.00555652535536,0.0497866156652,0.999999948667,6.47576847121e-05,-0.000313075042846,2.13466214418e-05,1793237925116418560
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,746,716,680.163710512,664,634,881.836289488,788,805,653,632,653.163710512,0.450082770295,-0.00555556543033,0.0497866362976,0.999999948386,6.59348379398e-05,-0.000313754445844,2.09668864782e-05,1793237925133085184
+253,4.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680.740160134,664,634,881.259839866,788,805,653,632,653.740160134,0.450085168271,-0.00555653458581,0.0497880740269,0.99999994947,6.29127753866e-05,-0.000310892084504,2.11796954665e-05,1793237925149751808
+254,4.233333333,POSE1_TO_POSE2_PRESS,767,746.315387853,716,681,664,634,881.315387853,788,804.684612147,653,632,653.684612147,0.450085353856,-0.00555644157534,0.0497883106865,0.999999949528,6.22647822762e-05,-0.000310829949278,2.1240672045e-05,1793237925166418688
+255,4.250000000,POSE1_TO_POSE2_PRESS,767,746.889612734,716,681,664,634,881.889612734,788,804.110387266,653,632,653.110387266,0.450083723744,-0.00555547685123,0.0497875616348,0.99999994875,6.35651746848e-05,-0.000313065943937,2.11770406128e-05,1793237925183085312
+256,4.266666667,POSE1_TO_POSE2_PRESS,766.524485084,746.524485084,716,681,664,634,882,788,804.475514916,653,632,653.475514916,0.450083328205,-0.0055541179242,0.0497866276457,0.999999948473,6.54198042617e-05,-0.00031358780858,2.08938992373e-05,1793237925199752192
+257,4.283333333,POSE1_TO_POSE2_PRESS,766,746,716.063370863,680.936629137,664,634,882,788,804.936629137,653,632,654,0.450083457245,-0.00555311052427,0.0497858968343,0.999999948416,6.6812941348e-05,-0.000313495874518,2.06212815188e-05,1793237925216418816
+258,4.300000000,POSE1_TO_POSE2_PRESS,766,746,716.644483897,680.355516103,664,634,882,788,804.355516103,653,632,654,0.450085471669,-0.00555574158679,0.0497871855783,0.99999994919,6.33580302216e-05,-0.000311722071255,2.08614492514e-05,1793237925233085184
+259,4.316666667,POSE1_TO_POSE2_PRESS,766.221668051,746,716.778331949,680.221668051,664,634,882,788,804.221668051,653,632,653.778331949,0.450085890594,-0.0055570469526,0.0497876970846,0.999999949353,6.15379388849e-05,-0.000311553769925,2.09845024109e-05,1793237925249751552
+260,4.333333333,POSE1_TO_POSE2_PRESS,766.792660806,746,716.207339194,680.792660806,664,634,882,788,804.792660806,653,632,653.207339194,0.450083795188,-0.00555626316521,0.0497869837488,0.999999948569,6.2294144942e-05,-0.000313915564501,2.09229957969e-05,1793237925266418432
+261,4.350000000,HOLD_POSE2,766,746,716,680,664,634,882,788,804,653,632,653,0.450083007072,-0.00555480093257,0.0497849032898,0.9999999479,6.39028610274e-05,-0.000315679047128,2.15143255913e-05,1793237925300673024
+262,4.366666667,HOLD_POSE2,766.579573559,746,716,680.579573559,664.579573559,634,882,788,804.579573559,653,632,653.579573559,0.450083012531,-0.00555441454831,0.0497842624787,0.999999947628,6.36326515357e-05,-0.000316644341677,2.07891062375e-05,1793237925317339136
+263,4.383333333,HOLD_POSE2,766.841156125,746.158843875,716,681,664.841156125,634,882,788,805,653,632,654,0.450083018734,-0.00555437966981,0.0497839485995,0.999999947448,6.38880599002e-05,-0.000317179890022,2.04656003581e-05,1793237925334005504
+264,4.400000000,HOLD_POSE2,766.26268677,746.73731323,716,681,664.26268677,634,882,788,805,653,632,654,0.450083026905,-0.00555527338084,0.0497844983915,0.999999947516,6.55320180917e-05,-0.000316580157432,2.12033200617e-05,1793237925350672128
+265,4.416666667,HOLD_POSE2,766,746.686817128,716,681,664,634,882,788,804.686817128,653,632,653.686817128,0.450083864069,-0.00555491009725,0.0497853188576,0.999999947803,6.66460193565e-05,-0.000315434045381,2.12931422708e-05,1793237925367339008
+266,4.433333333,HOLD_POSE2,766,746.113110117,716,681,664,634,882,788,804.113110117,653,632,653.113110117,0.45008539084,-0.00555350117071,0.0497863644866,0.999999948271,6.73191708323e-05,-0.000313833422434,2.08440047665e-05,1793237925384005888
+267,4.450000000,HOLD_POSE2,766,746,716,680.528545086,664,634,882,788,804,653,632,653,0.450086353356,-0.00555462140454,0.0497874438149,0.999999948732,6.6148612822e-05,-0.000312603734273,2.09505178809e-05,1793237925400672768
+268,4.466666667,HOLD_POSE2,766,746.057948881,716,680.057948881,664,634,882,788,804.057948881,653,632,653,0.450086950458,-0.00555613229701,0.0497882656637,0.999999949098,6.45265032755e-05,-0.00031175906441,2.11325674351e-05,1793237925417339392
+269,4.483333333,HOLD_POSE2,766,746.637800769,716,680.637800769,664,634,882,788,804.637800769,653,632,653,0.450085504515,-0.0055555678344,0.0497866940509,0.999999948645,6.29153232163e-05,-0.000313561576976,2.07659886721e-05,1793237925434006016
+270,4.500000000,HOLD_POSE2,766,746.783001257,716,680.783001257,664,634,882,788,804.783001257,653,632,653,0.450085024612,-0.00555483286387,0.0497861146458,0.999999948369,6.2903178672e-05,-0.000314449936488,2.06676770771e-05,1793237925450672384
+271,4.516666667,HOLD_POSE2,766,746.20489153,716,680.20489153,664,634,882,788,804.20489153,653,632,653,0.450086152311,-0.00555381414849,0.0497871863894,0.99999994839,6.55520141746e-05,-0.000313817039495,2.10157930878e-05,1793237925467338752
+272,4.533333333,HOLD_POSE2,766,746,716,680.371096767,664,634,882,788,804.371096767,653,632.371096767,653.371096767,0.450086299946,-0.00555333964113,0.0497872279249,0.99999994838,6.61185834926e-05,-0.000313743850256,2.08183275932e-05,1793237925484005632
+273,4.550000000,HOLD_POSE2,766,746,716,680.945920482,664,634,882,788,804.945920482,653,632.945920482,653.945920482,0.450085909542,-0.00555316389627,0.0497867038906,0.999999948355,6.55420179739e-05,-0.000313977932708,2.03213454965e-05,1793237925500672512
+274,4.566666667,HOLD_POSE2,766,746,716,681,664,634,882,788,805,653,633,653.465840786,0.450085814175,-0.00555451919617,0.0497862880138,0.999999948147,6.50987473395e-05,-0.000314689104605,2.09444278817e-05,1793237925517338880
+275,4.583333333,HOLD_POSE2,766,746.121678129,716,681,664,634,881.878321871,788,805,653.121678129,632.878321871,653.121678129,0.450085750298,-0.00555535021995,0.0497859827072,0.999999947962,6.46312397007e-05,-0.000315344209434,2.13551001242e-05,1793237925534005504
+276,4.600000000,HOLD_POSE2,766,746.701245843,716,681,664,634,881.298754157,788,805,653.701245843,632.298754157,653.701245843,0.450085689621,-0.00555360999434,0.0497860512209,0.999999947938,6.40204332613e-05,-0.000315601879866,2.05287241349e-05,1793237925550672128
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,634,882,788,804,653,632,654,0.450086342152,-0.00555434701408,0.0497861141736,0.999999948077,6.19566752139e-05,-0.000315598646391,2.0107529374e-05,1793237925588244224
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746.573491257,716.573491257,680.573491257,664,634,881.426508743,788,804.573491257,653,632,654,0.450085073969,-0.00555373612273,0.0497847863471,0.999999947426,6.37526060395e-05,-0.000317296218618,2.01660307232e-05,1793237925604911104
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,747,716.848570972,680.848570972,664,634,881.151429028,788,805,653,632,654,0.450084733121,-0.0055534401346,0.0497843711514,0.9999999472,6.48949165704e-05,-0.00031776218704,2.03758691238e-05,1793237925621577984
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,747,716.257730323,680.257730323,664,634,881.742269677,788,805,653,632,654,0.450087083183,-0.00555405792183,0.0497866041967,0.999999948218,6.41405743112e-05,-0.000314654329694,2.10248522632e-05,1793237925638244096
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,747,716,680.327923814,664,634,882,788,805,653.327923814,632,654,0.450087323669,-0.00555375648775,0.0497870591333,0.999999948338,6.52834864448e-05,-0.000314025714008,2.12130031852e-05,1793237925654910720
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,747,716,680.909565065,664,634,882,788,805,653.909565065,632,654,0.450085931959,-0.00555274384432,0.0497861383319,0.999999947762,6.7894320452e-05,-0.000315315308828,2.10446042702e-05,1793237925671577344
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,747,716,681,664,634,882,788,804.514938044,654,632,653.514938044,0.450086461865,-0.00555309182575,0.0497860977707,0.99999994809,6.53626261758e-05,-0.00031484809628,2.04341314039e-05,1793237925688244224
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746.939318942,716,681,664,634,882,788,804.060681058,653.939318942,632,653.060681058,0.45008714719,-0.00555357117497,0.0497861938713,0.999999948499,6.23479219645e-05,-0.000314198873772,1.98327725046e-05,1793237925704911104
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746.352838841,716,681,664,634,882,788,804.647161159,653.352838841,632,653.647161159,0.45008611368,-0.0055530182334,0.0497860699048,0.999999948251,6.33517656373e-05,-0.000314775154595,2.00156207656e-05,1793237925721577472
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746.230983453,716,681,664,634,882,788,804.769016547,653,632,654,0.45008420222,-0.0055523491306,0.0497851704779,0.999999947682,6.49235085041e-05,-0.000316257322235,2.0037112087e-05,1793237925738244096
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746.810791945,716,681,664,634,882,788,804.189208055,653,632,654,0.450080964904,-0.00555150460427,0.0497830999714,0.999999946621,6.73528774683e-05,-0.000319107535887,1.98149264532e-05,1793237925754910720
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.612752611,746.612752611,716,681,664,634,882,788,804.387247389,653,632,654,0.450069333778,-0.00555133213529,0.0497774317985,0.999999943346,6.73797926055e-05,-0.000329217437392,1.95730543228e-05,1793237925771577344
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766.037921342,746.037921342,716,681,664,634,882,788,804.962078658,653,632,654,0.450053636663,-0.00555148521297,0.0497700209042,0.999999938848,6.62429515973e-05,-0.000342843955218,1.93216459673e-05,1793237925788244224
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766.538164387,746,716,681,664,634,881.461835613,788,805,653,632,654,0.450021297091,-0.00555199766923,0.0497571219949,0.999999930757,6.37338965665e-05,-0.000366136927686,1.91619238667e-05,1793237925804910592
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766.882593497,746.117406503,716,681,664,634,881.117406503,787.882593497,804.882593497,653,632,654,0.44998323884,-0.00555194776547,0.0497427033708,0.999999921035,6.20889352257e-05,-0.00039207305246,1.88192421411e-05,1793237925821577472
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.290959833,746.709040167,716,681,664,634,881.709040167,787.290959833,804.290959833,653,632,654,0.449926829564,-0.0055495238582,0.0497237119661,0.999999907067,6.43256815835e-05,-0.000425927699743,1.77113951601e-05,1793237925838244096
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766.294146953,746.705853047,716,680.705853047,664,634,882,787.294146953,804.294146953,653,632,654,0.44986590863,-0.00554717684071,0.0497067642042,0.999999895873,6.55435424921e-05,-0.000451324143278,1.626418073e-05,1793237925854910976
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.872937693,746.127062307,716,680.127062307,664,634,882,787.872937693,804.872937693,653,632,654,0.449800621802,-0.00554490422905,0.0496917940613,0.999999887969,6.57754355429e-05,-0.000468535645079,1.44885630565e-05,1793237925871577600
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,634,882,788,805.448093479,653,632,654,0.449729177644,-0.00554144050685,0.0496847605675,0.999999883193,6.86799137073e-05,-0.000478244273032,1.33935577084e-05,1793237925888243968
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.022853972,664,634,882.022853972,788,805.977146028,653.022853972,632,654,0.449655278488,-0.00553771784721,0.0496799860819,0.999999879265,7.22386753355e-05,-0.000485895124788,1.252714193e-05,1793237925904910592
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.613187175,664,634,882.613187175,788,805.386812825,653.613187175,632,654,0.449563425192,-0.00553588476189,0.0496758717224,0.999999874789,7.33773907996e-05,-0.000494852925553,1.25831038188e-05,1793237925921577472
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746.199796063,716,681,664,634,883,788,805,653.800203937,632,654,0.449462497105,-0.00553293535017,0.0496715273057,0.999999869983,7.49091423571e-05,-0.000504251533271,1.23520688731e-05,1793237925938244096
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746.779326414,716,681,664,634,883,788,805,653.220673586,632,654,0.449344321395,-0.00552786423816,0.0496667456409,0.999999864605,7.71879019054e-05,-0.000514487941854,1.15755650233e-05,1793237925954910720
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746.644825723,716,681,664,634.355174277,882.644825723,788,805,653,632,654,0.449211816552,-0.00552203266468,0.0496584407297,0.999999856406,8.20440553334e-05,-0.000529480400498,1.03315881868e-05,1793237925971577600
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746.071242295,716,681,664,634.928757705,882.071242295,788,805,653,632,654,0.44907050021,-0.00551573345622,0.04964796925,0.999999846224,8.84851390777e-05,-0.000547397522403,8.80014569714e-06,1793237925988244224
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.49570802,746,716,681,664,635,882,788,805,653,632,654,0.448920071896,-0.00551138687161,0.0496464501872,0.999999845985,9.05623251773e-05,-0.00054750614288,8.10125625419e-06,1793237926004910848
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766.082009402,746,716,680.917990598,664,635,882,787.917990598,805,653,632,654,0.448765133823,-0.00550709475667,0.0496467841066,0.999999847355,9.22845402445e-05,-0.00054471838427,7.50554321645e-06,1793237926021577472
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766.671525101,746,716,680.328474899,664,635,882,787.328474899,805,653,632,654,0.448590284575,-0.0055014260166,0.0496507279957,0.9999998498,9.5639992091e-05,-0.000539636169208,6.81764315767e-06,1793237926038243840
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.25668388,664,635,882,787.25668388,804.74331612,653,632,653.74331612,0.448400288483,-0.00549422732289,0.0496551487142,0.999999853242,0.000100825594416,-0.000532274639265,5.87970193786e-06,1793237926054910720
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.836360189,664,635,882,787.836360189,804.163639811,653,632,653.163639811,0.448191232709,-0.00548510344651,0.0496601694399,0.999999857858,0.000108314125528,-0.00052204498459,4.6271270463e-06,1793237926071577600
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746.413883915,716,681,664,635,881.586116085,788.413883915,804,653,632,653.413883915,0.447963556952,-0.00547625781081,0.0496655082121,0.999999862138,0.000114979406929,-0.000512337658632,3.72130268082e-06,1793237926088244224
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746.99056095,716,681,664,635,881.00943905,788.99056095,804,653,632,653.99056095,0.447728557395,-0.00546752161585,0.0496709720817,0.999999866214,0.000121320879016,-0.000502835780638,2.95186586414e-06,1793237926104910848
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746.42385895,716.57614105,680.42385895,664.57614105,635,882.1522821,788.42385895,804,653,632,654,0.447477885483,-0.00545596932761,0.0496784589,0.999999871824,0.000132453492506,-0.000488677772717,1.22492719538e-06,1793237926121577472
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746,716.839819616,680.160180384,665,635.160180384,883,788,804.160180384,653,632,654,0.447215266127,-0.00544505339956,0.0496865868682,0.999999877564,0.000141260597928,-0.000474254892776,-3.84503456214e-07,1793237926138244352
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746,716.260202843,680.739797157,665,635.739797157,883,788,804.739797157,653,632,654,0.446922045021,-0.00543592650488,0.0496963055557,0.999999884167,0.000143769534429,-0.000459341323923,-1.64451466621e-06,1793237926154910976
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.681773149,665,635.681773149,882.681773149,788,805,653,632,654,0.446614862911,-0.00542416088275,0.0497106671402,0.999999893641,0.000151115421904,-0.000435742884496,-3.25345021886e-06,1793237926171577600
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.104310417,665,635.104310417,882.104310417,788,805,653,632,654,0.446296307772,-0.00541024568351,0.0497288109506,0.999999904759,0.000162401615794,-0.000405069521373,-5.14662876391e-06,1793237926188244224
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,635.471672054,882,788,805,653,632.471672054,654,0.445965226529,-0.00540128188278,0.0497554707095,0.999999921243,0.00016760717091,-0.000359704509402,-5.88963201836e-06,1793237926204910848
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766.952184986,746,716,680.047815014,665.047815014,636,882,788.047815014,804.952184986,653,632.952184986,654,0.445629047664,-0.00539374084719,0.0497840360036,0.999999936589,0.000171211167664,-0.00031219894133,-6.34663897532e-06,1793237926221577472
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.370607145,746,716,680.629392855,665.629392855,636,882,788.629392855,804.370607145,653,632.370607145,654,0.445266790068,-0.0053898968792,0.049812915253,0.999999946852,0.000171901268943,-0.000276954222167,-6.44162263604e-06,1793237926238244096
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.379321381,665,636,881,789,804.620678619,653,633,653.379321381,0.443916926509,-0.00541366145548,0.0498179588227,0.999999952759,0.000124559189724,-0.000280760311097,-1.18335140574e-05,1793237926288245504
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.954629937,665,636,881,789,804.045370063,653,633,653.954629937,0.443395855879,-0.00542424864431,0.0497928568227,0.999999942503,0.000104843190675,-0.000322205144754,-1.36000241341e-05,1793237926304911872
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766.108353774,746,715.108353774,680.108353774,665.891646226,636,882,788,805,653,633,654,0.442374999728,-0.00539159366512,0.0497739695936,0.999999932857,0.000122877831252,-0.00034443304947,-2.35171530836e-05,1793237926338245376
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766.696526353,746,715.696526353,680.696526353,665.303473647,636,882,788,805,653,633,654,0.441888716776,-0.00538311137264,0.0498017948098,0.999999948156,0.000124226645177,-0.000296017770864,-2.50937965989e-05,1793237926354911744
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,636,882,788.862060233,805,653,632.137939767,653.137939767,0.440806821554,-0.00539486794791,0.0498462085928,0.999999968033,9.43205014815e-05,-0.000232918034215,-2.80437341984e-05,1793237926388244224
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.564269369,665,636,882,789,805,653,632,653.435730631,0.440192738709,-0.0054045223951,0.0498383273103,0.999999966145,7.50077604586e-05,-0.000247350748118,-3.00116574736e-05,1793237926404911104
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746.007267625,716,680,665.007267625,636,882,789,805,653,632.007267625,654,0.439561343911,-0.00541355853464,0.0498214897967,0.999999960199,5.63440982218e-05,-0.000274575852615,-3.21849505454e-05,1793237926421578240
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746.587809158,716,680,665.587809158,636,882,789,805,653,632.587809158,654,0.438894037948,-0.00540370795499,0.0497892962761,0.99999994475,5.67484341987e-05,-0.000325372615436,-3.75804457376e-05,1793237926438244864
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746.829005881,716,680,666,636,882,788.829005881,804.829005881,653,633,653.829005881,0.438235616812,-0.00539474634998,0.0497666878372,0.999999932033,5.73125721254e-05,-0.000361756724516,-4.21964122668e-05,1793237926454911232
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,881.656989384,788.343010616,804.343010616,653,633,653.343010616,0.436959366617,-0.00538382864177,0.0497924910613,0.999999943744,5.5713613677e-05,-0.000327524003228,-4.62207853312e-05,1793237926488244480
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,881.079616214,788.920383786,804.920383786,653,633,653.920383786,0.436317791988,-0.00538150819629,0.0498338898197,0.9999999619,5.07612110922e-05,-0.00026730783595,-4.65878321339e-05,1793237926504911104
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,766.661004349,746,716,680.338995651,665,636,882,788.338995651,804,653,633,654,0.434141011965,-0.00538565331323,0.0497913408315,0.999999941441,1.50778858477e-05,-0.000337243020745,-5.61961221405e-05,1793237926554910720
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746.248003,716,680,665.248003,636.248003,882,788.248003,804,653,633,653.751997,0.433430963914,-0.00538642265022,0.0497911223523,0.99999994211,4.50963017093e-06,-0.000335054584506,-5.91412482546e-05,1793237926571577856
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746.827596936,716,680,665.827596936,636.827596936,882,788.827596936,804,653,633,653.172403064,0.43272814808,-0.00538443842382,0.0498172747469,0.999999953218,-1.97792716143e-06,-0.000299860006483,-6.03689432162e-05,1793237926588244736
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,747,716,680,665.595912461,636.595912461,881.595912461,788.595912461,804.404087539,653,633,653.404087539,0.431994526654,-0.00538065783632,0.0498270557928,0.999999957708,-5.42991801293e-06,-0.000283986696085,-6.25044239327e-05,1793237926604911360
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,747,716,680,665.020735832,636.020735832,881.020735832,788.020735832,804.979264168,653,633,653.979264168,0.431247862302,-0.00537611667664,0.0498299052718,0.999999959688,-7.59666144742e-06,-0.000276293937369,-6.50242575476e-05,1793237926621577728
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746.433146417,716.566853583,680,665.566853583,636,881.566853583,788,804.433146417,653,632.433146417,654,0.43044316886,-0.00537428482571,0.0498010028083,0.999999943449,7.05481898328e-05,-0.000325680461006,-4.53553157447e-05,1793237926638244352
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,716.847377567,680,665.847377567,636.152622433,881.847377567,788,804,653,632.152622433,654,0.429647548743,-0.00537099324155,0.0497792181783,0.999999926236,0.000128968890819,-0.000360408862941,-3.16162962577e-05,1793237926654910976
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,716.267997419,680,665.267997419,636.732002581,881.267997419,788,804,653,632.732002581,654,0.428883367602,-0.00536333667361,0.0497806566664,0.99999993104,0.000123838971297,-0.000348181637449,-3.67787269111e-05,1793237926671577600
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.308968509,665.308968509,636.691031491,881,788,804,653,633,654,0.428117120776,-0.00535945068525,0.0497914675687,0.999999936424,0.000115268640403,-0.00033502911857,-4.02506999548e-05,1793237926688244224
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.883856564,665.883856564,636.116143436,881,788,804,653,633,654,0.42734909612,-0.00535880991739,0.0498103450153,0.99999994218,0.000103737255133,-0.000321080229159,-4.22677486527e-05,1793237926704911104
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.54024876,665.54024876,636.45975124,881,788,804,653,633,653.54024876,0.426558268971,-0.00535890195985,0.049799925068,0.999999938327,9.74809139011e-05,-0.000334399621018,-4.49551532011e-05,1793237926721577984
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.036637834,636.963362166,881,788.036637834,804,653,633,653.036637834,0.425765384012,-0.00535942603137,0.0497849052354,0.999999933458,9.24199344961e-05,-0.000349677183182,-4.76355296234e-05,1793237926738244608
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.624615405,636.375384595,881,788.624615405,804,653,633,653.624615405,0.425028408402,-0.00536365950469,0.0498122846791,0.999999953026,8.52498374707e-05,-0.000290532665952,-4.76561546416e-05,1793237926754911232
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.79028244,636.20971756,881,789,804.20971756,653,633,654,0.424278522398,-0.00536600453602,0.0498349512384,0.999999965403,8.09266888009e-05,-0.000245737879603,-4.75163454633e-05,1793237926771577856
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.210257436,636.789742564,881,789,804.789742564,653,633,654,0.423505839825,-0.00536501506366,0.0498492960568,0.999999969958,8.16305202561e-05,-0.000226281030628,-4.70932508624e-05,1793237926788244480
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,637,881,789,804.633579432,653,633,654,0.42271540429,-0.00536143435113,0.0498367118131,0.999999963377,8.61763255799e-05,-0.000252047828191,-4.78783320383e-05,1793237926804910848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,637,881,789,804.058804637,653,633,654,0.421914874103,-0.00535638020651,0.0498088151533,0.999999948401,9.29067555925e-05,-0.000303529716626,-4.93504065942e-05,1793237926821577728
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746.5279696,716,680,665.5279696,637,881,789,804,653.5279696,633,654,0.421131983523,-0.0053571145069,0.049801142108,0.999999945233,9.42416528421e-05,-0.00031334415216,-4.96801690305e-05,1793237926838244608
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746.88560502,716,680,666.11439498,637,881,789,804,654,633,654,0.420359141532,-0.00535849958113,0.0498017971754,0.999999945586,9.42242855569e-05,-0.000312245766982,-4.95248414853e-05,1793237926854911232
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746.306157474,716,680,666.693842526,637,881,789,804,654,633,654,0.419618977526,-0.00535984835267,0.0498269386859,0.999999953769,9.12093898518e-05,-0.000286088647519,-4.79267236115e-05,1793237926871577600
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.153618363,665.307236726,637,881,789,804,653.153618363,632.153618363,654,0.418098858984,-0.00535573731162,0.0498077130269,0.999999938922,9.46875991214e-05,-0.000332707140442,-4.99537187543e-05,1793237926904910592
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.994860498,665,637,881,788.005139502,804,653,632,654,0.416691868917,-0.0053531377197,0.0498094553533,0.999999943948,9.66119930351e-05,-0.000316433708403,-5.1374062273e-05,1793237926938244096
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.940501599,665.059498401,636.059498401,881,789,803.059498401,653,633,654,0.411998401673,-0.00535858834482,0.0498148717608,0.999999947542,9.88522988654e-05,-0.000303900146043,-5.28029927447e-05,1793237927054910720
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,665.186336532,637,881,789,804,653.813663468,633,654,0.410171218387,-0.0053570897149,0.0498135846264,0.99999993937,0.000103148428394,-0.00032845664388,-5.2316364515e-05,1793237927104910848
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,767.552889124,746,716,679.552889124,666.552889124,637,881,789,803,654,632.447110876,654,0.408589108528,-0.00536457032266,0.0498212046912,0.999999947909,9.92556785625e-05,-0.000302613480954,-5.24833913661e-05,1793237927154910976
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,803.068089478,653.068089478,633,654,0.404077084649,-0.00537842005847,0.049861362035,0.99999996097,9.05604386396e-05,-0.000259086809812,-5.2275432153e-05,1793237927338243840
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,767.471476483,746,716,679.528523517,665,637,881.471476483,789,804,654,632,654,0.401534531306,-0.00536899791854,0.0498469550918,0.999999946046,0.000153261634023,-0.00028743751436,-4.24117140159e-05,1793237927554910208
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767.953375058,746,715.953375058,679,665,636.953375058,881.953375058,789,804,654,632,654,0.401444858059,-0.00537306347575,0.0498503611473,0.999999948897,0.000147294231766,-0.000280512559622,-4.27044540019e-05,1793237927571576832
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,715.223712383,679,665,636.223712383,881,789,803.776287617,654,632,654,0.40130091116,-0.00538712895001,0.0498474176594,0.999999951839,0.000124610103279,-0.000280775886444,-4.4273836237e-05,1793237927604910080
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,665,637,881,788.620796604,803,654,632,654,0.401187042028,-0.005394273897,0.0498468376475,0.999999952482,0.000116337943187,-0.000282013909229,-4.43707722236e-05,1793237927638243584
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,767.872513547,746,716,679,665.127486453,637,881,789,804,654,632.127486453,654,0.401088678823,-0.00539191685792,0.0498547820378,0.999999956674,0.000119396631401,-0.000265420079271,-4.41414469579e-05,1793237927688243712
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767.29262991,746,716,679,665.70737009,637,881,789,804,654,632.70737009,654,0.40106802614,-0.00539222499551,0.0498561946608,0.999999957525,0.000119431936467,-0.000262188496315,-4.4079706958e-05,1793237927704910336
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,665.137574005,637,881,789,804,654,632.137574005,654,0.401031832861,-0.00539038371019,0.049855218804,0.999999956576,0.000124575237152,-0.000263358849631,-4.44038025564e-05,1793237927738243584
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,767.808888617,746,716,679,665,636.191111383,881,789,803.191111383,654,633,654,0.401005895585,-0.00539202740334,0.0498570440238,0.999999958172,0.000118484607387,-0.000260093777577,-4.43647248552e-05,1793237927804910336
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc2d464b231c673b38ccb8b4f4e80ecd089a4c2e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,437 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..66c1871967ea334c9ebcecb80d3ea41ccc8a4935
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41cc1bf68db9186f89240c3136ebe7379b472634
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_03/franka_data.csv
@@ -0,0 +1,440 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,746,716,679,665,637,881,789,804,654,633,654,0.401000683786,-0.00539677648039,0.0498629997115,0.999999961717,0.000115866886118,-0.000247696424434,-4.22794665187e-05,1793237928374245632
+1,0.016666667,BASELINE,767,746,716,679,665.58793951,637,881,789,804,654,633,654,0.40100040772,-0.00539535239208,0.0498630365527,0.99999996155,0.00011839990571,-0.000247126470664,-4.25382263119e-05,1793237928390912256
+2,0.033333333,BASELINE,767,746,716,679,665.826683071,637,881,789,804,654,632.826683071,654,0.40100013992,-0.00539412773399,0.0498629278564,0.999999961334,0.000120549402069,-0.000246925654149,-4.27453750432e-05,1793237928407578880
+3,0.050000000,BASELINE,767,746,716,679,665.247308166,637,881,789,804,654,632.247308166,654,0.400999891488,-0.00539337031345,0.0498624781851,0.999999961015,0.000121800356199,-0.000247589675872,-4.28316061328e-05,1793237928424245504
+4,0.066666667,BASELINE,767,746,716,679,665,637,881,789,804,654,632,654,0.401000599223,-0.00539323630883,0.0498629097187,0.999999961301,0.000120960188079,-0.00024681976121,-4.29684583464e-05,1793237928440912128
+5,0.083333333,BASELINE,767,746,716,679,665,637,881,789,804,654,632,654,0.401002019068,-0.00539356659594,0.0498639975333,0.999999962033,0.000118562647594,-0.000244981916216,-4.31430108545e-05,1793237928457578752
+6,0.100000000,BASELINE,767,746,716,679.480775176,665,637,881,789,803.519224824,654,632.480775176,654,0.401001375912,-0.00539421695494,0.0498636949845,0.999999961814,0.000119153718043,-0.000245629390236,-4.2905040032e-05,1793237928474245376
+7,0.116666667,BASELINE,767,746,716,679.940896,665.059104,637,881,789,803.059104,654,632.940896,654,0.401000484555,-0.00539501006896,0.0498632262972,0.999999961492,0.000120052952536,-0.000246553216976,-4.2592720278e-05,1793237928490912000
+8,0.133333333,BASELINE,767,746,716,679.349766762,665.650233238,637,881,789,803.650233238,654,632.349766762,654,0.40100107214,-0.00539651210801,0.0498637645774,0.999999961967,0.000118347036706,-0.000245491400278,-4.23536335991e-05,1793237928507578624
+9,0.150000000,BASELINE,767,746,716,679,665.763619241,637,881,789,803.763619241,654,632.236380759,654,0.401000923998,-0.00539746980056,0.049863869111,0.99999996209,0.00011751175847,-0.000245431583104,-4.21335504378e-05,1793237928524245248
+10,0.166666667,BASELINE,767,746,716,679,665.18469095,637,881,789,803.18469095,654,632.81530905,654,0.400999709688,-0.00539763866162,0.0498633450873,0.999999961705,0.000117938151436,-0.000246823798193,-4.19410059522e-05,1793237928540911872
+11,0.183333333,BASELINE,767.391198296,746,716,679,665,637,881,789,803.391198296,654,633,654,0.401000480156,-0.00539691401726,0.049863701447,0.999999961824,0.000118944347816,-0.000245846551116,-4.19924914457e-05,1793237928557578496
+12,0.200000000,BASELINE,767.965663872,746,716,679,665,637,881,789,803.965663872,654,633,654,0.401002180447,-0.00539577078646,0.0498644702456,0.999999962175,0.000120222168613,-0.000243759266388,-4.21582992769e-05,1793237928574245120
+13,0.216666667,BASELINE,768,746,716,679,665,637,881.553505217,789,804,654,632.446494783,654,0.401000828209,-0.00539429510277,0.0498643315934,0.999999961927,0.000120173880697,-0.000244747288924,-4.24717362649e-05,1793237928590911744
+14,0.233333333,BASELINE,767.860024653,746,716,679,665.139975347,637,881.860024653,789,804,654,632,654,0.400999566477,-0.00539335726481,0.0498639565234,0.999999961643,0.000120172275675,-0.000245859459018,-4.27352939749e-05,1793237928607578368
+15,0.250000000,BASELINE,767.280529887,746,716,679,665.719470113,637,881.280529887,789,804,654,632,654,0.400999198248,-0.00539417461047,0.0498630202423,0.999999961371,0.000120581957003,-0.000246747591105,-4.28127638627e-05,1793237928624244992
+16,0.266666667,BASELINE,767,746,715.703505718,679,665.703505718,636.703505718,881,789,804,654,632,654,0.40099896635,-0.00539448378218,0.0498628523236,0.999999961392,0.000120475172013,-0.000246714958166,-4.28200089626e-05,1793237928640911872
+17,0.283333333,BASELINE,767,746,715.128799835,679,665.128799835,636.128799835,881,789,804,654,632,654,0.400998862377,-0.00539431611534,0.0498634053879,0.999999961686,0.000119883767463,-0.000245818337143,-4.27613595302e-05,1793237928657578752
+18,0.300000000,BASELINE,767,746,715.446191395,679,665,636.446191395,881,789,804,654,632.446191395,654,0.400998723761,-0.00539420254908,0.04986311017,0.999999961548,0.000119788526001,-0.000246431332265,-4.27351643405e-05,1793237928674245632
+19,0.316666667,BASELINE,767.021899254,746,716,679,665.021899254,637,881,789,804,654,633,654,0.400998638249,-0.0053941338998,0.0498626625497,0.999999961318,0.000119823127096,-0.000247351355433,-4.27164709994e-05,1793237928690912256
+20,0.333333333,BASELINE,767.614124043,746,716,679,665.614124043,637,881,789,804,654,633,654,0.401000196337,-0.00539482805512,0.0498646271429,0.999999961959,0.00011950682255,-0.000244911183881,-4.26490105562e-05,1793237928707578880
+21,0.350000000,BASELINE,767.798818861,746,716,679,666,637,881,789,804,654,633,654,0.401000738689,-0.00539548311798,0.0498651435872,0.999999962232,0.000118613506304,-0.000244240396912,-4.25825592746e-05,1793237928724245504
+22,0.366666667,BASELINE,767.221425508,746,716,679,666,637,881,789,804,654,633,654,0.400999381594,-0.00539606507719,0.0498629519677,0.999999961819,0.000116641168221,-0.00024687839003,-4.25179951504e-05,1793237928740912384
+23,0.383333333,BASELINE,767,746,716,679,665.645850152,637,881,789,804,654,632.645850152,654,0.400999106213,-0.00539558349121,0.049862663528,0.999999961689,0.000117330073095,-0.000247062147173,-4.26239101592e-05,1793237928757579008
+24,0.400000000,BASELINE,767,746,716,679,665.071405604,637,881,789,804,654,632.071405604,654,0.400999503698,-0.00539444033966,0.0498635589384,0.999999961733,0.000119674372305,-0.000245719276275,-4.28358696784e-05,1793237928774245376
+25,0.416666667,BASELINE,767.499325506,746.499325506,716,679,665,637,881,789,804,654,632,654,0.40099981773,-0.00539424228805,0.0498637987874,0.999999961735,0.000119889994912,-0.000245601874991,-4.28591400819e-05,1793237928790912000
+26,0.433333333,BASELINE,767.926809744,746.926809744,715.926809744,679.073190256,665,637,881,789,804,654,632,654,0.401000200574,-0.00539440290461,0.0498640866517,0.999999961806,0.00011974829132,-0.000245392335912,-4.27977784398e-05,1793237928807578880
+27,0.450000000,BASELINE,767.326583975,746.326583975,715.326583975,679.673416025,665,637,881,789,804,654,632,654,0.401001164236,-0.0053961802139,0.0498653903568,0.99999996241,0.000119209358628,-0.000243266700599,-4.23198599008e-05,1793237928824245504
+28,0.466666667,BASELINE,767,746,715,679.736731179,665,637,881,789,803.736731179,654,632,654,0.401000771406,-0.00539685157528,0.0498655024581,0.999999962498,0.000119237470348,-0.000242916600303,-4.2174930091e-05,1793237928840912128
+29,0.483333333,BASELINE,767,746,715,679.159258278,665,637,881,789,803.159258278,654,632,654,0.400998759643,-0.00539620301822,0.0498641924129,0.999999961971,0.000119942333978,-0.000244685552236,-4.24274131801e-05,1793237928857578752
+30,0.500000000,BASELINE,767,746,715.415754993,679,665,637,881,789,803.831509986,654,632.415754993,654,0.401000550321,-0.00539525882713,0.0498647831927,0.999999962203,0.00012110504932,-0.00024316361435,-4.24055027303e-05,1793237928874245632
+31,0.516666667,BASELINE,767,746,715.989831611,679,665,637,881,789,804.979663221,654,632.989831611,654,0.401003788987,-0.00539420205711,0.0498660978165,0.999999962717,0.000122442116916,-0.000240388488769,-4.22791018133e-05,1793237928890912256
+32,0.533333333,BASELINE,767.576934043,746,716,679,665,637,881,789,804.423065957,654,632.423065957,654,0.401001908701,-0.00539438859451,0.0498652263808,0.999999962379,0.000121515816132,-0.000242229033223,-4.2436726727e-05,1793237928907579136
+33,0.550000000,BASELINE,767.837816319,746.162183681,716,679,665.162183681,637,881,788.837816319,804,654,632,654,0.401000571521,-0.00539446607648,0.0498646978617,0.999999962141,0.000120505351453,-0.000243693288452,-4.2553036747e-05,1793237928924245504
+34,0.566666667,BASELINE,767.257943395,746.742056605,716,679,665.742056605,637,881,788.257943395,804,654,632,654,0.401000870788,-0.0053942049573,0.0498651540133,0.999999962207,0.000119383240769,-0.000243974094321,-4.25497539211e-05,1793237928940912128
+35,0.583333333,BASELINE,767,746.679594337,716,679,665.679594337,637,881,788,804,654,632,654,0.401001348701,-0.00539422885425,0.0498654999884,0.999999962359,0.000119575343271,-0.000243272620857,-4.2462795658e-05,1793237928957579008
+36,0.600000000,BASELINE,767,746.102466201,716,679,665.102466201,637,881,788,804,654,632,654,0.401001969754,-0.00539448111805,0.0498657576853,0.999999962576,0.000120820448441,-0.000241784103975,-4.23087931207e-05,1793237928974245376
+37,0.616666667,BASELINE,767,746,716,679,665,636.527244664,881,788.472755336,803.527244664,654.472755336,632.472755336,654,0.401001859888,-0.00539488769284,0.0498657134218,0.999999962608,0.00011992694314,-0.000242105619346,-4.22706556002e-05,1793237928990912000
+38,0.633333333,BASELINE,767,746,716,679,665.048823377,636.048823377,881,789,803,654.951176623,632.951176623,654,0.401001569194,-0.00539530758144,0.0498656164929,0.999999962576,0.00011879686701,-0.000242800187016,-4.22288959642e-05,1793237929007578624
+39,0.650000000,BASELINE,767,746,716,679,665.63883727,636.63883727,881,789,803,654.36116273,632.36116273,654,0.401001023065,-0.00539550580363,0.0498656583386,0.999999962307,0.000120161893578,-0.00024329874618,-4.18697368079e-05,1793237929024245248
+40,0.666666667,BASELINE,767,746,716,679.22482863,665.77517137,637,881,789,803.22482863,654,632,654,0.4010012121,-0.00539567681916,0.0498658008352,0.999999962341,0.000120536389661,-0.000242993329968,-4.17562606135e-05,1793237929040912128
+41,0.683333333,BASELINE,767,746,716,679.804471775,665.195528225,637,881,789,803.804471775,654,632,654,0.401002561341,-0.00539580489834,0.0498661021746,0.999999962853,0.000119347674638,-0.000241419115652,-4.20305103317e-05,1793237929057579008
+42,0.700000000,BASELINE,767,746,716,679.619216587,665,637,881,789,804,653.619216587,632,654,0.401002370263,-0.00539581416173,0.0498659294837,0.999999962926,0.000118984706434,-0.000241263748628,-4.22205423147e-05,1793237929074245632
+43,0.716666667,BASELINE,767,746,716,679.044600824,665,637,881,789,804,653.044600824,632,654,0.40100139511,-0.00539576294363,0.0498655154944,0.999999962776,0.000119042072876,-0.000241830625576,-4.23677044558e-05,1793237929090912512
+44,0.733333333,BASELINE,767,746,716,679,665,637,881,789,803.457532554,653.542467446,632,654,0.40100064279,-0.00539516612254,0.0498652298881,0.999999962232,0.000120865627798,-0.000243201512234,-4.22054925131e-05,1793237929107579136
+45,0.750000000,BASELINE,767,746,715.87128814,679,665.12871186,637,881,789,803.12871186,654,632,653.87128814,0.40099991703,-0.00539493866493,0.0498648058249,0.999999961843,0.000121641076323,-0.000244436696491,-4.2059968331e-05,1793237929124245760
+46,0.766666667,BASELINE,767,746,715.291601958,679,665.708398042,637,881,789,803.708398042,654,632,653.291601958,0.40099921863,-0.00539616623138,0.049863858791,0.999999962124,0.000118223475465,-0.000244959357873,-4.20641301482e-05,1793237929140912384
+47,0.783333333,BASELINE,767,746,715,679.286557435,666,636.713442565,881,789,803.713442565,654,632,653.286557435,0.400999198942,-0.00539535903279,0.0498635264723,0.999999962084,0.000117894552263,-0.00024523711797,-4.23306151187e-05,1793237929157578752
+48,0.800000000,BASELINE,767,746,715,679.863171465,666,636.136828535,881,789,803.136828535,654,632,653.863171465,0.400999866253,-0.00539249222275,0.0498638163749,0.99999996172,0.000120692022213,-0.000245266986352,-4.2862626477e-05,1793237929174245376
+49,0.816666667,BASELINE,767,746,715,679.561757204,666,636.438242796,881,789,803,654,632,654,0.401000536503,-0.0053930523551,0.049864668879,0.99999996187,0.000121366834351,-0.000244331666102,-4.27923055803e-05,1793237929190912256
+50,0.833333333,BASELINE,767,746,715.013130199,679,666,637,881,789,803.013130199,654,632,654,0.401001182487,-0.00539465964095,0.0498656611746,0.999999962175,0.000121367813401,-0.000243125027239,-4.25378124164e-05,1793237929207578880
+51,0.850000000,BASELINE,767,746,715.600977263,679,666,637,881,789,803.600977263,654,632,654,0.40100072626,-0.00539543283505,0.0498651106375,0.999999962236,0.000120781396822,-0.000243186695474,-4.24246419831e-05,1793237929224245504
+52,0.866666667,BASELINE,767,746,716,679.187167882,665.812832118,637,881,789,803.812832118,654,632,654,0.401000557614,-0.0053958662558,0.0498647607991,0.999999962282,0.00012034799647,-0.000243229137456,-4.23255004293e-05,1793237929240912128
+53,0.883333333,BASELINE,767,746,716,679.769858074,665.230141926,637,881,789,803.230141926,654,632,654,0.401000996683,-0.00539558166905,0.0498648350767,0.999999962298,0.000120237949341,-0.000243230950608,-4.22560046464e-05,1793237929257578752
+54,0.900000000,BASELINE,767,746,715.652638556,679.652638556,665.347361444,637,881,788.652638556,802.652638556,654,632,654,0.401002063924,-0.00539564339808,0.0498652454102,0.999999962604,0.000119637349631,-0.000242294611378,-4.2100963632e-05,1793237929274245376
+55,0.916666667,BASELINE,767,746,715.078521142,679.078521142,665.921478858,637,881,788.078521142,802.078521142,654,632,654,0.401003541233,-0.0053959312005,0.0498658751196,0.999999963097,0.000118716519433,-0.000240745850545,-4.18900790824e-05,1793237929290912256
+56,0.933333333,BASELINE,767.493710771,746,715.493710771,679,665.506289229,637,881,788.493710771,802.987421542,654,632.493710771,654,0.401003185529,-0.0053964118225,0.049865724512,0.999999963104,0.000118133444565,-0.000241017037275,-4.18053037078e-05,1793237929307578624
+57,0.950000000,BASELINE,767.931923696,746,716,679,665,637,880.931923696,789,804,653.931923696,632.931923696,654,0.401002608481,-0.0053967124819,0.0498655306716,0.999999963029,0.000117886531465,-0.000241452801415,-4.17768705677e-05,1793237929324245248
+58,0.966666667,BASELINE,767.338798554,746,716,679,665,637,880.338798554,789,804,653.338798554,632.338798554,654,0.401002564187,-0.00539538953148,0.0498659569205,0.999999962914,0.000119819588791,-0.000240933963189,-4.20288832504e-05,1793237929340912384
+59,0.983333333,BASELINE,767,746,716,679,665,637,880.248650526,789,804,653.248650526,632,654,0.401002269824,-0.00539469244414,0.0498662920729,0.999999962749,0.000121291153109,-0.000240877763364,-4.20567796199e-05,1793237929357579008
+60,1.000000000,BASELINE,767,746,716,679,665,637,880.82853838,789,804,653.82853838,632,654,0.401001642334,-0.0053948290939,0.0498665058721,0.999999962521,0.000122147944372,-0.00024143786262,-4.17861217034e-05,1793237929374245376
+61,1.016666667,BASELINE,767,746,716,679,665.404343588,637,881,789,804,654,632.404343588,654,0.401001749919,-0.00539510218708,0.0498662791896,0.999999962627,0.000121091502526,-0.000241507802436,-4.19261627841e-05,1793237929390912000
+62,1.033333333,BASELINE,767,746,716,679,665.978434824,637,881,789,804,654,632.978434824,654,0.401002166095,-0.00539543256063,0.0498658675882,0.99999996287,0.000119231865452,-0.000241371968181,-4.22386195957e-05,1793237929407578624
+63,1.050000000,BASELINE,767,746,716,679,665.433378488,637,881,788.433378488,803.433378488,654,632.433378488,654,0.401002064784,-0.00539556762653,0.0498656001686,0.999999962886,0.000118880506338,-0.000241509747081,-4.2055284589e-05,1793237929424245248
+64,1.066666667,BASELINE,767,746,715.847044045,679,665.152955955,637,881,788.152955955,803.152955955,654,632.152955955,654,0.40100201289,-0.0053955598517,0.0498655517207,0.99999996286,0.000119150977374,-0.000241506932018,-4.19143546452e-05,1793237929440912128
+65,1.083333333,BASELINE,767,746,715.2674112,679,665.7325888,637,881,788.7325888,803.7325888,654,632.7325888,654,0.401002155191,-0.00539517488116,0.0498660984056,0.99999996274,0.00012099185347,-0.000241082134381,-4.19456952977e-05,1793237929457578752
+66,1.100000000,BASELINE,767,746,715.310076344,679,666,637,881,788.689923656,803.689923656,654,632.689923656,654,0.401001640827,-0.00539565910534,0.0498657799392,0.999999962593,0.000120912330954,-0.000241753717062,-4.18278626163e-05,1793237929474245376
+67,1.116666667,BASELINE,767,746,715.885726455,679,666,637,881,788.114273545,803.114273545,654,632.114273545,654,0.401000564044,-0.00539688777625,0.0498647204893,0.999999962419,0.000119188027943,-0.000243364326093,-4.15822661581e-05,1793237929490912000
+68,1.133333333,BASELINE,767,746,716,679,665.54122587,637,881,788.45877413,803,654,632.45877413,654,0.401000494659,-0.00539674236622,0.049864854388,0.999999962553,0.000118326145915,-0.000243197285052,-4.18162650565e-05,1793237929507578880
+69,1.150000000,BASELINE,767,746,716,679,665,637,881,789,803.032373066,654,632.967626934,654,0.401000703152,-0.00539629367282,0.0498652632696,0.999999962757,0.000117715882332,-0.000242593724633,-4.21465724899e-05,1793237929524245504
+70,1.166666667,BASELINE,767,746,716,679,665,637,881,789,803.626730463,654,632.373269537,654,0.401001404083,-0.00539648812629,0.0498653147991,0.999999962885,0.000117765535283,-0.000242055579751,-4.20866796476e-05,1793237929540912128
+71,1.183333333,BASELINE,767,746,715.784658352,679,665,637,880.784658352,788.784658352,804,654,632,654,0.401001689306,-0.00539662531058,0.0498654149559,0.999999963008,0.000117380819213,-0.000241736749816,-4.20576748626e-05,1793237929557578752
+72,1.200000000,BASELINE,767,746,715.205748581,679,665,637,880.205748581,788.205748581,804,654,632,654,0.401001272674,-0.00539666580554,0.0498655972119,0.999999963125,0.000116262744181,-0.000241788196166,-4.20808193531e-05,1793237929574245376
+73,1.216666667,BASELINE,767,746,715.370497088,679,665,637,880.370497088,788.370497088,804,654,632.370497088,654,0.401001459678,-0.00539594791244,0.049865712597,0.999999963002,0.000117658020489,-0.000241598962377,-4.22318138631e-05,1793237929590912000
+74,1.233333333,BASELINE,767,746,715.945273826,679,665,637,880.945273826,788.945273826,804,654,632.945273826,654,0.401001979508,-0.00539481186965,0.0498657911118,0.999999962739,0.000120439074372,-0.000241277025642,-4.24533005779e-05,1793237929607578880
+75,1.250000000,BASELINE,767,746,715.482093292,679,665,637,881,788.482093292,803.482093292,654,632.482093292,653.482093292,0.401001117691,-0.00539480779615,0.0498658483659,0.999999962639,0.000121894029288,-0.000240991338838,-4.22753538976e-05,1793237929624245248
+76,1.266666667,BASELINE,767,746,715.094073401,679,665,637,881,788.094073401,803,654,632.094073401,653.094073401,0.401000459835,-0.00539506654258,0.0498659593278,0.999999962618,0.000122615648819,-0.000240743184709,-4.20962801876e-05,1793237929640912128
+77,1.283333333,BASELINE,767,746,715.690307716,679,665,637,881,788.690307716,803,654,632.690307716,653.690307716,0.401001666827,-0.00539609235555,0.0498663689239,0.99999996293,0.000120167652702,-0.000240675016267,-4.21355630996e-05,1793237929657578752
+78,1.300000000,BASELINE,767,746,716,679,665,636.723480002,881,789,803.553039996,654,632.723480002,654,0.401002235746,-0.00539604683179,0.0498667287459,0.999999963082,0.000119317404659,-0.000240470556001,-4.21163767796e-05,1793237929674245376
+79,1.316666667,BASELINE,767,746,716,679,665,636.148099489,881,789,804.703801022,654,632.148099489,654,0.401002115042,-0.00539484341613,0.0498670347726,0.999999963065,0.000120193989611,-0.000240118792669,-4.20339973973e-05,1793237929690912000
+80,1.333333333,BASELINE,767,746,716,679,665,636.426918807,881,788.573081193,804.146162385,654,632,654,0.401002103566,-0.00539579733263,0.0498665694176,0.99999996312,0.000119248515851,-0.000240361839177,-4.20218613617e-05,1793237929707578624
+81,1.350000000,BASELINE,767,746,716,679,665,637,880.998145159,788.001854841,803.001854841,654,632,653.998145159,0.401002131026,-0.00539749136413,0.0498658405351,0.999999963198,0.000117681956826,-0.000240808277775,-4.20323680323e-05,1793237929724245504
+82,1.366666667,BASELINE,767,746,716,679,665,637,880.409531021,788.590468979,803.590468979,654,632,653.409531021,0.401002499198,-0.00539676980117,0.0498663265871,0.999999963117,0.00011942335316,-0.000240377050837,-4.15037444526e-05,1793237929740912128
+83,1.383333333,BASELINE,767.176332939,746,716,679,665.176332939,637,880.176332939,788.823667061,803.823667061,654,632,653.176332939,0.401002517659,-0.00539618106512,0.0498666075691,0.999999963042,0.000120291071671,-0.000240289229039,-4.13184579883e-05,1793237929757578752
+84,1.400000000,BASELINE,767.755907847,746,716,679,665.755907847,637,880.755907847,788.244092153,803.244092153,654,632,653.755907847,0.40100173639,-0.00539589608039,0.0498664195929,0.999999962984,0.000119160845216,-0.000240986713449,-4.19183221476e-05,1793237929774245376
+85,1.416666667,BASELINE,767.666326192,746,716,679,665.666326192,637,881,788,803,654,632,654,0.401000881942,-0.00539545753294,0.0498658751334,0.999999962791,0.000118780704102,-0.00024192102121,-4.22247998962e-05,1793237929790912256
+86,1.433333333,BASELINE,767.08987643,746,716,679,665.08987643,637,881,788,803,654,632,654,0.400999974252,-0.00539490725562,0.0498650713022,0.999999962499,0.000118946313668,-0.000243027637973,-4.23178141475e-05,1793237929807579136
+87,1.450000000,BASELINE,767,746,716,679,665,637,881,788,803,654,632,654,0.401000573125,-0.00539623252184,0.0498654883963,0.999999962832,0.000117773190238,-0.000242245231646,-4.2218965137e-05,1793237929824245504
+88,1.466666667,BASELINE,767,746,716,679.058361793,665,637,881,788,803.058361793,654,632,654,0.401001259375,-0.00539761589547,0.0498659897855,0.999999963169,0.000116758003844,-0.000241366446164,-4.20984566359e-05,1793237929840911872
+89,1.483333333,BASELINE,767,746,716,679.651848317,665,637,881,788,803.651848317,654,632,654,0.401000195202,-0.00539635554526,0.049865196264,0.999999962502,0.000119458303215,-0.000242803296893,-4.21042996325e-05,1793237929857578496
+90,1.500000000,BASELINE,767,746,716,680,665,637,881,788,804,654,632.238958963,654,0.400999930199,-0.00539561756096,0.0498648333336,0.999999962154,0.000121188588662,-0.000243374291755,-4.21253823452e-05,1793237929874245376
+91,1.516666667,BASELINE,767,746,716,680,665,637,881,788,804,654,632.817021631,654,0.401000799289,-0.00539562085976,0.0498650814496,0.999999962269,0.000121542339129,-0.000242716561161,-4.21680915502e-05,1793237929890912000
+92,1.533333333,BASELINE,767,746,716,680,665,637,881,788,803.608803195,654,632.608803195,654,0.401000576672,-0.0053958966779,0.0498651609912,0.999999962426,0.00012038053427,-0.000242660945705,-4.2094937929e-05,1793237929907578880
+93,1.550000000,BASELINE,767,746,716,680,665,637,881,788,803.036428414,654,632.036428414,654,0.400999848444,-0.00539629871002,0.0498651624596,0.9999999626,0.000118516818683,-0.000242884192391,-4.19681238724e-05,1793237929924245504
+94,1.566666667,BASELINE,767,746,715.445709861,679.445709861,665,636.445709861,881,788.554290139,803.554290139,654,632.554290139,654,0.401001350301,-0.00539530928771,0.0498663894991,0.999999962938,0.000120231641938,-0.000240661838351,-4.18341680491e-05,1793237929940912128
+95,1.583333333,BASELINE,767,746,715.14320094,679.14320094,665,636.14320094,881,789,803.85679906,654,632.85679906,654,0.401002294343,-0.00539459789689,0.0498671786921,0.999999963133,0.000121817225039,-0.000239057772725,-4.17747672131e-05,1793237929957579008
+96,1.600000000,BASELINE,767,746,715.722803119,679.722803119,665,636.722803119,881,789,803.277196881,654,632.277196881,654,0.401001076527,-0.00539502202233,0.0498663796978,0.999999962883,0.000122267702395,-0.000239844500812,-4.19440501112e-05,1793237929974245632
+97,1.616666667,BASELINE,767,746,715.69966894,679.69966894,665.30033106,637,881,789,803,654,632,653.69966894,0.401001730209,-0.00539562872405,0.0498665341123,0.999999963179,0.00012094742976,-0.000239260922304,-4.20447232188e-05,1793237929990912256
+98,1.633333333,BASELINE,767,746,715.124042363,679.124042363,665.875957637,637,881,789,803,654,632,653.124042363,0.401004099382,-0.00539640278249,0.0498675624594,0.999999963968,0.000118004016506,-0.000237421265662,-4.20825058256e-05,1793237930007578880
+99,1.650000000,BASELINE,767.460313088,746,715.460313088,679.460313088,665.539686912,637,881,789,803.460313088,654,632,653.460313088,0.401002289036,-0.0053967798485,0.0498663146169,0.999999963432,0.000117252269693,-0.00024001790932,-4.21916513988e-05,1793237930024245504
+100,1.666666667,BASELINE,767.953536728,746,715.953536728,679.953536728,665,637,880.953536728,789,804,654,632.046463272,654,0.400999739587,-0.00539697544655,0.0498647484547,0.999999962636,0.000117206714814,-0.000243312870502,-4.22943608527e-05,1793237930040912128
+101,1.683333333,BASELINE,767.37430009,746,715.37430009,679.37430009,665,637,880.37430009,789,804,654,632.62569991,654,0.401001879238,-0.00539634062572,0.0498667014931,0.999999963155,0.000118355734849,-0.000240642276102,-4.20985010045e-05,1793237930057579008
+102,1.700000000,BASELINE,767.204138306,746,715.204138306,679,665,637,880.408276613,789,804,654,632.795861694,654,0.401003252918,-0.00539583726376,0.0498674944487,0.999999963495,0.000118778970019,-0.000239022881291,-4.20557804458e-05,1793237930074245632
+103,1.716666667,BASELINE,767.781118714,746,715.781118714,679,665,637,881.562237427,789,804,654,632.218881286,654,0.40100322761,-0.00539557400083,0.0498661686068,0.99999996352,0.000117876617732,-0.000239323417773,-4.22927564309e-05,1793237930090912256
+104,1.733333333,BASELINE,768,746,716,679,665.356815731,637,881.643184269,789,804,654,632,654,0.40100191701,-0.00539596133029,0.0498652387244,0.999999963055,0.000118752034929,-0.0002408562635,-4.2138202056e-05,1793237930107578624
+105,1.750000000,BASELINE,768,746,716,679,665.931728357,637,881.068271643,789,804,654,632,654,0.400999820799,-0.00539674632207,0.0498645508647,0.999999962284,0.00012071408015,-0.000243142335071,-4.1744332146e-05,1793237930124245248
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,746,715,679,665,637,880,789,804,654,632,654,0.400999410802,-0.00539688207231,0.0498645255277,0.999999962606,0.0001161470805,-0.000243911015592,-4.2498623865e-05,1793237930155245568
+107,1.783333333,POSE1_TO_POSE2_PRESS,767.596020064,746,715.596020064,679,665,637,881.192040128,788.403979936,804,654,632.596020064,654,0.401001051601,-0.00539643731305,0.0498658400169,0.999999963039,0.000117888672229,-0.00024131483058,-4.23288275611e-05,1793237930171912448
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.814906076,746,716,679,665.185093924,637,881.814906076,788.185093924,804,654,632.814906076,654,0.401002222809,-0.0053958797299,0.0498669028751,0.999999963255,0.000119808511138,-0.000239507866755,-4.21028328924e-05,1793237930188579328
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.240444303,746,716,679,665.759555697,637,881.240444303,788.759555697,804,654,632.240444303,654,0.401002406172,-0.00539508480772,0.0498674363967,0.999999963027,0.000122103315254,-0.000239361126355,-4.17586180151e-05,1793237930205245696
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.667056709,654,632,654,0.401002688503,-0.00539499017472,0.0498674857817,0.999999963075,0.000121704271801,-0.000239359187488,-4.17762029534e-05,1793237930221912320
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.094442403,654,632,654,0.401003042077,-0.0053953996487,0.0498671866583,0.999999963321,0.000119366047593,-0.000239461484791,-4.20542314499e-05,1793237930238578944
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665.505399707,637,881,789,803.494600293,654,632.494600293,654,0.401002736262,-0.00539581883928,0.0498671197459,0.999999963192,0.000119903601101,-0.00023979764906,-4.16677129129e-05,1793237930255245312
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881,789,804,654,633,654,0.401002242752,-0.00539615898009,0.0498670388553,0.999999963008,0.000120724637884,-0.000240219790769,-4.12893721782e-05,1793237930271912192
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881,789,804,654,633,654,0.401001415013,-0.00539602814923,0.0498666098851,0.999999962933,0.000119890802856,-0.000240873361632,-4.17220575335e-05,1793237930288578560
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,715.757119895,679,665,637,880.757119895,788.757119895,804,654,632.757119895,654,0.401001811786,-0.00539605795327,0.0498664364247,0.999999962981,0.000119821224124,-0.000240670002787,-4.1947074479e-05,1793237930305245696
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715.182311346,679,665,637,880.182311346,788.182311346,804,654,632.182311346,654,0.401003882022,-0.00539630728658,0.0498666121527,0.999999963196,0.000120796104833,-0.000239295533789,-4.18882844791e-05,1793237930321912576
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.401129661,746,715.401129661,679,665,637,880.401129661,788,804,654,632,654,0.401011910963,-0.00539687876256,0.0498701441534,0.999999964616,0.000120538493271,-0.000233460559966,-4.16466552165e-05,1793237930338578944
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+119,1.983333333,POSE1_TO_POSE2_PRESS,768,746,716,679,665,637,881,788.568407433,804,654,632,654,0.401055438601,-0.00539828290098,0.0498884839181,0.999999972534,0.000117378868308,-0.00019878643712,-4.04829873985e-05,1793237930371911936
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.852376545,746,715.852376545,679.147623455,665.147623455,637,881.147623455,789,804,654,632,654,0.401094230236,-0.00539936560236,0.0499030875709,0.99999997825,0.000115858199846,-0.000168856418011,-3.955788893e-05,1793237930388578560
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.274500657,746,715.274500657,679.725499343,665.725499343,637,881.725499343,789,804,654,632,654,0.401149418614,-0.00540161535658,0.0499211686099,0.999999983889,0.000116781621443,-0.000130798263992,-3.84058490887e-05,1793237930405245184
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715.301555074,679.698444926,666,636.698444926,882,789,804,654,632.301555074,654,0.401208908573,-0.00540351397852,0.0499372371239,0.9999999874,0.000116793275663,-0.000100860088538,-3.72261737323e-05,1793237930421912320
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,715.875963852,679.124036148,666,636.124036148,882,789,804,654,632.875963852,654,0.401272290695,-0.00540509488808,0.0499514846597,0.999999989563,0.000115979942594,-7.82690517427e-05,-3.60214932413e-05,1793237930438579200
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665.559926452,636.440073548,881.559926452,788.559926452,804,653.559926452,632.559926452,654,0.401340257883,-0.00540754480715,0.0499578724365,0.999999990205,0.000116326599487,-6.96057270195e-05,-3.48405370102e-05,1793237930455245824
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679.001464417,665,637,881,788.001464417,804,653.001464417,632,654,0.40140951528,-0.00541023341268,0.0499620775533,0.999999990491,0.000116983673497,-6.47992056588e-05,-3.36686872373e-05,1793237930471912448
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679.61176023,665,637,881,788.61176023,804,653.61176023,632,654,0.401490183374,-0.00541265364891,0.049958790522,0.999999990591,0.000113876882487,-6.87244128777e-05,-3.35663917533e-05,1793237930488579072
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.208634143,746,716,679.791365857,665,637,881,789,803.791365857,654,632,654,0.401578518566,-0.00541585792588,0.0499566846638,0.999999990763,0.000110619151048,-7.15967414842e-05,-3.33417281904e-05,1793237930505245696
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.782041328,746,716,679.217958672,665,637,881,789,803.217958672,654,632,654,0.401680258798,-0.00542043300856,0.0499566439525,0.999999991086,0.000107097517784,-7.26282313142e-05,-3.29031179866e-05,1793237930521912320
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.643805052,746,716,679,665,637,881,789,803.356194948,654,632.356194948,654,0.401799078306,-0.00542435411732,0.0499587015218,0.99999999135,0.000106693445299,-7.00645245695e-05,-3.17408160734e-05,1793237930538578688
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.069193667,746,716,679,665,637,881,789,803.930806333,654,632.930806333,654,0.401928370724,-0.00542787421394,0.0499620457433,0.99999999156,0.000108201040567,-6.52962666493e-05,-3.01347510444e-05,1793237930555245312
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881,789,804,654,633,654,0.402078834061,-0.00543274273409,0.0499649562668,0.999999992063,0.000105827505893,-6.19521401703e-05,-2.89334258252e-05,1793237930571912192
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.110000449,746.110000449,716,679.110000449,665,637,881,789,804,654,633,654,0.402236052474,-0.00543818101525,0.049966703068,0.999999992539,0.000102540960423,-6.02881021581e-05,-2.78098561629e-05,1793237930588578816
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.688418229,746.688418229,716,679.688418229,665,637,881,789,804,654,633,654,0.402409693979,-0.00544525941856,0.0499637472035,0.999999992767,9.76291450235e-05,-6.49481792994e-05,-2.67814387279e-05,1793237930605245440
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.734650952,746.734650952,716,679.734650952,665.265349048,637,881,789,803.734650952,654,633,654,0.402595696583,-0.00545125500174,0.049962076229,0.99999999293,9.4462869934e-05,-6.75143569665e-05,-2.56822316044e-05,1793237930621912064
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.159456477,746.159456477,716,679.159456477,665.840543523,637,881,789,803.159456477,654,633,654,0.402796133107,-0.00545598618627,0.049961905608,0.999999993057,9.33348450908e-05,-6.7635508901e-05,-2.45003641328e-05,1793237930638578688
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665.574335132,637,881,789,803,654,632.574335132,654.425664868,0.403037044717,-0.00546509026713,0.0499691218778,0.999999994499,8.82575702327e-05,-5.2067842981e-05,-2.24013966592e-05,1793237930655245568
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679.014365935,665.014365935,637,881,789,803.014365935,654,632.014365935,654.985634065,0.403294023712,-0.00547582388441,0.0499790930613,0.999999995987,8.17780135063e-05,-3.06704381485e-05,-1.99525038278e-05,1793237930671912192
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679.594105013,665.594105013,637,881,789,803.594105013,654,632.594105013,654.405894987,0.403572378676,-0.00548468067508,0.0499859815124,0.999999996529,7.9724116231e-05,-1.66605045305e-05,-1.75755787511e-05,1793237930688578816
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,715.827289577,679.827289577,666,637,880.827289577,789,804,654,632.827289577,654,0.403859651389,-0.00549371389976,0.0499920233649,0.99999999691,7.70136684622e-05,-4.47652017057e-06,-1.51214781447e-05,1793237930705245440
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,715.251331164,679.251331164,666,637,880.251331164,789,804,654,632.251331164,654,0.404167745415,-0.00550315906511,0.0499960885598,0.999999997268,7.27702928691e-05,3.44419682243e-06,-1.24871867991e-05,1793237930721912064
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,715.330911711,679,666,637,880.330911711,789,803.669088289,653.669088289,632.330911711,654,0.404488781013,-0.00551145241758,0.0499999966785,0.999999997413,7.03893784053e-05,1.07405107083e-05,-1.01797064469e-05,1793237930738578944
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,715.918020169,679,666,637,880.918020169,789,803.081979831,653.081979831,632.918020169,654,0.404819836201,-0.00551885402045,0.0500037831869,0.999999997401,6.94504084827e-05,1.75534033034e-05,-8.12524772621e-06,1793237930755245824
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665.501321722,637,881,789,803,653.498678278,632.501321722,654,0.405192193515,-0.00552189294725,0.0500038814073,0.999999997013,7.52324085428e-05,1.71003182384e-05,-4.75516176007e-06,1793237930771912192
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881,789,803,654,632.077856826,654,0.405569965215,-0.00552113009602,0.0500010864587,0.999999996258,8.5821324479e-05,1.08097453046e-05,-1.60112582158e-06,1793237930788579072
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881,789,803,654,632.654264856,654,0.405939484708,-0.00550055669458,0.0499835983236,0.999999992454,0.000120206284521,-2.53096746157e-05,-1.19781038728e-06,1793237930805245952
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,679.230502935,665,637,881,789,803.230502935,654,632.769497065,654,0.406330743206,-0.0054866808137,0.0499685837473,0.999999987953,0.000146142599807,-5.23057577707e-05,-5.91846946169e-07,1793237930821912832
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,679.806486254,665,637,881,789,803.806486254,654,632.193513746,654,0.406754584344,-0.00548284325299,0.0499572765698,0.99999998514,0.00015941598985,-6.56276793699e-05,3.17847572976e-07,1793237930838579456
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,679.610463314,665.389536686,637,881,788.610463314,804,653.610463314,632,654,0.407195520579,-0.0054903114476,0.0499511700316,0.999999984296,0.000160786105723,-7.44587537195e-05,3.29151691098e-06,1793237930855245824
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679.023837234,665.976162766,637,881,788.023837234,804,653.023837234,632,654,0.407645106209,-0.00550349988522,0.0499476948013,0.999999984502,0.000156133658573,-8.10176453735e-05,7.30947180464e-06,1793237930871912448
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,715.444321612,679.555678388,666,637,881,788,803.444321612,653.555678388,632.555678388,654,0.408188566135,-0.00551074461501,0.049968731637,0.999999986499,0.000158782189026,-4.06593976097e-05,1.17053698128e-05,1793237930888579072
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,715.134602315,679.865397685,666,637,881,788,803.134602315,654,632.865397685,654,0.408738532806,-0.00551583225648,0.0499906182052,0.999999986414,0.000164036139447,-1.09161725874e-06,1.62119385209e-05,1793237930905245440
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,715.712569163,679.287430837,666,637,881,788,803.712569163,654,632.287430837,654,0.409296835024,-0.00551464392823,0.0500118839062,0.99999998371,0.000176853452532,2.93268326738e-05,2.10303144414e-05,1793237930921912064
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,788.288155792,804,653.711844208,632,654,0.409848759351,-0.00551114961765,0.050018710347,0.999999980583,0.000192113319108,3.62818978e-05,2.46812993732e-05,1793237930938578944
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,788.86138771,804,653.13861229,632,654,0.410394374019,-0.00550537396978,0.0500112518498,0.999999977424,0.000209789635977,2.00243467263e-05,2.71773703922e-05,1793237930955245312
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746.448414377,716,679,666,637,881,788.551585623,804,653,632,654,0.410932313437,-0.00550234401251,0.0499897174087,0.999999974495,0.000222817185955,-2.25692608646e-05,2.91974185791e-05,1793237930971912192
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746.960933104,716,679,665.960933104,637,881,788,804,653,632.039066896,654,0.411475162125,-0.00550066182679,0.04996524495,0.999999969729,0.000233820335105,-7.00071018955e-05,3.11137289403e-05,1793237930988578816
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746.380991496,716,679,665.380991496,637,881,788,804,653,632.619008504,654,0.412119869389,-0.0055055157085,0.0499622484724,0.999999968944,0.000237322650383,-6.82256654595e-05,3.36956890198e-05,1793237931005245184
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716,679.197262744,665.197262744,637,881,788.197262744,804,653,632.802737256,654,0.412781069896,-0.00551114331611,0.0499691795198,0.999999976766,0.000207806665678,-4.9581537909e-05,2.87241675776e-05,1793237931021911808
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,679.772285619,665.772285619,637,881,788.772285619,804,653,632.227714381,654,0.413473855091,-0.00551825261629,0.049995121877,0.999999993337,0.000115060303467,1.35481256812e-06,9.28765287863e-06,1793237931038578432
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,679.653113417,666,637,881,788.653113417,804,653,632,653.653113417,0.414141906086,-0.00552690074167,0.0500031221265,0.999999996714,8.01589129679e-05,1.10445800918e-05,4.86693974388e-06,1793237931055245312
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,679.078789104,666,637,881,788.078789104,804,653,632,653.078789104,0.414793739966,-0.00553655780434,0.0499993585525,0.999999996467,8.31838393924e-05,-6.30915977087e-06,1.02914044361e-05,1793237931071911936
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,715.49109336,679.50890664,666,637,881,788.50890664,803.49109336,653.50890664,632,653.50890664,0.415436819712,-0.00553295932076,0.0499681006466,0.999999993119,0.000102272613008,-5.61106444676e-05,1.24112999787e-05,1793237931088578560
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.902865967,746,715.097134033,679.902865967,665.902865967,637,881,789,803.097134033,654,632,653.902865967,0.416096980887,-0.00552759391786,0.0499402312248,0.999999987729,0.00012108382469,-9.8430733255e-05,1.38907497278e-05,1793237931105245440
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.322569519,746,715.677430481,679.322569519,665.322569519,637,881,789,803.677430481,654,632,653.322569519,0.416849031498,-0.00552392315101,0.04995096161,0.999999988944,0.000125809729993,-7.78745383258e-05,1.47980391444e-05,1793237931121912064
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.255058644,746,716,679,665.255058644,637,881.255058644,789,804,653.744941356,632,653.255058644,0.417605043669,-0.00552403616837,0.0499692467298,0.999999990937,0.000126134519025,-4.41034230892e-05,1.64526061539e-05,1793237931138578944
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.829347276,746,716,679,665.829347276,637,881.829347276,789,804,653.170652724,632,653.829347276,0.418366014208,-0.00552888494863,0.0499969873151,0.999999992485,0.000120950895741,6.20741613441e-06,1.90424617642e-05,1793237931155245312
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679.413358155,666,636.586641845,881.586641845,788.586641845,804,653.413358155,632,654,0.41908551643,-0.00552921787913,0.050000796327,0.999999992428,0.000121264241832,5.36936301118e-06,2.02474458553e-05,1793237931171911936
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.001458328,716,679.998541672,665.998541672,636.001458328,881,788,803.998541672,654,632,654,0.419787649112,-0.00552764869349,0.049994471515,0.999999991962,0.000123894439518,-1.70521592094e-05,2.0864963756e-05,1793237931188578560
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.581181268,716,679.418818732,665.418818732,636.581181268,881,788,803.418818732,654,632,654,0.420554352828,-0.00552890842819,0.0499818719441,0.999999991876,0.000123667621496,-2.29361400386e-05,2.07060634747e-05,1793237931205245440
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746.839943264,716,679.160056736,665,637,881,788,803.160056736,654,632,654,0.421341043741,-0.00553077455148,0.0499814704234,0.999999992229,0.000122232663521,-1.24145524923e-05,2.11360856033e-05,1793237931221912320
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746.263273725,716,679.736726275,665,637,881,788,803.736726275,654,632,654,0.422179759424,-0.00553421904779,0.050012819294,0.999999991979,0.000117653029366,4.08092046836e-05,2.30990179853e-05,1793237931238578944
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.688118603,746.311881397,716,680,665,637,881,788.311881397,804,653.688118603,632,654,0.422973907802,-0.00553463117592,0.0500210966422,0.999999991235,0.000117293255528,5.66724395494e-05,2.36861667232e-05,1793237931255245312
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.114235724,746.885764276,716,680,665,637,881,788.885764276,804,653.114235724,632,654,0.423730616584,-0.00553249590934,0.0500099923484,0.999999991629,0.000120478450394,4.11503042739e-05,2.3117564016e-05,1793237931271911936
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.473998244,746.526001756,715.526001756,680,665,637,881,788.526001756,803.526001756,653,632,654,0.424485530855,-0.0055324639432,0.0499970236273,0.999999992605,0.000117623603284,2.12387027179e-05,2.2434757045e-05,1793237931288578560
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,715.064390678,680,665.064390678,636.935609322,881,788,803.064390678,653,632.064390678,654,0.425247485451,-0.00553351441687,0.0499877808926,0.999999993317,0.000113303043607,6.19624974165e-06,2.21259414566e-05,1793237931305245184
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,715.643525527,680,665.643525527,636.356474473,881,788,803.643525527,653,632.643525527,654,0.426069285772,-0.00553903924275,0.0500120281681,0.999999992964,0.000109265589248,3.87989917233e-05,2.50337396768e-05,1793237931321911808
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.779071706,636,881,788,804,653,632.779071706,653.779071706,0.426870060942,-0.0055411720374,0.0500222779819,0.999999992747,0.000108697660361,4.41889937788e-05,2.71622964757e-05,1793237931338578944
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665.204441877,636,881,788,804,653,632.204441877,653.204441877,0.427637175416,-0.00553787426249,0.0500101181587,0.999999993127,0.000113684367939,6.0119786531e-06,2.80433046676e-05,1793237931355245568
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.378981807,716,680,665.378981807,636,881,788.378981807,804,653,632.378981807,653.378981807,0.428380087798,-0.0055345781564,0.0499857276772,0.999999992145,0.00011728407423,-3.51005333117e-05,2.68919126669e-05,1793237931371912448
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.967261994,716,680,665.967261994,636,881,788.967261994,804,653,632.967261994,653.967261994,0.429109634167,-0.00553128297215,0.0499545826323,0.999999989454,0.000120117787868,-7.78342150484e-05,2.46180971338e-05,1793237931388579072
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.452203438,715.452203438,679.452203438,666,636.547796562,881.547796562,788.452203438,804,653,632.452203438,654,0.429919476263,-0.00553582632218,0.0499721252144,0.99999999239,0.000113751679004,-4.01301011074e-05,2.58864756381e-05,1793237931405245696
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,715.126961852,679.126961852,666,637,881.873038148,788.126961852,804,653.126961852,632.126961852,654,0.43071994297,-0.00553986489663,0.0499866436318,0.999999993727,0.000108126971627,-1.0894787707e-05,2.71303790298e-05,1793237931421912320
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,715.702899075,679.702899075,666,637,881.297100925,788.702899075,804,653.702899075,632.702899075,654,0.431470522318,-0.00554048493165,0.0499803214996,0.999999993489,0.000107041268675,-2.8370431647e-05,2.75495604339e-05,1793237931438578688
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716,679.72169783,665.72169783,637,881.27830217,789,804.27830217,653.72169783,633,654,0.432222024474,-0.00554026432744,0.0499694106258,0.999999992729,0.00010680746784,-4.87926902966e-05,2.74524857495e-05,1793237931455245312
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679.146863885,665.146863885,637,881.853136115,789,804.853136115,653.146863885,633,654,0.432974509839,-0.00553914801965,0.0499536104347,0.999999991247,0.000107481371251,-7.23545743995e-05,2.68053386635e-05,1793237931471911936
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665.440671068,637,881.559328932,789,804.559328932,653,633,654,0.433726136167,-0.00554125063699,0.0499679904224,0.999999992767,0.0001065659807,-4.82159841701e-05,2.80291960022e-05,1793237931488578816
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,679.03176964,666,636.96823036,881.03176964,789,804,653,633,654,0.434475652758,-0.00554429162141,0.0499920259995,0.999999994,0.000104998275003,-9.22960052894e-06,2.98379035415e-05,1793237931505245696
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716,679.609214066,666,636.390785934,881.609214066,789,804,653,633,654,0.43519399483,-0.00554447706146,0.0500040184465,0.999999994363,0.000101594000909,3.62710172494e-06,3.06639536746e-05,1793237931521912576
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.814282857,746,716,680,666,636,882,789,804.185717143,653,633,654,0.435890239282,-0.00554363968258,0.0500028223554,0.99999999435,0.000101293796589,-7.93859320548e-06,3.12378976532e-05,1793237931538579200
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.239750466,746,716,680,666,636,882,789,804.760249534,653,633,654,0.436540220548,-0.00554066094194,0.049974014897,0.999999991239,0.000107492235718,-7.06347319341e-05,3.12840352058e-05,1793237931555245568
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.334689799,746,716,680,666,636,882,789,805,653,632.665310201,654,0.437229119095,-0.00553978662062,0.0499685993493,0.999999990637,0.000108403083934,-7.74956732531e-05,3.11247135829e-05,1793237931571911936
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.909064053,746,716,680,666,636,882,789,805,653,632.090935947,654,0.43794588779,-0.00554041935646,0.0499799356654,0.999999992973,0.000105527281229,-4.43708420523e-05,3.08182546408e-05,1793237931588578560
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636.498592632,882,789,804.501407368,653,632.498592632,654,0.438625384087,-0.00554417053429,0.0499992965315,0.999999994123,0.000103327365327,-7.41415772305e-06,3.19790709745e-05,1793237931605245440
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,882.088831766,788.911168234,804.088831766,653,633,653.911168234,0.439286012774,-0.00554756945026,0.0500138707246,0.999999994118,0.000101380364889,1.97985316519e-05,3.30875137484e-05,1793237931621912064
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,882.667275849,788.332724151,804.667275849,653,633,653.332724151,0.439881291782,-0.00554579373293,0.0499937427667,0.999999994406,0.000100126621329,-1.06672819289e-05,3.23860768651e-05,1793237931638578688
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.756137692,746,716,680,665.756137692,637,882.756137692,788.243862308,805,653,632.756137692,653.243862308,0.440469424172,-0.00554498701095,0.0499754482755,0.999999993626,0.000100930145767,-3.90126594846e-05,3.22213107168e-05,1793237931655245312
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.18206665,746,716,680,665.18206665,637,882.18206665,788.81793335,805,653,632.18206665,653.81793335,0.441047879433,-0.00554549238498,0.0499596364441,0.999999991921,0.000104519372938,-6.44867975141e-05,3.27832390019e-05,1793237931671912192
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.402466963,746,716.402466963,680.402466963,665.402466963,637,881.597533037,789,805,653,632,654,0.441640948852,-0.00554701872035,0.0499713726522,0.999999992804,0.000106631570485,-4.28628486868e-05,3.44068184227e-05,1793237931688579072
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.991859976,746,716.991859976,680.991859976,665.991859976,637,881.008140024,789,805,653,632,654,0.442240805878,-0.00554901924194,0.0499959035643,0.999999993495,0.000108057760808,6.35835755478e-07,3.65234824216e-05,1793237931705245952
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716.427709975,681,666,637,881.572290025,788.427709975,804.427709975,653,632.572290025,654,0.44280570106,-0.005547929949,0.0500136641385,0.999999992239,0.000114175305186,3.13981198987e-05,3.87395589091e-05,1793237931721912320
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,716,681,666,636.273482093,882,788,804.726517907,653,633,654,0.443821108019,-0.00555153975088,0.0500113781246,0.999999991786,0.000118294454338,2.61984517635e-05,4.17994824293e-05,1793237931755245056
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.300677852,716,680.699322148,666,636,882,788.300677852,805,653.300677852,633,654,0.444275366833,-0.00555149246932,0.0499900335958,0.999999991715,0.000121288070015,-9.8634856333e-06,4.19727728703e-05,1793237931771911936
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.873848091,716,680.126151909,666,636,882,788.873848091,805,653.873848091,633,654,0.444711179493,-0.00554821305825,0.0499603288354,0.999999989321,0.000127309100756,-5.87005312021e-05,4.12801753094e-05,1793237931788578560
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.538676353,716,680,665.538676353,636,882,789,804.538676353,653.538676353,633,654,0.445156675113,-0.00555119567492,0.0499549215642,0.999999989313,0.000126603997493,-5.98447121295e-05,4.19995454386e-05,1793237931805245184
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716,680.051767879,665.051767879,636,882,788.948232121,804.051767879,653,633,654,0.445602708979,-0.00555566334001,0.0499572038475,0.999999990267,0.000124263152967,-4.65101796868e-05,4.31513783905e-05,1793237931821911808
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716,680.631319717,665.631319717,636,882,788.368680283,804.631319717,653,633,654,0.446026370965,-0.00555725450541,0.0499679748774,0.999999990981,0.000124597772774,-2.2782340582e-05,4.4649797251e-05,1793237931838578688
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746.209103877,716,680.790896123,665.790896123,636,882,788.209103877,804.790896123,653,632.790896123,653.790896123,0.446423600907,-0.00555609223694,0.0499709844292,0.999999990944,0.000126212516278,-1.3228070045e-05,4.47979979536e-05,1793237931855245568
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746.783797428,716,680.216202572,665.216202572,636,882,788.783797428,804.216202572,653,632.216202572,653.216202572,0.446774617972,-0.00555011596385,0.0499604240916,0.99999999023,0.000130065381917,-2.84543580058e-05,4.25855258071e-05,1793237931871912448
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.632857568,747,716,680.367142432,665,636,881.632857568,788.632857568,804.367142432,653,632.367142432,653,0.447081512179,-0.0055472415909,0.0499316384211,0.999999992064,9.53618807436e-05,-7.6722935178e-05,2.98661584868e-05,1793237931888578816
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.044294896,747,716,680.955705104,665,636,881.044294896,788.044294896,804.955705104,653,632.955705104,653,0.447361796327,-0.00554623794494,0.0498918612183,0.999999988741,3.74053875347e-05,-0.000144919015368,1.0810178483e-05,1793237931905245440
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.536154207,746.463845793,716,681,665,636,881.536154207,788.536154207,805,653,633,653,0.447627239067,-0.00555697807653,0.0498579042148,0.999999981343,2.49732322594e-05,-0.000191281198494,1.01217444227e-05,1793237931921912064
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.884850845,746,716,681,665,635.884850845,882,788.884850845,805,653,632.884850845,653,0.447890314755,-0.00556643451623,0.0498295731902,0.999999973409,1.86015176836e-05,-0.000229603723224,1.08441056433e-05,1793237931938578688
+214,3.566666667,POSE1_TO_POSE2_PRESS,766.309031584,746,716,681,665,635.309031584,882,788.309031584,805,653,632.309031584,653,0.448148753005,-0.0055669317225,0.0498218546658,0.999999970209,2.1653186365e-05,-0.000242871384887,1.12302692178e-05,1793237931955245312
+215,3.583333333,POSE1_TO_POSE2_PRESS,766.265998978,746,716.265998978,681,665,635,882,788,805,653,632.265998978,653.265998978,0.448399581874,-0.00556950061945,0.0498203151231,0.999999969367,2.31990100118e-05,-0.000246120119098,1.23864818407e-05,1793237931971911936
+216,3.600000000,POSE1_TO_POSE2_PRESS,766.840115922,746,716.840115922,681,665,635,882,788,805,653,632.840115922,653.840115922,0.448641596457,-0.00557446924411,0.0498259329589,0.999999971366,2.30005489161e-05,-0.000237763501343,1.44346751139e-05,1793237931988578560
+217,3.616666667,POSE1_TO_POSE2_PRESS,766.572013729,746.427986271,716.572013729,681,665,635,882,788.427986271,805.427986271,653,632.572013729,653.572013729,0.448862035291,-0.00557792774852,0.049829103374,0.999999971743,2.3778350454e-05,-0.000235956960813,1.65221335019e-05,1793237932005245440
+218,3.633333333,POSE1_TO_POSE2_PRESS,766.020598916,747,716,681,665,635,882.020598916,788.979401084,805.979401084,653,632,653.020598916,0.449072796523,-0.00558038494389,0.0498310808648,0.999999971436,2.52771161952e-05,-0.000236946522804,1.85673983871e-05,1793237932021912320
+219,3.650000000,POSE1_TO_POSE2_PRESS,766.597909834,747,716,681,665,635,882.597909834,788.402090166,805.402090166,653,632,653.597909834,0.449247075794,-0.00557153330943,0.0498263483335,0.999999969112,3.60769740832e-05,-0.000245177176387,1.90627370388e-05,1793237932038578944
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+221,3.683333333,POSE1_TO_POSE2_PRESS,766.251737503,746.251737503,716.748262497,681,664.251737503,635,882.251737503,788,805,653,632.748262497,654,0.449550874395,-0.00555798413814,0.0498097435574,0.999999961244,5.33598504467e-05,-0.000272554905435,1.94350838343e-05,1793237932071911936
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+240,4.000000000,POSE1_TO_POSE2_PRESS,766.227183828,746.772816172,716,681,664,634,881.227183828,788,804,653,632,654,0.450565967661,-0.00556033156969,0.0497959145323,0.99999995209,5.51985312758e-05,-0.000303859281058,2.10192576715e-05,1793237932388578816
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746.653739544,716,681,664,633.653739544,881.346260456,788,804.346260456,653.346260456,632,653.653739544,0.450568924081,-0.00555880038653,0.0497953522645,0.999999951775,5.75167690309e-05,-0.000304465521183,2.10243516472e-05,1793237932405245696
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746.081209964,716,681,664,633.081209964,881.918790036,788,804.918790036,653.918790036,632,653.081209964,0.450572448672,-0.00555683461596,0.0497953076223,0.999999951841,6.01214780788e-05,-0.000303751282403,2.09548092319e-05,1793237932421912320
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,716,681,664,633.509836089,882,788,805,653.490163911,632,653.509836089,0.450570369176,-0.00555779524265,0.0497924909288,0.999999950487,5.81518104364e-05,-0.000308589525228,2.04281754083e-05,1793237932438578944
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.101105502,746.101105502,716,680.898894498,664,634,882,787.898894498,804.898894498,653,632,654,0.450568395727,-0.00555892934417,0.0497900743125,0.999999949302,5.5890391026e-05,-0.000312842918438,2.00500252904e-05,1793237932455245568
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.678995215,746.678995215,716,680.321004785,664,634,882,787.321004785,804.321004785,653,632,654,0.450571290509,-0.00555860050069,0.0497917050411,0.999999950174,5.58186868393e-05,-0.000310010406744,2.07283646533e-05,1793237932471912192
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.744732702,746.744732702,716,680.255267298,663.744732702,633.744732702,882,787.255267298,804.255267298,653,632,653.744732702,0.450572744475,-0.00555805787601,0.049792174713,0.99999995036,5.65871430163e-05,-0.000309255667551,2.09634294915e-05,1793237932488578816
+247,4.116666667,POSE1_TO_POSE2_PRESS,766.170481943,746.170481943,716,680.829518057,663.170481943,633.170481943,882,787.829518057,804.829518057,653,632,653.170481943,0.450572397989,-0.00555724810909,0.0497911935221,0.999999949691,5.84054683353e-05,-0.000311097324265,2.06445760636e-05,1793237932505245440
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.41519163,746.41519163,716,681,663.41519163,633.41519163,882,788,805,653.41519163,632,653.41519163,0.450572299364,-0.00555653259845,0.0497910029822,0.999999949567,5.91776794331e-05,-0.000311345758997,2.07030162655e-05,1793237932521912320
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,746.994417352,716,681,664,634,882,788,805,653.994417352,632,653.994417352,0.450572298439,-0.00555587247854,0.0497911301142,0.999999949668,5.94913433842e-05,-0.000310946543708,2.09183188567e-05,1793237932538578944
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746.414876401,716,681,664,634,882,788,805,653.414876401,632,653.414876401,0.450571582531,-0.00555681551117,0.0497895956136,0.999999949073,5.80726549362e-05,-0.000313122817401,2.08826583543e-05,1793237932555245568
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,746.163137063,716,681,664,634,882,788,805,653,632,653.163137063,0.450571558043,-0.00555753145629,0.04978882702,0.999999948801,5.69055790918e-05,-0.000314213582008,2.07210182512e-05,1793237932571912448
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,746.73730195,716,681,664,634,882,788,805,653,632,653.73730195,0.450573275608,-0.00555767524881,0.049789988148,0.999999949356,5.6372447451e-05,-0.000312569379757,2.0241969461e-05,1793237932588579328
+253,4.216666667,POSE1_TO_POSE2_PRESS,767,747,716,681,664,634,882,788,805,653,632,653.680713872,0.450574041538,-0.00555680216143,0.0497902026451,0.999999949594,5.65199693227e-05,-0.000311802652893,1.99101673709e-05,1793237932605245440
+254,4.233333333,POSE1_TO_POSE2_PRESS,767,747,716,681,664,634,882,788,805,653,632,653.09213476,0.450574004838,-0.00555507141502,0.0497896187327,0.999999949565,5.72415694526e-05,-0.00031177600827,1.97025564296e-05,1793237932621911808
+255,4.250000000,POSE1_TO_POSE2_PRESS,767,746.510870094,716,681,664,634,881.510870094,788,804.510870094,653,632,653.489129906,0.45057356041,-0.00555682458026,0.0497893209864,0.999999949211,5.59367046509e-05,-0.000313104321989,2.03796750417e-05,1793237932638578688
+256,4.266666667,POSE1_TO_POSE2_PRESS,766.931335338,746,716,680.931335338,664,634,881,788,804.137329324,653,632,653.931335338,0.450572975139,-0.00555859030766,0.0497890404205,0.999999948804,5.48776371e-05,-0.000314541874379,2.10727726932e-05,1793237932655245312
+257,4.283333333,POSE1_TO_POSE2_PRESS,766.354556821,746,716,680.354556821,664,634,881,788,805.290886357,653,632,653.354556821,0.450571907595,-0.00555566436875,0.0497884939822,0.99999994849,5.84204955661e-05,-0.000314926955023,2.06690719146e-05,1793237932671911936
+258,4.300000000,POSE1_TO_POSE2_PRESS,766.219742226,746.219742226,716.219742226,680.219742226,663.780257774,634,881.219742226,788,805.560515548,653,632,653,0.450571757046,-0.00555406789079,0.049788516935,0.999999948426,6.0064832201e-05,-0.00031484533888,2.0336973494e-05,1793237932688578560
+259,4.316666667,POSE1_TO_POSE2_PRESS,766.790085345,746.790085345,716.790085345,680.790085345,663.209914655,634,881.790085345,788,804.41982931,653,632,653,0.450573069573,-0.00555459258048,0.0497894483568,0.999999948772,5.86800590455e-05,-0.00031401910347,2.01191172806e-05,1793237932705245440
+260,4.333333333,POSE1_TO_POSE2_PRESS,767,746.625973644,716.625973644,680.625973644,663.374026356,634,882,788,804.748052711,653,632,653.374026356,0.450573092931,-0.00555373624579,0.0497890277715,0.999999948579,5.89374244648e-05,-0.000314617393714,1.95819434283e-05,1793237932721912320
+261,4.350000000,POSE1_TO_POSE2_PRESS,767,746.034113215,716.034113215,680.034113215,663.965886785,634,882,788,805.93177357,653,632,653.965886785,0.450572365474,-0.00555207559831,0.0497878197732,0.999999948071,6.01511764108e-05,-0.00031604533203,1.88587980361e-05,1793237932738578944
+262,4.366666667,HOLD_POSE2,767,746,716,680,664,634,881,788,804,653,632,654,0.45057452383,-0.00555562360837,0.0497891323304,0.999999948642,5.83562326593e-05,-0.000314480364872,2.03375346688e-05,1793237932768217344
+263,4.383333333,HOLD_POSE2,767,746,716,680,663.42520618,634,881.57479382,788,804.57479382,653,631.42520618,654,0.450574994911,-0.00555520860833,0.0497883281915,0.999999948429,5.91341034905e-05,-0.000315010499832,2.0326010073e-05,1793237932784883968
+264,4.400000000,HOLD_POSE2,766.851092362,746,716,680.148907638,663.148907638,634,882,788,805,653,631.148907638,654,0.450575534019,-0.00555446503923,0.0497879569828,0.999999948386,5.9653126008e-05,-0.000315058588886,2.02047154911e-05,1793237932801550592
+265,4.416666667,HOLD_POSE2,766.278911331,746,716,680.721088669,663.721088669,634,882,788,805,653,631.721088669,654,0.450576266496,-0.00555278750486,0.0497888163879,0.999999948823,5.94363664108e-05,-0.00031373645147,1.97713971931e-05,1793237932818217216
+266,4.433333333,HOLD_POSE2,766.304748144,746.304748144,716.304748144,680.695251856,664,634,881.695251856,788,805,653,632,654,0.450575673845,-0.00555214432676,0.0497885440112,0.999999948665,5.9309484462e-05,-0.000314277785433,1.95545283587e-05,1793237932834883840
+267,4.450000000,HOLD_POSE2,766.899324049,746.899324049,716.899324049,680.100675951,664,634,881.100675951,788,805,653,632,654,0.450573820944,-0.00555248486323,0.0497871952646,0.999999947938,5.92680797901e-05,-0.000316591355818,1.9543511709e-05,1793237932851550464
+268,4.466666667,HOLD_POSE2,767,747,716.520054716,680.479945284,664,634,881.479945284,788,805,653,632,654,0.450574408106,-0.00555323327751,0.0497873783674,0.999999948025,5.90582414944e-05,-0.000316338587438,1.97992812031e-05,1793237932868217344
+269,4.483333333,HOLD_POSE2,767,747,716,681,663.94246001,634,882,788,805,653,632,654,0.450575444004,-0.00555411494646,0.0497878672113,0.999999948293,5.86738179112e-05,-0.000315544042107,2.01056250286e-05,1793237932884884224
+270,4.500000000,HOLD_POSE2,767,747,716,681,663.366505253,634,882,788,805,653,632,654,0.450576041652,-0.005555448119,0.0497882974106,0.999999948686,5.70257739924e-05,-0.000314581397911,2.03776689478e-05,1793237932901550848
+271,4.516666667,HOLD_POSE2,767,747,716,680.785824744,663.214175256,633.785824744,882,788,805,653,632,653.785824744,0.450575963218,-0.0055559400754,0.0497883275355,0.999999948792,5.61410987918e-05,-0.000314396636999,2.0447770954e-05,1793237932918217216
+272,4.533333333,HOLD_POSE2,767,747,716,680.196874938,663.803125062,633.196874938,882,788,805,653,632,653.196874938,0.45057470174,-0.00555496002965,0.0497876575904,0.999999948402,5.65922044394e-05,-0.000315573055174,2.01645048956e-05,1793237932934883840
+273,4.550000000,HOLD_POSE2,766.614205211,746.614205211,716,680.385794789,664,633.385794789,882,788,804.614205211,653.385794789,632,653.385794789,0.45057447752,-0.00555434685747,0.0497874547566,0.999999948142,5.72691143272e-05,-0.00031628844924,1.99479513171e-05,1793237932951550464
+274,4.566666667,HOLD_POSE2,766.034688885,746.034688885,716,680.965311115,664,633.965311115,882,788,804.034688885,653.965311115,632,653.965311115,0.450574774146,-0.00555391790572,0.0497874864762,0.999999947947,5.80594087429e-05,-0.000316772346511,1.97648964653e-05,1793237932968216832
+275,4.583333333,HOLD_POSE2,766,746.540903992,716,680.459096008,664.540903992,634,882,788,804,653.459096008,632,654,0.450575146555,-0.0055532703311,0.0497873380638,0.999999947819,5.94720981444e-05,-0.000316921232832,1.96493903534e-05,1793237932984883712
+276,4.600000000,HOLD_POSE2,766.116198081,746.883801919,716,680.116198081,664.883801919,634,881.883801919,788,804.116198081,653,632,654,0.450575638266,-0.00555263904325,0.0497874435817,0.999999947768,6.12256850838e-05,-0.000316747083523,1.96888848467e-05,1793237933001550592
+277,4.616666667,HOLD_POSE2,766.691298889,746.308701111,716,680.691298889,664.308701111,634,881.308701111,788,804.691298889,653,632,654,0.450576582082,-0.00555212704968,0.049788597244,0.999999948002,6.41690822073e-05,-0.000315381403837,2.03235402084e-05,1793237933018217472
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,747,716,680,664,634,882,788,805,653,632,654,0.450575496356,-0.00554995670129,0.049787822431,0.999999947102,6.48683199258e-05,-0.000318137428709,1.94157698021e-05,1793237933055480576
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766.580154343,746.419845657,716,680,664,634,881.419845657,788,805,653,632,654,0.450575632923,-0.00555281149841,0.0497882094933,0.999999947726,6.01246572167e-05,-0.000317077274251,1.98886509245e-05,1793237933072147200
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.1589754,664,634,881.1589754,788,805,653,632,653.8410246,0.450576016862,-0.00555452111097,0.0497883389315,0.999999948174,5.70284995525e-05,-0.000316223834701,2.00757442131e-05,1793237933088813824
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.734304729,664,634,881.734304729,788,805,653,632,653.265695271,0.450577048662,-0.00555323150483,0.0497877936563,0.999999948213,5.82471291867e-05,-0.000315911777848,1.95143640198e-05,1793237933105480448
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746.30870842,716,681,664,633.69129158,882,788,804.69129158,653,632,653.30870842,0.450577056774,-0.00555258219053,0.0497876060888,0.999999948172,5.83900179767e-05,-0.000316033728982,1.92228617793e-05,1793237933122147072
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746.882317792,716,681,664,633.117682208,882,788,804.117682208,653,632,653.882317792,0.450576186465,-0.00555248230711,0.0497877254683,0.999999948062,5.76098195473e-05,-0.000316528099939,1.91629403202e-05,1793237933138813952
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,747,716,680.528565361,664,633.471434639,881.528565361,788,804.471434639,653,632,654,0.450575994698,-0.00555371801083,0.0497877276168,0.999999947923,5.78499708367e-05,-0.000316894041076,1.96344885918e-05,1793237933155480320
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766.937108674,747,716,680,664,634,881,788,805,653,632,654,0.450575920168,-0.00555503136998,0.0497877393896,0.999999947812,5.82118379936e-05,-0.000317144579395,2.01612412139e-05,1793237933172146944
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.359267582,747,716,680,664,634,881,788,805,653,632,654,0.450575371515,-0.0055541578863,0.0497880777248,0.999999947995,5.74138605724e-05,-0.000316721635972,2.00167750441e-05,1793237933188813568
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.217438976,746.782561024,716,680,664,634,881.217438976,788,805,653,632,654,0.450574254025,-0.00555359172341,0.0497878866779,0.999999947916,5.74985369555e-05,-0.000316957896084,1.99947919873e-05,1793237933205480448
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.792280654,746.207719346,716,680,664,634,881.792280654,788,805,653,632,654,0.450572201541,-0.00555353070133,0.0497868254901,0.999999947404,5.90340243958e-05,-0.000318277683795,2.01741334553e-05,1793237933222147072
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746.376766007,716,680.376766007,664,633.623233993,881.623233993,788.376766007,805,653,632,653.623233993,0.450563536095,-0.00555317529269,0.0497822272572,0.999999945033,5.99405191022e-05,-0.000325495140703,1.98573959671e-05,1793237933238813696
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746.966707848,716,680.966707848,664,633.033292152,881.033292152,788.966707848,805,653,632,653.033292152,0.450551129006,-0.00555265331886,0.0497756277488,0.99999994152,6.04911271419e-05,-0.000336049524405,1.92599748779e-05,1793237933255480320
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,747,716,680.453395048,664,633.546604952,881.546604952,788.453395048,805,653,632,653.546604952,0.450518115777,-0.00555134594248,0.0497609293453,0.999999932419,6.0843008067e-05,-0.000362101323763,1.8510853385e-05,1793237933272146944
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.875026515,747,716,680.124973485,663.875026515,634,881.875026515,788,805,653,632,653.875026515,0.45048047289,-0.00555004206109,0.0497452100607,0.999999921834,6.11481233429e-05,-0.000390230026588,1.77213910432e-05,1793237933288813568
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.273207465,746.726792535,716,681,663.273207465,634,881.273207465,788,805,653.273207465,632,653.273207465,0.450376277808,-0.00554730622071,0.0497113460867,0.999999897736,6.111708306e-05,-0.000447825524172,1.56372599404e-05,1793237933322147328
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766.844427705,746.155572295,716,681,663.844427705,634,881.844427705,788,805,653.844427705,632,653.844427705,0.450317115553,-0.00554515631429,0.0496967027711,0.999999889691,6.04810731239e-05,-0.000465575358047,1.41497690314e-05,1793237933338813952
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.566163508,746,716,680.566163508,664,634,882,788,805,653.566163508,632,654,0.450244530442,-0.00554134316967,0.0496857124463,0.999999882262,6.31954021863e-05,-0.000480958992741,1.26846987655e-05,1793237933355480576
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766.029097427,746.029097427,716,680.029097427,664,634,882,788,804.970902573,653,632,654,0.450166509186,-0.00553699714593,0.0496764188583,0.999999875172,6.71428245062e-05,-0.000494995059159,1.12905323126e-05,1793237933372147200
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.606355837,746.606355837,716,680.606355837,664,634,882,788,804.393644163,653,632,654,0.450080724024,-0.00553434005805,0.0496733319731,0.999999872275,7.0696507737e-05,-0.000500328978444,1.10740176277e-05,1793237933388813824
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,747,716,681,664,634,881.817519983,788,804.182480017,653,632,653.817519983,0.449987254414,-0.0055313314381,0.0496696681568,0.999999868489,7.35632656817e-05,-0.000507439527772,1.07904093491e-05,1793237933405480448
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766.661488644,747,716,681,664,634.338511356,881.338511356,788,805,653,632,653.338511356,0.449755074787,-0.00552381088702,0.0496577030282,0.999999856569,7.68739927692e-05,-0.000529962252398,9.57279124313e-06,1793237933438813696
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.072758528,747,716,681,664,634.927241472,881.927241472,788,805,653,632,653.927241472,0.44962375354,-0.00552005552127,0.0496490391731,0.999999849909,7.91769013462e-05,-0.000542071110087,8.51450596409e-06,1793237933455480832
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766.909562986,746.090437014,716,681,663.090437014,634,882.090437014,788,805,653,632,654,0.449280963695,-0.00550751344834,0.0496231291846,0.999999825857,8.55174171508e-05,-0.000583908131236,4.99530696945e-06,1793237933488813824
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,636,882.637771824,788,804.637771824,653,632.362228176,654,0.444615863603,-0.00541404990753,0.0498349789856,0.999999960766,0.00012383907921,-0.000251022125081,-1.09581091764e-05,1793237933755480576
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.98443852,636,881.01556148,789,804.01556148,653,633.01556148,654,0.440341952016,-0.00540553943048,0.0498491582632,0.999999972052,6.48192564137e-05,-0.000225124289937,-3.18252300956e-05,1793237933888814080
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.407366696,636,881.592633304,789,804.592633304,653,633.592633304,654,0.439686672189,-0.00540754107529,0.0498250549627,0.999999962386,5.31333242081e-05,-0.000266798657241,-3.49673718057e-05,1793237933905480704
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636,882,789,805,653,633.260279326,654,0.438323545353,-0.00539388384638,0.049770133071,0.999999934189,4.84759230559e-05,-0.000356798046344,-4.4344293636e-05,1793237933938814208
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636,882.314505939,789,805,653,633,654,0.437655132536,-0.00538614412621,0.0497691834213,0.999999932473,4.81241853053e-05,-0.000361201837275,-4.76654517608e-05,1793237933955480832
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746.075632017,716,680.075632017,665.924367983,636,881.924367983,789,804.075632017,653,633,654,0.435677577024,-0.00538183298394,0.0498443030039,0.999999966687,3.01001720138e-05,-0.00025130130111,-5.06769374734e-05,1793237934005480448
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.750712678,665.249287322,637,881,789,804,653.750712678,632.249287322,654,0.419570590753,-0.00535739791594,0.0498230668008,0.999999951679,9.16970226781e-05,-0.000293032609925,-4.86366157991e-05,1793237934355480832
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.176350126,665.823649874,637,881,789,804,653.176350126,632.823649874,654,0.418803053069,-0.00535707511693,0.0498220285557,0.999999948364,9.33281052529e-05,-0.000303666839419,-4.84596585573e-05,1793237934372147456
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,653,633,654,0.418045659045,-0.00535613029829,0.0498089358259,0.999999941497,9.44986429344e-05,-0.000324954747391,-4.98127208788e-05,1793237934388813824
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.009207467,665.990792533,637,881,789,804.009207467,653.009207467,633,654,0.41729386538,-0.00535493472469,0.0497911658864,0.999999932877,9.54634042235e-05,-0.000349927959911,-5.17915606489e-05,1793237934405480448
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,715.839835381,680,665.160164619,636.839835381,881,789,804.679670763,653.839835381,632.839835381,654,0.415929243016,-0.00535594930506,0.049832895261,0.999999955606,9.62694165766e-05,-0.0002775656727,-4.97724113421e-05,1793237934438813952
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,715.265438328,680,665.734561672,636.265438328,881,789,803.530876656,653.265438328,632.265438328,654,0.415255826294,-0.00535753201819,0.0498401432509,0.999999961322,9.38579448871e-05,-0.000256971084541,-5.0115858377e-05,1793237934455480576
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.094707107,746,715.905292893,680,666,636.905292893,880.094707107,789,803.905292893,653,632,654,0.413837850179,-0.00535872004952,0.0498010395004,0.99999994008,9.39845566601e-05,-0.000329034668202,-5.2382505694e-05,1793237934488814080
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.4864676,746,716,679.5135324,666,637,880,789,804,653,632,654,0.41317298377,-0.00535793706858,0.0497933125166,0.999999935833,9.72464893165e-05,-0.000340731915424,-5.27205226297e-05,1793237934505480704
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.641667625,666,637,880.641667625,789,803.358332375,653,632.641667625,654,0.41193041237,-0.00535922933604,0.0498201045759,0.999999946968,0.000100134158431,-0.000305705078651,-5.08151219613e-05,1793237934538813952
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,715.609913848,679.609913848,665.609913848,636,880,788.609913848,803.609913848,654,633,653.390086152,0.410147954018,-0.00536049610144,0.0498207541291,0.999999944602,9.94511318174e-05,-0.000313419245155,-5.17165082778e-05,1793237934588813568
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,715.030276212,679.030276212,665.030276212,636,880,788.030276212,803.030276212,654,633,653.969723788,0.409543905139,-0.00536200980516,0.0497979535023,0.999999930538,9.88003903575e-05,-0.00035545141303,-5.30804384699e-05,1793237934605480448
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.546866447,665,636,880,788.546866447,803.546866447,654,633,654,0.409029968289,-0.0053637757054,0.0498073482887,0.999999938667,0.000100113118806,-0.000331471564186,-5.26222128647e-05,1793237934622147328
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,715.123493773,680,665.123493773,636.123493773,880.123493773,789,803.876506227,654,632.876506227,654,0.408528224644,-0.00536522186121,0.0498212207111,0.999999947728,0.00010218607274,-0.000302374525866,-5.1685608641e-05,1793237934638813952
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.128929637,666,636.128929637,881,789,803,654,632,654,0.40710718724,-0.00536685937143,0.0498457278354,0.999999955165,0.000110986747421,-0.000273945541954,-4.8025986798e-05,1793237934688813824
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,636.659523752,880.659523752,788,804.659523752,654,632.659523752,654,0.404668526129,-0.00536841699478,0.0498239002039,0.99999994468,9.94887276172e-05,-0.000312736279892,-5.4210640382e-05,1793237934788813824
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,636.06452082,880.06452082,788,804.06452082,654,632.06452082,654,0.404362404768,-0.00537572120514,0.049844212001,0.999999955535,9.00792906526e-05,-0.000279250452808,-5.32524681449e-05,1793237934805480704
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,715.486722456,679,665.486722456,636.513277544,880.513277544,788.513277544,804,654,632,654,0.404057783734,-0.00538099336706,0.0498578281533,0.99999996091,8.30433676218e-05,-0.000261760295966,-5.25913345921e-05,1793237934822147328
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,665,637,881.178128298,789,804,654,632.089064149,654,0.403757265426,-0.00538487384121,0.0498676644179,0.99999996427,7.69966215791e-05,-0.000250583424108,-5.23322183243e-05,1793237934838813696
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,665,637,882.330585645,789,804,654,632.665292822,654,0.403478190029,-0.00538249391418,0.0498612798483,0.999999961079,7.47814473968e-05,-0.000263297519092,-5.40744497939e-05,1793237934855480320
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767.245689027,746,715.245689027,679.245689027,665.245689027,636.754310973,882.508621946,789,804,654,632.754310973,654,0.403211275351,-0.00537990490086,0.0498541812297,0.999999956992,7.44042981323e-05,-0.000278172998251,-5.56775496261e-05,1793237934872146944
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767.831860677,746,715.831860677,679.831860677,665.831860677,636.168139323,881.336278647,789,804,654,632.168139323,654,0.40296121335,-0.00537702613013,0.0498460930629,0.999999951618,7.65743345732e-05,-0.000296043782375,-5.70878368944e-05,1793237934888813824
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767.584829188,746,716,679.584829188,665.584829188,636.415170812,881,789,804,654,632,654,0.402731367899,-0.00537620189308,0.0498409744167,0.999999948516,7.49534729096e-05,-0.000306607408006,-5.78145585325e-05,1793237934905480704
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767.002670015,746,716,679.002670015,665.002670015,636.997329985,881,789,804,654,632,654,0.402509653876,-0.00537620402252,0.0498370501596,0.999999946353,7.18078511518e-05,-0.000314231976821,-5.82663390734e-05,1793237934922147584
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,665.573240536,636.426759464,881,789,804,654,632,654,0.402317810988,-0.00537502586241,0.0498316978567,0.999999943761,7.30159377378e-05,-0.000321982252881,-5.89333031639e-05,1793237934938813952
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767.148704182,746,716,679.148704182,665.851295818,636.148704182,881,789,804,654,632,654,0.402137187979,-0.00537398410311,0.0498281439186,0.999999942052,7.51657061248e-05,-0.000326721101515,-5.91624547593e-05,1793237934955480576
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767.722971166,746,716,679.722971166,665.277028834,636.722971166,881,789,804,654,632,654,0.40198828026,-0.00537334826006,0.049829755386,0.999999943001,7.99529792994e-05,-0.000322840164467,-5.81358336031e-05,1793237934972147200
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768,746,715.694210224,679.694210224,665,637,881,789,804,654,632,654,0.401853502833,-0.00536986612538,0.0498315916765,0.999999941592,0.000117352375748,-0.000316952224684,-5.08581109023e-05,1793237934988814080
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768,746,715.103421348,679.103421348,665,637,881,789,804,654,632,654,0.401731894963,-0.0053637312186,0.0498336375047,0.999999934347,0.000185146594335,-0.000309193736861,-3.77542993226e-05,1793237935005480704
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768,746,715.477596602,679,665.477596602,637,881,789,804,654,632,654,0.401627545169,-0.00536285299308,0.0498401561434,0.999999936907,0.000191950543096,-0.000296740084245,-3.58660427691e-05,1793237935022147328
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767.203313297,747,716,680,665.796686703,637,881,789,804,654,632.796686703,654,0.401297381736,-0.00538251735817,0.0498481239553,0.999999947923,0.000157139241022,-0.000279288822567,-3.81952846205e-05,1793237935088814336
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746.039028074,716,679.039028074,666,637,881,789,803.039028074,654,632.039028074,654,0.401187309539,-0.00539269341925,0.0498493442167,0.99999995044,0.000140340615479,-0.000279132067284,-3.88653295074e-05,1793237935122147584
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.857457849,665.142542151,637,880.142542151,789,803.857457849,654,632,654,0.401053613886,-0.00539223103378,0.0498595670256,0.999999956719,0.000137556865335,-0.000257030382509,-3.96904799343e-05,1793237935205480704
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e790bc7dcfbcab33802c18aae3e85d9b47d9d867
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,440 @@
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+410,6.833333333,pose2_to_pose3_retreat,0.578266622947,1.21854626712e-06,1.04001170363,0.548837910279,0.00867488278331,1.03966123867
+411,6.850000000,pose2_to_pose3_retreat,0.578262100286,1.24150891448e-06,1.04001158645,0.548833387016,0.00867490421716,1.03966112645
+412,6.866666667,pose2_to_pose3_retreat,0.578260064776,1.23231557391e-06,1.04001169347,0.548831352048,0.00867489660181,1.03966122886
+413,6.883333333,pose2_to_pose3_retreat,0.578258420094,1.22488740233e-06,1.04001177995,0.548829707804,0.00867489044865,1.03966131161
+414,6.900000000,pose2_to_pose3_retreat,0.578257062368,1.21365379087e-06,1.04001177306,0.548828350355,0.00867488008835,1.03966130397
+415,6.916666667,pose2_to_pose3_retreat,0.578256068668,1.19780506906e-06,1.04001165098,0.548827356733,0.00867486461081,1.03966118483
+416,6.933333333,pose2_to_pose3_retreat,0.57825533911,1.1861691935e-06,1.04001156136,0.548826627231,0.00867485324745,1.03966109735
+417,6.950000000,pose2_to_pose3_retreat,0.578254876649,1.17879330614e-06,1.04001150454,0.548826164806,0.0086748460443,1.03966104191
+418,6.966666667,pose2_to_pose3_retreat,0.578254692268,1.17585257733e-06,1.04001148189,0.548825980439,0.00867484317245,1.0396610198
+419,6.983333333,pose2_to_pose3_retreat,0.578254645695,1.17510976888e-06,1.04001147617,0.548825933869,0.00867484244704,1.03966101422
+420,7.000000000,pose2_to_pose3_retreat,0.578254632784,1.17490385348e-06,1.04001147458,0.54882592096,0.00867484224594,1.03966101267
+421,7.016666667,pose2_to_pose3_retreat,0.578254572013,1.17393460676e-06,1.04001146712,0.548825860194,0.0086748412994,1.03966100538
+422,7.033333333,pose2_to_pose3_retreat,0.57825416018,1.16686620638e-06,1.04001143248,0.548825448416,0.00867483444776,1.03966097143
+423,7.050000000,pose2_to_pose3_retreat,0.578253863714,1.15998172766e-06,1.04001146489,0.548825152077,0.00867482794539,1.03966100241
+424,7.066666667,pose2_to_pose3_retreat,0.578253825197,1.15908729622e-06,1.04001146909,0.548825113576,0.0086748271006,1.03966100643
+425,7.083333333,pose2_to_pose3_retreat,0.578253823397,1.15904550396e-06,1.04001146929,0.548825111777,0.00867482706113,1.03966100662
+426,7.100000000,pose2_to_pose3_retreat,0.578253763112,1.15764558294e-06,1.04001147588,0.548825051518,0.00867482573891,1.03966101292
+427,7.116666667,pose2_to_pose3_retreat,0.578253587402,1.15356526651e-06,1.04001149508,0.548824875883,0.00867482188506,1.03966103128
+428,7.133333333,pose2_to_pose3_retreat,0.578253387236,1.1489170634e-06,1.04001151696,0.548824675803,0.00867481749484,1.03966105219
+429,7.150000000,pose2_to_pose3_retreat,0.578253252266,1.14578280729e-06,1.04001153171,0.54882454089,0.00867481453455,1.03966106629
+430,7.166666667,pose2_to_pose3_retreat,0.57825324392,1.14558900199e-06,1.04001153262,0.548824532548,0.0086748143515,1.03966106716
+431,7.183333333,pose2_to_pose3_retreat,0.578253051421,1.14111883745e-06,1.04001155366,0.548824340132,0.00867481012944,1.03966108728
+432,7.200000000,pose2_to_pose3_retreat,0.578252964854,1.13910857608e-06,1.04001156312,0.548824253601,0.00867480823076,1.03966109632
+433,7.216666667,pose2_to_pose3_retreat,0.578252925163,1.13818688637e-06,1.04001156746,0.548824213927,0.00867480736022,1.03966110047
+434,7.233333333,pose2_to_pose3_retreat,0.578252759451,1.13516150326e-06,1.0400115841,0.548824048276,0.00867480452138,1.03966111645
+435,7.250000000,pose2_to_pose3_retreat,0.578252513291,1.15119759676e-06,1.04001157233,0.548823801954,0.0086748201598,1.0396611069
+436,7.266666667,pose2_to_pose3_retreat,0.578252201462,1.17151164133e-06,1.04001155741,0.54882348992,0.00867483997009,1.03966109479
+437,7.283333333,pose2_to_pose3_retreat,0.578252099191,1.15215998532e-06,1.04001155268,0.548823388066,0.00867482208087,1.03966109151
+438,7.300000000,pose2_to_pose3_retreat,0.578252082307,1.14726965702e-06,1.04001155192,0.548823371279,0.00867481753624,1.03966109102
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf268dee951cbb83afd76b4dcd9bb8f6646a69f7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8291c6bf9d4fd05fa69eb44403447883edac5e7f5a2c9289016b1d83b70af55
+size 37598226
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d8315f19c044b35b5c6af764f98b0e46b117d01a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_04/franka_data.csv
@@ -0,0 +1,594 @@
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+0,0.000000000,BASELINE,767,746,716,679,665,637,881,789,804,654,632,654,0.401003722538,-0.00539568233378,0.0498660123674,0.999999961699,0.000128514755905,-0.000241927040783,-3.94730633199e-05,1793237935841333760
+1,0.016666667,BASELINE,767,746,716,679,665,637,881,789,804,654,632,654,0.401004540329,-0.00539590548387,0.0498670454699,0.999999961872,0.000129468120808,-0.000240717342111,-3.93685808951e-05,1793237935858000384
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+3,0.050000000,BASELINE,767.728372022,746.728372022,716,679,665.728372022,637,881,789,804,654,632,654,0.401004085078,-0.0053954484501,0.0498667009908,0.999999961344,0.000132383074574,-0.000241331852814,-3.93085088097e-05,1793237935891333632
+4,0.066666667,BASELINE,768,746.689111876,716,679.310888124,665.689111876,637,881,789,804,654,632.310888124,654,0.401003065168,-0.00539522086975,0.0498662001004,0.99999996098,0.000132795855535,-0.0002426210591,-3.92440189075e-05,1793237935908000256
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+12,0.200000000,BASELINE,767,746,716,679,665.963169977,636.963169977,881.036830023,788.963169977,804,654,632.963169977,654,0.401005031021,-0.00539443634675,0.0498682316066,0.999999961788,0.00013232370508,-0.000239522149722,-3.92830551498e-05,1793237936041333760
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+16,0.266666667,BASELINE,767,746,715.727421995,679,665.727421995,637,881,788.272578005,804,654,632,654,0.401002569284,-0.00539374659421,0.0498668055638,0.999999961409,0.000131593815972,-0.000241395879159,-3.99041347563e-05,1793237936108000768
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+18,0.300000000,BASELINE,767,746,715.444739623,679,665.444739623,637,881,789,804,654.444739623,632.444739623,654,0.401002328797,-0.00539486292536,0.049866107298,0.999999961139,0.000131387929373,-0.000242649273252,-3.97454212938e-05,1793237936141334016
+19,0.316666667,BASELINE,767,746.027290976,716,679,665.972709024,637,881,789,804,654.972709024,632.972709024,654,0.401003761041,-0.00539627419386,0.049866550453,0.999999961638,0.000129320396613,-0.000241704423748,-3.97389086187e-05,1793237936158000640
+20,0.333333333,BASELINE,767,746.595703741,716,679,665.404296259,637,881,789,804,654.404296259,632.404296259,654,0.40100322503,-0.00539491414842,0.0498670215429,0.999999961723,0.000130654766937,-0.00024062787625,-3.97577921259e-05,1793237936174667264
+21,0.350000000,BASELINE,767,746.832022437,715.832022437,679,665.167977563,637,881,788.832022437,803.832022437,654,632,653.832022437,0.401003346832,-0.00539443552445,0.0498675778118,0.999999961946,0.000131132896799,-0.000239454181919,-3.96808794283e-05,1793237936191333888
+22,0.366666667,BASELINE,767,746.250237098,715.250237098,679,665.749762902,637,881,788.250237098,803.250237098,654,632,653.250237098,0.40100508914,-0.00539612825649,0.0498683439171,0.999999962508,0.000129501703317,-0.000238041169392,-3.93679755997e-05,1793237936208000512
+23,0.383333333,BASELINE,767,746,715.335673372,679,665.664326628,636.664326628,881,788,803.335673372,654,632,653,0.401005222765,-0.00539641251429,0.0498682520908,0.999999962491,0.000129032500273,-0.000238368635705,-3.93557528072e-05,1793237936224667136
+24,0.400000000,BASELINE,767,746,715.924697361,679,665.075302639,636.075302639,881,788,803.924697361,654,632,653,0.401004142232,-0.00539563372154,0.0498675127379,0.999999962037,0.00012944031328,-0.000240009734174,-3.95704700132e-05,1793237936241333760
+25,0.416666667,BASELINE,767,746,715.494336433,679.505663567,665,636.505663567,881,788.505663567,804,654,632,653.505663567,0.401003599997,-0.00539541858243,0.0498669800136,0.99999996182,0.000129379278775,-0.000241003280703,-3.92318290856e-05,1793237936258000640
+26,0.433333333,BASELINE,767,746,715,679.915211868,665,637,881,789,803.915211868,654,632,654,0.401003420201,-0.00539518317526,0.049866662197,0.999999961679,0.000129530545358,-0.000241554207063,-3.89358339778e-05,1793237936274667264
+27,0.450000000,BASELINE,767,746,715,679.339908237,665,637,881,789,803.339908237,654,632,654,0.401004880698,-0.00539435253034,0.0498674124393,0.999999961782,0.000131307600848,-0.000240093621391,-3.93558053397e-05,1793237936291333888
+28,0.466666667,BASELINE,767,746,715.240216184,679,665.240216184,637,881,789,803,654,632,654,0.401006139833,-0.00539444633471,0.0498683468547,0.999999962085,0.000131887918757,-0.000238477930049,-3.95357594339e-05,1793237936308000512
+29,0.483333333,BASELINE,767,746,715.827301734,679,665.827301734,637,881,789,803,654,632,654,0.401007108202,-0.00539587503308,0.0498695472138,0.99999996268,0.00013074016146,-0.00023663826802,-3.93691313692e-05,1793237936324666880
+30,0.500000000,BASELINE,767,746,716,679,665.592454618,637,881,789,803.407545382,654,632,654,0.401006629911,-0.00539550579873,0.049869149483,0.999999962493,0.000131614194919,-0.000236933691058,-3.94350505046e-05,1793237936341333760
+31,0.516666667,BASELINE,767,746,716,679,665.015062385,637,881,789,803.984937615,654,632,654,0.401005548716,-0.00539438726568,0.0498680857391,0.999999961977,0.000133330821178,-0.00023811892296,-3.95978850092e-05,1793237936358000384
+32,0.533333333,BASELINE,767.564230578,746,715.435769422,679.564230578,665,637,881,789,804,654,632,654,0.401005446945,-0.00539708670696,0.0498677615807,0.999999962615,0.00012861022618,-0.000238046540868,-3.95324276716e-05,1793237936374667008
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+41,0.683333333,BASELINE,767,746,715.787222608,680,665.212777392,637,881,789,803,654,632.212777392,654,0.401004476694,-0.00539420519428,0.049868422719,0.999999962083,0.000132854063977,-0.000237918295019,-3.97442761263e-05,1793237936524666880
+42,0.700000000,BASELINE,767.369728735,746,716,680,665,637,881,789,803,654,632.369728735,654,0.40100488352,-0.00539452748085,0.049868613705,0.999999962126,0.000132970709533,-0.000237678215888,-3.9706550538e-05,1793237936541334016
+43,0.716666667,BASELINE,767.951456506,746,716,680,665,637,881,789,803,654,632.951456506,654,0.40100454658,-0.00539517998336,0.0498681489084,0.999999961957,0.00013263372048,-0.000238594250487,-3.95965282555e-05,1793237936558000896
+44,0.733333333,BASELINE,767.469157833,746,716,679.469157833,665,637,881,789,803,654,633,653.469157833,0.401005760286,-0.00539453211454,0.0498692039273,0.999999962323,0.00013312371966,-0.000236790226841,-3.95209167224e-05,1793237936574667264
+45,0.750000000,BASELINE,767,746,715.890947372,679,665.109052628,637,881,789,803,654,633,653.109052628,0.401006556828,-0.0053943066225,0.0498699898945,0.999999962648,0.000133086742609,-0.000235446126517,-3.94503597941e-05,1793237936591333888
+46,0.766666667,BASELINE,767,746,715.316839372,679,665.683160628,637,881,789,803,654,633,653.683160628,0.401004972324,-0.00539638723982,0.0498690384064,0.999999962599,0.000130481386989,-0.000237119460445,-3.93879979645e-05,1793237936608000256
+47,0.783333333,BASELINE,767,746,715,679,665.741671218,637,881,789,803.258328782,654,632.741671218,654,0.401004332052,-0.00539698640575,0.0498684620977,0.999999962544,0.00012936931245,-0.000237957742026,-3.93894010178e-05,1793237936624666880
+48,0.800000000,BASELINE,767,746,715,679,665.165197356,637,881,789,803.834802644,654,632.165197356,654,0.40100485465,-0.00539576108893,0.0498683478416,0.999999962492,0.000130096289434,-0.000237767614246,-3.94693337713e-05,1793237936641333504
+49,0.816666667,BASELINE,767,746,715.420804121,679.420804121,665.420804121,636.579195879,880.579195879,789,804,654,632,654,0.401005579274,-0.00539456035824,0.0498688151294,0.999999962527,0.000131227843633,-0.000236963167717,-3.96703218458e-05,1793237936658000384
+50,0.833333333,BASELINE,767,746,716,680,665.989624357,636.010375643,880.010375643,789,804,654,632.010375643,654,0.401006351865,-0.00539340869287,0.0498694841798,0.99999996259,0.000132483447514,-0.000235957190919,-3.9910488973e-05,1793237936674667264
+51,0.850000000,BASELINE,767,746,716,680,665.414045853,636.585954147,880.585954147,789,804,654,632.585954147,654,0.401005316956,-0.00539439185007,0.0498684195401,0.999999962367,0.000131644161244,-0.000237414690249,-3.96361382047e-05,1793237936691334144
+52,0.866666667,BASELINE,767,746,716,679.838193031,665,637,880.838193031,789,804,654,632.838193031,654,0.401004707729,-0.00539537877264,0.0498677901584,0.999999962273,0.000130533375677,-0.000238456518252,-3.94202387297e-05,1793237936708000768
+53,0.883333333,BASELINE,767,746,716,679.261637102,665,637,880.261637102,789,804,654,632.261637102,654,0.401005189622,-0.0053963753467,0.0498682764444,0.999999962515,0.000128726674202,-0.000238432883708,-3.93541635546e-05,1793237936724667392
+54,0.900000000,BASELINE,767,746,716,679,665,637,880.32259387,789,803.67740613,654,632,653.67740613,0.401004473914,-0.00539666187079,0.0498681581172,0.999999962454,0.000128289388305,-0.000238928698429,-3.93378319659e-05,1793237936741333760
+55,0.916666667,BASELINE,767,746,716,679,665,637,880.913201298,789,803.086798702,654,632,653.086798702,0.40100276323,-0.00539635847967,0.0498675374725,0.999999962141,0.000128989823876,-0.000239856075743,-3.93628277486e-05,1793237936758000384
+56,0.933333333,BASELINE,767,746,716,679,665.494187772,637,881.494187772,788.505812228,803.494187772,654,632,653.494187772,0.401004580969,-0.0053964065625,0.0498682335235,0.999999962512,0.000130259777062,-0.00023760628549,-3.93976774613e-05,1793237936774667008
+57,0.950000000,BASELINE,767.072989544,746,715.927010456,679,665.927010456,637,881.927010456,788.072989544,803.927010456,654,632.072989544,654,0.401006759459,-0.00539651925366,0.0498691493787,0.999999962961,0.000131466220922,-0.000235034848506,-3.94001896246e-05,1793237936791333632
+58,0.966666667,BASELINE,767.648164084,746,715.351835916,679,665.351835916,637,881.351835916,788.648164084,803.351835916,654,632.648164084,654,0.401007237552,-0.00539665984149,0.0498700167773,0.999999963197,0.000131560621273,-0.000234016499186,-3.91685314676e-05,1793237936808000256
+59,0.983333333,BASELINE,767.771945201,746,715,679.228054799,665,637,881,789,803.228054799,654,632.771945201,654,0.401006940943,-0.00539679510876,0.0498700327928,0.999999963183,0.000130952125597,-0.000234432258566,-3.90902710095e-05,1793237936824667136
+60,1.000000000,BASELINE,767.184624781,746,715,679.815375219,665,637,881,789,803.815375219,654,632.184624781,654,0.401005423909,-0.00539692199431,0.0498687075841,0.999999962769,0.000129236324246,-0.000237107237731,-3.92536652384e-05,1793237936841333760
+61,1.016666667,BASELINE,767,746,715.39826886,679.60173114,665.39826886,637,881,789,804,654,632,654,0.401005772424,-0.00539620601384,0.0498692936502,0.999999962816,0.000129990425399,-0.000236483897782,-3.93158315505e-05,1793237936858000640
+62,1.033333333,BASELINE,767,746,715.979132911,679.020867089,665.979132911,637,881,789,804,654,632,654,0.40100697624,-0.00539510360273,0.0498707559827,0.999999963071,0.000131876908233,-0.00023434837013,-3.93315876693e-05,1793237936874667264
+63,1.050000000,BASELINE,767,746,716,679,665.446394087,637,881,788.446394087,803.446394087,654,632.553605913,654,0.401007630071,-0.00539515331337,0.0498705247933,0.999999963074,0.000132503388405,-0.000233994196029,-3.92709728406e-05,1793237936891333888
+64,1.066666667,BASELINE,767,746,716,679,665,637,881,788.128481346,803,654,632.871518654,654,0.401007879066,-0.00539535823377,0.0498701430512,0.999999963022,0.000132614292381,-0.00023415979116,-3.92274272554e-05,1793237936908000512
+65,1.083333333,BASELINE,767,746,716,679,665,637,881,788.705593519,803,654,632.294406481,654,0.401006786021,-0.00539595520763,0.0498694559612,0.999999962811,0.000131088853144,-0.000235908535479,-3.92534209695e-05,1793237936924667136
+66,1.100000000,BASELINE,767,746.289830286,716,679,665,637,881,789,803,654,632,654,0.401006310639,-0.00539576023961,0.0498690684121,0.999999962715,0.00013054776679,-0.000236596249671,-3.93512801465e-05,1793237936941333760
+67,1.116666667,BASELINE,767,746.881486485,716,679,665,637,881,789,803,654,632,654,0.401006478484,-0.00539474055239,0.0498689928013,0.999999962744,0.000131031774257,-0.000236179019233,-3.95239791854e-05,1793237936958000384
+68,1.133333333,BASELINE,767,746.538221655,715.538221655,679,665,637,881,788.538221655,803,654,632,654,0.401006237079,-0.00539492979885,0.0498691476094,0.9999999628,0.000130509293969,-0.000236186297056,-3.98026862998e-05,1793237936974667264
+69,1.150000000,BASELINE,767,746,715.039088389,679,665,637,880.960911611,788,803,654,632,653.960911611,0.401005875849,-0.00539547911237,0.0498693114955,0.999999962847,0.000129783391783,-0.000236341836145,-4.00579418848e-05,1793237936991334144
+70,1.166666667,BASELINE,767,746,715.614541851,679,665,637,880.385458149,788,803,654,632,653.385458149,0.401005277032,-0.00539681402182,0.0498688079832,0.999999962699,0.00012972553486,-0.00023707272931,-3.96270415004e-05,1793237937008000768
+71,1.183333333,BASELINE,767,746,716,679,665,637,880.18995756,788,803,654,632,653.18995756,0.401005123104,-0.00539724954745,0.049868613669,0.999999962583,0.000130511545099,-0.00023718522384,-3.92993349397e-05,1793237937024667392
+72,1.200000000,BASELINE,767,746,716,679,665,637,880.765296779,788,803,654,632,653.765296779,0.401005871758,-0.0053958604235,0.0498690466489,0.999999962528,0.000133009574198,-0.000236043125147,-3.91809856276e-05,1793237937041334016
+73,1.216666667,BASELINE,767.349709717,746,716,679,665,637,881,788,803.349709717,654,632,654,0.401005937642,-0.00539547587196,0.0498694784281,0.999999962689,0.000132528097742,-0.00023561888277,-3.92702451682e-05,1793237937058000384
+74,1.233333333,BASELINE,767.940374545,746,716,679,665,637,881,788,803.940374545,654,632,654,0.401005533087,-0.00539578348561,0.0498699093799,0.999999962996,0.000129993698222,-0.000235689253962,-3.95025502521e-05,1793237937074667008
+75,1.250000000,BASELINE,767.480643035,746,715.480643035,679,665.519356965,637,881,788.519356965,803.480643035,654,632,654,0.401006206238,-0.00539679206261,0.0498698813802,0.99999996311,0.000129509470734,-0.000235487811177,-3.94082814955e-05,1793237937091333888
+76,1.266666667,BASELINE,767,746.096509166,715.096509166,679,665.903490834,637,881,788.903490834,803,654,632,654,0.401006748946,-0.0053976022779,0.0498697550765,0.999999963117,0.000129623160876,-0.000235416623876,-3.92902450611e-05,1793237937108000768
+77,1.283333333,BASELINE,767,746.671092823,715.671092823,679,665.328907177,637,881,788.328907177,803,654,632,654,0.401006046064,-0.00539703999811,0.0498693970758,0.999999962695,0.000131558428878,-0.000236141862455,-3.92361122065e-05,1793237937124667392
+78,1.300000000,BASELINE,767.25231615,746.74768385,715.74768385,679,665.25231615,636.74768385,881,788,803,654,632,654,0.401005987205,-0.00539626707682,0.0498692881869,0.999999962557,0.000132504549377,-0.000236181123716,-3.93372145665e-05,1793237937141334016
+79,1.316666667,BASELINE,767.842428499,746.157571501,715.157571501,679,665.842428499,636.157571501,881,788,803,654,632,654,0.401006790551,-0.00539521215264,0.0498695128041,0.999999962802,0.000132126417319,-0.000235302011161,-3.96461429683e-05,1793237937158000640
+80,1.333333333,BASELINE,767.574806151,746,715,678.574806151,665.574806151,636.425193849,881,788.425193849,803,654,632,654,0.401006029769,-0.00539491585861,0.0498693671288,0.999999962768,0.000131411563188,-0.000235831090544,-3.97334782759e-05,1793237937174667264
+81,1.350000000,BASELINE,767,746,715,678.010476006,665,636.994761997,881,788.994761997,803,653.994761997,632,653.994761997,0.401004707467,-0.00539488681543,0.0498690843318,0.999999962627,0.000130607915294,-0.000236871159785,-3.9740819457e-05,1793237937191333632
+82,1.366666667,BASELINE,767,746,715,679.160818258,665,636.419590871,881,788.419590871,803,653.419590871,632,653.419590871,0.401004286108,-0.00539386625219,0.0498685592515,0.999999962048,0.000133489759018,-0.000237693139856,-3.98276589763e-05,1793237937208000512
+83,1.383333333,BASELINE,767,746,715.155243256,679.844756744,665,636.155243256,881,788.155243256,803,653.155243256,632,653.155243256,0.401004215737,-0.00539328308772,0.0498684574965,0.999999961743,0.000135405974408,-0.000237885197798,-3.98692236968e-05,1793237937224667136
+84,1.400000000,BASELINE,767,746,715.729168644,679.270831356,665,636.729168644,881,788.729168644,803,653.729168644,632,653.729168644,0.401005091958,-0.00539387956233,0.0498694974253,0.999999962197,0.00013471794637,-0.000236378392176,-3.97886849092e-05,1793237937241333760
+85,1.416666667,BASELINE,767,746,716,679.311708158,665.311708158,636.688291842,881,789,803.311708158,654,632,654,0.401005289334,-0.00539535927828,0.0498695716039,0.999999962496,0.000132827681261,-0.000236219537594,-3.9562627213e-05,1793237937258000384
+86,1.433333333,BASELINE,767,746,716,679.901944838,665.901944838,636.098055162,881,789,803.901944838,654,632,654,0.401004880125,-0.00539762821929,0.0498687828312,0.999999962652,0.000129863150715,-0.000237265152092,-3.92065403085e-05,1793237937274667520
+87,1.450000000,BASELINE,767.483663438,746,715.516336562,679.516336562,665.516336562,636.483663438,881,788.516336562,804,654,632,654,0.401005396005,-0.00539875867432,0.0498694037531,0.999999963181,0.000127553793191,-0.000236343299683,-3.88534363013e-05,1793237937291333888
+88,1.466666667,BASELINE,767.936888449,746,715.063111551,679,665,637,881,788.063111551,803.936888449,654,632,654,0.401005960975,-0.00539912459384,0.0498701164648,0.999999963614,0.000126152336084,-0.000235298690402,-3.86381285959e-05,1793237937308000512
+89,1.483333333,BASELINE,767.362089787,746,715.637910213,679,665,637,881,788.637910213,803.362089787,654,632,654,0.401005429686,-0.00539513086198,0.0498692963636,0.99999996268,0.000131053557727,-0.000236436768387,-3.953520856e-05,1793237937324667136
+90,1.500000000,BASELINE,766.782728439,746,716,679.217271561,665,637,881.217271561,789,803.217271561,654,632,654,0.401004996976,-0.00539296189472,0.0498686791655,0.999999962065,0.000134019577464,-0.000237293981604,-4.00122732198e-05,1793237937341333760
+91,1.516666667,BASELINE,766.195600188,746,716,679.804399812,665,637,881.804399812,789,803.804399812,654,632,654,0.401004732074,-0.00539389918525,0.049868407365,0.999999962028,0.000133691344251,-0.000237673084679,-3.97743547982e-05,1793237937358000384
+92,1.533333333,BASELINE,766.387451813,746,716,679.612548187,665,636.612548187,881.612548187,789,804,654,632,654,0.401004854607,-0.00539464949246,0.0498686916368,0.999999962323,0.00013224285346,-0.000237266518569,-3.96249740413e-05,1793237937374667008
+93,1.550000000,BASELINE,766.968467446,746,716,679.031532554,665,636.031532554,881.031532554,789,804,654,632,654,0.401005170695,-0.00539530638631,0.0498692537122,0.99999996278,0.000130234702497,-0.000236467446575,-3.95198250566e-05,1793237937391333376
+94,1.566666667,BASELINE,767,746,716,679,665.541811412,636.541811412,881,788.458188588,803.458188588,654,632.541811412,654,0.401004167894,-0.00539491162886,0.0498689137876,0.999999962216,0.000132604665468,-0.000237533376846,-3.95257134386e-05,1793237937408000512
+95,1.583333333,BASELINE,767,746,716,679.115725557,666,637,881,788.115725557,803,653.884274443,632.884274443,654,0.401003885332,-0.00539447845615,0.0498689004813,0.999999961896,0.000134523905731,-0.000237795697195,-3.955601958e-05,1793237937424667136
+96,1.600000000,BASELINE,767,746,716,679.693675649,666,637,881,788.693675649,803,653.306324351,632.306324351,654,0.401006781808,-0.00539413289343,0.0498703984803,0.999999962807,0.00013363939949,-0.000234420811944,-3.96584031917e-05,1793237937441333760
+97,1.616666667,BASELINE,767.275963259,746,715.724036741,679.724036741,665.724036741,637,881,789,803.275963259,653.275963259,632,654,0.401007859652,-0.00539471942346,0.049870832574,0.999999963233,0.000132383156205,-0.00023332425939,-3.96065918805e-05,1793237937458000384
+98,1.633333333,BASELINE,767.863142443,746,715.136857557,679.136857557,665.136857557,637,881,789,803.863142443,653.863142443,632,654,0.401006886547,-0.00539635711559,0.0498700668548,0.999999963117,0.00013070768873,-0.000234797083193,-3.93808881557e-05,1793237937474667008
+99,1.650000000,BASELINE,767.555954345,746,715.444045655,679,665,637,881,789,803.555954345,654,632,654,0.401007755762,-0.00539638387159,0.0498714365245,0.999999963422,0.000131270000486,-0.000233207983613,-3.92167671858e-05,1793237937491333632
+100,1.666666667,BASELINE,767,746,715.976988888,679,665.023011112,636.976988888,881,789,803,654,632,654,0.401009108309,-0.00539594432812,0.0498733234441,0.999999963836,0.000132390847329,-0.000230812199772,-3.90793959999e-05,1793237937508000256
+101,1.683333333,BASELINE,767,746,715.398757209,679,665.601242791,636.398757209,881,789,803,654,632,654,0.401008613394,-0.00539606652312,0.0498720322334,0.999999963935,0.000130578892912,-0.000231405123228,-3.91358751173e-05,1793237937524666880
+102,1.700000000,BASELINE,767,746,715.181990498,679,665.818009502,636.181990498,881,789,803.181990498,654,632,654,0.401007318923,-0.00539611579057,0.0498706002843,0.999999963636,0.000129843512288,-0.000233092507458,-3.92049571757e-05,1793237937541333760
+103,1.716666667,BASELINE,767,746,715.768328249,679,665.231671751,636.768328249,881,789,803.768328249,654,632,654,0.401004247997,-0.0053960030273,0.0498688556423,0.999999962447,0.000131500068087,-0.000237211569153,-3.93020404939e-05,1793237937558000640
+104,1.733333333,BASELINE,767,746,716,679,665,637,881,789,804,654,632,653.649112738,0.401004002278,-0.00539546064389,0.0498687457973,0.999999962259,0.000131941788211,-0.000237730333209,-3.94577737229e-05,1793237937574667008
+105,1.750000000,BASELINE,767,746,716,679,665,637,881,789,804,654,632,653.069021981,0.401005602015,-0.00539463762776,0.0498697038199,0.999999962732,0.000131589964212,-0.000235897342885,-3.96518177411e-05,1793237937591333632
+106,1.766666667,BASELINE,767,746,716,679,665,637,881,788.491101671,803.491101671,654,632,653,0.401004618121,-0.0053956205764,0.0498691844204,0.999999962604,0.000131022498723,-0.000236784655216,-3.94803325966e-05,1793237937608000256
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665,637,881,788,803,654,632,654,0.401006657742,-0.00539432028753,0.0498709422734,0.999999963046,0.000135228614432,-0.000232538752602,-3.93264966956e-05,1793237937651199488
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665.591015512,637,881,788.591015512,803,654,632,654,0.401006108888,-0.00539519169613,0.0498704322117,0.99999996306,0.000133121759196,-0.000233665152667,-3.94857434265e-05,1793237937667866112
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665.82172581,637,881,789,803.17827419,654,632,654,0.401005430985,-0.00539602784477,0.0498699555861,0.999999963042,0.000131112219339,-0.000234873600039,-3.95022588769e-05,1793237937684532736
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665.242907819,637,881,789,803.757092181,654,632,654,0.401004463139,-0.00539678477205,0.049869554084,0.999999962959,0.00012932132582,-0.000236266390297,-3.91980878375e-05,1793237937701199360
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,715.666619584,679,665,637,881,789,804,654,632.333380416,654,0.401004992584,-0.0053969983021,0.049869429625,0.999999963137,0.000128740649904,-0.000235842907843,-3.91034794773e-05,1793237937717866240
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,715.092160735,679,665,637,881,789,804,654,632.907839265,654,0.40100660477,-0.00539681888355,0.049869505505,0.999999963505,0.000129035122568,-0.000234106018287,-3.91604128572e-05,1793237937734532864
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,715.483493081,679,665.483493081,637,881.483493081,789,804,654,632.516506919,654,0.401004950639,-0.00539676707894,0.0498691364745,0.999999963035,0.000129433472052,-0.000235874012463,-3.92521715673e-05,1793237937751199488
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.939197166,789,804,654,632,654,0.401003228088,-0.00539671162355,0.0498688725316,0.999999962538,0.000129818613392,-0.000237745053304,-3.93458598892e-05,1793237937767865856
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.349468717,789,804,654,632,654,0.401006339843,-0.0053964122813,0.049870262309,0.999999963246,0.00012991618556,-0.000234686442709,-3.93984449183e-05,1793237937784532736
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665.763977245,637,881,789,804,654,632,654,0.401008974453,-0.00539631626791,0.0498713855738,0.999999963734,0.000129859418855,-0.00023263262591,-3.9372007978e-05,1793237937801199360
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665.1846487,637,881,789,804,654,632,654,0.401010915035,-0.00539651600557,0.0498721211837,0.999999963914,0.000129578159254,-0.000232040327485,-3.92306299987e-05,1793237937817865984
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679.390880803,665.390880803,637,881,788.609119197,804,654,632.390880803,654,0.401025023921,-0.00539719298443,0.0498780261403,0.9999999665,0.000129504434904,-0.00022073825652,-3.87687437806e-05,1793237937834532864
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679.964632997,665.964632997,637,881,788.035367003,804,654,632.964632997,654,0.401044825678,-0.00539809323793,0.0498863495469,0.999999969988,0.000129527804702,-0.000204425678467,-3.81569095605e-05,1793237937851199488
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.552070322,746,715.447929678,680,665.447929678,637,880.447929678,788.552070322,804,654,632.447929678,654,0.401087532354,-0.00539906406792,0.0499022489405,0.999999976045,0.000129623400699,-0.000172343683575,-3.74886232085e-05,1793237937867866112
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.861426099,746,715.138573901,679.861426099,665.138573901,637,880.138573901,789,804,654,632.138573901,654,0.40113519621,-0.00540026668962,0.0499183896992,0.999999981199,0.000129815513913,-0.00013930286928,-3.66603694529e-05,1793237937884532480
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.280769219,746,715.719230781,679.280769219,665.719230781,637,880.719230781,789,804,654,632.719230781,654,0.401193874467,-0.00540219399043,0.0499337127789,0.999999985215,0.000130300403431,-0.00010650797453,-3.53336130144e-05,1793237937901199104
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.297477505,746,716,679,666,637,880.702522495,789,803.702522495,654,632.702522495,653.702522495,0.401257322774,-0.00540492345007,0.0499466678214,0.999999987675,0.000128271566432,-8.39175493287e-05,-3.39750454266e-05,1793237937917865728
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.873467692,746,716,679,666,637,880.126532308,789,803.126532308,654,632.126532308,653.126532308,0.401325237028,-0.0054084039291,0.0499574057932,0.999999989283,0.000123889258374,-7.08810390799e-05,-3.2586694819e-05,1793237937934532864
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.55139916,746,716,679,665.55139916,637,880.44860084,789,803.44860084,654,632,653.44860084,0.401398871162,-0.00540979842979,0.0499609675361,0.999999989398,0.000125870483126,-6.58702435983e-05,-3.19566654953e-05,1793237937951199488
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665,636.975990214,880.975990214,788.975990214,804,654,632,654,0.401474660879,-0.00541071754656,0.0499623487911,0.999999989134,0.000129325940894,-6.33406209446e-05,-3.15431610555e-05,1793237937967865856
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665,636.388444791,880.388444791,788.388444791,804,654,632,654,0.401563249635,-0.0054142622563,0.0499599694812,0.99999998948,0.000125335390648,-6.60158754575e-05,-3.12010252949e-05,1793237937984532736
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715.802872085,679,665,636.197127915,880.197127915,788.197127915,803.802872085,654,632.197127915,654,0.401660648562,-0.00541880974733,0.0499585369264,0.999999989885,0.000121264964734,-6.78136108827e-05,-3.0435163366e-05,1793237938001199872
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715.221148213,679,665,636.778851787,880.778851787,788.778851787,803.221148213,654,632.778851787,654,0.401775236094,-0.00542531366114,0.0499589514881,0.99999999043,0.000117038702108,-6.78993089534e-05,-2.88426130261e-05,1793237938017866240
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,715.356819678,679,665,637,881,788.643180322,803.356819678,654,633,654,0.401905992674,-0.00543004959539,0.0499620023859,0.999999991046,0.000114363187304,-6.38118066924e-05,-2.74977127911e-05,1793237938034532864
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,715.932484005,679,665,637,881,788.067515995,803.932484005,654,633,654,0.402046666065,-0.00543370119302,0.0499666702013,0.999999991676,0.000112638776765,-5.71647971477e-05,-2.63047011672e-05,1793237938051199488
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.506274115,746.506274115,716,679,665,636.493725885,881,788,803.493725885,654.506274115,633,654,0.402200098755,-0.00543865961518,0.049963585443,0.999999991589,0.000109589682081,-6.44671961625e-05,-2.56217553558e-05,1793237938067866112
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.917587777,746.917587777,716,679,665.082412223,636.082412223,881,788.082412223,803.164824447,654.917587777,632.917587777,653.917587777,0.402360386092,-0.00544404668983,0.0499601633444,0.999999991407,0.000106724792305,-7.19621520006e-05,-2.4832362251e-05,1793237938084532480
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.325384605,746.325384605,716,679,665.674615395,636.674615395,881,788.674615395,804.34923079,654.325384605,632.325384605,653.325384605,0.402552588607,-0.00545101128019,0.0499610263088,0.999999991716,0.000106088120086,-6.91832849667e-05,-2.2965279384e-05,1793237938101199104
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804.739323828,654,632,653.260676172,0.402759383533,-0.00545713813045,0.0499633591196,0.999999992305,0.000104478807003,-6.33415359704e-05,-2.14931669826e-05,1793237938117865728
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804.16075372,654,632,653.83924628,0.402983973856,-0.00546224335838,0.0499674844046,0.999999993175,0.000101683360869,-5.37646103072e-05,-2.05027201782e-05,1793237938134532352
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,715.585386763,679.414613237,665.585386763,637,881,789,804,654,632.414613237,654,0.403233283567,-0.00547147586932,0.0499739675839,0.999999994367,9.61675431047e-05,-4.09771291592e-05,-1.84120465706e-05,1793237938151199488
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,715.011252222,679.988747778,665.011252222,637,881,789,804,654,632.988747778,654,0.403492103991,-0.00548229634094,0.0499813579564,0.999999995496,8.96050698753e-05,-2.69543958211e-05,-1.58980637422e-05,1793237938167866368
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,715.578019567,679.421980433,665,637,881,789,804,654,633,654,0.403790159822,-0.00549150916404,0.0499888787666,0.999999996095,8.65015909216e-05,-1.20635771834e-05,-1.34886017194e-05,1793237938184532992
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,678.835226954,665,637,881,788.835226954,804,654,632.835226954,654,0.404095005222,-0.00550028191835,0.0499952436498,0.999999996387,8.42877334355e-05,2.56382790496e-07,-1.09865555851e-05,1793237938201199616
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,678.255576254,665,637,881,788.255576254,804,654,632.255576254,654,0.404414971004,-0.00550802755186,0.0499986914887,0.999999996408,8.41397283436e-05,6.05955057953e-06,-8.24613389934e-06,1793237938217866240
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,678.321468247,665.321468247,637,881,788.321468247,803.678531753,654,632,654,0.404755818223,-0.00551576389338,0.0500022390596,0.999999996361,8.39819476443e-05,1.39838089117e-05,-5.36303219293e-06,1793237938234532864
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,678.896457472,665.896457472,637,881,788.896457472,803.103542528,654,632,654,0.405113133301,-0.00552349290775,0.0500058652828,0.999999996207,8.38164575422e-05,2.35808332298e-05,-2.36740779298e-06,1793237938251199488
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,679.466986521,666,637,881,788.533013479,803.466986521,653.533013479,632,654,0.405470348629,-0.00551661604546,0.0499970730369,0.99999999483,0.000101475126183,6.56977341869e-06,-1.36792230432e-07,1793237938267866368
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,715.96158449,679.96158449,665.96158449,637,881,788,804,653.03841551,632.03841551,654,0.405830586004,-0.00550586691026,0.0499853927346,0.9999999922,0.000123770245826,-1.66896286694e-05,1.78260353135e-06,1793237938284532992
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,715.362735215,679.362735215,665.362735215,637,881,788,804,653.637264785,632.637264785,654,0.406235231159,-0.00548542464689,0.0499713691422,0.999999986687,0.000156595253343,-4.58499436752e-05,1.61284979547e-06,1793237938301199872
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,715.227262657,679,665.227262657,636.772737343,881,788.227262657,804,653.772737343,632.772737343,654,0.406653593482,-0.0054775250302,0.0499596888918,0.999999982563,0.000174464896425,-6.65418493154e-05,2.73087869434e-06,1793237938317866496
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,715.80366234,679,665.80366234,636.19633766,881,788.80366234,804,653.19633766,632.19633766,654,0.407093029069,-0.00548889431889,0.0499516086505,0.999999982887,0.000169359045456,-7.42239817213e-05,5.82729070327e-06,1793237938334532864
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665.62045358,636.37954642,881,789,804,653.37954642,632,654,0.407571628092,-0.00550070171294,0.0499555513602,0.99999998429,0.000165054038692,-6.39422287899e-05,9.40652715143e-06,1793237938351199488
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665.044835875,636.955164125,881,789,804,653.955164125,632,654,0.408070458685,-0.00551273542909,0.0499657050505,0.999999985941,0.000161162743097,-4.43804458204e-05,1.32351875586e-05,1793237938367865856
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,679.541700117,665.541700117,637,881,789,804,654,632,653.458299883,0.408596504331,-0.00551462772739,0.0499855852239,0.999999985262,0.000170365216563,-1.24222960745e-05,1.72513078792e-05,1793237938384532480
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665.872669906,636.872669906,881,789,804,653.872669906,632,653.127330094,0.409134644851,-0.00551398160379,0.0500035171892,0.999999982996,0.000182537319093,1.54350022387e-05,2.12189810056e-05,1793237938401199360
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.293527511,636.293527511,881,789,804,653.293527511,632,653.706472489,0.40970754486,-0.00550736799124,0.050011620856,0.99999997911,0.000201322063138,2.50254009601e-05,2.4958557256e-05,1793237938417866240
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.284463511,746,716,679.715536489,665.284463511,636.284463511,881,789,803.715536489,653,632,653.715536489,0.410266668694,-0.00550256362755,0.0500085123999,0.99999997554,0.00021877465816,1.62903952252e-05,2.81316735966e-05,1793237938434532608
+155,2.583333333,POSE1_TO_POSE2_PRESS,767.861271331,746,716,679.138728669,665.861271331,636.861271331,881,789,803.138728669,653,632,653.138728669,0.410811634766,-0.00549961863548,0.0499938812005,0.999999971885,0.000234858200399,-1.12777021704e-05,3.07226372231e-05,1793237938451199488
+156,2.600000000,POSE1_TO_POSE2_PRESS,767.563275338,746,716,679,665.563275338,637,881,788.563275338,803,653,632,653.436724662,0.411374500838,-0.00550167386081,0.0499724264962,0.999999968572,0.000242559506438,-5.40495174597e-05,3.31734283618e-05,1793237938467866368
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.987923456,746,716,679.012076544,665.012076544,637,881,788.012076544,803.012076544,653,632,654,0.411944886276,-0.00550534054444,0.0499496628273,0.999999963753,0.000247541373615,-9.97501032094e-05,3.55981446403e-05,1793237938484532736
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.396869525,746,716,679.603130475,665.603130475,637,881,788.603130475,803.603130475,653,632,654,0.412604009164,-0.00551035034119,0.0499677396113,0.999999966627,0.000249407261209,-5.50380969704e-05,3.89008981323e-05,1793237938501199360
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.188630336,746,715.811369664,680,666,637,881,788.811369664,804,653.188630336,632.188630336,654,0.413278112986,-0.00551637124117,0.049987143576,0.999999976054,0.000215671859654,-1.49945732498e-05,3.39540981628e-05,1793237938517865984
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.762778885,746,715.237221115,680,666,637,881,788.237221115,804,653.762778885,632.762778885,654,0.413982834447,-0.00552445860968,0.05000926,0.999999993846,0.0001091753848,1.55076137984e-05,1.21470557226e-05,1793237938534532608
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,715.340406788,679.659593212,666,637,881.340406788,788,803.659593212,653.659593212,632.659593212,653.659593212,0.414655271179,-0.00552953051779,0.0500027879124,0.999999997371,7.22070755692e-05,4.7031675631e-06,4.60631568126e-06,1793237938551199232
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,715.920484381,679.079515619,666,637,881.920484381,788,803.079515619,653.079515619,632.079515619,653.079515619,0.415304977113,-0.00553247932507,0.0499761874603,0.999999995812,8.41915889192e-05,-3.51841136718e-05,7.11007717831e-06,1793237938567865856
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,679,665.505692919,636.505692919,881.505692919,788.494307081,803.494307081,653,632,653.494307081,0.415984110008,-0.00552928306091,0.0499603856759,0.999999993026,9.98719468325e-05,-6.22586978245e-05,9.91201936159e-06,1793237938584532992
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665.069762875,636.069762875,881,789,804,653,632,654,0.416675225192,-0.00552572766658,0.0499504289381,0.999999990138,0.000115119265671,-7.9409556794e-05,1.28736948658e-05,1793237938601199616
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665.665003576,636.665003576,881,789,804,653,632,654,0.417421384395,-0.00552681996291,0.0499715781361,0.999999991646,0.000122682578722,-3.71423249386e-05,1.66817519155e-05,1793237938617866496
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.748324998,746,716,679,665.748324998,637,881.251675002,788.748324998,804,653.251675002,632,654,0.418179698384,-0.00552732316411,0.0499906687342,0.999999991874,0.00012601632931,-1.81339661859e-06,1.91924265024e-05,1793237938634533120
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.172684191,746,716,679,665.172684191,637,881.827315809,788.172684191,804,653.827315809,632,654,0.418953658586,-0.00552706805942,0.0500071094257,0.999999991821,0.000123905624601,2.45842845949e-05,2.00330607139e-05,1793237938651199488
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715.598318079,679,665,636.598318079,881.598318079,788.401681921,803.598318079,653.598318079,632,654,0.41968195093,-0.00552637264395,0.0499958180014,0.999999991956,0.000125228566506,-1.32920618544e-06,2.00991773329e-05,1793237938667865856
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715.024498263,679,665,636.024498263,881.024498263,788.975501737,803.024498263,653.024498263,632,654,0.420390672597,-0.00552548853647,0.0499726421776,0.999999990375,0.00012802297285,-4.96602746915e-05,1.9833379927e-05,1793237938684532480
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715.563987394,679,665.563987394,636,881.563987394,788.436012606,803.563987394,653,632,654,0.421170971643,-0.00552903944349,0.0499835696366,0.999999991976,0.000123685218906,-1.77261899686e-05,2.08750784239e-05,1793237938701199360
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.150758515,746,716,679.150758515,666,636.150758515,882,788.150758515,804,653,632.150758515,654,0.421961275481,-0.00553186557884,0.0499976469619,0.999999992404,0.000120047309506,1.73119696617e-05,2.19426138249e-05,1793237938717865984
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.730785301,746,716,679.730785301,666,636.730785301,882,788.730785301,804,653,632.730785301,654,0.422770977506,-0.00553206482203,0.0500163625474,0.99999999132,0.000119307814861,5.09960942496e-05,2.2917683379e-05,1793237938734532608
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679.693070283,666,636.693070283,881.693070283,788.693070283,804,653.306929717,633,654,0.423560767659,-0.00553244627932,0.0500139656768,0.999999991542,0.000119066194336,4.68369037062e-05,2.337687634e-05,1793237938751199488
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679.120288672,666,636.120288672,881.120288672,788.120288672,804,653.879711328,633,654,0.424333310796,-0.00553298556416,0.0499932819265,0.999999992567,0.000119255815136,9.89914206766e-06,2.33892347986e-05,1793237938767866112
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679.466733539,666,636.466733539,881,788.466733539,804,653.533266461,633,654,0.425119989708,-0.00553576728962,0.0499983683492,0.999999992892,0.000115642559893,1.58852377693e-05,2.42814365141e-05,1793237938784532736
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746.056486943,716,680,666,637,881.056486943,789,804,653,632.943513057,654,0.42591165215,-0.00553898419026,0.0500105417013,0.999999992922,0.000111347477166,3.32961955482e-05,2.54872514653e-05,1793237938801199360
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746.636467663,716,680,666,637,881.636467663,789,804,653,632.363532337,654,0.426714673599,-0.00554070952716,0.050024904992,0.99999999227,0.000110102447833,5.08385392773e-05,2.74318693353e-05,1793237938817865984
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,747,716,680,666,637,881.784580712,788.784580712,804,653.215419288,632,654,0.427492011855,-0.00554021744392,0.0500214351898,0.99999999269,0.000111440243941,3.73621023409e-05,2.83662530995e-05,1793237938834532608
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,747,716,680,666,637,881.207357394,788.207357394,804,653.792642606,632,654,0.428226214439,-0.00553600112828,0.049988014103,0.999999992363,0.000117115982863,-2.82114304652e-05,2.76039145169e-05,1793237938851199232
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.632910161,716,680,665.632910161,637,881,788,804,654,632,654,0.429005808444,-0.00553391528434,0.049971303747,0.999999991158,0.00011853975396,-5.39527301613e-05,2.68464503236e-05,1793237938867866112
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.060019313,716,680,665.060019313,637,881,788,804,654,632,654,0.429810850127,-0.00553302384369,0.0499639619041,0.999999991102,0.000117579750772,-5.7362942846e-05,2.60917189421e-05,1793237938884532736
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.527688695,716,680,665.527688695,637,881,788.527688695,804,653.472311305,632,654,0.430595175313,-0.00553818765934,0.0499777131605,0.999999992921,0.000111866557718,-2.99375174206e-05,2.73545469318e-05,1793237938901199616
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746.88478752,716,680,666,637,881.11521248,789,804,653,632,654,0.431366312342,-0.00554236633509,0.0499853547055,0.999999993729,0.000107351632755,-1.4545794907e-05,2.83844773492e-05,1793237938917866240
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746.304998668,716,680,666,637,881.695001332,789,804,653,632,654,0.432094046049,-0.00553971517758,0.049958406185,0.999999991645,0.00010991151647,-6.22291094601e-05,2.75232201632e-05,1793237938934533120
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,882,789,804,653,632,653.726450504,0.432842148126,-0.00553901005938,0.0499495879544,0.999999990537,0.000110044969741,-7.78809522661e-05,2.73805871918e-05,1793237938951199744
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,882,789,804,653,632,653.149279459,0.433612857676,-0.00554046491413,0.0499608931286,0.99999999215,0.000107485248357,-5.79800118486e-05,2.80355788878e-05,1793237938967866112
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.573923007,788.573923007,804,653,632.426076993,653.426076993,0.434385087826,-0.0055431557872,0.0499810335892,0.999999993886,0.000102763398652,-2.84428906634e-05,2.93049042128e-05,1793237938984532480
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716,679.999177126,666,637,881,788.000822874,804,653,633,654,0.435157700441,-0.00554626986202,0.0500042067194,0.999999994783,9.73013735863e-05,4.36420684488e-06,3.07865213114e-05,1793237939001199360
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716,679.408337335,666,637,881,788.591662665,804,653,633,654,0.435824128961,-0.00554363997836,0.0499917313702,0.999999993915,0.000101971931629,-2.86664795013e-05,3.08110004187e-05,1793237939017865984
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716,679.178655824,666,637,881,789,804,653,633,654,0.436494432202,-0.00554079312187,0.0499773449867,0.999999992159,0.000105597917899,-6.00378404419e-05,3.04459033277e-05,1793237939034532608
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,679.757042511,666,637,881,789,804,653,633,654,0.43717340501,-0.00553746080214,0.0499586827849,0.999999990016,0.000106886743392,-8.76965744582e-05,2.92091547195e-05,1793237939051199232
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636.666558655,881,789,804.333441345,653,633,654,0.437882674681,-0.00553822183119,0.0499693835963,0.999999992041,0.000107226585601,-5.93710209618e-05,2.99223576998e-05,1793237939067865856
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636.091599694,881,789,804.908400306,653,633,654,0.43861388888,-0.00554194774721,0.0500013525719,0.99999999373,0.000106879061565,9.50496956067e-06,3.20479459672e-05,1793237939084532480
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679.504313698,666,636,881.495686302,789,804.504313698,653,632.504313698,654,0.439266368699,-0.00554462374359,0.0500031855319,0.99999999403,0.000103929718896,7.75485390356e-06,3.28524345249e-05,1793237939101199360
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679.083854585,665.916145415,636,882,788.916145415,804,653,632.083854585,654,0.439897763666,-0.00554651834752,0.0499961193839,0.999999994243,0.000101480940678,-1.06034624066e-05,3.32018529073e-05,1793237939117865728
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679.663428713,665.336571287,636,882,788.336571287,804,653,632.663428713,654,0.440492718116,-0.00554496984919,0.049970206052,0.999999992821,0.000104906137289,-4.80215445164e-05,3.23410765568e-05,1793237939134532352
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665.241456223,636,882,788.241456223,804,653,633,654,0.441089862526,-0.00554417197427,0.0499590754423,0.9999999916,0.00010880131839,-6.23405483452e-05,3.27951729427e-05,1793237939151199232
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.81734154,636,882,788.81734154,804,653,633,654,0.441690040093,-0.00554441375091,0.0499684196534,0.999999991964,0.000113347451656,-4.46661562746e-05,3.50704347504e-05,1793237939167865856
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.391319062,716,680,666,636.391319062,882,788.608680938,804,653,633,654,0.44228969935,-0.00554522081086,0.0499897579876,0.999999992547,0.000116271310168,-5.04616731089e-06,3.69012486575e-05,1793237939184532480
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.964410441,716,680,666,636.964410441,882,788.035589559,804,653,633,654,0.442889117898,-0.00554629045159,0.0500166677342,0.999999991242,0.000118441603099,4.47678117127e-05,3.85256114013e-05,1793237939201199616
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.446099828,716,680,666,636.446099828,882,788,804.553900172,653,633,654,0.443419746799,-0.00554872216689,0.050018691169,0.999999991019,0.000119672173847,4.49069148915e-05,4.02862447047e-05,1793237939217865984
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636.141873002,882,788,804.858126998,653,633,653.858126998,0.443928814874,-0.0055503088014,0.0500103225181,0.999999991378,0.000121529573953,2.75227998578e-05,4.14356411223e-05,1793237939234532864
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636.721809626,882,788,804.278190374,653,633,653.278190374,0.444385373172,-0.00554900759488,0.0499749539761,0.999999990724,0.000125514568543,-3.38121835778e-05,4.06698515278e-05,1793237939251199232
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636.700856792,882,788,804,653,633,653.299143208,0.444843663982,-0.00554976856126,0.0499539633405,0.999999988908,0.000127765786726,-6.48140745165e-05,4.0727447366e-05,1793237939267865856
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636.125923079,882,788,804,653,633,653.874076921,0.445303552028,-0.00555243071644,0.0499462281977,0.99999998859,0.000128418576366,-6.78508313844e-05,4.15441509557e-05,1793237939284532736
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788,804.459311749,653,632.540688251,653.540688251,0.445761440233,-0.00555284920459,0.049955158584,0.9999999897,0.000129631011197,-4.45489904351e-05,4.25564274915e-05,1793237939301199360
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.953266065,636,882,788,804.953266065,653,632.046733935,653,0.446213849013,-0.00555241428229,0.0499673821238,0.999999990304,0.000131211454471,-1.66112501365e-05,4.35777697806e-05,1793237939317865728
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665.373840295,636,882,788,804.373840295,653,632.626159705,653,0.446610193945,-0.00554942402465,0.0499638687964,0.999999989689,0.000135197625862,-2.00264531184e-05,4.40772732443e-05,1793237939334532608
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636,882,788.204839079,804.204839079,653,633,653.204839079,0.446972619246,-0.00554704443138,0.0499474016118,0.999999988431,0.000137928122432,-4.70350096135e-05,4.36078900645e-05,1793237939351199488
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636,882,788.78216113,804.78216113,653,633,653.78216113,0.447273364449,-0.00554577528126,0.0499073789067,0.999999982732,0.000138375277004,-0.000116946133412,4.13766662226e-05,1793237939367866368
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746,716,680.357603497,665,635.642396503,881.642396503,789,804.642396503,653,633,654,0.4475634618,-0.00554859224286,0.0498684110384,0.999999979644,9.52829955899e-05,-0.000175700555104,2.76218503207e-05,1793237939384533248
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746,716,680.931906872,665,635.068093128,881.068093128,789,804.068093128,653,633,654,0.447847106815,-0.00555388529844,0.0498300823742,0.999999973721,2.5806770298e-05,-0.000227694265878,6.88398997726e-06,1793237939401199616
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746,716,681,665,635,881.518069609,788.481930391,804,653,633,653.481930391,0.448132311399,-0.00556278026366,0.0498174702721,0.999999969169,1.23565391783e-05,-0.000247931772207,6.26775721706e-06,1793237939417866240
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664.895619802,635,882,788,804.104380198,653,632.895619802,653,0.448416124196,-0.00557084047604,0.0498111282973,0.999999966441,7.78560836061e-06,-0.000258819143966,8.31604508372e-06,1793237939434532608
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664.31590043,635,882,788,804.68409957,653,632.31590043,653,0.448692643652,-0.00557289286056,0.0498175867118,0.999999969504,9.33029666607e-06,-0.000246579739873,1.01723844435e-05,1793237939451199232
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746,716,681,664.262285963,635,882,788,804.737714037,653,632,653.262285963,0.448949522353,-0.00557347854765,0.0498237803986,0.999999971398,1.26553082856e-05,-0.000238538396552,1.19921804739e-05,1793237939467865856
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664.838636711,635,882,788,804.161363289,653,632,653.838636711,0.44918288293,-0.00557230799112,0.0498296570965,0.999999972005,1.81121032093e-05,-0.000235523869165,1.37682189134e-05,1793237939484532480
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664.597462454,635,882,788,804.402537546,653,632,654,0.449380163652,-0.00556934681392,0.0498241358027,0.999999969213,2.34542535767e-05,-0.000246609161721,1.43857862039e-05,1793237939501199360
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,746,716,681,664.038402645,635,882,788,804.961597355,653,632,654,0.449563415117,-0.00556568937373,0.0498141825261,0.99999996485,2.87518255458e-05,-0.000263177013023,1.45528947808e-05,1793237939517865984
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,746.567116731,716.567116731,681,664,635,882,788,805,653,632,654,0.449738389459,-0.00556206028569,0.0498035069135,0.999999959555,3.73557628322e-05,-0.000281522518367,1.54935960239e-05,1793237939534532608
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746.832637731,716.832637731,680.832637731,664,634.832637731,881.832637731,788,804.832637731,653,632,654,0.449905936871,-0.0055597081705,0.0497948378591,0.999999955118,4.40647457764e-05,-0.000295892499964,1.64547777394e-05,1793237939551199232
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746.253784338,716.253784338,680.253784338,664,634.253784338,881.253784338,788,804.253784338,653,632,654,0.450056724812,-0.00556049058848,0.0497912332955,0.999999953764,4.55150293062e-05,-0.000300165544104,1.73260250417e-05,1793237939567865856
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746.322025706,716,680,664,634,881.322025706,788,804.322025706,653,632,654,0.450194991211,-0.00556109955435,0.0497916173519,0.999999953875,4.66756090266e-05,-0.000299581052639,1.79431979124e-05,1793237939584532480
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746.89545984,716,680,664,634,881.89545984,788,804.89545984,653,632,654,0.450323481943,-0.00556157310463,0.0497951153604,0.999999955125,4.76100144745e-05,-0.000295204238927,1.83620126316e-05,1793237939601199104
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746.518208226,716,680,663.518208226,634,882.481791774,787.518208226,805,653,632,654,0.450428438242,-0.00556178334311,0.0497935380091,0.999999953655,4.6793588409e-05,-0.000300251789518,1.86782430249e-05,1793237939617865728
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.06926313,634,883,787.06926313,804.93073687,653,632,654,0.450526206693,-0.00556216618521,0.0497907832399,0.999999951608,4.570540102e-05,-0.000307140066313,1.89641764942e-05,1793237939634532608
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.644062996,634,883,787.644062996,804.355937004,653,632,654,0.450609809463,-0.00556423730306,0.0497876937199,0.99999995007,4.54827577172e-05,-0.000312127445078,1.91959115656e-05,1793237939651199488
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746.221460236,716,680.221460236,663.778539764,634,882.557079528,788,804.221460236,653,632,654,0.450686134894,-0.00556657874123,0.049785575736,0.999999948984,4.4057602025e-05,-0.000315759640827,1.96697845611e-05,1793237939667866112
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746.803081556,716,680.803081556,663.196918444,634,881.393836889,788,804.803081556,653,632,654,0.450750625172,-0.00556935980155,0.0497850377629,0.999999948658,4.06767988144e-05,-0.000317187900305,2.05374467781e-05,1793237939684532480
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,746.620866721,716,681,663.379133279,634,881.379133279,788,805,653,632,654,0.450805884203,-0.00556743194146,0.0497851244291,0.999999947956,4.2198538525e-05,-0.000319198320415,2.04962253151e-05,1793237939701199104
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746.047665932,716,681,663.952334068,634,881.952334068,788,805,653,632,654,0.450856418018,-0.00556309371928,0.0497855308305,0.999999947048,4.62297501984e-05,-0.000321506731898,1.99897721981e-05,1793237939717865728
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746.545110358,716,681,663.454889642,633.454889642,882,788,805,653,632,653.454889642,0.450891109142,-0.00556519422609,0.0497820640989,0.999999944938,4.79623595913e-05,-0.000327700732307,2.08933589869e-05,1793237939734532352
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.864666518,746.864666518,716,681,663.135333482,633.135333482,881.864666518,788,805,653,632,653.135333482,0.450921997765,-0.00556684717369,0.0497783847913,0.999999942862,4.91154386719e-05,-0.000333769249546,2.15082246888e-05,1793237939751198976
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.288542279,746.288542279,716,681,663.711457721,633.711457721,881.288542279,788,805,653,632,653.711457721,0.450945181551,-0.00556514028604,0.0497751572941,0.999999941364,4.90599896112e-05,-0.00033828119329,2.07661569696e-05,1793237939767865856
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,716,681,663.713119198,633.713119198,881.286880802,788,805,653,632,654,0.450966517556,-0.00556393559777,0.0497743568007,0.99999994084,4.91211520656e-05,-0.000339835007465,2.04583334456e-05,1793237939784532736
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,716,681,663.138399547,633.138399547,881.861600453,788,805,653,632,654,0.450985999611,-0.00556323478579,0.0497759914159,0.999999941309,4.92993154561e-05,-0.000338420813863,2.05862041983e-05,1793237939801199616
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.446603979,746.446603979,716,681,663.446603979,633,882,788,804.553396021,653,632,654,0.450998589683,-0.00556311631749,0.0497758639115,0.999999940989,4.89141050583e-05,-0.000339429024386,2.04171861604e-05,1793237939817865984
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,747,716,680.965620758,664,633.034379242,882,788,804,653,632,653.965620758,0.451008923855,-0.00556313218069,0.0497752528293,0.999999940494,4.83542643155e-05,-0.000340979664751,2.01550082737e-05,1793237939834532352
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,747,716,680.38562589,664,633.61437411,882,788,804,653,632,653.38562589,0.451018150567,-0.00556234838786,0.049775837773,0.999999941215,4.78590204296e-05,-0.000338944366129,1.99088984552e-05,1793237939851198976
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746.806713353,716,680,664,633.806713353,881.806713353,787.806713353,804,653,632,653.193286647,0.451024655666,-0.00556173868313,0.0497752843895,0.999999941164,4.81262389944e-05,-0.000339066553869,1.97236792696e-05,1793237939867865856
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746.229948184,716,680,664,633.229948184,881.229948184,787.229948184,804,653,632,653.770051816,0.451025761117,-0.00556147436726,0.0497724725777,0.999999939576,4.99061744689e-05,-0.000343469170279,1.96592664258e-05,1793237939884532480
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.654387925,746,716,680.345612075,663.654387925,633,881.345612075,787,804.345612075,653,632,654,0.45102546997,-0.00556036025502,0.0497706290619,0.999999938297,5.15242379227e-05,-0.00034693499145,1.96661917272e-05,1793237939901199104
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.079626574,746,716,680.920373426,663.079626574,633,881.920373426,787,804.920373426,653,632,654,0.451024252845,-0.00555868270696,0.0497694275503,0.999999937226,5.30349761887e-05,-0.000349779694243,1.97204159697e-05,1793237939917865984
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.506021372,746.506021372,716,681,663.506021372,633.506021372,882,787.506021372,805,653,632,654,0.45102629206,-0.00555864303235,0.0497687705301,0.999999937284,5.24954941596e-05,-0.000349708120232,1.95069567872e-05,1793237939934532608
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,746.907893298,716,680.907893298,664,633.907893298,882,788,804.907893298,653,632,653.907893298,0.451028726517,-0.00555906753596,0.0497685273043,0.999999937612,5.13758788755e-05,-0.000348948367588,1.92975093594e-05,1793237939951199232
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,746.328752935,716,680.328752935,664,633.328752935,882,788,804.328752935,653,632,653.328752935,0.451030481844,-0.00556055369948,0.0497700090908,0.999999938401,4.89321100661e-05,-0.000347029607515,1.93369020552e-05,1793237939967865856
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746.249609498,716,680.249609498,664,633,882,788,804.249609498,653,632,653.249609498,0.451031462891,-0.00556110898421,0.0497706204369,0.999999938637,4.78005007415e-05,-0.000346508416483,1.92924724556e-05,1793237939984532224
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,746.826950608,716,680.826950608,664,633,882,788,804.826950608,653,632,653.826950608,0.451031427326,-0.00556044204641,0.0497700889147,0.999999938156,4.83917267339e-05,-0.000347822201652,1.91379860878e-05,1793237940001198848
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,746.59910338,716,681,663.59910338,633,881.59910338,787.59910338,804.59910338,653,632,653.59910338,0.451030555564,-0.00555906397705,0.0497693583201,0.999999937549,5.01543010311e-05,-0.0003493145613,1.91473732588e-05,1793237940017865728
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746.02661061,716,681,663.02661061,633,881.02661061,787.02661061,804.02661061,653,632,653.02661061,0.451029325883,-0.00555738152142,0.0497685425164,0.999999936882,5.24182485886e-05,-0.000350883356263,1.92269033811e-05,1793237940034532352
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663,633.566186773,881.566186773,787.566186773,804.566186773,653,632,653,0.451031391708,-0.00555960876394,0.0497697108662,0.999999937722,5.04662169101e-05,-0.000348759233154,1.93977551867e-05,1793237940051198976
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,746,716,681,663,634,881.844465306,788,804.844465306,653,632,653.155534694,0.451033080068,-0.00556107142267,0.0497703804372,0.999999938284,4.93458965881e-05,-0.000347297394636,1.95524656058e-05,1793237940067865600
+253,4.216666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663,634,881.267155708,788,804.267155708,653,632,653.732844292,0.451033309185,-0.0055599438672,0.0497694351411,0.999999937911,5.10383135585e-05,-0.000348119701193,1.96513321146e-05,1793237940084532224
+254,4.233333333,POSE1_TO_POSE2_PRESS,766.692741471,746,716,681,663.307258529,633.692741471,881.307258529,787.692741471,804,653,632,654,0.451032234415,-0.00555918429144,0.0497680225431,0.999999937118,5.16140677228e-05,-0.000350310659738,1.95507602824e-05,1793237940101199360
+255,4.250000000,POSE1_TO_POSE2_PRESS,766.120821226,746,716,681,663.879178774,633.120821226,881.879178774,787.120821226,804,653,632,654,0.451030036522,-0.00555874168055,0.0497662074277,0.999999935957,5.12279676406e-05,-0.000353680527038,1.9278399256e-05,1793237940117865984
+256,4.266666667,POSE1_TO_POSE2_PRESS,766.452146856,746.452146856,716,680.547853144,663.547853144,633,882,787.452146856,804.452146856,653,632,653.547853144,0.45103057625,-0.00555935887441,0.0497664774843,0.999999936083,5.07372846339e-05,-0.000353390629441,1.93651011627e-05,1793237940134532352
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746.973515103,716,680.026484897,663,633.026484897,881.973515103,788,805,653,632,653,0.45103175936,-0.00556013084605,0.0497672237601,0.999999936502,5.03053707792e-05,-0.000352257142208,1.9521865295e-05,1793237940151198976
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,746.375678628,716,680.624321372,663,633.624321372,881.375678628,788,805,653,632,653,0.451031004032,-0.00555811825881,0.049766195289,0.999999935795,5.17455476443e-05,-0.000354071195235,1.91154020501e-05,1793237940167865600
+259,4.316666667,POSE1_TO_POSE2_PRESS,766.785220416,746.214779584,716,681,663.214779584,634,881.214779584,787.785220416,804.785220416,653,632,653,0.451030456113,-0.00555645713465,0.049765864106,0.999999935406,5.24875549853e-05,-0.000355083752871,1.86832871983e-05,1793237940184532480
+260,4.333333333,POSE1_TO_POSE2_PRESS,766.207239077,746.792760923,716,681,663.792760923,634,881.792760923,787.207239077,804.207239077,653,632,653,0.451030258934,-0.00555539034973,0.0497667120676,0.999999935559,5.20489270799e-05,-0.000354740946727,1.82077942818e-05,1793237940201199104
+261,4.350000000,POSE1_TO_POSE2_PRESS,766,746.633240015,716,681,663.633240015,633.633240015,882,787,804,653,632,653.366759985,0.451030356842,-0.00555533345597,0.0497666214714,0.999999935482,5.24513846689e-05,-0.000354890537123,1.83633958005e-05,1793237940217865728
+262,4.366666667,POSE1_TO_POSE2_PRESS,766,746.061467018,716,681,663.061467018,633.061467018,882,787,804,653,632,653.938532982,0.4510306197,-0.00555584107541,0.0497660062361,0.999999935276,5.33239957328e-05,-0.000355315369394,1.88717691251e-05,1793237940234532352
+263,4.383333333,HOLD_POSE2,767,746,717,681,663,633,881,788,805,653,632,654,0.451030718318,-0.00555792369542,0.0497647227053,0.999999935443,5.05770699397e-05,-0.000355260064949,1.86338412149e-05,1793237940264435456
+264,4.400000000,HOLD_POSE2,766.42090783,746,716.42090783,681,663.57909217,633,881.57909217,787.42090783,805,653,632,654,0.451031247521,-0.00555722811088,0.0497656298801,0.99999993546,5.08570736075e-05,-0.000355162794395,1.87905909703e-05,1793237940281102080
+265,4.416666667,HOLD_POSE2,766.157127621,746,716,681,663.842872379,633.157127621,882,787.157127621,805.157127621,653,632,654,0.451031671634,-0.00555672433902,0.0497662075618,0.999999935446,5.1534336864e-05,-0.0003550973728,1.89349522438e-05,1793237940297768704
+266,4.433333333,HOLD_POSE2,766.732351413,746,716,681,663.267648587,633.732351413,882,787.732351413,805.732351413,653,632,654,0.451031816115,-0.00555673095559,0.0497659085057,0.999999935346,5.32686562931e-05,-0.000355116697128,1.90463494127e-05,1793237940314435584
+267,4.450000000,HOLD_POSE2,766.685597397,746,716,681,663,633.685597397,882,787.685597397,805.371194793,653,632,653.685597397,0.451031974954,-0.00555704426005,0.0497656157573,0.999999935325,5.28755919274e-05,-0.000355235741172,1.90118506051e-05,1793237940331101952
+268,4.466666667,HOLD_POSE2,766.097605112,746,716,681,663,633.097605112,882,787.097605112,804.195210224,653,632,653.097605112,0.451032146289,-0.00555762444094,0.0497653284978,0.999999935371,5.06313015217e-05,-0.000355441560216,1.88503947195e-05,1793237940347768576
+269,4.483333333,HOLD_POSE2,766,746,716,681,663,633,881.516486503,787.483513497,804.483513497,653,632,653,0.451032009886,-0.00555676736268,0.0497658344512,0.999999935311,5.13141620054e-05,-0.000355520724521,1.87260462079e-05,1793237940364435200
+270,4.500000000,HOLD_POSE2,766.062849709,746,716,680.937150291,663.062849709,633.062849709,881.062849709,788,804.937150291,653,632,653.062849709,0.451031841824,-0.00555574606529,0.0497662920715,0.999999935232,5.23413018154e-05,-0.000355597393046,1.86036610431e-05,1793237940381102080
+271,4.516666667,HOLD_POSE2,766.638803748,746,716,680.361196252,663.638803748,633.638803748,881.638803748,788,804.361196252,653,632,653.638803748,0.451031915361,-0.00555571953672,0.0497650661811,0.99999993519,5.14227056737e-05,-0.000355859491718,1.84370075606e-05,1793237940397768960
+272,4.533333333,HOLD_POSE2,767,746,716,680.214646648,663.785353352,634,881.785353352,788,804.214646648,653,632,654,0.451032003705,-0.00555543017834,0.0497645727516,0.99999993514,5.09112273786e-05,-0.000356076003526,1.8402864534e-05,1793237940414435840
+273,4.550000000,HOLD_POSE2,767,746,716,680.790302565,663.209697435,634,881.209697435,788,804.790302565,653,632,654,0.451032116953,-0.00555469877255,0.0497653112314,0.999999935077,5.10844713349e-05,-0.00035621584381,1.85915878176e-05,1793237940431102464
+274,4.566666667,HOLD_POSE2,766.623749788,746.376250212,716,681,663.376250212,634,881.376250212,788,805,653,632,654,0.451032777361,-0.00555537406529,0.0497661326626,0.999999935352,5.06214621517e-05,-0.000355494726194,1.88676961924e-05,1793237940447769088
+275,4.583333333,HOLD_POSE2,766.031904834,746.968095166,716,681,663.968095166,634,881.968095166,788,805,653,632,654,0.451033751297,-0.00555685540883,0.0497670016259,0.999999935819,4.97938742352e-05,-0.000354280272001,1.91938770251e-05,1793237940464435712
+276,4.600000000,HOLD_POSE2,766.546746005,746.453253995,716,680.453253995,663.453253995,633.453253995,881.453253995,788,805,653,632,654,0.451032423513,-0.00555537470558,0.0497656865029,0.999999935053,5.09716310001e-05,-0.000356304800811,1.85203899674e-05,1793237940481102336
+277,4.616666667,HOLD_POSE2,767,746,716,680.123821644,663,633,881,788,805,653,632,653.876178356,0.451031514029,-0.00555392800893,0.0497646729111,0.999999934447,5.24638123884e-05,-0.000357815520282,1.7916634286e-05,1793237940497768960
+278,4.633333333,HOLD_POSE2,767,746,716,680.697903226,663,633,881,788,805,653,632,653.302096774,0.451032602538,-0.00555321869665,0.0497652083294,0.999999934698,5.46838552515e-05,-0.000356786740477,1.77735740295e-05,1793237940514435840
+279,4.650000000,HOLD_POSE2,767,746.271077321,716,681,663.271077321,633,881.271077321,788,805,653,632,653,0.451033235059,-0.00555323834452,0.0497656875788,0.999999934906,5.51490567681e-05,-0.000356124951823,1.79515724989e-05,1793237940531102464
+280,4.666666667,HOLD_POSE2,767,746.843243428,716,681,663.843243428,633,881.843243428,788,805,653,632,653,0.451033361108,-0.0055540676571,0.049766104441,0.999999935067,5.36651351246e-05,-0.000355870784643,1.84861746991e-05,1793237940547769088
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,633,882,788,806,653,632,653,0.451033297366,-0.00555583503128,0.0497655112682,0.999999934988,5.46239840909e-05,-0.000355936669158,1.87024226269e-05,1793237940580355840
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.577775984,663.577775984,633,881.422224016,788,805.422224016,653.577775984,632,653.577775984,0.451034459252,-0.00555532568891,0.0497664607105,0.999999935375,5.4551095574e-05,-0.000354868240486,1.84892016137e-05,1793237940597022464
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746.15481605,716,681,663.84518395,633,881.15481605,787.84518395,804.84518395,653.84518395,632,654,0.451034802088,-0.0055551009351,0.0497667237075,0.999999935473,5.41724132093e-05,-0.000354651593895,1.84634231331e-05,1793237940613689088
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746.7298587,716,681,663.2701413,633,881.7298587,787.2701413,804.2701413,653.2701413,632,654,0.451032921725,-0.00555564865717,0.0497651234449,0.999999934784,5.29636960279e-05,-0.000356746990866,1.89464312477e-05,1793237940630355712
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,747,716,681,663.312675142,633,882,787.312675142,804.312675142,653,631.687324858,653.687324858,0.451032508462,-0.0055553908159,0.0497647710392,0.999999934614,5.28197766225e-05,-0.000357243946982,1.89334868586e-05,1793237940647022336
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,747,716,681,663.902379095,633,882,787.902379095,804.902379095,653,631.097620905,653.097620905,0.451033395042,-0.00555441924901,0.0497655242295,0.999999934908,5.36192634697e-05,-0.000356324691354,1.84811306881e-05,1793237940663688960
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746.516460477,716,681,663.516460477,633,882,788,805,653,631.967079046,653.483539523,0.451033740328,-0.00555548944432,0.0497659760692,0.999999935098,5.3408654819e-05,-0.00035581007029,1.87382410392e-05,1793237940680355840
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.937447347,746,716,681,663,633,881.937447347,788,805,653,632.874894693,654,0.451033691387,-0.00555662667327,0.0497661105065,0.999999935169,5.3060221766e-05,-0.000355646666496,1.90533402351e-05,1793237940697022720
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766.362142638,746,716,681,663,633,881.362142638,788,805,653,631.724285276,654,0.451031291147,-0.00555499313194,0.0497641332026,0.999999934433,5.32246121299e-05,-0.000357704230478,1.86900677936e-05,1793237940713689088
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766.212598125,746,716,681,663.425196249,633,881.212598125,787.787401875,804.787401875,653,631.212598125,654,0.451026819158,-0.00555399514423,0.049761385224,0.999999933084,5.38427921104e-05,-0.000361378839593,1.84120884714e-05,1793237940730355456
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766.786380737,746,716,681,664.572761475,633,881.786380737,787.213619263,804.213619263,653,631.786380737,654,0.451018827461,-0.00555407690332,0.0497573279407,0.999999930669,5.52319185278e-05,-0.000367800658139,1.82790142819e-05,1793237940747022336
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,664.25978986,633,882,787,804.37010507,653,632,654,0.450999606366,-0.00555379105434,0.0497488426405,0.999999925112,5.50639413608e-05,-0.000382653300038,1.7926588922e-05,1793237940763688960
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,663.080547864,633,882,787,804.959726068,653,632,654,0.450973724913,-0.00555328717045,0.0497377310041,0.999999917386,5.39724183565e-05,-0.000402506414381,1.74440624459e-05,1793237940780355584
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,633,881.459094103,787,804.459094103,653,632,653.459094103,0.450924669299,-0.00555201902031,0.0497177785215,0.999999902289,5.43641371621e-05,-0.000438410320191,1.6207389817e-05,1793237940797022464
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.879839611,663.120160389,633,881,787.120160389,804.120160389,653,632,653.120160389,0.450873194272,-0.0055504279826,0.0496988831085,0.999999887198,5.51629284203e-05,-0.000471526180111,1.49746071372e-05,1793237940813689088
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.305522957,663.694477043,633,881,787.694477043,804.694477043,653,632,653.694477043,0.450818996188,-0.00554782833457,0.0496864326851,0.999999878391,5.70892927145e-05,-0.000489656881856,1.39654930712e-05,1793237940830355968
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,633.84235507,881.84235507,788,804.15764493,653,632,654,0.450694789752,-0.00554375534217,0.0496687292432,0.999999867575,5.8321151034e-05,-0.000511176571976,1.21016358431e-05,1793237940863689216
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766.56892338,746.43107662,716,680,664,633.56892338,881.56892338,788,804,653,632,653.56892338,0.450617256322,-0.00554142070442,0.0496639426653,0.999999864143,5.90959217779e-05,-0.000517774385225,1.15028429353e-05,1793237940880355584
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746.398274441,716.601725559,680.601725559,664,633.601725559,881.601725559,788,804.601725559,653,632,653,0.450433346695,-0.00553421768452,0.0496576581823,0.999999856874,6.37513103215e-05,-0.000531106996452,1.06700081582e-05,1793237940913688832
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746.331847687,716,681,663.668152313,633.331847687,881.331847687,788,805,653,632,654,0.450058561966,-0.00551959614369,0.0496349424157,0.999999836165,7.37442038164e-05,-0.000567611032231,6.97411408574e-06,1793237940963689472
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746.926401208,716,681,663.073598792,633.926401208,881.926401208,788,805,653,632,654,0.44990703161,-0.00551339561006,0.0496256271978,0.999999826325,7.73175469884e-05,-0.000584237837507,6.22412024612e-06,1793237940980356096
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,766.656273873,747,716.343726127,680.656273873,664,634,881.343726127,788,805,653,632,654,0.449357064889,-0.00549379474178,0.0496200129025,0.999999821357,9.28369876057e-05,-0.000590474179061,2.82725606315e-06,1793237941030355712
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746.770158897,716,681,664,634,881.229841103,788,804.770158897,653,632,653.770158897,0.449152902455,-0.00548573956437,0.0496249685108,0.99999982468,9.7665978167e-05,-0.000584036636452,1.71135629928e-06,1793237941047022336
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746.19139517,716,681,664,634,881.80860483,788,804.19139517,653,632,653.19139517,0.448935638856,-0.00547625888357,0.0496345977594,0.999999831154,0.000105144363163,-0.000571520505841,1.05450484233e-06,1793237941063688960
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746.717802361,716,681,664,635.717802361,882,788,804.282197639,653,632.282197639,653.282197639,0.447579499217,-0.00542892162059,0.0496754889114,0.999999868851,0.00013889501233,-0.00049292482065,-5.5125213018e-06,1793237941147023104
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.699829001,746.699829001,716,681,664.300170999,635.699829001,882,788,804,653,632,653,0.447256639308,-0.00542016148997,0.0496821357099,0.999999873475,0.000143905143206,-0.00048196239991,-7.25097158345e-06,1793237941163689472
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,635.048526505,882,788,804.048526505,653,632,653.048526505,0.446198962627,-0.00540345757619,0.0497263720325,0.999999904216,0.000142886397374,-0.00041353528725,-1.18221964502e-05,1793237941213689088
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,635.621883921,882,788,804.621883921,653,632,653.621883921,0.445821833213,-0.00540496480893,0.0497664823013,0.999999930671,0.000136852652433,-0.000346075432576,-1.26554317707e-05,1793237941230355712
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,665.194792796,636,881.805207204,788,804.805207204,653,632,654,0.445427306614,-0.00540904345974,0.049802055523,0.999999949517,0.000127871045662,-0.000290596997735,-1.29471815483e-05,1793237941247022592
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,665.766832963,636,881.233167037,788,804.233167037,653,632,654,0.444999087608,-0.00541810207237,0.0498288420256,0.999999960156,0.00011318043473,-0.000258322502975,-1.21902580913e-05,1793237941263689472
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.531536271,665.468463729,636,881.531536271,788.468463729,804,653,633,653.468463729,0.443468182319,-0.00540886106106,0.0498047061023,0.999999947867,9.9022312803e-05,-0.000306674213805,-2.02729128815e-05,1793237941313689344
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,715.73468509,680,665.26531491,636,882,788.26531491,804,653,632.26531491,653,0.441804815025,-0.00538505745628,0.0497955619397,0.999999947332,9.78718614479e-05,-0.000307816577806,-3.17112811139e-05,1793237941363689216
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746.321272635,716,681,665.321272635,636,881,788.321272635,804,653,633,653.678727365,0.437319338355,-0.0053872869621,0.0497766557632,0.999999935021,3.57352612382e-05,-0.000355322057135,-4.92652706866e-05,1793237941480355840
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746.911796129,716,681,665.911796129,636,881,788.911796129,804,653,633,653.088203871,0.436679537932,-0.00538646473425,0.0498106674362,0.999999951182,2.98560843667e-05,-0.000306996268797,-4.9976504627e-05,1793237941497022464
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,747,716,681,666,636,881.492975625,789,804,653,633,653.492975625,0.4359830902,-0.00538465033113,0.049827203203,0.99999995909,2.14952635636e-05,-0.00028039542644,-5.23078941955e-05,1793237941513689088
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746.855774408,716,680.927887204,665.927887204,636.072112796,881.927887204,788.927887204,804.072112796,653,632.927887204,653.927887204,0.435269953937,-0.00538322210916,0.049835332486,0.999999962892,1.20069351831e-05,-0.000266516337039,-5.5135592168e-05,1793237941530355712
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745.703116409,716,680.351558205,665.351558205,636.648441795,881.351558205,788.351558205,804.648441795,653,632.351558205,653.351558205,0.434509680054,-0.00538571223459,0.0498061393584,0.999999948645,-2.31812460099e-06,-0.000314915452948,-5.94443462441e-05,1793237941547022592
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745.224302643,716,680,665,636.775697357,881.224302643,788,804.775697357,653,632.224302643,653.224302643,0.433755963263,-0.00538664749515,0.0497935296196,0.99999994114,-1.40102475226e-05,-0.00033697119912,-6.30400486979e-05,1793237941563689216
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745.799431354,716,680,665,636.200568646,881.799431354,788,804.200568646,653,632.799431354,653.799431354,0.433012502137,-0.00538515083143,0.0498068575336,0.999999947115,-2.15842629675e-05,-0.000317823957982,-6.55204860532e-05,1793237941580356096
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.384955326,636.384955326,882,788,804,653,633,654,0.43228042667,-0.00538324125897,0.0498222046661,0.999999954107,-2.85562490948e-05,-0.000293926166841,-6.76645858966e-05,1793237941597022464
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.976045695,636.976045695,882,788,804,653,633,654,0.431554448016,-0.00538111058312,0.0498386330445,0.999999961182,-3.52058614009e-05,-0.000267484562504,-6.96285842786e-05,1793237941613689088
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.444782753,636.444782753,881.444782753,788.555217247,804.555217247,653,633,654,0.430753547946,-0.00538093730048,0.0498145059844,0.999999950626,2.69090687272e-05,-0.000308572087767,-5.29819732411e-05,1793237941630355712
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636,881.132944489,788.867055511,804.867055511,653,633,654,0.429952411,-0.00537806230636,0.0497918650674,0.999999935935,8.70794548542e-05,-0.000345079122158,-3.83135032276e-05,1793237941647022336
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636,881.707545954,788.292454046,804.292454046,653,633,654,0.429160999935,-0.0053659372581,0.0497798519188,0.999999927176,0.000131140986501,-0.000356893737215,-3.28280379179e-05,1793237941663688960
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,715.711084129,680,665.288915871,636,881.711084129,788.288915871,804,653,633,654,0.428377592642,-0.00535934691983,0.0497858520906,0.999999928269,0.000147035225846,-0.000347651435696,-3.13213494371e-05,1793237941680355840
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,715.122698549,680,665.877301451,636,881.122698549,788.877301451,804,653,633,654,0.427602481543,-0.00535849347027,0.049810523594,0.999999940369,0.000133733244432,-0.000316583026957,-3.3938779287e-05,1793237941697022720
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,715.458430336,680,665.541569664,636,881,789,804,653,633,654,0.426793948756,-0.00535934396135,0.0497977259115,0.999999935415,0.000116498005182,-0.000337749956999,-3.90316232764e-05,1793237941713689344
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.037313796,881.037313796,788.962686204,804,653,633,654,0.425981930295,-0.00536058081034,0.0497780805281,0.999999926814,9.88779886497e-05,-0.000366896098912,-4.45321202917e-05,1793237941730356224
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636.611399945,881.611399945,788.388600055,804,653,633,654,0.425246446067,-0.00536091722178,0.0498019455048,0.999999945876,9.06308008419e-05,-0.000312841894428,-4.65144487063e-05,1793237941747022592
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746.186592433,716,680,665.186592433,637,881.813407567,788.186592433,804,653,633,654,0.424501084196,-0.0053615113102,0.0498258408143,0.999999960496,8.42621119485e-05,-0.000263896410423,-4.7613282795e-05,1793237941763689216
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746.764102847,716,680,665.764102847,637,881.235897153,788.764102847,804,653,633,654,0.423735028162,-0.00536264524141,0.0498497996768,0.999999970094,8.18289459416e-05,-0.000225653874248,-4.68611644789e-05,1793237941780355840
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767.349689196,746.650310804,716,680,665.650310804,636.650310804,881.349689196,788.650310804,804.349689196,653.349689196,633,654,0.422938140681,-0.00536128730898,0.0498450338001,0.99999996732,8.53807998086e-05,-0.000236345650399,-4.70281963973e-05,1793237941797022464
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767.940852254,746.059147746,716,680,665.059147746,636.059147746,881.940852254,788.059147746,804.940852254,653.940852254,633,654,0.422119962943,-0.00535820864863,0.0498204323828,0.999999955093,9.30655405409e-05,-0.000280828456498,-4.78299369656e-05,1793237941813688832
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767.480089763,746,716,680,665.519910237,636.519910237,882,788.519910237,804.480089763,653.480089763,632.480089763,654,0.421327093629,-0.00535677458263,0.0498061132587,0.999999947795,9.5123327323e-05,-0.000304949139339,-4.8666828595e-05,1793237941830355712
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.902855952,665.902855952,636.902855952,881.902855952,789,804,653,632.097144048,654,0.420546987542,-0.00535628054948,0.0498003415714,0.999999943963,9.5855358559e-05,-0.000316990088861,-4.90194357532e-05,1793237941847022336
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.327974692,665.327974692,636.327974692,881.327974692,789,804,653,632.672025308,654,0.419815811445,-0.0053595102532,0.0498309828438,0.999999955146,9.31440829954e-05,-0.000280757994152,-4.69711989737e-05,1793237941863689216
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.253092746,665.253092746,636,881.253092746,789,804.253092746,653.253092746,633,654,0.419058615531,-0.00536022226439,0.0498374964792,0.999999955346,9.30277988805e-05,-0.000280154570749,-4.65488532201e-05,1793237941880355840
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.842377457,665.842377457,636,881.842377457,789,804.842377457,653.842377457,633,654,0.418266856639,-0.0053575899361,0.049811960526,0.999999940767,9.63585330612e-05,-0.000326877963071,-4.82862356593e-05,1793237941897022464
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746.424650142,716,680,666,636.424650142,881.575349858,789,805,653.575349858,633,654,0.417533948342,-0.00535559048996,0.049804868904,0.999999938852,9.73909468018e-05,-0.000332184542992,-4.96527112487e-05,1793237941913689088
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746.995668166,716,680,666,637,881,789,804.995668166,653,633,654,0.416822752872,-0.00535384193863,0.0498046818041,0.99999994205,9.7585324992e-05,-0.000322163915193,-5.08679082453e-05,1793237941930355712
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746.420019824,716,680,666,637,881,789,804.420019824,653,633,654,0.416141026387,-0.00535470429583,0.0498268533321,0.999999953265,9.79382286012e-05,-0.00028527083393,-4.99938517841e-05,1793237941947022336
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,804,653.155526657,633,654,0.415457056447,-0.00535600986206,0.0498409330912,0.999999959724,9.71165508612e-05,-0.000262044652803,-4.95240511293e-05,1793237941963688960
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,804,653.730798357,633,654,0.414767031584,-0.00535851158872,0.0498331742844,0.9999999564,9.31248400856e-05,-0.000275703546955,-5.01452812202e-05,1793237941980355840
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.685549656,881,789,804,654,633,654,0.414066953323,-0.00535889676352,0.0498158136353,0.999999947409,9.31058374666e-05,-0.000306430281064,-5.11344987274e-05,1793237941997022464
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.094526885,881,789,804,654,633,654,0.413358032715,-0.00535742034097,0.0497900077588,0.999999931949,9.65810004155e-05,-0.000352168903683,-5.24473766754e-05,1793237942013689344
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.514174303,666,636,880.514174303,788.514174303,804,653.514174303,632.514174303,654,0.412725850102,-0.00535735881576,0.0497955017835,0.999999936785,9.77801808429e-05,-0.000337761135014,-5.27877426731e-05,1793237942030355712
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767.063787957,746,716,679.063787957,666,636,880.127575913,788,804,653,632.063787957,654,0.412111066674,-0.00535776726886,0.0498086209312,0.999999945308,9.86413390058e-05,-0.00031125990198,-5.26323274531e-05,1793237942047022336
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767.638873868,746,716,679.638873868,666,636,881.277747735,788,804,653,632.638873868,654,0.411518640201,-0.00535978363889,0.0498350940137,0.999999954633,0.000100266363821,-0.000279610177044,-4.99870579549e-05,1793237942063688960
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767.786173532,746,716,679.786173532,665.786173532,636,881.786173532,788.213826468,803.786173532,653,633,654,0.410920625158,-0.00536097196763,0.0498435784929,0.999999956121,0.000101469519507,-0.000273989515105,-4.88971558883e-05,1793237942080355840
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767.211445993,746,716,679.211445993,665.211445993,636,881.211445993,788.788554007,803.211445993,653,633,654,0.410313177662,-0.00536076270968,0.0498217014048,0.999999944764,0.000101960634964,-0.000312301288072,-5.04324378623e-05,1793237942097022464
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,665,636.373343151,881,789,803,653,633,653.626656849,0.409732861992,-0.00536059080991,0.0498061585723,0.999999936337,0.000104131562308,-0.000337364635025,-5.16477150775e-05,1793237942113689088
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,665,636.963988652,881,789,803,653,633,653.036011348,0.409168338196,-0.00536044065424,0.0497943025568,0.999999929946,0.000107280215105,-0.000354716811424,-5.26767354258e-05,1793237942130355712
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.083126568,637,881,789,803.541563284,653,633,653.541563284,0.408677256315,-0.00536270393804,0.04981646157,0.999999943334,0.000106390955467,-0.000315258825002,-5.12249457828e-05,1793237942147022336
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.118153513,666.881846487,637,881,789,804,653.118153513,633,654,0.408193211293,-0.005365023418,0.0498377649801,0.999999954462,0.000105729402414,-0.000278259472893,-4.96962326694e-05,1793237942163689216
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.694217853,666.305782147,637,881,789,804,653.694217853,633,654,0.4077179575,-0.00536695338991,0.0498471931648,0.999999957969,0.000106966410561,-0.000265083984411,-4.84936508775e-05,1793237942180355840
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,804,654,632.723463553,654,0.407241365502,-0.0053683982857,0.0498426943888,0.999999954934,0.000107166636759,-0.000276231324729,-4.84159438271e-05,1793237942197022720
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,804,654,632.134069284,654,0.406763259562,-0.00536929439345,0.0498224394299,0.999999943551,0.000106193905846,-0.000314896149643,-4.96108569835e-05,1793237942213689088
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767.447768279,746,716,680,666,637,881,789,804,654,632,654,0.406295400091,-0.00536674058433,0.0498025258928,0.999999930978,0.000109285960197,-0.000351378917051,-5.1322804195e-05,1793237942230355712
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767.972879352,746,716,679.972879352,666,637,881,789,804,654,632.027120648,654,0.4058345476,-0.00536336404321,0.0497839738814,0.999999918042,0.000113209392507,-0.000385070530215,-5.31074152763e-05,1793237942247022336
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767.398773462,746,716,679.398773462,666,637,881,789,804,654,632.601226538,654,0.405454166317,-0.00536388179899,0.0497908543572,0.999999922084,0.0001097614559,-0.000375426859399,-5.32871023046e-05,1793237942263688960
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881.175527582,789,804,654,633,654,0.405091258363,-0.00536492997801,0.0498008402454,0.999999929142,0.000106008606992,-0.000357236909184,-5.34731031536e-05,1793237942280355584
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881.750272403,789,804,654,633,654,0.404768091534,-0.00536718454346,0.049817889035,0.999999942327,0.000101562270619,-0.000319609433306,-5.36734639955e-05,1793237942297022464
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.335637649,666,637,882,789,804,654,633,654,0.404456108449,-0.00537004048388,0.0498360138672,0.999999951815,9.67641448078e-05,-0.000290080404814,-5.34797222316e-05,1793237942313689088
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.92916318,666,637,882,789,804,654,633,654,0.404152718384,-0.00537335849224,0.0498549654807,0.999999958808,9.16957204169e-05,-0.000266773831278,-5.29831709535e-05,1793237942330355712
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767.508118059,746,715.491881941,679.491881941,665.491881941,637,881.491881941,789,803.491881941,654,632.491881941,653.491881941,0.403856448386,-0.00537871712411,0.0498629333845,0.999999961962,8.17338008005e-05,-0.000257988153787,-5.32680516612e-05,1793237942347022336
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767.915591297,746,715,679.084408703,665.084408703,637,881,788.915591297,803,653.915591297,632.084408703,653.084408703,0.40356512617,-0.00538313171369,0.049867180213,0.9999999635,7.29673614427e-05,-0.000254528960825,-5.37716808032e-05,1793237942363688960
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767.343286211,746,715,679.656713789,665.656713789,637,881,788.343286211,803,653.343286211,632.656713789,653.656713789,0.403296825335,-0.00538049105953,0.0498585227071,0.999999959103,7.49443166011e-05,-0.00027048277831,-5.49275771719e-05,1793237942380355584
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767.231016476,746,715.231016476,679.768983524,665.768983524,637,881,788.462032951,803.231016476,653.231016476,633,654,0.403038218467,-0.00537805715804,0.049849702691,0.999999954224,7.63193360306e-05,-0.000287373734876,-5.60766310583e-05,1793237942397022464
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767.808313416,746,715.808313416,679.191686584,665.191686584,637,881,789.616626831,803.808313416,653.808313416,633,654,0.402794142317,-0.00537593316714,0.0498406390819,0.999999948698,7.67920881664e-05,-0.000305669408309,-5.721542839e-05,1793237942413689088
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767.602353061,746,716,679.397646939,665,637,881,789.602353061,804,654,632.602353061,654,0.402572766917,-0.00537538281535,0.0498322383572,0.999999943401,7.50789441025e-05,-0.000322743049102,-5.82956143199e-05,1793237942430355712
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767.007036181,746,716,679.992963819,665,637,881,789.007036181,804,654,632.007036181,654,0.402362676047,-0.00537561471823,0.0498241671521,0.999999938095,7.2279192947e-05,-0.000339209217965,-5.93466645327e-05,1793237942447022592
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.432277543,665.567722457,637,881,789,804,654,632.567722457,654,0.402193611705,-0.00537303087623,0.0498239968422,0.999999939487,7.63908090758e-05,-0.000334108979207,-5.96874086167e-05,1793237942463689472
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767.144827628,746.144827628,716,679,666,636.855172372,881,789,804,654,632.855172372,654,0.40203330359,-0.00537098869866,0.049824772368,0.999999941193,7.97078978612e-05,-0.000328142389123,-5.98658198573e-05,1793237942480356096
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767.72981151,746.72981151,716,679,666,636.27018849,881,789,804,654,632.27018849,654,0.40189811587,-0.0053706950868,0.0498281352526,0.999999943692,8.03590494122e-05,-0.000320326753397,-5.95766932343e-05,1793237942497022464
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767.686227682,746.686227682,716,679,665.686227682,636.313772318,881,789,804,654,632.313772318,654,0.401775549734,-0.00536990792246,0.0498344840102,0.999999944174,0.000117124287947,-0.000308808682404,-5.06996058012e-05,1793237942513689088
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767.103144914,746.103144914,716,679,665.103144914,636.896855086,881,789,804,654,632.896855086,654,0.401663816674,-0.00536869714252,0.04984339554,0.999999939064,0.000184886208993,-0.000294112813046,-3.4451480406e-05,1793237942530355968
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,665.951942766,637,881,789.048057234,804,654,632.048057234,653.951942766,0.401466074971,-0.00535961507648,0.0498461658713,0.999999937513,0.00020527776119,-0.000285762511886,-3.42680996341e-05,1793237942563689216
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,665.379118023,637,881,789.620881977,804,654,632.620881977,653.379118023,0.401386272168,-0.00536950474979,0.0498450180073,0.999999940615,0.000190149062013,-0.000285313268416,-3.47765469796e-05,1793237942580355840
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,767.641079173,746.641079173,716,679.358920827,665.358920827,637,881.641079173,789,803.358920827,654,632.641079173,653.641079173,0.401204220358,-0.00539182643895,0.049848880324,0.999999948522,0.000155937867925,-0.000278175776728,-3.54579981818e-05,1793237942630355968
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,767.529693353,746,716,679.470306647,666.529693353,637,881,789,804,654,632,653.529693353,0.401129631511,-0.00539003938212,0.0498549666264,0.99999995161,0.000157559840358,-0.00026579348668,-3.61875312867e-05,1793237942663689216
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767.894788592,746,716,679,666.789577185,637,881,789,804,654,632,654,0.401097823207,-0.00538739374621,0.0498576805668,0.999999952973,0.000158530829694,-0.000259913832496,-3.69667937741e-05,1793237942680355584
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,665,637,881,789,804,654,632,654,0.401054453101,-0.00538945421419,0.0498664710627,0.999999958569,0.000156395064796,-0.000238953942568,-3.61033022046e-05,1793237942713689088
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,665,637,881,789,804,654,632,654,0.401084507133,-0.0053846463654,0.0498779882682,0.999999964253,0.000168522190333,-0.000204534646771,-3.54924549767e-05,1793237942730356224
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+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.016878679,662.101272075,637,880.033757358,788.050636037,803.016878679,654.016878679,632,654.016878679,0.401091936796,-0.00538345781617,0.0498808354389,0.999999965453,0.000171520139367,-0.000196025845905,-3.53414473071e-05,1793237942763689984
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,767.660103996,746,716,679.339896004,665.640415982,637,880.660103996,789.320207991,804,654,632,654.320207991,0.401091936796,-0.00538345781617,0.0498808354389,0.999999965453,0.000171520139367,-0.000196025845905,-3.53414473071e-05,1793237942830355712
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+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.500052659,663.499947341,637,880.499947341,788.499947341,803.500052659,654,632,653.499947341,0.401091936796,-0.00538345781617,0.0498808354389,0.999999965453,0.000171520139367,-0.000196025845905,-3.53414473071e-05,1793237942863688704
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+424,7.066666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.964014462,667.928028923,637,881.964014462,789,804.964014462,654,632.964014462,654,0.401151825654,-0.0053848700101,0.0498819548546,0.999999965836,0.000171096832344,-0.000194498191184,-3.4996903174e-05,1793237942963688960
+425,7.083333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.953466703,667.906933407,637,881.953466703,789,804.953466703,654,632.953466703,654,0.401169379739,-0.00538528393972,0.0498822829678,0.999999965948,0.000170972756383,-0.000194050418724,-3.48959134857e-05,1793237942980355840
+426,7.100000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.942918945,667.88583789,637,881.942918945,789,804.942918945,654,632.942918945,654,0.401186933824,-0.00538569786935,0.0498826110809,0.999999966059,0.000170848680422,-0.000193602646264,-3.47949237974e-05,1793237942997022464
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+429,7.150000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.91127567,667.82255134,637,881.91127567,789,804.91127567,654,632.91127567,654,0.401239596079,-0.00538693965821,0.0498835954202,0.999999966392,0.000170476452548,-0.00019225932891,-3.44919547385e-05,1793237943047022336
+430,7.166666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.900727912,667.801455825,637,881.900727912,789,804.900727912,654,632.900727912,654,0.401257150163,-0.00538735358781,0.0498839235333,0.999999966503,0.000170352376595,-0.000191811556477,-3.43909650562e-05,1793237943063689216
+431,7.183333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.890180154,667.780360308,637,881.890180154,789,804.890180154,654,632.890180154,654,0.401274704248,-0.00538776751744,0.0498842516465,0.999999966613,0.000170228300634,-0.000191363784017,-3.42899753679e-05,1793237943080355840
+432,7.200000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.879632395,667.759264791,637,881.879632395,789,804.879632395,654,632.879632395,654,0.401292258333,-0.00538818144706,0.0498845797596,0.999999966723,0.000170104224673,-0.000190916011556,-3.41889856796e-05,1793237943097022464
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+435,7.250000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.847989121,667.695978241,637,881.847989121,789,804.847989121,654,632.847989121,654,0.401344920588,-0.00538942323592,0.0498855640989,0.999999967052,0.000169731996798,-0.000189572694202,-3.38860166205e-05,1793237943147022336
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+439,7.316666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.805798088,667.611596176,637,881.805798088,789,804.805798088,654,632.805798088,654,0.401415136926,-0.00539107895438,0.0498868765514,0.999999967488,0.000169235692969,-0.000187781604413,-3.3482057879e-05,1793237943213689088
+440,7.333333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.79525033,667.59050066,637,881.79525033,789,804.79525033,654,632.79525033,654,0.401432691011,-0.00539149288401,0.0498872046645,0.999999967596,0.000169111617008,-0.000187333831953,-3.33810681906e-05,1793237943230355712
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+445,7.416666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.742511539,667.485023078,637,881.742511539,789,804.742511539,654,632.742511539,654,0.401520461435,-0.00539356253209,0.0498888452301,0.999999968135,0.000168491237217,-0.000185094969703,-3.28761197605e-05,1793237943313689088
+446,7.433333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.73196378,667.463927561,637,881.73196378,789,804.73196378,654,632.73196378,654,0.40153801552,-0.00539397646172,0.0498891733432,0.999999968242,0.000168367161255,-0.000184647197242,-3.2775130072e-05,1793237943330355968
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+448,7.466666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.710868264,667.421736528,637,881.710868264,789,804.710868264,654,632.710868264,654,0.401573123689,-0.00539480432095,0.0498898295694,0.999999968455,0.000168119009339,-0.000183751652347,-3.25731507011e-05,1793237943363689216
+449,7.483333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.700320506,667.400641011,637,881.700320506,789,804.700320506,654,632.700320506,654,0.401590677775,-0.00539521825058,0.0498901576826,0.999999968561,0.000167994933379,-0.000183303879885,-3.24721610125e-05,1793237943380355840
+450,7.500000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.689772747,667.379545494,637,881.689772747,789,804.689772747,654,632.689772747,654,0.40160823186,-0.0053956321802,0.0498904857957,0.999999968668,0.000167870857417,-0.000182856107424,-3.23711713241e-05,1793237943397022464
+451,7.516666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.679224989,667.358449979,637,881.679224989,789,804.679224989,654,632.679224989,654,0.401625785944,-0.00539604610981,0.0498908139088,0.999999968773,0.000167746781463,-0.00018240833499,-3.22701816416e-05,1793237943413689088
+452,7.533333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.668677231,667.337354462,637,881.668677231,789,804.668677231,654,632.668677231,654,0.401643340029,-0.00539646003943,0.0498911420219,0.999999968879,0.000167622705501,-0.000181960562529,-3.21691919531e-05,1793237943430355968
+453,7.550000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.658129473,667.316258945,637,881.658129473,789,804.658129473,654,632.658129473,654,0.401660894114,-0.00539687396906,0.049891470135,0.999999968984,0.00016749862954,-0.000181512790067,-3.20682022645e-05,1793237943447022592
+454,7.566666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.647581715,667.295163429,637,881.647581715,789,804.647581715,654,632.647581715,654,0.401678448198,-0.00539728789866,0.0498917982481,0.99999996909,0.000167374553585,-0.000181065017633,-3.19672125821e-05,1793237943463689216
+455,7.583333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.637033956,667.274067913,637,881.637033956,789,804.637033956,654,632.637033956,654,0.401696002284,-0.00539770182829,0.0498921263613,0.999999969195,0.000167250477624,-0.000180617245171,-3.18662228935e-05,1793237943480355840
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+457,7.616666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.61593844,667.23187688,637,881.61593844,789,804.61593844,654,632.61593844,654,0.401731110453,-0.00539852968752,0.0498927825875,0.999999969404,0.000167002325708,-0.000179721700275,-3.16642435225e-05,1793237943513689344
+458,7.633333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.605390682,667.210781363,637,881.605390682,789,804.605390682,654,632.605390682,654,0.401748664538,-0.00539894361715,0.0498931107006,0.999999969508,0.000166878249745,-0.000179273927814,-3.15632538339e-05,1793237943530355968
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+460,7.666666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.584295165,667.168590331,637,881.584295165,789,804.584295165,654,632.584295165,654,0.401783772707,-0.00539977147638,0.0498937669268,0.999999969716,0.000166630097829,-0.000178378382917,-3.13612744628e-05,1793237943563689216
+461,7.683333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.573747407,667.147494814,637,881.573747407,789,804.573747407,654,632.573747407,654,0.401801326793,-0.005400185406,0.04989409504,0.99999996982,0.000166506021868,-0.000177930610455,-3.12602847742e-05,1793237943580355840
+462,7.700000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.563199648,667.126399297,637,881.563199648,789,804.563199648,654,632.563199648,654,0.401818880878,-0.00540059933563,0.0498944231531,0.999999969923,0.000166381945906,-0.000177482837994,-3.11592950856e-05,1793237943597022720
+463,7.716666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.552651891,667.105303781,637,881.552651891,789,804.552651891,654,632.552651891,654,0.401836434962,-0.00540101326523,0.0498947512662,0.999999970026,0.000166257869951,-0.000177035065559,-3.10583054031e-05,1793237943613689344
+464,7.733333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.542104132,667.084208264,637,881.542104132,789,804.542104132,654,632.542104132,654,0.401853989047,-0.00540142719486,0.0498950793793,0.999999970129,0.000166133793989,-0.000176587293097,-3.09573157145e-05,1793237943630355968
+465,7.750000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.531556374,667.063112747,637,881.531556374,789,804.531556374,654,632.531556374,654,0.401871543132,-0.00540184112449,0.0498954074924,0.999999970232,0.000166009718026,-0.000176139520636,-3.08563260258e-05,1793237943647022592
+466,7.766666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.521008616,667.042017232,637,881.521008616,789,804.521008616,654,632.521008616,654,0.401889097216,-0.00540225505409,0.0498957356055,0.999999970334,0.000165885642072,-0.000175691748201,-3.07553363433e-05,1793237943663689216
+467,7.783333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.510460857,667.020921715,637,881.510460857,789,804.510460857,654,632.510460857,654,0.401906651301,-0.00540266898372,0.0498960637186,0.999999970436,0.000165761566109,-0.000175243975739,-3.06543466546e-05,1793237943680355840
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+469,7.816666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.489365341,666.978730682,637,881.489365341,789,804.489365341,654,632.489365341,654,0.401941759471,-0.00540349684295,0.0498967199449,0.99999997064,0.000165513414193,-0.000174348430842,-3.04523672834e-05,1793237943713689344
+470,7.833333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.478817583,666.957635166,637,881.478817583,789,804.478817583,654,632.478817583,654,0.401959313556,-0.00540391077258,0.049897048058,0.999999970742,0.000165389338231,-0.00017390065838,-3.03513775947e-05,1793237943730355968
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+472,7.866666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.457722067,666.915444133,637,881.457722067,789,804.457722067,654,632.457722067,654,0.401994421725,-0.0054047386318,0.0498977042842,0.999999970944,0.000165141186313,-0.000173005113483,-3.01493982235e-05,1793237943763689216
+473,7.883333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.447174308,666.894348616,637,881.447174308,789,804.447174308,654,632.447174308,654,0.40201197581,-0.00540515256143,0.0498980323973,0.999999971045,0.000165017110351,-0.000172557341021,-3.00484085348e-05,1793237943780356096
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+475,7.916666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.426078792,666.852157584,637,881.426078792,789,804.426078792,654,632.426078792,654,0.40204708398,-0.00540598042066,0.0498986886236,0.999999971246,0.000164768958433,-0.000171661796123,-2.98464291635e-05,1793237943813689344
+476,7.933333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.415531033,666.831062067,637,881.415531033,789,804.415531033,654,632.415531033,654,0.402064638065,-0.00540639435029,0.0498990167367,0.999999971347,0.000164644882471,-0.000171214023661,-2.97454394748e-05,1793237943830355968
+477,7.950000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.404983275,666.80996655,637,881.404983275,789,804.404983275,654,632.404983275,654,0.40208219215,-0.00540680827992,0.0498993448498,0.999999971446,0.000164520806508,-0.000170766251198,-2.96444497861e-05,1793237943847022592
+478,7.966666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.394435517,666.788871034,637,881.394435517,789,804.394435517,654,632.394435517,654,0.402099746234,-0.00540722220952,0.0498996729629,0.999999971546,0.000164396730553,-0.000170318478763,-2.95434601035e-05,1793237943863689472
+479,7.983333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.383887759,666.767775517,637,881.383887759,789,804.383887759,654,632.383887759,654,0.402117300319,-0.00540763613915,0.049900001076,0.999999971646,0.00016427265459,-0.000169870706301,-2.94424704147e-05,1793237943880356096
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+481,8.016666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.362792242,666.725584485,637,881.362792242,789,804.362792242,654,632.362792242,654,0.402152408489,-0.00540846399838,0.0499006573023,0.999999971844,0.000164024502672,-0.000168975161403,-2.92404910434e-05,1793237943913689344
+482,8.033333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.352244484,666.704488968,637,881.352244484,789,804.352244484,654,632.352244484,654,0.402169962574,-0.005408877928,0.0499009854154,0.999999971943,0.00016390042671,-0.00016852738894,-2.91395013546e-05,1793237943930355968
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+484,8.066666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.331148968,666.662297935,637,881.331148968,789,804.331148968,654,632.331148968,654,0.402205070743,-0.00540970578723,0.0499016416416,0.99999997214,0.000163652274792,-0.000167631844042,-2.89375219832e-05,1793237943963689472
+485,8.083333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.320601209,666.641202419,637,881.320601209,789,804.320601209,654,632.320601209,654,0.402222624828,-0.00541011971686,0.0499019697547,0.999999972238,0.000163528198829,-0.000167184071579,-2.88365322945e-05,1793237943980356096
+486,8.100000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.310053451,666.620106902,637,881.310053451,789,804.310053451,654,632.310053451,654,0.402240178913,-0.00541053364649,0.0499022978679,0.999999972336,0.000163404122866,-0.000166736299118,-2.87355426057e-05,1793237943997022720
+487,8.116666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.299505693,666.599011386,637,881.299505693,789,804.299505693,654,632.299505693,654,0.402257732998,-0.00541094757609,0.049902625981,0.999999972434,0.00016328004691,-0.000166288526681,-2.8634552923e-05,1793237944013689344
+488,8.133333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.288957935,666.577915869,637,881.288957935,789,804.288957935,654,632.288957935,654,0.402275287083,-0.00541136150572,0.0499029540941,0.999999972531,0.000163155970948,-0.000165840754219,-2.85335632342e-05,1793237944030355968
+489,8.150000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.278410176,666.556820352,637,881.278410176,789,804.278410176,654,632.278410176,654,0.402292841168,-0.00541177543534,0.0499032822072,0.999999972629,0.000163031894985,-0.000165392981756,-2.84325735455e-05,1793237944047022848
+490,8.166666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.267862418,666.535724837,637,881.267862418,789,804.267862418,654,632.267862418,654,0.402310395252,-0.00541218936495,0.0499036103203,0.999999972726,0.000162907819029,-0.000164945209321,-2.83315838628e-05,1793237944063689472
+491,8.183333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.25731466,666.51462932,637,881.25731466,789,804.25731466,654,632.25731466,654,0.402327949337,-0.00541260329457,0.0499039384334,0.999999972823,0.000162783743066,-0.000164497436858,-2.8230594174e-05,1793237944080356096
+492,8.200000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.246766901,666.493533803,637,881.246766901,789,804.246766901,654,632.246766901,654,0.402345503422,-0.0054130172242,0.0499042665466,0.999999972919,0.000162659667103,-0.000164049664395,-2.81296044852e-05,1793237944097022720
+493,8.216666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.236219144,666.472438287,637,881.236219144,789,804.236219144,654,632.236219144,654,0.402363057506,-0.0054134311538,0.0499045946597,0.999999973015,0.000162535591147,-0.000163601891959,-2.80286148024e-05,1793237944113689344
+494,8.233333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.225671385,666.45134277,637,881.225671385,789,804.225671385,654,632.225671385,654,0.402380611592,-0.00541384508343,0.0499049227728,0.999999973112,0.000162411515184,-0.000163154119496,-2.79276251136e-05,1793237944130356224
+495,8.250000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.215123627,666.430247253,637,881.215123627,789,804.215123627,654,632.215123627,654,0.402398165677,-0.00541425901306,0.0499052508859,0.999999973208,0.000162287439221,-0.000162706347033,-2.78266354248e-05,1793237944147022848
+496,8.266666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.204575869,666.409151738,637,881.204575869,789,804.204575869,654,632.204575869,654,0.402415719761,-0.00541467294266,0.049905578999,0.999999973303,0.000162163363266,-0.000162258574597,-2.77256457421e-05,1793237944163689472
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+498,8.300000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.183480352,666.366960704,637,881.183480352,789,804.183480352,654,632.183480352,654,0.402450827931,-0.00541550080191,0.0499062352253,0.999999973494,0.000161915211338,-0.000161363029671,-2.75236663645e-05,1793237944197022720
+499,8.316666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.172932594,666.345865188,637,881.172932594,789,804.172932594,654,632.172932594,654,0.402468382015,-0.00541591473152,0.0499065633384,0.999999973589,0.000161791135383,-0.000160915257235,-2.74226766817e-05,1793237944213689344
+500,8.333333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.162384836,666.324769671,637,881.162384836,789,804.162384836,654,632.162384836,654,0.402485936101,-0.00541632866114,0.0499068914515,0.999999973684,0.000161667059419,-0.000160467484772,-2.73216869929e-05,1793237944230356224
+501,8.350000000,POSE2_TO_POSE3_RETREAT,768,746,716,679.151837077,666.303674155,637,881.151837077,789,804.151837077,654,632.151837077,654,0.402503490186,-0.00541674259077,0.0499072195646,0.999999973778,0.000161542983456,-0.000160019712309,-2.7220697304e-05,1793237944247022848
+502,8.366666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.141289319,666.282578639,637,881.141289319,789,804.141289319,654,632.141289319,654,0.40252104427,-0.00541715652037,0.0499075476777,0.999999973873,0.0001614189075,-0.000159571939872,-2.71197076213e-05,1793237944263689472
+503,8.383333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.130741561,666.261483122,637,881.130741561,789,804.130741561,654,632.130741561,654,0.402538598355,-0.00541757045,0.0499078757908,0.999999973967,0.000161294831537,-0.000159124167409,-2.70187179324e-05,1793237944280356096
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+505,8.416666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.109646045,666.21929209,637,881.109646045,789,804.109646045,654,632.109646045,654,0.402573706524,-0.00541839830923,0.0499085320171,0.999999974154,0.000161046679617,-0.00015822862251,-2.68167385608e-05,1793237944313689600
+506,8.433333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.099098286,666.198196573,637,881.099098286,789,804.099098286,654,632.099098286,654,0.402591260609,-0.00541881223886,0.0499088601302,0.999999974248,0.000160922603653,-0.000157780850046,-2.67157488719e-05,1793237944330356224
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+509,8.483333333,POSE2_TO_POSE3_RETREAT,768,746,716,679.067455012,666.134910023,637,881.067455012,789,804.067455012,654,632.067455012,654,0.402643922864,-0.00542005402771,0.0499098444695,0.999999974527,0.00016055037577,-0.000156437532684,-2.64127798114e-05,1793237944380356096
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+514,8.566666667,POSE2_TO_POSE3_RETREAT,768,746,716,679.014716221,666.029432441,637,881.014716221,789,804.014716221,654,632.014716221,654,0.402731693288,-0.0054221236758,0.0499114850351,0.999999974987,0.000159929995966,-0.000154198670421,-2.59078313791e-05,1793237944463689472
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+536,8.933333333,POSE2_TO_POSE3_RETREAT,767,746.974266986,716,679.974266986,666,637,881,789,803.974266986,654,632,654,0.402736062573,-0.00542415835744,0.0499035735334,0.99999997278,0.000157647136202,-0.000169926749296,-2.67064328218e-05,1793237944830355712
+537,8.950000000,POSE2_TO_POSE3_RETREAT,767,746.445511301,716,679.445511301,666,637,881,789,804,654,632,654,0.402710215353,-0.00542082459089,0.0498913870122,0.999999967354,0.000164319092137,-0.000193772240174,-2.72740269471e-05,1793237944847022336
+538,8.966666667,POSE2_TO_POSE3_RETREAT,767,746.133479085,716,679.133479085,666,637,881,789,804,654,632,654,0.402686168311,-0.00541841637356,0.0498801626939,0.999999962083,0.000168871699427,-0.000215728682586,-2.78656507324e-05,1793237944863688704
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+542,9.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,788.446640441,803.553359559,654,632,653.446640441,0.402551705646,-0.00541586196035,0.0498274633095,0.999999935398,0.000166682128108,-0.000316922963229,-3.132376749e-05,1793237944930355968
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+544,9.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,803,654,632,654,0.402400536626,-0.00541106268738,0.0497963419878,0.999999915688,0.000167625864589,-0.00037328725612,-3.43919227357e-05,1793237944963689728
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+547,9.116666667,POSE2_TO_POSE3_RETREAT,767.655474672,746,716,680,666,637,881,789,804,654,632,653.344525328,0.402140599462,-0.00540270641498,0.04979994812,0.999999918081,0.000171632485754,-0.000364810128524,-3.59586607338e-05,1793237945013689344
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+586,9.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,880.987669193,789,804,654,632,654,0.400999545213,-0.00541790413832,0.0498696610928,0.999999965113,0.000115592575995,-0.000234646456554,-3.67783690638e-05,1793237945663689216
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2eece9ce62efda5dea8106fa70ad258862d82e71
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,594 @@
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+558,9.300000000,pose2_to_pose3_retreat,0.578343347914,1.19704941618e-06,1.04001178717,0.548914625185,0.00867487134677,1.03966132358
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+581,9.683333333,pose2_to_pose3_retreat,0.578253279713,1.05456197282e-06,1.04001146546,0.54882455744,0.00867473006494,1.03966099832
+582,9.700000000,pose2_to_pose3_retreat,0.57825321353,1.04711623649e-06,1.04001146713,0.548824491391,0.00867472305533,1.0396609996
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..39c3a4e513eca3e12f126ded8e71b7965146fbf4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ea98b7bb360bae6309a76cac820a30882efcb17517517e4ec0ee3cd80447559
+size 27876300
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..443f8a810ee2dac42594c22f6427b0afdd02e45f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_05/franka_data.csv
@@ -0,0 +1,441 @@
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+15,0.250000000,BASELINE,767,745.716997695,716,679,665.716997695,637,881,788.283002305,803.283002305,653.716997695,632,653,0.40099799592,-0.00542027814515,0.0498695949017,0.999999965458,0.000111526967794,-0.000235249180635,-3.60958771245e-05,1793237946172954880
+16,0.266666667,BASELINE,767,746,716,679,666,637,880.699363158,788.300636842,803,654,632,653.300636842,0.400997671876,-0.00542145087664,0.0498694687118,0.999999965516,0.000110413675542,-0.000235542142612,-3.59974123271e-05,1793237946189621248
+17,0.283333333,BASELINE,767,746,716,679,666,637,880.119620893,788.880379107,803,654,632,653.880379107,0.400998035578,-0.00542329903384,0.0498699500045,0.999999966058,0.00010789311778,-0.000234427118835,-3.58873484713e-05,1793237946206287616
+18,0.300000000,BASELINE,767,746,716,679,666,637,880,789,803.457683783,654,632.457683783,653.542316217,0.400998395251,-0.00542298304602,0.0498703874099,0.999999966287,0.000107881603909,-0.000233447206353,-3.59145481813e-05,1793237946222954240
+19,0.316666667,BASELINE,767,746,716,679.034904056,666,637,880.069808113,789,803.965095944,654,632.965095944,653,0.400998622934,-0.00542218443171,0.0498707050436,0.99999996639,0.000108452546382,-0.000232730475953,-3.59663607278e-05,1793237946239621120
+20,0.333333333,BASELINE,767,746,716,679.620795795,666,637,881.241591589,789,803.379204205,654,632.379204205,653,0.400996783573,-0.00542264869613,0.0498693120964,0.999999965777,0.000107921058909,-0.000235613791104,-3.58433851104e-05,1793237946256287744
+21,0.350000000,BASELINE,767.204342866,746.204342866,716,680,666,637,881.795657134,789,803,654,632,653,0.400996298752,-0.00542289657511,0.0498691360214,0.999999965594,0.000108062521723,-0.000236340787034,-3.57299763936e-05,1793237946272954368
+22,0.366666667,BASELINE,767.783588176,746.783588176,716,680,666,637,881.216411824,789,803,654,632,653,0.400998299071,-0.00542274745738,0.0498711925099,0.999999966206,0.000109438628659,-0.000233111640895,-3.56341198293e-05,1793237946289621248
+23,0.383333333,BASELINE,767.637750795,746.637750795,716,680,666,637,881,789,803.362249205,654,632,653,0.400998501359,-0.00542281586364,0.0498715920342,0.999999966318,0.000109447412849,-0.000232631971213,-3.56024692507e-05,1793237946306288128
+24,0.400000000,BASELINE,767.059438204,746.059438204,716,680,666,637,881,789,803.940561796,654,632,653,0.400997631213,-0.00542301401196,0.049871003263,0.999999966135,0.000108640658095,-0.0002337922253,-3.56091142962e-05,1793237946322954752
+25,0.416666667,BASELINE,767,746,716,679.48379367,666,637,881,789,803.48379367,654,632,653.51620633,0.400998289067,-0.00542139773379,0.0498709701978,0.999999966064,0.000109574206497,-0.000233582747248,-3.61177125345e-05,1793237946339621120
+26,0.433333333,BASELINE,767,746,716,679,666,637,881,789,803.093203049,654,632,653.906796951,0.400998999207,-0.00541993472016,0.0498709924733,0.999999966019,0.000110399260147,-0.000233319958233,-3.65492937384e-05,1793237946356287744
+27,0.450000000,BASELINE,767,746,716,679,666,637,881,789,803.678961143,654,632,653.321038857,0.400999060639,-0.00542038008858,0.049870970797,0.999999966051,0.000109597401552,-0.000233604642335,-3.62699867551e-05,1793237946372954368
+28,0.466666667,BASELINE,767.263255863,746,715.736744137,679.263255863,666,637,881,788.736744137,803.736744137,654,632,653.263255863,0.400998776128,-0.00542124270402,0.0498707631599,0.9999999661,0.000108544365603,-0.000233924243636,-3.6020222779e-05,1793237946389620992
+29,0.483333333,BASELINE,767.845775838,746,715.154224162,679.845775838,666,637,881,788.154224162,803.154224162,654,632,653.845775838,0.400998072073,-0.00542261133665,0.0498703299984,0.999999966169,0.00010718671383,-0.000234286190831,-3.58062871653e-05,1793237946406287616
+30,0.500000000,BASELINE,768,746,715.42311692,680,666,637.42311692,881,788.42311692,803.42311692,654,632,654,0.400998488377,-0.00542360186961,0.0498706194823,0.999999966373,0.000106848253163,-0.000233598036435,-3.56226200654e-05,1793237946422954752
+31,0.516666667,BASELINE,768,746,715.998593133,680,666,637.998593133,881,788.998593133,803.998593133,654,632,654,0.400999308109,-0.0054244562534,0.0498711691821,0.999999966625,0.000106876790934,-0.000232531753132,-3.54498522963e-05,1793237946439621888
+32,0.533333333,BASELINE,768,746,716,679.42612444,666,637.42612444,881,789,804,654,632.57387556,654,0.400999371864,-0.00542317798732,0.0498719098173,0.999999966589,0.000108172752357,-0.000232074176417,-3.55365789061e-05,1793237946456288512
+33,0.550000000,BASELINE,767.847372998,746,716,679,666,637,881,789,804,653.847372998,632.847372998,654,0.400999374456,-0.0054223527674,0.0498722354931,0.999999966555,0.000108823820296,-0.000231896593358,-3.56612312104e-05,1793237946472955136
+34,0.566666667,BASELINE,767.258709755,746,716,679,666,637,881,789,804,653.258709755,632.258709755,654,0.400999207604,-0.00542283677527,0.0498713743451,0.999999966533,0.000107623634398,-0.000232514655463,-3.58924156604e-05,1793237946489621504
+35,0.583333333,BASELINE,767,746,716,679,666,637,881,789,804,653.324831117,632,653.675168883,0.400998656905,-0.00542264475959,0.0498707337813,0.999999966527,0.000106966087317,-0.000232814767835,-3.60863386653e-05,1793237946506287872
+36,0.600000000,BASELINE,767,746,716,679,666,637,881,789,804,653.904355704,632,653.095644296,0.400997805237,-0.00542192268764,0.0498702661731,0.999999966534,0.000106734012165,-0.000232865582356,-3.62510457538e-05,1793237946522954240
+37,0.616666667,BASELINE,767.480702769,746,716,679,665.519297231,637,881,789,804,654,632,653.480702769,0.400996403365,-0.00542262287135,0.0498694208305,0.999999966026,0.000107313093847,-0.000234829196105,-3.58766560246e-05,1793237946539620864
+38,0.633333333,BASELINE,768,746,716,679,665.057541754,636.942458246,881,789,803.942458246,654,632,654,0.400995338514,-0.00542347166131,0.0498688329232,0.999999965577,0.000107864625096,-0.000236544511923,-3.54760867065e-05,1793237946556287744
+39,0.650000000,BASELINE,768,746,716,679,665.644689345,636.355310655,881,789,803.355310655,654,632,654,0.400998376511,-0.00542310077263,0.0498713016038,0.999999966641,0.000106686894953,-0.000232494684276,-3.58153123275e-05,1793237946572954624
+40,0.666666667,BASELINE,767.771151902,746,716,679,666,636.228848098,881,788.771151902,803,654,632,654,0.400999575715,-0.00542250468041,0.0498721779757,0.999999966945,0.000106507436308,-0.000231223409253,-3.60749892942e-05,1793237946589621504
+41,0.683333333,BASELINE,767.191573843,746,716,679,666,636.808426157,881,788.191573843,803,654,632,654,0.400997956805,-0.00542156344383,0.0498706139937,0.9999999661,0.000107857917141,-0.000234210512247,-3.62127508893e-05,1793237946606288128
+42,0.700000000,BASELINE,767,746,716,679.386267049,666,637,881,788.386267049,803,654,632,654,0.400998043039,-0.00542223360742,0.0498707592548,0.999999966283,0.000106961387439,-0.000233863021215,-3.60806089916e-05,1793237946622954752
+43,0.716666667,BASELINE,767,746,716,679.963250212,666,637,881,788.963250212,803,654,632,654,0.400998971173,-0.00542369938636,0.0498717484404,0.999999966969,0.000104955415095,-0.000231869102268,-3.58152045042e-05,1793237946639621376
+44,0.733333333,BASELINE,767,746,716,680,666,637,880.461760794,789,803,654,632,654,0.400999452456,-0.00542320314807,0.0498719954768,0.99999996715,0.000105548144927,-0.00023080081166,-3.59339508462e-05,1793237946656287744
+45,0.750000000,BASELINE,767.116230185,746,716,680,666,637,880.116230185,789,803.116230185,654,632,654,0.400999841778,-0.00542223798681,0.049872077465,0.999999967145,0.000107106655582,-0.00023008432304,-3.60562959089e-05,1793237946672954368
+46,0.766666667,BASELINE,767.707032108,746,716,680,666,637,880.707032108,789,803.707032108,654,632,654,0.400999979738,-0.00541990315068,0.0498716916887,0.999999966514,0.000111886688128,-0.000230547159354,-3.60866361727e-05,1793237946689621248
+47,0.783333333,BASELINE,767.708138031,746,716,680,666,637,881,789,803.708138031,654,632,653.708138031,0.400999760579,-0.00541964543123,0.0498718233136,0.999999966516,0.000112528746436,-0.000230228882293,-3.60646724032e-05,1793237946706288128
+48,0.800000000,BASELINE,767.129182591,746,716,680,666,637,881,789,803.129182591,654,632,653.129182591,0.400999190136,-0.00542143089185,0.0498724638865,0.999999967148,0.000109100438093,-0.000229142253892,-3.59912591575e-05,1793237946722955264
+49,0.816666667,BASELINE,767.446666654,746,716,680,666,637,881,789,803,654,632,653.446666654,0.40100046043,-0.00542209853345,0.0498730718488,0.99999996728,0.000109313127407,-0.000228503958692,-3.57324661129e-05,1793237946739621888
+50,0.833333333,BASELINE,767.978586929,746,716,680,666,637,881,789,803,654,632,654,0.40100212565,-0.00542244322253,0.0498735967202,0.999999967261,0.0001104529659,-0.000228081553339,-3.5442127537e-05,1793237946756288256
+51,0.850000000,BASELINE,767.409230562,746,716,680,666,637,881,789,803,654,632,654,0.401000367924,-0.00542273940931,0.0498722350377,0.999999967046,0.00010855770445,-0.000229888497109,-3.57070426547e-05,1793237946772954624
+52,0.866666667,BASELINE,767,746,716,679.83128855,666,637,881,789,803,654,632,654,0.40099928506,-0.00542299431651,0.049871513399,0.999999966981,0.000107009653221,-0.000230869011671,-3.58606176484e-05,1793237946789620992
+53,0.883333333,BASELINE,767,746,716,679.231404397,666,637,881,789,803,654,632,654,0.400999926933,-0.00542314372625,0.0498724275081,0.999999967317,0.000106348960785,-0.000229737436424,-3.57296427501e-05,1793237946806287616
+54,0.900000000,BASELINE,767.352828304,746.352828304,716,679,666,637,881,788.647171696,803.352828304,654,632,654,0.401000383707,-0.00542249884704,0.0498727037293,0.999999967368,0.000106618617057,-0.000229357778811,-3.59357037489e-05,1793237946822954240
+55,0.916666667,BASELINE,767.92723191,746.92723191,716,679,666,637,881,788.07276809,803.92723191,654,632,654,0.40100072424,-0.00542135515633,0.0498725793583,0.99999996724,0.000107472530043,-0.000229450323654,-3.63534224621e-05,1793237946839620864
+56,0.933333333,BASELINE,768,746.498304399,716,679,666.501695601,637,881,788.501695601,804,654,632,653.498304399,0.400999642568,-0.00542178142001,0.0498718239648,0.999999966882,0.000108228990325,-0.000230677083599,-3.62061154294e-05,1793237946856287744
+57,0.950000000,BASELINE,767.921722991,746,716,679,666.921722991,637,881,789,803.921722991,654,632,653.078277009,0.400998631407,-0.00542234080727,0.0498711748476,0.999999966574,0.000108934817955,-0.000231714188875,-3.597310022e-05,1793237946872954624
+58,0.966666667,BASELINE,767.331344395,746,716,679,666.331344395,637,881,789,803.331344395,654,632,653.668655605,0.400999431233,-0.005422281196,0.0498718198608,0.999999966828,0.000109401882184,-0.000230434149333,-3.57155873402e-05,1793237946889621504
+59,0.983333333,BASELINE,767.254331056,746.254331056,716,679,666,637,881,789,803,654,632,654,0.400999532538,-0.00542244888072,0.0498720288979,0.999999966968,0.000108899723358,-0.000230091661584,-3.55439323489e-05,1793237946906288128
+60,1.000000000,BASELINE,767.833990545,746.833990545,716,679,666,637,881,789,803,654,632,654,0.400998740326,-0.00542290731188,0.0498716802549,0.999999966961,0.000107157779639,-0.000230948446214,-3.54821027314e-05,1793237946922954496
+61,1.016666667,BASELINE,767.589313591,746.589313591,716,679.410686409,666,637,880.589313591,789,803,654,632,654,0.400998697962,-0.00542271570598,0.0498714730436,0.999999966782,0.00010787952892,-0.000231397237497,-3.53957051923e-05,1793237946939620864
+62,1.033333333,BASELINE,767.013807148,746.013807148,716,679.986192852,666,637,880.013807148,789,803,654,632,654,0.400998956534,-0.00542226322185,0.049871322593,0.999999966534,0.000109590027758,-0.000231682289496,-3.52994478571e-05,1793237946956287488
+63,1.050000000,BASELINE,767.57304214,746.57304214,716.57304214,679.42695786,666,637,880.57304214,788.42695786,803,654,632,653.42695786,0.400999610252,-0.00542216338683,0.0498715889021,0.999999966571,0.000110397952729,-0.000231126436688,-3.53742806613e-05,1793237946972954368
+64,1.066666667,BASELINE,767.842010513,746.842010513,716.842010513,679.157989487,666,637,881,788.157989487,803,654,632,653.157989487,0.401000099272,-0.00542207311816,0.0498719583705,0.999999966637,0.00011103796782,-0.000230514873237,-3.54754669103e-05,1793237946989621248
+65,1.083333333,BASELINE,767.262876342,746.262876342,716.262876342,679.737123658,666,637,881,788.737123658,803,654,632,653.737123658,0.401000123373,-0.00542198524291,0.0498725755174,0.999999966766,0.00011128953452,-0.000229809904551,-3.56356916328e-05,1793237947006288640
+66,1.100000000,BASELINE,767,746,716,679.685115573,666,637,881,789,803.314884427,654,632,654,0.400999946784,-0.00542174923125,0.0498722703333,0.999999966681,0.000111208674395,-0.000230188310849,-3.582538586e-05,1793237947022955520
+67,1.116666667,BASELINE,767,746,716,679.108496416,666,637,881,789,803.891503584,654,632,654,0.40099960338,-0.00542139008728,0.0498711984993,0.999999966418,0.000110851498129,-0.000231467228082,-3.60395753931e-05,1793237947039622656
+68,1.133333333,BASELINE,767,746.466784823,716,679.466784823,666,637,881,789,804,654,632,654,0.400998963072,-0.0054209988293,0.0498712413143,0.999999966466,0.000109748531849,-0.000231773902735,-3.61032641122e-05,1793237947056288768
+69,1.150000000,BASELINE,767,746.958384651,716,679.958384651,666,637,881,789,803.958384651,654,632,654,0.400998265314,-0.00542081795341,0.049871511021,0.999999966596,0.000108343299193,-0.00023187617147,-3.60998898494e-05,1793237947072954624
+70,1.166666667,BASELINE,767,746.385350433,716,679.385350433,666,637,881,789,803.385350433,654,632,654,0.400997712653,-0.00542341865721,0.0498713791246,0.999999966852,0.00010528546343,-0.000232245710784,-3.56855644316e-05,1793237947089620992
+71,1.183333333,BASELINE,767,746,716,679.194875046,666,637,881,789,803.194875046,654,632,654,0.400997693316,-0.00542456558224,0.0498715178184,0.999999967042,0.000103897456048,-0.000232074992974,-3.55301221474e-05,1793237947106287616
+72,1.200000000,BASELINE,767,746,716,679.789865658,666,637,881,789,803.789865658,654,632,654,0.400998768998,-0.00542272762317,0.0498722120854,0.999999967111,0.000105937923644,-0.000230795024512,-3.59062161424e-05,1793237947122954240
+73,1.216666667,BASELINE,767,746,716,680,666,637,880.626962232,789,804,654,632,654,0.400999399941,-0.00542256950951,0.0498723408965,0.999999967146,0.000107061596736,-0.000230149360774,-3.57326224644e-05,1793237947139620864
+74,1.233333333,BASELINE,767,746,716,680,666,637,880.050243146,789,804,654,632,654,0.400999788053,-0.0054233286037,0.0498721609645,0.999999967165,0.000107684693279,-0.000229850032078,-3.52588953207e-05,1793237947156287488
+75,1.250000000,BASELINE,767,746,716,680,666,637,880,789,803.480439003,654,632,653.480439003,0.400999612186,-0.00542248515192,0.0498720867832,0.999999967052,0.000109209471221,-0.000229586167495,-3.54776787203e-05,1793237947172954368
+76,1.266666667,BASELINE,767,746,716,680,666,637,880.093109575,789,803,654,632,653.093109575,0.400999344678,-0.00542186833622,0.0498721015514,0.999999966964,0.000110277973653,-0.000229430245432,-3.56707505303e-05,1793237947189621248
+77,1.283333333,BASELINE,767,746,716,680,666,637,880.690512657,789,803,654,632,653.690512657,0.400998872335,-0.00542330733025,0.0498725434217,0.999999967085,0.000108409170322,-0.000229840623437,-3.53666221669e-05,1793237947206287872
+78,1.300000000,BASELINE,767,746,716,679.722236327,666,637,881,789,803,654,632,654,0.40099872258,-0.00542313092356,0.0498726085807,0.99999996704,0.000107998596923,-0.000230226375265,-3.53757865076e-05,1793237947222954752
+79,1.316666667,BASELINE,767,746,716,679.14589804,666,637,881,789,803,654,632,654,0.400998919583,-0.00542121808508,0.0498722688037,0.99999996682,0.000109155508819,-0.000230585655818,-3.57217164619e-05,1793237947239621376
+80,1.333333333,BASELINE,767,746,716,679,666,637,881,788.570747416,803.429252584,653.570747416,632,654,0.400998791343,-0.00542183902503,0.0498719558611,0.999999966745,0.00010904123376,-0.000230955276193,-3.57627198952e-05,1793237947256287744
+81,1.350000000,BASELINE,767.004119417,746,716,679.004119417,666,637,881,788.004119417,804,653.004119417,632,653.995880583,0.40099855281,-0.005423309427,0.0498716524943,0.999999966721,0.00010848698102,-0.000231329405026,-3.57012015316e-05,1793237947272954368
+82,1.366666667,BASELINE,767.595923434,746,716,679.595923434,666,637,881,788.595923434,804,653.595923434,632,653.404076566,0.400998306899,-0.00542344391666,0.0498714176666,0.999999966799,0.000106633379844,-0.000231846729119,-3.57585603455e-05,1793237947289621248
+83,1.383333333,BASELINE,767.816167264,746,716,679.816167264,666,637,881.183832736,789,804,654,632,653.183832736,0.400998747365,-0.00542386709912,0.0498714644136,0.999999966995,0.000105502192348,-0.000231516378686,-3.57763768074e-05,1793237947306287872
+84,1.400000000,BASELINE,767.236641084,746,716,679.236641084,666,637,881.763358916,789,804,654,632,653.763358916,0.401000665232,-0.00542491168262,0.0498721172404,0.999999967449,0.000105925974321,-0.000229361439002,-3.570907977e-05,1793237947322954496
+85,1.416666667,BASELINE,767,746,716,679,666,637,881.318387747,789,804,654,632,654,0.40100050562,-0.00542576272316,0.0498723329889,0.999999967542,0.000105368311506,-0.000229251285374,-3.54729086685e-05,1793237947339621376
+86,1.433333333,BASELINE,767,746,716,679,666,637,880.166362981,789,804,654,632,654,0.400998912243,-0.00542648019061,0.0498722470893,0.999999967384,0.000104133307688,-0.000230552334421,-3.5120189677e-05,1793237947356288000
+87,1.450000000,BASELINE,767.493224899,746,716,679,666,637,880.493224899,789,803.506775101,654,632,654,0.400998271984,-0.00542441640764,0.0498720142286,0.999999967073,0.0001056733526,-0.00023114987566,-3.5462157238e-05,1793237947372954368
+88,1.466666667,BASELINE,767.928641957,746,716,679.071358043,666,637,881,789,803.071358043,654,632,654,0.400997919716,-0.00542233214346,0.0498718303353,0.999999966795,0.000107333396706,-0.000231534069496,-3.58034691548e-05,1793237947389620992
+89,1.483333333,BASELINE,767.338437048,746,716,679.661562952,666,637,881,789,803.661562952,654,632,654,0.400998491754,-0.00542351218636,0.0498721828397,0.999999966977,0.000106460343391,-0.000231230370839,-3.52874754914e-05,1793237947406287616
+90,1.500000000,BASELINE,767.247306837,746,716,680,666,637,881,789,804,654.247306837,632,654,0.40099884214,-0.00542378587637,0.0498723777127,0.999999967062,0.000106393875298,-0.000230925145041,-3.5059434333e-05,1793237947422954240
+91,1.516666667,BASELINE,767.827053976,746,716,680,666,637,881,789,804,654.827053976,632,654,0.400998894572,-0.00542284120841,0.0498723606909,0.999999967019,0.000107411653224,-0.000230617866421,-3.52184711436e-05,1793237947439620864
+92,1.533333333,BASELINE,768,746,716,679.598379236,666,637,881,789,803.598379236,654.598379236,632,654,0.400999747091,-0.00542347215244,0.049872987525,0.999999967247,0.00010790649421,-0.000229408982584,-3.51375494556e-05,1793237947456288000
+93,1.550000000,BASELINE,768,746,716,679.026014755,666,637,881,789,803.026014755,654.026014755,632,654,0.401000939757,-0.00542477294683,0.0498738880859,0.999999967587,0.000108179015612,-0.000227816793278,-3.49546126231e-05,1793237947472954880
+94,1.566666667,BASELINE,767.45272124,746.54727876,716,679,666,637,881,788.45272124,803,654,632,654,0.400999392548,-0.00542452945106,0.0498724348703,0.999999967307,0.000106516608916,-0.000229817912037,-3.49942052166e-05,1793237947489621248
+95,1.583333333,BASELINE,767,747,716.124939179,679,666,637,881,788.124939179,803.124939179,654,632,653.875060821,0.400998305871,-0.00542415341056,0.0498714009355,0.999999967074,0.000105422775292,-0.00023132043799,-3.50570700627e-05,1793237947506287872
+96,1.600000000,BASELINE,767,747,716.718824436,679,666,637,881,788.718824436,803.718824436,654,632,653.281175564,0.400999437429,-0.00542355587282,0.0498723613937,0.999999967156,0.000106808830896,-0.000230309352669,-3.51675144085e-05,1793237947522954496
+97,1.616666667,BASELINE,767,746.695685056,716.695685056,679.304314944,666.304314944,637,881,789,804,654.304314944,632,653.304314944,0.400999645326,-0.00542316624909,0.0498725201569,0.999999967272,0.000106732549041,-0.000229807638839,-3.53964577257e-05,1793237947539620864
+98,1.633333333,BASELINE,767,746.117742795,716.117742795,679.882257205,666.882257205,637,881,789,804,654.882257205,632,653.882257205,0.400999022707,-0.005422963573,0.0498719580692,0.999999967417,0.000105341394188,-0.000229763930695,-3.57319503742e-05,1793237947556287488
+99,1.650000000,BASELINE,767,746,716,680,666.542026545,637,881,789,804,654.542026545,632,654,0.400999901354,-0.00542344244745,0.0498730219521,0.999999967732,0.000105587047295,-0.000228305977847,-3.55622966279e-05,1793237947572954112
+100,1.666666667,BASELINE,767,746,716,679.966049384,666.033950616,637,881.033950616,789,804.033950616,654,632,654,0.401001087316,-0.00542412038884,0.0498743761101,0.999999968062,0.00010619155802,-0.000226617145209,-3.52741422867e-05,1793237947589621248
+101,1.683333333,BASELINE,767,746,716,679.376481607,666.623518393,637,881.623518393,789,804.623518393,654,632,654,0.401001016611,-0.00542520241152,0.0498736726024,0.999999968003,0.000105815411667,-0.000227071483612,-3.51617846822e-05,1793237947606287872
+102,1.700000000,BASELINE,767,746,716,679,666.790609711,637,881.790609711,789,804.581219422,654,632,654,0.400999844961,-0.00542541172792,0.0498725205742,0.999999967715,0.000105437763448,-0.000228492985663,-3.52786030821e-05,1793237947622954496
+103,1.716666667,BASELINE,767,746,716,679,666.211267774,637,881.211267774,789,803.422535548,654,632,654,0.400996728157,-0.00542407914305,0.0498705760979,0.999999967016,0.000105057461768,-0.00023162327649,-3.58003306273e-05,1793237947639621376
+104,1.733333333,BASELINE,767,746,716,679,666.731735375,637,881,789,803,654,632,654,0.400997635726,-0.00542433611095,0.0498708131547,0.999999967158,0.000104830546845,-0.000231135853763,-3.56436270246e-05,1793237947656288000
+105,1.750000000,BASELINE,767,746,716,679,667.883473455,637,881,789,803,654,632,654,0.401000853212,-0.00542550545292,0.0498723023713,0.999999967781,0.000104691673077,-0.000228571930006,-3.50975164167e-05,1793237947672954368
+106,1.766666667,POSE1_TO_POSE2_PRESS,768,746,716,680,666,637,881,789,804,654,633,654,0.401000252387,-0.00542247601076,0.0498726530005,0.999999967426,0.000106961888385,-0.000229031353358,-3.53863211426e-05,1793237947703700736
+107,1.783333333,POSE1_TO_POSE2_PRESS,767.409924004,746,716,679.409924004,666,637,881,789,804,654,632.409924004,654,0.400999577714,-0.00542252106368,0.0498719095902,0.999999967098,0.000107177341011,-0.000230349513741,-3.54349612523e-05,1793237947720367360
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.176957881,716,679,666,637,881,789,803.823042119,654,632,654,0.400999198875,-0.00542251249785,0.0498715396069,0.999999966858,0.000107748452916,-0.00023111749941,-3.54750450139e-05,1793237947737034240
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746.756571892,716,679,666,637,881,789,803.243428108,654,632,654,0.40099949319,-0.00542238192604,0.049872019332,0.99999996682,0.000109128844382,-0.000230633598624,-3.54956593723e-05,1793237947753701120
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.332880915,747,716.332880915,679,666,637,881.332880915,789,803.332880915,654,632,654,0.400999889414,-0.00542296461566,0.0498723652879,0.999999967178,0.000107572909935,-0.000229788627493,-3.56381954747e-05,1793237947770367744
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.906796802,747,716.906796802,679,666,637,881.906796802,789,803.906796802,654,632,654,0.401000359431,-0.00542406376913,0.0498726143829,0.999999967812,0.00010389081797,-0.000228682209802,-3.58690136089e-05,1793237947787034368
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.506306343,746.506306343,716.506306343,679.493693657,666,637,881.506306343,789,803.506306343,654,632,654,0.4010001323,-0.00542403550072,0.0498728357421,0.999999967714,0.000103989466941,-0.000229086206911,-3.57362043029e-05,1793237947803700736
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679.918252922,666,637,881,789,803.081747078,654,632.081747078,653.918252922,0.401000073985,-0.00542379155232,0.0498730981731,0.999999967548,0.000104842605489,-0.000229455734953,-3.55385211442e-05,1793237947820367360
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679.338486437,666,637,881,789,803.661513563,654,632.661513563,653.338486437,0.401001867582,-0.00542356533648,0.0498736435827,0.999999967821,0.000105826475962,-0.000227831185814,-3.53751262049e-05,1793237947837033984
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746.240313019,716,679,666,637,881,789,804,654,632.759686981,653.240313019,0.401004275395,-0.00542357567656,0.0498745580118,0.999999968262,0.000105987176918,-0.000225825163886,-3.53010303993e-05,1793237947853700608
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746.817755804,716,679,666,637,881,789,804,654,632.182244196,653.817755804,0.401007544879,-0.00542391787567,0.0498759901303,0.999999968935,0.000104993071666,-0.000223283982442,-3.53522103667e-05,1793237947870367488
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746.605936211,716,679.394063789,666,637,881.394063789,789,804,654,632,654,0.401018458741,-0.00542379480697,0.0498799750671,0.999999970577,0.000105493614986,-0.000215595348115,-3.51634105429e-05,1793237947887034368
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746.030151485,716,679.969848515,666,637,881.969848515,789,804,654,632,654,0.401032897778,-0.0054234571819,0.049885137226,0.99999997258,0.000106683409412,-0.000205532986265,-3.48639450006e-05,1793237947903701248
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.555395859,746.555395859,716,680,666,637,881.444604141,789,804,654.555395859,632,654,0.401067676111,-0.00542540147618,0.0498995094047,0.999999978096,0.000105561903809,-0.000177536424416,-3.38379780415e-05,1793237947920367872
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,747,716,680,666,637,881,789,804,654.859370959,632,653.859370959,0.401108578453,-0.00542743167239,0.0499151455701,0.999999983294,0.000104677712989,-0.000146233603629,-3.27213991292e-05,1793237947937034240
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,747,716,680,666,637,881,789,804,654.276820163,632,653.276820163,0.401165193335,-0.00542933555445,0.04993315444,0.999999988204,0.000104940635706,-0.000107655273521,-3.14462331364e-05,1793237947953700864
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,746.69774204,716.30225796,680,666,637,881,789,804,654,632.30225796,653.30225796,0.401223250668,-0.00543145721816,0.0499463156421,0.999999990628,0.000104703375559,-8.29029135225e-05,-3.01404093417e-05,1793237947970367232
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,746.121808241,716.878191759,680,666,637,881,789,804,654,632.878191759,653.878191759,0.401282614048,-0.00543377606954,0.0499550875805,0.999999991679,0.000104013230923,-7.06691144704e-05,-2.88068269125e-05,1793237947987033856
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.548803423,746,716.548803423,680,666,637,881,789,804,654,632.548803423,654,0.40134470889,-0.00543554224688,0.049957054935,0.999999991969,0.000102105363205,-6.94850067876e-05,-2.8413732814e-05,1793237948003700736
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.024245538,746,716,679.975754462,666,637,881,789,804,654,632,654,0.401408080194,-0.00543718291139,0.0499570930768,0.99999999205,0.000100042818371,-7.13581789945e-05,-2.82638334166e-05,1793237948020367360
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.616742317,746,716,679.383257683,666,637,881,789,804,654,632,654,0.40148419702,-0.00543935627653,0.0499546926338,0.999999991563,0.000102010273325,-7.5421956033e-05,-2.79013891142e-05,1793237948037034240
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.796014023,746,716,679,666,637,881,789,803.796014023,654,632,653.796014023,0.401569897696,-0.00544279055093,0.0499531975537,0.999999991452,0.000101543368201,-7.77171683485e-05,-2.72775516471e-05,1793237948053700864
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.218392426,746,716,679,666,637,881,789,803.218392426,654,632,653.218392426,0.401673152841,-0.00544853439866,0.0499533608026,0.999999992043,9.66175110705e-05,-7.67729478479e-05,-2.6174927401e-05,1793237948070367488
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.357156798,746,716,679,666,637,881,789,803.357156798,654,632,653.357156798,0.401793072094,-0.00545311526407,0.0499553149093,0.999999992661,9.35096181087e-05,-7.2782151397e-05,-2.52360257587e-05,1793237948087034112
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.931446182,746,716,679,666,637,881,789,803.931446182,654,632,653.931446182,0.40192312226,-0.00545698909783,0.0499583577635,0.999999993275,9.1506951463e-05,-6.69391965843e-05,-2.43966587594e-05,1793237948103700480
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.479170572,746,716,679,666,637,881,789,804,654,632,654,0.402070231208,-0.0054621861923,0.0499608299242,0.999999993806,8.77542085262e-05,-6.44696501431e-05,-2.30576072744e-05,1793237948120367360
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.109978346,746,716,679.109978346,666,637,881,789,804,654,632,654,0.402223904322,-0.00546765140543,0.0499624881941,0.999999994221,8.41477157666e-05,-6.32891656128e-05,-2.17227864205e-05,1793237948137033984
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.689393918,746,716,679.689393918,666,637,881,789,804,654,632,654,0.402395726095,-0.00547349543295,0.0499610026153,0.999999994254,8.21780778196e-05,-6.56591242031e-05,-2.0695140853e-05,1793237948153700864
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,746.266411871,716,680,666.266411871,637,880.733588129,789,803.733588129,654,632,654,0.40258184343,-0.00548018047176,0.0499610174349,0.999999994501,7.89600506417e-05,-6.62567001882e-05,-1.93260732778e-05,1793237948170367488
+135,2.250000000,POSE1_TO_POSE2_PRESS,768,746.840659371,716,680,666.840659371,637,880.159340629,789,803.159340629,654,632,654,0.4027844791,-0.00548783728837,0.0499627659467,0.999999994986,7.42995252294e-05,-6.48063098001e-05,-1.7562496847e-05,1793237948187034368
+136,2.266666667,POSE1_TO_POSE2_PRESS,767.576784367,746.576784367,716,679.576784367,666.576784367,637,880.423215633,789,803.423215633,654,632,653.576784367,0.403018287148,-0.00549588941747,0.0499684606014,0.999999996032,7.00260172294e-05,-5.27710035151e-05,-1.57488867e-05,1793237948203700736
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804,654,632.008871788,653,0.403264627142,-0.00550409881488,0.0499757092652,0.999999997058,6.59352746421e-05,-3.66415781817e-05,-1.39044246792e-05,1793237948220367104
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804,654,632.588672621,653,0.4035470389,-0.00551265912312,0.0499854377493,0.999999997712,6.40412560516e-05,-1.86398873883e-05,-1.13110838401e-05,1793237948237033728
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.168447072,637,881.168447072,789,804,654,632.663105856,653,0.403836811134,-0.00552180308952,0.0499942232192,0.999999998097,6.10400410584e-05,-2.40861182608e-06,-8.61865651634e-06,1793237948253700352
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.748157027,637,881.748157027,789,804,654,631.503685947,653,0.404144553903,-0.0055323720538,0.0500007063226,0.999999998408,5.5335610588e-05,9.50019905683e-06,-5.68431030501e-06,1793237948270367232
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.675258869,637,881.675258869,788.675258869,804,654,631.649482262,653.324741131,0.40446893732,-0.00554075541644,0.050005302036,0.999999998407,5.33758957292e-05,1.80886691624e-05,-3.03145105256e-06,1793237948287033600
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.101075749,637,881.101075749,788.101075749,804,654,632.797848501,653.898924251,0.404806102877,-0.00554745996354,0.0500084479977,0.999999998235,5.42925923407e-05,2.41267016506e-05,-5.94808839347e-07,1793237948303700224
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,788.485068687,804,654,632.514931313,654,0.405167731651,-0.00554867689634,0.0500071449794,0.999999997875,6.17732270814e-05,2.06307124033e-05,2.79618692834e-06,1793237948320367360
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,679.072648711,666,637,881,789,804,654,632,654,0.405535244623,-0.00554638959906,0.0500031160992,0.999999997214,7.34872274596e-05,1.17388778817e-05,5.89384710917e-06,1793237948337034240
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,679.652412004,666,637,881,789,804,654,632,654,0.405907349604,-0.00552782518085,0.0499866944755,0.999999994264,0.000104962862694,-2.05998331264e-05,5.52069042392e-06,1793237948353701120
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,679.769398831,666,637,881,788.769398831,803.769398831,654,632,654,0.406295762182,-0.00551798262036,0.0499717466858,0.999999990864,0.000126540223296,-4.70804464006e-05,6.56304390888e-06,1793237948370367744
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,679.193566315,666,637,881,788.193566315,803.193566315,654,632,654,0.406708588721,-0.00552119749121,0.0499590053633,0.999999988969,0.000133298946711,-6.47909419351e-05,9.72454749051e-06,1793237948387034368
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,679.378867805,666,637,881,788.378867805,803,654,632,654,0.407152089982,-0.00552364455185,0.0499534822613,0.999999987179,0.000141762201999,-7.33439043166e-05,1.29201019982e-05,1793237948403700992
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679.949581079,666,637,881,788.949581079,803,654,632,654,0.407611123842,-0.00552570282004,0.0499516142153,0.999999985471,0.000151088572695,-7.72598101363e-05,1.61328986138e-05,1793237948420367616
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881,788.459294448,803,654,632,654,0.408139838834,-0.00552897527118,0.0499699197989,0.999999986494,0.000158066937285,-4.05687829603e-05,1.95106349085e-05,1793237948437034240
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.130697339,746,716,679.869302661,666,637,881,788.130697339,803.130697339,654,632,653.869302661,0.40868029625,-0.00553287677811,0.0499899071874,0.999999986411,0.000163205111214,-3.08029959264e-06,2.30817542592e-05,1793237948453700864
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.710011809,746,716,679.289988191,666,637,881,788.710011809,803.710011809,654,632,653.289988191,0.409237881673,-0.00553853364474,0.0500089571149,0.999999986096,0.000162807853914,2.36385943813e-05,2.72617951798e-05,1793237948470367232
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.71238216,746,716,679.28761784,666,637,881,789,804,653.71238216,632,653,0.409790645661,-0.00554428797224,0.0500171011685,0.999999985713,0.000163090684313,3.21534361319e-05,3.06876993292e-05,1793237948487034368
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.136488406,746,716,679.863511594,666,637,881,789,804,653.136488406,632,653,0.410338577251,-0.00555013998429,0.0500143143975,0.999999985735,0.000164055158491,2.24225777478e-05,3.3357741747e-05,1793237948503701248
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,679.552009458,666,637,881,789,803.552009458,653.447990542,632,653.447990542,0.410889268814,-0.00554586537178,0.0499957593944,0.99999998388,0.000175481841378,-1.55008057774e-05,3.47328414743e-05,1793237948520367872
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.03469202,653.96530798,632,654,0.411444827894,-0.00553857014812,0.049973129706,0.999999979606,0.000189587843792,-5.98262932434e-05,3.55710666123e-05,1793237948537034240
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.614415304,653.385584696,632,654,0.412063390216,-0.00553323761108,0.0499634337865,0.999999978197,0.000194731628243,-6.71522113323e-05,3.4294045959e-05,1793237948553700864
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746.19379936,716,679.19379936,666.19379936,637,881,789,803.80620064,653.19379936,632,653.80620064,0.412710451584,-0.0055350178657,0.0499676635612,0.999999983694,0.000170377324372,-5.22687838092e-05,2.91960171451e-05,1793237948570367232
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746.772509631,716,679.772509631,666.772509631,637,881,789,803.227490369,653.772509631,632,653.227490369,0.413414115756,-0.00555092505649,0.0499995515893,0.999999996019,8.7435951909e-05,6.72531390344e-06,1.65089655127e-05,1793237948587033856
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746.652088282,716,680,666.652088282,637,881,788.652088282,803,653.652088282,632,653,0.414084615227,-0.00556224096557,0.0500097281864,0.999999997984,5.83731391367e-05,2.04252628549e-05,1.44306920975e-05,1793237948603700480
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.078828977,716,680,666.078828977,637,881,788.078828977,803,653.078828977,632,653,0.414733633403,-0.00557058303268,0.050005841966,0.999999997742,6.42082729887e-05,4.7875169273e-06,1.92238824069e-05,1793237948620367360
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,679.493545277,666,637,881,788,803.506454723,653.506454723,632,653.506454723,0.415394596071,-0.00556536225156,0.0499751385583,0.999999995527,8.16354698819e-05,-4.3110207539e-05,2.05823830509e-05,1793237948637034240
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.092477011,637,881,788,803.907522989,653.907522989,632,653.907522989,0.416067776487,-0.00555882023508,0.0499468978306,0.999999991155,9.94286782664e-05,-8.56410687505e-05,2.16553606253e-05,1793237948653700864
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.672288589,637,881,788,803.327711411,653.327711411,632,653.327711411,0.41679530608,-0.00555671086971,0.0499541662877,0.999999991075,0.000109411223213,-7.27853544156e-05,2.41094612207e-05,1793237948670367488
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,881,788,803.250126692,653,632.250126692,653.250126692,0.417540953363,-0.00555601862086,0.0499712297236,0.999999992085,0.000115314488672,-4.2646609024e-05,2.67180547804e-05,1793237948687034112
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,881,788,803.825399505,653,632.825399505,653.825399505,0.418310152397,-0.00555716851791,0.0500010259055,0.999999992796,0.000115914994999,9.95879477718e-06,2.95274780116e-05,1793237948703700736
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679.40009508,666.59990492,637,880.59990492,788,804,653.40009508,632.59990492,654,0.419043691349,-0.00555860706808,0.0500060223594,0.999999993082,0.00011294052384,1.1743621009e-05,3.07129403457e-05,1793237948720367360
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679.974539078,666.025460922,637,880.025460922,788,804,653.974539078,632.025460922,654,0.419761690707,-0.00556017140418,0.0500002118659,0.9999999936,0.000108408189347,-8.61757372376e-06,3.11907311694e-05,1793237948737033984
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.566785433,746,716,680.566785433,666.566785433,637,880.566785433,788.566785433,804,653.433214567,632.566785433,654,0.420534280943,-0.00556009041943,0.0499852284325,0.999999993813,0.000105564184623,-1.8942401287e-05,2.95321838403e-05,1793237948753700608
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.843534601,746,716,680.843534601,667,637,881,789,804,653,633,654,0.421323031333,-0.00556049604865,0.0499818827674,0.999999994146,0.000103568900961,-1.2264215115e-05,2.88297360175e-05,1793237948770367232
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.26304709,746,716,680.26304709,667,637,881,789,804,653,633,654,0.422148714503,-0.00556242719752,0.0500112284272,0.999999993378,0.000103661457483,3.92308080483e-05,3.09868301175e-05,1793237948787034112
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679.686324233,667,637,881,788.686324233,803.686324233,653,632.686324233,654,0.422941723633,-0.00556326946799,0.0500197719233,0.999999992568,0.000103347221722,5.62304717983e-05,3.19589694673e-05,1793237948803700736
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679.112720986,667,637,881,788.112720986,803.112720986,653,632.112720986,654,0.423707657373,-0.00556320943908,0.0500110777013,0.99999999322,0.000102695897614,4.46455473279e-05,3.19491957915e-05,1793237948820367616
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679.473003791,667,637,881.473003791,788.473003791,803.473003791,653.473003791,632,654,0.424469550759,-0.00556430407387,0.0499991561893,0.999999994251,9.95531921958e-05,2.41257308804e-05,3.16954883781e-05,1793237948837033984
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679.939241725,667,637,882,789,804,654,632,654,0.425238925947,-0.00556600824176,0.0499900310613,0.999999994881,9.58618836872e-05,6.7645863903e-06,3.16537811361e-05,1793237948853700864
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679.359474015,667,637,882,789,804,654,632,654,0.426080652889,-0.00557050681459,0.0500115357426,0.999999994514,9.26893484942e-05,3.50524426738e-05,3.39326541537e-05,1793237948870367488
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679.219147591,667,637,881.780852409,789,804.219147591,653.780852409,632.219147591,653.780852409,0.426891406694,-0.00557251596129,0.0500213372041,0.999999994317,9.19124601016e-05,4.06255527809e-05,3.56132157153e-05,1793237948887034112
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679.795899082,667,637,881.204100918,789,804.795899082,653.204100918,632.795899082,653.204100918,0.427651618827,-0.00557046287607,0.0500120414159,0.999999994782,9.50447752533e-05,9.13286250335e-06,3.63174561224e-05,1793237948903700736
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679.630095902,666.630095902,637,881.369904098,789,804.630095902,653,632.630095902,653,0.428407325318,-0.00556899630457,0.0499882898518,0.999999994222,9.69058191153e-05,-2.96635621436e-05,3.58387146453e-05,1793237948920367360
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716,679.057595168,666.057595168,637,881.942404832,789,804.057595168,653,632.057595168,653,0.42916056402,-0.00556785096701,0.0499566208535,0.999999991963,9.80705868354e-05,-7.2460243384e-05,3.47120533879e-05,1793237948937034240
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680.066618765,666.533309382,637,881.466690618,789,804,653,632,653,0.429972908106,-0.00556937179103,0.0499724794726,0.999999993992,9.69192879069e-05,-3.72292696791e-05,3.51618843662e-05,1793237948953701632
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680.877202866,667,637,881,788.877202866,804.122797134,653.122797134,632.122797134,653.122797134,0.430782033969,-0.00557103070276,0.0499876891064,0.999999994794,9.52722414216e-05,-7.1857645955e-06,3.58209456096e-05,1793237948970368256
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680.300559764,667,637,881,788.300559764,804.699440236,653.699440236,632.699440236,653.699440236,0.431554830938,-0.00557209776079,0.0499808518644,0.999999994621,9.27504420574e-05,-2.85718728353e-05,3.66015669704e-05,1793237948987034368
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666.724243351,636.724243351,881,788.275756649,804.724243351,653.724243351,633,654,0.43231679574,-0.00557258025511,0.0499706226574,0.999999994035,9.05921873206e-05,-4.88228232251e-05,3.66038002103e-05,1793237949003700992
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666.148282629,636.148282629,881,788.851717371,804.148282629,653.148282629,633,654,0.43306696799,-0.00557242636069,0.0499567007686,0.999999993114,8.88297077238e-05,-6.78379760501e-05,3.57586366673e-05,1793237949020367872
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,881.438274484,788.561725516,804,653,633,653.561725516,0.433821741392,-0.00557350110326,0.0499696274996,0.999999994496,8.7410185029e-05,-4.45204046027e-05,3.72307604942e-05,1793237949037034496
+187,3.116666667,POSE1_TO_POSE2_PRESS,767.027825542,746,716,680,666.027825542,636,882,788.027825542,804,653,633,653,0.434576995348,-0.00557491761389,0.0499911696161,0.999999995456,8.63937620617e-05,-8.18834132875e-06,3.94567096075e-05,1793237949053700608
+188,3.133333333,POSE1_TO_POSE2_PRESS,767.60397597,746,716,680,666.60397597,636,882,788.60397597,804,653,633,653,0.435310281287,-0.00557467450938,0.0499990467531,0.999999995022,9.0977562441e-05,-4.62553358097e-06,4.07049681122e-05,1793237949070367232
+189,3.150000000,POSE1_TO_POSE2_PRESS,767.820377099,746,716,680,667,636.179622901,882,788.820377099,804,653,633,653.179622901,0.436027952896,-0.00557424627677,0.0499955965577,0.999999994565,9.33922449307e-05,-2.11327131439e-05,4.12475631307e-05,1793237949087033856
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.245837044,746,716,680,667,636.754162956,882,788.245837044,804,653,633,653.754162956,0.43671129513,-0.0055734110233,0.0499672422018,0.999999991704,9.10379266826e-05,-8.17655700079e-05,4.02386934455e-05,1793237949103700736
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,636.670225828,881.670225828,788.329774172,804,653,632.670225828,653.670225828,0.437423028205,-0.00557484292117,0.0499666376997,0.999999992527,8.61731858938e-05,-7.72009950394e-05,3.95100182968e-05,1793237949120367104
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667,636.093813527,881.093813527,788.906186473,804,653,632.093813527,653.093813527,0.438155994753,-0.00557797042178,0.0499867873172,0.9999999958,7.94309000029e-05,-2.38752518551e-05,3.8990900714e-05,1793237949137033984
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680.495558736,667,636.495558736,881,789,804.495558736,653,632.495558736,653.495558736,0.4388394753,-0.00557861193022,0.0500028744291,0.99999999604,7.92686072977e-05,2.11146142254e-06,4.04031890207e-05,1793237949153700608
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680.914402261,667,637,881.085597739,788.914402261,805,653,633,654,0.439505276599,-0.00557859008144,0.050012107042,0.999999995788,8.04269137272e-05,1.4465771349e-05,4.17919550887e-05,1793237949170367488
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,680.335049504,667,637,881.664950496,788.335049504,805,653,633,654,0.440124587864,-0.00557752936266,0.0499863560793,0.999999995593,8.18245970801e-05,-2.11602382097e-05,4.0879318793e-05,1793237949187034112
+196,3.266666667,POSE1_TO_POSE2_PRESS,767.241255737,746,716,680,667,636.758744263,882,788.241255737,805,653,632.758744263,654,0.44074423682,-0.00557742986679,0.0499688737656,0.999999994695,8.28766321909e-05,-4.59528328844e-05,4.0381522665e-05,1793237949203700736
+197,3.283333333,POSE1_TO_POSE2_PRESS,767.813381418,746,716,680,667,636.186618582,882,788.813381418,805,653,632.186618582,654,0.441364348849,-0.00557864863921,0.0499627314844,0.999999994138,8.34546283526e-05,-5.58879484779e-05,4.04526588052e-05,1793237949220367616
+198,3.300000000,POSE1_TO_POSE2_PRESS,767.602129913,746,716,680,667,636.397870087,882,789,805,653,632.397870087,654,0.44197863611,-0.00558042095489,0.0499782460316,0.999999995313,8.31180836078e-05,-2.67566086903e-05,4.18204156672e-05,1793237949237034240
+199,3.316666667,POSE1_TO_POSE2_PRESS,767.011656442,746,716,680,667,636.988343558,882,789,805,653,632.988343558,654,0.442590103737,-0.0055824612333,0.0500042443482,0.999999995424,8.23388222015e-05,2.12862588854e-05,4.38158485439e-05,1793237949253701120
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.568531651,716,680,667,636.431468349,882,789,805,653,633,654,0.443156820253,-0.00558051607707,0.0500144454561,0.999999994623,8.60786990787e-05,3.64951617145e-05,4.48556029914e-05,1793237949270367744
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.852105487,716,680,667,636.147894513,882,789,805,653,633,653.852105487,0.44370227802,-0.00557839617204,0.0500148987841,0.999999994289,9.01475909916e-05,3.50342289366e-05,4.54762611951e-05,1793237949287034112
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.274538236,716,680,667,636.725461764,882,789,805,653,633,653.274538236,0.444188591888,-0.0055760017522,0.0499879564848,0.999999994403,9.49079567381e-05,-1.29359606478e-05,4.49352481956e-05,1793237949303700736
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,716,680.300414328,667,637,882,789,805,653,633,653.300414328,0.444674188181,-0.00557504103077,0.0499655729766,0.999999992999,9.81221653516e-05,-4.87718035152e-05,4.46613526922e-05,1793237949320367360
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680.872998004,667,637,882,789,805,653,633,653.872998004,0.445159134337,-0.00557537921143,0.0499473196432,0.999999991301,9.99355864777e-05,-7.36141691387e-05,4.46294603554e-05,1793237949337033728
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,716,681,667,636.538999691,882,788.538999691,805,653,633,653.538999691,0.445633513504,-0.0055790438009,0.0499524955174,0.999999992781,9.65384259642e-05,-5.54750877203e-05,4.51780743743e-05,1793237949353700608
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746.052249187,716.052249187,681,667,636.052249187,882,788.052249187,804.947750813,653,633,653,0.446101167314,-0.00558390787669,0.0499633831764,0.999999994376,9.16036794469e-05,-2.73013711036e-05,4.59413187132e-05,1793237949370367232
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746.631908802,716.631908802,681,667,636.631908802,882,788.631908802,804.368091198,653,633,653,0.446531336608,-0.00559130937738,0.0499645185966,0.999999994945,8.61396059779e-05,-2.14978656112e-05,4.72009062247e-05,1793237949387034112
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746.790366886,717,681,667,636.790366886,882,789,804.209633114,653,632.790366886,653.209633114,0.446926805001,-0.00559638820702,0.0499527292108,0.999999994649,8.27284830313e-05,-3.97413259749e-05,4.77355066239e-05,1793237949403700736
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746.216009719,717,681,667,636.216009719,882,789,804.783990281,653,632.216009719,653.783990281,0.4472619,-0.00559742600445,0.0499184529782,0.999999990478,8.28891265054e-05,-9.98221985766e-05,4.70087591113e-05,1793237949420367360
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.641347351,746,716.641347351,681,666.641347351,636,882,788.641347351,805,653,632,653.641347351,0.447582922458,-0.0055946661583,0.0498783505238,0.99999998235,8.67534725884e-05,-0.000160338983982,4.54516804541e-05,1793237949437033984
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.066500955,746,716.066500955,681,666.066500955,636,882,788.066500955,805,653,632,653.066500955,0.447895462101,-0.00558961711462,0.0498347360534,0.999999970301,9.28503891051e-05,-0.000221118540607,4.33940828372e-05,1793237949453700608
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.525480022,746,716,681,666,635.474519978,882,788,805,653,632,653,0.448194500233,-0.00558499848225,0.0498162235764,0.999999962858,9.83823892878e-05,-0.00025047588371,4.32017337209e-05,1793237949470366976
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746.115936179,716,681,666,635.115936179,882,788,805,653,632.115936179,653,0.448492293268,-0.00558196484144,0.0498056985498,0.999999957978,0.000102528661238,-0.000267666128177,4.3430630749e-05,1793237949487033856
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746.691462131,716,681,666,635.691462131,882,788,805,653,632.691462131,653,0.448792152314,-0.00558499115732,0.049813819536,0.999999961883,0.000101474641337,-0.000252919134912,4.43621250053e-05,1793237949503700480
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746.733309844,716,680.733309844,666,635.733309844,882,788,804.733309844,653,632.733309844,653.266690156,0.449072849288,-0.00558869983499,0.049820481031,0.999999964315,9.91407745395e-05,-0.000243912649604,4.52463588242e-05,1793237949520367360
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746.158426145,716,680.158426145,666,635.158426145,882,788,804.158426145,653,632.158426145,653.841573855,0.449331402095,-0.00559319706614,0.0498254559025,0.999999965224,9.53278860498e-05,-0.000241540033916,4.60759773e-05,1793237949537034240
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746.426577231,716.426577231,680.426577231,665.573422769,635,882,788,804.426577231,653,632,654,0.449560422092,-0.00559510920108,0.0498213078889,0.999999962722,9.33086884481e-05,-0.000252368376376,4.64727731385e-05,1793237949553700864
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,747,717,681,665,634.984814064,881.984814064,788,805,653,632,653.984814064,0.449777581542,-0.00559608588977,0.0498136205861,0.999999958719,9.19454050062e-05,-0.000268190990448,4.67012393904e-05,1793237949570367744
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,747,717,681,665,634.405284917,881.405284917,788,805,653,632,653.405284917,0.449971482734,-0.00559884486729,0.0498033758121,0.99999995485,8.95999097597e-05,-0.000282989676651,4.67930257679e-05,1793237949587034368
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,747,716.826816054,681,665,634,881,788,805,653,632,653.173183946,0.45015727078,-0.00560058799183,0.049795401891,0.999999951578,8.839445336e-05,-0.000294668472438,4.69051634045e-05,1793237949603700992
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,747,716.250813451,681,665,634,881,788,805,653,632,653.749186549,0.45032418796,-0.00559996828416,0.0497927098808,0.999999950129,8.9840680281e-05,-0.000299090530899,4.70646372311e-05,1793237949620367616
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746.674981372,716,681,665,634,881.325018628,788,805,653,632,653.674981372,0.450477505469,-0.00559939193645,0.0497899958089,0.999999948416,9.05071245136e-05,-0.000304551025361,4.71748710859e-05,1793237949637034240
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746.099280755,716,681,665,634,881.900719245,788,805,653,632,653.099280755,0.450620333774,-0.00559884903157,0.0497872647208,0.99999994648,9.05721342143e-05,-0.000310812450389,4.72471269051e-05,1793237949653700864
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746.486374961,716,681,665,634,881.513625039,788,805,653,632,653,0.450743767844,-0.0055977034009,0.0497859986475,0.999999944725,9.07294638532e-05,-0.000316427077679,4.6810767464e-05,1793237949670368000
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746.92670717,716,681,665,634,881.07329283,788,805,653,632,653,0.450860395989,-0.0055969392491,0.0497847089099,0.999999942979,9.06035492531e-05,-0.000321995322576,4.63860519787e-05,1793237949687034624
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746.345419672,716,681,665,634,881.654580328,788,805,653,632,653,0.45095786422,-0.00559968968529,0.0497811391589,0.999999941151,8.83811185239e-05,-0.000328176295673,4.67766600051e-05,1793237949703701248
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746.233484978,716,681,665,634,881.766515022,788,805,653,632,653,0.45104570261,-0.00560087313576,0.0497773272801,0.999999938908,8.6899861594e-05,-0.000335325491173,4.67837336102e-05,1793237949720367872
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746.808900002,716,681,665,634,881.191099998,788,805,653,632,653,0.451119438454,-0.00559976179391,0.0497731608142,0.999999936059,8.65040261941e-05,-0.000343892611916,4.62291353307e-05,1793237949737034240
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746.619484732,716.380515268,681,665,634,881.380515268,788,804.619484732,653,632,653,0.451181427804,-0.0055997182786,0.0497680140131,0.999999933174,8.56983469659e-05,-0.000352444593134,4.57125679094e-05,1793237949753700864
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,746.049758907,716.950241093,681,665,634,881.950241093,788,804.049758907,653,632,653,0.451237576229,-0.00560020573821,0.049762379742,0.999999930235,8.46888736128e-05,-0.000360989045981,4.52149112812e-05,1793237949770367488
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746,717,681.544008613,665,634,882,788,804.544008613,653,632,653,0.451284319628,-0.00559836386559,0.0497587975115,0.999999928326,8.17483133823e-05,-0.000367114142467,4.35086953171e-05,1793237949787034112
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746.135736979,716.864263021,681.864263021,665,634,882,788,805,653,632,653,0.451328087195,-0.00559641554515,0.0497564302242,0.99999992803,6.5995185997e-05,-0.000371689102411,3.78357979309e-05,1793237949803700736
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746.713337718,716.286662282,681.286662282,665,634,882,788,805,653,632,653,0.451365097394,-0.00559484633875,0.0497573786844,0.999999930584,9.13495892686e-06,-0.000371971587147,1.96266769371e-05,1793237949820367360
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746.710083185,716.289916815,681,665,634,882,788,804.710083185,653,632,653.289916815,0.451394524639,-0.00559508505634,0.0497568480068,0.999999929537,-1.87660278577e-05,-0.000374766443651,1.11642901499e-05,1793237949837034240
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746.134510644,716.865489356,681,665,634,882,788,804.134510644,653,632,653.865489356,0.451416480386,-0.00559710512554,0.0497548599314,0.999999927546,-1.81334133369e-05,-0.000380036747017,1.23053815479e-05,1793237949853700864
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746.452033651,716.547966349,681,665,633.547966349,882,788,804.452033651,653,632,653.547966349,0.451437590942,-0.00559494191533,0.0497563661694,0.999999928631,-1.63859898132e-05,-0.000377260456421,1.20196597985e-05,1793237949870367488
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.958821675,746.958821675,716.041178325,681,665,633,882,788,805,653,632,653,0.451457705847,-0.00559185659906,0.0497587635594,0.99999993049,-1.45148209139e-05,-0.00037239768663,1.14017793439e-05,1793237949887034112
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.379422862,746.379422862,716.620577138,681,665,633,882,788,805,653,632,653,0.45146817614,-0.00559339389894,0.0497588800367,0.999999930489,-1.54699837476e-05,-0.000372338190101,1.21298505033e-05,1793237949903700736
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.19847103,746,717,681,665,633,881.80152897,788,805,653,632,653,0.451477193229,-0.00559401049178,0.04975887997,0.999999930491,-1.57335519389e-05,-0.00037230879123,1.25124613412e-05,1793237949920367360
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.773509539,746,717,681,665,633,881.226490461,788,805,653,632,653,0.451483453091,-0.0055928801881,0.0497586587796,0.9999999305,-1.46849283098e-05,-0.00037233649792,1.22396156579e-05,1793237949937033984
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746.346801342,717,681.346801342,665,633,881.346801342,788,805,653.346801342,632,653,0.451486052564,-0.00559188029975,0.0497575635308,0.999999929593,-1.41508321501e-05,-0.000374790683844,1.20454166762e-05,1793237949953700864
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746.918958094,717,681.918958094,665,633,881.918958094,788,805,653.918958094,632,653,0.451486273477,-0.00559096515679,0.0497559003092,0.999999928079,-1.39510817633e-05,-0.000378821623235,1.19023232156e-05,1793237949970368000
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746.49144808,716.49144808,681.49144808,664.49144808,633,882,788,805,653.49144808,632,653,0.451487029795,-0.00559116898688,0.049755218555,0.999999927262,-1.37593788945e-05,-0.000380962808707,1.24393311432e-05,1793237949987034880
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664,633,881.901177187,788,805.098822813,653,632,653,0.451487799612,-0.00559143831191,0.0497546268328,0.999999926624,-1.34683687953e-05,-0.000382626799321,1.29195592034e-05,1793237950003701504
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664,633,881.321610461,788,805.678389539,653,632,653,0.451488205297,-0.00559112798895,0.0497536852127,0.99999992631,-1.2687798113e-05,-0.000383486386625,1.25776147196e-05,1793237950020367616
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,746,716.255801007,681,664.255801007,633,881.255801007,788,805.744198993,653,632,653.255801007,0.451489392771,-0.0055910254601,0.0497532366015,0.999999926225,-1.20837601328e-05,-0.000383728525187,1.25039189653e-05,1793237950037033984
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746,716.830525454,681,664.830525454,633,881.830525454,788,805.169474546,653,632,653.830525454,0.451491554952,-0.00559118200137,0.0497534026559,0.999999926429,-1.16998166331e-05,-0.000383200851115,1.2764665975e-05,1793237950053700608
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,746,717,681.415246346,665,633,881.584753654,787.584753654,804.584753654,653,632.415246346,653.584753654,0.451492071267,-0.00559054396063,0.0497529503475,0.999999926324,-1.06471045195e-05,-0.0003835062351,1.26913046917e-05,1793237950070367488
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,746,716.995922815,681.995922815,664.995922815,633,881,787.004077185,804.004077185,653,632.99184563,653,0.451491905809,-0.00558957252428,0.0497522508695,0.999999926094,-9.32214682597e-06,-0.000384147675089,1.24778174398e-05,1793237950087033856
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746,716.417032126,681.417032126,664.417032126,633,881,787.582967874,804.582967874,653,631.834064252,653,0.451492660083,-0.00558844553432,0.0497531625859,0.99999992652,-9.04494412103e-06,-0.000383051238481,1.2207558228e-05,1793237950103701248
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+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746.932603252,716.932603252,681,665,633,882,788,805.932603252,653.932603252,632,653.067396748,0.451493180725,-0.00558752194201,0.0497525536183,0.999999925834,-8.82184467636e-06,-0.000384828179474,1.2698367587e-05,1793237950203700736
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746.353508004,716.353508004,681,665,633,882,788,805.353508004,653.353508004,632,653.646491996,0.451493244858,-0.00558846611654,0.049751909284,0.999999925589,-9.86823406349e-06,-0.00038544473426,1.25217081561e-05,1793237950220367360
+258,4.300000000,POSE1_TO_POSE2_PRESS,766.776838844,746.223161156,716,681,665,633.223161156,882,788,805,653,632,653.776838844,0.451493536922,-0.0055882955373,0.0497516465835,0.999999925517,-9.50168252406e-06,-0.000385646347325,1.23523109846e-05,1793237950237034240
+259,4.316666667,POSE1_TO_POSE2_PRESS,766.203971415,746.796028585,716,681,665,633.796028585,882,788,805,653,632,653.203971415,0.451494186169,-0.0055863780754,0.0497519819249,0.999999925713,-6.92097203404e-06,-0.00038519772311,1.21942941611e-05,1793237950253701376
+260,4.333333333,POSE1_TO_POSE2_PRESS,766.371469631,747,716,680.628530369,665,633.628530369,882.371469631,788,804.628530369,653,632,653.371469631,0.451494092953,-0.00558523479827,0.0497516576051,0.9999999256,-4.8930837127e-06,-0.000385526426387,1.20445699047e-05,1793237950270368000
+261,4.350000000,POSE1_TO_POSE2_PRESS,766.948333656,747,716,680.051666344,665,633.051666344,882.948333656,788,804.051666344,653,632,653.948333656,0.451493589212,-0.00558451958642,0.0497509685429,0.999999925316,-3.17086407184e-06,-0.00038628493255,1.18994308151e-05,1793237950287034368
+262,4.366666667,POSE1_TO_POSE2_PRESS,766.45950882,746.45950882,716,680.54049118,665,633,882.45950882,788,804,653,632,653.45950882,0.451493274273,-0.00558558283119,0.049750864402,0.999999924939,-7.02673814252e-06,-0.000387206189601,1.19719262132e-05,1793237950303700736
+263,4.383333333,HOLD_POSE2,767,747,717,681,664,633,882,787,805,653,632,653,0.45149448476,-0.00558766952112,0.0497517334289,0.999999925155,-9.4267420656e-06,-0.000386579946686,1.25377979506e-05,1793237950345635328
+264,4.400000000,HOLD_POSE2,767,747,716.424758261,681,664,633,882,787.575241739,805,653,632,653.575241739,0.451494611606,-0.00558627581937,0.0497510941953,0.999999925139,-5.34333298893e-06,-0.000386702097841,1.24784776171e-05,1793237950362302208
+265,4.416666667,HOLD_POSE2,767,746.845666416,716,681.154333584,664,633,882,788,805,653,632,654,0.451494819298,-0.00558487734777,0.0497507828207,0.999999925124,-1.97548323107e-06,-0.000386775344356,1.24023589718e-05,1793237950378968832
+266,4.433333333,HOLD_POSE2,767,746.255707034,716,681.744292966,664,633,882,788,805,653,632,654,0.45149525519,-0.00558346541235,0.0497513968688,0.999999925152,-6.273880055e-07,-0.000386710551471,1.22788249824e-05,1793237950395635456
+267,4.450000000,HOLD_POSE2,767,746,716,681.671734839,664.328265161,633,882,788,805,653,632,653.671734839,0.451494574812,-0.00558406371021,0.04975056862,0.999999924725,-2.27618008839e-06,-0.000387808469443,1.22313869338e-05,1793237950412302592
+268,4.466666667,HOLD_POSE2,767,746,716,681.09234295,664.90765705,633,882,788,805,653,632,653.09234295,0.451493040473,-0.00558619986038,0.049748636997,0.999999923935,-6.21762647618e-06,-0.000389795874968,1.22421631865e-05,1793237950428969984
+269,4.483333333,HOLD_POSE2,767,746.482484642,716,681,665,633,882,788,805,653,632,653.482484642,0.451492369097,-0.00558665998353,0.0497488933917,0.999999923851,-6.18428682497e-06,-0.000390003029606,1.25356861995e-05,1793237950445637120
+270,4.500000000,HOLD_POSE2,767,747,716.05655843,681,665,633,882,788,804.94344157,653,632,654,0.451492116935,-0.00558668250808,0.0497495737611,0.999999923945,-5.30360548729e-06,-0.000389766592605,1.280862948e-05,1793237950462304256
+271,4.516666667,HOLD_POSE2,767,747,716.631655156,681,665,633,882,788,804.368344844,653,632,654,0.451494208149,-0.00558560641659,0.0497503378681,0.999999924428,-3.56354652341e-06,-0.000388557762402,1.2401406667e-05,1793237950478970624
+272,4.533333333,HOLD_POSE2,767,746.786513839,716.786513839,681,665,633,882,788,804.213486161,653.213486161,632,653.786513839,0.451495350986,-0.00558479577955,0.0497508397523,0.999999924675,-2.89669911844e-06,-0.000387935267416,1.21936399268e-05,1793237950495636992
+273,4.550000000,HOLD_POSE2,767,746.192685248,716.192685248,681,665,633,882,788,804.807314752,653.807314752,632,653.192685248,0.451494804212,-0.00558445807067,0.049750874466,0.999999924505,-4.14186292609e-06,-0.000388357374987,1.23412199531e-05,1793237950512302848
+274,4.566666667,HOLD_POSE2,767,746,716.38900855,681,665,633,882,788,805,653.61099145,632,653,0.451494344463,-0.00558358184027,0.0497500506155,0.999999924337,-4.1238902183e-06,-0.000388788735333,1.23277267246e-05,1793237950528969728
+275,4.583333333,HOLD_POSE2,767,746,716.96487357,681,665,633,882,788,805,653.03512643,632,653,0.451493926515,-0.00558244693627,0.049748814362,0.999999924171,-3.49918228943e-06,-0.000389224540197,1.22368635388e-05,1793237950545637120
+276,4.600000000,HOLD_POSE2,767,746,716.459429826,681,665,633,882,788,804.459429826,653,632,653,0.451494984452,-0.00558258529141,0.0497498251548,0.999999924386,-3.22067020799e-06,-0.000388685515338,1.18945122694e-05,1793237950562304000
+277,4.616666667,HOLD_POSE2,767,746,716.118376881,681,664.881623119,633,882,788,804.118376881,653,632,653.118376881,0.451495884805,-0.00558263943872,0.0497505904328,0.999999924569,-2.77408112791e-06,-0.000388223307129,1.16703704344e-05,1793237950578970880
+278,4.633333333,HOLD_POSE2,767,746,716.704565883,681,664.295434117,633,882,788,804.704565883,653,632,653.704565883,0.45149578353,-0.00558203394146,0.0497498086137,0.999999924533,-1.57439690943e-06,-0.000388314922902,1.19779396464e-05,1793237950595637760
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,747,717,681,665,633,883,788,805,654,632,653,0.451495020109,-0.00558118288012,0.0497486477365,0.999999924269,1.97177026544e-06,-0.000388995456969,1.18931588312e-05,1793237950632736512
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766.577935222,747,716.422064778,681,665,633,882.422064778,788,805,653.422064778,632,653.577935222,0.451496675175,-0.00558246533866,0.0497502095068,0.999999924611,-8.66551269478e-07,-0.000388103921348,1.23616301728e-05,1793237950649403136
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,747,716.153226804,681,665,633,882,788,805,653,632,654,0.451497204394,-0.00558314655578,0.0497508702143,0.999999924635,-3.00990157781e-06,-0.000388025284865,1.25384476533e-05,1793237950666069760
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,747,716.721360084,681,665,633,882,788,805,653,632,654,0.451494685054,-0.00558219973585,0.0497490910309,0.999999923816,-3.27141425225e-06,-0.00039014781084,1.19255269364e-05,1793237950682737152
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,747,716.69604798,681,664.69604798,633,881.69604798,788,805,653,632,653.69604798,0.451494592219,-0.00558255459128,0.049749007274,0.999999923851,-3.04593004976e-06,-0.000390053043926,1.20975763816e-05,1793237950699404032
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,747,716.099539494,681,664.099539494,633,881.099539494,788,805,653,632,653.099539494,0.451496834915,-0.00558416232061,0.04975055538,0.999999924709,-2.35170709907e-06,-0.000387824113182,1.30251664763e-05,1793237950716070400
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746.5521999,716.4478001,681,664.4478001,633.4478001,881.4478001,788,804.5521999,653,632,653.4478001,0.451495639872,-0.00558318584747,0.0497495717715,0.999999924254,-1.6004407101e-06,-0.000389013247903,1.25438840074e-05,1793237950732737024
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746.014708505,716.985291495,681,664.985291495,633.985291495,881.985291495,788,804.014708505,653,632,653.985291495,0.451493756272,-0.00558169177623,0.0497480810779,0.999999923534,-8.37748919248e-07,-0.000390886997766,1.17804139969e-05,1793237950749403392
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746,716.39266549,680.39266549,665,633.39266549,882,788,804.60733451,653,632,653.39266549,0.451494512333,-0.0055835838896,0.0497488600345,0.999999923704,-2.62295196642e-06,-0.00039042846946,1.22897941819e-05,1793237950766069760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.212021709,664.787978291,633,882,788,805,653.212021709,632,653,0.45149416332,-0.00558433904712,0.0497490157827,0.999999923626,-3.52260797547e-06,-0.000390616831776,1.24527843608e-05,1793237950782736640
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.783272329,664.216727671,633,882,788,805,653.783272329,632,653,0.451491816149,-0.00558300644049,0.0497480074347,0.999999923088,-2.80042304185e-06,-0.000392012400451,1.19682092397e-05,1793237950799403264
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,716.369935269,681,664.369935269,633,882,788.369935269,805,653.630064731,632,653,0.451483142968,-0.00558188814759,0.0497440048478,0.999999920462,-8.62696593182e-07,-0.000398668728437,1.17396014466e-05,1793237950816069888
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746,716.966020158,681,664.966020158,633,882,788.966020158,805,653.033979842,632,653,0.451470602558,-0.0055809008693,0.0497381718163,0.999999916477,1.81811735984e-06,-0.000408541075138,1.16674720992e-05,1793237950832736512
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.457821222,746,717,681,665,633,882,788.457821222,805,653,632,653.542178778,0.451440283806,-0.00558110835304,0.0497238535547,0.999999906241,-1.37929623791e-06,-0.000432896324747,1.08318129146e-05,1793237950849403648
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746,717,681,664.882691402,633,882,788,805,653.117308598,632,654,0.45140488274,-0.00558093829543,0.0497080539157,0.999999894179,-3.84828903376e-06,-0.000459923367122,9.91778118565e-06,1793237950866070528
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746,717,681,664.306874429,633,882,788,805,653.693125571,632,654,0.451353817717,-0.00557901029803,0.0496884690756,0.999999877955,-2.08131274869e-06,-0.000493971319688,8.87782944525e-06,1793237950882737152
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766.276614353,746,716.723385647,681.276614353,664.276614353,633.276614353,882,788,805,653.723385647,632,653.723385647,0.451298655153,-0.00557630137368,0.0496709900188,0.999999863905,5.19096309219e-07,-0.000521659588672,7.77520974827e-06,1793237950899403776
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.868856946,746,716.131143054,681.868856946,664.868856946,633.868856946,882,788,805,653.131143054,632,653.131143054,0.451238817132,-0.00557270137997,0.0496559137475,0.999999853038,4.07048599109e-06,-0.000542091198025,6.60108342964e-06,1793237950916070400
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767.450010508,746,716.450010508,682,665,633.549989492,882,788,805,653,632,653.450010508,0.451172123987,-0.00557035633174,0.0496468891908,0.99999984726,5.10102395483e-06,-0.000552652155995,5.49100573074e-06,1793237950932736768
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.972171568,746,717,682,665,633,882,788,805.027828432,653,632,654,0.45110274351,-0.00556840364439,0.0496397125746,0.99999984294,5.39533563104e-06,-0.000560420129917,4.43199795318e-06,1793237950949403136
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.397922505,746,717,682,665,633,882,788,805.602077495,653,632,654,0.451018879191,-0.0055671467763,0.0496350247281,0.999999838399,5.31144395443e-06,-0.000568470168141,4.01808160668e-06,1793237950966069760
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746.176921918,716.823078082,681.823078082,665,633.176921918,882,788,805.823078082,653,632,653.823078082,0.450928868393,-0.00556440652962,0.0496307859388,0.999999834399,6.76963279418e-06,-0.000575451154812,3.38922957723e-06,1793237950982736384
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746.753109833,716.246890167,681.246890167,665,633.753109833,882,788,805.246890167,653,632,653.246890167,0.450824986626,-0.00555831868979,0.0496275605537,0.999999831718,1.17078896904e-05,-0.000580019573717,2.27532459053e-06,1793237950999403008
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,747,716.337584991,681,665,633.662415009,882,788,805,653,632,653,0.45070821955,-0.00555391881628,0.0496245504768,0.99999982822,1.53753234433e-05,-0.00058593461188,1.87458575692e-06,1793237951016069632
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,747,716.928273552,681,665,633.071726448,882,788,805,653,632,653,0.450581791732,-0.00555078449099,0.0496217018265,0.999999824093,1.80899609915e-05,-0.000592859275198,2.00854148588e-06,1793237951032736000
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746.492370648,716.492370648,681,665,633.507629352,882,788,805,653,632,653,0.450430748023,-0.00554421144479,0.0496147499066,0.999999816514,2.25322112861e-05,-0.000605362758999,7.49810080758e-07,1793237951049402624
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,634,882,788,805,653,632,653,0.450273081265,-0.00553732714124,0.0496073547374,0.999999808797,2.70951374383e-05,-0.000617794913447,-7.06881035881e-07,1793237951066069248
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,634,882,788,805,653,632,653,0.450096848816,-0.00553138823713,0.0496006735704,0.999999803973,3.09773150842e-05,-0.000625371398426,-2.19512916993e-06,1793237951082735872
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746.241630097,716,680.758369903,665,634,882,788,805,653,632,653.241630097,0.449910599816,-0.00552489765869,0.0495982984811,0.999999802748,3.52472746712e-05,-0.000627096531097,-3.39587079256e-06,1793237951099402496
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746.830274905,716,680.169725095,665,634,882,788,805,653,632,653.830274905,0.449709965657,-0.00551761479889,0.0496021075239,0.999999806729,4.00741432833e-05,-0.000620418300716,-4.18371265017e-06,1793237951116069376
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746.587575206,716,680.412424794,665,634,882,788,805,653,632,654,0.449493579939,-0.00551012988563,0.0496102423893,0.999999815141,4.47727091123e-05,-0.000606374296141,-4.93377743075e-06,1793237951132736000
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746.008056744,716,680.991943256,665,634,882,788,805,653,632,654,0.449270812491,-0.00550256311071,0.0496201298591,0.999999825098,4.94192930142e-05,-0.000589346052412,-5.66853682997e-06,1793237951149402880
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746.569142566,716,681,665,634.569142566,882,788,805,653,632.569142566,654,0.449019784899,-0.0054930951101,0.0496316050433,0.999999833103,5.76042046098e-05,-0.000574831068586,-6.67763827804e-06,1793237951166069760
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746.85444987,716,681,665,635,882,788,805,653,632.85444987,653.85444987,0.448762446558,-0.00548281037508,0.0496428825023,0.999999841985,6.66511129444e-05,-0.000558145376791,-7.77965092665e-06,1793237951182736384
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,746.280277689,716,681,665,635,882,788,805,653,632.280277689,653.280277689,0.448487697406,-0.00547019942314,0.0496535117718,0.999999853817,7.80895599387e-05,-0.000534962952006,-9.14388206879e-06,1793237951199403008
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746,716.302817504,681,665.302817504,635,882,788.302817504,805,653,632,653.302817504,0.448187184569,-0.00546103821621,0.0496608574496,0.999999862409,8.33454780845e-05,-0.00051780225258,-1.07800822132e-05,1793237951216069632
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,716.894422354,681,665.894422354,635,882,788.894422354,805,653,632,653.894422354,0.447862101699,-0.00545516691903,0.0496650716727,0.999999868287,8.2705318019e-05,-0.000506384277086,-1.26756506404e-05,1793237951232736256
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,716.527195531,681,665.527195531,635,882,789,804.527195531,653,632,653.527195531,0.447518078793,-0.00545137467475,0.04967184991,0.99999987423,8.02466053514e-05,-0.000494857229718,-1.47088306603e-05,1793237951249403136
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,746,716.048395851,680.951604149,665.048395851,635.048395851,882,789,804.096791701,653,632.048395851,653,0.447167644769,-0.00544824436238,0.0496795652816,0.999999880432,7.73194369638e-05,-0.000482573647859,-1.67574617017e-05,1793237951266069760
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,746,716.624877888,680.375122112,665.624877888,635.624877888,882,789,805.249755776,653,632.624877888,653,0.446792147675,-0.00544740888783,0.0496914289384,0.999999890261,7.35911306116e-05,-0.000462293435652,-1.86485084631e-05,1793237951282736384
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746.205024129,716.794975871,680,666,636,882,789,805.794975871,653,632.794975871,653.205024129,0.446415676611,-0.00544911130852,0.0497088115122,0.99999990357,6.72983492154e-05,-0.000433524524931,-1.96753201137e-05,1793237951299403008
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746.791996539,716.208003461,680,666,636,882,789,805.208003461,653,632.208003461,653.791996539,0.446037391117,-0.0054555416836,0.0497364755131,0.999999922599,5.62280969897e-05,-0.00038894165306,-1.90921108285e-05,1793237951316069632
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746.625647681,716,680.374352319,666,636,882,789,805,653,632.374352319,653.625647681,0.445628334054,-0.0054554478116,0.0497749773292,0.999999943282,5.2584987153e-05,-0.000332161483166,-1.84011335447e-05,1793237951332736256
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746.045825836,716,680.954174164,666,636,882,789,805,653,632.954174164,653.045825836,0.445202387513,-0.00545177299732,0.0498194276603,0.999999962342,5.30183887765e-05,-0.00026868662304,-1.76510059665e-05,1793237951349402880
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,666.531006782,636,882,789,805,653,632.468993218,653,0.444716550516,-0.00543936327051,0.049833340289,0.999999965896,5.76509662625e-05,-0.000253919333664,-2.02394426228e-05,1793237951366069760
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767.107692835,746,716,680.892307165,666.892307165,636,882,788.892307165,805,653,632.107692835,653,0.444211435495,-0.00542770096722,0.0498376918029,0.999999965884,6.13751540303e-05,-0.000252835752676,-2.32140296514e-05,1793237951382736640
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767.684858084,746,716,680.315141916,666.315141916,636,882,788.315141916,805,653,632.684858084,653,0.443644686089,-0.00542256475042,0.0498117872842,0.999999954893,5.95683971843e-05,-0.000293182623357,-2.66230066695e-05,1793237951399403264
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767.732998894,746,716,680.267001106,666,636,882,788.267001106,804.732998894,653,633,653,0.443078472646,-0.00542150481297,0.0497882837847,0.999999944084,5.2422592175e-05,-0.000328907699284,-3.00528500403e-05,1793237951416070144
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767.144868905,746,716,680.855131095,666,636,882,788.855131095,804.144868905,653,633,653,0.442512903745,-0.00542534751759,0.0497676680474,0.999999934217,3.88553806947e-05,-0.000359074033015,-3.35077903622e-05,1793237951432737536
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746.435283067,716,680.564716933,666,636,881.564716933,788.564716933,804.435283067,653,633,653,0.44194520402,-0.00543422594581,0.0497823146868,0.999999944168,2.18837151802e-05,-0.000331648820623,-3.45700241695e-05,1793237951449403904
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746.987236685,716,680,666,636.012763315,881,788.012763315,805,653,633,653.012763315,0.441376243759,-0.00544440782096,0.0498084720056,0.999999958596,4.14110910524e-06,-0.000285610629231,-3.4890400283e-05,1793237951466070272
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746.412585914,716,680,666,636.587414086,881,788.587414086,805,653,633,653.587414086,0.440782446988,-0.00543951803233,0.0498340150508,0.999999968367,1.44225055245e-06,-0.000248790503387,-3.69778515741e-05,1793237951482736896
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.166735425,637,881,789,805,653,633,653.833264575,0.440170294153,-0.00543298945804,0.0498462743179,0.999999972163,2.9166447136e-07,-0.000232594086682,-3.96731294344e-05,1793237951499403520
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.757947091,637,881,789,805,653,633,653.242052909,0.439511410358,-0.00542228885171,0.0498247156462,0.999999962877,3.08268174088e-06,-0.000268901659659,-4.39158164947e-05,1793237951516069632
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.342404576,666.657595424,636.657595424,881,789,804.657595424,653,633,653,0.438814509552,-0.00541553457496,0.0497961226188,0.999999948817,6.12796721156e-07,-0.000316244153137,-4.85378892544e-05,1793237951532736512
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.922179728,666.077820272,636.077820272,881,789,804.077820272,653,633,653,0.438091253636,-0.00541151607556,0.0497626530542,0.99999992965,-5.50418746239e-06,-0.000371236558143,-5.34229693379e-05,1793237951549403136
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.503584478,666.496415522,636,881,789,804,653,633,653,0.437399457876,-0.00541604674908,0.0497744005638,0.999999933655,-2.19001694082e-05,-0.000359408661184,-5.51028123708e-05,1793237951566070016
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.067419345,667,636,881.067419345,789,804.067419345,653,633,653,0.436711082769,-0.00542089746628,0.0497939581088,0.999999941586,-3.81190363253e-05,-0.00033496527524,-5.63393962035e-05,1793237951582736640
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.621299333,667,636,881.621299333,789,804.621299333,653,633,653,0.436012196884,-0.00541849397187,0.0498192868009,0.999999954167,-4.15614086048e-05,-0.000294243538963,-5.79631805357e-05,1793237951599403264
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.805442008,667,636,882,788.805442008,805,653,633,653.194557992,0.435297888285,-0.00541543273097,0.0498274760339,0.999999956865,-4.56724297093e-05,-0.000283790521046,-6.03912425462e-05,1793237951616070144
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.190290638,667,636,882,788.190290638,805,653,633,653.809709362,0.434550238898,-0.00541094958031,0.0497986133732,0.999999939221,-5.12289293536e-05,-0.000338772085981,-6.45579837684e-05,1793237951632736512
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767.400205878,746,716,680.400205878,667,636,882,788,805,653,633,654,0.433805017474,-0.00540976284352,0.0497916014165,0.999999935706,-6.03722862237e-05,-0.000346891057112,-6.78949201172e-05,1793237951649403136
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767.979659709,746,716,680.979659709,667,636,882,788,805,653,633,654,0.433060883555,-0.0054100525357,0.0497943761593,0.999999939175,-7.11221579787e-05,-0.000334020768058,-7.08601954856e-05,1793237951666069760
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767.442318847,746,716,680.442318847,666.442318847,636,881.442318847,788,804.442318847,653,633,654,0.432303425506,-0.00540534070882,0.0498150154593,0.999999953045,5.73695052825e-05,-0.000298838951861,-3.62610379196e-05,1793237951682736384
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.137207187,666.137207187,636.137207187,881.137207187,788.137207187,804,653,633,653.862792813,0.431540584827,-0.00539939339226,0.0498272168308,0.999999948692,0.000158322746316,-0.000278286958086,-1.03004942217e-05,1793237951699403008
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.721809156,666.721809156,636.721809156,881.721809156,788.721809156,804,653,633,653.278190844,0.430761773476,-0.00539001078329,0.0498097852858,0.999999940699,0.000152963450211,-0.000308085472303,-1.69641203308e-05,1793237951716070144
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767.303804474,746,716,681,666.696195526,637,881.696195526,789,804,653.303804474,633,653,0.429966255256,-0.00538664941212,0.049787885857,0.999999930766,0.000141399129993,-0.000343437947693,-2.29071632537e-05,1793237951732737280
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767.88343318,746,716,681,666.11656682,637,881.11656682,789,804,653.88343318,633,653,0.429155568904,-0.00538875472622,0.0497619300352,0.999999918226,0.000124201265495,-0.000383832865252,-2.81959879627e-05,1793237951749403904
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767.538603803,746,716,680.538603803,666,637,881,789,804,653.538603803,632.538603803,653,0.428376452193,-0.00538895662471,0.0497813466724,0.999999930058,0.000109119097787,-0.00035633397301,-3.16666577652e-05,1793237951766070528
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.038916687,788.961083313,804,653,632,653.038916687,0.427600709483,-0.00538867355197,0.0498090204245,0.999999944726,9.50694937285e-05,-0.000316716535708,-3.46379571782e-05,1793237951782736896
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.616115397,788.383884603,804,653,632,653.616115397,0.426761714857,-0.0053883099326,0.0497929236263,0.999999935633,8.79354302397e-05,-0.000345875659317,-3.70326780783e-05,1793237951799403264
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.808567161,788.191432839,804,653,632.191432839,653.808567161,0.425953852247,-0.00538808054186,0.0497870309511,0.999999933844,8.20760146555e-05,-0.000352211135784,-3.90189430528e-05,1793237951816069632
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.236985453,788.763014547,804,653,632.763014547,653.236985453,0.425207811694,-0.00538811770335,0.0498014017023,0.999999947037,7.87478038918e-05,-0.000313223235701,-4.01940934125e-05,1793237951832736256
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746.34733869,716,680,666,636.65266131,881.34733869,789,804,653,632.65266131,653,0.424460954499,-0.00538723494247,0.0498239033853,0.999999959405,7.93160717364e-05,-0.000270701601651,-4.02416031859e-05,1793237951849402880
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746.940687919,716,680,666,636.059312081,881.940687919,789,804,653,632.059312081,653,0.423713518943,-0.00538570062561,0.0498521639851,0.99999997034,8.26441094463e-05,-0.000225677122147,-3.94904357226e-05,1793237951866069504
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745.96136441,716,680,666,636.519317795,881.480682205,789,804,653,632.519317795,653.519317795,0.422909323191,-0.00538296175472,0.0498378842214,0.99999996437,8.41758509163e-05,-0.000249996212149,-4.09349141091e-05,1793237951882737152
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745.095820451,716,680,666,637,881.095820451,789,804,653,632.904179549,653.904179549,0.422097423524,-0.0053807673217,0.0498183746263,0.999999955453,8.48054015871e-05,-0.000282994234908,-4.26251622783e-05,1793237951899404288
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745.669865418,716,680,666,637,881.669865418,789,804,653,632.330134582,653.330134582,0.421278537083,-0.00538195777588,0.049796343929,0.999999944183,8.19279507784e-05,-0.000320870240363,-4.43249603879e-05,1793237951916070400
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.748378606,882,788.748378606,804,653,632,653.251621394,0.420498315493,-0.00538281962319,0.0497956977956,0.999999942273,8.08290106997e-05,-0.000327005151827,-4.45840008657e-05,1793237951932736768
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.156185766,882,788.156185766,804,653,632,653.843814234,0.419770427137,-0.00538323669852,0.0498239958318,0.999999953605,8.21372985229e-05,-0.000290178251456,-4.28929649626e-05,1793237951949403136
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.426709753,636.426709753,881.573290247,788.426709753,804,653,632.426709753,654,0.41900553861,-0.00537953721802,0.0498204895746,0.999999948796,8.82108149397e-05,-0.000304614375685,-4.28607568455e-05,1793237951966069504
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.418898359,637,881,788.418898359,804,653.581101641,633,653.418898359,0.417508443017,-0.00537375760671,0.0498006139945,0.999999937772,9.52667975176e-05,-0.000336686801545,-4.49699465805e-05,1793237951999402752
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767.155734982,746,716,679.844265018,666.155734982,637,881,788.155734982,804,653.844265018,632.844265018,653.155734982,0.41679522275,-0.00537482179925,0.0498033846348,0.999999941787,9.30896268391e-05,-0.000325068109892,-4.57322690502e-05,1793237952016069632
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767.729712609,746,716,679.270287391,666.729712609,637,881,788.729712609,804,653.270287391,632.270287391,653.729712609,0.416099100404,-0.00538050155411,0.0498272462938,0.999999955139,8.67665805226e-05,-0.000283234403413,-4.44151257519e-05,1793237952032736512
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767.685565583,746,716,679.314434417,666.685565583,637,881,788.685565583,804,653.314434417,632,654,0.415407479374,-0.00538254946943,0.0498358924076,0.999999959803,8.51674342329e-05,-0.000266804787708,-4.42308185624e-05,1793237952049402880
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767.09128138,746,716,679.90871862,666.09128138,637,881,788.09128138,804,653.90871862,632,654,0.414719864601,-0.00538136501078,0.049830996532,0.999999957873,8.7772606825e-05,-0.000272985070422,-4.50547470012e-05,1793237952066069248
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746.45515303,716,679.45515303,666.54484697,636.45515303,880.910306061,789,804,653.54484697,632.45515303,654,0.409701198245,-0.00537721260724,0.0498046251333,0.999999935267,0.000112127891065,-0.000338837798762,-4.56400663548e-05,1793237952199404800
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767.118408259,746,716,679.118408259,666.881591741,636.118408259,880.118408259,789,804,654,632,653.881591741,0.409157410499,-0.00537898595247,0.0497988782142,0.999999932484,0.000113148350443,-0.000346643025906,-4.54831574064e-05,1793237952216070912
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767.678698164,746,716,679.678698164,666.321301836,636.678698164,880.678698164,789,804,654,632,653.321301836,0.40868027855,-0.00538350713416,0.0498192590087,0.999999946806,0.000108144571189,-0.000304422803124,-4.49393911303e-05,1793237952232737792
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767.741528833,746,716,680,666.258471167,637,881,789,804,654,632.258471167,653.258471167,0.408194101232,-0.00538614601929,0.0498355624633,0.999999955699,0.00010445254823,-0.000275117876307,-4.47401003863e-05,1793237952249404672
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767.135562275,746,716,680,666.864437725,637,881,789,804,654,632.864437725,653.864437725,0.407695763114,-0.00538625429548,0.0498463842344,0.999999959101,0.000102524085202,-0.000263176613889,-4.50039316616e-05,1793237952266071808
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.028872377,666.028872377,637,881,789,804,654,632.028872377,654,0.406717004626,-0.00538007865088,0.0498208246673,0.999999942243,0.000101674141387,-0.000320532125851,-4.93446319327e-05,1793237952299404288
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,715.229255254,680,667,637,881,789,804,654,633,654,0.405429708186,-0.00538572287087,0.0497843496102,0.999999921894,8.68003796122e-05,-0.000381825027251,-5.37295398266e-05,1793237952349404416
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,715.35461288,680,666.64538712,637,881,789,804,654,632.64538712,654,0.405069950253,-0.00538979012616,0.04979370863,0.999999929925,8.12086899342e-05,-0.00036145917328,-5.38785362749e-05,1793237952366071040
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,715.935158699,680,666.064841301,637,881,789,804,654,632.064841301,654,0.404737368877,-0.00539383473032,0.0498096248904,0.999999941893,7.69352372002e-05,-0.000327759328162,-5.35540077024e-05,1793237952382737664
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,804,654,632.510829254,653.489170746,0.404432045188,-0.00539579550882,0.0498335699751,0.999999952292,7.7253357566e-05,-0.000294604941542,-5.15398815719e-05,1793237952399404544
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767.085785967,746.085785967,716,680,666,637,881,789,803.914214033,654,632.914214033,653.085785967,0.404132928227,-0.00539636639471,0.0498563651099,0.999999960592,8.15386711102e-05,-0.000264122394932,-4.90635403074e-05,1793237952416071168
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,768,747,716,679.170016566,666,637,881,789,804.659966868,654,632,654,0.403283950041,-0.00537899581762,0.0498560382722,0.999999948092,0.000172715331933,-0.000269943056998,-3.34050607132e-05,1793237952466071808
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767.585263607,746.585263607,716,679,666,637,881,789,804.585263607,654,632.414736393,654,0.403022232232,-0.00537847814565,0.0498439142702,0.999999940202,0.000179611768726,-0.000293712747058,-3.26969174774e-05,1793237952482738176
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767.002366086,746.002366086,716,679,666,637,881,789,804.002366086,654,632.997633914,654,0.40276900618,-0.00538006950589,0.0498317781343,0.999999933645,0.000173865599774,-0.000318270486011,-3.44230888214e-05,1793237952499404032
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.57084727,636.42915273,881,789,803.42915273,654,633,654,0.402557095875,-0.00538549283264,0.0498263907545,0.999999931909,0.00016214857004,-0.000329589738918,-3.54996816073e-05,1793237952516071168
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,767.732860428,746,716,679.732860428,666.267139572,636.732860428,881,789,803.732860428,654,632.267139572,653.267139572,0.402186377434,-0.00539284982897,0.049819338422,0.999999931192,0.000146442041105,-0.000338787824528,-3.73333735099e-05,1793237952549404416
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767.684161041,746,716,679.684161041,666,637,881,789,804,654,632,653.315838959,0.402031697522,-0.00539304492189,0.0498224059502,0.999999933967,0.000144285325424,-0.000331394766749,-3.77457177941e-05,1793237952566071040
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+397,6.616666667,POSE2_TO_POSE3_RETREAT,767.474320514,746.474320514,716,679.474320514,666,637,881,789,803.525679486,654,632.474320514,654,0.40176878056,-0.00539026144438,0.0498356578261,0.999999941735,0.000146309821871,-0.000306092790081,-3.78166050863e-05,1793237952599404032
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,746.948618277,716,680,666,637,881,789,803.051381723,654,633,654,0.401654634254,-0.00538953372404,0.0498408628863,0.999999944693,0.000147677654864,-0.000295595088598,-3.77970427285e-05,1793237952616070656
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,768,746,716,680,666,637,881,789,804,654,633,654,0.401470569868,-0.00538946659973,0.0498505762697,0.999999949437,0.000146886639727,-0.000279509104636,-3.77565733733e-05,1793237952649404160
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,768,746.531939364,716,680,666,637,881,789,803,654.531939364,632,654,0.4012046658,-0.00541239624358,0.0498503818505,0.999999954287,0.000116277407979,-0.000276523961554,-3.79596797356e-05,1793237952716071680
+405,6.750000000,POSE2_TO_POSE3_RETREAT,768,747,716,680,666,637,881,789,803.10803215,654.89196785,632,653.89196785,0.401161373264,-0.00541807225204,0.049852796114,0.999999956256,0.000110507435931,-0.000271791846254,-3.75005320452e-05,1793237952732737792
+406,6.766666667,POSE2_TO_POSE3_RETREAT,768,747,716,680,666,637,881,789,803.682113968,654.317886032,632,653.317886032,0.401130382109,-0.00541519191245,0.0498555405473,0.999999958161,0.000112444826616,-0.000263754165708,-3.8306814867e-05,1793237952749404672
+407,6.783333333,POSE2_TO_POSE3_RETREAT,768,747,716,680,666,637,880.736291566,789,804,654,632,653.263708434,0.40110203391,-0.00541315662943,0.0498575466929,0.99999995907,0.000115085205002,-0.000259084509401,-3.86030679589e-05,1793237952766071296
+408,6.800000000,POSE2_TO_POSE3_RETREAT,768,747,716,680,666,637,880.145375378,789,804,654,632,653.854624622,0.401076965072,-0.00541216988687,0.0498586367763,0.9999999588,0.000118597846341,-0.000258593875169,-3.82664795036e-05,1793237952782738176
+409,6.816666667,POSE2_TO_POSE3_RETREAT,768,746.563344942,716,680,666.436655058,637,880.436655058,789,804,654.436655058,632.436655058,654,0.401058139247,-0.00541296636659,0.0498592354412,0.999999959431,0.000117793634023,-0.0002565707786,-3.7862857256e-05,1793237952799404800
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+411,6.850000000,POSE2_TO_POSE3_RETREAT,767.409119876,746,716,680,666.409119876,637,881,789,804,654.409119876,633,654,0.401032070799,-0.00541467415134,0.0498600765403,0.999999960745,0.000113765292277,-0.000253274967912,-3.76719813627e-05,1793237952832737280
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,804,654,633,654,0.401023023198,-0.00541505477319,0.0498599464885,0.999999960873,0.000112821837513,-0.000253177046704,-3.7774217311e-05,1793237952849402880
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,768,746,716,680,666,637,881.406803537,789.406803537,804,654,633,653.406803537,0.401006570369,-0.00541774882412,0.0498638783847,0.999999962772,0.000113380731835,-0.000245421817619,-3.69986933331e-05,1793237952999402752
+422,7.033333333,POSE2_TO_POSE3_RETREAT,768,746,716,680,666,637,881.98618872,789.98618872,804,654,633,653.98618872,0.401007217841,-0.00541911719435,0.0498644368671,0.99999996347,0.000110315839008,-0.000243978932322,-3.69407093794e-05,1793237953016069376
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c5e10b0e3d65774c896d19c02dca3a3b200e1bb9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,441 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38baa68b40edcdb4108b3b756d2d05d5dd0d7957
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:305d397b877581e8997a2b788087d5d69f92e3f7f5d427f4d12a12b12d37d2de
+size 27796785
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ddf4e09f543f3bf4d26b12fd6f97d98d33b2c6f4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_01/franka_data.csv
@@ -0,0 +1,439 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+59,0.983333333,BASELINE,767,746,716.767932435,680.767932435,663,637,880.767932435,789,804,654,632,654,0.401041317934,-0.00548672906134,0.0698674175856,0.999999990497,4.1474888406e-05,-0.000130848629295,1.28100004637e-05,1793237955924210688
+60,1.000000000,BASELINE,767,746,716.194337795,680.194337795,663,637,880.194337795,789,804,654,632,654,0.401040581,-0.00548682605015,0.0698670555051,0.999999990375,4.02689379934e-05,-0.000132162853638,1.26800750625e-05,1793237955940877056
+61,1.016666667,BASELINE,767,746,716.389837462,680,663,637,880.779674924,788.610162538,804,653.610162538,632,654,0.401041380863,-0.00548627936971,0.0698673430335,0.999999990411,4.20747103348e-05,-0.000131314336103,1.28166177261e-05,1793237955957543936
+62,1.033333333,BASELINE,767,746,716.979434375,680,663,637,881.958868751,788.020565625,804,653.020565625,632,654,0.401042968207,-0.00548540286202,0.0698679634329,0.999999990516,4.54237415272e-05,-0.000129357592179,1.30897032381e-05,1793237955974210816
+63,1.050000000,BASELINE,767,746,717,680,663,637,881.440389227,788.559610773,804,653.559610773,632,654,0.401040328766,-0.0054847867049,0.0698670161275,0.999999990143,4.54137760818e-05,-0.000132199903942,1.32357618307e-05,1793237955990877696
+64,1.066666667,BASELINE,767,746,716.861626088,680,663,637,881,789,804,654,632,654,0.401038734194,-0.00548435184656,0.0698664190495,0.999999989915,4.51110838528e-05,-0.000134010180335,1.32689993257e-05,1793237956007544320
+65,1.083333333,BASELINE,767,746,716.286250973,680,663,637,881,789,804,654,632,654,0.401040921885,-0.00548445983509,0.0698671069674,0.999999990222,4.42673183903e-05,-0.000132013407073,1.29604331535e-05,1793237956024210432
+66,1.100000000,BASELINE,767,746,716.288219538,680,663,637,881,789,804,653.711780462,632,654,0.401041320941,-0.00548512791574,0.0698676559294,0.999999990392,4.33682460387e-05,-0.000131040064142,1.28074272358e-05,1793237956040877312
+67,1.116666667,BASELINE,767,746,716.861794398,680,663,637,881,789,804,653.138205602,632,654,0.401039949137,-0.0054863505225,0.0698680673166,0.999999990427,4.2414416467e-05,-0.000131079981204,1.28084356932e-05,1793237956057544960
+68,1.133333333,BASELINE,767,746,717,680,663,637,881.450662532,789,804,653.450662532,632,654,0.401039791438,-0.0054872630801,0.0698676939367,0.999999990342,4.19233277932e-05,-0.000131867512232,1.29851914228e-05,1793237956074211072
+69,1.150000000,BASELINE,767.043238729,746,717,680,663,637,881.956761271,789,804,654,632,654,0.401040109466,-0.00548788063814,0.069867231258,0.999999990247,4.17592888532e-05,-0.000132616453625,1.32045026149e-05,1793237956090877184
+70,1.166666667,BASELINE,767.621622144,746,717,680,663,637,881.378377856,789,804,654,632,654,0.401041545275,-0.00548606526832,0.0698687466086,0.999999990508,4.38249428566e-05,-0.000129950520758,1.32600159708e-05,1793237956107544064
+71,1.183333333,BASELINE,768,746,716.801229358,679.801229358,663,637,881,789,804,653.801229358,632,654,0.401042017323,-0.00548539803533,0.0698693142896,0.999999990629,4.46152561413e-05,-0.000128753225026,1.32047485156e-05,1793237956124210432
+72,1.200000000,BASELINE,768,746,716.226417022,679.226417022,663,637,881,789,804,653.226417022,632,654,0.401040666089,-0.00548690288999,0.0698680891343,0.999999990499,4.29928327783e-05,-0.000130334351185,1.29399018116e-05,1793237956140876800
+73,1.216666667,BASELINE,768,746,716,679.355159657,663.355159657,637,881,789,804,653.355159657,632,654,0.401039485999,-0.00548610264222,0.0698671261059,0.999999990241,4.42395564311e-05,-0.000131903256211,1.27125590273e-05,1793237956157543168
+74,1.233333333,BASELINE,768,746,716,679.941132349,663.941132349,637,881,789,804,653.941132349,632,654,0.401038417134,-0.00548380434221,0.0698663334301,0.999999989894,4.7350896612e-05,-0.000133464218805,1.25095895046e-05,1793237956174209792
+75,1.250000000,BASELINE,767.475723514,746,716.524276486,680,663.475723514,637,880.475723514,788.475723514,804,654,632,654,0.401039008501,-0.0054844507849,0.0698666949632,0.999999990061,4.5770522257e-05,-0.000132751382332,1.26159881634e-05,1793237956190876416
+76,1.266666667,BASELINE,767,746,716.894383592,679.894383592,663,637,880.105616408,788.105616408,804,654,632,654,0.401039744127,-0.00548545162369,0.069867065845,0.999999990237,4.37881871697e-05,-0.00013208635293,1.27541362477e-05,1793237956207543040
+77,1.283333333,BASELINE,767,746,716.319654304,679.319654304,663,637,880.680345696,788.680345696,804,654,632,654,0.401040296949,-0.00548656583206,0.0698669057058,0.999999990208,4.23478018082e-05,-0.000132761584784,1.28798425898e-05,1793237956224209664
+78,1.300000000,BASELINE,767,746,716,679.25498657,662.74501343,636.74501343,880.74501343,789,804,653.74501343,632,654,0.40104029255,-0.0054867165408,0.0698668138005,0.999999990148,4.23769820539e-05,-0.000133188392227,1.29835976833e-05,1793237956240876288
+79,1.316666667,BASELINE,767,746,716,679.829516604,662.170483396,636.170483396,880.170483396,789,804,653.170483396,632,654,0.401039589855,-0.00548565981328,0.0698668074046,0.999999990051,4.42477891417e-05,-0.000133303879705,1.30598439539e-05,1793237956257543424
+80,1.333333333,BASELINE,767.414466495,746,716,680,662,636.414466495,880.414466495,789,804,653.414466495,632,654,0.40103938392,-0.00548541451535,0.0698670527123,0.999999990127,4.30845199948e-05,-0.00013312663578,1.29268992445e-05,1793237956274209792
+81,1.350000000,BASELINE,767.996234928,746,716.003765072,680,662.003765072,637,881,789,803.996234928,654,632,653.996234928,0.401039387142,-0.00548551722589,0.0698673983607,0.999999990271,4.06540365004e-05,-0.000132827123257,1.27080651927e-05,1793237956290875904
+82,1.366666667,BASELINE,767.414294594,746,716.585705406,680,662.585705406,637,881,789,803.414294594,654,632,653.414294594,0.401039321887,-0.00548648510208,0.0698668436516,0.999999990301,4.02173623348e-05,-0.000132719024797,1.28542034609e-05,1793237956307542528
+83,1.383333333,BASELINE,767,746,716.834651464,680,663,637,881,788.834651464,803.165348536,653.834651464,632,653.165348536,0.401039139069,-0.00548702100773,0.0698664294456,0.999999990302,4.02121307034e-05,-0.000132707480809,1.29291408073e-05,1793237956324209152
+84,1.400000000,BASELINE,767,746,716.260685183,680,663,637,881,788.260685183,803.739314817,653.260685183,632,653.739314817,0.401038665722,-0.00548648940592,0.0698663624583,0.99999999023,4.12731018029e-05,-0.000132934547143,1.28281228307e-05,1793237956340876032
+85,1.416666667,BASELINE,767,746,716.314493565,680,663,637,881,788.314493565,804,653.314493565,632,654,0.401039423182,-0.00548580588879,0.0698671133152,0.999999990319,4.24323169389e-05,-0.000131896318923,1.28078790702e-05,1793237956357542912
+86,1.433333333,BASELINE,767,746,716.890681186,680,663,637,881,788.890681186,804,653.890681186,632,654,0.401041204811,-0.00548499596104,0.0698685447107,0.999999990539,4.36732821113e-05,-0.000129805223152,1.28548485585e-05,1793237956374209280
+87,1.450000000,BASELINE,767,746,716.521843355,680,663,637,881.478156645,788.521843355,804,654,632,654,0.401040888319,-0.00548603709476,0.0698679227785,0.99999999048,4.24684679212e-05,-0.00013065809505,1.28735987374e-05,1793237956390875648
+88,1.466666667,BASELINE,767,746,716.066583411,680,663,637,881.933416589,788.066583411,804,653.933416589,632,654,0.401040133057,-0.00548738060306,0.0698669333141,0.999999990369,4.08050303927e-05,-0.000132021897149,1.28979335331e-05,1793237956407542272
+89,1.483333333,BASELINE,767,746,716.64207956,680,663,637,881.35792044,788.64207956,804,653.35792044,632,654,0.401039779159,-0.00548772240922,0.0698668095312,0.9999999904,4.00134083426e-05,-0.000132022075817,1.30154566349e-05,1793237956424209152
+90,1.500000000,BASELINE,767,746,717,680,663,637,880.791640697,789,803.791640697,653.208359303,632,654,0.401039330303,-0.00548745399207,0.0698665563552,0.999999990291,4.09506342458e-05,-0.000132548053989,1.31074231262e-05,1793237956440876032
+91,1.516666667,BASELINE,767,746,717,680,663,637,880.240522349,789,803.240522349,653.759477651,632,654,0.401038725241,-0.00548618173415,0.0698660903228,0.999999989943,4.47318814063e-05,-0.000133938992505,1.31573480015e-05,1793237956457542656
+92,1.533333333,BASELINE,767.348538268,746,716.651461732,680,663,637,880.348538268,789.348538268,803,653.651461732,632,654,0.40103974768,-0.00548632738437,0.0698671143162,0.999999990079,4.48706315549e-05,-0.000132862182048,1.32745318289e-05,1793237956474209792
+93,1.550000000,BASELINE,767.966981056,746,716.033018944,680,663,637,880.966981056,789.966981056,803,653.033018944,632,654,0.40104203044,-0.00548757104822,0.0698692921705,0.999999990586,4.21886691672e-05,-0.00012987437183,1.34438003155e-05,1793237956490877440
+94,1.566666667,BASELINE,767.452792582,746,716,680,663,637,881,788.905585164,803.547207418,653,632,653.452792582,0.401039684554,-0.00548659049118,0.0698675912739,0.999999990199,4.24793089054e-05,-0.000132741358894,1.33047698122e-05,1793237956507544320
+95,1.583333333,BASELINE,767,746,716.124954793,680,662.875045207,637,880.875045207,788.124954793,803.875045207,653,632,653.124954793,0.401037862058,-0.00548602540457,0.0698662521397,0.999999989899,4.26775830617e-05,-0.000134930137534,1.3205995533e-05,1793237956524210688
+96,1.600000000,BASELINE,767,746,716.701533057,680,662.298466943,637,880.298466943,788.701533057,803.298466943,653,632,653.701533057,0.401038874806,-0.00548741536367,0.0698670112148,0.999999990124,4.19360480781e-05,-0.000133474155887,1.33155666419e-05,1793237956540877568
+97,1.616666667,BASELINE,767,746,717,680,662.276756232,637,880,789,803.276756232,653,632,654,0.401039170952,-0.00548743209239,0.0698671361367,0.999999990169,4.17603446799e-05,-0.000133213169031,1.3091163693e-05,1793237956557544192
+98,1.633333333,BASELINE,767,746,717,680,662.850525102,637,880,789,803.850525102,653,632,654,0.401038698045,-0.00548597508083,0.0698665804904,0.999999990022,4.21918873873e-05,-0.000134234641385,1.25083423735e-05,1793237956574210816
+99,1.650000000,BASELINE,767,746,717,680,663,636.560821252,880.439178748,788.560821252,804,653.439178748,632,654,0.401038892939,-0.00548553443488,0.0698667909021,0.99999999001,4.34199120236e-05,-0.000133917530058,1.27181621058e-05,1793237956590877184
+100,1.666666667,BASELINE,767,746,717,680,663,636.032143867,881,788.032143867,803.967856133,653.967856133,632,654,0.401039262162,-0.00548552346875,0.069867229011,0.999999990032,4.47801358992e-05,-0.000133252198048,1.31860479284e-05,1793237956607543552
+101,1.683333333,BASELINE,767,746,717,680,663,636.609301606,881,788.609301606,803.390698394,653.390698394,632,654,0.401038598266,-0.00548672691131,0.0698669519739,0.999999989891,4.3624271075e-05,-0.000134678323609,1.32949169617e-05,1793237956624210176
+102,1.700000000,BASELINE,767,746,716.814480209,680,662.814480209,636.814480209,881,789,803.185519791,653.185519791,632,654,0.401037805191,-0.00548758936714,0.0698664929192,0.999999989787,4.24599113558e-05,-0.000135818013173,1.33190599909e-05,1793237956640876800
+103,1.716666667,BASELINE,767,746,716.240230795,680,662.240230795,636.240230795,881,789,803.759769205,653.759769205,632,654,0.40103674144,-0.00548773733496,0.0698656524732,0.999999989765,4.12777519705e-05,-0.000136357517768,1.31656720415e-05,1793237956657543680
+104,1.733333333,BASELINE,767.343867117,746,716.343867117,680,662,636.343867117,881,789,804,653.656132883,632,654,0.401037482186,-0.00548669093869,0.0698658850151,0.999999989818,4.28225740048e-05,-0.000135509302025,1.29780824713e-05,1793237956674210048
+105,1.750000000,BASELINE,767.935048265,746,716.935048265,680,662,636.935048265,881,789,804,653.064951735,632,654,0.401039520752,-0.00548478553913,0.0698668892649,0.999999989912,4.63286790193e-05,-0.000133663018497,1.27658946021e-05,1793237956690876672
+106,1.766666667,BASELINE,768,746,716.484899724,680.515100276,662.515100276,637,881,789,804,653.515100276,632,654,0.401039327954,-0.00548573596061,0.0698667913489,0.999999989989,4.50175478906e-05,-0.00013352542999,1.29081879091e-05,1793237956707543296
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,717,680,662,637,881,789,804,654,632,654,0.401038975682,-0.00548790791749,0.0698671031036,0.99999999017,4.10374618237e-05,-0.000133439959991,1.30401044138e-05,1793237956750460672
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.574389789,716.425610211,680,662.574389789,637,881,789,804,653.425610211,632,653.425610211,0.401039062638,-0.00548697769927,0.0698671427206,0.999999990159,4.14471426918e-05,-0.000133396815109,1.30370482303e-05,1793237956767127296
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,747,716.152731411,680.152731411,662.847268589,637,881,789,804,653,632.152731411,653.152731411,0.401039149989,-0.00548614694659,0.0698672746665,0.999999990132,4.22185879338e-05,-0.000133356381159,1.30396767931e-05,1793237956783793920
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,747,716.742378089,680.742378089,662.257621911,637,881,789,804,653,632.742378089,653.742378089,0.401039238469,-0.00548560073248,0.0698676707356,0.999999990058,4.40249243656e-05,-0.000133323702302,1.30585675794e-05,1793237956800460800
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746.675338332,716.675338332,680.350676665,662.324661668,637,881,789,804,653,632.675338332,654,0.401039189363,-0.00548566361171,0.0698676087196,0.99999999003,4.43465871573e-05,-0.000133423971791,1.30574070949e-05,1793237956817127680
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746.098767902,716.098767902,679.197535805,662.901232098,637,881,789,804,653,632.098767902,654,0.401039033502,-0.00548619909356,0.0698671912698,0.99999999004,4.35162743026e-05,-0.000133627397449,1.30406885952e-05,1793237956833794560
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716.479958749,679.479958749,663,637,881,789,803.520041251,653.479958749,632.479958749,654,0.401039483825,-0.00548516512687,0.0698674655386,0.999999989988,4.6411323435e-05,-0.000133056355904,1.29011960187e-05,1793237956850461184
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881.059670433,789,803.059670433,654,632.940329567,654,0.401039998703,-0.00548404907338,0.0698678863241,0.9999999899,4.94547450562e-05,-0.000132630990458,1.27719104274e-05,1793237956867127808
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881.644125271,789,803.644125271,654,632.355874729,654,0.401039979296,-0.00548506431594,0.069868338152,0.999999989712,4.70304266772e-05,-0.000134894770566,1.29555931704e-05,1793237956883794176
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.227621474,746.227621474,717,680,663,637,882,789,804.227621474,653.772378526,632.227621474,654,0.401041357691,-0.00548609141132,0.0698690482588,0.999999989461,4.51869497469e-05,-0.000137340617393,1.31720284674e-05,1793237956900460544
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.80962513,746.80962513,717,680,663,637,882,789,804.80962513,653.19037487,632.80962513,654,0.401044912313,-0.00548713696017,0.0698701604781,0.999999989121,4.42477807801e-05,-0.000140069922333,1.34394559555e-05,1793237956917127168
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.615005083,746.615005083,717,679.615005083,662.615005083,637,881.230010165,789,804.615005083,653,632.615005083,654,0.401060055269,-0.00548793990521,0.06987808692,0.999999989924,4.25744069614e-05,-0.000134721505982,1.37690520768e-05,1793237956933794048
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.042860037,746.042860037,717,679.042860037,662.042860037,637,880.085720074,789,804.042860037,653,632.042860037,654,0.401080831436,-0.00548862491805,0.0698893258283,0.99999999121,4.05441282604e-05,-0.000125446423543,1.41288690551e-05,1793237956950460928
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.536791727,746,717,679.536791727,662.536791727,637,880.536791727,788.463208273,804,653.536791727,632,653.463208273,0.401119144887,-0.0054894883988,0.0699039032599,0.999999993008,4.06137742247e-05,-0.000109994422084,1.53329580378e-05,1793237956967127552
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.880971058,746,717,680,663,637,881,788.119028942,804,654,632,653.119028942,0.401162256207,-0.00549038102111,0.0699186497149,0.999999994688,4.0871620859e-05,-9.32059946851e-05,1.63314654397e-05,1793237956983794176
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.290907785,746,717,680,663,637,881,788.709092215,804,654,632,653.709092215,0.401218734336,-0.00549133177551,0.0699329952163,0.999999996347,4.12013108604e-05,-7.3108317707e-05,1.62458747199e-05,1793237957000460800
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,789,804,653.706351255,632,654,0.401279498326,-0.00549272188146,0.0699425866337,0.999999997225,4.08139160455e-05,-6.02793421876e-05,1.580116463e-05,1793237957017127424
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,789,804,653.127149682,632,654,0.401344430011,-0.00549453922593,0.0699475550367,0.999999997612,3.9729206487e-05,-5.45186707119e-05,1.5007236127e-05,1793237957033794048
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.448582166,716.551417834,680,663,637,881,789,804,653.448582166,632,654,0.401418937791,-0.00549501844724,0.0699484994721,0.999999997585,3.99823049856e-05,-5.52417158324e-05,1.33846077628e-05,1793237957050460672
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746.976148477,716.023851523,680,662.976148477,637,881,789,804,654,632,654,0.401496648466,-0.00549522852748,0.0699480862987,0.999999997426,4.04056103806e-05,-5.81652192121e-05,1.14939159498e-05,1793237957067127552
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746.388747509,716.611252491,680,662.388747509,637,881,789,804,654,632,654,0.401586395111,-0.00549797231379,0.0699423385779,0.999999996866,3.59597468249e-05,-6.99907777894e-05,8.77689966502e-06,1793237957083794176
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.195975713,746,717,680,662.195975713,637,881,789,804,653.804024287,632,654,0.401687127131,-0.00550047942135,0.0699390511475,0.999999996407,3.29220885795e-05,-7.78612927309e-05,6.37992342498e-06,1793237957100460800
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.775458752,746,717,680,662.775458752,637,881,789,804,653.224541248,632,654,0.401809356555,-0.00550252336894,0.069940578291,0.999999996415,3.2640165471e-05,-7.79921318863e-05,4.60923787749e-06,1793237957117127424
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.646147485,746,717,680,663,637,881,789,803.646147485,653.353852515,632,654,0.401950231796,-0.00550403099903,0.0699453473095,0.999999996926,3.2129410863e-05,-7.14949007661e-05,2.0596554327e-06,1793237957133794048
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.068442757,746,717,680,663,637,881,789,803.068442757,653.931557243,632,654,0.402102902664,-0.00550519934712,0.0699521671852,0.999999997656,3.14738941122e-05,-6.08046566581e-05,-9.82668613588e-07,1793237957150460672
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,717,680.506658832,663,637,881,789,803.506658832,654,632,654,0.402274404233,-0.00550785009157,0.0699549773642,0.999999997946,2.80566972648e-05,-5.74703777046e-05,-4.25771660215e-06,1793237957167127296
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,717,680.916448939,662.916448939,637,881,789,804,654,632,654,0.40245197017,-0.00551082285185,0.0699568142793,0.999999998129,2.400445292e-05,-5.57378779112e-05,-7.67531734743e-06,1793237957183793920
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,717,680.326585269,662.326585269,637,881,789,804,654,632,654,0.402650949493,-0.00551453969694,0.0699560189076,0.999999998096,1.83530622859e-05,-5.7721119543e-05,-1.17672405242e-05,1793237957200460544
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716.74128141,680,662.25871859,637,881,789,804,653.74128141,632.25871859,653.74128141,0.402864256648,-0.00552171562041,0.0699553410871,0.999999998109,6.96030070956e-06,-5.91403826997e-05,-1.53916839869e-05,1793237957217126912
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716.16163383,680,662.83836617,637,881,789,804,653.16163383,632.83836617,653.16163383,0.403095336834,-0.00553318237769,0.0699548090838,0.999999997972,-1.15543777556e-05,-5.98600553213e-05,-1.84362392504e-05,1793237957233793536
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716.414781192,680,663,637,881,789,804,653.414781192,633,653.414781192,0.403357205723,-0.00554077200872,0.0699616330794,0.99999999822,-2.89465068658e-05,-4.75674067388e-05,-2.14256919466e-05,1793237957250460416
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716.989946264,680,663,637,881,789,804,653.989946264,633,653.989946264,0.403630979708,-0.005546862467,0.0699713014267,0.999999998192,-4.59045781936e-05,-3.02432701932e-05,-2.43938379952e-05,1793237957267127296
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,881,789,804,654,632.434789045,654,0.40392726162,-0.00554715555566,0.0699768138633,0.999999998188,-4.93503203089e-05,-2.3609801904e-05,-2.51081905654e-05,1793237957283793920
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716.856276591,680,663,637,880.856276591,789,804,653.856276591,632,653.856276591,0.404230554267,-0.00554734400104,0.069980522552,0.999999998188,-5.0444893762e-05,-2.03239259002e-05,-2.57958131632e-05,1793237957300460544
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716.26771764,680,663,637,880.26771764,789,804,653.26771764,632,653.26771764,0.404554306283,-0.00554752779165,0.0699788773345,0.999999998276,-4.50064488763e-05,-2.68104514248e-05,-2.65248064301e-05,1793237957317127168
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.315986844,746,716.315986844,680,663,637,880.315986844,789,804,653.315986844,632,653.315986844,0.404905365644,-0.00554667421537,0.0699822832762,0.999999998587,-4.07972718564e-05,-2.00331272477e-05,-2.75646423938e-05,1793237957333793792
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.895640709,746,716.895640709,680,663,637,880.895640709,789,804,653.895640709,632,653.895640709,0.405279210946,-0.00554495503526,0.0699899040263,0.999999998874,-3.76138248944e-05,-2.18812865762e-06,-2.88638530523e-05,1793237957350460672
+144,2.400000000,POSE1_TO_POSE2_PRESS,768,746,717,680,663,637,881.471014329,789,804,654,632.471014329,654,0.405660709632,-0.00553609847385,0.0699906685487,0.999999998935,-3.47889205755e-05,7.43964539817e-07,-3.03018488312e-05,1793237957367127296
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.95470409,746,716.95470409,680,663,637,881.95470409,789,804,654,633,654,0.406045988824,-0.00552600039989,0.0699892813066,0.999999999002,-3.14515600439e-05,-8.79457497563e-07,-3.17051025501e-05,1793237957383793920
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.382194,746,716.382194,680,663,637,881.382194,789,804,654,633,654,0.406455711744,-0.00551969237793,0.0699803708766,0.9999999991,-2.12332499216e-05,-1.74143123065e-05,-3.23493008575e-05,1793237957400460544
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746.198046792,716.198046792,680,663,637,881.198046792,789,804.198046792,653.801953208,632.801953208,654,0.406881233476,-0.00551534153523,0.069970747737,0.999999998815,-1.38002819846e-05,-3.22983117588e-05,-3.37194244367e-05,1793237957417127168
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746.793812393,716.793812393,680,663,637,881.793812393,789,804.793812393,653.206187607,632.206187607,654,0.40733848246,-0.00551492111256,0.06995969333,0.999999998298,-1.19608563035e-05,-4.38670521562e-05,-3.65473556743e-05,1793237957433794048
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746.621872677,717,680,663,637,881.621872677,788.621872677,804.621872677,653.378127323,632.378127323,654,0.407830886131,-0.00551868108708,0.069960431377,0.999999998427,-1.50535795231e-05,-3.8687885885e-05,-3.77251326036e-05,1793237957450460672
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746.043618133,717,680,663,637,881.043618133,788.043618133,804.043618133,653.956381867,632.956381867,654,0.408341895715,-0.0055246535737,0.0699674106847,0.999999998758,-2.07566861015e-05,-2.46447419367e-05,-3.80295507174e-05,1793237957467127040
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.530972196,717,680.530972196,663,637,881,788.530972196,804.530972196,654,633,653.469027804,0.408885221588,-0.0055278812524,0.0699814301288,0.999999998943,-2.49715924329e-05,1.49095437834e-06,-3.85859224013e-05,1793237957483793920
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.891921606,717,681,663,637,881,789,804.891921606,653.891921606,632.891921606,653,0.409430381604,-0.00552972444466,0.0699915931098,0.999999998635,-2.70168458186e-05,2.12441389634e-05,-3.93542274389e-05,1793237957500460544
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.30227349,717,681,663,637,881,789,804.30227349,653.30227349,632.30227349,653,0.409971966304,-0.00552639651183,0.0699820134383,0.999999998928,-1.99356698109e-05,8.1625834081e-06,-4.09752630487e-05,1793237957517127168
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,717,681,663,637,881,789,804,653.282084824,632,653.282084824,0.410528755153,-0.00552592755531,0.0699742722742,0.999999998941,-1.84380266929e-05,-3.60107142506e-06,-4.20207181991e-05,1793237957533794048
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,717,681,663,637,881,789,804,653.860879156,632,653.860879156,0.411101536475,-0.00552846579829,0.0699684649336,0.999999998741,-2.28133938143e-05,-1.39785005927e-05,-4.24607521287e-05,1793237957550460928
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746.437706072,717,680.562293928,663,637,881,788.562293928,804,653.562293928,632,653.562293928,0.411724660652,-0.00552863486001,0.069980343651,0.999999998768,-2.42141161673e-05,5.83982549426e-06,-4.29284519889e-05,1793237957567127808
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746.986117938,717,680,663,637,881,788,804,653.013882062,632,653.013882062,0.412364428057,-0.00552813856673,0.0699980666474,0.999999998117,-2.489728872e-05,3.55497528238e-05,-4.33794262318e-05,1793237957583794688
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746.411088461,717,680,663,637,881,788,804,653.588911539,632,653.588911539,0.413033051265,-0.00553104980094,0.0700258177912,0.999999995373,-3.46222833188e-05,7.88863516797e-05,-4.28004529587e-05,1793237957600461056
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716.831367426,680,663,637,881,788.168632574,804,653.831367426,632.168632574,654,0.413701405704,-0.00553280368884,0.0700453614936,0.999999992405,-3.99944856329e-05,0.000108500713852,-4.2640869854e-05,1793237957617127680
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716.239882159,680,663,637,881,788.760117841,804,653.239882159,632.760117841,654,0.414369086154,-0.00553165548602,0.0700443247182,0.999999993082,-3.44518927828e-05,0.000103706035425,-4.35329240053e-05,1793237957633794304
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.657023092,746,716.342976908,680,663,637,881.342976908,788.657023092,804,653,632.657023092,653.657023092,0.415008142726,-0.00552909826604,0.0700143254022,0.999999997239,-3.16026670488e-05,4.94111766606e-05,-4.56267185e-05,1793237957650460928
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.080049297,746,716.919950703,680,663,637,881.919950703,788.080049297,804,653,632.080049297,653.080049297,0.415627670555,-0.00552557974048,0.0699645663174,0.999999997607,-3.05909980695e-05,-3.86553091274e-05,-4.85404031559e-05,1793237957667127552
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.494501903,746,716.505498097,680,663,637,881.505498097,788,804,653,632,653,0.416324170448,-0.00552488582377,0.0699479589091,0.999999996283,-3.22268369824e-05,-6.16953072966e-05,-5.08792489274e-05,1793237957683794176
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788.06897549,804,653,632,653.06897549,0.417038822812,-0.005524993366,0.0699416938942,0.999999995778,-3.45829074073e-05,-6.68333974339e-05,-5.27372755033e-05,1793237957700460800
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788.645750454,804,653,632,653.645750454,0.417795829166,-0.00552765144044,0.0699722538072,0.999999997748,-3.91015421543e-05,-1.72949767722e-05,-5.17372236863e-05,1793237957717127424
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.229056719,637,881,788.770943281,804,653,632,654,0.418555815102,-0.00552993054993,0.0699970283297,0.999999997549,-4.33916711801e-05,2.02777554014e-05,-5.1074845599e-05,1793237957733794048
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.82276059,637,881,788.17723941,804,653,632,654,0.419320544503,-0.00553160636605,0.0700125927968,0.99999999683,-4.73180310357e-05,3.88017014392e-05,-5.09500276534e-05,1793237957750460672
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.402955878,716.402955878,680,663.597044122,637,881,788.402955878,804,653,632,653.597044122,0.420083990562,-0.00553088244828,0.0700224957316,0.999999996068,-4.76708378239e-05,5.39789294089e-05,-5.17549785789e-05,1793237957767127296
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746.977402134,716.977402134,680,663.022597866,637,881,788.977402134,804,653,632,653.022597866,0.420846890409,-0.00552913724917,0.0700299892246,0.999999995223,-4.65028079715e-05,6.7731856534e-05,-5.29556215041e-05,1793237957783793920
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,747,716.446956851,680.553043149,663,637,881,788.446956851,804,653,632,653.553043149,0.421613270931,-0.00553237008641,0.0700320298645,0.999999994835,-5.31558336909e-05,6.86049990199e-05,-5.29014288121e-05,1793237957800460544
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.131873096,746.868126904,716.131873096,680.868126904,663,637,881.131873096,788,804,653,632,653.868126904,0.422365656561,-0.00553421041698,0.0700242720893,0.999999995447,-5.77272889044e-05,5.39166458806e-05,-5.35436687496e-05,1793237957817127168
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.721605009,746.278394991,716.721605009,680.278394991,663,637,881.721605009,788,804,653,632,653.278394991,0.423068957506,-0.00553050826047,0.0699832698155,0.999999996848,-5.39596448901e-05,-1.296949837e-05,-5.67823046783e-05,1793237957833794304
+173,2.883333333,POSE1_TO_POSE2_PRESS,767.697047041,746,716.697047041,680,663,636.697047041,881.697047041,788,804,653,632,653,0.423792002119,-0.00552799425274,0.0699373603183,0.999999993095,-5.49158086779e-05,-8.44217655766e-05,-6.056203721e-05,1793237957850460928
+174,2.900000000,POSE1_TO_POSE2_PRESS,767.123195993,746,716.123195993,680,663,636.123195993,881.123195993,788,804,653,632,653,0.424532701321,-0.00552654267825,0.0698870628239,0.9999999833,-6.00959633524e-05,-0.000159957019226,-6.48256136858e-05,1793237957867127552
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716.451531917,680.451531917,663,636.451531917,881,788,804,653,632,653,0.42534699518,-0.00552880991102,0.0699139919317,0.9999999893,-6.804667947e-05,-0.000112541400891,-6.40676007275e-05,1793237957883794176
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716.972623807,680.972623807,663,637,881.027376193,788,804,652.972623807,632,653,0.426179693442,-0.00553193416816,0.0699616351314,0.999999994661,-7.59712034732e-05,-3.2707051394e-05,-6.19361337889e-05,1793237957900460544
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716.378636087,680.378636087,663,637,881.621363913,788,804,652.378636087,632,653,0.426976910425,-0.00553175535981,0.0700010528331,0.999999995671,-6.76777162003e-05,2.24464608348e-05,-5.97902424772e-05,1793237957917126912
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680.210081476,663,636.789918524,881.789918524,788,804,652.210081476,632,653.210081476,0.427771511822,-0.00553219816818,0.0700296310216,0.999999994523,-6.20822770277e-05,6.07257291096e-05,-5.84221078512e-05,1793237957933793536
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680.789533026,663,636.210466974,881.210466974,788,804,652.789533026,632,653.789533026,0.428561514567,-0.00553373391733,0.0700391509356,0.999999994015,-6.1230606877e-05,6.93363236032e-05,-5.84214427903e-05,1793237957950460160
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.367680067,716,680.632319933,663,636.367680067,881,788,804,653,632,654,0.429354210536,-0.00553551440651,0.0700431795352,0.999999993065,-6.53758528535e-05,7.83121018423e-05,-5.88496004546e-05,1793237957967127296
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.945082987,716,680.054917013,663,636.945082987,881,788,804,653,632,654,0.430148442661,-0.00553743449407,0.0700440759162,0.999999991782,-7.2371314605e-05,8.74961785228e-05,-5.95223564315e-05,1793237957983793920
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.501729073,716.498270927,680.498270927,663.498270927,637,881,788,804,652.501729073,632,653.501729073,0.430847238868,-0.00553722391044,0.0700073209135,0.999999995291,-7.1537708651e-05,2.36001391104e-05,-6.11860170148e-05,1793237958000460544
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716.945111106,681,664,637,881,788,804.054888894,652.054888894,632,653,0.431534356362,-0.00553649843173,0.0699660937641,0.999999994429,-6.96942306135e-05,-4.81280836979e-05,-6.30028762583e-05,1793237958017127424
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716.327202955,681,664,637,881,788,804.672797045,652.672797045,632,653,0.432204572532,-0.00553278859061,0.0699195869439,0.999999988323,-6.59328107766e-05,-0.000121404557217,-6.53228396226e-05,1793237958033794048
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716,681.261094336,664,636.738905664,881.261094336,788,804.738905664,653,632,653,0.432934455321,-0.00553264972206,0.0699191541318,0.999999988725,-6.62049053752e-05,-0.00011754225369,-6.59654922366e-05,1793237958050460672
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,681.816063116,664,636.183936884,881.816063116,788,804.183936884,653,632,653,0.433731495763,-0.00553653015802,0.0699705798721,0.999999995023,-7.10169178832e-05,-2.68564791246e-05,-6.47202493227e-05,1793237958067127296
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716.398637216,681.601362784,664,636.398637216,882,788,804.398637216,653,632,653,0.434504034169,-0.00554036379019,0.0700148606476,0.999999994247,-7.54460605718e-05,4.40209368559e-05,-6.22583867302e-05,1793237958083793920
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716.994896545,681.005103455,664,636.994896545,882,788,804.994896545,653,632,653,0.435264425903,-0.00554417422,0.0700555993525,0.999999989552,-7.96853981387e-05,0.000105078480741,-5.91933917787e-05,1793237958100460544
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716.429377481,681,664,636.429377481,882,788,804.429377481,652.429377481,632,653,0.435939018394,-0.00554418818957,0.0700440027946,0.999999990874,-7.80878242708e-05,9.26203567636e-05,-5.97945606179e-05,1793237958117127168
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636.150732482,881.849267518,788,804,652.150732482,632,653,0.436603382363,-0.00554376860301,0.0700300242052,0.999999992299,-7.7030739603e-05,7.59435980072e-05,-6.08402385714e-05,1793237958133793792
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636.744241253,881.255758747,788,804,652.744241253,632,653,0.437239876056,-0.00554217172257,0.070010375595,0.999999993802,-7.77093610677e-05,4.87389237497e-05,-6.30986891956e-05,1793237958150460416
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.325391499,716,681,664,637,881.325391499,788,804.325391499,653,632,653,0.437872242664,-0.00554259380834,0.06999316769,0.999999994365,-7.89168638948e-05,2.99307384252e-05,-6.43972184206e-05,1793237958167127040
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.897183309,716,681,664,637,881.897183309,788,804.897183309,653,632,653,0.438501484031,-0.00554454474146,0.069977807992,0.999999994495,-8.05248582097e-05,1.74807339938e-05,-6.49688541363e-05,1793237958183793920
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,747,716,681.475516574,664,637,881.524483426,788,805,653,632,653,0.439095594793,-0.00554379118576,0.0699531180056,0.999999994327,-7.96082684017e-05,-2.52897242393e-05,-6.60976996367e-05,1793237958200460544
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.943638934,716,682,664,636.943638934,881.056361066,788.056361066,805,653,632,653,0.43968043356,-0.00554265431218,0.0699284008764,0.999999992192,-7.8403578821e-05,-7.03017903415e-05,-6.72865083732e-05,1793237958217127168
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.3525759,716,682,664,636.3525759,881.6474241,788.6474241,805,653,632,653,0.440250377002,-0.00554350598833,0.0699228324813,0.999999991816,-7.9716595278e-05,-7.35160889276e-05,-6.78852433726e-05,1793237958233793792
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,682,664,636.232730379,882,788.767269621,805,652.767269621,632,653,0.4408322432,-0.00554557426177,0.0699350900617,0.999999992916,-8.2789872533e-05,-5.21506270504e-05,-6.77788724177e-05,1793237958250460672
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,682,664,636.809525902,882,788.190474098,805,652.190474098,632,653,0.441431735776,-0.00554944113453,0.0699737013006,0.999999993852,-8.84654929679e-05,5.55318900743e-06,-6.66300830531e-05,1793237958267127552
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.386128616,716.386128616,682,664,637,882,788,804.613871384,652,632,653,0.442011470144,-0.00555204815261,0.0700132276903,0.999999991669,-9.07800275092e-05,6.48145179656e-05,-6.49574032176e-05,1793237958283794176
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.962636318,716.962636318,682,664,637,882,788,804.037363682,652,632,653,0.442581462866,-0.005554034005,0.0700532052945,0.99999998604,-9.14373931657e-05,0.000124843777105,-6.30264211695e-05,1793237958300460800
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.891001002,716,682,663.891001002,636,882,788,804.108998998,652.891001002,632,654,0.443480987432,-0.00555325625173,0.070003479715,0.999999994511,-7.89101819381e-05,3.13296189555e-05,-6.13980348198e-05,1793237958333794048
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.292249034,716,682,663.292249034,636,882,788,804.707750966,652.292249034,632,654,0.443871808054,-0.00555270770556,0.0699575498204,0.99999999407,-7.76044777952e-05,-4.51344602747e-05,-6.16481784229e-05,1793237958350460672
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,716,682,663,636,882,788,805,652,632,653.705450398,0.444258833896,-0.00555240734185,0.0699172925974,0.999999988657,-8.05005760388e-05,-0.000110383740257,-6.3416454745e-05,1793237958367127296
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,716,682,663,636,882,788,805,652,632,653.13004924,0.444642241411,-0.00555234361891,0.0698824442408,0.999999980358,-8.74030718207e-05,-0.000164939761322,-6.66322630322e-05,1793237958383793920
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716,682,663,636,881.555026805,788,805,652,632,653,0.445012608919,-0.00555174712266,0.0698589434898,0.999999973571,-8.91439015367e-05,-0.00020055429818,-6.84735070711e-05,1793237958400460800
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716,682,663,636,881.020404068,787.979595932,805,652.020404068,632.020404068,653,0.445378763586,-0.00555111901219,0.0698392338338,0.999999967172,-8.94210641818e-05,-0.000229738130985,-6.98637561365e-05,1793237958417127168
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,716,682,663,636,881.610322278,787.389677722,805,652.610322278,632.610322278,653,0.445733614995,-0.00555395094044,0.0698328500674,0.999999966092,-9.09155872416e-05,-0.000233814900044,-6.9869519612e-05,1793237958433794048
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746.195817553,716,682,662.804182447,635.804182447,881.804182447,787.195817553,804.804182447,652.804182447,632.804182447,653,0.446070665694,-0.0055565525936,0.0698257798159,0.999999963549,-9.34522427041e-05,-0.000243527920925,-6.97348138899e-05,1793237958450460928
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746.772705514,716,682,662.227294486,635.227294486,881.227294486,787.772705514,804.227294486,652.227294486,632.227294486,653,0.446373075314,-0.00555870612002,0.069817373632,0.99999995789,-9.80169379092e-05,-0.00026420935928,-6.93267483114e-05,1793237958467127552
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,747,716,682,662.349835207,635,881.349835207,788,804,652,632,653,0.44665131489,-0.00555911070618,0.0698037610036,0.999999950623,-9.85717093722e-05,-0.000290234854192,-6.92958168615e-05,1793237958483794176
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,747,716,682,662.927122123,635,881.927122123,788,804,652,632,653,0.446913839905,-0.00555837818731,0.0697867633098,0.999999941811,-9.65193565218e-05,-0.000319734886394,-6.95100859367e-05,1793237958500460800
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+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746.916987765,716,683,662.083012235,635,881.083012235,787,804.916987765,653,632,653,0.44738318965,-0.005559833159,0.0697535274352,0.999999920298,-9.76928219094e-05,-0.000380660063693,-7.04090894455e-05,1793237958533793792
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+216,3.600000000,POSE1_TO_POSE2_PRESS,766.741049964,746,716,683,662.741049964,635,882,787,804.258950036,652.741049964,632,653,0.447804846724,-0.00556163795805,0.0697331304239,0.999999908326,-9.31281567696e-05,-0.000412153489815,-6.9309880978e-05,1793237958567127296
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+238,3.966666667,POSE1_TO_POSE2_PRESS,767,747,716,682,661,634,881.990007757,787,805,652.009992243,632,653,0.449433872982,-0.00556703431811,0.0696927500476,0.999999878124,-0.000105851889126,-0.000477700885538,-6.59547984383e-05,1793237958933793792
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,747,716,682,661,634,881.416069424,787,805,652.583930576,632,653,0.449434343653,-0.00556557732331,0.0696917311501,0.999999877114,-0.000103289048754,-0.000480402102888,-6.57080952157e-05,1793237958950460672
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.836111488,746.836111488,716,682,661,634,881,786.836111488,805,653,632,653,0.449434866077,-0.00556493163044,0.0696905948567,0.999999876069,-0.000102088003439,-0.000482859587215,-6.54792241181e-05,1793237958967127296
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.240288702,746.240288702,716,682,661,634,881,786.240288702,805,653,632,653,0.449435524894,-0.00556642415412,0.069689149162,0.999999874956,-0.000104476019853,-0.000484674703935,-6.52973502668e-05,1793237958983794176
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.342593237,746,716,682,661,634,881.342593237,786,805,652.657406763,632,653.342593237,0.44943681314,-0.0055669635774,0.0696886688894,0.999999874805,-0.000104709389165,-0.000484928893226,-6.53427483212e-05,1793237959000461056
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+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746.245169466,716,683,661,634,882,787,806,653,632,653,0.449441331274,-0.00556654198624,0.069688165046,0.999999874791,-0.000105704078436,-0.000484824684852,-6.47291159468e-05,1793237959083795200
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+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746.461699463,716,683,661,634,882,786.538300537,805,652,632,653,0.449443812728,-0.00556462831597,0.0696882290314,0.99999987467,-0.000102339243623,-0.0004858835459,-6.40660023758e-05,1793237959233794048
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746.653747243,716,682.346252757,661.346252757,634,882.653747243,786.653747243,804.653747243,652.346252757,632,653,0.448909830935,-0.00554880704081,0.0695599827285,0.999999758396,-9.28970879384e-05,-0.000685975977971,-6.33602481946e-05,1793237959985874688
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746.182070389,716,682.817929611,661,634,882.182070389,787,804.182070389,652.817929611,632,653.817929611,0.448691545651,-0.00554323391286,0.0695495686984,0.999999743374,-8.70633869148e-05,-0.000708475375999,-6.11089638186e-05,1793237960019208192
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,716.982768036,681,663,636.017231964,881,788,804,653,632.017231964,653.017231964,0.421280156562,-0.00538893980634,0.0697088855353,0.999999869938,0.000150307886189,-0.000486882756298,2.18233667549e-05,1793237960885874944
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,716.442036385,681,662.442036385,636,881,788,804,653,632,653,0.42057000311,-0.00539126647084,0.0697605984036,0.999999908801,0.000149202743844,-0.000399516693466,2.28893060849e-05,1793237960902541568
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,662.136685847,636,881,788.136685847,804,653,632,653.136685847,0.419869606722,-0.00539298014941,0.0698137224417,0.999999940224,0.000149149462629,-0.000310960856442,2.47032398759e-05,1793237960919208192
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,662.727028168,636,881,788.727028168,804,653,632,653.727028168,0.419191779619,-0.0053925945394,0.0698629244682,0.999999960833,0.00015238838102,-0.000232994510801,2.87208562728e-05,1793237960935875072
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.108890139,663,636.891109861,881,789,804.891109861,653,632.891109861,654,0.417728509157,-0.00538959319298,0.0698665728212,0.9999999587,0.000164705361781,-0.00023339525048,3.15937963994e-05,1793237960969208320
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.533324886,746,716,680,663,637,881,789,804.533324886,653,632.533324886,654,0.416979749981,-0.00538750163841,0.0698352955088,0.999999947125,0.000167014762018,-0.000277488285821,2.92721574163e-05,1793237960985874944
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.215547426,662.784452574,637,881,788.784452574,804,653,632.784452574,653.784452574,0.414806508685,-0.00538188241344,0.0697852713409,0.99999992424,0.000171434344901,-0.000348501158754,2.60412531969e-05,1793237961035874560
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.628859377,662,637,881,788.371140623,804,653,632.371140623,653.371140623,0.413450418821,-0.00537651988561,0.0697806138493,0.999999918943,0.00017748856974,-0.000360443517294,2.63047841273e-05,1793237961069207808
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.053114347,662,637,881,788.946885653,804,653,632.946885653,653.946885653,0.412845519478,-0.0053785663528,0.0698053046855,0.999999934359,0.000179326315683,-0.000313638932056,2.74856736968e-05,1793237961085874944
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716.519109763,680,662,637,881,789,804,653,632.480890237,654,0.412271581301,-0.00538131454145,0.0698460135315,0.999999953771,0.000177901550559,-0.000244846214032,2.93143205336e-05,1793237961102541312
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,716.90809882,679.90809882,662.09190118,636.90809882,881,788.90809882,804,653,632,653.90809882,0.411693253416,-0.00538337925306,0.0698813057781,0.999999966563,0.000177048571736,-0.000185945132311,3.08711562333e-05,1793237961119207936
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,716.330417254,679.330417254,662.669582746,636.330417254,881,788.330417254,804,653,632,653.330417254,0.411075089662,-0.00538145420919,0.0698793615534,0.999999964888,0.000180970622039,-0.000191142271644,3.06432511839e-05,1793237961135874816
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.255870203,663,636.255870203,881,788,804,653,632,653.255870203,0.410461933618,-0.0053797776236,0.0698648904761,0.999999959489,0.00018223856574,-0.000216602152638,2.98992033099e-05,1793237961152541440
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.853657596,663,636.853657596,881,788,804,653,632,653.853657596,0.409855469385,-0.00537843305086,0.0698336798721,0.999999947184,0.000179959848561,-0.000269138963197,2.84654381029e-05,1793237961169207808
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.567576321,636.567576321,881,788.432423679,804.432423679,653,632,653.567576321,0.409285721839,-0.00537585303517,0.0698078288725,0.999999932701,0.00018641998797,-0.00031484491567,2.67995641674e-05,1793237961185874432
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662,636.005044425,881,789,804.994955575,653,632,653,0.408728467095,-0.00537288198452,0.0697840113302,0.999999916564,0.000195617125299,-0.000357740067958,2.50685269737e-05,1793237961202541056
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662,636.579998125,881,789,804.420001875,653,632,653,0.408237937499,-0.005370978795,0.0697936427494,0.999999925358,0.000193987690991,-0.000333245841456,2.44761166422e-05,1793237961219207936
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.248856371,746,716,679.248856371,662,637,881,788.248856371,804,653,632.751143629,653,0.407289182164,-0.00536890348819,0.0698201084735,0.999999938988,0.000197852457501,-0.000286806557879,2.49262613547e-05,1793237961252541440
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.334671976,746,716.334671976,679.334671976,662.334671976,637,881,788,804,653,633,653,0.406828026084,-0.0053682546548,0.0698242802692,0.9999999391,0.000198151790694,-0.000286181059256,2.52104170936e-05,1793237961269208064
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.912280727,746,716.912280727,679.912280727,662.912280727,637,881,788,804,653,633,653,0.406369720966,-0.00536752653458,0.0698203703771,0.99999993509,0.000195777949626,-0.000301424155648,2.51960032931e-05,1793237961285874944
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.069708375,636,880.930291625,788,804,653,632,653.069708375,0.405535585541,-0.00536229274209,0.0698085527188,0.9999999262,0.000205639777642,-0.000323548262081,2.50957618865e-05,1793237961319207680
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.657003304,636,880.342996696,788,804,653,632,653.657003304,0.405185230828,-0.00536098935834,0.0698224559762,0.999999934929,0.000204282663664,-0.000296339259385,2.4354370056e-05,1793237961335874560
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.241114711,880,788,804,653,632,654,0.404846031285,-0.00536068840773,0.0698353783302,0.999999942462,0.000202117329224,-0.000271381449177,2.40302846794e-05,1793237961352541184
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.820756379,880,788,804,653,632,654,0.404522493721,-0.00536179488128,0.0698469234871,0.999999948795,0.000198817247092,-0.000249584333431,2.42921009329e-05,1793237961369207808
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716.397409294,680,663,637,880.397409294,788,804,653,632,653.602590706,0.404210109679,-0.00536132151269,0.0698541862214,0.999999951843,0.000198265191854,-0.000237520158462,2.42590166295e-05,1793237961385874688
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716.972724304,680,663,637,880.972724304,788,804,653,632,653.027275696,0.403902718635,-0.00536014090621,0.0698595318715,0.999999953513,0.000198943328238,-0.000229813065911,2.40939160764e-05,1793237961402541824
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767.559245562,746,716.440754438,680,663,637,881,788,804,653,632,653.559245562,0.403615695845,-0.00535830370491,0.0698479757223,0.999999948065,0.000203454435858,-0.000248860389719,2.33445397525e-05,1793237961419208448
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767.855463746,746,716,680,662.855463746,636.855463746,880.855463746,788,804,653,632,654,0.403335357,-0.00535700305206,0.0698369527468,0.999999942552,0.000207192655287,-0.000267329401428,2.24107095629e-05,1793237961435875328
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767.275559569,746,716,680,662.275559569,636.275559569,880.275559569,788,804,653,632,654,0.403072097778,-0.00535741700761,0.0698300696044,0.999999938929,0.000208028186476,-0.000280045567307,2.10088640425e-05,1793237961452541696
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.302066068,636.302066068,880.302066068,788,804,653.302066068,632,654,0.402832841924,-0.00535788411285,0.0698256028747,0.999999936883,0.000208029612167,-0.000287308545225,2.03041247503e-05,1793237961469208320
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.877628636,636.877628636,880.877628636,788,804,653.877628636,632,654,0.402615319203,-0.00535839934083,0.0698233240126,0.99999993637,0.000207275822473,-0.000289634099854,2.02305590965e-05,1793237961485874688
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.545500945,637,880.545500945,788,804,653.545500945,632,654,0.402414860543,-0.00535646155373,0.0698197989894,0.999999933879,0.00020753276636,-0.00029792302659,2.03346790204e-05,1793237961502541312
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.032246489,637,880,788.032246489,804,653,632,653.967753511,0.402221095438,-0.00535393625838,0.0698160958365,0.999999930921,0.000207966105536,-0.000307392855575,2.04458383421e-05,1793237961519207936
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.619002437,637,880,788.619002437,804,653,632,653.380997563,0.402063199231,-0.00535269822721,0.0698151158454,0.999999930543,0.000206739613329,-0.000309479834411,1.98530031016e-05,1793237961535874560
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.796926835,636.796926835,880.203073165,789,804,653,632,653.203073165,0.401913900224,-0.00535185088155,0.0698150044029,0.999999930851,0.000206033766969,-0.000308987264096,1.93612875047e-05,1793237961552541440
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.217828328,636.217828328,880.782171672,789,804,653,632,653.782171672,0.401780520444,-0.0053517269583,0.0698165012298,0.999999932418,0.000206291987234,-0.000303718208893,1.90568126106e-05,1793237961569208320
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716.360239221,680,662.360239221,636,880.639760779,788.639760779,804,653,632,654,0.401661563616,-0.00535270685091,0.0698174686293,0.999999933487,0.000204926459025,-0.000301129853161,1.87868967303e-05,1793237961585875200
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716.937685206,680,662.937685206,636,880.062314794,788.062314794,804,653,632,654,0.401551303115,-0.00535435229089,0.06981811681,0.999999934261,0.000202581889325,-0.000300157828595,1.85378182289e-05,1793237961602542080
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716.486553752,680,662.486553752,636.513446248,879.486553752,788,804,653,632,654,0.401457179722,-0.00535318260352,0.0698176585068,0.999999933404,0.00020699914617,-0.000300037018376,1.79170603525e-05,1793237961619208448
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716.091226332,680,662.091226332,636.908773668,879.091226332,788.091226332,803.908773668,653.091226332,632,654,0.401367985692,-0.00535177944367,0.0698167116699,0.999999932326,0.000211230877366,-0.000300720216382,1.72117393746e-05,1793237961635874816
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,716.681158358,680,662.681158358,636.318841642,879.681158358,788.681158358,803.318841642,653.681158358,632,654,0.401295067461,-0.00535096160153,0.0698138258879,0.999999931238,0.000209976815546,-0.000305235768171,1.62899291824e-05,1793237961652541440
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716.734627314,680,663,636,880,788.734627314,803,654,632,654,0.401230443606,-0.00535152989792,0.069811844489,0.999999930896,0.000207967365556,-0.000307753901416,1.56586039195e-05,1793237961669207808
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716.157137865,680,663,636,880,788.157137865,803,654,632,654,0.401175575144,-0.00535372849428,0.0698109267757,0.999999931447,0.000205069469614,-0.000307922780525,1.53689311147e-05,1793237961685874432
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.582136835,636.417863165,880.417863165,788,803.417863165,653.582136835,632,654,0.401134530995,-0.00535385248161,0.069814500152,0.999999933418,0.000204521900104,-0.000301827994038,1.53484872912e-05,1793237961702541568
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.434347814,662.565652186,636.434347814,881,788,804,653,632,653.434347814,0.401072081247,-0.00535411343977,0.0698218592839,0.999999936688,0.000204984886391,-0.000290432373548,1.59149000487e-05,1793237961735875328
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,716.73805306,679.73805306,663,636.73805306,881,788,804,653,632,653.73805306,0.401031910928,-0.00535401794878,0.0698258704905,0.999999938296,0.000206990366709,-0.000283376157263,1.61385613985e-05,1793237961769208320
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,716.676832973,680,663,637,881,788,804,653,632,654,0.401018345343,-0.00535438429879,0.0698271644072,0.999999938828,0.000207390219956,-0.000281186979618,1.63730584724e-05,1793237961785874688
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.524239529,663,637,880.524239529,788,804,653,632,654,0.400998940838,-0.00535552972505,0.0698291606346,0.999999939851,0.000205424904859,-0.000278958420663,1.67770937908e-05,1793237961819207936
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716.050785614,679.050785614,663,637,880.050785614,788.050785614,804,653,632,653.949214386,0.400992161704,-0.00535539454372,0.0698304618727,0.999999940608,0.000203847344978,-0.000277408817115,1.65571712566e-05,1793237961835874816
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716.641638516,679.641638516,663,637,880.641638516,788.641638516,804,653,632,653.358361484,0.400989862844,-0.00535662802013,0.0698314031545,0.999999941224,0.000203244955996,-0.000275625762659,1.6533164945e-05,1793237961852541440
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716.771897212,680,663,637,880.771897212,788.771897212,803.771897212,653,632,653,0.400988602558,-0.0053581509187,0.0698324271327,0.999999941973,0.000202307431906,-0.000273579711254,1.67091596828e-05,1793237961869208320
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,716.192197595,680,663,637,880.192197595,788.192197595,803.192197595,653,632,653,0.400988943125,-0.00536011993147,0.0698335785787,0.999999942926,0.000200853331788,-0.000271128277386,1.71934353303e-05,1793237961885874944
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,716.386198944,679.613801056,663,636.613801056,880.386198944,788,803.386198944,653,632,653.386198944,0.400988330352,-0.00536107580939,0.0698348245066,0.999999943664,0.000200400764821,-0.000268726566702,1.72400965832e-05,1793237961902541824
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,716.96394915,679.03605085,663,636.03605085,880.96394915,788,803.96394915,653,632,653.96394915,0.400987244729,-0.00536152918133,0.0698361172967,0.999999944294,0.00020044494949,-0.000266349518351,1.70697049493e-05,1793237961919208192
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,717,679.53773327,663,636.53773327,881,788,804,653,632.53773327,653.46226673,0.400986802284,-0.00536191280274,0.0698359314107,0.999999944342,0.000200374264068,-0.000266213799346,1.71898323797e-05,1793237961935875072
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,716.885220265,680,663,637,881,788,804,653,632.885220265,653.114779735,0.400986358989,-0.00536232343274,0.0698357095905,0.999999944423,0.000199850319325,-0.000266298724977,1.73096451727e-05,1793237961952541696
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,716.293521929,680,663,637,881,788,804,653,632.293521929,653.706478071,0.400985734306,-0.00536286557326,0.0698357473531,0.999999944792,0.000197474811955,-0.000266680659777,1.73478144643e-05,1793237961969208320
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746.291347792,716,680,662.708652208,637,881,788,803.708652208,653,631.708652208,654,0.400985419063,-0.00536553440247,0.0698362587813,0.999999945655,0.000193124820392,-0.00026660579933,1.77205157046e-05,1793237961985875200
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746.869495562,716,680,662.130504438,637,881,788,803.130504438,653,631.130504438,654,0.400985408428,-0.00537029672373,0.0698372364813,0.999999946978,0.000186831165202,-0.00026608127405,1.84225269976e-05,1793237962002541824
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746.553843033,716,680,662.446156967,637,880.553843033,788,803.446156967,653,631.446156967,654,0.400985250969,-0.00537736660206,0.0698376191752,0.99999994832,0.000179334268637,-0.000266095932648,1.9784282484e-05,1793237962019208448
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.977177256,636.977177256,880,788,803.977177256,653,632,654,0.400985058642,-0.00538501054157,0.0698378237363,0.999999949607,0.000171625515561,-0.000266227471625,2.13010887789e-05,1793237962035875072
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.389681131,636.389681131,880,788,803.389681131,653,632,654,0.400985062683,-0.00539021307415,0.0698379128365,0.999999950548,0.000167354174999,-0.00026536163673,2.18953092442e-05,1793237962052541952
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.195371495,636.195371495,880.195371495,788,803.195371495,652.804628505,632.195371495,654,0.400985171757,-0.0053925152174,0.0698379099518,0.9999999509,0.000166080714836,-0.000264805143596,2.22542025691e-05,1793237962069208576
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.775610573,636.775610573,880.775610573,788,803.775610573,652.224389427,632.775610573,654,0.400985487736,-0.00538910380511,0.0698377258633,0.999999950108,0.000170712860455,-0.000264858031205,2.21495185726e-05,1793237962085874944
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.649236146,881,788,804,652.350763854,632.649236146,654,0.4009846519,-0.00539003038643,0.0698373045196,0.999999950201,0.000169165409607,-0.000265490252669,2.22559711642e-05,1793237962102541568
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.077289857,881,788,804,652.922710143,632.077289857,654,0.40098308976,-0.00539369239224,0.0698367335688,0.999999950837,0.000163721268024,-0.000266487786777,2.24955609234e-05,1793237962119208192
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636,881,788,804,653,632,654,0.400984728668,-0.00539073413406,0.0698378803611,0.999999950947,0.000166974911195,-0.000264093063968,2.18917499426e-05,1793237962135874816
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.919756792,663,636,880.919756792,788,803.919756792,653,632,653.919756792,0.400986562478,-0.00538759993483,0.0698391197764,0.999999951,0.000170644988547,-0.000261581242869,2.13625106721e-05,1793237962152541184
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.331202933,663,636,880.331202933,788,803.331202933,653,632,653.331202933,0.400986462568,-0.0053899038382,0.0698392457315,0.999999951345,0.000168344103191,-0.000261685245865,2.21404388631e-05,1793237962169208320
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,716.25347418,679,663,636.25347418,880,788,803.25347418,653,632,653,0.400986428771,-0.00539216811888,0.0698392055304,0.999999951872,0.000165150085863,-0.000261678557676,2.24912999049e-05,1793237962185875200
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,716.833162117,679,663,636.833162117,880,788,803.833162117,653,632,653,0.400986480058,-0.00539438140662,0.0698389514913,0.999999952623,0.000160806633842,-0.000261529413225,2.22925382896e-05,1793237962202541824
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,716.589886787,679.410113213,663,637,880,788,804,653,632,653,0.400986890099,-0.00539293766673,0.0698396216255,0.99999995233,0.000163779975639,-0.000260829656175,2.19932532726e-05,1793237962219208448
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746,716.014041718,679.985958282,663,637,880,788,804,653,632,653,0.400987445117,-0.0053900160763,0.0698406652297,0.999999951589,0.000169710125202,-0.000259907389717,2.16533455084e-05,1793237962235874816
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.572261872,788,804,653,632,653.572261872,0.40098728544,-0.0053907254687,0.0698402698941,0.999999952057,0.000167452027607,-0.000259562595856,2.17537064545e-05,1793237962252541440
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.84314382,788,804,653,632,654,0.400986786706,-0.00539146187302,0.0698397956603,0.999999952331,0.000165526490814,-0.000259731730905,2.18529740745e-05,1793237962269208064
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.263856809,788,804,653,632,654,0.400985422964,-0.00539202661609,0.0698392058021,0.999999952015,0.00016504774072,-0.000261246062074,2.19196620526e-05,1793237962285874688
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0a59655f669f9bf756a027c704924a8179b4e6d6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,439 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+1,0.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+2,0.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+3,0.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+4,0.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+5,0.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+6,0.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+7,0.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+8,0.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+9,0.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+10,0.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+11,0.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+12,0.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+13,0.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+14,0.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+15,0.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+16,0.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+17,0.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+18,0.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+19,0.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+20,0.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+21,0.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+22,0.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+23,0.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+24,0.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+25,0.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+26,0.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+27,0.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+28,0.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+29,0.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+30,0.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+31,0.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+32,0.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+33,0.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+34,0.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+35,0.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+36,0.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+37,0.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+38,0.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+39,0.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+40,0.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+41,0.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+42,0.700000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+44,0.733333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+45,0.750000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+47,0.783333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+48,0.800000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+49,0.816666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+51,0.850000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+52,0.866666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+54,0.900000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+55,0.916666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+57,0.950000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+404,6.733333333,pose2_to_pose3_retreat,0.578329662234,1.30284203664e-06,1.06001153034,0.548900937223,0.00867494721074,1.05966105934
+405,6.750000000,pose2_to_pose3_retreat,0.578309796803,1.18848943305e-06,1.06001139403,0.548881074118,0.00867484125897,1.05966093662
+406,6.766666667,pose2_to_pose3_retreat,0.578294264445,1.3286981856e-06,1.06001154388,0.548865540622,0.00867497771343,1.0596610908
+407,6.783333333,pose2_to_pose3_retreat,0.578282083407,1.2929624987e-06,1.06001168115,0.548853360471,0.00867494473321,1.05966122298
+408,6.800000000,pose2_to_pose3_retreat,0.578272904733,1.19639331978e-06,1.0600117803,0.548844183344,0.00867485305632,1.05966131411
+409,6.816666667,pose2_to_pose3_retreat,0.578266097232,1.28035838598e-06,1.06001177857,0.548837375233,0.00867493496376,1.05966131337
+410,6.833333333,pose2_to_pose3_retreat,0.578261429048,1.37279330707e-06,1.06001174775,0.548832705969,0.00867502399288,1.05966128933
+411,6.850000000,pose2_to_pose3_retreat,0.578258676963,1.442337669e-06,1.06001171678,0.548829952962,0.00867509066808,1.05966126499
+412,6.866666667,pose2_to_pose3_retreat,0.578257134945,1.3715160898e-06,1.06001172769,0.548828411465,0.00867502152324,1.05966127382
+413,6.883333333,pose2_to_pose3_retreat,0.578256447892,1.30320887963e-06,1.06001174201,0.548827724992,0.00867495506258,1.05966128528
+414,6.900000000,pose2_to_pose3_retreat,0.578256020238,1.26069121071e-06,1.06001175093,0.548827297698,0.00867491369429,1.05966129241
+415,6.916666667,pose2_to_pose3_retreat,0.578255706743,1.22952327937e-06,1.06001175746,0.548826984467,0.00867488336893,1.05966129764
+416,6.933333333,pose2_to_pose3_retreat,0.578255258372,1.18494597853e-06,1.06001176681,0.548826536475,0.00867483999668,1.05966130511
+417,6.950000000,pose2_to_pose3_retreat,0.578254851576,1.14450200035e-06,1.06001177529,0.548826130021,0.00867480064603,1.0596613119
+418,6.966666667,pose2_to_pose3_retreat,0.578254598682,1.1271842175e-06,1.06001177622,0.548825877254,0.00867478372298,1.05966131197
+419,6.983333333,pose2_to_pose3_retreat,0.57825439775,1.14075047732e-06,1.06001176179,0.548825676122,0.00867479660781,1.05966129753
+420,7.000000000,pose2_to_pose3_retreat,0.578254229324,1.15212202034e-06,1.06001174969,0.548825507528,0.00867480740816,1.05966128544
+421,7.016666667,pose2_to_pose3_retreat,0.578254142333,1.15799536786e-06,1.06001174344,0.54882542045,0.00867481298649,1.05966127919
+422,7.033333333,pose2_to_pose3_retreat,0.578254110301,1.16015806045e-06,1.06001174114,0.548825388386,0.00867481504055,1.05966127689
+423,7.050000000,pose2_to_pose3_retreat,0.578254100029,1.16085160942e-06,1.0600117404,0.548825378104,0.00867481569926,1.05966127615
+424,7.066666667,pose2_to_pose3_retreat,0.578254022436,1.16609047175e-06,1.06001173483,0.548825300433,0.00867482067498,1.05966127058
+425,7.083333333,pose2_to_pose3_retreat,0.578253767419,1.18330835771e-06,1.06001171651,0.548825045162,0.00867483702801,1.05966125226
+426,7.100000000,pose2_to_pose3_retreat,0.578253724156,1.18622932106e-06,1.0600117134,0.548825001856,0.00867483980225,1.05966124916
+427,7.116666667,pose2_to_pose3_retreat,0.578253544025,1.1983911853e-06,1.06001170046,0.548824821545,0.00867485135322,1.05966123622
+428,7.133333333,pose2_to_pose3_retreat,0.578253417761,1.20691609751e-06,1.06001169139,0.548824695155,0.00867485944993,1.05966122715
+429,7.150000000,pose2_to_pose3_retreat,0.578253187614,1.22245484602e-06,1.06001167486,0.548824464778,0.00867487420817,1.05966121062
+430,7.166666667,pose2_to_pose3_retreat,0.578252793044,1.2347450202e-06,1.06001163296,0.54882406984,0.00867488523745,1.05966116845
+431,7.183333333,pose2_to_pose3_retreat,0.578252586139,1.22518616057e-06,1.06001159587,0.548823862771,0.00867487510354,1.05966113091
+432,7.200000000,pose2_to_pose3_retreat,0.578252501647,1.22128271775e-06,1.06001158073,0.548823778212,0.00867487096527,1.05966111558
+433,7.216666667,pose2_to_pose3_retreat,0.578252422877,1.21764359259e-06,1.06001156661,0.548823699379,0.00867486710722,1.05966110129
+434,7.233333333,pose2_to_pose3_retreat,0.578252388613,1.21606063648e-06,1.06001156046,0.548823665088,0.00867486542903,1.05966109507
+435,7.250000000,pose2_to_pose3_retreat,0.578252289466,1.21178887959e-06,1.06001154327,0.548823565908,0.00867486103602,1.05966107773
+436,7.266666667,pose2_to_pose3_retreat,0.578252191119,1.21360108689e-06,1.06001153748,0.548823468402,0.0086748657514,1.0596610731
+437,7.283333333,pose2_to_pose3_retreat,0.578252173135,1.28047870442e-06,1.06001153247,0.548823450731,0.00867493373793,1.05966106929
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9cbac25c17d57605a5fcd531b9179629b2177884
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0b537fc57acfa6c9f7d6e93dd17674e911147ef09451e495c4ebd050744acec
+size 27917656
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ab9fd44b46c5b6dbd3dc024e1cfd03e7ae4b35f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_02/franka_data.csv
@@ -0,0 +1,441 @@
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+1,0.016666667,BASELINE,767,746,716.423381641,679.576618359,663,637,880,788,803.576618359,653.576618359,632,653.423381641,0.400986062963,-0.00539177233593,0.0698403300743,0.999999952072,0.000166747976012,-0.000259936509369,2.19858174947e-05,1793237962424991744
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+16,0.266666667,BASELINE,767,746,716,680,663,637,880,789,804,653,632,654,0.400986273649,-0.00538891724077,0.069840488456,0.999999951721,0.000168898153184,-0.000259969134636,2.11540225437e-05,1793237962674991872
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+27,0.450000000,BASELINE,767,746,717,680,663,637,880,788,803.343454647,653,632.656545353,653.656545353,0.40098811844,-0.00539019899618,0.0698427297275,0.999999952804,0.000168233215069,-0.000256206827178,2.11518848603e-05,1793237962858325248
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+29,0.483333333,BASELINE,767,746,717,680,663,637,880,788,803.824540197,653,632.175459803,653.175459803,0.400986769726,-0.0053902341298,0.0698431356878,0.999999952456,0.00016847472627,-0.000257372579193,2.15236188377e-05,1793237962891658496
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+38,0.633333333,BASELINE,767,746,716,680,663,636.044398118,880,788,803.955601882,653,632,653.044398118,0.400984974765,-0.00539078878721,0.0698411997104,0.999999952675,0.000165625373928,-0.000258412874534,2.09905377098e-05,1793237963041658624
+39,0.650000000,BASELINE,767,746,716,680,663,636.619237753,880,788,803.380762247,653,632,653.619237753,0.400986198088,-0.00539137594274,0.0698417964547,0.999999952848,0.000166258413096,-0.000257301039576,2.14206683703e-05,1793237963058325248
+40,0.666666667,BASELINE,767,746,716,680,663,636.800332122,879.800332122,788,803.199667878,653,632,653.800332122,0.400986614607,-0.00539188531742,0.0698419065404,0.999999952822,0.000166830993823,-0.00025700911664,2.16787189484e-05,1793237963074991872
+41,0.683333333,BASELINE,767,746,716,680,663,636.208933999,879.208933999,788,803.791066001,653,632,653.208933999,0.400985448253,-0.00539224209308,0.0698410618461,0.999999952409,0.00016728496054,-0.000258325786704,2.15991640045e-05,1793237963091658752
+42,0.700000000,BASELINE,767,746,716.374730395,679.625269605,663,636.374730395,879.374730395,788,804,653,631.625269605,653,0.400986355942,-0.00539131279393,0.0698417484453,0.999999952384,0.000169058630769,-0.000257275648473,2.14439365671e-05,1793237963108325376
+43,0.716666667,BASELINE,767,746,716.954169959,679.045830041,663,636.954169959,879.954169959,788,804,653,631.045830041,653,0.400988396648,-0.00538968093285,0.0698432715653,0.999999952564,0.000171553233715,-0.00025493256102,2.12473704699e-05,1793237963124991744
+44,0.733333333,BASELINE,767,746,716.470633571,679.529366429,663,637,880,788,803.470633571,653,631.529366429,653,0.400987937659,-0.00539011107476,0.0698428306878,0.999999952772,0.000169622851366,-0.000255427290729,2.10219558519e-05,1793237963141658368
+45,0.750000000,BASELINE,767,746,716,680,663,637,880.103897303,788,803,653,632,653.103897303,0.400987334054,-0.00539054341281,0.0698423269077,0.99999995292,0.000167832416956,-0.00025604768235,2.0802010039e-05,1793237963158324736
+46,0.766666667,BASELINE,767,746,716,680,663,637,880.677067715,788,803,653,632,653.677067715,0.400987046953,-0.00539018576697,0.0698423009001,0.999999952807,0.000168390649918,-0.000256134790118,2.06179563246e-05,1793237963174991616
+47,0.783333333,BASELINE,767,746,716,680,663,637,881,788,803.258150643,653,632,654,0.40098655898,-0.00539045708135,0.0698422826367,0.999999952662,0.000168800416533,-0.000256418487054,2.08021617276e-05,1793237963191658496
+48,0.800000000,BASELINE,767,746,716,680,663,637,881,788,803.849444755,653,632,654,0.400985811784,-0.005391540069,0.0698422743673,0.999999952473,0.000169018587367,-0.000256955882371,2.14616055868e-05,1793237963208325120
+49,0.816666667,BASELINE,767,746,716.432109513,680,663,637,880.567890487,788,804,653,632,653.567890487,0.400985317942,-0.00539100962038,0.069841798089,0.999999952218,0.000169414320578,-0.000257680957498,2.15300928236e-05,1793237963224991744
+50,0.833333333,BASELINE,767,746,716.988280927,680,662.988280927,637,880.011719073,788.011719073,804,653,632,653.011719073,0.40098496486,-0.00538997535909,0.0698412046672,0.999999951963,0.000169832535202,-0.000258405589244,2.13974730532e-05,1793237963241658368
+51,0.850000000,BASELINE,767,746,716.41382836,680,662.41382836,637,880.58617164,788.58617164,804,653,632,653.58617164,0.400987215095,-0.00539121395662,0.0698426629403,0.999999952815,0.000168417716506,-0.000256030415603,2.13014540996e-05,1793237963258324992
+52,0.866666667,BASELINE,767,746,716,680,662.164494189,636.835505811,880.835505811,789,804,653,632,654,0.400988800381,-0.00539224666423,0.0698435964632,0.999999953462,0.000167167843202,-0.000254321317476,2.12559761755e-05,1793237963274991616
+53,0.883333333,BASELINE,767,746,716,680,662.75278723,636.24721277,880.24721277,789,804,653,632,654,0.400988672507,-0.00539274892196,0.0698431780327,0.999999953596,0.000166342931304,-0.000254328280353,2.13407109441e-05,1793237963291658240
+54,0.900000000,BASELINE,767,746,716,679.664010529,663,636.335989471,880,789,804,653,632,654,0.400987165744,-0.00539235867848,0.0698423760346,0.999999953182,0.000166684573756,-0.000255737338331,2.12484511353e-05,1793237963308324864
+55,0.916666667,BASELINE,767,746,716,679.084498092,663,636.915501908,880,789,804,653,632,654,0.400984659571,-0.00539132155597,0.0698412960292,0.999999952364,0.000167871727191,-0.000258162625648,2.10279068128e-05,1793237963324991744
+56,0.933333333,BASELINE,767,746,716,679.493795746,663,637,880,788.506204254,803.506204254,653,632,654,0.400986011377,-0.00539093301405,0.0698418501219,0.999999952588,0.000167637973156,-0.000257466455999,2.08097500859e-05,1793237963341658112
+57,0.950000000,BASELINE,767,746,716,680,663,637,880,788,803.071439329,653,632,653.928560671,0.400987746547,-0.00539077599999,0.0698425045262,0.99999995292,0.000167281348272,-0.000256417622682,2.06690860588e-05,1793237963358324992
+58,0.966666667,BASELINE,767,746,716,680,663,637,880,788,803.645968274,653,632,653.354031726,0.400987543803,-0.00539146979765,0.0698419010097,0.999999952774,0.0001677675024,-0.000256637537258,2.10712706605e-05,1793237963374991616
+59,0.983333333,BASELINE,767,746,716,679.773600629,663,637,880.226399371,788.226399371,804,653,632,653.226399371,0.400987324515,-0.00539220091604,0.0698416282239,0.99999995277,0.000167634671859,-0.000256719682535,2.13155384181e-05,1793237963391658240
+60,1.000000000,BASELINE,767,746,716,679.183692907,663,637,880.816307093,788.816307093,804,653,632,653.816307093,0.400987078666,-0.00539299195694,0.0698418864616,0.999999952994,0.000166507995451,-0.000256580624536,2.1306253892e-05,1793237963408325120
+61,1.016666667,BASELINE,767,746,716.399109375,679.399109375,663,637,881,788.600890625,803.600890625,653,632,654,0.400987502329,-0.00539225974489,0.0698425387892,0.99999995299,0.00016729921746,-0.000256078845851,2.13194444656e-05,1793237963424991744
+62,1.033333333,BASELINE,767,746,716.978698499,679.978698499,663,637,881,788.021301501,803.021301501,653,632,654,0.400988228749,-0.00539083870829,0.0698433693267,0.999999952881,0.000168957725158,-0.00025541304262,2.13427984201e-05,1793237963441658368
+63,1.050000000,BASELINE,767,746,716.451252263,680,663,637,881,788.548747737,803.548747737,653,632,653.451252263,0.400988199162,-0.00539058929506,0.0698437347662,0.999999953275,0.000167350670196,-0.000254961841705,2.09225746655e-05,1793237963458324992
+64,1.066666667,BASELINE,767,746,716.123367815,680,663,637,880.876632185,788.876632185,804,653,632,653,0.40098791501,-0.00539066567608,0.0698437604356,0.999999953577,0.000165642415869,-0.000254919845381,2.06136727344e-05,1793237963474991616
+65,1.083333333,BASELINE,767,746,716.716790521,680,663,637,880.283209479,788.283209479,804,653,632,653,0.400986770825,-0.00539181306695,0.069842559131,0.99999995346,0.000164023313965,-0.00025640579811,2.07934146689e-05,1793237963491658240
+66,1.100000000,BASELINE,767,746,716.697225775,680,662.697225775,637,880,788,804,653,632,653,0.400986641479,-0.00539182535712,0.0698422430393,0.999999953192,0.00016529518259,-0.000256609943839,2.10855671932e-05,1793237963508325120
+67,1.116666667,BASELINE,767,746,716.118033547,680,662.118033547,637,880,788,804,653,632,653,0.400987438631,-0.005390801356,0.0698427351035,0.999999952777,0.000169206365458,-0.000255643862626,2.14803450571e-05,1793237963524991744
+68,1.133333333,BASELINE,767,746,716.458779635,679.541220365,662.458779635,637,880,788,804,653,632,653.458779635,0.4009864283,-0.00539226179735,0.0698420238171,0.999999952809,0.000166986615164,-0.000256972852072,2.15226818665e-05,1793237963541658624
+69,1.150000000,BASELINE,767,745.965116714,716.965116714,679,662.965116714,637,880,788.034883286,804,653,632,654,0.400985149202,-0.00539405017203,0.0698411496746,0.999999952932,0.000163668141166,-0.000258629977823,2.1445837018e-05,1793237963558325248
+70,1.166666667,BASELINE,767,745.390570301,716.390570301,679,662.390570301,637,880,788.609429699,804,653,632,654,0.400986869194,-0.00539107424386,0.0698425209484,0.999999952893,0.000167628379408,-0.000256275793412,2.09207429901e-05,1793237963574991872
+71,1.183333333,BASELINE,767,745.184832241,716,679.184832241,662.184832241,637,879.815167759,788.815167759,804,653,632,653.815167759,0.400987874891,-0.00538918934385,0.0698433050069,0.99999995271,0.000170690830203,-0.000254985040725,2.06531232625e-05,1793237963591658240
+72,1.200000000,BASELINE,767,745.7620524,716,679.7620524,662.7620524,637,879.2379476,788.2379476,804,653,632,653.2379476,0.40098736418,-0.00538962063159,0.0698428424424,0.999999952259,0.000171847332077,-0.00025595189028,2.09321061529e-05,1793237963608325120
+73,1.216666667,BASELINE,767,746,716,680,663,637,879.348570267,788,803.651429733,653,632.348570267,653,0.400987564455,-0.00539045134538,0.0698431699384,0.999999952505,0.000170943329028,-0.000255576177645,2.12054829732e-05,1793237963624991744
+74,1.233333333,BASELINE,767,746,716,680,663,637,879.941609011,788,803.058390989,653,632.941609011,653,0.400988263377,-0.00539156219514,0.0698440515404,0.999999953234,0.000168594198335,-0.000254258863883,2.14749279798e-05,1793237963641658368
+75,1.250000000,BASELINE,767,746,716,680,663,637,880.518430978,788,803.518430978,653,632.481569022,653.518430978,0.400987915961,-0.00539027424671,0.0698436952916,0.999999953049,0.000169184656873,-0.000254609557792,2.12602241425e-05,1793237963658325248
+76,1.266666667,BASELINE,767,746,716,680,663,637,881,788,804,653.093365299,632,654,0.4009878853,-0.00538925333772,0.0698434878862,0.999999952979,0.000169599368054,-0.000254624523684,2.10896060485e-05,1793237963674991872
+77,1.283333333,BASELINE,767,746,716,680,663,637,881,788,804,653.667699216,632,654,0.40099007507,-0.00539095766831,0.069844743673,0.999999954005,0.000167454872364,-0.000251971554605,2.14184825449e-05,1793237963691658496
+78,1.300000000,BASELINE,767,746,716,680,663,637,880.750845159,788.249154841,804,654,632,654,0.400990328655,-0.00539230536634,0.0698448941559,0.999999954371,0.000165890753091,-0.000251548017754,2.1511284739e-05,1793237963708325120
+79,1.316666667,BASELINE,767,746,716,680,663,637,880.159611792,788.840388208,804,654,632,654,0.400987923944,-0.00539316342359,0.0698435271055,0.999999953836,0.00016512346503,-0.00025418539251,2.12799673785e-05,1793237963724991744
+80,1.333333333,BASELINE,767,746,716,680,663,637,880,788.578187976,803.578187976,653.578187976,632,654,0.400987500058,-0.00539224187348,0.0698432218324,0.999999953255,0.000167359022937,-0.000255002869507,2.13331324067e-05,1793237963741658368
+81,1.350000000,BASELINE,767,746,716,680,663,637,880,788.000391642,803.000391642,653.000391642,632,654,0.400987808673,-0.00539066223213,0.0698433091999,0.999999952649,0.000170705020576,-0.000255147356189,2.14914978055e-05,1793237963758324992
+82,1.366666667,BASELINE,767,746,716,680,663,637,880,788,803,653,632,654,0.400986719981,-0.00538993991681,0.0698428486622,0.999999952171,0.000171887404214,-0.000256231034335,2.14127446719e-05,1793237963774991616
+83,1.383333333,BASELINE,767,746,716,680,663,637,880,788.154657586,803,653,632,653.845342414,0.400986304883,-0.00538952363207,0.0698426212531,0.999999952026,0.000172044142021,-0.000256707254784,2.12411343997e-05,1793237963791658240
+84,1.400000000,BASELINE,767,746,716,680,663,637,880,788.743551663,803,653,632,653.256448337,0.400987783714,-0.00538996496526,0.069843049449,0.999999952814,0.000169325265639,-0.000255476110643,2.08092580608e-05,1793237963808325120
+85,1.416666667,BASELINE,767,746,716.327103649,679.672896351,663,637,880,788.672896351,803.327103649,653,632,653,0.400988400001,-0.00539129833175,0.0698433729506,0.999999953437,0.000166978394452,-0.000254575381273,2.08745198821e-05,1793237963824991744
+86,1.433333333,BASELINE,767,746,716.906534717,679.093465283,663,637,880,788.093465283,803.906534717,653,632,653,0.400988350922,-0.00539331981179,0.0698436156911,0.999999953934,0.000164918487852,-0.000253929533591,2.13232735941e-05,1793237963841658368
+87,1.450000000,BASELINE,767,746,716.517669354,679.482330646,663,637,880.482330646,788,804,653,632,653.482330646,0.400987605734,-0.00539169233723,0.0698431053144,0.999999952838,0.00016904076045,-0.000255530958032,2.13091415803e-05,1793237963858325760
+88,1.466666667,BASELINE,767,746,716,680,663,637,881,788.05754111,804,653,632,653.94245889,0.400986854755,-0.00538975974594,0.0698425866778,0.999999951652,0.000173477647717,-0.000257200764622,2.12101118718e-05,1793237963874993152
+89,1.483333333,BASELINE,767,746,716,680,663,637,881,788.633776323,804,653,632,653.366223677,0.400987258431,-0.00539140298128,0.0698432992753,0.999999952658,0.000170032436514,-0.000255590860726,2.11482989162e-05,1793237963891659008
+90,1.500000000,BASELINE,767,746,716,679.784694542,663,637,880.784694542,788.784694542,804,653,632,653.215305458,0.400987819672,-0.0053919160456,0.0698437949994,0.999999953264,0.000168168828209,-0.000254453585797,2.1063469977e-05,1793237963908325632
+91,1.516666667,BASELINE,767,746,716,679.19393379,663,637,880.19393379,788.19393379,804,653,632,653.80606621,0.40098865568,-0.00539045828795,0.0698439125342,0.999999953196,0.000169063260813,-0.000254140493807,2.09385051701e-05,1793237963924992512
+92,1.533333333,BASELINE,767,746,716,679.386626275,663,637,880.386626275,788.386626275,804,653,632,653.613373725,0.400988350516,-0.00539062772762,0.0698436807618,0.999999953074,0.00016909180369,-0.000254598001832,2.09951802341e-05,1793237963941658880
+93,1.550000000,BASELINE,767,746,716,679.962201201,663,637,880.962201201,788.962201201,804,653,632,653.037798799,0.400987487648,-0.00539159239698,0.0698432782791,0.999999952924,0.000168697176505,-0.000255432110806,2.11406247545e-05,1793237963958325248
+94,1.566666667,BASELINE,767,746,716,680,663,637,880.461220425,788.461220425,804,653,632,653.538779575,0.400987115009,-0.00539142166945,0.0698425045181,0.999999952897,0.000167615488201,-0.000256279290467,2.07930334663e-05,1793237963974991616
+95,1.583333333,BASELINE,767,746,716.118130019,680,663,637,880.118130019,788,804,653.118130019,632,653.881869981,0.400986745217,-0.00539083053219,0.0698419447621,0.99999995278,0.000167426486685,-0.000256877215025,2.05643217273e-05,1793237963991658240
+96,1.600000000,BASELINE,767,746,716.708275257,680,663,637,880.708275257,788,804,653.708275257,632,653.291724743,0.400986249121,-0.00538887842727,0.0698423443833,0.999999952271,0.000170997376994,-0.000256475513797,2.09490884094e-05,1793237964008325120
+97,1.616666667,BASELINE,767,746,716.707157306,680,663,637,880.707157306,788,803.707157306,653.707157306,632,653,0.400986283822,-0.00538972737698,0.0698424772729,0.999999952456,0.000170613601038,-0.000255995706142,2.11048401066e-05,1793237964024992000
+98,1.633333333,BASELINE,767,746,716.128042555,680,663,637,880.128042555,788,803.128042555,653.128042555,632,653,0.400986837412,-0.005393314533,0.0698423494155,0.999999953316,0.000166363891132,-0.000255439544589,2.10367153026e-05,1793237964041658624
+99,1.650000000,BASELINE,767,746,716,679.551682332,663,637,880.448317668,788,803.448317668,653,632,653.448317668,0.400987878062,-0.00539325976584,0.0698431412951,0.999999953617,0.000166774244167,-0.000254003367369,2.08654225995e-05,1793237964058326016
+100,1.666666667,BASELINE,767,746,716,679.023909482,663,637,881,788,804,653,632,654,0.400988906292,-0.00539218614395,0.0698440988507,0.999999953725,0.000168402883814,-0.000252515659387,2.06706957271e-05,1793237964074993152
+101,1.683333333,BASELINE,767,746,716,679.599813131,663,637,881,788,804,653,632,654,0.400986455877,-0.00539145769922,0.0698428538545,0.999999953073,0.000167618228484,-0.00025560544216,2.0611057806e-05,1793237964091659264
+102,1.700000000,BASELINE,767,746,716,679.820702796,663,637,880.820702796,788.179297204,804,653,632,654,0.400985101195,-0.0053911196697,0.0698423344205,0.999999952758,0.000166949560083,-0.000257268130919,2.0595673081e-05,1793237964108325376
+103,1.716666667,BASELINE,767,746,716,679.233064551,663,637,880.233064551,788.766935449,804,653,632,654,0.400986241998,-0.00539167079279,0.0698434674206,0.999999953231,0.000166545046628,-0.000255680679045,2.06810729603e-05,1793237964124991744
+104,1.733333333,BASELINE,767,746,716.349499577,679,663,637,880.349499577,788.650500423,803.650500423,653,632,653.650500423,0.400986906913,-0.00539239740847,0.0698436736849,0.999999953385,0.000166900187786,-0.000254829290708,2.0885308246e-05,1793237964141658624
+105,1.750000000,BASELINE,767,746,716.928728501,679,663,637,880.928728501,788.071271499,803.071271499,653,632,653.071271499,0.400987259024,-0.00539323937712,0.0698432707971,0.99999995333,0.000167754656997,-0.000254461723672,2.11676551657e-05,1793237964158325504
+106,1.766666667,BASELINE,767,746,717,679.505248083,663,637,881,788,803.505248083,653,632,653,0.400987181336,-0.00539210884618,0.0698429282929,0.999999952971,0.000169155777889,-0.000254954520072,2.10281618108e-05,1793237964174991872
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,716,680,663,637,881,788,803,653,632,653,0.400988367237,-0.00539021610549,0.0698442255362,0.99999995323,0.000171101973127,-0.000252662046859,2.06529569763e-05,1793237964218307072
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.408590719,746,716.591409281,679.408590719,663,637,880.408590719,788,803.591409281,653,632,653.591409281,0.400986805541,-0.00539376837784,0.0698431753041,0.99999995342,0.000166281953541,-0.000255079402714,2.11043215996e-05,1793237964234974976
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716.820912414,679,663,637,880,788,804,653,632,654,0.400986383961,-0.00539527402254,0.0698427553587,0.999999953554,0.000163927655269,-0.000256059604695,2.13021475729e-05,1793237964251642368
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716.241572552,679,663,637,880,788,804,653,632,654,0.400988510482,-0.00539220555204,0.0698437440739,0.999999953608,0.000167084126495,-0.000253827836271,2.09333267527e-05,1793237964268308992
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679.333770196,663,637,880.333770196,788,804,653,632.333770196,653.666229804,0.400988247689,-0.0053911056591,0.0698436244715,0.999999953323,0.000168448225111,-0.000254061399819,2.07744763467e-05,1793237964284975104
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679.906254156,663,637,880.906254156,788,804,653,632.906254156,653.093745844,0.40098627605,-0.00539141370081,0.0698427121957,0.9999999528,0.000168530411557,-0.000256058178682,2.07657976339e-05,1793237964301640704
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716.494718782,680,663,637,880.505281218,788.494718782,803.505281218,653,632.505281218,653,0.400986940377,-0.00539243279464,0.0698435296925,0.999999953352,0.000166535182979,-0.000255187499645,2.10109246386e-05,1793237964318307328
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.084342341,746,717,680,663,637,880,788.915657659,803.084342341,653,632,653,0.400988147188,-0.00539325935787,0.0698445937457,0.999999953971,0.000164777124048,-0.000253879352756,2.12520901461e-05,1793237964334974208
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.66243116,746,717,680,663,637,880,788.33756884,803.66243116,653,632,653,0.400989508042,-0.00539214372681,0.0698451182567,0.999999953787,0.000166788892308,-0.000253297309363,2.11791178228e-05,1793237964351640832
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,746,716.760960218,680,662.760960218,637,880,788,804,653,632,653.239039782,0.400992453284,-0.00539196644868,0.0698463882224,0.999999954194,0.000167377327948,-0.000251292880792,2.11643553821e-05,1793237964368307200
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,746,716.186429095,680,662.186429095,637,880,788,804,653,632,653.813570905,0.40099762221,-0.00539310614507,0.0698487044307,0.999999955425,0.000165968121999,-0.000247292140579,2.12312902754e-05,1793237964384973824
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.611858335,746,716,680,662.388141665,637,880.388141665,788,804,653,632,653.611858335,0.401015565967,-0.00539352909734,0.069857403285,0.99999995899,0.00016507536237,-0.000233045014322,2.14646783044e-05,1793237964401640448
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.037268483,746,716,680,662.962731517,637,880.962731517,788,804,653,632,653.037268483,0.401039646259,-0.00539360775367,0.069869168115,0.999999963373,0.000164430683326,-0.000213875921611,2.17780239564e-05,1793237964418307072
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.446787881,788,804,653,632,653,0.401080989778,-0.0053954989187,0.0698859542791,0.999999969175,0.000164256059034,-0.00018482469813,2.25614741207e-05,1793237964434974208
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716,679.858770301,663,637,880,788.141229699,804,653,632,653.141229699,0.401127402104,-0.00539708819792,0.0699031758379,0.999999974014,0.000164320441665,-0.000156303028396,2.32576165527e-05,1793237964451640832
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716,679.281753579,663,637,880,788.718246421,804,653,632,653.718246421,0.401185760372,-0.00539735804579,0.0699206662116,0.999999977456,0.000165021717532,-0.000131530356233,2.3583745014e-05,1793237964468307200
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716.29434826,679.29434826,663,637,880.29434826,789,804,653,632.29434826,654,0.401246912862,-0.00539830978206,0.0699321280442,0.999999979405,0.000164788112594,-0.00011612196884,2.34844312174e-05,1793237964484974336
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716.869577039,679.869577039,663,637,880.869577039,789,804,653,632.869577039,654,0.401310731725,-0.00539991220731,0.069937837167,0.999999980332,0.000163662401823,-0.000109649410145,2.29791410254e-05,1793237964501640960
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716.542810072,680,663,637,880.542810072,788.542810072,804,653,632.542810072,653.542810072,0.401383177976,-0.00540176280553,0.069938829935,0.999999980829,0.000161985046267,-0.000107895560885,2.14681393281e-05,1793237964518307584
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,662.952527397,637,880,788,804,653,632,653,0.401459144334,-0.00540353031665,0.0699380681019,0.999999981109,0.000160149026825,-0.000108402642791,1.95780414074e-05,1793237964534974208
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,662.373019247,637,880,788,804,653,632,653,0.401546210805,-0.00540355113138,0.0699331405099,0.999999980273,0.00015834758892,-0.000118742294372,1.67442031274e-05,1793237964551640576
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716,679.794783616,662.205216384,637,880,788,804.205216384,653,632,653,0.40164503129,-0.00540461227918,0.0699306552223,0.999999979897,0.000156928499841,-0.000124003600061,1.42184038035e-05,1793237964568307200
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,679.218846837,662.781153163,637,880,788,804.781153163,653,632,653,0.401765085221,-0.00540755277343,0.0699325819226,0.999999980515,0.000156200118543,-0.000120090947078,1.22490726574e-05,1793237964584973824
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788,804.643342998,653,632,653.356657002,0.401904253836,-0.0054100526185,0.0699358409036,0.999999981797,0.000153316117436,-0.000113187331864,9.40713045318e-06,1793237964601640704
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788,804.068104436,653,632,653.931895564,0.40205513713,-0.00541228240667,0.0699399163891,0.99999998341,0.000149111018554,-0.000104450668856,6.03039780858e-06,1793237964618307840
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716.521592451,679.521592451,663,637,880,788,803.478407549,653,632,653.478407549,0.402223088963,-0.00541630840246,0.0699449822137,0.99999998521,0.000143864237226,-9.42160010692e-05,2.64717105173e-06,1793237964634974464
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716.890254237,680,662.890254237,637,880,788,803.109745763,653,632,653.109745763,0.402397177718,-0.0054201545644,0.0699490362949,0.999999986675,0.000138730260382,-8.60455545798e-05,-9.50688034521e-07,1793237964651640832
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716.316826021,680,662.316826021,637,880,788,803.683173979,653,632,653.683173979,0.402587510792,-0.00542222175971,0.0699482537878,0.999999987095,0.000134663933005,-8.7446524376e-05,-5.45169795825e-06,1793237964668307712
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,680,662.259380736,636.740619264,880,788,804,653,631.740619264,653.740619264,0.402796658442,-0.0054247589367,0.0699488011853,0.999999987883,0.000130159670075,-8.47890641363e-05,-1.01324081097e-05,1793237964684974336
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,680,662.839018116,636.160981884,880,788,804,653,631.160981884,653.160981884,0.403029036381,-0.0054278763986,0.0699509906122,0.999999989086,0.000125114689626,-7.71206719867e-05,-1.50349933419e-05,1793237964701640704
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.418340526,880,788,804,653,631.418340526,653,0.403287839087,-0.00543253686716,0.0699599240368,0.999999991235,0.000116624133127,-5.96391550874e-05,-1.92894805683e-05,1793237964718307328
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.997541812,880,788,804,653,631.997541812,653,0.403556802667,-0.00543779065427,0.0699714506709,0.999999993288,0.000106808680003,-3.83842848271e-05,-2.32947603154e-05,1793237964734973696
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.415486749,653,632,653,0.40385199187,-0.00544310701056,0.0699760997378,0.999999997433,5.74205761517e-05,-3.36551473021e-05,-2.65198900766e-05,1793237964751640320
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679.831570765,663.168429235,637,880,788,803.168429235,653,632,653,0.404152356675,-0.00544731505189,0.0699781322212,0.999999998541,3.27424039048e-05,-3.3214925696e-05,-2.72376757529e-05,1793237964768307200
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679.255136659,663.744863341,637,880,788,803.744863341,653,632,653,0.404464988099,-0.00544883765177,0.0699738972725,0.999999996502,6.83304338122e-05,-4.29935985587e-05,-2.18896974597e-05,1793237964784974592
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663.681045169,637,880.318954831,788,803.681045169,652.681045169,632,653,0.40480671649,-0.0054520516877,0.0699770853484,0.999999995775,8.13009248788e-05,-3.70372257473e-05,-2.16421227706e-05,1793237964801641728
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663.108813847,637,880.891186153,788,803.108813847,652.108813847,632,653,0.405171550312,-0.00545660886378,0.0699861679187,0.999999996592,7.63112251415e-05,-1.85859275987e-05,-2.54446894118e-05,1793237964818308608
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,636.518822794,880.518822794,788,803,652.481177206,631.518822794,653,0.405555285428,-0.00546374288312,0.0699879469472,0.999999997615,6.17531517475e-05,-1.40888342935e-05,-2.75375696824e-05,1793237964834974976
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.926521139,745.926521139,716,679,663,636.073478861,880,788,803,653,631.073478861,653,0.405945808,-0.00547070376353,0.0699867685021,0.999999998407,4.59168500392e-05,-1.50407711964e-05,-2.91773704576e-05,1793237964851641600
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.347024883,745.347024883,716,679,663,636.652975117,880,788,803,653,631.652975117,653,0.406352509326,-0.00547230551271,0.0699770331611,0.999999998382,3.67501604513e-05,-3.09536443063e-05,-3.04616011413e-05,1793237964868308224
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.230087959,745.230087959,716,679.230087959,663,636.769912041,880,788,803.230087959,653,632,653,0.406770484328,-0.00547524101868,0.0699662593185,0.999999997876,3.08802858783e-05,-4.75194786328e-05,-3.21931484455e-05,1793237964884974592
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.803642888,745.803642888,716,679.803642888,663,636.196357112,880,788,803.803642888,653,632,653,0.40720528824,-0.00548016750839,0.0699539352388,0.999999996837,2.99317779085e-05,-6.50600288633e-05,-3.45924337274e-05,1793237964901641216
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.376777749,880,788,804,653,632.376777749,653.376777749,0.40768382337,-0.00548611910945,0.0699529338468,0.999999997155,2.2782607194e-05,-6.23344939148e-05,-3.5858877645e-05,1793237964918307584
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.949693917,880,788,804,653,632.949693917,653.949693917,0.408185123557,-0.00549260435048,0.0699578266835,0.999999998052,1.24055702332e-05,-4.90590840617e-05,-3.653560058e-05,1793237964934974208
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,679.45701225,662.45701225,637,880.54298775,788,804,653,632.45701225,654,0.408734596204,-0.00549874854803,0.0699717482078,0.999999998983,5.36039584215e-06,-2.47077756335e-05,-3.73474051959e-05,1793237964951640832
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.866995286,746,716,679,662.133004714,636.866995286,881,788,803.866995286,653,631.866995286,653.866995286,0.409283938522,-0.00550474250615,0.0699816351795,0.99999999925,-2.65896251025e-07,-6.39605945787e-06,-3.81947141684e-05,1793237964968307712
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.294295887,746,716,679,662.705704113,636.294295887,881,788,803.294295887,653,631.294295887,653.294295887,0.409817520451,-0.00551034831946,0.069975311385,0.999999999165,-2.26182752032e-06,-1.15749505286e-05,-3.91164097523e-05,1793237964984974080
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.281673254,746,716,679.281673254,663,636.281673254,881,788,803.281673254,652.718326746,631.281673254,653.281673254,0.410366759545,-0.00551518164325,0.0699694822917,0.99999999896,-7.54375244397e-06,-2.04420698042e-05,-4.00725857224e-05,1793237965001640960
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.861098857,746,716,679.861098857,663,636.861098857,881,788,803.861098857,652.138901143,631.861098857,653.861098857,0.410932549646,-0.00551919838127,0.0699641761386,0.999999998473,-1.62992496162e-05,-3.3207957511e-05,-4.1065210472e-05,1793237965018307328
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,680,662.566328765,637,880.566328765,788,804,652.433671235,632,653.566328765,0.411535717833,-0.00552336051586,0.0699722533995,0.999999998746,-2.02210138179e-05,-1.93878610705e-05,-4.15016143142e-05,1793237965034973952
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716,679.995721732,662.004278268,637,880.004278268,788,804,653,632,653,0.412151268398,-0.00552750975195,0.0699846989669,0.999999998868,-2.26120901876e-05,3.03323748088e-06,-4.17474167821e-05,1793237965051640832
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716,679.397986179,662.602013821,637,880.602013821,788,804,653,632,653,0.41284960143,-0.00552351048571,0.0700177300264,0.999999997362,-2.40917864461e-05,5.57238221419e-05,-3.98819702455e-05,1793237965068307200
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,804,653,632,653,0.413535497458,-0.00551270788461,0.0700408265928,0.999999994833,-1.49335386307e-05,9.24572581035e-05,-3.95230223908e-05,1793237965084973824
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,804,653,632,653,0.414196613613,-0.0054883501324,0.0700441294002,0.999999994249,1.54200413085e-05,9.73972294958e-05,-4.21656641836e-05,1793237965101640960
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.657691175,746,716,679,663,637,880.657691175,788,804.342308825,653,632,653,0.414830864323,-0.0054827050254,0.0700202039257,0.99999999741,2.23574578293e-05,5.22356135575e-05,-4.41818633362e-05,1793237965118307584
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.082040208,746,716,679,663,637,880.082040208,788,804.917959792,653,632,653,0.415446801599,-0.00548981579471,0.0699777177096,0.999999998497,1.3332743791e-05,-2.70788226991e-05,-4.57710341373e-05,1793237965134974208
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.507501347,746,716,679.507501347,663,636.492498653,880.507501347,788,804.492498653,652.492498653,632,653,0.416137912395,-0.00549795028708,0.0699496681822,0.999999996491,-2.74635210331e-06,-6.81628210671e-05,-4.86220708948e-05,1793237965151640832
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,679.902753942,663,636,880.902753942,788,804,652,632,653,0.416852475069,-0.005505161873,0.0699336150588,0.999999994622,-1.73976673721e-05,-8.86030812735e-05,-5.10269827331e-05,1793237965168307200
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,679.323446761,663,636,880.323446761,788,804,652,632,653,0.417621356309,-0.00550695504994,0.0699651353242,0.999999997827,-1.91592109859e-05,-3.82075782733e-05,-5.01807494985e-05,1793237965184973824
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,636.252531602,880.252531602,788,804,652.252531602,632,653,0.418377666255,-0.00550889170226,0.0699901387974,0.999999998531,-2.15656735453e-05,-1.17280490356e-06,-4.97114781104e-05,1793237965201640448
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,636.824301907,880.824301907,788,804,652.824301907,632,653,0.419118084258,-0.0055110097297,0.0700069040493,0.999999998277,-2.47874129183e-05,1.89719623356e-05,-4.97187443489e-05,1793237965218307072
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.599840369,746,716,679.400159631,663,637,881,788,804,653,632,653,0.419874535017,-0.00551170197622,0.0700174146958,0.999999997851,-2.8047371605e-05,3.17067156632e-05,-5.00598620661e-05,1793237965234973696
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.022169496,746,716,679.977830504,663,637,881,788,804,653,632,653,0.420638097878,-0.00551176174466,0.0700251507917,0.999999997385,-3.13242842277e-05,4.11543776576e-05,-5.0549076659e-05,1793237965251640576
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.567342226,746,716,680,663,636.432657774,881,788,804,653,632,653,0.421423302535,-0.00550567303603,0.0700299301646,0.999999997106,-2.30300529969e-05,5.15734309988e-05,-5.09780973984e-05,1793237965268307200
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,680.154150849,663,636,881,788.154150849,804,653,632,653,0.422194171501,-0.00550215990613,0.0700246696463,0.999999997492,-1.84069319436e-05,4.46531186648e-05,-5.18077572446e-05,1793237965284973824
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680.732226194,663,636,881,788.732226194,804,653,632,653,0.422923241141,-0.00550640458841,0.0699921233049,0.999999998189,-2.514955294e-05,-1.00581488372e-05,-5.37458060494e-05,1793237965301640704
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.691174424,746,716.308825576,680.691174424,663,636.308825576,881,788.691174424,804,653,632,653,0.423643566058,-0.00550718958302,0.0699458288573,0.999999994306,-3.07870117415e-05,-8.42536828169e-05,-5.78006584696e-05,1793237965318307328
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.115848749,746,716.884151251,680.115848749,663,636.884151251,881,788.115848749,804,653,632,653,0.424356344707,-0.00550498905041,0.0698876705247,0.999999981985,-3.54707736757e-05,-0.000175263102506,-6.36821998181e-05,1793237965334973952
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,716.539840712,680,663,636.539840712,881,788,804,652.539840712,632,653,0.42516209776,-0.00550782387174,0.0699061991723,0.999999987344,-4.29252295093e-05,-0.000139385850944,-6.35767827066e-05,1793237965351640576
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.037404149,746,716,680,663,636,881.037404149,788,804,652.037404149,632,653,0.425991930089,-0.00551174123462,0.0699447778118,0.999999994286,-5.02337022965e-05,-7.12725845841e-05,-6.1850055379e-05,1793237965368307200
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.630466184,746,716,680,663,636,881.630466184,788,804,652.630466184,632,653,0.426831231439,-0.00551288014578,0.0699939746066,0.999999997279,-4.49957479051e-05,4.6309893861e-07,-5.84623737142e-05,1793237965384973824
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680.216722885,663,636,882,788,804,652.783277115,632,653,0.427648170934,-0.00551451294152,0.0700270461358,0.999999996481,-4.18257873334e-05,4.5995428656e-05,-5.63382999291e-05,1793237965401640448
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680.79172919,663,636,882,788,804,652.20827081,632,653,0.428428142238,-0.0055169622209,0.0700334595961,0.999999996368,-4.20746063916e-05,4.82087303401e-05,-5.63032059182e-05,1793237965418307072
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636,882,788,804,652,632,653,0.429208050961,-0.00551921934678,0.070038543327,0.999999995551,-4.68897571947e-05,5.85682635673e-05,-5.71823796757e-05,1793237965434973696
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636,882,788,804,652,632,653,0.429987924098,-0.00552136734764,0.0700428718981,0.999999994105,-5.42981487875e-05,7.35540790363e-05,-5.85807702962e-05,1793237965451640320
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680.468651541,663,636,881.468651541,788,804,652.531348459,632,653,0.430702955132,-0.00552236241683,0.0700137375375,0.999999996395,-5.56542306788e-05,2.30925380229e-05,-5.98225364668e-05,1793237965468307200
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680.121947869,663,636.121947869,881,788,804,652.878052131,632,653,0.431410096412,-0.00552263661967,0.0699769044125,0.999999995746,-5.62271429032e-05,-3.97495570029e-05,-6.13791077123e-05,1793237965484973824
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680.699814987,663,636.699814987,881,788,804,652.300185013,632,653,0.432116326999,-0.00552072404378,0.0699260408445,0.999999989139,-5.65402868899e-05,-0.000120024969188,-6.41816717909e-05,1793237965501640192
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680.724274973,663,636.724274973,881.275725027,788,804,652.275725027,632,653,0.432861397243,-0.00552188124355,0.0699185094728,0.999999988144,-5.72809983327e-05,-0.000127323686609,-6.49585426602e-05,1793237965518306816
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680.150480646,663,636.150480646,881.849519354,788,804,652.849519354,632,653,0.433648454595,-0.00552635698835,0.0699578218662,0.999999994718,-5.84839266135e-05,-5.57318006005e-05,-6.35455616009e-05,1793237965534973440
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680.435645944,663,636,881.564354056,788,804,652.564354056,632.435645944,653,0.434406188375,-0.00552875356203,0.0700024355842,0.999999995973,-6.32753200117e-05,1.67041971086e-05,-6.14073642167e-05,1793237965551640320
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636.025680797,881,788,804,652,632.974319203,653,0.435151175314,-0.00553044052347,0.0700464220053,0.999999992202,-6.90083095109e-05,8.56427412613e-05,-5.91473215045e-05,1793237965568307456
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636.605452137,881,788,804,652,632.394547863,653,0.435846043549,-0.00553276390931,0.0700362130358,0.999999993292,-6.75340071906e-05,7.26456097013e-05,-5.98206926877e-05,1793237965584973824
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.816566755,746,716,681,663,636.816566755,881,788,804.183433245,652,632,653,0.436535769292,-0.00553514211669,0.0700239410333,0.999999994231,-6.81311660816e-05,5.67635570921e-05,-6.06065842254e-05,1793237965601640448
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.242398946,746,716,681,663,636.242398946,881,788,804.757601054,652,632,653,0.43721454105,-0.00553763710091,0.070007274524,0.999999994823,-7.31407827268e-05,3.47362780883e-05,-6.16321575868e-05,1793237965618307072
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.333503056,746,716,681,663.333503056,636.333503056,881,788,805,652,632,653,0.437870543616,-0.00553911338905,0.0699909943023,0.999999994943,-7.65046431772e-05,1.74386590849e-05,-6.29087627332e-05,1793237965634973696
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.910672068,746,716,681,663.910672068,636.910672068,881,788,805,652,632,653,0.438509910381,-0.00553984539137,0.0699749963135,0.999999994828,-7.86660713013e-05,3.59665330837e-06,-6.43687781385e-05,1793237965651640320
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,681.495215347,664,636.504784653,881,788,804.504784653,652.495215347,632,653,0.439086789328,-0.00553668492806,0.0699504114795,0.99999999435,-7.43238384349e-05,-3.94343584502e-05,-6.49659163754e-05,1793237965668307200
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,682,664,636.08044057,881,788,804,652.91955943,632,653,0.43965760531,-0.00553348860487,0.0699273600226,0.999999992133,-6.97357897321e-05,-8.11256690244e-05,-6.54961442308e-05,1793237965684973824
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,682,664,636.661506303,881,788,804,652.338493697,632,653,0.440261898326,-0.00553450489881,0.0699236370339,0.999999991962,-7.10293668212e-05,-8.12159634921e-05,-6.65932746664e-05,1793237965701640448
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,682,664,637,881,788,804,652,632,653.240294814,0.440877068121,-0.00553687776063,0.0699374384903,0.999999993411,-7.40790993835e-05,-5.69758563788e-05,-6.66575146928e-05,1793237965718306816
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,682,664,637,881,788,804,652,632,653.815905561,0.441507415708,-0.00554114362544,0.0699756941813,0.999999994702,-7.95794334834e-05,1.21575882727e-06,-6.52804224437e-05,1793237965734973440
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716,682,663.60946706,636.60946706,881.39053294,788,804,652,632,653.60946706,0.442097554191,-0.00554570506834,0.0700132140951,0.999999992768,-8.48521482164e-05,5.68287227636e-05,-6.35121444854e-05,1793237965751640064
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716,682,663.03530202,636.03530202,881.96469798,788,804,652,632,653.03530202,0.442668786047,-0.00555040549508,0.0700503880431,0.999999987868,-9.00178346352e-05,0.000111229186706,-6.15599272756e-05,1793237965768306944
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716,682.556267352,663,636,882,788,804.556267352,652,632,653,0.443116776473,-0.00555226285129,0.0700312302394,0.999999991862,-8.48419585089e-05,7.36297999903e-05,-6.04734455578e-05,1793237965784973568
+202,3.366666667,POSE1_TO_POSE2_PRESS,766.854756164,746,716,682.854756164,663,636,882,788,804.854756164,652,632,653,0.443552541801,-0.00555386633483,0.0700016128313,0.999999994821,-7.99778934136e-05,1.97263890964e-05,-5.97621861521e-05,1793237965801640448
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.276898648,746,716,682.276898648,663,636,882,788,804.276898648,652,632,653,0.44397594245,-0.00555526841837,0.0699518331386,0.999999993055,-7.80605142007e-05,-6.47872024836e-05,-5.9999608019e-05,1793237965818307072
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.298498191,746,716,682,663,636,882,788,804.298498191,652,632,653,0.444390743777,-0.00555587399577,0.0699092384093,0.999999985653,-8.2730936934e-05,-0.000134193241494,-6.19792104761e-05,1793237965834973696
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.87163104,746,716,682,663,636,882,788,804.87163104,652,632,653,0.44479763323,-0.00555574674387,0.0698732542423,0.99999997549,-9.34624979758e-05,-0.000189699501108,-6.55617144671e-05,1793237965851640320
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746.459472268,716,682,663,636,881.540527732,788,804.540527732,652,632,653,0.445183626351,-0.00555498366233,0.069850854615,0.999999968602,-9.33735582412e-05,-0.000222610094566,-6.72507774095e-05,1793237965868307200
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746.949607499,716,682,663,635.949607499,881,787.949607499,804,652,632,653,0.445562242556,-0.00555381767746,0.0698333700786,0.999999963061,-9.00200380763e-05,-0.000247202316089,-6.83030925443e-05,1793237965884973824
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746.370912981,716,682,663,635.370912981,881,787.370912981,804,652,632,653,0.445926750215,-0.00555035168031,0.069826309359,0.999999962038,-8.51826678265e-05,-0.0002529578811,-6.84091691222e-05,1793237965901640704
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,716,682,663,635,881.207037814,787,804.207037814,652,632,653,0.44627430093,-0.00554662491557,0.069817866269,0.999999959166,-8.2850348e-05,-0.000264784518956,-6.85023595109e-05,1793237965918307584
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,716,682,663,635,881.783660921,787,804.783660921,652,632,653,0.446591581596,-0.00554243265233,0.0698069554965,0.999999952724,-8.49898194808e-05,-0.000287448689576,-6.85725466034e-05,1793237965934973952
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.64239475,746,716,682,663,635,882,787,804.64239475,652,632,653,0.44688457162,-0.00554212183008,0.0697912549697,0.999999943429,-8.55862060988e-05,-0.000317990117729,-6.85562960527e-05,1793237965951640320
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.070058888,746,716,682,663,635,882,787,804.070058888,652,632,653,0.447162975914,-0.00554414168967,0.0697726783464,0.999999931624,-8.52560193244e-05,-0.00035326159117,-6.84881423906e-05,1793237965968306944
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746.505781003,716,682,662.494218997,635,881.494218997,787,804,652,632,653,0.447414079093,-0.00554572474697,0.0697516201348,0.999999919224,-8.31907451318e-05,-0.000386997035787,-6.97411259219e-05,1793237965984973824
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,747,716,682.271115376,660,633.728884624,882,786,805,652.271115376,631.728884624,653.728884624,0.449911406921,-0.00556026138691,0.0696638382796,0.99999985442,-0.000101726309266,-0.000526093292592,-6.35370857555e-05,1793237967197262336
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,636,881.738645796,788,804,653,632.261354204,653.261354204,0.437102178483,-0.00543462358294,0.0697449488735,0.999999922323,9.34469106565e-05,-0.000382462456784,1.85526202231e-05,1793237968030596352
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746.321923835,716,682,663,636,882,788,804,652.678076165,632.321923835,653,0.436465848508,-0.00543826896333,0.0697734509083,0.999999939206,8.78928925274e-05,-0.000336837680638,2.00779913527e-05,1793237968047262976
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746.911868098,716,682,663,636,882,788,804,652.088131902,632.911868098,653,0.435832802235,-0.00544414901607,0.0698158030176,0.999999960142,8.11205755212e-05,-0.000269361073941,2.40832667575e-05,1793237968063929600
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746.50714098,716,682,663,636,881.014281959,788,804,652.49285902,633,653,0.43512476434,-0.00544999865472,0.0698350730559,0.999999965614,7.46954011091e-05,-0.000249973117195,2.65782222802e-05,1793237968080595968
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,681.92822118,663,636,880.14355764,788,804,652.92822118,632.92822118,653,0.434401222193,-0.0054542633489,0.0698465300859,0.999999967376,7.06015913127e-05,-0.000243815474221,2.85849701688e-05,1793237968097262848
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,681.352800638,663,636,881.294398723,788,804,652.352800638,632.352800638,653,0.433661305924,-0.00544744463227,0.0698316106059,0.999999959398,8.24382026353e-05,-0.000271229628712,2.90273399986e-05,1793237968113929216
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,681.222372593,663,636,881.777627407,788,804.222372593,652.222372593,632,653,0.432924603148,-0.00544083712133,0.0698241074396,0.999999955453,9.18860570988e-05,-0.000282531248056,2.87685828904e-05,1793237968130595840
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,681.797153984,663,636,881.202846016,788,804.797153984,652.797153984,632,653,0.432192992893,-0.00543456432118,0.0698283574019,0.999999958875,9.75482898811e-05,-0.000268298254181,2.73987028813e-05,1793237968147262720
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746.383222046,716,682,663,636.383222046,881.383222046,788.383222046,804.616777954,653,632,653,0.431426835619,-0.00542455707033,0.0698122927196,0.999999950518,0.000107543813987,-0.000294562004263,2.51384132565e-05,1793237968163929600
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746.975445593,716,682,663,636.975445593,881.975445593,788.975445593,804.024554407,653,632,653,0.430641837149,-0.00541251312647,0.0697851488433,0.999999933767,0.000119902626413,-0.000342911854355,2.23925123865e-05,1793237968180596224
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746.446167099,716.553832901,681.446167099,663,636.446167099,881.446167099,788.446167099,804,652.446167099,632,653,0.429828401013,-0.00539889719749,0.06975326297,0.999999914376,0.000135563376868,-0.000390509839082,1.93236940548e-05,1793237968197262848
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,716.869087575,681,663,636,881,788.130912425,804.130912425,652.130912425,632,653,0.429035296265,-0.00538908873188,0.0697391502926,0.999999904351,0.000146771601763,-0.000411640663092,1.75493704177e-05,1793237968213929472
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,716.294412447,681,663,636,881,788.705587553,804.705587553,652.705587553,632,653,0.428315279878,-0.00539241717342,0.0697859799106,0.999999930776,0.000142402656973,-0.000343164201948,2.02104306291e-05,1793237968230596096
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,662.718786934,636,881.281213066,788.718786934,804.718786934,653,632,653,0.427584597339,-0.00539390052679,0.069828957291,0.99999995071,0.000142596826774,-0.000278762030273,2.32036856989e-05,1793237968247262464
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,662.142163089,636,881.857836911,788.142163089,804.142163089,653,632,653,0.426842710187,-0.00539344563812,0.0698678879415,0.999999964855,0.000147584491315,-0.000218639853038,2.65459071269e-05,1793237968263929088
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,662,636.446297537,881.553702463,788.446297537,804,653,632,653,0.426065092341,-0.00539298325226,0.0698642454473,0.999999962401,0.000149617737615,-0.000228146719407,2.75951394802e-05,1793237968280595968
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,662.037553398,637,881,788.962446602,804.037553398,653,632,653,0.425274208774,-0.00539254855147,0.0698465338653,0.999999954436,0.000150609697618,-0.000260141444567,2.77517058899e-05,1793237968297262592
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,662.613358157,637,881,788.386641843,804.613358157,653,632,653,0.424460765751,-0.00539254582193,0.0698268383772,0.999999946894,0.000150533142373,-0.000287893993631,2.58678292021e-05,1793237968313929216
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,637,881,788,804.813017972,653,632.186982028,653,0.423647298887,-0.0053910615803,0.0698031355534,0.999999935423,0.000151485428593,-0.000324983067884,2.43395579545e-05,1793237968330595840
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,637,881,788,804.243851646,653,632.756148354,653,0.422833783143,-0.00538654918318,0.0697712418813,0.999999915142,0.000154540628299,-0.000381155656518,2.3538130613e-05,1793237968347262464
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,636.659753811,881,788,804,653,633,653,0.422038528912,-0.00538341727451,0.0697440498206,0.999999896355,0.000159443880555,-0.000425855216804,2.26986593417e-05,1793237968363929088
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,636.064463545,881,788,804,653,633,653,0.42125696332,-0.00538132016212,0.069720382028,0.999999879327,0.000165732408648,-0.000461954742542,2.18306709037e-05,1793237968380595712
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,662.48168784,636.51831216,881,788,804.51831216,653,632.48168784,653,0.420548582666,-0.00538192242517,0.0697683065081,0.999999912803,0.000164481947729,-0.000383175056191,2.27334202352e-05,1793237968397262592
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746.098193266,716,681,662.098193266,637,881,788,805,653,632,653,0.419846988219,-0.00538251526217,0.0698231372279,0.999999943256,0.000163004495586,-0.000293822634732,2.41831982455e-05,1793237968413928960
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746.671423237,716,681,662.671423237,637,881,788,805,653,632,653,0.419135227868,-0.0053814766186,0.0698693184007,0.999999961661,0.000164858062694,-0.000220813120003,2.72390713428e-05,1793237968430595840
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746.749143144,716,680.749143144,663,636.749143144,880.749143144,788.250856856,804.749143144,653,632,653,0.418410344427,-0.00538238594079,0.0698867826657,0.999999966372,0.000167305928198,-0.000195945213041,2.94845516667e-05,1793237968447262208
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746.161377884,716,680.161377884,663,636.161377884,880.161377884,788.838622116,804.161377884,653,632,653,0.417667836334,-0.00538591144046,0.0698656792445,0.999999957202,0.000170551955158,-0.000235732959526,3.06416496725e-05,1793237968463929088
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767.420571787,746,716,680,662.579428213,636.420571787,880.420571787,788.579428213,804,653,632,653.420571787,0.416927319481,-0.00538700037165,0.0698368589203,0.99999994751,0.00016984484414,-0.000274400383768,2.89350091956e-05,1793237968480595712
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767.999681373,746,716,680,662,637,881,788.000318627,804,653,632,653.999681373,0.416187567337,-0.00538716537501,0.0698051300745,0.999999936737,0.00016764425513,-0.000312631164757,2.6145611538e-05,1793237968497262592
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767.423209983,746,716,680,662,637,881,788.576790017,804,653,632,653.423209983,0.415467941221,-0.005384179867,0.0697953758024,0.999999931375,0.000170316475864,-0.000328024348128,2.53501427908e-05,1793237968513929472
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662,637,881,788.851016776,804,653,632.148983224,653.148983224,0.414753351085,-0.00538047284059,0.0697848383678,0.99999992439,0.000174088263961,-0.000346839421942,2.48079224099e-05,1793237968530596352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662,637,881,788.29063705,804,653,632.70936295,653.70936295,0.414052666945,-0.00537477344056,0.0697721383368,0.999999912975,0.000180896355394,-0.000375103574975,2.49650120814e-05,1793237968547262720
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.292352213,637,881,788,804,653,632.707647787,653.707647787,0.413398545662,-0.00537177491533,0.0697807060533,0.999999917527,0.00018608581,-0.000360100549647,2.54098824701e-05,1793237968563929088
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.899702321,637,881,788,804,653,632.100297679,653.100297679,0.412794594049,-0.00537168647572,0.0698121889236,0.999999937152,0.000189531246927,-0.000298478856173,2.61648250842e-05,1793237968580595712
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.521436719,636.521436719,881,788,804,653,632,653.478563281,0.412222510907,-0.00537058097416,0.0698517065679,0.999999953824,0.000194616682701,-0.000231676490651,2.83108423029e-05,1793237968597262592
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.052331409,636.052331409,880.947668591,788,804.052331409,653,632.052331409,654,0.411652443872,-0.00536880454834,0.0698884262524,0.99999996488,0.000199869809781,-0.000171359097499,3.0452956127e-05,1793237968613929472
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.631561444,636.631561444,880.368438556,788,804.631561444,653,632.631561444,654,0.411039206642,-0.00536229850678,0.0698809726139,0.999999961421,0.000203545117848,-0.000186653472431,2.97853021666e-05,1793237968630596096
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.209248763,637,880.209248763,788,804.790751237,653,632.790751237,653.790751237,0.410422671939,-0.00535690676477,0.0698640483864,0.99999995442,0.000207864874143,-0.00021707625415,2.88042084412e-05,1793237968647262720
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.784239535,637,880.784239535,788,804.215760465,653,632.215760465,653.215760465,0.409800373705,-0.00535346268682,0.069830570694,0.999999939355,0.0002133110487,-0.000273941693861,2.72752592137e-05,1793237968663929344
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.630510855,637,881,788,804,653,632,653,0.409226526395,-0.00535074502213,0.0698061466746,0.999999925408,0.000219759972823,-0.000316580457738,2.58333506366e-05,1793237968680595968
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.039099538,637,881,788,804,653,632,653,0.408681779566,-0.00534846365466,0.0697871604594,0.999999912493,0.000226811167907,-0.000350674416477,2.44437201845e-05,1793237968697262592
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.459787742,788,804,653,632,653,0.408193460784,-0.00534908910336,0.0697963694782,0.999999921053,0.000222458039479,-0.000328409038984,2.35175057705e-05,1793237968713929216
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767.117959231,746,716,680,663,637,880,788,804.117959231,653,632,653.117959231,0.407714450622,-0.00535304248432,0.0698084529497,0.999999930718,0.00021513570548,-0.000302899747606,2.30729930587e-05,1793237968730595840
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767.692962123,746,716,680,663,637,880,788,804.692962123,653,632,653.692962123,0.407256029649,-0.00536909292248,0.0698239400243,0.999999940537,0.00019943703024,-0.000280280525506,2.43677654607e-05,1793237968747262464
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767.725901186,746,716,679.725901186,663.274098814,637,880,788,804.725901186,653,632,653.725901186,0.406798569238,-0.00538124160506,0.0698303901904,0.999999944815,0.000183814865717,-0.000275598989896,2.50549194074e-05,1793237968763929344
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767.137736343,746,716,679.137736343,663.862263657,637,880,788,804.137736343,653,632,653.137736343,0.406342209479,-0.0053889196038,0.0698264857468,0.99999994305,0.000168280369183,-0.00029147069297,2.50458560611e-05,1793237968780596480
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716.443175477,679.443175477,663.556824523,637,880.443175477,788,804,653,632,653,0.405915454233,-0.00538186002626,0.0698181669301,0.999999937058,0.000176685540739,-0.000306733792124,2.41096619586e-05,1793237968797263104
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716.978191706,679.978191706,662.978191706,637,880.978191706,788,803.978191706,653,632,653,0.405500734749,-0.0053707547204,0.0698094538362,0.999999930101,0.000191809174919,-0.000320124259639,2.29507839592e-05,1793237968813929728
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716.401114422,679.401114422,662.401114422,637,880.401114422,788,803.401114422,653,632,653,0.405161966587,-0.0053713837638,0.0698250714223,0.999999939155,0.000191604094335,-0.000290573454001,2.33405431546e-05,1793237968830596352
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767.175251489,746,716,679.175251489,662.175251489,637,880,788,803.175251489,653,632.175251489,653.175251489,0.404829411638,-0.00537148652159,0.0698402937584,0.999999946674,0.000192095849585,-0.000263034396687,2.37496416979e-05,1793237968847262720
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767.749995715,746,716,679.749995715,662.749995715,637,880,788,803.749995715,653,632.749995715,653.749995715,0.404511020002,-0.00537038959036,0.0698546151042,0.999999952035,0.000194176070112,-0.000240081204112,2.42028250316e-05,1793237968863929088
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767.664860084,746,716,680,662.664860084,637,880,788,804,653,632.664860084,654,0.404195566774,-0.00536775453828,0.0698608226695,0.999999954146,0.000194748538464,-0.000230641707333,2.41823889579e-05,1793237968880595712
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767.071709295,746,716,680,662.071709295,637,880,788,804,653,632.071709295,654,0.403882375674,-0.0053639353481,0.0698607837599,0.999999954047,0.000194160248752,-0.000231605864284,2.37973322234e-05,1793237968897262592
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745.491575717,716,680,662,637,880,788.508424283,804,653,632,654,0.403587924615,-0.00536243926312,0.0698491773897,0.999999948737,0.000198226578648,-0.000250426521605,2.27707433169e-05,1793237968913929216
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745.085787747,716,680,662,637,880,788.914212253,804,653,632,653.914212253,0.403303590154,-0.00536102760448,0.0698376223637,0.999999942943,0.000203250339513,-0.000268950893378,2.16367752369e-05,1793237968930596096
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745.657599482,716,680,662,637,880,788.342400518,804,653,632,653.342400518,0.403061969725,-0.00535828428715,0.0698353706166,0.999999940766,0.000210071865248,-0.000271884399619,2.03942863779e-05,1793237968947262720
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745.768682049,716,680,662,637,880,788,804,653,632.231317951,653.231317951,0.402830145337,-0.00535706415615,0.0698328657702,0.999999939169,0.000212277512602,-0.000276062377355,1.97486086683e-05,1793237968963929344
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.192117783,716,680,662,637,880,788,804,653,632.807882217,653.807882217,0.402612941736,-0.00535811740905,0.0698299831685,0.999999938463,0.000207593875765,-0.000282097751631,1.99936827044e-05,1793237968980595968
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.396671331,716,679.603328669,662.793342661,637,880.396671331,788,804,653,632.603328669,654,0.402411672769,-0.00535650284344,0.0698270224907,0.999999936584,0.000206793246248,-0.000289231639253,2.03425302749e-05,1793237968997262848
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745.991569496,716,679.008430504,663.983138992,637,880.991569496,788,804,653,632.008430504,654,0.402218366754,-0.00535355510047,0.0698240227962,0.999999934088,0.000207933055185,-0.000296914481972,2.07432361331e-05,1793237969013929472
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.56832856,662.863342879,637,880.43167144,788,804,653,632.56832856,654,0.402058620597,-0.00535163315137,0.0698226364457,0.999999933624,0.000209083060115,-0.000297667136257,2.07336007816e-05,1793237969030595840
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.14403452,636.85596548,880,788,804,653,632.85596548,653.85596548,0.401907191706,-0.00535048183382,0.0698215685205,0.999999933403,0.000209399595142,-0.000298190687236,2.06864565485e-05,1793237969047262208
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.717378682,636.282621318,880,788,804,653,632.282621318,653.282621318,0.401779115393,-0.00535158351139,0.0698213805687,0.999999933817,0.000207231450669,-0.000298328305293,2.05450948644e-05,1793237969063929088
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.298693875,880,788,804,653,632,653.298693875,0.401658012003,-0.00535208685828,0.0698196637689,0.999999932021,0.000212446098681,-0.000300745270559,1.94207638008e-05,1793237969080595712
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.887758043,880,788,804,653,632,653.887758043,0.401543687209,-0.00535200854806,0.0698164607249,0.999999927946,0.00022483780557,-0.000305378065356,1.73408553523e-05,1793237969097262592
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.939050987,788,804,653,632,654,0.401447264612,-0.00535229572429,0.0698148995246,0.999999928141,0.000220266188604,-0.000308214499573,1.43022775892e-05,1793237969113929216
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881.901512905,788,804,653.049243548,632,654,0.401357367514,-0.00535238771784,0.0698139071081,0.999999929303,0.000212631935268,-0.000309923109474,1.13427372313e-05,1793237969130595840
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.749176316,788,804,653.625411842,632,654,0.401292203184,-0.00534947058617,0.0698148653774,0.999999930595,0.000214953944797,-0.000304088288903,1.16436453472e-05,1793237969147262464
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880,788,804,653.794958733,632,654,0.401232772519,-0.00534844710204,0.0698158982377,0.999999931857,0.000215307922984,-0.000299639185984,1.20111180234e-05,1793237969163929344
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880,788,804,653.208897666,632,654,0.40118399649,-0.00535094250582,0.0698170697077,0.999999933117,0.000212004788903,-0.000297765105864,1.2502284882e-05,1793237969180595968
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746.372867243,716,680,663,637,880.372867243,788,804,653,632,653.627132757,0.401139560974,-0.00535181846799,0.0698184769151,0.999999933889,0.000210304701651,-0.00029635192576,1.30525484617e-05,1793237969197262592
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746.952252642,716,680,663,637,880.952252642,788,804,653,632,653.047747358,0.401097529517,-0.00535179747788,0.0698200146892,0.999999934394,0.000209492486213,-0.000295194022157,1.36355436365e-05,1793237969213928960
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746.469401827,716,679.469401827,662.469401827,637,880.469401827,788,804,653,632,653.530598173,0.401070064703,-0.00534948592192,0.069822400889,0.999999934469,0.000214102896473,-0.00029158993381,1.4023481304e-05,1793237969230595840
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.103379605,662.103379605,637,880,788,804,653,632.103379605,654,0.401046662446,-0.00534798203995,0.0698250420609,0.999999935016,0.000217469989821,-0.000287170233764,1.44366712101e-05,1793237969247262720
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.652569222,662.652569222,637,880,788,804,653,632.652569222,654,0.401035137737,-0.00535084827688,0.0698284541676,0.999999937872,0.00021337526582,-0.000280180733039,1.50343036455e-05,1793237969263929344
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716.227325127,679.772674873,663,637,880,788,804,653,632.772674873,653.772674873,0.401023120062,-0.00535211977959,0.0698308689723,0.999999939579,0.000211480155015,-0.000275474370652,1.52369240905e-05,1793237969280595968
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716.846106541,679.153893459,663,637,880,788,804,653,632.153893459,653.153893459,0.401010253491,-0.00535064513346,0.0698315664129,0.999999939397,0.000213372800886,-0.000274699595656,1.47593297841e-05,1793237969297262592
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,717,679,663,637,880,788,803.564596228,653,632,653,0.401001392256,-0.00535126561776,0.0698319352383,0.999999939367,0.000213412602728,-0.000274770402966,1.49214838751e-05,1793237969313929216
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716.985721807,679,663,637,880.014278193,788,803.014278193,653,632,653,0.40099402562,-0.00535254325899,0.0698322384102,0.999999939411,0.000212846864455,-0.000275028152191,1.52883324296e-05,1793237969330595840
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,716.431883563,679,663,637,880.568116437,788,803.568116437,653,632,653,0.400993034031,-0.00535244533063,0.0698341713937,0.999999940357,0.000212576379333,-0.000271772494725,1.53874971175e-05,1793237969347262464
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767.130706804,746,716,679.130706804,663,637,881,788,804,653,632,653,0.400992353704,-0.00535285112426,0.0698358664803,0.999999941426,0.000211367702309,-0.00026876324585,1.54585518075e-05,1793237969363929088
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767.724291425,746,716,679.724291425,663,637,881,788,804,653,632,653,0.400992775664,-0.00535504077096,0.0698367190915,0.999999942945,0.00020683656462,-0.000266626614868,1.54300593071e-05,1793237969380595712
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767.68290169,746,716,680,662.68290169,637,881.31709831,788,804,653,632,653,0.400992259262,-0.00535486487342,0.0698374991976,0.99999994347,0.000206330281721,-0.000265050703266,1.53571574577e-05,1793237969397262592
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767.090769402,746,716,680,662.090769402,637,881.909230598,788,804,653,632,653,0.400990928974,-0.00535263723021,0.0698382164167,0.99999994314,0.000209314941118,-0.000263961129539,1.52457373344e-05,1793237969413929472
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.507966582,662.492033418,636.507966582,881.015933164,788,804,653,632,653,0.400989199813,-0.00535227347445,0.0698378737338,0.999999942694,0.000210029205014,-0.000265078392519,1.52839859656e-05,1793237969430595840
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,716.072154578,679.072154578,663,636.072154578,880.072154578,788,804,653,632,653.072154578,0.400987681324,-0.00535238235441,0.0698374918225,0.999999942336,0.00021022729837,-0.000266268503087,1.5313867152e-05,1793237969447262464
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,716.645382375,679.645382375,663,636.645382375,880.645382375,788,804,653,632,653.645382375,0.400988127323,-0.00535343003698,0.0698381700628,0.999999942737,0.000209695349762,-0.000265189934391,1.50974687595e-05,1793237969463929088
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746.217411795,717,680,663,637,880.782588205,788,804,653,632,654,0.400988263955,-0.00535430282533,0.0698389285258,0.99999994319,0.000209023749579,-0.00026401239069,1.50571459297e-05,1793237969480595712
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746.78749736,717,680,663,637,880.21250264,788,804,653,632,654,0.400987898751,-0.00535489190978,0.0698398171219,0.999999943726,0.000208125614006,-0.000262674294866,1.53024434147e-05,1793237969497262336
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746.62719494,716.62719494,680,663,636.62719494,880,788,803.62719494,652.62719494,632,653.62719494,0.40098739843,-0.00535567453178,0.0698397694341,0.999999943617,0.000207946444897,-0.00026322113754,1.54476324011e-05,1793237969513928960
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746.032841139,716.032841139,680,663,636.032841139,880,788,803.032841139,652.032841139,632,653.032841139,0.400986817812,-0.00535657216827,0.0698391653362,0.999999943124,0.000208194539662,-0.000264888152184,1.55333293914e-05,1793237969530595584
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.549564434,880,788,803,653.099128867,632,653,0.40098735469,-0.00535482092002,0.0698392766995,0.999999943042,0.000210294358276,-0.00026355187799,1.52772269936e-05,1793237969547262208
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.870500543,637,880,788,803.129499457,653.870500543,632,653.129499457,0.400987633916,-0.00535335062873,0.0698393866541,0.999999943017,0.000211772874354,-0.000262471933224,1.50418537746e-05,1793237969563929344
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.296644966,637,880,788,803.703355034,653.296644966,632,653.703355034,0.400986804782,-0.0053533759952,0.0698393481903,0.99999994313,0.00021074787354,-0.000262874265568,1.49462044528e-05,1793237969580595968
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,716.286102138,679.713897862,662,636.713897862,880,788.286102138,804,653,632,654,0.400987425645,-0.00535388963198,0.06983996599,0.999999943619,0.000209600633721,-0.000261925164567,1.49788300233e-05,1793237969597262592
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,716.878364086,679.121635914,662,636.121635914,880,788.878364086,804,653,632,654,0.400989598161,-0.00535492577009,0.0698412860617,0.999999944508,0.000208322585192,-0.000259529885681,1.51487234196e-05,1793237969613928960
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,716.540178395,679.459821605,662.459821605,636.459821605,880,788.540178395,803.540178395,653,632,654,0.400988487108,-0.00535550746721,0.0698408142047,0.999999944006,0.000208505911066,-0.000261306584857,1.52174695258e-05,1793237969630595328
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.038243514,788,803.038243514,653,632,653.961756486,0.400986722314,-0.00535596883667,0.0698400297528,0.999999943279,0.000208844174115,-0.000263806291199,1.52515058101e-05,1793237969647262208
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.61325216,788,803.61325216,653,632,653.38674784,0.400987693264,-0.00535638985551,0.0698413581843,0.999999944512,0.000206055854224,-0.000261319706051,1.51652898801e-05,1793237969663928832
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.807478921,637,881,788,804,653,632,653,0.400988269191,-0.00535609073999,0.0698419105386,0.999999945009,0.000205365888392,-0.000259963373861,1.50487079693e-05,1793237969680595456
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.219457932,637,881,788,804,653,632,653,0.400988033614,-0.00535431223812,0.069840868582,0.99999994401,0.000208986612857,-0.000260928942523,1.48697446e-05,1793237969697262336
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746,716.363612372,680,662.727224744,636.636387628,880.636387628,788,804,653,632,653,0.400988116973,-0.0053545123864,0.0698408160017,0.999999944073,0.000209303933391,-0.000260435903105,1.48028951734e-05,1793237969713928960
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746,716.943734794,680,663.887469588,636.056265206,880.056265206,788,804,653,632,653,0.400988390238,-0.00535589070603,0.0698413525375,0.999999944771,0.000207654268515,-0.000259074347225,1.48028030993e-05,1793237969730595840
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746,716.480511168,680,662.961022335,636.519488832,880,788,804,653,632,653,0.400988552437,-0.00535404410113,0.0698417732956,0.999999944291,0.000209353756252,-0.000259569555584,1.45851987139e-05,1793237969747262464
+438,7.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.094798,637,880,788,803.905202,653,632,653,0.400988630608,-0.00535257140496,0.0698420251299,0.999999943843,0.000210691166287,-0.000260220036578,1.44200261101e-05,1793237969763928832
+439,7.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.670230447,637,880,788,803.329769553,653,632,653,0.400988343232,-0.00535475061262,0.0698414835534,0.999999944216,0.000208369007715,-0.000260646651421,1.46391350728e-05,1793237969780595712
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..47e08da94c1e62a92574b3f7040d6f356b554638
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,441 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+1,0.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+2,0.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+3,0.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+4,0.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+5,0.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+6,0.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+7,0.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+8,0.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+9,0.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+10,0.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+11,0.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+12,0.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+13,0.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+14,0.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+15,0.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+16,0.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+17,0.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+18,0.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+19,0.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+20,0.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+21,0.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+22,0.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+23,0.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..105a9badfb30d018f608e5b7ab355bd1d22fe917
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:393ce84cf0e95889b5bdc4f6de3529eb219a6a452f87b8a6d0fe0657c494cc47
+size 27980140
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ff57a340c6897ef75579639fb8197187c4f74aa
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_03/franka_data.csv
@@ -0,0 +1,442 @@
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+19,0.316666667,BASELINE,767,746,717,680,663,637,880.045628254,788,804.908743492,653,632.954371746,653.045628254,0.400987859548,-0.00535925938616,0.069842745365,0.999999945509,0.000205039571842,-0.000258302099411,1.48629841066e-05,1793237970221838336
+20,0.333333333,BASELINE,767,746,717,680,663,637,880.624892956,788,803.750214088,653,632.375107044,653.624892956,0.400988382323,-0.0053578378037,0.0698432059649,0.999999945554,0.000206185318523,-0.00025720824344,1.4936911459e-05,1793237970238505216
+21,0.350000000,BASELINE,767,746,716.795364182,680,663,637,880.795364182,788,803,653,632,653.795364182,0.400988813059,-0.00535687697903,0.0698434141522,0.999999945507,0.000207264828003,-0.000256523187972,1.49339444107e-05,1793237970255171840
+22,0.366666667,BASELINE,767,746,716.214742844,680,663,637,880.214742844,788,803,653,632,653.214742844,0.400989074691,-0.00535676272314,0.069843158572,0.999999945293,0.000208222637113,-0.000256589238038,1.47896962159e-05,1793237970271838464
+23,0.383333333,BASELINE,767,746,716,680,663,637,880,788,803,653,632,653,0.40098896748,-0.00535637063722,0.069843213764,0.999999945325,0.000207958874891,-0.000256686436145,1.46630209797e-05,1793237970288505088
+24,0.400000000,BASELINE,767,746,716,680,663,637,880,788,803,653,632,653,0.400988643787,-0.00535581548617,0.0698434513557,0.999999945501,0.000206978143126,-0.000256801915795,1.45466597225e-05,1793237970305171968
+25,0.416666667,BASELINE,767,746,716,680,662.479098422,637,880.520901578,788,803,653,632,653.520901578,0.400989174141,-0.00535719566853,0.0698437473189,0.999999945986,0.000206305562037,-0.000255430313387,1.48560626765e-05,1793237970321839104
+26,0.433333333,BASELINE,767,746,716,680,662,637,881,788,803,653,632,654,0.400989922438,-0.00535812795327,0.0698441140613,0.99999994632,0.000206445233485,-0.000253989174411,1.51377982059e-05,1793237970338506240
+27,0.450000000,BASELINE,767,746,716,680,662,637,881,788,803,653,632,654,0.400991117645,-0.00535602154572,0.069844751755,0.999999945827,0.000209902109849,-0.000253103243126,1.50559036618e-05,1793237970355172352
+28,0.466666667,BASELINE,766.73337414,746,716,680,662.26662586,637,880.73337414,788,803.26662586,653,632,653.73337414,0.40099103213,-0.00535535392569,0.0698447946726,0.999999945569,0.000210651317001,-0.000253504937883,1.4936548399e-05,1793237970371838464
+29,0.483333333,BASELINE,766.155538417,746,716,680,662.844461583,637,880.155538417,788,803.844461583,653,632,653.155538417,0.400989451737,-0.00535636568101,0.0698441433585,0.999999945592,0.000208240090201,-0.000255409569899,1.47734684061e-05,1793237970388505088
+30,0.500000000,BASELINE,766.419044808,746,716,680,663,637,880,788,803.580955192,653,632,653.419044808,0.400989783706,-0.00535698532597,0.0698441703675,0.999999945638,0.000208054106751,-0.000255390104364,1.46042228107e-05,1793237970405171712
+31,0.516666667,BASELINE,766.992430076,746,716,680,663,637,880,788,803.007569924,653,632,653.992430076,0.400990820027,-0.00535746055081,0.0698444472131,0.999999945694,0.000208687713711,-0.000254661964924,1.44327063354e-05,1793237970421838336
+32,0.533333333,BASELINE,767.583662277,746,716,679.416337723,663,636.416337723,880.583662277,788,803.583662277,653,632,653.416337723,0.400990536132,-0.00535654205573,0.069845178992,0.999999946091,0.000207719499988,-0.000253891916609,1.45034060921e-05,1793237970438504960
+33,0.550000000,BASELINE,767.830435191,746.169564809,716,679.169564809,663,636.169564809,881,788,803.830435191,653,632,653,0.400989921209,-0.00535605309202,0.0698453353354,0.999999946181,0.000207176851643,-0.000253974012353,1.46158089238e-05,1793237970455171840
+34,0.566666667,BASELINE,767.257770386,746.742229614,716,679.742229614,663,636.742229614,881,788,803.257770386,653,632,653,0.400988561335,-0.0053566295642,0.0698441092485,0.999999945532,0.000207696829622,-0.000256083210918,1.48196472255e-05,1793237970471839488
+35,0.583333333,BASELINE,767,746.680149675,716,680,663,637,881,788,803,653,632,653,0.400987935535,-0.00535689706139,0.0698435501012,0.999999945254,0.000207806699181,-0.00025707244409,1.48955088276e-05,1793237970488506112
+36,0.600000000,BASELINE,767,746.098472032,716,680,663,637,881,788,803,653,632,653,0.400987910641,-0.0053569116338,0.0698435369061,0.999999945283,0.000207580856811,-0.000257144881378,1.4866609589e-05,1793237970505171968
+37,0.616666667,BASELINE,767,746,716,680,663,637,880.511741854,788.488258146,803.488258146,653,632,653,0.400989088309,-0.00535744217226,0.069844084754,0.999999945714,0.000207070397327,-0.000255895705321,1.4567709569e-05,1793237970521838336
+38,0.633333333,BASELINE,767,746,716.074828736,680,663,637,880.074828736,789,804,653.074828736,632.074828736,653,0.400990104308,-0.00535791381296,0.0698445331202,0.999999946105,0.000206645487058,-0.000254724681243,1.42648157817e-05,1793237970538504960
+39,0.650000000,BASELINE,767,746,716.653393817,680,663,637,880.653393817,789,804,653.653393817,632.653393817,653,0.400988382208,-0.00535728111966,0.0698435421072,0.999999945694,0.000207186941838,-0.000255892857983,1.43054447594e-05,1793237970555171840
+40,0.666666667,BASELINE,767,746,716.76903987,680,663,637,880.76903987,788.76903987,804,653.76903987,632.76903987,653,0.400987444886,-0.00535648995131,0.0698430665769,0.999999945203,0.000208570375029,-0.000256678357969,1.44113305181e-05,1793237970571838720
+41,0.683333333,BASELINE,767,746,716.192966007,680,663,637,880.192966007,788.192966007,804,653.192966007,632.192966007,653,0.400987680222,-0.00535546198057,0.0698433613103,0.999999944591,0.00021121194011,-0.000256892040564,1.46147266597e-05,1793237970588505344
+42,0.700000000,BASELINE,767,746,716,680,663,637,880,788,804,653,632,653,0.400987627747,-0.00535565129749,0.0698435804938,0.999999944625,0.000211038186342,-0.000256896535386,1.47277087625e-05,1793237970605171968
+43,0.716666667,BASELINE,767,746,716,680,663,637,880,788,804,653,632,653,0.400987430306,-0.00535645374496,0.0698437616239,0.999999944985,0.000209446396355,-0.000256795665292,1.47951505914e-05,1793237970621838592
+44,0.733333333,BASELINE,767,746,716,680,663,637,880.546584274,788,804,653,632,653,0.400988475088,-0.00535640695967,0.0698434436181,0.999999945386,0.00020791747914,-0.000256481308188,1.4666180795e-05,1793237970638505216
+45,0.750000000,BASELINE,767.133360537,746,716,680,662.866639463,637,880.866639463,788,804,653,632,653.133360537,0.400989410648,-0.00535632908643,0.0698434405653,0.999999945751,0.000206755531949,-0.00025600281722,1.45712632327e-05,1793237970655171840
+46,0.766666667,BASELINE,767.714776132,746,716,680,662.285223868,637,880.285223868,788,804,653,632,653.714776132,0.400989660174,-0.00535636489859,0.0698446238758,0.999999945988,0.000206810354977,-0.000255027717171,1.46412018705e-05,1793237970671838464
+47,0.783333333,BASELINE,767.710379642,746,716,680,662.289620358,637,880,788,803.710379642,653,632,653.710379642,0.400988755703,-0.00535676534987,0.0698443485741,0.999999946027,0.000205994192435,-0.000255548105958,1.44335371329e-05,1793237970688505088
+48,0.800000000,BASELINE,767.141863383,746,716,680,662.858136617,637,880,788,803.141863383,653,632,653.141863383,0.400986739965,-0.00535751693792,0.0698426686719,0.99999994587,0.000204339296366,-0.000257508606469,1.39585485031e-05,1793237970705171712
+49,0.816666667,BASELINE,767,746,716,679.56526666,663,637,880.43473334,788,803.43473334,653,632,653.43473334,0.400987132099,-0.00535861803134,0.0698426990631,0.999999945861,0.000204093732919,-0.00025772860113,1.413686807e-05,1793237970721838592
+50,0.833333333,BASELINE,767,746,716,679.014336115,663.014336115,637,880.985663885,788,804,653,632,654,0.400988320118,-0.0053597303775,0.0698433004293,0.999999945888,0.000204441800469,-0.000257326720511,1.45293813414e-05,1793237970738505216
+51,0.850000000,BASELINE,767,746,716,679.606815933,663.606815933,637,880.393184067,788,804,653,632,654,0.400989317062,-0.00535660996874,0.0698439944416,0.999999945316,0.00020983179274,-0.00025518462375,1.47995707982e-05,1793237970755171840
+52,0.866666667,BASELINE,767,745.806691315,716,679.806691315,663.806691315,637,880.193308685,788,804,653,632,654,0.400990033082,-0.00535434770189,0.0698445787201,0.999999945044,0.000212924910296,-0.000253687164787,1.47807251976e-05,1793237970771838464
+53,0.883333333,BASELINE,767,745.232010282,716,679.232010282,663.232010282,637,880.767989718,788,804,653,632,654,0.400990194874,-0.00535377843521,0.0698449465085,0.999999945415,0.000211486598944,-0.000253461490682,1.41916518213e-05,1793237970788505088
+54,0.900000000,BASELINE,767,745.344933472,716,679.344933472,662.655066528,637,881,788,803.655066528,653,632,653.655066528,0.400990538475,-0.00535571921378,0.0698454258441,0.99999994586,0.000209632408818,-0.000253233003374,1.43731509089e-05,1793237970805171712
+55,0.916666667,BASELINE,767,745.923409212,716,679.923409212,662.076590788,637,881,788,803.076590788,653,632,653.076590788,0.400991005172,-0.00535935945533,0.0698459807044,0.999999946354,0.000207496641926,-0.000253002611355,1.50763774103e-05,1793237970821838592
+56,0.933333333,BASELINE,767,746,716,680,662,637,881,788,803,652.489611913,632.510388087,653,0.400991498212,-0.00535816160507,0.0698459749652,0.999999946275,0.000208209975852,-0.000252757054037,1.45757605078e-05,1793237970838505472
+57,0.950000000,BASELINE,767,746,716,680,662,637,881,788,803.194286218,652.097143109,632.902856891,653,0.400991768507,-0.00535647809546,0.069845829885,0.999999946127,0.000209167074168,-0.000252583528229,1.40074636567e-05,1793237970855172352
+58,0.966666667,BASELINE,767,746,716,680,662,637,881,788,804.352695472,652.676347736,632.323652264,653,0.400990913508,-0.00535604840146,0.0698454178779,0.999999946076,0.0002091762263,-0.00025277893514,1.40149729157e-05,1793237970871839232
+59,0.983333333,BASELINE,767,746,716,680,662.254579188,637,880.745420812,788,804.490841624,653,632,653,0.400990114958,-0.00535586771145,0.0698451773215,0.999999945896,0.000209358285646,-0.000253329092209,1.41704153727e-05,1793237970888506112
+60,1.000000000,BASELINE,767,746,716,680,662.831578212,637,880.168421788,788,803.336843576,653,632,653,0.4009893879,-0.00535600238031,0.069845153904,0.999999945554,0.000209759328784,-0.000254328533823,1.45132124914e-05,1793237970905172480
+61,1.016666667,BASELINE,767,746,716,680,663,637,880,788,803.406634294,653,632,653.406634294,0.400988555803,-0.00535600161707,0.0698446846306,0.999999945545,0.000208593748799,-0.000255320884419,1.45160655793e-05,1793237970921838848
+62,1.033333333,BASELINE,767,746,716,680,663,637,880,788,803.980889431,653,632,653.980889431,0.400987680407,-0.00535594502664,0.0698440315685,0.99999994567,0.000206782382901,-0.000256310311929,1.43787885446e-05,1793237970938505216
+63,1.050000000,BASELINE,767,746,716,680,662.428865538,637,881.142268923,788,804,653,632,653.428865538,0.400988738426,-0.00535629234152,0.0698444598957,0.999999946125,0.000206558348392,-0.000254712012217,1.43657569412e-05,1793237970955171840
+64,1.066666667,BASELINE,767,746,716,679.841358106,662.158641894,637,881.682716212,788,804,653,632,653.158641894,0.400989674456,-0.00535657980619,0.0698449778561,0.999999946497,0.000206273022471,-0.000253479026204,1.43284680089e-05,1793237970971838464
+65,1.083333333,BASELINE,767,746,716,679.262558964,662.737441036,637,880.525117927,788,804,653,632,653.737441036,0.400990111132,-0.00535667193491,0.0698456346143,0.999999946628,0.000205680648324,-0.000253449488516,1.4215606725e-05,1793237970988505344
+66,1.100000000,BASELINE,767,746,716,679.313958081,663,637,880,788.313958081,804,653,632,654,0.400990030612,-0.00535773939417,0.0698454943602,0.999999946665,0.000204883174595,-0.000253947463754,1.42621766888e-05,1793237971005171712
+67,1.116666667,BASELINE,767,746,716,679.888580382,663,637,880,788.888580382,804,653,632,654,0.400989520688,-0.00535961662323,0.0698446923851,0.999999946622,0.000203915416626,-0.000254883407478,1.44411147171e-05,1793237971021838592
+68,1.133333333,BASELINE,767,746,716,680,663,637,880.47490289,788.52509711,803.52509711,653,632,653.52509711,0.400989495446,-0.00535892063889,0.0698445531016,0.999999946306,0.000206266918305,-0.000254217243614,1.46823242132e-05,1793237971038505216
+69,1.150000000,BASELINE,767,746,716,680.062972303,662.937027697,637,881,788,803.062972303,653,632,653.062972303,0.400989709011,-0.00535760605262,0.0698446420951,0.999999945943,0.00020915985923,-0.000253269531607,1.48578005466e-05,1793237971055171840
+70,1.166666667,BASELINE,767,746,716,680.642288464,662.357711536,637,881,788,803.642288464,653,632,653.642288464,0.400990924728,-0.00535629444787,0.0698452958074,0.99999994581,0.000209945668177,-0.000253173143456,1.43714750725e-05,1793237971071838208
+71,1.183333333,BASELINE,767,746,716,680.779410475,662.220589525,637,880.779410475,788,803.779410475,653,632,653.779410475,0.400991209996,-0.00535639177058,0.0698456842573,0.999999945964,0.000209373446128,-0.000253042050963,1.42752665933e-05,1793237971088504832
+72,1.200000000,BASELINE,767,746,716,680.202747885,662.797252115,637,880.202747885,788,803.202747885,653,632,653.202747885,0.400989993346,-0.0053587633675,0.0698456445237,0.999999946579,0.000206609106246,-0.000252854939107,1.4808780387e-05,1793237971105171456
+73,1.216666667,BASELINE,767,746,716,680,663,637,880,788,803,653,632,653,0.400990173824,-0.00535815858982,0.0698458784407,0.999999946833,0.000206437992281,-0.000251998981019,1.46219193076e-05,1793237971121838080
+74,1.233333333,BASELINE,767,746,716,680,663,637,880,788,803,653,632,653,0.400991111868,-0.00535593993177,0.0698462607393,0.999999946892,0.000207673003921,-0.000250780354305,1.40444491754e-05,1793237971138504704
+75,1.250000000,BASELINE,767,746,716,680,662.453852175,637,880,788,803,652.453852175,632,653.546147825,0.400991615021,-0.00535700833033,0.0698462200265,0.999999946825,0.000208068150682,-0.000250710330499,1.42221511063e-05,1793237971155171840
+76,1.266666667,BASELINE,767,746,716,679.874848088,662.125151912,637,880.125151912,788,803.125151912,652.250303823,632,653.874848088,0.400991988496,-0.00535793062094,0.0698461756647,0.999999946726,0.00020826405135,-0.000250931450715,1.44175066303e-05,1793237971171838720
+77,1.283333333,BASELINE,767,746,716,679.296600019,662.703399981,637,880.703399981,788,803.703399981,653.406799962,632,653.296600019,0.40099198781,-0.00535760347091,0.0698462108099,0.999999946538,0.000207922693905,-0.000251954862526,1.45112517561e-05,1793237971188505344
+78,1.300000000,BASELINE,767,746,716,679,663,637,880.720317428,788,804,653.720317428,632,653,0.400991973143,-0.00535678214085,0.069846235781,0.999999946536,0.000207824600688,-0.00025204611472,1.45116298652e-05,1793237971205172224
+79,1.316666667,BASELINE,767,746,716,679,663,637,880.146104695,788,804,653.146104695,632,653,0.400991943755,-0.0053554403961,0.069846250038,0.999999946728,0.000207982685963,-0.000251155721404,1.44136843494e-05,1793237971221838848
+80,1.333333333,BASELINE,767,746,716,679,663,636.569799602,880,788,803.569799602,653,632,653,0.400991458912,-0.00535542899559,0.069845782379,0.999999946617,0.000207879101233,-0.000251694229312,1.42493496214e-05,1793237971238505472
+81,1.350000000,BASELINE,766.992600683,745.992600683,716,679.007399317,663,636.007399317,880,788,803,653,632.007399317,653.007399317,0.400990823922,-0.0053558665325,0.0698451633386,0.999999946402,0.00020769749186,-0.00025270630008,1.40676686255e-05,1793237971255172352
+82,1.366666667,BASELINE,766.401219249,745.401219249,716,679.598780751,663,636.598780751,880,788,803,653,632.598780751,653.598780751,0.400990606376,-0.00535590294281,0.0698455771614,0.999999946276,0.000208405992929,-0.000252606131469,1.43051561885e-05,1793237971271838720
+83,1.383333333,BASELINE,766.185989932,745.185989932,716.185989932,680,663,637,880,788.185989932,803,653,632.814010068,653.814010068,0.400990447436,-0.00535600778872,0.069845626108,0.999999946211,0.00020859562424,-0.000252701206305,1.44390560751e-05,1793237971288505344
+84,1.400000000,BASELINE,766.76439627,745.76439627,716.76439627,680,663,637,880,788.76439627,803,653,632.23560373,653.23560373,0.400990412149,-0.00535625702551,0.06984490521,0.999999946272,0.000207690502844,-0.000253208221337,1.43543984573e-05,1793237971305172480
+85,1.416666667,BASELINE,767,746,716.660509762,680,663,637,880,788.660509762,803.339490238,653,632,653,0.400990039116,-0.00535681662928,0.0698446003511,0.999999946375,0.000206751791491,-0.000253581055135,1.41606981549e-05,1793237971321839104
+86,1.433333333,BASELINE,767,746,716.087692376,680,663,637,880,788.087692376,803.912307624,653,632,653,0.400989433953,-0.00535758954417,0.0698445814304,0.999999946506,0.000205789994259,-0.000253861667918,1.38920542638e-05,1793237971338505472
+87,1.450000000,BASELINE,767,746,716,680,663,637,880,788.499069758,803.500930242,653,632,653.499069758,0.40099015426,-0.00535854440441,0.0698454295835,0.999999946725,0.00020622732669,-0.000252607155272,1.44726224479e-05,1793237971355172096
+88,1.466666667,BASELINE,767,746,716,680,663,637,880.086777533,788.913222467,803.086777533,653,632,653.913222467,0.400991038009,-0.00535923435388,0.0698462564907,0.999999946928,0.000206829111418,-0.000251278083159,1.50282092578e-05,1793237971371838720
+89,1.483333333,BASELINE,767,746,716,680,663,637,880.665555309,788.334444691,803.665555309,653,632,653.334444691,0.400991489988,-0.00535823587664,0.069846074308,0.999999946958,0.000206929369432,-0.000251099577878,1.45718330474e-05,1793237971388505344
+90,1.500000000,BASELINE,767,746,716,680,662.756472459,636.756472459,880.756472459,788,803.756472459,653,632.243527541,653.243527541,0.400991911364,-0.00535745450042,0.0698463434987,0.999999947056,0.000207035073811,-0.000250636411396,1.43418408831e-05,1793237971405171968
+91,1.516666667,BASELINE,767,746,716,680,662.179602908,636.179602908,880.179602908,788,803.179602908,653,632.820397092,653.820397092,0.400992290851,-0.00535697029353,0.0698472305323,0.999999947245,0.000207148233195,-0.000249783598911,1.44217246428e-05,1793237971421838592
+92,1.533333333,BASELINE,767,746,716,680,662.403387672,636.403387672,880,788,803.403387672,653,632.596612328,653.596612328,0.400992161693,-0.00535693105952,0.0698469757321,0.999999946937,0.000208197087035,-0.000250133928513,1.45788165977e-05,1793237971438505984
+93,1.550000000,BASELINE,767,746,716,680,662.989145601,636.989145601,880,788,803.989145601,653,632.010854399,653.010854399,0.400991802577,-0.00535709299627,0.0698462047128,0.999999946403,0.000209668965308,-0.000251028194672,1.47708141338e-05,1793237971455173376
+94,1.566666667,BASELINE,767,746,716,680,663,637,880,788,804,653,632,653,0.400992003121,-0.00535688720465,0.0698462845668,0.999999946852,0.000208011060987,-0.000250641771026,1.43505405881e-05,1793237971471840256
+95,1.583333333,BASELINE,767,746,716,679.8517003,663,637,880,788,803.8517003,653,632,653,0.400991989238,-0.00535654889321,0.0698463352258,0.999999947072,0.000207109399692,-0.000250525528345,1.40859500021e-05,1793237971488506624
+96,1.600000000,BASELINE,767,746,716,679.277573789,663,637,880,788,803.277573789,653,632,653,0.400991329308,-0.00535585000083,0.0698462559261,0.999999946587,0.000208548884334,-0.000251254511525,1.43015794322e-05,1793237971505173760
+97,1.616666667,BASELINE,767,746,716,679.596745995,663,636.701627002,880,788,803.298372998,653,632,653,0.400991000861,-0.00535592509998,0.0698460927453,0.999999946349,0.000209294481373,-0.00025157448243,1.44094450722e-05,1793237971521840128
+98,1.633333333,BASELINE,767,746,716,680.752047058,663,636.123976471,880,788,803.876023529,653,632,653,0.400990982683,-0.00535672465629,0.0698458510516,0.999999946345,0.000209390598578,-0.000251511617242,1.44164436446e-05,1793237971538505984
+99,1.650000000,BASELINE,767,746,716.46138417,680.07723166,663,636.46138417,880,788,803.53861583,653,632,653,0.400990812671,-0.00535559890725,0.0698457617303,0.999999945967,0.000210658224686,-0.000251966082038,1.4233064396e-05,1793237971555172352
+100,1.666666667,BASELINE,767,746,716.95157221,679.04842779,663,637,880,788,803.04842779,653,632,653.04842779,0.400990684585,-0.00535425936126,0.0698457981532,0.999999945611,0.000211859361553,-0.000252382525198,1.40326745426e-05,1793237971571838720
+101,1.683333333,BASELINE,767,746,716.369203102,679.630796898,663,637,880,788,803.630796898,653,632,653.630796898,0.400991476232,-0.0053563634728,0.069846761878,0.999999946645,0.000208797704304,-0.000250821062767,1.4218335845e-05,1793237971588505600
+102,1.700000000,BASELINE,767,746,716,680,663,637,880,788,804,653.210539092,632,653.789460908,0.40099166813,-0.00535744538423,0.0698471158868,0.999999947142,0.000207141299396,-0.000250212894303,1.42366792426e-05,1793237971605172480
+103,1.716666667,BASELINE,767,746,716,680,663,637,880,788,804,653.785731418,632,653.214268582,0.400990821264,-0.00535675684719,0.0698464138683,0.999999946723,0.0002079187887,-0.000251255829004,1.39652283874e-05,1793237971621839360
+104,1.733333333,BASELINE,767,746,716,680,663,637,880,788,804,653.639918553,632,653,0.400990444562,-0.00535655450968,0.0698460052772,0.999999946466,0.000208668155152,-0.000251648306323,1.41318004962e-05,1793237971638505728
+105,1.750000000,BASELINE,767,746,716,680,663,637,880,788,804,653.066068513,632,653,0.400990346982,-0.00535664081289,0.0698457708844,0.999999946305,0.000209400826061,-0.000251654628442,1.45584125043e-05,1793237971655172096
+106,1.766666667,BASELINE,767,746,716,680,663,637,880.522603011,788.522603011,804,653,632,653,0.400989946781,-0.00535771283767,0.0698449088788,0.999999946399,0.000207273766617,-0.000253049427577,1.43149791688e-05,1793237971671838208
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,662,637,880,788,804,653,632,653,0.400992258025,-0.0053569129461,0.0698458797754,0.999999946938,0.000207069922427,-0.000251087027938,1.42139927357e-05,1793237971714090240
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679,662.577489544,637,880.577489544,788,804,653,632,653.577489544,0.400991644157,-0.00535684547538,0.0698458232141,0.999999946503,0.000209087432777,-0.000251134355203,1.44476576802e-05,1793237971730756864
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679,662.842757301,637,880.842757301,788,803.842757301,653,632,653.842757301,0.400991289148,-0.00535676868974,0.0698458485057,0.999999946218,0.000210374041024,-0.000251183203334,1.46235715255e-05,1793237971747423744
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679,662.25683286,637,880.25683286,788,803.25683286,653,632,653.25683286,0.400991639851,-0.00535666650939,0.0698460969484,0.999999946353,0.000209668033288,-0.000251236197731,1.46420419171e-05,1793237971764090112
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679,662.325536632,637,880,788,803,653,632,653.325536632,0.400990477929,-0.00535715291104,0.069845583101,0.999999946333,0.000208334006912,-0.000252430052614,1.44797012385e-05,1793237971780756736
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679,662.905131701,637,880,788,803,653,632,653.905131701,0.400988135509,-0.00535809865955,0.06984447434,0.999999946188,0.000206509856215,-0.000254514268834,1.41762502391e-05,1793237971797423360
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679.482126705,662.517873295,637,880.482126705,788,803,653,632,653.517873295,0.400989807222,-0.00535755956053,0.0698458303991,0.999999946741,0.000206755625643,-0.000252126316419,1.41945658002e-05,1793237971814090240
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680,662.058449415,636.941550585,880.941550585,788,803,653,632,653.058449415,0.400992010577,-0.00535683784124,0.0698474928035,0.999999947297,0.000207482942353,-0.000249305805763,1.42831484854e-05,1793237971830756864
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680,662.633328235,636.366671765,880.366671765,788,803,653,632,653.633328235,0.400991969865,-0.00535707023726,0.0698475996592,0.99999994673,0.00020888558118,-0.00025039687587,1.44361647392e-05,1793237971847423232
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716.214088631,680,663,636.214088631,880,788,803,653,632,654,0.400993140032,-0.00535760282026,0.069848371207,0.999999946765,0.000208992205972,-0.000250154029392,1.46510891518e-05,1793237971864090624
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716.80520696,680,663,636.80520696,880,788,803,653,632,654,0.400996442668,-0.00535866406,0.0698503133383,0.999999947858,0.000206816431135,-0.000247562033461,1.49750394892e-05,1793237971880759040
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.387639748,746,717,680,662.612360252,637,880,788,803.387639748,653,632,654,0.401009704437,-0.00535904028952,0.0698562621048,0.999999950075,0.000207586204186,-0.000237746613991,1.53048240613e-05,1793237971897425664
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.965803663,746,717,680,662.034196337,637,880,788,803.965803663,653,632,654,0.401027861099,-0.00535907983797,0.0698641801248,0.999999952696,0.000209803707947,-0.00022438089593,1.56374761749e-05,1793237971914091776
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.459210648,746,716.459210648,680,662.540789352,637,880.540789352,788,803.459210648,653,632,653.459210648,0.401067335317,-0.00535979325379,0.0698806171527,0.999999958923,0.00020828144864,-0.000196247146844,1.61288587025e-05,1793237971930758400
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.884362942,788.115637058,803.115637058,653,632,653.115637058,0.401111266424,-0.00536050772275,0.069897639357,0.999999964323,0.000206960424864,-0.000168067851213,1.65782570733e-05,1793237971947425024
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.309269456,788.690730544,803.690730544,653,632,653.690730544,0.401167581285,-0.00536105805923,0.069914858767,0.999999968075,0.000207373072593,-0.000143396305552,1.68211942083e-05,1793237971964091392
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716.273207278,680,663,637,880,788.726792722,804,653,632,653.726792722,0.401226818772,-0.00536257610982,0.0699279448828,0.999999970892,0.000205845213562,-0.000124758616477,1.67277992156e-05,1793237971980758016
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716.864273918,680,663,637,880,788.135726082,804,653,632,653.135726082,0.401289456545,-0.00536522003444,0.0699362221717,0.999999973054,0.000202059697904,-0.000113140938873,1.62431030898e-05,1793237971997425152
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,717,680,662.553981928,637,880.446018072,788,804,653.446018072,632,653.446018072,0.401361897696,-0.00536757686448,0.0699380239132,0.999999973771,0.000200837948328,-0.000109044783798,1.5204905616e-05,1793237972014091264
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,717,680,662.024827127,637,881,788,804,653.975172873,632,654,0.401437692447,-0.00536986825351,0.0699376822825,0.999999974057,0.000200220364953,-0.000107717734849,1.3953198485e-05,1793237972030757376
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,717,680,662.60017078,637,881,788,804,653.39982922,632,654,0.40152305414,-0.00537260611643,0.0699326138897,0.999999973742,0.000196054257668,-0.000118079061002,1.16255156551e-05,1793237972047424000
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716.820410816,679.820410816,663,637,881,788,804,653,632,654,0.401616438037,-0.00537564874699,0.0699296102781,0.999999973656,0.000192626186482,-0.000124470231333,9.51193790147e-06,1793237972064090368
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716.231710042,679.231710042,663,637,881,788,804,653,632,654,0.401728096836,-0.00537938565046,0.0699313103244,0.999999974332,0.000190879392673,-0.000121817221087,7.88610068882e-06,1793237972080756736
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,679.350850934,663,637,881,788.350850934,803.649149066,653,632,654,0.40185821609,-0.0053923822414,0.0699340883376,0.999999977612,0.000176546912047,-0.000116433466264,7.10610837847e-06,1793237972097423360
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,679.92942684,663,637,881,788.92942684,803.07057316,653,632,654,0.402000317386,-0.00541138896941,0.0699375660215,0.999999982141,0.000154045505528,-0.000109277281087,6.87512401229e-06,1793237972114090240
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,679.492640437,663,637,881,788.492640437,803,653,632,654,0.402168601664,-0.00541926683347,0.0699417061866,0.999999984411,0.000144507413073,-0.000101377389579,4.35551185946e-06,1793237972130756608
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,679.084532873,663,637,880.915467127,788,803.084532873,653,632,653.915467127,0.402343303106,-0.0054244367094,0.0699454302642,0.999999986089,0.000137794492116,-9.39873411721e-05,1.20673263049e-06,1793237972147423232
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679.657832148,663,637,880.342167852,788,803.657832148,653,632,653.342167852,0.402534077052,-0.00542288831486,0.0699462164022,0.999999986545,0.000137003874701,-9.01425662759e-05,-3.74153804906e-06,1793237972164089856
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679.762945111,663,637,880,788,803.762945111,653,632,653,0.402737042825,-0.00542615019714,0.0699483178626,0.999999987954,0.000130328633425,-8.3887339829e-05,-8.26907624642e-06,1793237972180756480
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679.174953283,663,637,880,788,803.174953283,653,632,653,0.40295805741,-0.0054365332312,0.069952366531,0.999999990577,0.000114941773128,-7.40636721569e-05,-1.21737602143e-05,1793237972197423872
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679.408936257,663,637,880,788,803.408936257,653,632,653.408936257,0.40320896954,-0.00543955514107,0.0699585507089,0.999999991871,0.000110249271706,-6.18244941077e-05,-1.67732323759e-05,1793237972214090496
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679.991088151,663,637,880,788,803.991088151,653,632,653.991088151,0.403472545552,-0.00543945905417,0.0699656394375,0.999999992527,0.000110086645795,-4.85621637705e-05,-2.16670001299e-05,1793237972230756864
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,680,662.436317644,637,880,788,804,653,632.563682356,654,0.403762505762,-0.00544745469768,0.0699689785908,0.999999994551,9.10118858336e-05,-4.42606183669e-05,-2.56240721999e-05,1793237972247424256
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679.863296401,662.136703599,637,880,788,803.863296401,653,632.863296401,654,0.404058791664,-0.00545402095351,0.0699717558916,0.999999996291,7.02098267034e-05,-4.12859029302e-05,-2.79863311881e-05,1793237972264091648
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679.288430277,662.711569723,637,880,788,803.288430277,653,632.288430277,654,0.404374037911,-0.0054556025259,0.0699729191813,0.999999997789,4.48138124908e-05,-4.21174337453e-05,-2.52835678457e-05,1793237972280758016
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679.295148186,663,637,880,788,803.295148186,653,632,653.704851814,0.404704531749,-0.0054567963122,0.0699752196562,0.999999997959,4.54104408477e-05,-3.83254260914e-05,-2.348061451e-05,1793237972297424384
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679.887499722,663,637,880,788,803.887499722,653,632,653.112500278,0.40505037939,-0.0054575996124,0.0699786652347,0.999999996694,7.21806996024e-05,-2.98776856341e-05,-2.25837363732e-05,1793237972314091008
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.531800495,653,632,653.468199505,0.40542969591,-0.00546461921821,0.0699834504566,0.999999997489,6.27956424266e-05,-2.09462148121e-05,-2.52826942296e-05,1793237972330757888
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.045929916,653,632,654,0.405818596005,-0.00547258103639,0.0699874328242,0.999999998458,4.55793333105e-05,-1.37181588182e-05,-2.86234358019e-05,1793237972347424768
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.620923405,653,632,654,0.406227503107,-0.00547460842837,0.0699785493391,0.999999998544,3.57961534456e-05,-2.74179746087e-05,-2.96459527823e-05,1793237972364091648
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,679.799133355,663,636.799133355,880,788,804,653,632,653.799133355,0.406641115012,-0.00547759907625,0.0699676002351,0.99999999813,2.91938125432e-05,-4.39037917003e-05,-3.09974373611e-05,1793237972380758272
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,679.209612958,663,636.209612958,880,788,804,653,632,653.209612958,0.407063830143,-0.00548245351286,0.0699526543975,0.999999996879,2.87460281712e-05,-6.57801986463e-05,-3.29854361821e-05,1793237972397424384
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679.373693249,663,636.373693249,880.373693249,788,804,653.373693249,632,653,0.407531116598,-0.0054892657742,0.069948932903,0.999999996875,2.02166735425e-05,-6.81303962857e-05,-3.46363117794e-05,1793237972414090496
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679.953570773,663,636.953570773,880.953570773,788,804,653.953570773,632,653,0.408022995149,-0.00549715826006,0.0699514044111,0.99999999754,7.22833361982e-06,-5.97070581465e-05,-3.61011804507e-05,1793237972430756608
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.471146893,788,804,653.471146893,632.528853107,653,0.408563039439,-0.0055029638926,0.0699672454298,0.999999998847,-3.17696181567e-08,-3.09651297405e-05,-3.66982252526e-05,1793237972447423744
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.896422925,653,632.896422925,653,0.40910848108,-0.00550837828337,0.0699807886465,0.999999999264,-6.41029968595e-06,-5.71857624051e-06,-3.73903109391e-05,1793237972464090624
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.32241863,653,632.32241863,653,0.409659396324,-0.00551284066253,0.0699786107004,0.999999999174,-1.1049269126e-05,-4.37931371902e-06,-3.88571057336e-05,1793237972480757504
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.25970312,653,632,653.25970312,0.410208458665,-0.0055179314262,0.0699730473651,0.999999998962,-1.73668026063e-05,-1.27213816188e-05,-4.01669689348e-05,1793237972497424384
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.852227844,653,632,653.852227844,0.4107551465,-0.00552382749437,0.0699631454959,0.999999998254,-2.58354944675e-05,-3.34705237569e-05,-4.12757172007e-05,1793237972514091264
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746.434708106,716,680,663,637,880.434708106,788,804,653,632,653.565291894,0.411351719893,-0.00552938503563,0.069967581083,0.999999998185,-3.28194621815e-05,-2.85444237028e-05,-4.1698827648e-05,1793237972530757376
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.986278124,746.986278124,716,679.986278124,663,637,881,788,804,653,631.986278124,653,0.411966194295,-0.00553491259798,0.0699772053144,0.999999998241,-3.94950532091e-05,-1.42763974593e-05,-4.1874281861e-05,1793237972547423744
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.412533771,746.412533771,716,679.412533771,663,637,881,788,804,653,631.412533771,653,0.412634794878,-0.00554380715648,0.0700041717288,0.999999997159,-5.37182297653e-05,3.30965120356e-05,-4.12396815427e-05,1793237972564091136
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.165783637,746,716,679.165783637,663,636.834216363,881,788.165783637,804,653,631.165783637,653,0.413305393243,-0.00554863110368,0.070027350659,0.999999994652,-6.20970644261e-05,7.21501892422e-05,-4.04354943063e-05,1793237972580758272
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.755803343,746,716,679.755803343,663,636.244196657,881,788.755803343,804,653,631.755803343,653,0.41398110384,-0.0055430384606,0.0700408375129,0.999999993648,-5.55203777606e-05,8.99151621008e-05,-3.91973387545e-05,1793237972597424640
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.661458269,746,716,680,663,636.338541731,880.661458269,788.661458269,804,653,632,653,0.414629375131,-0.00551956458567,0.0700259918176,0.999999997065,-2.53282027127e-05,5.9639591067e-05,-4.08953090733e-05,1793237972614091520
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.083861473,746,716,680,663,636.916138527,880.083861473,788.083861473,804,653,632,653,0.415258270628,-0.0054834642055,0.0699911396093,0.99999999876,2.15396182344e-05,-4.55893414958e-06,-4.46665709343e-05,1793237972630758400
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.493762033,746.493762033,716,680,663,637,880.987524065,788,804,652.506237967,632,653,0.41592389341,-0.00548271393285,0.0699548734674,0.999999997039,1.60473119925e-05,-5.81110670745e-05,-4.78243347506e-05,1793237972647424768
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746.929030502,716,680,663,637,881.929030502,788,804,652.070969498,632,653,0.416606911425,-0.00548896027029,0.069926173974,0.999999993874,1.35869349442e-06,-9.85144078791e-05,-5.04477642157e-05,1793237972664091136
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746.3548057,716,680,663,637,881.3548057,788,804,652.6451943,632,653,0.417369045517,-0.00550224355286,0.0699528337291,0.999999996918,-1.547774572e-05,-5.85006098407e-05,-5.00210692838e-05,1793237972680757248
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679.773327905,663,637,881,788,804,653,632,653,0.418131516222,-0.00551091260833,0.0699781456289,0.999999998248,-2.61035124532e-05,-1.96013193021e-05,-4.93816938181e-05,1793237972697423616
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679.180121762,663,637,881,788,804,653,632,653,0.418894531358,-0.00551212035337,0.0700012780195,0.99999999832,-2.66864800212e-05,1.74957928727e-05,-4.83984089928e-05,1793237972714090240
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.4021062,746.4021062,716.4021062,679.4021062,663,637,881,788,804,653,632,653,0.419657996221,-0.00551583648983,0.0700131278743,0.999999997841,-3.13645692395e-05,3.16113312587e-05,-4.83116180453e-05,1793237972730756864
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.979547189,746.979547189,716.979547189,679.979547189,663,637,881,788,804,653,632,653,0.420421657139,-0.00552064638774,0.0700200580795,0.999999997465,-3.78282993721e-05,3.5705959008e-05,-4.86157352606e-05,1793237972747423488
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.894130302,746.447065151,717,679.447065151,663,637,881,788,804,653,632,653,0.421189559536,-0.00551681460327,0.070027061636,0.999999996888,-3.79653190625e-05,4.78899245289e-05,-4.99006241872e-05,1793237972764089856
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,716.873465354,679.126534646,663.126534646,636.873465354,881,788,804,652.873465354,632,653,0.421952662089,-0.00551221945823,0.0700271084923,0.99999999686,-3.58568000556e-05,4.85298633717e-05,-5.13671293657e-05,1793237972780756736
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,716.298586553,679.701413447,663.701413447,636.298586553,881,788,804,652.298586553,632,653,0.422698205685,-0.00550604389957,0.0700024964618,0.999999998197,-2.66149365213e-05,7.21390459514e-06,-5.33495388777e-05,1793237972797423616
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.285159033,746,716,680,663.714840967,636.285159033,881.285159033,788,804,652,632,653.285159033,0.423428279923,-0.00550483207374,0.0699582718246,0.999999995941,-2.81215811116e-05,-6.39916486763e-05,-5.68468458168e-05,1793237972814090496
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.878486836,746,716,680,663.121513164,636.878486836,881.878486836,788,804,652,632,653.878486836,0.424141636516,-0.0055089845092,0.0698928520235,0.999999983201,-4.12440410242e-05,-0.000167498611628,-6.19812881158e-05,1793237972830756608
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.458348387,637,881.541651613,788,804,652,632,653.541651613,0.424947549891,-0.00551448832815,0.0699010078042,0.999999986209,-5.22217349897e-05,-0.000144610524209,-6.27866003338e-05,1793237972847423232
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881,788,804,652,632,653,0.425777060876,-0.00551991288984,0.0699295720309,0.99999999227,-6.17012824402e-05,-8.81967471043e-05,-6.22468342052e-05,1793237972864090112
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881,788,804,652,632,653,0.426602831285,-0.00551867553684,0.0699808905637,0.999999996581,-5.64354742389e-05,-1.66075022148e-05,-5.8119078807e-05,1793237972880756736
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.808105504,746,716,680,663.808105504,637,881,788,804,652,632,653,0.427421793991,-0.00551835719019,0.0700191949828,0.999999996558,-5.1710272076e-05,3.4104517123e-05,-5.51938369728e-05,1793237972897423360
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.218270287,746,716,680,663.218270287,637,881,788,804,652,632,653,0.428226639391,-0.00551994463039,0.0700305114262,0.999999996481,-4.81061498302e-05,4.15224565687e-05,-5.47623043156e-05,1793237972914090240
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.364654536,746,716,680.364654536,663,637,881.364654536,788,804,652.364654536,632,653,0.429023951056,-0.00552364997136,0.070040269992,0.99999999545,-5.25388243933e-05,5.78450179975e-05,-5.47069724796e-05,1793237972930756864
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.943519917,746,716,680.943519917,663,637,881.943519917,788,804,652.943519917,632,653,0.429816837093,-0.00552859944133,0.0700491134052,0.999999993439,-6.16925950413e-05,7.93984657462e-05,-5.48726341832e-05,1793237972947423744
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.481155258,746.518844742,716.518844742,680.481155258,663.518844742,636.481155258,882,788,804.518844742,652.481155258,632,653,0.430552372868,-0.0055289856258,0.0700213543196,0.999999995895,-6.13684386965e-05,3.4286523417e-05,-5.71644106355e-05,1793237972964090368
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.093738781,746.906261219,716.906261219,680.093738781,663.906261219,636.093738781,882,788,805,652,632,653,0.43127382277,-0.00552819430531,0.069986249824,0.999999996121,-6.03094739174e-05,-2.3512239393e-05,-5.97359817162e-05,1793237972980756992
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.668386645,746.331613355,716.331613355,680.668386645,663.331613355,636.668386645,882,788,805,652,632,653,0.431954819193,-0.00552389321392,0.0699337640265,0.999999990212,-6.0737997705e-05,-0.000109419901725,-6.25636581813e-05,1793237972997423360
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.74882683,746,716,681,663,636.74882683,881.74882683,788,804.74882683,652,632,653,0.432688874062,-0.00552321641766,0.0699155872785,0.999999987078,-5.9840880245e-05,-0.000135001381961,-6.35483419888e-05,1793237973014089984
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.154935393,746,716,681,663,636.154935393,881.154935393,788,804.154935393,652,632,653,0.433495325533,-0.0055274848639,0.0699442242052,0.999999993382,-5.71349653204e-05,-7.82695873605e-05,-6.20183176431e-05,1793237973030756608
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.426091115,746,716,681,663.426091115,636.426091115,881,788,804,652,632,653,0.434282884639,-0.00553121930614,0.0699916322123,0.999999996139,-6.41635862756e-05,-3.91995196227e-07,-6.00388038403e-05,1793237973047423488
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663.997427444,637,881.002572556,788,804,652,632,653,0.435063411285,-0.00553474999128,0.0700453920693,0.999999991972,-7.45534659672e-05,8.45268096748e-05,-5.79088371376e-05,1793237973064090112
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716,681,663.421896066,637,881.578103934,788,804,652,632,653,0.435762821121,-0.00553487895722,0.0700382029987,0.999999993169,-6.83115178157e-05,7.53497714088e-05,-5.76053756847e-05,1793237973080756736
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636.843253317,882,788,804.156746683,652.156746683,632,653,0.436452271009,-0.00553568550915,0.0700284137459,0.999999994258,-6.54118880417e-05,6.21221068649e-05,-5.78394754921e-05,1793237973097423360
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636.25606634,882,788,804.74393366,652.74393366,632,653,0.437114370157,-0.00553835277235,0.0700114841609,0.999999994944,-7.16905595551e-05,3.77710612412e-05,-5.95497661225e-05,1793237973114089728
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716,681,663.328267051,636.328267051,881.671732949,788.328267051,804.671732949,652.671732949,632,653,0.437782314217,-0.00554090179001,0.0699931675997,0.999999995025,-7.69083583845e-05,1.80767588923e-05,-6.09005581253e-05,1793237973130756352
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663.910393635,636.910393635,881.089606365,788.910393635,804.089606365,652.089606365,632,653,0.438454778298,-0.0055433593644,0.069973778446,0.999999994772,-8.13057496654e-05,1.98366829784e-06,-6.19733381096e-05,1793237973147423232
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,681.484209845,664,636.515790155,881,788.515790155,804.484209845,652,632,653,0.439057543389,-0.00554099839781,0.0699482061595,0.999999994052,-7.85335236539e-05,-4.21067679464e-05,-6.28917264872e-05,1793237973164089856
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,682,664,636.057140633,881.057140633,788,805,652.057140633,632,653,0.439649409399,-0.00553777975897,0.0699237176367,0.999999991428,-7.44709155111e-05,-8.67567350539e-05,-6.3813565e-05,1793237973180756480
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,682,664,636.635789543,881.635789543,788,805,652.635789543,632,653,0.440257535317,-0.00553473440097,0.0699193872578,0.999999991346,-7.05362456568e-05,-9.00246596712e-05,-6.50232558552e-05,1793237973197423104
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,682,664,636.78177507,882,788,805,652.78177507,632,653,0.440872516539,-0.00553467295972,0.0699320228957,0.999999993115,-7.00654087914e-05,-6.79281808314e-05,-6.51627009872e-05,1793237973214089984
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,682,664,636.192908645,882,788,805,652.192908645,632,653,0.441499141006,-0.0055396795161,0.0699734742601,0.999999995133,-7.54776773994e-05,-2.75183695081e-06,-6.34843998941e-05,1793237973230756608
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716,682,664,636.389444251,881.610555749,788.389444251,805,652,632,653,0.442112379297,-0.00554521913072,0.070013212058,0.999999993203,-8.12683375053e-05,5.68514031422e-05,-6.12951812462e-05,1793237973247422976
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716,682,664,636.968623838,881.031376162,788.968623838,805,652,632,653,0.442719095964,-0.00555101844915,0.0700521150185,0.999999987994,-8.72433484695e-05,0.000113739459985,-5.88570458295e-05,1793237973264089344
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716,682.543745056,663.456254944,636.456254944,881.543745056,788.456254944,805,652.543745056,632,653,0.443199850999,-0.00555347062639,0.0700291211813,0.999999992361,-8.3691299117e-05,6.99971048751e-05,-5.80858756123e-05,1793237973280756480
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+260,4.333333333,POSE1_TO_POSE2_PRESS,767,746.219674718,716,682.780325282,661,634,882,786.219674718,805,653,632,654,0.450357790496,-0.00556244546042,0.0696393519692,0.999999829624,-0.000108328061342,-0.000570144115913,-6.28660731863e-05,1793237974264090112
+261,4.350000000,POSE1_TO_POSE2_PRESS,767,746.363571449,716,683,661,633.636428551,882.363571449,786,804.636428551,653,632,653.636428551,0.450357864395,-0.00556079663172,0.06963903208,0.99999982936,-0.000107525567544,-0.000570741470491,-6.30329785476e-05,1793237974280756992
+262,4.366666667,POSE1_TO_POSE2_PRESS,767,746.942473262,716,683,661,633.057526738,882.942473262,786,804.057526738,653,632,653.057526738,0.450357297178,-0.00555965861645,0.0696379537172,0.999999828452,-0.0001083863348,-0.000572124510418,-6.34147988907e-05,1793237974297423872
+263,4.383333333,POSE1_TO_POSE2_PRESS,766.486369767,747,716,683,661,633,882.486369767,786,805.027260467,652.486369767,632,653,0.450358517303,-0.00556028584334,0.069638749224,0.999999829204,-0.000108356203129,-0.000570849985807,-6.30937713373e-05,1793237974314090496
+264,4.400000000,HOLD_POSE2,766,747,716,683,660,633,882,786,805,652,632,653,0.450359580185,-0.00556085890301,0.069638894094,0.999999829599,-0.000108577107068,-0.000570158356563,-6.27033840748e-05,1793237974356375296
+265,4.416666667,HOLD_POSE2,766.579605767,747,716,683,660,633,882,786,805,652.579605767,632,653,0.450359281693,-0.00556004886733,0.0696388581609,0.999999829349,-0.000106751501462,-0.000570934032636,-6.27688668356e-05,1793237974373041920
+266,4.433333333,HOLD_POSE2,767,747,716,683,660.158870418,633.158870418,881.841129582,786,805,653,632,653,0.450358846111,-0.00555980792604,0.0696386801376,0.999999829044,-0.000106058429651,-0.00057159984825,-6.27475672239e-05,1793237974389708800
+267,4.450000000,HOLD_POSE2,767,747,716,683,660.737234484,633.737234484,881.262765516,786,805,653,632,653,0.450358048546,-0.00556106966509,0.0696381269281,0.999999828599,-0.000108355786634,-0.000571975580047,-6.24971207868e-05,1793237974406375936
+268,4.466666667,HOLD_POSE2,767,747,716,683,660.688135265,634,881.311864735,786.311864735,804.688135265,653,632,653,0.450358504109,-0.00556192674932,0.0696384951504,0.999999828639,-0.000110230702134,-0.000571565786666,-6.23200221207e-05,1793237974423042816
+269,4.483333333,HOLD_POSE2,767,747,716,683,660.116613804,634,881.883386196,786.883386196,804.116613804,653,632,653,0.45036000302,-0.00556244692029,0.0696396305514,0.999999829085,-0.000111753895223,-0.000570501969664,-6.22039923887e-05,1793237974439708928
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+271,4.516666667,HOLD_POSE2,767,746.063587264,716,683,660.063587264,633.936412736,882,786,805,653,632,653,0.450355999971,-0.00555897370867,0.0696364237513,0.999999826815,-0.000105401197644,-0.000575602517858,-6.27951412628e-05,1793237974473041920
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+274,4.566666667,HOLD_POSE2,767,747,716,683,660.204756016,633,882,786,804.204756016,653,631.204756016,653,0.450357583669,-0.00556060712198,0.0696363737112,0.999999826998,-0.000108158809524,-0.000574787931062,-6.26429313221e-05,1793237974523041536
+275,4.583333333,HOLD_POSE2,767,747,716,683,660.368331175,633,882,786,804.368331175,652.631668825,631.368331175,653,0.450358364735,-0.00556023824099,0.0696372189927,0.999999827718,-0.000107109992357,-0.000573724364446,-6.26982912523e-05,1793237974539708160
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+277,4.616666667,HOLD_POSE2,767,747,716,683,660.466586566,633.533413434,882,786,804.466586566,652,631.466586566,653,0.450358681959,-0.00556035719815,0.0696372582088,0.999999827877,-0.000107432461011,-0.000573411087331,-6.24769824581e-05,1793237974573041664
+278,4.633333333,HOLD_POSE2,767,747,716,683,660,633.875103303,882,786,804.124896697,652.124896697,631,653,0.450357837149,-0.00556139317761,0.0696360880455,0.999999826951,-0.000109249148824,-0.000574710112202,-6.22129992248e-05,1793237974589708544
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+281,4.683333333,HOLD_POSE2,767,746.147015186,716,683,660,633.852984814,882,786,805,653,631,653,0.450358703802,-0.00556295123154,0.0696363659832,0.999999826959,-0.000112868161449,-0.000573998854449,-6.21928952377e-05,1793237974639708160
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746.418968669,715.581031331,683,660,633.418968669,882,786,805,653,631.418968669,653,0.450359695215,-0.00556011994982,0.0696372162602,0.999999827855,-0.000108751618813,-0.00057320323049,-6.24567900635e-05,1793237974688989184
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,747,716,682,660,634,882,786,805,652.881823259,631.881823259,653,0.450358388455,-0.00556304113052,0.0696362847478,0.999999826665,-0.000110859107164,-0.000574958566285,-6.16655745835e-05,1793237974755655680
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,747,716,683,660,633.215256758,881.215256758,786,805,652.784743242,631.215256758,653,0.45035654043,-0.00556088207661,0.0696359660771,0.999999827257,-0.000107249558406,-0.000574593111663,-6.18567775307e-05,1793237974822321152
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,747,716,683,660,633.787089839,881.787089839,786,805,652.212910161,631.787089839,653,0.450348055735,-0.00556110655037,0.0696312404551,0.999999823237,-0.000107314028416,-0.000581551042752,-6.17172294924e-05,1793237974838988032
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,747,716,683,660,633.627532918,882.372467082,786,805,652,632,653,0.450328303242,-0.00555945071534,0.0696211125912,0.99999981415,-0.000106450952335,-0.000597076968079,-6.21925769735e-05,1793237974855654912
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,747,716,683,660,633.034121332,882.965878668,786,805,652,632,653,0.450301866781,-0.00555667949615,0.06960778016,0.999999801729,-0.000105037663274,-0.000617685359766,-6.30326755419e-05,1793237974872321792
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,747,716,683,660,633,882.454494895,785.454494895,804.454494895,652.545505105,632,653,0.450253486784,-0.0055561504578,0.0695868414649,0.999999779925,-0.00010599933174,-0.000651806996313,-6.3728056367e-05,1793237974888988416
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,747,715.876042915,683,660,633.123957085,882,785.123957085,804,653,632,653,0.450202082019,-0.00555559177481,0.069566772142,0.999999758798,-0.000106408052581,-0.000683335414161,-6.42917000136e-05,1793237974905655040
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,747,715.298810102,683,660,633.701189898,882,785.701189898,804,653,632,653,0.450144511909,-0.00555442448192,0.0695515787394,0.999999745831,-0.000104264973309,-0.000702366514516,-6.44059038265e-05,1793237974922321408
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,747,715.276685586,683,660,633.723314414,882,786,804,653,632,653,0.45008255661,-0.00555283884651,0.0695409273358,0.999999736097,-0.000103186686714,-0.000716262726406,-6.42357362359e-05,1793237974938987776
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,747,715.850316911,683,660,633.149683089,882,786,804,653,632,653,0.450015895025,-0.00555080423575,0.0695351505174,0.999999730079,-0.000103251161827,-0.000724648049395,-6.37603743065e-05,1793237974955654400
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766.975026074,746.975026074,715.975026074,683,660.024973926,633.024973926,881.024973926,786,805,652.975026074,631.975026074,654,0.449859039304,-0.00554695782145,0.0695292796868,0.999999724983,-9.71164093074e-05,-0.000732701390828,-6.12411784894e-05,1793237974988988160
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,683,661.877169897,635,881.122830103,787,804.877169897,652.877169897,632,654,0.44621948976,-0.00546654879156,0.0696015415268,0.999999800262,5.45100908833e-05,-0.000629684077404,1.85586360222e-06,1793237975272321024
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,683,662,635,881.464908265,787,804.535091735,652.535091735,632,653.535091735,0.445869548447,-0.00546048531231,0.0696282869635,0.999999825592,7.92397120757e-05,-0.000585233495624,6.25093692916e-06,1793237975288987904
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746.054740082,716,683,662,635.054740082,881.945259918,787.054740082,804,652,632,653.054740082,0.445509832007,-0.00545454599515,0.0696559305556,0.99999984881,0.000102580550532,-0.000540141861463,1.02120712437e-05,1793237975305654528
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746.791680098,715.791680098,683,662,636,881.208319902,788,804,652,632,653.791680098,0.44469793188,-0.00544543594025,0.06969837498,0.999999882746,9.66178615234e-05,-0.00047443152732,9.35170538906e-06,1793237975338987776
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746.215962553,715.215962553,683,662,636,881.784037447,788,804,652,632,653.215962553,0.444253794357,-0.00544160892286,0.069712891714,0.999999895667,7.07926995047e-05,-0.000451258838541,4.52757470707e-06,1793237975355654400
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,715,683,662.932829952,636,882,788,804,652.932829952,632.932829952,653,0.443315086779,-0.00543805387097,0.0697496591863,0.99999992057,6.81259339224e-05,-0.000392532091593,1.17094451672e-05,1793237975388988160
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746.523098159,715.523098159,682.476901841,663,636,882,788,804,653,632.476901841,653.523098159,0.442826491346,-0.00544390741965,0.069783706243,0.999999938648,8.59379290443e-05,-0.000339190257113,1.64188417114e-05,1793237975405655040
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,747,716,682,663,636,882,788.690448438,804,652.309551562,632,653.309551562,0.441792467116,-0.00546646459586,0.0698329132895,0.99999996351,7.02951070421e-05,-0.000259896051174,2.21969953481e-05,1793237975438988288
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,747,716,682,663,636,882,788.733923139,804,652.266076861,632.266076861,653,0.441242140563,-0.00547166265955,0.069844072736,0.999999970355,5.54161255141e-05,-0.000235993022135,2.29460816009e-05,1793237975455655168
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,747,716,682,663,636,882,788.160788639,804,652.839211361,632.839211361,653,0.440674077716,-0.00546636350456,0.0698485806398,0.999999974696,5.37103053249e-05,-0.000217289493095,2.25558282599e-05,1793237975472321792
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.574479411,747,716,682,663,636,881.574479411,788.425520589,804,652.574479411,632.574479411,653,0.440041526794,-0.00545822426158,0.0698386567299,0.999999968585,7.33529887333e-05,-0.000238467465245,2.41494413585e-05,1793237975488988416
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.016616104,746.983383896,716,682,663,636,881.016616104,788.983383896,804,652.016616104,632.016616104,653,0.43938268875,-0.00544905266382,0.069822189939,0.999999956463,0.000100490464476,-0.000276186717594,2.64112303439e-05,1793237975505655296
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,636,881.827696807,788,804,652.827696807,633,653,0.438001647995,-0.00543772578039,0.0697404766276,0.999999916091,9.7850347096e-05,-0.000397107811439,2.34291823046e-05,1793237975538988544
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,636,881.257540424,788,804,652.257540424,633,653,0.437350158323,-0.00543748627535,0.0697367213025,0.99999991651,9.44908040189e-05,-0.000397006818131,2.09047573204e-05,1793237975555656192
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,636,881.317530315,788,804.317530315,652.317530315,633,653,0.436697640279,-0.00544181507909,0.0697570277085,0.999999929924,8.76142773941e-05,-0.00036333053148,2.16014347838e-05,1793237975572322816
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,636,881.896649589,788,804.896649589,652.896649589,633,653,0.43604427507,-0.0054499073633,0.0697971567359,0.999999951059,7.78403767241e-05,-0.000301994125665,2.49517324302e-05,1793237975588988416
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,636,881.514425805,788,805,653,633,653,0.435350389226,-0.00545577522284,0.0698244943501,0.999999961272,7.18922793377e-05,-0.000267417038336,2.78349264699e-05,1793237975605654784
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,716.031415918,680,663,636.031415918,880.031415918,788,804,653,632.968584082,654,0.408782713019,-0.00533824333968,0.0697897002956,0.999999910808,0.000236489880054,-0.000349153858198,2.33993380869e-05,1793237976222322176
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.548706987,880,788,803.451293013,653,632.451293013,653.451293013,0.408288632579,-0.0053363185074,0.0697954966923,0.999999916647,0.000236863936199,-0.000331800072019,2.26056491395e-05,1793237976238988544
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880,788,803.127485842,653,632.127485842,653.127485842,0.40780431221,-0.00533720459216,0.0698054764445,0.999999924075,0.000235071807575,-0.000309998073069,2.22089540488e-05,1793237976255654912
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880,788,803.703276138,653,632.703276138,653.703276138,0.407342873776,-0.00534772650437,0.0698244357253,0.999999933634,0.000227060191683,-0.00028397547943,2.307868102e-05,1793237976272321536
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.715892039,636.715892039,880.284107961,788,804,653,633,653.715892039,0.406884172861,-0.00536276199614,0.0698324457628,0.999999939562,0.00020935235109,-0.000276536066004,2.3993267319e-05,1793237976288988160
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.129699731,636.129699731,880.870300269,788,804,653,633,653.129699731,0.406428382706,-0.00538259665489,0.0698288137636,0.999999941529,0.000181334776284,-0.000288855649326,2.49555512787e-05,1793237976305655040
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.451590536,636.451590536,880.548409464,788,804,653.451590536,632.548409464,653,0.40599586829,-0.00538251853453,0.0698185049464,0.999999936445,0.000178957895868,-0.000307425503724,2.39628269333e-05,1793237976322322432
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.968549906,636.968549906,880.031450094,788,804,653.968549906,632,653,0.405573892246,-0.00537682456278,0.0698075744371,0.999999929802,0.000184137683332,-0.000325549668663,2.25319456077e-05,1793237976338989824
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.389350829,636.389350829,880.610649171,788,804,653.389350829,632,653,0.405220279377,-0.0053718588352,0.0698188558365,0.999999934398,0.000194047331709,-0.000304982656681,2.31440922703e-05,1793237976355656192
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.188084643,636.188084643,881,788,803.811915357,653,632,653.188084643,0.404881390803,-0.0053686344861,0.0698333929885,0.999999940964,0.000199607451265,-0.000278697054705,2.36129636858e-05,1793237976372322816
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.76190315,636.76190315,881,788,803.23809685,653,632,653.76190315,0.404572699633,-0.00536898144811,0.0698546072073,0.999999951496,0.000196247327413,-0.000240683470516,2.37879986216e-05,1793237976388989952
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.664435442,880.664435442,788,803.335564558,653,632.335564558,653.664435442,0.404255814281,-0.00536667865872,0.0698623907267,0.999999954452,0.000196364177375,-0.00022795503395,2.39519889188e-05,1793237976405656576
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.498749971,636,880,788,804,653,632.498749971,653,0.403639243785,-0.00536121112691,0.0698493274354,0.999999947708,0.000201561266114,-0.000251858075222,2.29113915062e-05,1793237976438988800
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662,636.093468897,880,788,804,653,632,653,0.403357422551,-0.00536024855928,0.0698379057459,0.999999942253,0.000204805308064,-0.000270349088281,2.1469273434e-05,1793237976455654912
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662,636.668102054,880,788,804,653,632,653,0.403109706426,-0.00535814078523,0.0698352552255,0.999999939756,0.000211260364222,-0.000274688112044,2.00754883648e-05,1793237976472321792
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.757680876,716,680,662,637,880.242319124,788,803.757680876,653,632,653.242319124,0.402873611284,-0.00535592707892,0.0698330150311,0.999999938006,0.000213934818844,-0.000279013049834,1.92542359017e-05,1793237976488988672
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.184032768,716,680,662,637,880.815967232,788,803.184032768,653,632,653.815967232,0.402653405815,-0.00535356852892,0.069831335886,0.999999937327,0.000211439962284,-0.000283318727276,1.92158216395e-05,1793237976505655552
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745.40171583,716,680,662.40171583,636.59828417,880.59828417,788,803.40171583,653,632,653.59828417,0.402448117902,-0.00535114318635,0.0698263821651,0.999999934739,0.000210829713689,-0.000292755847388,1.91636560078e-05,1793237976522321920
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745.993180016,716,680,662.993180016,636.006819984,880.006819984,788,803.993180016,653,632,653.006819984,0.402249876224,-0.00534868629473,0.0698198817156,0.999999931138,0.000211109649781,-0.000304616777242,1.91049949882e-05,1793237976538988032
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716.569398551,679.430601449,662.430601449,636.569398551,880,788,803.430601449,653,632,653,0.402088769813,-0.0053474647252,0.0698188945557,0.999999930631,0.000213053084165,-0.000304841073379,2.04738625063e-05,1793237976555654912
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.854127847,746,716.854127847,679,662,637,880,788,803.145872153,653,632,653,0.401935533117,-0.00534667438653,0.0698186407864,0.999999930482,0.000214442503748,-0.000304260993201,2.17986073801e-05,1793237976572321280
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.276372633,746,716.276372633,679,662,637,880,788,803.723627367,653,632,653,0.401804313741,-0.00534711812699,0.0698203679506,0.999999931298,0.00021413420137,-0.000301701294734,2.29434156272e-05,1793237976588987904
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.306506047,746,716,679.306506047,662.306506047,637,880,788,803.693493953,653,632,653,0.401680635561,-0.00534685459326,0.0698200654665,0.999999930233,0.000218224772522,-0.000302334610543,2.25072355125e-05,1793237976605654528
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.524540959,637,880,788,803,653,632.475459041,653,0.401468360108,-0.00534729076066,0.0698169207636,0.999999928245,0.000223673069895,-0.00030540555051,1.4400841901e-05,1793237976638988032
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.792648209,788,803.207351791,653,632,653.792648209,0.401245742477,-0.00534748690436,0.0698152854992,0.999999930404,0.00021778035245,-0.000302777008775,9.45050952822e-06,1793237976688988160
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.219042035,788,803.780957965,653,632,653.219042035,0.401191308649,-0.00534287939042,0.0698150090483,0.999999928954,0.000223994110818,-0.000303010630281,1.01230481913e-05,1793237976705654784
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746.366112231,716,679.366112231,662.633887769,637,880.366112231,788,804,653,632,653,0.401145115678,-0.00534315285009,0.069816719515,0.999999929962,0.00022219073902,-0.000300977047756,1.09177154375e-05,1793237976722321408
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746.958400637,716,679.958400637,662.041599363,637,880.958400637,788,804,653,632,653,0.40110401373,-0.00534644166926,0.0698196574562,0.999999932459,0.000215434558342,-0.000297542835875,1.17878310409e-05,1793237976738988032
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746.462664633,716.537335367,680,662.537335367,637,880.462664633,788,804,653,632,653.537335367,0.401077906329,-0.00534710130428,0.0698230004577,0.999999934124,0.000215475119388,-0.000291835528091,1.24269277308e-05,1793237976755655424
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,716.885161694,680,663,637,880.114838306,788,804,653.114838306,632,653.885161694,0.40105417107,-0.00534732572078,0.069825746646,0.999999935538,0.000215760750615,-0.000286713453112,1.29445211557e-05,1793237976772323072
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716.309357035,680,663,637,880.690642965,788,804,653.690642965,632,653.309357035,0.401035411009,-0.00534660037975,0.0698259743733,0.999999936302,0.000214969173871,-0.000284629787503,1.30444449486e-05,1793237976788989952
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788.264638693,803.735361307,653.735361307,632.264638693,653.264638693,0.401021224463,-0.00534675271788,0.0698275891558,0.999999937296,0.000214926100631,-0.000281142891901,1.31493015761e-05,1793237976805656832
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,788.83653425,803.16346575,653.16346575,632.83653425,653.83653425,0.401012347961,-0.00534792407902,0.0698308143686,0.999999938542,0.000215752071932,-0.000276026785868,1.32598854486e-05,1793237976822323200
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716.425624889,680,663,637,881,788.574375111,803.425624889,653,632.574375111,654,0.401004421672,-0.0053482109342,0.0698329095913,0.999999939116,0.000215785511697,-0.000273897405826,1.36138601786e-05,1793237976838989312
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,716.401156927,680,662.401156927,637,880.401156927,788,803.401156927,653,632,653.401156927,0.400994027399,-0.0053485411696,0.0698338972273,0.999999939559,0.00021589403395,-0.000272179048675,1.38320206152e-05,1793237976872321792
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,767.749435649,746,716,680,662.749435649,637,880,788.749435649,803,653,632,653.749435649,0.400990961722,-0.00534903134149,0.0698356772624,0.999999940584,0.000214906631308,-0.000269193830874,1.34825625566e-05,1793237976905654528
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+418,6.966666667,POSE2_TO_POSE3_RETREAT,767.0811663,746,716,680,663,637,880,788.0811663,803,653,632,653.0811663,0.400988768564,-0.00534597492247,0.0698372398857,0.999999939926,0.000219873302485,-0.000267590879224,1.41040411954e-05,1793237976938988288
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.498373956,880,788,803,653,632,653,0.400988086396,-0.00534672065322,0.0698377758591,0.999999940382,0.000218546825294,-0.00026697963452,1.39423355045e-05,1793237976955654912
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.340972369,636.659027631,880,788,803,653,632,653.659027631,0.400988856832,-0.00534784019385,0.0698389415218,0.999999941616,0.000216527268404,-0.000264011041625,1.34594688227e-05,1793237976988987904
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.234494396,637,880,788,803,653,632,653.765505604,0.400989180493,-0.00534768894302,0.069839340413,0.999999941731,0.000217034652648,-0.00026317053735,1.32614783176e-05,1793237977005654784
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+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,745.118379133,716.881620867,679,662.118379133,637,880,788,804,653,632,654,0.400987516065,-0.0053489998353,0.0698399615328,0.999999941621,0.000218452210529,-0.000262394461736,1.36097780162e-05,1793237977138989824
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8ca342fcca1a3a69366a10f6691d7ddfda7c4566
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,442 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42a2bc818694db16722584abcba78dff0e3f2415
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cc4cd8abc6481912f3f06517b16124dee2af3cf073acd72a9d83eb51a849cbd
+size 28111292
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a58611bb3709d0f712e608ca41803a7e459f992f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_04/franka_data.csv
@@ -0,0 +1,444 @@
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+59,0.983333333,BASELINE,767,746,716,679.749356314,663,636.749356314,880,788,803,653,632,653.250643686,0.400988467961,-0.00535067697411,0.0698450127919,0.999999944317,0.000214556847188,-0.000255277903469,1.2857231539e-05,1793237978413326336
+60,1.000000000,BASELINE,767,746,716,679.171621809,663,636.171621809,880,788,803,653,632,653.828378191,0.400988980914,-0.00535112457092,0.0698448871107,0.999999944658,0.000213439309683,-0.000254884706982,1.26719351113e-05,1793237978429993216
+61,1.016666667,BASELINE,767,746,716,679,663,636.404853214,880,788,803,653,632,653.595146786,0.400989281595,-0.00535201406546,0.0698447888688,0.999999944732,0.000213028243759,-0.000254929279696,1.28750448825e-05,1793237978446659584
+62,1.033333333,BASELINE,767,746,716,679,663,636.980795949,880,788,803,653,632,653.019204051,0.400989492572,-0.00535309030436,0.0698447022228,0.999999944693,0.000212915730265,-0.000255158852134,1.32422937362e-05,1793237978463325952
+63,1.050000000,BASELINE,767,746,716,679.56847237,662.43152763,637,880,788,803.56847237,652.43152763,632,653,0.400990352938,-0.0053516145285,0.0698450859104,0.999999944689,0.000214290662888,-0.000254024987497,1.31150350703e-05,1793237978479993600
+64,1.066666667,BASELINE,767,746,716,679.85082088,662.14917912,637,880.14917912,788,803.85082088,652.14917912,632,653,0.400990755116,-0.00535060959864,0.0698454086243,0.9999999446,0.000215495214846,-0.000253359341487,1.30354309634e-05,1793237978496660992
+65,1.083333333,BASELINE,767,746,716,679.29044115,662.70955885,637,880.70955885,788,803.29044115,652.70955885,632,653,0.400989832592,-0.00535114516359,0.0698455185499,0.99999994428,0.000216088699989,-0.000254113938671,1.31342004974e-05,1793237978513327872
+66,1.100000000,BASELINE,767,746,716,679,662.713660205,637,880.713660205,788,803.286339795,653,632,653,0.40098944116,-0.00535096734352,0.0698457741962,0.999999943975,0.000217255018273,-0.000254316783169,1.31850738865e-05,1793237978529994752
+67,1.116666667,BASELINE,767,746,716,679,662.119232366,637,880.119232366,788,803.880767634,653,632,653,0.400989621158,-0.00535002195493,0.0698461866311,0.999999943685,0.000219037677815,-0.000253925967892,1.31844132883e-05,1793237978546661376
+68,1.133333333,BASELINE,767,746,716,679,662.459350257,637,880.459350257,788.459350257,804,653.459350257,632,653.459350257,0.400991152805,-0.00534953196401,0.0698469651646,0.999999944201,0.000219173320928,-0.000251788444626,1.27982709196e-05,1793237978563327744
+69,1.150000000,BASELINE,767,746,716,679,662.964928073,637,880.964928073,788.964928073,804,653.964928073,632,653.964928073,0.400992825476,-0.00534923834564,0.0698476718047,0.999999944853,0.000218798760956,-0.000249538012498,1.23542109056e-05,1793237978579994368
+70,1.166666667,BASELINE,767,746,716,679,662.371457681,637,880.371457681,788.371457681,804,653.371457681,632,653.371457681,0.400991343767,-0.00535025200733,0.0698457712622,0.999999944533,0.000216880665746,-0.000252467834928,1.25279774405e-05,1793237978596660992
+71,1.183333333,BASELINE,767,746,716,679.21633374,662.21633374,637,880,788,804,653,632,653,0.400990084978,-0.0053508579472,0.0698446468026,0.999999944146,0.00021617243824,-0.000254589531685,1.26982992109e-05,1793237978613327360
+72,1.200000000,BASELINE,767,746,716,679.794623556,662.794623556,637,880,788,804,653,632,653,0.400989199163,-0.00535078171262,0.069844820836,0.999999943663,0.00021748848536,-0.000255359123609,1.28628574454e-05,1793237978629993216
+73,1.216666667,BASELINE,767,746,716.370535874,680,663,637,880.370535874,788,804,653,632,653,0.400989712691,-0.00535094936077,0.0698452583095,0.999999943886,0.000217647085042,-0.00025434432599,1.29463231044e-05,1793237978646659840
+74,1.233333333,BASELINE,767,746,716.945138785,680,663,637,880.945138785,788,804,653,632,653,0.400990996887,-0.00535125132367,0.0698458408685,0.999999944495,0.000217168237946,-0.000252346802728,1.29851282422e-05,1793237978663326208
+75,1.250000000,BASELINE,767,746,717,679.466814806,662.466814806,637,881,788,803.466814806,653,632,653.533185194,0.400991043276,-0.00535090520647,0.0698462441805,0.999999944976,0.000216012143363,-0.000251439181417,1.28383070028e-05,1793237978679992832
+76,1.266666667,BASELINE,767,746,717,679.120466972,662,637,880.879533028,788,803.120466972,653,632,653.879533028,0.400991223141,-0.00535052241843,0.0698466374329,0.999999945278,0.000215389244924,-0.00025077847505,1.26856804613e-05,1793237978696659456
+77,1.283333333,BASELINE,767,746,717,679.699437623,662,637,880.300562377,788,803.699437623,653,632,653.300562377,0.400992408306,-0.00535026042349,0.0698470644103,0.999999944956,0.000217067801476,-0.000250619675188,1.25855334863e-05,1793237978713326336
+78,1.300000000,BASELINE,767,746,716.722863786,680,662.277136214,637,880.277136214,788,804,653,632,653.277136214,0.400992733329,-0.00535018688599,0.0698470086934,0.999999944865,0.000217414722854,-0.000250684639769,1.25490723149e-05,1793237978729992960
+79,1.316666667,BASELINE,767,746,716.146538513,680,662.853461487,637,880.853461487,788,804,653,632,653.853461487,0.400992129765,-0.00535031680228,0.0698464318723,0.999999945025,0.000216324045379,-0.00025099117464,1.25813646896e-05,1793237978746659584
+80,1.333333333,BASELINE,767,746,716,680,663,637,880.571264001,788,804,653,632,654,0.400991990992,-0.00535105941598,0.0698466010177,0.999999945073,0.000215939051631,-0.000251116527171,1.28177571331e-05,1793237978763326208
+81,1.350000000,BASELINE,767,746,716,679.996243909,662.996243909,637,880.003756091,788.003756091,803.996243909,653,632,653.996243909,0.400992009853,-0.00535199954496,0.0698470216084,0.999999945085,0.000215798005251,-0.000251176348996,1.31205378681e-05,1793237978779992832
+82,1.366666667,BASELINE,767,746,716,679.404988687,662.404988687,637,880.595011313,788.595011313,803.404988687,653,632,653.404988687,0.400991897551,-0.0053511584722,0.0698469890881,0.999999945137,0.000216179384474,-0.000250648772201,1.29226516361e-05,1793237978796659456
+83,1.383333333,BASELINE,767,746,716,679.182468381,662.182468381,637,880.817531619,788.817531619,803.182468381,653.182468381,632,653.182468381,0.400991404562,-0.00535070275786,0.0698466589116,0.99999994505,0.000216240766526,-0.000250950419042,1.27708847626e-05,1793237978813326080
+84,1.400000000,BASELINE,767,746,716,679.761667452,662.761667452,637,880.238332548,788.238332548,803.761667452,653.761667452,632,653.761667452,0.400990083871,-0.0053510849064,0.0698456815579,0.999999944658,0.000215606396888,-0.000253054999871,1.27193925664e-05,1793237978829992960
+85,1.416666667,BASELINE,767,746,716,680,663,637,880,788,803.661468496,653.661468496,632,653.661468496,0.400989552371,-0.00535158141094,0.0698456989783,0.999999944642,0.000214884205942,-0.000253726768266,1.27985855311e-05,1793237978846659584
+86,1.433333333,BASELINE,767,746,716,680,663,637,880,788,803.086237116,653.086237116,632,653.086237116,0.400989572669,-0.00535215787271,0.069846411941,0.999999944891,0.000214100610728,-0.000253396719797,1.29691530416e-05,1793237978863326208
+87,1.450000000,BASELINE,767,746,716,680,663,637,880,788,803,653,632,653.486823944,0.400990442326,-0.00535194750732,0.0698468117405,0.999999944995,0.000214719490571,-0.000252455606617,1.31037607495e-05,1793237978879993088
+88,1.466666667,BASELINE,767,746,716,679.938420635,663,637,880.061579365,788,803,653,632,653.938420635,0.400991342563,-0.00535157110913,0.069847122606,0.999999945032,0.000215617504566,-0.000251538006885,1.3206125759e-05,1793237978896659712
+89,1.483333333,BASELINE,767,746,716,679.345751193,663,637,880.654248807,788,803,653,632,653.345751193,0.400991214683,-0.00535095951239,0.0698471427762,0.999999944726,0.000216789769641,-0.000251752615492,1.30851083585e-05,1793237978913326336
+90,1.500000000,BASELINE,767,746,716,679.24002704,663,637,880.75997296,788,803,653,632,653.24002704,0.400991032569,-0.00535054831804,0.0698468707041,0.999999944445,0.000217698889272,-0.000252088593533,1.29808906239e-05,1793237978929992704
+91,1.516666667,BASELINE,767,746,716,679.8161557,663,637,880.1838443,788,803,653,632,653.8161557,0.400990774513,-0.00535041774032,0.0698461894149,0.999999944201,0.000218239535277,-0.000252594521008,1.29001968949e-05,1793237978946659584
+92,1.533333333,BASELINE,767,746,716.391858072,680,663,637,880,788,803.391858072,653,632,653.608141928,0.400990573589,-0.00534985529647,0.0698452425978,0.999999944021,0.000218220107809,-0.000253334433609,1.26146529723e-05,1793237978963326208
+93,1.550000000,BASELINE,767,746,716.967360714,680,663,637,880,788,803.967360714,653,632,653.032639286,0.40099039944,-0.00534909045823,0.0698441713408,0.999999943872,0.000217938201549,-0.000254184003555,1.22331058508e-05,1793237978979992832
+94,1.566666667,BASELINE,767,746,716.444370764,680,662.444370764,637,880,788,804,653,632.555629236,653,0.400990584021,-0.00535001171552,0.0698454297444,0.999999944112,0.000218200919103,-0.000252992656625,1.26402302435e-05,1793237978996659456
+95,1.583333333,BASELINE,767,746,716.142897803,680,662.142897803,637,880,788,804,653,632.857102197,653.142897803,0.400990712766,-0.00535070183323,0.0698464720362,0.999999944392,0.00021811475072,-0.000251942434423,1.29286652895e-05,1793237979013326080
+96,1.600000000,BASELINE,767,746,716.72473727,680,662.72473727,637,880,788,804,653,632.27526273,653.72473727,0.400990603747,-0.00535037055929,0.0698464202406,0.999999944729,0.000216856319627,-0.0002517026337,1.27068646042e-05,1793237979029992960
+97,1.616666667,BASELINE,767,746,717,680,663,637,880.302328287,788,804,653,632,654,0.400991369663,-0.00535027081394,0.0698468211944,0.999999945045,0.000216040813559,-0.000251156387925,1.25162124627e-05,1793237979046659584
+98,1.633333333,BASELINE,767,746,717,680,663,637,880.876104762,788,804,653,632,654,0.400992921148,-0.00535037894863,0.0698476286534,0.999999945343,0.000215622991806,-0.0002503349977,1.23535273361e-05,1793237979063326208
+99,1.650000000,BASELINE,767,746,716.551403563,680,663,637,880.551403563,788.448596437,804,653,632,654,0.400992249206,-0.0053501430607,0.0698469550827,0.999999944906,0.000216918047025,-0.000250952121818,1.25561383034e-05,1793237979079992576
+100,1.666666667,BASELINE,767,746,716,680,662.978486495,637,880.04302701,788.978486495,804,653.021513505,632,653.978486495,0.400991033906,-0.00534982591291,0.0698459513752,0.999999944295,0.000218588162059,-0.000251919350561,1.28426518028e-05,1793237979096659200
+101,1.683333333,BASELINE,767,746,716,680,662.384846756,637,881.230306488,788.384846756,804,653.615153244,632,653.384846756,0.400991652611,-0.00534986731368,0.0698470148571,0.999999944559,0.000217687754478,-0.000251661783996,1.26850927065e-05,1793237979113326080
+102,1.700000000,BASELINE,767,746,716.201991123,680,662.201991123,637,881.596017753,788,804,653.798008877,632,653.201991123,0.40099193545,-0.00535044917663,0.0698475445378,0.99999994494,0.000216355651804,-0.000251297066684,1.2627207866e-05,1793237979129992704
+103,1.716666667,BASELINE,767,746,716.776291767,680,662.776291767,637,880.447416466,788,804,653.223708233,632,653.776291767,0.400991599222,-0.00535202721809,0.0698470903173,0.999999945538,0.000214227849938,-0.000250734849418,1.2753042376e-05,1793237979146659328
+104,1.733333333,BASELINE,767,746,716.647432083,680,662.647432083,637,880.352567917,788.352567917,804,653,632,653.647432083,0.400990792026,-0.00535219967729,0.0698466137208,0.999999945101,0.000215017703128,-0.000251795992289,1.28198768809e-05,1793237979163325952
+105,1.750000000,BASELINE,767,746,716.069895333,680,662.069895333,637,880.930104667,788.930104667,804,653,632,653.069895333,0.400989684312,-0.00535147525355,0.0698461228465,0.999999943997,0.000217669272448,-0.000253892979314,1.28490642907e-05,1793237979179992576
+106,1.766666667,BASELINE,766.480701085,746,716,679.480701085,662.519298915,637,880.480701085,788.480701085,804.519298915,653,632,653.519298915,0.400989878521,-0.00534944807773,0.0698463450399,0.999999943976,0.000218684118639,-0.000253119631791,1.2495655912e-05,1793237979196659200
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,717,680,663,637,880,788,803,653,632,654,0.400990600587,-0.00535138629195,0.069846511175,0.999999944796,0.000216860524667,-0.000251394240146,1.34059404275e-05,1793237979239012608
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716.425648612,680,663,637,880,788,803,653,632,653.425648612,0.400991177292,-0.0053512282169,0.069846781017,0.999999944743,0.00021787061063,-0.000250744543079,1.31965776135e-05,1793237979255679232
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.149477683,637,880,788,803,653,632.149477683,653,0.400991562644,-0.00535135931189,0.0698468747108,0.999999944823,0.000217904403392,-0.00025040657141,1.29564356369e-05,1793237979272345856
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.726822213,637,880,788,803,653,632.726822213,653,0.400991400267,-0.00535231813088,0.0698464641961,0.999999945286,0.000215143642131,-0.000250960886382,1.26281909399e-05,1793237979289012992
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.688297328,637,880,788,803.311702672,653,632.688297328,653,0.400990363293,-0.00535245171997,0.0698458718247,0.999999945239,0.000214131188936,-0.000252016484232,1.25770998278e-05,1793237979305679872
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.096648746,637,880,788,803.903351254,653,632.096648746,653,0.400988540828,-0.00535184415484,0.0698451161245,0.999999944736,0.000214688923574,-0.000253522293429,1.27749254738e-05,1793237979322346240
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,653,632,653.482660732,0.400990086868,-0.0053492739491,0.0698461833677,0.999999944007,0.000219273038146,-0.000252472865047,1.2749171571e-05,1793237979339012608
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,653,632,653.940543483,0.400992108954,-0.00534682201534,0.0698474974058,0.999999943379,0.00022377848282,-0.000251008038583,1.26850199576e-05,1793237979355679232
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,653,632,653.364655196,0.400992553212,-0.00534872585292,0.0698478635127,0.999999944232,0.000220772203899,-0.000250268588499,1.26665231095e-05,1793237979372346368
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.210437115,746,716,680,663,637,880,788,804,653,632.210437115,653.210437115,0.40099323658,-0.00534995060395,0.069848111081,0.999999944907,0.000218074039813,-0.000249935945468,1.27125738799e-05,1793237979389013248
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.784155259,746,716,680,663,637,880,788,804,653,632.784155259,653.784155259,0.400994332727,-0.00535000303659,0.0698481540141,0.999999945283,0.000215907779714,-0.000250305580179,1.28700542607e-05,1793237979405679616
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.629674293,746,716,680,663,636.629674293,880,788,803.629674293,653,632.629674293,653.629674293,0.401004036952,-0.00535028073125,0.0698527666805,0.999999946953,0.000216306588796,-0.000243166184288,1.32386752709e-05,1793237979422346240
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.035993411,746,716,680,663,636.035993411,880,788,803.035993411,653,632.035993411,653.035993411,0.401018932983,-0.00535069428859,0.0698601354981,0.999999949293,0.000218252472193,-0.000231497853973,1.37346419024e-05,1793237979439013120
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745.459813091,716,680,662.459813091,636.540186909,880,788,803,653,632,653,0.401057828205,-0.00535140192524,0.0698774498136,0.999999955417,0.000218924670932,-0.000202572945702,1.41913893536e-05,1793237979455680000
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.115214006,716,680,662.115214006,637,880,788,803.115214006,653,632.115214006,653,0.401100989815,-0.00535240626668,0.0698951884924,0.999999960859,0.000219242476153,-0.000173202647725,1.46568773457e-05,1793237979472346368
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.690146603,716,680,662.690146603,637,880,788,803.690146603,653,632.690146603,653,0.401154994488,-0.00535451876557,0.0699120592292,0.999999965288,0.000218474212042,-0.000146499174716,1.51673412929e-05,1793237979489012992
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,679.735082215,662.735082215,637,880,788,804,653,632.735082215,653,0.401212743102,-0.00535613279722,0.06992585497,0.999999968198,0.000217692404841,-0.000126405293623,1.53610484977e-05,1793237979505679616
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,679.160499747,662.160499747,637,880,788,804,653,632.160499747,653,0.401274868039,-0.00535716416609,0.0699360563204,0.999999969861,0.000216894767166,-0.000114037423204,1.5184495992e-05,1793237979522346240
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679.430320793,662.430320793,637,880.430320793,788,804,653,632,653,0.401344822175,-0.00535819883494,0.0699391306294,0.999999970962,0.000214915453684,-0.000108154345675,1.3818303333e-05,1793237979539012864
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746.026397989,716,680,663,637,881,788,804,653,632,653.026397989,0.401418159553,-0.00535924962905,0.0699391787496,0.999999971777,0.000212551445252,-0.000105473336583,1.19709197193e-05,1793237979555679488
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746.600937,716,680,663,637,881,788,804,653,632,653.600937,0.40149873586,-0.00536060869694,0.0699337507441,0.999999970687,0.000211710018715,-0.000117089568175,9.70652729892e-06,1793237979572346368
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746.83060236,716,679.83060236,663,637,880.83060236,788,804,653,632,653.83060236,0.401588480717,-0.00536247796931,0.0699303740764,0.999999970114,0.00021027833657,-0.000124499511908,7.47145873858e-06,1793237979589012736
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746.27596507,716,679.27596507,663,637,880.27596507,788,804,653,632,653.27596507,0.401699076439,-0.00536550753508,0.0699316625078,0.999999970973,0.000207504310834,-0.000122343625009,5.30307804002e-06,1793237979605679360
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788,804,653,632,653.308919959,0.401823846865,-0.00536811956743,0.0699348368012,0.999999972392,0.000204435444994,-0.000115819908904,2.66969950915e-06,1793237979622345984
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788,804,653,632,653.923758957,0.401962654313,-0.00537031812274,0.0699398786371,0.999999974275,0.000201074602842,-0.000104970793407,-4.24160019026e-07,1793237979639012352
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,679.506934424,663,637,880,788,803.493065576,653,632,654,0.402125259418,-0.00537230996317,0.0699428641352,0.999999975425,0.000197919675414,-9.98186106376e-05,-3.8776950796e-06,1793237979655679232
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,679.914748948,663,637,880,788.085251052,803,653,632,653.914748948,0.402294649306,-0.00537471770428,0.0699456203496,0.999999976638,0.00019400631661,-9.50278295994e-05,-7.47705024916e-06,1793237979672345600
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679.338601327,663,637,880,788.661398673,803,653,632,653.338601327,0.402483710084,-0.00537968879944,0.0699487324272,0.999999978873,0.000185557879346,-8.76744799572e-05,-1.1622901088e-05,1793237979689012480
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.75778712,746,716.24221288,679.24221288,663,637,880.24221288,788.75778712,803.24221288,653,632,653,0.402681987866,-0.00538441356961,0.0699509086497,0.999999980714,0.000177859047469,-8.17846830639e-05,-1.58109998873e-05,1793237979705679104
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.17032114,746,716.82967886,679.82967886,663,637,880.82967886,788.17032114,803.82967886,653,632,653,0.402893403663,-0.00538878722494,0.0699517508931,0.999999982099,0.000171228712494,-7.7981052004e-05,-2.00593191811e-05,1793237979722345728
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.410448875,746,717,680,663,637,880.589551125,788.410448875,804,653,632,653.410448875,0.4031321013,-0.00539241188289,0.0699549915134,0.999999983698,0.000164231864396,-7.09262686236e-05,-2.45359687004e-05,1793237979739012608
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.988484898,746,717,680,663,637,880.011515102,788.988484898,804,653,632,653.988484898,0.403381938165,-0.00539573072352,0.069959211396,0.999999985283,0.000157085368354,-6.25440329222e-05,-2.91058458296e-05,1793237979755679232
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716.434892505,680,663,637,880,788.434892505,804,653,632,653.434892505,0.403683410345,-0.00540528934474,0.0699712775748,0.999999987965,0.000146051753076,-4.11551240468e-05,-3.23137593305e-05,1793237979772345856
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.282833054,788,804,653,632,653,0.403985631852,-0.00541947022963,0.0699800259223,0.999999992669,0.000112927139576,-2.65690224834e-05,-3.46979563936e-05,1793237979789012480
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881.433702547,788,804,653,632,653,0.404286931929,-0.0054474479458,0.0699781021195,0.999999998758,1.22460379913e-05,-3.36726476423e-05,-3.46390655479e-05,1793237979805679360
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881.402508578,788,803.701254289,653,632,653.298745711,0.404606709715,-0.00546335476447,0.0699781865977,0.99999999896,-8.09477128589e-06,-3.42798771959e-05,-2.89732877597e-05,1793237979822346240
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.22620406,788,803.11310203,653,632,653.88689797,0.40494438761,-0.00546756804027,0.0699802165755,0.999999998212,4.93931620352e-05,-2.85937975835e-05,-1.78759014773e-05,1793237979839012864
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,679.530808576,663,637,880.938382847,788,803,653,632.469191424,653.530808576,0.405318319096,-0.00546427583527,0.0699836827563,0.999999997425,6.55818277275e-05,-2.03405163498e-05,-2.08507353723e-05,1793237979855679488
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746.049461703,716,679.049461703,663,637,881.950538297,788,803.049461703,653,632.950538297,653.049461703,0.405703155253,-0.00546096159311,0.0699869082315,0.999999997236,6.82432341742e-05,-1.25347174523e-05,-2.67252697663e-05,1793237979872346624
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746.623074387,716,679.623074387,663,637,881.376925613,788,803.623074387,653,632.376925613,653.623074387,0.406112081637,-0.00547635018697,0.0699839593771,0.999999998982,3.17531064501e-05,-1.59479946166e-05,-2.78239566342e-05,1793237979889013248
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746.802267381,716,680,663,637,881,788,804.197732619,653,632,654,0.406524138143,-0.00548522966176,0.0699760925244,0.999999999091,1.2622086309e-05,-2.83405890282e-05,-2.92624495549e-05,1793237979905679616
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746.225605524,716,680,663,637,881,788,804.774394476,653,632,654,0.406942193102,-0.00548163524257,0.0699588009581,0.999999997472,2.67575748031e-05,-5.79408947227e-05,-3.13521372273e-05,1793237979922345984
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716.359926569,680,663,637,880.640073431,788,804.640073431,653,632.359926569,653.640073431,0.407397760364,-0.00548605897722,0.0699534537261,0.999999997232,2.54936840168e-05,-6.16560983769e-05,-3.29183899111e-05,1793237979939012608
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716.951159076,680,663,637,880.048840924,788,804.048840924,653,632.951159076,653.048840924,0.4078774348,-0.00549563555916,0.0699557824924,0.999999998127,1.43334188885e-05,-4.87363027602e-05,-3.4148258294e-05,1793237979955679232
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716.469611044,680,663,637,880,788,803.469611044,653,632.469611044,653,0.408403414879,-0.00550309875034,0.0699658161212,0.999999998879,-1.00341813395e-06,-3.14859259488e-05,-3.53627725924e-05,1793237979972345856
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716.108080566,680,663,637,880,788,803,653,632,653.108080566,0.408939167049,-0.00550976628293,0.0699750876368,0.999999999135,-1.34625546091e-05,-1.46835395355e-05,-3.65057103104e-05,1793237979989012480
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716.683792697,680,663,637,880,788,803,653,632,653.683792697,0.409499158907,-0.00551381463456,0.0699780598469,0.999999999231,-1.18435331373e-05,-1.50670190557e-06,-3.7344939838e-05,1793237980005679104
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716.734941098,680,663,637,880,788,803.265058902,653,632.265058902,653.734941098,0.410048555399,-0.0055196266342,0.0699754732376,0.999999999115,-1.68283713211e-05,-3.04963773594e-06,-3.84338411806e-05,1793237980022345728
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716.146907163,680,663,637,880,788,803.853092837,653,632.853092837,653.146907163,0.410585041483,-0.00552758764455,0.0699661131914,0.999999998507,-2.98600312472e-05,-2.2528658059e-05,-3.98269684497e-05,1793237980039012608
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.566413309,880.433586691,788,804,653,632.566413309,653.433586691,0.411169383602,-0.00553388799419,0.0699684109139,0.999999998229,-3.71431741486e-05,-2.31018979331e-05,-4.03683183743e-05,1793237980055679488
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716,679.988406777,663,636.011593223,880.988406777,788,803.988406777,653,631.988406777,653.988406777,0.411771037533,-0.00553966992873,0.0699749940516,0.999999998129,-4.26613187309e-05,-1.65147546336e-05,-4.06082853433e-05,1793237980072346112
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716,679.40923677,663,636.59076323,880.40923677,788,803.40923677,653,631.40923677,653.40923677,0.412439983359,-0.0055471472776,0.0700013102012,0.999999997137,-5.54944131748e-05,3.2383859895e-05,-3.99808200014e-05,1793237980089012480
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788,803.335917455,653,631.167958728,653,0.413112811603,-0.0055543264068,0.0700242814387,0.999999994363,-6.66088492762e-05,7.26016477075e-05,-3.95687877642e-05,1793237980105679104
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788,804.48079827,653,631.740399135,653,0.413794989527,-0.00556078735678,0.0700391973881,0.999999992281,-7.35843763384e-05,9.19140864183e-05,-3.96755662199e-05,1793237980122345728
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,679.323537889,663,637,880,788,804.676462111,653,632,653.323537889,0.41444314152,-0.00555053548376,0.0700308102548,0.999999994691,-6.20412513266e-05,7.15808969666e-05,-4.05648076479e-05,1793237980139012608
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,679.915554327,663,637,880,788,804.084445673,653,632,653.915554327,0.415063058045,-0.00552641495813,0.0700030857324,0.999999998328,-3.51309585561e-05,1.83489296977e-05,-4.21033532125e-05,1793237980155679488
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.495829129,788,804,653,632,653.504170871,0.415721775801,-0.00549791708554,0.0699653582139,0.999999998185,-1.97439732537e-06,-3.90661596069e-05,-4.58191485984e-05,1793237980172346112
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788.073812238,804,653,632,653,0.416398331457,-0.00547465337306,0.069933294046,0.999999994735,2.49355525436e-05,-8.64899242473e-05,-4.92665815272e-05,1793237980189012480
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788.649495475,804,653,632,653,0.417152279429,-0.00549192997369,0.0699510521981,0.999999996949,2.30708568752e-06,-6.12477193588e-05,-4.84264046588e-05,1793237980205679360
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788.770183841,804,653,632,653,0.417908390753,-0.00550493594248,0.0699722424186,0.999999998327,-1.53373613487e-05,-2.87084963285e-05,-4.78282210865e-05,1793237980222345984
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788.182644596,804,653,632,653,0.418667869585,-0.00551129441095,0.069998774869,0.999999998433,-2.52238762916e-05,1.51889912475e-05,-4.76067149408e-05,1793237980239012608
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881.384514173,788,804,652.615485827,632,653,0.41943223226,-0.00551763828186,0.0700124497115,0.999999997863,-3.23687329279e-05,3.18297002162e-05,-4.70483087311e-05,1793237980255679232
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881.942479447,788,804,652.057520553,632,653,0.42019879795,-0.00552397556757,0.070020324594,0.99999999754,-3.82768500475e-05,3.61751036157e-05,-4.63379297831e-05,1793237980272345856
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.463293845,746,716,680,663,637,881.463293845,788,804.536706155,652.536706155,632,653,0.420978288642,-0.00552575901816,0.0700326861356,0.999999996209,-4.51736701984e-05,5.72599662719e-05,-4.7576238588e-05,1793237980289012736
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.129599098,746,716,680,663,637,881,788,804.870400902,653,632,653,0.421751801623,-0.00552475649792,0.070037774636,0.999999995424,-4.8176186949e-05,6.65005215573e-05,-4.90837909973e-05,1793237980305679872
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.703625618,746,716,680,663,637,881,788,804.296374382,653,632,653,0.42249972108,-0.00551599510508,0.0700161536413,0.999999997605,-3.74344709096e-05,2.85260879753e-05,-5.07465635797e-05,1793237980322346496
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,804.286844033,653,632,653,0.423229342468,-0.0055094527161,0.0699735210055,0.999999997123,-3.24485630443e-05,-4.1959155076e-05,-5.42237154868e-05,1793237980339013120
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,804.87987412,653,632,653,0.423939431893,-0.00550527895997,0.0699084599056,0.999999986831,-3.3606580507e-05,-0.000147147423209,-5.96375906386e-05,1793237980355679744
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,804.538886505,653,632,653.461113495,0.424725523953,-0.00551149090388,0.0698977876092,0.999999985141,-4.64804646733e-05,-0.000154078144627,-6.17883213686e-05,1793237980372346368
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716.039194694,680,663,636.960805306,881,788,804.039194694,653,632,653.960805306,0.425533991992,-0.00551996097491,0.0699050090755,0.999999987588,-6.11734967444e-05,-0.000130973055386,-6.26741096172e-05,1793237980389012480
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716.615041728,680,663,636.384958272,881,788,804.615041728,653,632,653.384958272,0.426384493398,-0.0055232278025,0.0699680672208,0.999999995804,-6.00264746046e-05,-3.83581544411e-05,-5.7589553386e-05,1793237980405679104
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716.809578601,680.190421399,663.190421399,636.190421399,881.190421399,788,804.809578601,652.809578601,632,653,0.427218342305,-0.00552521187726,0.0700155092037,0.99999999648,-5.76579416909e-05,2.81615830072e-05,-5.40527266329e-05,1793237980422345984
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716.235141339,680.764858661,663.764858661,636.764858661,881.764858661,788,804.235141339,652.235141339,632,653,0.42801860888,-0.00552460907193,0.0700314586553,0.999999996282,-5.28260333775e-05,4.20561760139e-05,-5.36371491479e-05,1793237980439012608
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.349568244,716,681,664,636.650431756,882,788.349568244,804,652.349568244,632,653.349568244,0.428823032302,-0.00552579155208,0.0700428583768,0.99999999525,-5.45460638439e-05,6.01131313911e-05,-5.39498053864e-05,1793237980455679232
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.941396792,716,681,664,636.058603208,882,788.941396792,804,652.941396792,632,653.941396792,0.429630336482,-0.00552821128366,0.0700511050105,0.999999993367,-6.08067663909e-05,8.10547162682e-05,-5.47671474156e-05,1793237980472345856
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.478517601,746.478517601,716,681,663.478517601,636.521482399,882,789,804,653,632,653.478517601,0.430392064247,-0.00553038562075,0.0700323435774,0.999999995243,-5.97004918063e-05,5.34341940727e-05,-5.56260516566e-05,1793237980489012480
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.099429278,746,716,681,663,637,882,788.900570722,804,652.900570722,632,653,0.431136255277,-0.00553202710996,0.0700051453869,0.999999996613,-5.87096849085e-05,1.04734439509e-05,-5.67194479553e-05,1793237980505679104
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.673328861,746,716,681,663,637,882,788.326671139,804,652.326671139,632,653,0.4318206647,-0.00553125457983,0.0699518519394,0.999999993117,-6.21335051723e-05,-8.02214433722e-05,-5.89100282998e-05,1793237980522345728
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.747603985,746,716,681,663.252396015,637,882,788,804,652.252396015,632,653,0.432547123627,-0.00553034319731,0.0699261731748,0.999999988971,-6.29040498931e-05,-0.000120184598096,-6.04705567657e-05,1793237980539012352
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,716,681,663.57999992,637,881.57999992,788,804,652.57999992,632.42000008,653,0.434129228498,-0.00553247949846,0.0699841338923,0.999999996002,-6.55715369839e-05,-1.33336307634e-05,-5.9315965407e-05,1793237980572345856
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766.312261098,746,716,681,663,637,881,788,804,652,632,653,0.437720687316,-0.00554747968999,0.0700045029207,0.99999999408,-8.44399324073e-05,3.45388450157e-05,-5.93103850141e-05,1793237980655680768
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+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,681.483563431,663.483563431,637,881.483563431,788,804,652,632,653,0.439012197607,-0.00554627882026,0.0699569769155,0.999999994168,-8.36301182857e-05,-2.81653903076e-05,-6.22692868372e-05,1793237980689013248
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766.3627209,746,716,682,663.3627209,637,882,788,804,652,632.6372791,653,0.44023278305,-0.0055380984384,0.0699192473867,0.999999991139,-7.5304243867e-05,-8.90999280992e-05,-6.41220370844e-05,1793237980722348032
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766.804985618,746,716,682,663.804985618,637,882,788,804,652.804985618,633,653,0.441497112388,-0.00553950353852,0.0699732370954,0.999999995236,-7.47993796111e-05,-3.27855122297e-06,-6.26325987024e-05,1793237980755679744
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716,682,664,637,882,788,804.386956755,653,633,653,0.442126317294,-0.00554590514328,0.0700139413946,0.999999993167,-8.17964138148e-05,5.73223319383e-05,-6.07335680551e-05,1793237980772346112
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,681.806977322,663,637,881.806977322,788.806977322,804.806977322,653,632,653,0.424496930644,-0.0053881738237,0.0698185419855,0.999999941368,0.00015807456233,-0.000302670281765,2.58228752539e-05,1793237983409440512
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,681.234468962,663,637,881.234468962,788.234468962,804.234468962,653,632,653,0.423695531881,-0.0053781183989,0.0698007892063,0.999999929963,0.000170266126832,-0.000332423106655,2.40655888645e-05,1793237983426106112
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.32192299,746,716,681.32192299,662.32192299,636.32192299,881,788.67807701,804,652.67807701,632,653,0.419842097673,-0.00538015897281,0.0698196906533,0.999999940473,0.000166509917473,-0.000301244003305,2.41015137764e-05,1793237983509438464
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.009061198,636,880.009061198,788,804,653,632,653.990938802,0.416904456206,-0.00537471015994,0.0698255091044,0.999999935892,0.000182597135036,-0.000306794798531,2.74184024056e-05,1793237983576104960
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,716.158499766,680,662.841500234,636.158499766,881.158499766,788,804,653,632,653,0.415438154062,-0.0053756784172,0.0697886814876,0.999999928153,0.000180411784481,-0.000332539093796,2.37467079842e-05,1793237983609438464
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,716.732444898,680,662.267555102,636.732444898,881.732444898,788,804,653,632,653,0.414722268052,-0.00537561609958,0.0697791009778,0.999999917747,0.000181177542003,-0.00036203581991,2.47143706779e-05,1793237983626105088
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745.685589946,716.685589946,680,662,636.685589946,881.685589946,788,804,653,632,653,0.414038317897,-0.00537291666506,0.0697722718849,0.999999910362,0.000187250533153,-0.000378915368318,2.52401216031e-05,1793237983642771968
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745.09662134,716.09662134,680,662,636.09662134,881.09662134,788,804,653,632,653,0.413382255767,-0.00536791436846,0.0697678454669,0.999999906058,0.000197958065633,-0.000384776965805,2.53799730687e-05,1793237983659438592
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745.488357868,716,680,662,636,880.511642132,788,804,653,632.488357868,653,0.412789491071,-0.00536355486358,0.0698057980735,0.999999930827,0.000200978454696,-0.000311907964096,2.58190598167e-05,1793237983676105216
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.071209283,636,880.071209283,788,804,653,632.928790717,653.071209283,0.412207080608,-0.00535956295183,0.0698495914214,0.999999952477,0.000203270395745,-0.000230270677358,2.64927489685e-05,1793237983692772096
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746.968527185,716,679.031472815,662,637,880,788,804,653,632,653.031472815,0.405890812215,-0.00538811025725,0.0698062200921,0.999999929316,0.000169713352432,-0.000334654068439,2.39198943977e-05,1793237983892772864
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,716.18559029,679.81440971,662.18559029,637,880,788,804,653,632,653.81440971,0.405148075562,-0.00536899794243,0.0698184644979,0.999999934583,0.000196794000577,-0.000302652500944,2.251949028e-05,1793237983926105344
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,716.761472383,679.238527617,662.761472383,637,880,788,804,653,632,653.238527617,0.404814632477,-0.00537200487894,0.0698392695179,0.999999944641,0.000197492188377,-0.000266675587685,2.44665823573e-05,1793237983942771712
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716.654641679,679,662.654641679,637,880,788,803.654641679,653,632,653,0.404499167782,-0.00537130484609,0.0698544530266,0.99999995146,0.000195402377127,-0.000241449218879,2.448155714e-05,1793237983959438336
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716.065096536,679,662.065096536,637,880,788,803.065096536,653,632,653,0.404196414739,-0.00536798378774,0.0698656618278,0.999999956378,0.000191341301433,-0.000223824056983,2.31304217624e-05,1793237983976105216
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.515681879,662.515681879,637,880,788,803,653,632,653.515681879,0.403887625363,-0.00536269979305,0.0698570618477,0.99999995096,0.000201414094765,-0.00023869052938,2.32166857732e-05,1793237983992772352
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.905496618,637,880,788,803,653,632,653.905496618,0.403584578834,-0.00535840659421,0.0698460163022,0.999999944386,0.000211384328566,-0.00025692501463,2.31120863729e-05,1793237984009439488
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.331086598,637,880,788,803,653,632,653.331086598,0.403314500332,-0.00536038213559,0.0698350376585,0.999999940388,0.000211924822552,-0.000271782653897,2.11322170405e-05,1793237984026106368
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.24270939,637,880.24270939,788,803.24270939,653,632,653,0.403059913111,-0.00535980440157,0.0698297257933,0.999999938253,0.000211726254328,-0.000279790329901,1.959600073e-05,1793237984042772992
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.815669839,637,880.815669839,788,803.815669839,653,632,653,0.402826404662,-0.00535575246358,0.0698321246299,0.999999938891,0.000210522055166,-0.000278477361929,1.86634566127e-05,1793237984059438848
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.5984542,637,880.5984542,788,804,653,632,653,0.402614576584,-0.00535275080613,0.0698312931648,0.999999938063,0.000210018308052,-0.000281786099076,1.90432429803e-05,1793237984076105216
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.006452335,637,880.006452335,788,804,653,632,653,0.402413031669,-0.00535024730442,0.0698289295443,0.999999936514,0.00020984679042,-0.000287286944288,2.00454771777e-05,1793237984092772096
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767.389437275,746,716,680,662,637,880.305281362,789,803.305281362,653,632,653.694718638,0.401779601955,-0.00534702033035,0.0698165063699,0.99999992962,0.000212678114416,-0.00030819708539,2.32915116001e-05,1793237984159439104
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.442800824,663.557199176,637,880,788,803.442800824,653,632,653,0.401015886164,-0.0053500924083,0.0698336175183,0.99999993993,0.000214201902608,-0.000272196682604,1.28787498898e-05,1793237984392772352
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880,788,804,653,632,653,0.401007691915,-0.00534919318556,0.0698359934574,0.999999940203,0.000217313923444,-0.000268683723274,1.33215309888e-05,1793237984409439488
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880,788,804,653,632,653,0.401001437522,-0.00534979455104,0.069835834157,0.999999940133,0.000217329484421,-0.000268942399484,1.3086566782e-05,1793237984426106112
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.822573239,637,880.177426761,788,804,653,632.177426761,653,0.400997098294,-0.00535004474017,0.0698361618299,0.999999940267,0.00021746932446,-0.000268339447567,1.28953607675e-05,1793237984442772736
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.235566077,637,880.764433923,788,804,653,632.764433923,653,0.400997180124,-0.00534948425698,0.069837613655,0.999999940868,0.000217896056218,-0.000265747472153,1.28051682658e-05,1793237984459439104
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.346459108,636.653540892,880.653540892,788,804,653,632.653540892,653.346459108,0.400997563951,-0.00534964917752,0.0698396720732,0.999999941754,0.000217597148563,-0.000262633489499,1.29577353445e-05,1793237984476105472
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.92514492,636.07485508,880.07485508,788,804,653,632.07485508,653.92514492,0.4009981502,-0.00535030032607,0.0698421370824,0.999999942824,0.000216811854921,-0.00025916961278,1.32730207852e-05,1793237984492771840
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.504038309,880,788,804,653,632.504038309,653.495961691,0.400996696963,-0.00535004578841,0.0698423581587,0.999999942548,0.000218286464358,-0.000258991529868,1.33705076494e-05,1793237984509438720
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.917468925,637,880,788,803.917468925,653,632.917468925,653.082531075,0.400995210817,-0.00534965230949,0.0698422897231,0.999999942142,0.000219803384447,-0.000259275961251,1.33704332516e-05,1793237984526105344
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.341555749,637,880,788,803.341555749,653,632.341555749,653.658444251,0.40099533937,-0.00534923263598,0.0698424835684,0.999999942165,0.000219566034909,-0.000259406979914,1.29805692215e-05,1793237984542772224
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.233134729,637,880.233134729,788,803,653,632,654,0.400995118599,-0.00534897252793,0.069842476541,0.999999942198,0.000219371044006,-0.000259455201846,1.27876970495e-05,1793237984559438848
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.806043315,637,880.806043315,788,803,653,632,654,0.400994388719,-0.00534894497279,0.0698421767586,0.999999942245,0.000219237787141,-0.00025938275467,1.28819235452e-05,1793237984576105216
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746.391275844,716,679.608724156,663,637,880.608724156,788,803.391275844,653,632,653.608724156,0.400993947578,-0.00534955988249,0.0698425451912,0.999999942509,0.000218613356092,-0.000258892022316,1.28788034962e-05,1793237984592771840
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746.982816029,716,679.017183971,663,637,880.017183971,788,803.982816029,653,632,653.017183971,0.400993654222,-0.00535050362107,0.0698432556321,0.999999942883,0.00021773753035,-0.000258187201603,1.28258591505e-05,1793237984609438464
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746.437846858,716,679,663,637,880,788,804,653,632,653,0.400994469388,-0.00534890778295,0.0698437055557,0.999999942672,0.000219535304188,-0.000257478581888,1.2826407437e-05,1793237984626105088
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,745.859780581,716,679,662.859780581,637,880,788,804,653,632,653,0.400995107636,-0.00534782105363,0.0698438819254,0.999999942604,0.000220552444619,-0.000256875055134,1.28262026488e-05,1793237984642771712
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,745.284524423,716,679,662.284524423,637,880,788,804,653,632,653,0.400995094089,-0.00534854958975,0.0698432337646,0.999999943038,0.000218899462414,-0.000256597936461,1.28186960169e-05,1793237984659438336
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,745.29727309,716,679.29727309,662.29727309,637,880.29727309,788,803.70272691,653,632,653.29727309,0.400996398832,-0.00534922078749,0.0698442289805,0.999999943622,0.000218546176772,-0.000254608603125,1.29635894319e-05,1793237984676104960
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,745.88547226,716,679.88547226,662.88547226,637,880.88547226,788,803.11452774,653,632,653.88547226,0.400998993718,-0.00534983587104,0.0698468324858,0.999999944343,0.00021946483826,-0.000250943612249,1.32576290355e-05,1793237984692771584
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746.466251393,716,680,662.533748607,637,880.533748607,788,803.466251393,653,632,653.533748607,0.400996364491,-0.00535033592406,0.0698456015826,0.999999943631,0.000219374673299,-0.000253853899456,1.31038362618e-05,1793237984709438464
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767.04505829,746.95494171,716,680,662.04505829,637,880.04505829,788,804,653,632,653.04505829,0.400992862771,-0.0053507339065,0.06984368065,0.999999942707,0.000218948777318,-0.000257839957242,1.28502561022e-05,1793237984726105088
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767.621762484,746.378237516,716,680,662.621762484,637,880.621762484,788,804,653,632,653.621762484,0.400993970142,-0.00535025571722,0.0698445570649,0.999999943573,0.000217439613952,-0.000255760720364,1.26968833123e-05,1793237984742771712
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767.80279156,746,716,680,663,637,880.80279156,788,804,653,632,653.80279156,0.400994457854,-0.00535015497684,0.0698451240351,0.999999944006,0.000216674561802,-0.000254709207169,1.27557456079e-05,1793237984759438592
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767.229743452,746,716,680,663,637,880.229743452,788,804,653,632,653.229743452,0.400993764619,-0.00535077357815,0.0698451012664,0.999999943627,0.000217327635887,-0.000255616328492,1.32190853138e-05,1793237984776105216
+438,7.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880,788,804,653.354978287,632,653.354978287,0.400994430035,-0.00535151335008,0.069845613968,0.999999943898,0.000217045306883,-0.000254787272664,1.3397338314e-05,1793237984792771840
+439,7.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880,788,804,653.947512119,632,653.947512119,0.400996004678,-0.00535233421073,0.0698464850127,0.9999999446,0.000216136995353,-0.000252796347104,1.33848079904e-05,1793237984809438464
+440,7.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880,788,804,654,632,654,0.400995275865,-0.00535157331854,0.0698464329804,0.999999944564,0.000216248931155,-0.000252861069324,1.30256115166e-05,1793237984826104832
+441,7.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.892523288,637,880,788,804,653.892523288,632,653.892523288,0.400994469779,-0.00535066676254,0.0698462495124,0.999999944447,0.000216488703898,-0.00025313168824,1.27496871742e-05,1793237984842771712
+442,7.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.318250718,637,880,788,804,653.318250718,632,653.318250718,0.400994300424,-0.00534979525264,0.0698458848425,0.99999994429,0.000216853029817,-0.000253428823349,1.29817690981e-05,1793237984859438592
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..99ac169aa209e689a805fcb96d9cf36df1049a91
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,444 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+1,0.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+2,0.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+3,0.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+4,0.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+5,0.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+6,0.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+7,0.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+8,0.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+9,0.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+10,0.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+11,0.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+12,0.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+13,0.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+14,0.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+15,0.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+16,0.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+17,0.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+18,0.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+19,0.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+20,0.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+21,0.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+22,0.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+23,0.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+24,0.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+25,0.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+26,0.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+27,0.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+28,0.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+29,0.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+30,0.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+31,0.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+32,0.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+33,0.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+34,0.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+35,0.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+36,0.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+37,0.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+38,0.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+39,0.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+40,0.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+41,0.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+42,0.700000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+47,0.783333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+48,0.800000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+49,0.816666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+50,0.833333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+400,6.666666667,pose2_to_pose3_retreat,0.578982827179,1.17716049143e-06,1.06001168993,0.549554060982,0.00867483946763,1.05966122265
+401,6.683333333,pose2_to_pose3_retreat,0.578871705231,1.23892361237e-06,1.06001176495,0.549442938957,0.00867490093023,1.05966129451
+402,6.700000000,pose2_to_pose3_retreat,0.578771722551,1.26660465064e-06,1.06001169445,0.549342956819,0.00867493074071,1.05966122769
+403,6.716666667,pose2_to_pose3_retreat,0.578682735104,1.35487950228e-06,1.06001179777,0.549253969175,0.00867501837605,1.05966133261
+404,6.733333333,pose2_to_pose3_retreat,0.578605843542,1.32554519022e-06,1.0600118836,0.54917707769,0.00867498931545,1.05966141969
+405,6.750000000,pose2_to_pose3_retreat,0.578539017845,1.28552227149e-06,1.06001169471,0.549110253283,0.00867495314948,1.05966122435
+406,6.766666667,pose2_to_pose3_retreat,0.578481906024,1.21011922922e-06,1.06001155754,0.54905314196,0.00867487964157,1.0596610905
+407,6.783333333,pose2_to_pose3_retreat,0.578433819594,1.15253335029e-06,1.06001148886,0.549005055445,0.00867482226672,1.0596610291
+408,6.800000000,pose2_to_pose3_retreat,0.578393681806,1.16879049913e-06,1.06001144132,0.548964917837,0.00867483911003,1.05966098161
+409,6.816666667,pose2_to_pose3_retreat,0.578360746837,1.23213856994e-06,1.06001183555,0.548931982782,0.00867490202312,1.05966137348
+410,6.833333333,pose2_to_pose3_retreat,0.578333887563,1.21507148646e-06,1.06001174368,0.548905123664,0.0086748853598,1.05966127941
+411,6.850000000,pose2_to_pose3_retreat,0.578312842355,1.2150190254e-06,1.06001172114,0.548884078169,0.00867488427013,1.05966125611
+412,6.866666667,pose2_to_pose3_retreat,0.578296501962,1.21929780029e-06,1.06001174958,0.548867737571,0.00867488788887,1.05966128616
+413,6.883333333,pose2_to_pose3_retreat,0.578284389853,1.1586022735e-06,1.06001155581,0.548855626746,0.00867483179062,1.05966109888
+414,6.900000000,pose2_to_pose3_retreat,0.578274941622,1.23779376189e-06,1.06001165782,0.548846176989,0.00867490561597,1.05966119665
+415,6.916666667,pose2_to_pose3_retreat,0.57826782486,1.31463958269e-06,1.06001181489,0.548839058816,0.00867497742699,1.05966134788
+416,6.933333333,pose2_to_pose3_retreat,0.578263157924,1.29491926119e-06,1.06001190053,0.548834392576,0.00867495996543,1.05966143115
+417,6.950000000,pose2_to_pose3_retreat,0.57826021407,1.26135284238e-06,1.06001187965,0.548831449256,0.00867492821997,1.05966141067
+418,6.966666667,pose2_to_pose3_retreat,0.578258759736,1.22421575079e-06,1.06001179646,0.548829995277,0.0086748923679,1.05966132953
+419,6.983333333,pose2_to_pose3_retreat,0.578258037186,1.2057651291e-06,1.06001175514,0.548829272904,0.00867487455571,1.05966128921
+420,7.000000000,pose2_to_pose3_retreat,0.5782577495,1.19841892286e-06,1.06001173868,0.548828985287,0.0086748674637,1.05966127316
+421,7.016666667,pose2_to_pose3_retreat,0.578257468935,1.19125456615e-06,1.06001172263,0.548828704791,0.00867486054725,1.05966125751
+422,7.033333333,pose2_to_pose3_retreat,0.578257096218,1.18173706734e-06,1.06001170131,0.548828332165,0.00867485135907,1.05966123671
+423,7.050000000,pose2_to_pose3_retreat,0.578256522898,1.16709709282e-06,1.06001166852,0.548827758985,0.00867483722568,1.05966120472
+424,7.066666667,pose2_to_pose3_retreat,0.578256116597,1.16235487345e-06,1.06001164935,0.548827353032,0.00867483365811,1.05966118541
+425,7.083333333,pose2_to_pose3_retreat,0.578255887091,1.15991598663e-06,1.0600116387,0.548827123734,0.00867483191747,1.05966117465
+426,7.100000000,pose2_to_pose3_retreat,0.57825575882,1.15855289113e-06,1.06001163275,0.548826995579,0.00867483094463,1.05966116863
+427,7.116666667,pose2_to_pose3_retreat,0.578255757204,1.15853571421e-06,1.06001163267,0.548826993964,0.00867483093237,1.05966116856
+428,7.133333333,pose2_to_pose3_retreat,0.578255653204,1.15743053425e-06,1.06001162784,0.548826890057,0.0086748301436,1.05966116368
+429,7.150000000,pose2_to_pose3_retreat,0.578255291789,1.15358988779e-06,1.06001161107,0.548826528969,0.00867482740252,1.05966114673
+430,7.166666667,pose2_to_pose3_retreat,0.57825450453,1.14522391821e-06,1.06001157453,0.54882574242,0.00867482143172,1.0596611098
+431,7.183333333,pose2_to_pose3_retreat,0.578254225114,1.14225465406e-06,1.06001156156,0.548825463257,0.00867481931255,1.05966109669
+432,7.200000000,pose2_to_pose3_retreat,0.57825389413,1.13873737972e-06,1.06001154619,0.548825132571,0.00867481680226,1.05966108117
+433,7.216666667,pose2_to_pose3_retreat,0.578253742015,1.14343275365e-06,1.06001154922,0.548824980415,0.00867482135851,1.05966108422
+434,7.233333333,pose2_to_pose3_retreat,0.578253504349,1.16342194758e-06,1.06001157416,0.548824742326,0.00867483992369,1.05966110942
+435,7.250000000,pose2_to_pose3_retreat,0.578252864065,1.21727390983e-06,1.06001164135,0.548824100903,0.00867488993929,1.05966117731
+436,7.266666667,pose2_to_pose3_retreat,0.578252627199,1.23719593683e-06,1.06001166621,0.548823863615,0.00867490844209,1.05966120243
+437,7.283333333,pose2_to_pose3_retreat,0.578252275074,1.20894084494e-06,1.06001155888,0.548823511193,0.00867487935619,1.05966109943
+438,7.300000000,pose2_to_pose3_retreat,0.578252129006,1.19669792021e-06,1.06001151306,0.548823365004,0.00867486678018,1.05966105544
+439,7.316666667,pose2_to_pose3_retreat,0.578252127672,1.19658610716e-06,1.06001151264,0.548823363669,0.00867486666532,1.05966105504
+440,7.333333333,pose2_to_pose3_retreat,0.578252126513,1.21488918246e-06,1.06001151355,0.548823362457,0.00867488476051,1.05966105541
+441,7.350000000,pose2_to_pose3_retreat,0.578252131007,1.22121127057e-06,1.06001151538,0.548823366937,0.00867489102653,1.059661057
+442,7.366666667,pose2_to_pose3_retreat,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494976849,1.05966107187
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..84f5ba6e36eb1b4d278653c77a90c32adac02b69
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80a8334048fca5097aae6223877eefddde189b8a37a37c63e14cf7e97f5b1aff
+size 28237491
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f351f83205a395f825c664d50b389674125d084c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_05/franka_data.csv
@@ -0,0 +1,446 @@
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+33,0.550000000,BASELINE,767,746,716,680,662,636.849617338,880,788,803,653,632,653,0.400995853758,-0.00534911384251,0.0698485003736,0.999999944508,0.000221309032276,-0.000248713608546,1.21953480931e-05,1793237985562009856
+34,0.566666667,BASELINE,767,746,716,680,662,636.275776387,880,788,803,653,632,653,0.400997686115,-0.00535107380805,0.0698502527754,0.999999945774,0.000218003245466,-0.000246499765449,1.28074391956e-05,1793237985578676736
+35,0.583333333,BASELINE,767,746,716,680,662.305788983,636.305788983,880,788,803.305788983,653,632,653,0.400998115701,-0.00535126654995,0.0698505196007,0.999999946094,0.000216968517201,-0.000246114603723,1.27950880154e-05,1793237985595343360
+36,0.600000000,BASELINE,767,746,716,680,662.894501236,636.894501236,880,788,803.894501236,653,632,653,0.400997247409,-0.00534982421455,0.0698494119356,0.999999945547,0.000218035026162,-0.000247421381423,1.22049879928e-05,1793237985612009984
+37,0.616666667,BASELINE,767.475006127,746,716,680,663,637,880.475006127,788,804,653.475006127,632,653.475006127,0.400995944515,-0.00534986721548,0.0698487723275,0.999999945038,0.000219047491853,-0.000248576064289,1.23653971998e-05,1793237985628676608
+38,0.633333333,BASELINE,767.946323128,746,716,680,663,637,880.946323128,788,803.946323128,653.946323128,632,653.946323128,0.400994681607,-0.00535002449886,0.0698483084342,0.999999944538,0.000220181337595,-0.000249569200684,1.26518185741e-05,1793237985645342976
+39,0.650000000,BASELINE,767.368064953,746,716,680,663,637,880.368064953,788,803.368064953,653.368064953,632,653.368064953,0.400994736789,-0.00534812939267,0.0698485630974,0.999999944065,0.000222616737247,-0.000249308077643,1.25683869097e-05,1793237985662009856
+40,0.666666667,BASELINE,767,746,716,680,663,637,880,788,803,653,632,653.208842897,0.400994812144,-0.00534804307807,0.0698486243779,0.999999943967,0.000223154035282,-0.000249216811955,1.26108160494e-05,1793237985678676736
+41,0.683333333,BASELINE,767,746,716,680,663,637,880,788,803,653,632,653.783386186,0.400994922821,-0.0053511241004,0.06984834703,0.99999994453,0.000220367607472,-0.000249422979912,1.28736373932e-05,1793237985695343360
+42,0.700000000,BASELINE,767,746,716,679.63407553,662.63407553,636.63407553,880,788,803,652.63407553,632,653.63407553,0.400994857253,-0.00535122300633,0.0698481746732,0.99999994469,0.000219857929278,-0.000249242442898,1.26811513571e-05,1793237985712009984
+43,0.716666667,BASELINE,767,746,716,679.04669881,662.04669881,636.04669881,880,788,803,652.04669881,632,653.04669881,0.400994685025,-0.00534951717801,0.0698480658556,0.999999944608,0.00022072610745,-0.000248827877568,1.22131198048e-05,1793237985728676608
+44,0.733333333,BASELINE,767,746,716,679.534813105,662.534813105,636.534813105,880.534813105,788,803.534813105,652.534813105,632,653,0.400994449219,-0.00534838386779,0.0698475715883,0.999999944164,0.000221515703586,-0.000249905300548,1.22719763956e-05,1793237985745343232
+45,0.750000000,BASELINE,767,746,716,680,662.885066631,637,880.885066631,788,804,653,632,653.114933369,0.400994430889,-0.00534794960941,0.0698472765686,0.999999943928,0.000221710165658,-0.000250670587977,1.23818655689e-05,1793237985762009856
+46,0.766666667,BASELINE,767,746,716,680,662.308501552,637,880.308501552,788,804,653,632,653.691498448,0.40099530811,-0.00535012449204,0.0698479155463,0.999999944656,0.000219541522941,-0.000249664592163,1.25139451897e-05,1793237985778676480
+47,0.783333333,BASELINE,767,746,716,680,662.271973453,637,880.271973453,788,804,653,632,654,0.400996053792,-0.00535079978183,0.0698486835995,0.999999945205,0.00021873790092,-0.000248161782592,1.26090945577e-05,1793237985795343360
+48,0.800000000,BASELINE,767,746,716,680,662.856948281,637,880.856948281,788,804,653,632,654,0.400996648093,-0.00534974926146,0.0698496001997,0.999999945549,0.000219505216337,-0.000246087213453,1.26617426626e-05,1793237985812009984
+49,0.816666667,BASELINE,767,746,716,680,663,637,880.563118547,788,804,653,632,653.563118547,0.400995501536,-0.00535060643187,0.0698487939621,0.99999994559,0.000218159096629,-0.000247127373867,1.24728360279e-05,1793237985828676352
+50,0.833333333,BASELINE,767,746,716.015222794,680,663,637,880,788,803.984777206,653,632,653,0.400993839953,-0.00535201596595,0.0698474886957,0.99999994552,0.000216212775672,-0.000249125262872,1.22125062399e-05,1793237985845343232
+51,0.850000000,BASELINE,767,746,716.59505527,680,663,637,880,788,803.40494473,653,632,653,0.400993977026,-0.0053510086966,0.0698483590535,0.999999945236,0.000217379151337,-0.000249249460791,1.22032280929e-05,1793237985862010112
+52,0.866666667,BASELINE,767,746,716.826587112,680,662.826587112,637,880,788.173412888,803,653,632,653,0.400994565081,-0.00535037296299,0.0698489893136,0.999999945054,0.000218357176044,-0.00024911899572,1.23268410061e-05,1793237985878676736
+53,0.883333333,BASELINE,767,746,716.251644494,680,662.251644494,637,880,788.748355506,803,653,632,653,0.40099619736,-0.0053505975037,0.0698490636386,0.999999945109,0.000218899082529,-0.000248398869965,1.27581571819e-05,1793237985895343360
+54,0.900000000,BASELINE,767,746,716,680,662,637,880,788.668858811,803.331141189,653,632,653.331141189,0.400996565865,-0.00535051851534,0.0698490699808,0.999999945356,0.000218648947048,-0.000247632609639,1.25963391503e-05,1793237985912009984
+55,0.916666667,BASELINE,767,746,716,680,662,637,880,788.079968375,803.920031625,653,632,653.920031625,0.40099595069,-0.00535020327007,0.0698490234075,0.999999945751,0.000217782312514,-0.000246830439736,1.19728452312e-05,1793237985928676608
+56,0.933333333,BASELINE,767,746,716,680,662,637,880.501009573,788,803.498990427,653,632,654,0.400994981323,-0.00535003602558,0.0698485212325,0.999999945053,0.000219108216375,-0.000248480478879,1.19827979821e-05,1793237985945343232
+57,0.950000000,BASELINE,767,746,716,679.919866206,662.080133794,637,880.919866206,788,803,653,632,653.919866206,0.400994083891,-0.00534997698441,0.0698479492397,0.999999944342,0.000220269205554,-0.00025030372851,1.20855941691e-05,1793237985962009856
+58,0.966666667,BASELINE,767,746,716,679.344514533,662.655485467,637,880.344514533,788,803,653,632,653.344514533,0.400993974951,-0.00535044290956,0.0698473881985,0.999999944648,0.000218281945871,-0.000250816148164,1.21470354495e-05,1793237985978676480
+59,0.983333333,BASELINE,767,746,716,679.230482459,663,637,880,788,803,653,632,653,0.400994929489,-0.0053507098246,0.0698480223798,0.999999945058,0.000217550429708,-0.000249801183563,1.24180862201e-05,1793237985995343104
+60,1.000000000,BASELINE,767,746,716,679.804950193,663,637,880,788,803,653,632,653,0.400997471226,-0.00535067972559,0.0698504403798,0.999999945619,0.000218693057082,-0.000246506662953,1.30019702555e-05,1793237986012009984
+61,1.016666667,BASELINE,767,746,716,680,662.608956687,637,880,788,803.391043313,653,632,653.391043313,0.400996655943,-0.00535166586267,0.0698499491474,0.999999945806,0.000216972918992,-0.000247276155592,1.28795157001e-05,1793237986028676608
+62,1.033333333,BASELINE,767,746,716,680,662.016887265,637,880,788,803.983112735,653,632,653.983112735,0.400994114894,-0.00535317442266,0.0698479623474,0.999999945788,0.000213781100888,-0.00025013486141,1.2393949164e-05,1793237986045343232
+63,1.050000000,BASELINE,767.561223658,746,716,680,662.561223658,637,880,788,804,653,632,653.438776342,0.400994141614,-0.0053519189554,0.0698481234204,0.999999945111,0.000216947761492,-0.00025011636033,1.24014362307e-05,1793237986062009856
+64,1.066666667,BASELINE,767.861327479,746,716.138672521,680,662.861327479,637,880,788,803.861327479,653,632,653,0.400994347292,-0.00535072522726,0.0698483549968,0.999999944622,0.000219411563445,-0.000249924208415,1.23865221162e-05,1793237986078676480
+65,1.083333333,BASELINE,767.284675318,746,716.715324682,680,662.284675318,637,880,788,803.284675318,653,632,653,0.400994880075,-0.00534998280095,0.0698486100778,0.999999944817,0.000219065857077,-0.000249450403947,1.22551361371e-05,1793237986095343360
+66,1.100000000,BASELINE,767,746,716.709681794,680,662,637,880,788,803.290318206,653,632,653,0.400994869345,-0.00534992102104,0.0698485512376,0.999999944984,0.00021823893286,-0.00024951065305,1.21464094057e-05,1793237986112009984
+67,1.116666667,BASELINE,767,746,716.136305462,680,662,637,880,788,803.863694538,653,632,653,0.400994328693,-0.00535052286643,0.0698481863265,0.999999945122,0.000216942824782,-0.000250091600503,1.20597752823e-05,1793237986128676608
+68,1.133333333,BASELINE,767.449574817,746,716,680,662.449574817,637,880,788,804,653,632,653,0.400994462005,-0.00535161805193,0.0698485199106,0.999999945455,0.00021595889765,-0.000249598012017,1.23134612304e-05,1793237986145343232
+69,1.150000000,BASELINE,767.961308829,746,716,680,662.961308829,637,880,788,803.961308829,653,632,653,0.400994808501,-0.00535275222484,0.0698490697292,0.999999945811,0.000215241640449,-0.000248774409682,1.26407965694e-05,1793237986162009856
+70,1.166666667,BASELINE,767.381471915,746,716,680,662.381471915,637,880,788,803.381471915,653,632,653,0.400995196984,-0.00535227984433,0.0698495971803,0.999999945643,0.000216892441206,-0.000248022029985,1.25138115666e-05,1793237986178676736
+71,1.183333333,BASELINE,766.803622476,746,716,679.803622476,662.196377524,636.803622476,880.196377524,788,803.196377524,653,632,653,0.400995064259,-0.00535239166761,0.0698495504801,0.999999945612,0.000216988042187,-0.000248067035205,1.24703298566e-05,1793237986195343104
+72,1.200000000,BASELINE,766.229595012,746,716,679.229595012,662.770404988,636.229595012,880.770404988,788,803.770404988,653,632,653,0.400993929209,-0.00535362696219,0.0698483996405,0.999999945841,0.000214092867882,-0.000249645476306,1.25874317432e-05,1793237986212009984
+73,1.216666667,BASELINE,766.353580074,746,716,679.353580074,663,636.353580074,880.646419926,787.646419926,803.646419926,653,632,653.353580074,0.400993942608,-0.00535307372585,0.0698485243199,0.999999945654,0.000215060624928,-0.000249567077337,1.25255902336e-05,1793237986228676608
+74,1.233333333,BASELINE,766.942852832,746,716,679.942852832,663,636.942852832,880.057147168,787.057147168,803.057147168,653,632,653.942852832,0.400994721553,-0.00535132827394,0.0698494992469,0.999999945183,0.000218603370736,-0.000248384246458,1.23444669691e-05,1793237986245343232
+75,1.250000000,BASELINE,767,746,716,679.477763094,662.477763094,637,880,787.522236906,803,653,632,653.477763094,0.400993625957,-0.00535096999704,0.0698491608152,0.999999945079,0.000217988890433,-0.00024933648112,1.23758995994e-05,1793237986262009856
+76,1.266666667,BASELINE,767,746,716,679.100289725,662.100289725,637,880,788,803.100289725,653,632.100289725,653.100289725,0.400992820753,-0.00535093662274,0.06984880906,0.999999945143,0.00021685873918,-0.000250065161629,1.23837708213e-05,1793237986278676480
+77,1.283333333,BASELINE,767,746,716,679.677063217,662.677063217,637,880,788,803.677063217,653,632.677063217,653.677063217,0.400994351681,-0.00535173909571,0.0698490641286,0.999999945816,0.000215399769796,-0.00024864232993,1.21712461258e-05,1793237986295343104
+78,1.300000000,BASELINE,767,746,716,680,663,637,880,788,803.749155795,653,632.749155795,653.749155795,0.400995314471,-0.00535208806849,0.0698492650933,0.99999994603,0.000215183335391,-0.000247964216008,1.22277518441e-05,1793237986312010496
+79,1.316666667,BASELINE,767,746,716,680,663,637,880,788,803.17918198,653,632.17918198,653.17918198,0.400995554465,-0.00535186008811,0.0698493972258,0.999999945664,0.000216547681892,-0.000248233548808,1.26265240889e-05,1793237986328678656
+80,1.333333333,BASELINE,767,746,716,680,663,637,880,788,803.407280054,653,632,653,0.400996047607,-0.00535199055496,0.0698498601877,0.99999994577,0.000216971437241,-0.000247428622251,1.27232307236e-05,1793237986345345792
+81,1.350000000,BASELINE,767,746,716,680,662.998730603,637,880,788,804,653,632,653,0.40099665136,-0.00535228142636,0.0698504702157,0.99999994609,0.00021696743738,-0.000246139524662,1.26808911114e-05,1793237986362012416
+82,1.366666667,BASELINE,767,746,716,680,662.419652397,637,880,788,804,653,632,653,0.400994769382,-0.00535077562883,0.069848976186,0.99999994512,0.000218563534958,-0.000248668410149,1.23899632222e-05,1793237986378679040
+83,1.383333333,BASELINE,767,746,716,680,662.158327099,637,880,788.158327099,803.841672901,653,632,653.158327099,0.400993583991,-0.00534989078719,0.0698479780723,0.999999944428,0.000219870175445,-0.000250304678087,1.22177378985e-05,1793237986395345920
+84,1.400000000,BASELINE,767,746,716,680,662.733414612,637,880,788.733414612,803.266585388,653,632,653.733414612,0.400994232207,-0.00535064047166,0.0698482853453,0.999999944484,0.00022041488571,-0.000249591331996,1.23579702706e-05,1793237986412013312
+85,1.416666667,BASELINE,767.316839555,746,716,680,663,637,880,788.683160445,803.316839555,653,632,653.683160445,0.400995203018,-0.0053508919004,0.0698488855336,0.999999944986,0.000219696626712,-0.000248207340379,1.24556789804e-05,1793237986428679680
+86,1.433333333,BASELINE,767.90746907,746,716,680,663,637,880,788.09253093,803.90746907,653,632,653.09253093,0.40099645259,-0.00535071277232,0.0698497388384,0.999999945866,0.000217887000456,-0.000246243825164,1.25166417904e-05,1793237986445345536
+87,1.450000000,BASELINE,767.511161487,746,716.488838513,679.511161487,663,637,880,788,804,653,632,653.488838513,0.400995917718,-0.00535180980519,0.0698498226554,0.99999994614,0.000215716811701,-0.00024703652372,1.26359071461e-05,1793237986462011904
+88,1.466666667,BASELINE,767,746,716.931924156,679.068075844,663,637,880,788.068075844,803.931924156,653,632,654,0.400995131798,-0.00535286358481,0.0698497213958,0.999999946214,0.000213995487181,-0.000248226170842,1.27298619891e-05,1793237986478678016
+89,1.483333333,BASELINE,767,746,716.355760915,679.644239085,663,637,880,788.644239085,803.355760915,653,632,654,0.400994946287,-0.00535182515637,0.0698493056966,0.999999945676,0.00021612419939,-0.000248556997944,1.25540746402e-05,1793237986495344896
+90,1.500000000,BASELINE,767,746,716,679.780918205,663,637,880,788.780918205,803,653.219081795,632,653.780918205,0.400994943439,-0.00535129061206,0.0698489974619,0.999999945382,0.000217245353447,-0.000248768703875,1.24499262132e-05,1793237986512011520
+91,1.516666667,BASELINE,767,746,716,679.208207076,663,637,880,788.208207076,803,653.791792924,632,653.208207076,0.400995235435,-0.00535156940887,0.0698488626905,0.999999945486,0.000216740164417,-0.000248788131182,1.2461413263e-05,1793237986528677120
+92,1.533333333,BASELINE,767,746,716,679.378097284,663,637,880,788,803.378097284,653.621902716,632,653,0.400994933172,-0.00535136998023,0.0698487935655,0.999999945436,0.000217035683756,-0.000248736990601,1.23577989371e-05,1793237986545343232
+93,1.550000000,BASELINE,767,746,716,679.972166242,663,637,880,788,803.972166242,653.027833758,632,653,0.400994291465,-0.00535089738607,0.0698487619382,0.999999945297,0.000217788572971,-0.000248645541177,1.21884379435e-05,1793237986562009600
+94,1.566666667,BASELINE,767.550978829,746,716,679.449021171,663,637,880,788,803.449021171,653,632,653.550978829,0.40099440928,-0.00535016372644,0.0698488322058,0.999999944914,0.000219266115105,-0.000248884830626,1.22484387911e-05,1793237986578676480
+95,1.583333333,BASELINE,767.871802934,746,716,679.128197066,663,637,880,788,803,653,632.128197066,654,0.400994747185,-0.00535004962063,0.0698490713501,0.99999994471,0.000220249304047,-0.000248829368983,1.24397362671e-05,1793237986595342848
+96,1.600000000,BASELINE,767.297522811,746,716,679.702477189,663,637,880,788,803,653,632.702477189,654,0.400995721019,-0.00535213600956,0.0698498807,0.999999945174,0.000219388360179,-0.00024769170034,1.30486708645e-05,1793237986612009728
+97,1.616666667,BASELINE,767,746,716,680,662.717278559,637,880,788,803.282721441,653,632.717278559,653.717278559,0.400995608051,-0.00535285754141,0.0698499311957,0.99999994552,0.000217807582097,-0.000247694645061,1.29024941644e-05,1793237986628676352
+98,1.633333333,BASELINE,767,746,716,680,662.130622718,637,880,788,803.869377282,653,632.130622718,653.130622718,0.400994326736,-0.00535211180905,0.0698491658991,0.999999945737,0.000215452959748,-0.000248923784928,1.1944549141e-05,1793237986645342976
+99,1.650000000,BASELINE,767,746,716,679.549502894,662.450497106,637,880.450497106,788,804,653.450497106,632,653.450497106,0.400995134869,-0.0053509446929,0.0698491530057,0.999999945664,0.000216336054659,-0.000248461605142,1.17680365343e-05,1793237986662009856
+100,1.666666667,BASELINE,767.029913895,746,716,679.029913895,662.970086105,636.970086105,880.970086105,788,804,653.970086105,632,653.970086105,0.400996465816,-0.00534976860873,0.069849376013,0.999999945507,0.000218104563229,-0.000247542145989,1.18388339564e-05,1793237986678676736
+101,1.683333333,BASELINE,767.607183761,746,716,679.607183761,662.392816239,636.392816239,880.392816239,788,804,653.392816239,632,653.392816239,0.400996412148,-0.00535063692808,0.069849972075,0.999999945386,0.000219105046415,-0.000247119828104,1.23393051479e-05,1793237986695344640
+102,1.700000000,BASELINE,767.816559729,746,716,680,662,636.183440271,880,788,804,653,632,653.183440271,0.400996407135,-0.00535139953923,0.0698504289955,0.999999945468,0.000219108655774,-0.000246770641882,1.26474949645e-05,1793237986712012032
+103,1.716666667,BASELINE,767.242461359,746,716,680,662,636.757538641,880,788,804,653,632,653.757538641,0.400996505741,-0.00535193703194,0.0698505895975,0.999999945979,0.000216989302405,-0.000246577198374,1.25461984239e-05,1793237986728678656
+104,1.733333333,BASELINE,767,746,716,680,662,637,880,788,803.658773065,653,632,653.658773065,0.400995805274,-0.00535199617992,0.0698498691317,0.999999945827,0.000216750434632,-0.00024740448768,1.24763522346e-05,1793237986745344768
+105,1.750000000,BASELINE,767,746,716,680,662,637,880,788,803.068073472,653,632,653.068073472,0.400994520602,-0.00535170560782,0.0698485045129,0.99999994519,0.000217886398736,-0.000248978039651,1.24294995383e-05,1793237986762010880
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,653,632,653,0.400995353835,-0.00535258835775,0.0698499004921,0.999999945548,0.000217631733338,-0.000247744953013,1.27241127053e-05,1793237986792713984
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716.574879846,680,663,637,880,788,804,653,632,653,0.400995041333,-0.00535213195963,0.0698492368618,0.99999994491,0.000219553493874,-0.000248633428538,1.25365357707e-05,1793237986809381376
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716.850022512,680,663,637,880.149977488,788,804,653,632,653.149977488,0.400995009258,-0.00535209660015,0.0698489704638,0.999999944614,0.000220499793356,-0.000248993647733,1.24346956986e-05,1793237986826048512
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716.274306483,680,663,637,880.725693517,788,804,653,632,653.725693517,0.400995773229,-0.00535325643575,0.0698498316828,0.999999945295,0.000218677068613,-0.00024785431489,1.25762353544e-05,1793237986842714880
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.690420163,788,803.690420163,653,632,654,0.400995845026,-0.00535304133299,0.0698499199656,0.999999945731,0.000217094331252,-0.000247496810509,1.24048210604e-05,1793237986859381760
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.099098268,788,803.099098268,653,632,654,0.40099528689,-0.00535157492786,0.0698493048155,0.999999945944,0.000215730001437,-0.000247850831732,1.19485939926e-05,1793237986876048896
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803,653,632,654,0.400994920145,-0.00535162941916,0.0698492550122,0.999999945469,0.000217394906769,-0.00024830277297,1.21244261979e-05,1793237986892714752
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803,653,632,653.937331068,0.400994625892,-0.00535194092425,0.0698493338704,0.999999944974,0.000219182094099,-0.000248712939062,1.24044447536e-05,1793237986909380864
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803,653,632,653.357623911,0.40099461183,-0.00535184663908,0.0698495351763,0.999999945484,0.000216946536287,-0.000248615800435,1.24941722549e-05,1793237986926048000
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679.776724355,662.776724355,637,880,788,803.223275645,653.223275645,632,653,0.400995107376,-0.0053515342635,0.0698499214765,0.999999945627,0.000216578591468,-0.00024836183276,1.25272977767e-05,1793237986942714624
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679.193904719,662.193904719,637,880,788,803.806095281,653.806095281,632,653,0.400996423553,-0.00535087069379,0.0698506056755,0.999999945178,0.000219218090992,-0.00024785532102,1.24692763066e-05,1793237986959380736
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679,662,637,880.386749411,788,804,653.613250589,632,653.386749411,0.401004716889,-0.00535195021703,0.0698547616818,0.999999947165,0.000217612530459,-0.000241143890784,1.27950711318e-05,1793237986976047104
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679,662,637,880.966323917,788,804,653.033676083,632,653.966323917,0.401016488888,-0.00535389880958,0.0698606486582,0.999999950278,0.000213890472777,-0.000231338819056,1.33122286564e-05,1793237986992713472
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.458249025,716,679.541750975,662.541750975,637,880.458249025,788,803.458249025,653,632,653.458249025,0.401045304927,-0.00535417454813,0.0698740070428,0.99999995463,0.000216110810984,-0.000209399493749,1.37331415515e-05,1793237987009380096
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745.116416804,716,679.883583196,662.883583196,637,880,788,803.116416804,653.116416804,632,653,0.401079320972,-0.00535441054152,0.0698886176667,0.999999958862,0.000218458037521,-0.000185338290484,1.42200435166e-05,1793237987026046720
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.689102094,716,679.310897906,662.310897906,637,880,788,803.689102094,653.689102094,632,653,0.401129596384,-0.00535489522033,0.0699063297417,0.999999963566,0.000219865841109,-0.000155894655847,1.49888440913e-05,1793237987042713344
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746.27174381,716,679.27174381,662,637,880.27174381,788,803.72825619,653.72825619,632,653,0.401183265682,-0.00535537889167,0.0699206471159,0.999999966685,0.000219335094429,-0.000135248521625,1.5140146997e-05,1793237987059379968
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746.866209713,716,679.866209713,662,637,880.866209713,788,803.133790287,653.133790287,632,653,0.401240965544,-0.00535586136653,0.069930932953,0.999999968639,0.00021650213163,-0.00012505027306,1.45581115804e-05,1793237987076046592
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746.55412245,716,680,662.44587755,637,880.55412245,788,803.44587755,652.55412245,632,653,0.401307302787,-0.00535759092093,0.0699351880634,0.999999969772,0.000215831938409,-0.000116988881853,1.36221677557e-05,1793237987092713472
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679.978682284,662.978682284,637,880,788,803.978682284,652.021317716,632,653,0.401376651029,-0.00535960793537,0.0699375650612,0.999999970611,0.000215709944541,-0.000109953100269,1.25359221834e-05,1793237987109379840
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679.401416036,662.401416036,637,880,788,803.401416036,652.598583964,632,653,0.40145910445,-0.00535967633584,0.0699366389383,0.999999970717,0.000213503799414,-0.000113479890512,1.02104198291e-05,1793237987126046464
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,679.179513712,662,637,880,788,803.179513712,653,632,653,0.401545897331,-0.00536062332299,0.069935138609,0.999999970779,0.000211189732785,-0.00011737991713,7.93655433618e-06,1793237987142713088
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716,679.768806112,662,637,880,788,803.768806112,653,632,653,0.40164259595,-0.00536357587336,0.06993232753,0.999999970762,0.000208629312404,-0.000122131935624,5.78056141266e-06,1793237987159379968
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,679.647797663,662.352202337,637,880.352202337,788,804,653,632.352202337,653.352202337,0.401762205371,-0.00536645388075,0.0699339080633,0.999999971595,0.000206547580016,-0.000118894519557,3.38850748257e-06,1793237987176046592
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,679.068208041,662.931791959,637,880.931791959,788,804,653,632.931791959,653.931791959,0.401896606369,-0.00536928376232,0.0699383238891,0.999999972928,0.00020477489575,-0.000110499001222,8.44048696314e-07,1793237987192713472
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,679,662.493426903,637,880.493426903,788,804,653,632.493426903,653.493426903,0.402050277202,-0.00537136081055,0.0699423843929,0.999999974279,0.00020257689781,-0.000101976021891,-2.38498501684e-06,1793237987209379840
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,679.081043311,662.081043311,637,880.081043311,788,804,653,632,653,0.402210090185,-0.0053734593955,0.0699463184101,0.999999975629,0.000199803224484,-9.37357777457e-05,-5.81420325856e-06,1793237987226046464
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,679.657533823,662.657533823,637,880.657533823,788,804,653,632,653,0.402391739812,-0.0053763035034,0.0699497689001,0.999999977348,0.000193857038286,-8.73279245791e-05,-9.90902127453e-06,1793237987242713088
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679.76002093,663,637,880.76002093,788,804,653,632,653,0.402581366507,-0.00537980826706,0.069951422106,0.999999978955,0.000187211395414,-8.27240855621e-05,-1.4109634365e-05,1793237987259379968
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679.168861688,663,637,880.168861688,788,804,653,632,653,0.402782666659,-0.00538427981986,0.0699504452054,0.999999980451,0.000179542183173,-8.07602021515e-05,-1.84650654297e-05,1793237987276046592
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679.413379327,663,637,880.413379327,788.413379327,804,653,632,653,0.403017135549,-0.00538900132399,0.0699520631228,0.999999982309,0.000170523421413,-7.59339165211e-05,-2.31700592465e-05,1793237987292713216
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679.99205425,663,637,880.99205425,788.99205425,804,653,632,653,0.403264867426,-0.00539382277462,0.0699547186151,0.999999984205,0.000160965023276,-6.996305875e-05,-2.80148305872e-05,1793237987309379840
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679.433545123,663,637,880.433545123,788.433545123,803.433545123,653,632,653,0.40355199172,-0.0053978114956,0.0699691027751,0.999999986435,0.000155665664197,-4.28592864455e-05,-3.25660456506e-05,1793237987326046464
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,636.859182912,880,788,803.140817088,653,632,653,0.403840450647,-0.00540212456343,0.0699794991562,0.999999989728,0.000136326086146,-2.4139863392e-05,-3.71114240327e-05,1793237987342713344
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,636.284755866,880,788,803.715244134,653,632,653,0.404131330445,-0.00540747207182,0.069977113394,0.99999999591,7.35706875006e-05,-3.21438479162e-05,-4.16514136086e-05,1793237987359379968
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716.299778251,679.299778251,663,636,880,788,804,653,632,653,0.404442384029,-0.00541982035633,0.0699766043361,0.999999997427,4.94170054015e-05,-3.63069597335e-05,-3.72323134301e-05,1793237987376046592
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716.894248006,679.894248006,663,636,880,788,804,653,632,653,0.40477326912,-0.00543905062585,0.0699779401375,0.999999997041,6.32100245213e-05,-3.66943732172e-05,-2.4006145259e-05,1793237987392713216
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.525922471,745.525922471,716.525922471,680,663,636.474077529,879.525922471,788,804.474077529,653,632.474077529,653.474077529,0.405145314602,-0.00545879340204,0.0699823319364,0.999999997484,6.31867058422e-05,-2.49762407748e-05,-2.0375916214e-05,1793237987409380096
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.050535371,745.050535371,716,679.949464629,663,636.949464629,879.050535371,788,804.898929258,653,632.949464629,653.949464629,0.405527075526,-0.00547698404276,0.0699867181208,0.999999997995,5.90297343599e-05,-1.21074812724e-05,-1.94598516591e-05,1793237987426046464
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+147,2.450000000,POSE1_TO_POSE2_PRESS,766.222111379,745.222111379,716,679.777888621,663,636.777888621,880,788,803.777888621,653,632,653,0.406726529643,-0.00548569971176,0.0699656440908,0.999999998118,2.40000735151e-05,-4.81402652367e-05,-2.94993531133e-05,1793237987476046336
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.362319896,745.362319896,716,680,663,637,880.362319896,788,804,653,632,653,0.407163082572,-0.00549159577279,0.0699548131664,0.999999997386,1.64510667082e-05,-6.28948279439e-05,-3.1648541463e-05,1793237987492713216
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+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.473934321,716,680,663,637,881,788,804,653,632,653,0.408141107313,-0.00550291893595,0.069956315627,0.99999999813,1.28956892665e-06,-5.01087949798e-05,-3.50411374657e-05,1793237987526046976
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.100009046,716,679.899990954,663,637,881,788,804,653,632,653,0.408675958847,-0.00550835483645,0.0699688102038,0.999999999022,-5.54289816079e-06,-2.62731976146e-05,-3.51440468037e-05,1793237987542713856
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745.674775075,716,679.325224925,663,637,881,788,804,653,632,653,0.409221349251,-0.00551611817212,0.0699781082041,0.999999999245,-1.28395619928e-05,-6.32015012584e-06,-3.61248453545e-05,1793237987559380736
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,679.257708687,663,637,881,788,804,653,632,653,0.409758891824,-0.00552258698558,0.0699781356279,0.999999999071,-2.09856031213e-05,-3.22142194915e-06,-3.7520560053e-05,1793237987576047360
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,679.851287128,663,637,881,788,804,653,632,653,0.410286206455,-0.00552736865925,0.0699660807819,0.99999999852,-3.02386321673e-05,-2.20887959582e-05,-3.94570319211e-05,1793237987592713984
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,679.567643507,663,637,880.567643507,788,804,653,632,653,0.410857301115,-0.00553221398688,0.0699616662942,0.999999998001,-3.72677836009e-05,-3.1641898913e-05,-4.00928565214e-05,1793237987609380352
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.0092044,788,804,653,631.9907956,653,0.411444331476,-0.00553714441074,0.0699601883206,0.999999997541,-4.35952301709e-05,-3.73265746407e-05,-4.02903744191e-05,1793237987626046720
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.583608441,788,804,653,631.416391559,653,0.4121112277,-0.00554599359225,0.0699821942214,0.999999997806,-5.24838565837e-05,3.33661504151e-06,-4.0271933358e-05,1793237987642713344
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,804,653,631.163050377,653,0.412778106203,-0.0055543964585,0.0700051754636,0.999999996313,-6.25346433845e-05,4.305847417e-05,-4.01104928841e-05,1793237987659380224
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788,804,653,631.755768044,653,0.413444937968,-0.00556162320267,0.0700307269056,0.999999993132,-7.56479330051e-05,8.02997542707e-05,-3.95722231662e-05,1793237987676046848
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746.340632098,716,679.340632098,663,637,881,788,804,653,632,653,0.414104057395,-0.00555853958965,0.0700368898438,0.999999992809,-7.29958975494e-05,8.67470803621e-05,-3.90856671104e-05,1793237987692713728
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.919992019,716,679.919992019,663,637,881,788,804,653,632,653,0.414757771697,-0.00554823008911,0.0700294645862,0.999999994932,-5.92949270908e-05,7.16128403981e-05,-3.86353539796e-05,1793237987709380352
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746.503790164,716,679.503790164,663,637,880.503790164,788,804.496209836,652.503790164,632,653,0.41539840454,-0.00551515643635,0.0699867448862,0.999999998869,-1.98005718698e-05,-2.58136662653e-06,-4.31668741144e-05,1793237987726047232
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.928563685,746,716,679.071436315,662.928563685,637,880.071436315,788,804.928563685,652,632,652.928563685,0.416050098898,-0.00548343857841,0.0699442789039,0.999999995843,1.7544229263e-05,-7.55746822949e-05,-4.79090447763e-05,1793237987742714368
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.35675495,746,716,679.64324505,662.35675495,637,880.64324505,788,804.35675495,652,632,652.35675495,0.416793953867,-0.00548676507462,0.0699432003161,0.999999996034,1.08851767666e-05,-7.3874599758e-05,-4.85356996743e-05,1793237987759381248
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,716,679.777661674,662.222338326,637,880.777661674,788,804,652.222338326,632,652.222338326,0.417540826924,-0.00549425260318,0.0699545582829,0.999999997391,-9.45632577121e-07,-5.36445919298e-05,-4.83705820081e-05,1793237987776047872
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,716,679.186483903,662.813516097,637,880.186483903,788,804,652.813516097,632,652.813516097,0.418292706836,-0.00550864291368,0.0699865473841,0.999999998669,-2.13559261978e-05,-2.67509080508e-06,-4.68919842986e-05,1793237987792713984
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.398363614,746,716,679.398363614,663,637,880,788,804,652.601636386,631.601636386,653,0.419049040863,-0.00551552962798,0.0700042828368,0.999999998222,-3.13016031101e-05,1.97363299843e-05,-4.6760732969e-05,1793237987809380352
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.980294099,746,716,679.980294099,663,637,880,788,804,652.019705901,631.019705901,653,0.419807427312,-0.005518958667,0.0700154501736,0.9999999978,-3.64251593233e-05,2.89881184898e-05,-4.72503420831e-05,1793237987826046976
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,652.553674041,631.553674041,653,0.420587194697,-0.00552342372357,0.0700235648127,0.999999996812,-4.39965852123e-05,4.59590937996e-05,-4.82531578665e-05,1793237987842713600
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.254262376,788,803.872868812,652.872868812,632,653,0.421368574338,-0.00552641379779,0.070027882818,0.999999996016,-5.00495409083e-05,5.50266875773e-05,-4.93555679625e-05,1793237987859380224
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881.403830877,788,803.298084561,652.298084561,632,653,0.422152992218,-0.00552408231627,0.0700192089099,0.999999996816,-5.04535648572e-05,3.53122918527e-05,-5.07453299749e-05,1793237987876046848
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881.713119149,788,803.286880851,652.286880851,632,653,0.422898315944,-0.00551771485972,0.0699875992998,0.999999997392,-4.46646221166e-05,-1.98682478625e-05,-5.31591440158e-05,1793237987892713472
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881.117185758,788,803.882814242,652.882814242,632,653,0.423601524058,-0.0055069995065,0.0699312813944,0.999999991462,-3.22040867143e-05,-0.000113255943933,-5.66761538944e-05,1793237987909380352
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,788,804,653,632,653,0.42435994062,-0.00550840173321,0.0699021239032,0.999999986563,-3.70148538544e-05,-0.00014795424792,-6.01142324761e-05,1793237987926046720
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.962058942,881,788,804,652.962058942,632,653,0.425137389501,-0.00551297601071,0.0698848430648,0.999999983942,-4.613956291e-05,-0.000161296834553,-6.30175194572e-05,1793237987942713344
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.386602221,881,788,804,652.386602221,632,653,0.425993020749,-0.00552046817847,0.0699416342792,0.999999993828,-5.64875618594e-05,-7.56114297849e-05,-5.86180583714e-05,1793237987959380224
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,881,788,804,652,632,653,0.426835545711,-0.00552509423469,0.0699894095275,0.999999996567,-6.1173118983e-05,-7.43881109753e-06,-5.5393025436e-05,1793237987976046592
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,881,788,804,652,632,653,0.427651241071,-0.00552385310146,0.0700187282842,0.999999996729,-5.4267145551e-05,2.4883557363e-05,-5.45721535806e-05,1793237987992713216
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.637626284,746.362373716,716,680.362373716,663,636.362373716,881,788,804,652.362373716,632,653,0.428464153312,-0.00552595842262,0.0700355803937,0.999999995768,-5.50255618119e-05,4.99956363254e-05,-5.41843551355e-05,1793237988009379840
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.059410212,746.940589788,716,680.940589788,663,636.940589788,881,788,804,652.940589788,632,653,0.429275407783,-0.00553005700818,0.070045006934,0.999999994211,-6.03491548532e-05,7.08130148108e-05,-5.40545102892e-05,1793237988026046464
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.517632684,746.482367316,716,680.482367316,663.517632684,637,881,788,804,653,632,653,0.430049733948,-0.00553235189104,0.0700370515437,0.999999994718,-6.18390444354e-05,6.10810307321e-05,-5.48468971452e-05,1793237988042713088
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680.094525429,664,636.905474571,881,788,804.094525429,653,632.094525429,653,0.430808175298,-0.0055333952401,0.0700190973729,0.99999999591,-6.26412983438e-05,3.3309746265e-05,-5.60940517861e-05,1793237988059379712
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680.671337506,664,636.328662494,881,788,804.671337506,653,632.671337506,653,0.431507145351,-0.00552910687401,0.0699602832525,0.999999993963,-6.21750183073e-05,-6.86524226573e-05,-5.91226861592e-05,1793237988076046336
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.746954633,746,716,681,663.746954633,636.253045367,881,788,804.746954633,652.746954633,632.746954633,653,0.432237047304,-0.00552674263887,0.0699253114461,0.999999988423,-6.04221431617e-05,-0.000125648640387,-6.09487614346e-05,1793237988092713216
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.158762583,746,716,681,663.158762583,636.841237417,881,788,804.158762583,652.158762583,632.158762583,653,0.433007917049,-0.00552692682497,0.0699219176675,0.99999998893,-5.69652340402e-05,-0.000123089564367,-6.11821041725e-05,1793237988109379840
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.423763851,746,716.423763851,681,663,637,881,788,804,652.423763851,632,653,0.43382220357,-0.00553060155264,0.0699658228485,0.999999995365,-6.15874796423e-05,-4.40146912828e-05,-5.94908652782e-05,1793237988126046464
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,717,681,663.004141004,637,881.004141004,788,804.004141004,653,632,653,0.434651807652,-0.00553555173403,0.0700268679341,0.999999994013,-6.91607877333e-05,6.26943437582e-05,-5.70985480219e-05,1793237988142713344
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,717,681,663.577003373,637,881.577003373,788,804.577003373,653,632,653,0.43538061271,-0.00553843904127,0.0700402835606,0.999999992681,-7.18107350332e-05,7.95583196696e-05,-5.6141630028e-05,1793237988159379968
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716.845607233,680.845607233,664,637,881.845607233,788,805,652.845607233,632,653,0.436105763812,-0.00554107094962,0.070045876408,0.999999992041,-7.38236737502e-05,8.57655140905e-05,-5.57967031643e-05,1793237988176046848
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716.255440157,680.255440157,664,637,881.255440157,788,805,652.255440157,632,653,0.436820601773,-0.00554298199407,0.0700293894276,0.999999993709,-7.40386533962e-05,6.18938968269e-05,-5.71791239272e-05,1793237988192714240
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.671411427,746,716,680.328588573,664,637,881.328588573,788,805,652,632,653,0.437515166928,-0.00554494603094,0.0700107556377,0.999999994505,-7.61650104315e-05,4.16397261535e-05,-5.87766167451e-05,1793237988209380864
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.092067089,746,716,680.907932911,664,637,881.907932911,788,805,652,632,653,0.438194261256,-0.0055469505078,0.0699904835543,0.999999994696,-7.97499967048e-05,2.4146138593e-05,-6.05382374005e-05,1793237988226046720
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.485292485,746,716,681.485292485,664,637,882,788,804.514707515,652,632,653,0.43882919147,-0.00554679936582,0.069962976555,0.999999994459,-8.30190797535e-05,-1.89768074921e-05,-6.18915226818e-05,1793237988242713344
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,682,664,636.938223045,882,788,804,652,632,653,0.439453431122,-0.00554577717194,0.0699350604904,0.999999992264,-8.51648275557e-05,-6.50587559742e-05,-6.31400206813e-05,1793237988259379968
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,682,664,636.365871768,882,788,804,652,632,653,0.440058280661,-0.00554092205051,0.0699150613914,0.999999990292,-7.85197371988e-05,-9.55743044686e-05,-6.41601167507e-05,1793237988276047360
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,682,664,636.212694288,882,788,804.212694288,652,632,653,0.440689342954,-0.00553848625224,0.0699166925191,0.999999990928,-7.43574388374e-05,-9.2041793937e-05,-6.43637125327e-05,1793237988292714240
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,682,664,636.80227257,882,788,804.80227257,652,632,653,0.441366852913,-0.00554033737816,0.0699566513651,0.999999994829,-7.45945284674e-05,-2.81777655146e-05,-6.3120509084e-05,1793237988309380608
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,682,664,637,882,788,804.613878275,652.386121725,632.386121725,653,0.442018515498,-0.00554567823088,0.0700016716089,0.999999994103,-8.08560527765e-05,3.92862274232e-05,-6.09282438525e-05,1793237988326046976
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716,682,664,637,882,788,804.032919978,652.967080022,632.967080022,653,0.44265713559,-0.00555277999584,0.0700492458317,0.999999988345,-9.01574996113e-05,0.000108566763881,-5.82570828749e-05,1793237988342713344
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716,682.543719492,663.456280508,636.456280508,882,788,804,652.456280508,632.456280508,653,0.443182073598,-0.00555703762099,0.0700344424139,0.999999991626,-8.65295922147e-05,7.74886995702e-05,-5.70629817446e-05,1793237988359379712
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716,682.88095221,663,636,881.88095221,788,804,652,632,653,0.443686506811,-0.00556001800784,0.0700097387718,0.999999994416,-8.35384587669e-05,3.15238569777e-05,-5.6522563366e-05,1793237988376046592
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,716,682.309619519,663,636,881.309619519,788,804,652,632,653,0.444138982279,-0.00555879499604,0.0699616576688,0.999999993463,-8.59171876108e-05,-4.80955775373e-05,-5.81285246806e-05,1793237988392713216
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,716,682,663,636,881.542870216,788,804,652,632,653,0.444588480991,-0.00555838602447,0.0699153760288,0.999999986384,-9.06888002037e-05,-0.000123902778945,-6.04543114922e-05,1793237988409379840
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,716,682,663,636,882.727982457,788,804,652,632,653,0.445034458027,-0.00555894010238,0.0698712232442,0.999999974093,-9.82913113583e-05,-0.000195199917278,-6.3631687099e-05,1793237988426046464
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,716,682,663,636,882.553877226,788,804,652,632,653,0.445478030179,-0.00556067261285,0.0698468780348,0.999999967465,-9.79462824022e-05,-0.000226104369568,-6.59822045524e-05,1793237988442713600
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716,682,663,635.974967407,882,787.974967407,804,652,632,653,0.445919078763,-0.00556281509403,0.069828755704,0.999999963065,-9.57126989372e-05,-0.000245136791734,-6.79453180643e-05,1793237988459380736
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716,682,663,635.398615961,882,787.398615961,804,652,632,653,0.446320327049,-0.00556625494781,0.0698177263898,0.999999956521,-0.000104030290048,-0.000267720472216,-6.68013480995e-05,1793237988476047104
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,716,682,662.818822747,635,882,787,804.181177253,652.181177253,632,653,0.446705749302,-0.00556865327276,0.0698056160434,0.999999948853,-0.000109682876676,-0.000293196166413,-6.55718661785e-05,1793237988492713728
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,716,682,662.231310592,635,882,787,804.768689408,652.768689408,632,653,0.447055677697,-0.00556871571065,0.0697910812158,0.999999939099,-0.000109358529058,-0.000325157915324,-6.41506026813e-05,1793237988509380096
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,716,682,662,635,882,787,805,652.648232916,632,653,0.447392675569,-0.00556674024173,0.0697665884766,0.999999924785,-0.000103806445435,-0.000368006229816,-6.50067388746e-05,1793237988526046720
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746,716,682,662,635,882,787,805,652.068034848,632,653,0.447721276635,-0.00556344139415,0.0697356292539,0.999999905903,-9.48595673569e-05,-0.000417924079512,-6.73417757046e-05,1793237988542713344
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.49025232,746,716,682,662,635,882,787,804.49025232,652,632,653,0.448035741628,-0.00555743914591,0.0697238486497,0.999999899903,-8.86086520802e-05,-0.000433054150769,-6.93317026137e-05,1793237988559379968
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766.660924245,746.660924245,716,682.660924245,662,635,882,787,804.660924245,652,632,653,0.448639051495,-0.00555339606542,0.0697196176193,0.999999897957,-9.66145053189e-05,-0.0004356911629,-7.01843030168e-05,1793237988592713472
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,747,716,683,661.758886559,635,882,787,804.758886559,652.241113441,632,653,0.448915517281,-0.00555536143179,0.0697214803472,0.999999898052,-0.000102382958057,-0.000434403181146,-6.86089109824e-05,1793237988609380352
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.860197999,745.860197999,716,682.860197999,663,636,882,787.860197999,804,653,632,653,0.442209156666,-0.00546815180099,0.0698201315698,0.999999957529,7.61629488871e-05,-0.00028042397153,2.24266190804e-05,1793237990608708352
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,715.015257574,682.984742426,663,636,881.015257574,787.015257574,804.015257574,652,632,653,0.441059121307,-0.00545327917148,0.0698404278739,0.999999967997,7.74114741131e-05,-0.000239753533617,2.305428269e-05,1793237990642041856
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,715.589100837,682.410899163,663,636,881.589100837,787.589100837,804.589100837,652,632,653,0.440429786584,-0.00544793204897,0.0698423038631,0.999999968944,7.92139874371e-05,-0.000235075289355,2.40087211647e-05,1793237990658708736
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,766.235541798,746,716,682,663,636,882,788,804.235541798,652.764458202,632,653,0.439054261116,-0.00543299934116,0.0697946517063,0.999999942631,0.000111521917752,-0.00031890354073,2.45195733685e-05,1793237990692041984
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,746,716,682,663,636,882,788,804,653,632,653,0.438347332831,-0.00542481201547,0.0697599524219,0.999999925026,0.000116549721944,-0.000368705005292,2.05269885115e-05,1793237990708708608
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746.500490985,716,682,663,636,881.499509015,788,804,653,632,653,0.436976277771,-0.00540809152491,0.0697456511492,0.999999920061,0.000120741088011,-0.000380964261877,1.28886176585e-05,1793237990742041856
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.664279404,746.335720596,716,682,663,636,881,788,804,652.335720596,632,653,0.435613014635,-0.00539885402093,0.0698128047798,0.999999951557,0.000133068652074,-0.000280839048942,1.75516644245e-05,1793237990775375104
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,636,881.247194717,788,804,652.247194717,632.247194717,653,0.434898019737,-0.00539875147849,0.0698369523735,0.999999960021,0.000134471164669,-0.000247886166079,2.06921831715e-05,1793237990792041984
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,636,881.82567399,788,804,652.82567399,632.82567399,653,0.434151168402,-0.00540023171016,0.069840475166,0.999999958217,0.00013812886885,-0.000252967778705,2.22153110235e-05,1793237990808709120
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,636.981672642,881.018327358,788,804,652.018327358,632.018327358,653,0.432637104859,-0.00540238394251,0.0698256218872,0.999999953031,0.000135442852911,-0.000274024819917,2.24344607579e-05,1793237990842042624
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,681.440073952,663,637,881,788,804,652.559926048,632,653,0.431891774961,-0.00539900410192,0.0698265820381,0.999999953101,0.000139705907402,-0.000271651901506,2.20405897306e-05,1793237990858708736
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,681.140027934,663,636.859972066,881,788,804,653,632,653.140027934,0.43111570155,-0.00539537053077,0.0698150427112,0.999999947392,0.0001436099131,-0.000290056143524,2.14354954498e-05,1793237990875375104
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,681.725980972,663,636.274019028,881,788,804,653,632,653.725980972,0.430240315249,-0.00539138621748,0.0697626209139,0.999999918468,0.000145693275247,-0.000376072556147,2.01841047212e-05,1793237990892041728
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,715.691169096,681.691169096,662.691169096,636.308830904,881,788,804,653,632.308830904,654,0.42942252722,-0.00539126961335,0.069744625377,0.999999907099,0.000146880133061,-0.000404769560922,1.97296121486e-05,1793237990908708608
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,715.464567144,681,662,637,881,788,804.464567144,652.535432856,632.535432856,653.535432856,0.427919416276,-0.00539485938466,0.0698082416694,0.999999942125,0.00014722191685,-0.000305818540785,2.34798687653e-05,1793237990942041856
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,662.080183338,636.959908331,881,788,804.959908331,652.040091669,632,653,0.427187931654,-0.00539446016209,0.0698651490684,0.999999964285,0.000147509664205,-0.0002211586505,2.75645769221e-05,1793237990958708480
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,663.258072086,636.370963957,881,788,804.370963957,652.629036043,632,653,0.426415829639,-0.005394000853,0.0698710697575,0.999999964391,0.000154004979206,-0.000216003841622,2.90270049931e-05,1793237990975374848
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,663.571007241,636,881,787.78550362,804,652.78550362,632,653,0.425616657466,-0.00539288841618,0.069863783742,0.999999960619,0.000157603681944,-0.000230361281603,2.92670887614e-05,1793237990992041472
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,662.411944806,636,881,787.205972403,804,652.205972403,632,653,0.424771416558,-0.0053906644716,0.0698340222558,0.999999948792,0.000156272864603,-0.000277925111183,2.74269592717e-05,1793237991008708352
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,662,636.950690567,881,787.950690567,803.049309433,652.950690567,632,653,0.423134611936,-0.00538606738158,0.0697916273307,0.999999925016,0.000159775278937,-0.000351820318393,2.57226920259e-05,1793237991042041600
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,662.52456249,636.47543751,881,788,803.52456249,653,632,653,0.42229446076,-0.00538172343979,0.0697473071767,0.999999893678,0.000162127835411,-0.00043102028446,2.40668068994e-05,1793237991058708224
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,662,636.746015894,881,788,804,653,632,653,0.420067063694,-0.00538298053762,0.0697962881008,0.999999928871,0.000172738564756,-0.000334322201573,2.54564970059e-05,1793237991108708608
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,662,636.149337854,881,788,804,653,632,653,0.419360662746,-0.00538840109397,0.0698609340116,0.999999958831,0.000161760640175,-0.000235325752899,2.81743498039e-05,1793237991125375232
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,662.430517653,636.430517653,881,788,804,653.430517653,632,653.430517653,0.418632016554,-0.00539110670199,0.0698797703557,0.999999965324,0.000159158046636,-0.000207625956215,3.01891234227e-05,1793237991142042368
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.088283072,636,881,788,804,653,632.911716928,653.911716928,0.414214549468,-0.0053781205904,0.0697731695728,0.999999912143,0.000178157536026,-0.000378550452846,2.5949707481e-05,1793237991242042368
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.876494216,788,804,653,632,654,0.408822917509,-0.00534046030382,0.0697897154941,0.999999911473,0.000232816057029,-0.000349662075359,2.4238648523e-05,1793237991392041984
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716.489593915,679.510406085,662,636.510406085,880,788,803,653,632,653.510406085,0.404282272941,-0.00537497908919,0.0698582628282,0.999999953463,0.000189491634012,-0.000237767143508,2.51845819869e-05,1793237991575375360
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.913381388,662,636.913381388,880,788,803.086618612,653,632.086618612,653.913381388,0.403968283031,-0.00537277265813,0.0698600817458,0.999999954727,0.00018703669511,-0.000234454308986,2.43641941453e-05,1793237991592041984
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.322919631,662,636.322919631,880,788,803.677080369,653,632.677080369,653.322919631,0.403675117884,-0.0053682136318,0.0698495471003,0.999999948543,0.000198581583014,-0.000250812319051,2.39397739377e-05,1793237991608708864
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,662.263211851,636.263211851,880,788,804.263211851,653,632.736788149,653,0.403395979256,-0.00536637543354,0.0698400730863,0.999999943801,0.000203264839818,-0.000265639001958,2.27541155266e-05,1793237991625375488
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,662.844116717,636.844116717,880,788,804.844116717,653,632.155883283,653,0.403133770456,-0.00536782123691,0.0698318792406,0.99999994104,0.000199666203407,-0.000278617393525,2.06496533037e-05,1793237991642041856
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.419772673,662.580227327,637,880.419772673,788,804.580227327,653,632,653,0.402897901265,-0.00536360978602,0.0698294321452,0.99999993885,0.000202393746852,-0.000284479652864,2.0185381427e-05,1793237991658708480
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.993503497,662.006496503,637,880.993503497,788,804.006496503,653,632,653,0.40267169254,-0.00535732344921,0.06982909276,0.999999936883,0.000207441515138,-0.000287731959852,2.03226748925e-05,1793237991675375360
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745.43229462,716,680,662.56770538,637,880.43229462,788,804,653,632,653,0.40247215665,-0.00535855872295,0.0698274923706,0.999999936666,0.000204040213324,-0.000290811327248,2.15336080202e-05,1793237991692041984
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745.145892261,716,680,663,636.854107739,879.854107739,788,803.854107739,653,632,653,0.402279981532,-0.00535920449401,0.0698250183339,0.999999935836,0.000201329059099,-0.000295430444495,2.2688788961e-05,1793237991708708608
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745.736201706,716,680,663,636.263798294,879.263798294,788,803.263798294,653,632,653,0.402109298284,-0.0053577921073,0.0698199269854,0.999999933082,0.000201015004885,-0.000304745982566,2.36366801835e-05,1793237991725375232
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.678443472,662.678443472,636.321556528,879.321556528,788,803.321556528,653,632,653,0.401955244711,-0.00535562546661,0.0698173310907,0.999999931019,0.000203916239176,-0.000309489122948,2.44349570405e-05,1793237991742041856
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.097091578,662.097091578,636.902908422,879.902908422,788,803.902908422,653,632,653,0.401814626743,-0.00535284944089,0.0698167513489,0.99999992954,0.000209415203488,-0.000310538084228,2.5112355973e-05,1793237991758708224
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745.521919765,716,679.478080235,662,637,880,788,804,652.521919765,632,653,0.40169565725,-0.00535153742282,0.0698171580058,0.999999929804,0.000212586637853,-0.000307457065575,2.58671162938e-05,1793237991775374848
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,767.641015571,745.641015571,716,679.358984429,662.641015571,636.358984429,880,788,804,652.641015571,632,653,0.40148851072,-0.00535126110318,0.0698200421228,0.999999921906,0.000255382387616,-0.000300591149947,2.47389746893e-05,1793237991808708352
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767.774799576,746,716,679.225200424,662.774799576,636.225200424,879.774799576,788,804,653,632,653,0.401400551224,-0.00535285128953,0.0698205759698,0.999999920501,0.000261937714546,-0.000299992532603,1.97883271941e-05,1793237991825374976
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767.196209886,746,716,679.803790114,662.196209886,636.803790114,879.196209886,788,804,653,632,653,0.401322627398,-0.00535600177757,0.0698185886447,0.999999929618,0.000220743145202,-0.00030321867893,9.70006667762e-06,1793237991842041600
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.382215546,636.617784454,879.764431091,788,804,653,632,653,0.401258569202,-0.00535620658147,0.0698177688636,0.999999932867,0.000207123684438,-0.000302184567962,7.05131500737e-06,1793237991858708224
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.960556673,636.039443327,880.921113346,788,804,653,632,653,0.401201625856,-0.00535489987163,0.0698175481824,0.999999933716,0.000207653791391,-0.000298964398846,8.21998556766e-06,1793237991875375104
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.534970148,880.465029852,788.534970148,804,653,632,653.534970148,0.401155913189,-0.00535526699438,0.0698190307291,0.999999934066,0.000207365933763,-0.000297951954325,9.61528422719e-06,1793237991892041728
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.887993484,662.887993484,636.887993484,880.112006516,788.887993484,803.887993484,653,632,653.887993484,0.401113413263,-0.00535575355059,0.0698207056979,0.999999934415,0.000207097059327,-0.000296919824713,1.09052951939e-05,1793237991908708352
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.298551632,662.298551632,636.298551632,880.701448368,788.298551632,803.298551632,653,632,653.298551632,0.401081104028,-0.0053562269835,0.0698226694917,0.999999934927,0.000207164297549,-0.000295115001927,1.16758045475e-05,1793237991925374720
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.286569418,662,636.286569418,881,788.286569418,803,653,632,653,0.401055984293,-0.00535570619113,0.0698246193137,0.999999935681,0.000208399162153,-0.000291651501996,1.21367438061e-05,1793237991942041344
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.867255936,662,636.867255936,881,788.867255936,803,653,632,653,0.401038243412,-0.00535416498757,0.0698265547962,0.999999936662,0.000210832406153,-0.000286485638358,1.2279959588e-05,1793237991958707968
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662,637,880.555590859,788.555590859,803,653,632,653,0.401025631528,-0.0053541020301,0.0698286106093,0.999999937831,0.00021121650753,-0.000282076977058,1.25863017405e-05,1793237991975374848
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.979732493,662,636.979732493,880,788,803,653,632,653,0.401014709029,-0.00535448877971,0.0698307275242,0.999999939042,0.000211000626378,-0.000277898277503,1.29301924593e-05,1793237991992041728
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.410583232,662,636.410583232,880,788,803,653,632,653,0.401008375477,-0.00535519078954,0.0698335334816,0.999999940157,0.000210981468746,-0.000273870445559,1.29818003131e-05,1793237992008708352
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,662.166064226,636,880,788,803,653,632,653,0.401002419317,-0.00535570434599,0.0698357894177,0.999999941211,0.00021037256994,-0.000270463200497,1.30448074391e-05,1793237992025374720
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,662.762127121,636,880,788,803,653,632,653,0.40099744036,-0.00535572993036,0.0698366211549,0.999999942143,0.000208236623895,-0.000268662873317,1.31373312861e-05,1793237992042041600
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,745.654165889,716,679,662.654165889,636.345834111,880,788,803.345834111,653,632,653,0.40099548315,-0.00535555557825,0.0698374678357,0.999999942656,0.000207921526763,-0.00026699491484,1.30871134912e-05,1793237992058708480
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,745.07866444,716,679,662.07866444,636.92133556,880,788,803.92133556,653,632,653,0.400995532673,-0.00535524844896,0.0698383244405,0.999999942892,0.000208815649716,-0.000265414862071,1.294210142e-05,1793237992075375104
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,745.49925238,716,679.49925238,662.49925238,636.50074762,880.49925238,788,803.50074762,653,632,653,0.400994203734,-0.00535514789387,0.0698390734346,0.99999994275,0.000210536881531,-0.000264573354982,1.32550192837e-05,1793237992092041728
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.921245465,636,880.921245465,788,803.078754535,653,632,653,0.400992820744,-0.00535560171298,0.0698398364847,0.999999942798,0.000211381186396,-0.000263699675614,1.36031864373e-05,1793237992108708352
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.333976452,636,880.333976452,788,803.666023548,653,632,653,0.400992497999,-0.00535942391366,0.069840800307,0.99999994446,0.000205717632225,-0.000261863222184,1.37107997282e-05,1793237992125375744
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.749439933,662.250560067,636,880,788,804,653,632,653,0.400992184879,-0.00535956422104,0.0698415551075,0.999999944841,0.000205372285905,-0.000260683520179,1.35601354518e-05,1793237992142042880
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.16850624,662.83149376,636,880,788,804,653,632,653,0.400991884451,-0.00535484980305,0.0698420343046,0.999999943538,0.000212039211914,-0.000260369771352,1.30689217247e-05,1793237992158709760
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.409492695,663,636,880,788,804,653,632,653.409492695,0.400991672127,-0.00535551118228,0.0698415470904,0.999999943402,0.000211998698886,-0.000260919575073,1.32042503964e-05,1793237992175375872
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.986292536,663,636,880,788,804,653,632,653.986292536,0.4009914958,-0.00535836896066,0.069840665028,0.999999943746,0.000209217715384,-0.000261822201985,1.35955666191e-05,1793237992192041984
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.444623415,636.555376585,880,788.555376585,804,653,632,654,0.400989601458,-0.00535748982184,0.0698403216478,0.999999943502,0.000208932068323,-0.000262991835503,1.33326251593e-05,1793237992208708608
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,745.869776044,716,680,662.130223956,637,880,788.869776044,804,653,632,654,0.400988458348,-0.0053566301625,0.0698403482283,0.999999943295,0.000209384240457,-0.000263431487538,1.31549773209e-05,1793237992225375232
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,745.273636674,716,680,662.726363326,637,880,788.273636674,804,653,632,654,0.400990152631,-0.00535616566405,0.0698416515376,0.999999943262,0.000212258851383,-0.000261236155982,1.33394757422e-05,1793237992242041856
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,745.31177785,716,680,663,637,880,788,804,653,632,654,0.400990793961,-0.00535600078479,0.0698422568705,0.999999943397,0.000213214407363,-0.000259938936796,1.32890056128e-05,1793237992258708480
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,745.888092541,716,680,663,637,880,788,804,653,632,654,0.400990541885,-0.00535609012601,0.0698422699854,0.999999943683,0.000212541686104,-0.000259403746871,1.30391696822e-05,1793237992275375360
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.535863892,663,637,880,788,804,653,632,653.535863892,0.400990875908,-0.00535657474188,0.0698432086694,0.999999944601,0.000209875568943,-0.000258034729283,1.29846000362e-05,1793237992292042240
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.039882705,662.960117295,637,880,788,803.960117295,653,632,653.039882705,0.400991252913,-0.00535719280633,0.0698442259737,0.999999945525,0.000207077576856,-0.000256707888414,1.30111986353e-05,1793237992308708864
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.612534406,662.387465594,637,880,788,803.387465594,653,632,653.612534406,0.40099031747,-0.00535832115959,0.0698433141565,0.999999944638,0.000208934594577,-0.00025862851305,1.34935222146e-05,1793237992325375232
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.807330936,662.192669064,636.807330936,880,788,803,653,632,653.807330936,0.400989815097,-0.0053584852241,0.0698427568303,0.999999944047,0.000210576277398,-0.000259568287871,1.37236776566e-05,1793237992342041600
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.211539552,662.788460448,636.211539552,880,788,803,653,632,653.211539552,0.400990218841,-0.00535663170327,0.0698429412068,0.999999944087,0.000211767414416,-0.000258455826709,1.34262206965e-05,1793237992358708224
+438,7.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.371480699,663,636.371480699,880,788,803,653,632,653,0.400990632434,-0.00535604595203,0.069843048767,0.999999944202,0.000211683535197,-0.000258086190162,1.32910857681e-05,1793237992375375104
+439,7.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.947470109,663,636.947470109,880,788,803,653,632,653,0.400991051448,-0.00535615813737,0.0698431140382,0.999999944359,0.000210897729994,-0.000258125495805,1.32453128883e-05,1793237992392041984
+440,7.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.480686594,637,880.519313406,788,803.519313406,653,632,653,0.400992319316,-0.00535715418647,0.069843833247,0.999999945012,0.00020929007686,-0.00025690663183,1.31630783266e-05,1793237992408708608
+441,7.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.094253583,637,880.905746417,788,804,653,632,653,0.400993409258,-0.00535805120423,0.069844523678,0.9999999456,0.000207903196391,-0.000255744021089,1.31033550353e-05,1793237992425375232
+442,7.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.687803133,637,880.312196867,788,804,653,632,653,0.400993105416,-0.00535795375599,0.0698447140303,0.999999945603,0.000208122723108,-0.000255548245336,1.31822652102e-05,1793237992442042368
+443,7.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880,788,804,653,632,653.274662034,0.400992761569,-0.00535770020339,0.0698449441694,0.999999945426,0.000208983674971,-0.000255537234848,1.32081698283e-05,1793237992458709504
+444,7.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880,788,804,653,632,653.854096762,0.400992373331,-0.00535727343301,0.0698452184571,0.999999945047,0.000210556370148,-0.000255731245091,1.31752579889e-05,1793237992475375616
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..54aaa7f85b9fb3735e5d47af331aad100ee14338
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,446 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+1,0.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+2,0.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+3,0.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+4,0.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+5,0.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+6,0.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+7,0.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+8,0.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+9,0.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+10,0.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+11,0.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+12,0.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+13,0.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+14,0.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+15,0.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+16,0.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+17,0.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+18,0.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+19,0.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+20,0.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+21,0.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+22,0.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+23,0.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+24,0.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+25,0.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+27,0.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+28,0.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+29,0.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+30,0.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+31,0.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+32,0.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+33,0.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+34,0.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+35,0.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+36,0.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+37,0.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+38,0.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+39,0.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+40,0.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+41,0.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+42,0.700000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+43,0.716666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+44,0.733333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+46,0.766666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+47,0.783333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+48,0.800000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+49,0.816666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+55,0.916666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+66,1.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+67,1.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+68,1.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+69,1.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+70,1.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+71,1.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+72,1.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+73,1.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+75,1.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+76,1.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+77,1.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+78,1.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+79,1.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+80,1.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+81,1.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+82,1.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+83,1.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+84,1.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+85,1.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+86,1.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+87,1.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+88,1.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+89,1.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+90,1.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+91,1.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+92,1.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+93,1.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+94,1.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+95,1.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+96,1.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+97,1.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+98,1.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+99,1.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+100,1.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+101,1.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..05dab063f507095aae2d12619e69ec21cfaf849e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d737c3c0f9ecf7b49dfe3460ef90ce48622f285a34d5bb80fb788bf3526e3531
+size 27748240
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..57b71a7f2fd19553ecd3f88b26eab27acb87df9e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_01/franka_data.csv
@@ -0,0 +1,439 @@
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+8,0.133333333,BASELINE,767,746,716.634438166,680,663,637,880,788,804,653,632,653,0.401053879542,-0.00549692118743,0.0798813221604,0.999999986919,0.000105710364139,-0.000114659386189,4.29086538947e-05,1793237993962852352
+9,0.150000000,BASELINE,767,746,716.785007678,680,663,637,880,788.214992322,804,653,632,653,0.401053317656,-0.00549659866197,0.0798810730991,0.999999986754,0.000106669373983,-0.000115180816417,4.29836197698e-05,1793237993979518976
+10,0.166666667,BASELINE,767,746,716.194628308,680,663,637,880,788.805371692,804,653,632,653,0.401052934258,-0.00549766329876,0.0798808722501,0.999999986811,0.000105249623047,-0.000115996848138,4.29493143873e-05,1793237993996185600
+11,0.183333333,BASELINE,767,746,716,680,663,637,880,788.611623015,804,653,632,653.388376985,0.401052607882,-0.00549842732149,0.0798807902037,0.999999986783,0.000105355841596,-0.00011609650341,4.30767168977e-05,1793237994012852224
+12,0.200000000,BASELINE,767,746,716,680,663,637,880,788.032244203,804,653,632,653.967755797,0.401052309549,-0.00549904350384,0.0798807665837,0.999999986713,0.000106212524055,-0.000115843848458,4.32836465253e-05,1793237994029519104
+13,0.216666667,BASELINE,767,746,716.542983677,680,662.457016323,636.457016323,880,788,803.457016323,653,632,653.457016323,0.401054204334,-0.00549841001944,0.0798826331934,0.999999987186,0.00010469486166,-0.00011314718195,4.31933420693e-05,1793237994046186240
+14,0.233333333,BASELINE,767,746,716.883188242,679.883188242,662.116811758,636.116811758,880,788,803.116811758,653,632,653.116811758,0.401055764319,-0.00549803240966,0.0798840027096,0.999999987602,0.000102880659043,-0.000111180064935,4.30285641856e-05,1793237994062853376
+15,0.250000000,BASELINE,767,746,716.31383526,679.31383526,662.68616474,636.68616474,880,788,803.68616474,653,632,653.68616474,0.401055526538,-0.00549893139941,0.07988301487,0.999999987706,0.000100459719264,-0.000112597297308,4.26431304174e-05,1793237994079519744
+16,0.266666667,BASELINE,767,746,716,679.268973995,662.731026005,636.731026005,880,788,804,653,632,654,0.401054956262,-0.00550003625762,0.0798822409649,0.99999998767,9.96801099154e-05,-0.000113550362308,4.27750222393e-05,1793237994096185856
+17,0.283333333,BASELINE,767,746,716,679.868310652,662.131689348,636.131689348,880,788,804,653,632,654,0.401053977604,-0.00550139397013,0.0798817298211,0.99999998747,0.000100916436448,-0.00011393332167,4.35423103001e-05,1793237994112852224
+18,0.300000000,BASELINE,767,746,716,680,662.4481312,636.4481312,880,788,803.5518688,653,632,653.5518688,0.40105401447,-0.00549890935607,0.0798819261722,0.999999987194,0.000104132125559,-0.000113579133913,4.32260607673e-05,1793237994129519104
+19,0.316666667,BASELINE,767,746,716,680,663,637,880,788,803.022519199,653,632,653,0.401054298727,-0.00549556481427,0.0798822935445,0.999999986906,0.000107643781554,-0.000113060016731,4.26319400673e-05,1793237994146185728
+20,0.333333333,BASELINE,767,746,716,680,663,637,880,788,803.598460123,653,632,653,0.401053634873,-0.00549767777152,0.079881967664,0.999999987153,0.000104730872431,-0.00011358907109,4.27075694978e-05,1793237994162852096
+21,0.350000000,BASELINE,767,746,716,680,662.821756271,636.821756271,879.821756271,788,804,653,632,653.178243729,0.401053190488,-0.00549905111022,0.0798817640918,0.999999987283,0.000102738606921,-0.000114220701659,4.28055157345e-05,1793237994179518976
+22,0.366666667,BASELINE,767,746,716,680,662.233125377,636.233125377,879.233125377,788,804,653,632,653.766874623,0.401053251408,-0.00549872155585,0.0798818421215,0.999999987164,0.000102866025474,-0.000115088502928,4.29548440263e-05,1793237994196185856
+23,0.383333333,BASELINE,767,746,716,680,662.350044563,636.350044563,879.350044563,788.350044563,804,653,632,653.649955437,0.401053355336,-0.00549835409602,0.0798819026716,0.999999987132,0.000103005692546,-0.000115227100316,4.30060104634e-05,1793237994212852736
+24,0.400000000,BASELINE,767,746,716,680,662.9296335,636.9296335,879.9296335,788.9296335,804,653,632,653.0703665,0.401053487467,-0.00549796177938,0.0798819517593,0.999999987156,0.000103153391688,-0.000114887516819,4.29928065355e-05,1793237994229519616
+25,0.416666667,BASELINE,767,745.49309816,716.50690184,680,663,637,880,788.49309816,804,652.49309816,632,653.50690184,0.401053966751,-0.00549685662313,0.0798823172274,0.999999987228,0.000103691988177,-0.000113837172892,4.28168521656e-05,1793237994246185984
+26,0.433333333,BASELINE,767,745.083491405,716.916508595,680,663,636.916508595,880,788,804,652.083491405,632,654,0.401054609273,-0.00549606986873,0.0798827872116,0.999999987306,0.000104262611698,-0.000112670364093,4.26934424154e-05,1793237994262852352
+27,0.450000000,BASELINE,767,745.657975277,716.342024723,680,663,636.342024723,880,788,804,652.657975277,632,654,0.401055929653,-0.00549773482994,0.0798836147297,0.999999987389,0.000104703924681,-0.000111396236908,4.30112900706e-05,1793237994279518976
+28,0.466666667,BASELINE,767,746,716,680,663,636.238776622,880,788,804,653,632,653.761223378,0.401056412371,-0.00549811928497,0.0798837093266,0.999999987303,0.000105588702802,-0.000111282820397,4.31344904961e-05,1793237994296185856
+29,0.483333333,BASELINE,767,746,716,680,663,636.828873036,880,788,804,653,632,653.171126964,0.401055662611,-0.00549661968961,0.0798827255526,0.999999986968,0.000107125965544,-0.000112877195238,4.29713001179e-05,1793237994312852224
+30,0.500000000,BASELINE,767,746,716,680,663,636.588470659,880,788,803.588470659,653,632,653,0.401054284176,-0.00549636580125,0.0798819010107,0.999999986851,0.00010636291319,-0.000114652894964,4.28933675591e-05,1793237994329518848
+31,0.516666667,BASELINE,767,746,716,680,663,636.008853261,880,788,803.008853261,653,632,653,0.40105264896,-0.00549662071861,0.0798811415068,0.999999986819,0.000104660303262,-0.000116502656314,4.2850258332e-05,1793237994346185728
+32,0.533333333,BASELINE,767,746,716,680,662.435055954,636.564944046,880,788,803.564944046,652.435055954,632,653.564944046,0.401053487091,-0.00549659794367,0.0798813435928,0.999999986881,0.000105700082547,-0.000115023952322,4.28274076626e-05,1793237994362852352
+33,0.550000000,BASELINE,767,746,716,680,662,637,880,788,803.859266932,652.140733068,632,653.859266932,0.401054187923,-0.00549657221436,0.0798816862529,0.999999986874,0.000106915528145,-0.000113936623317,4.28794673246e-05,1793237994379519232
+34,0.566666667,BASELINE,767,746,716,680,662,637,880,788,803.276945199,652.723054801,632,653.276945199,0.401054337561,-0.0054965507304,0.0798824232017,0.999999986652,0.000108548700603,-0.000114239340178,4.3165592737e-05,1793237994396185856
+35,0.583333333,BASELINE,767,746,716,680,662.308397888,637,880,788,803.308397888,653,632,653,0.401053580257,-0.00549737185302,0.0798822887318,0.999999986727,0.000106913010665,-0.000115138355453,4.31102885414e-05,1793237994412852224
+36,0.600000000,BASELINE,767,746,716,680,662.896481102,637,880,788,803.896481102,653,632,653,0.401052000449,-0.00549895713355,0.0798813639744,0.999999987057,0.000102312797231,-0.000116578152402,4.27453426624e-05,1793237994429518848
+37,0.616666667,BASELINE,767,746,716.472365421,680,663,637,880,788.472365421,804,653,632,653.472365421,0.401052579823,-0.00549731160533,0.0798819847181,0.999999986926,0.000104577069581,-0.000115698677007,4.27241418524e-05,1793237994446185472
+38,0.633333333,BASELINE,767,746,716.954114941,680,663,637,880,788.954114941,804.045885059,653,632,654,0.401053523616,-0.00549526468051,0.0798828053882,0.999999986709,0.000107916000423,-0.000114482682294,4.27720780852e-05,1793237994462851840
+39,0.650000000,BASELINE,767,746,716.377804276,680,663,637,880,788.377804276,804.622195724,653,632,654,0.401053347802,-0.00549655636827,0.079882120459,0.999999986766,0.000106725522874,-0.000115104171068,4.27703274024e-05,1793237994479518720
+40,0.666666667,BASELINE,767,746,716,680,663,637,880.202644467,788,804.594711067,653,632,654,0.401053513635,-0.00549732904542,0.0798819126159,0.999999986801,0.000106302263498,-0.000115178117938,4.27943496143e-05,1793237994496185344
+41,0.683333333,BASELINE,767,746,716,680,663,637,880.790968906,788,803.418062187,653,632,654,0.4010543297,-0.0054971139235,0.0798826127795,0.999999986798,0.000107339200412,-0.000114209964042,4.28674236925e-05,1793237994512851968
+42,0.700000000,BASELINE,767,746,716,680,663,637,880.62569069,788,803.37430931,653,632,654,0.401054525962,-0.00549693941075,0.0798828225191,0.999999986892,0.000106590336022,-0.000114093760635,4.28686555613e-05,1793237994529518592
+43,0.716666667,BASELINE,767,746,716,680,663,637,880.045097042,788,803.954902958,653,632,654,0.401054380646,-0.00549678727799,0.0798827619828,0.999999987036,0.000104857304677,-0.000114447072816,4.28302947103e-05,1793237994546185216
+44,0.733333333,BASELINE,767,746,716,680,663,637,880,788,803.468999872,653,632,653.468999872,0.40105419318,-0.00549614798814,0.0798829626857,0.999999986904,0.000106336476224,-0.000114214635054,4.28842079433e-05,1793237994562851840
+45,0.750000000,BASELINE,767,746,716,680.108779352,663,637,880,788,803.108779352,653,632,653,0.401053980811,-0.00549574080765,0.0798831239588,0.999999986755,0.00010784556174,-0.000114081382819,4.29624227334e-05,1793237994579518464
+46,0.766666667,BASELINE,767,746,716,680.695614752,663,637,880,788,803.695614752,653,632,653,0.401053674606,-0.00549653398441,0.0798830152621,0.99999998664,0.000108297261745,-0.000114600812774,4.31132853256e-05,1793237994596185088
+47,0.783333333,BASELINE,767,746,716.279170063,680.720829937,663,636.720829937,880,788,804,653,632,653,0.401053670172,-0.00549709717603,0.0798830213958,0.999999986737,0.00010743723888,-0.000114607087064,4.30000186432e-05,1793237994612851968
+48,0.800000000,BASELINE,767,746,716.859190626,680.140809374,663,636.140809374,880,788,804,653,632,653,0.401053990947,-0.00549741252187,0.0798831512776,0.999999987058,0.000105163624375,-0.000114060353916,4.26021103402e-05,1793237994629518848
+49,0.816666667,BASELINE,767,746,716.563154951,680,663,636,880,788,803.563154951,653,632,653.436845049,0.401053791185,-0.00549787921565,0.0798830359465,0.999999986994,0.000105420555211,-0.000114289638159,4.28486842336e-05,1793237994646185216
+50,0.833333333,BASELINE,767,746,716,680,663,636.013707659,880,788,803,653,632,653.986292341,0.401053431922,-0.00549837132646,0.0798828521781,0.999999986812,0.000106466860989,-0.000114747565961,4.32869685991e-05,1793237994662852096
+51,0.850000000,BASELINE,767,746,716,680,663,636.589209486,880,788,803,653,632,653.410790514,0.401053375212,-0.00549791652398,0.0798830855097,0.999999986846,0.000106615296686,-0.000114379891332,4.31142661933e-05,1793237994679518720
+52,0.866666667,BASELINE,767,746,716,680,663,637,880,788,803.168731787,653,632,653.168731787,0.401053586103,-0.00549794388086,0.0798832016364,0.999999986979,0.000105861822516,-0.000113980603327,4.29468161435e-05,1793237994696185344
+53,0.883333333,BASELINE,767,746,716,680,663,637,880,788,803.758281129,653,632,653.758281129,0.40105446439,-0.00549917374459,0.0798830254537,0.999999987353,0.000102858982578,-0.000113502471489,4.27924654948e-05,1793237994712851968
+54,0.900000000,BASELINE,767,746,716,679.658310262,663,636.658310262,880,788,803.658310262,653,632,654,0.401054959313,-0.00549821969198,0.0798830281019,0.999999987321,0.000103728825455,-0.000113009470992,4.27521886952e-05,1793237994729518592
+55,0.916666667,BASELINE,767,746,716,679.079169074,663,636.079169074,880,788,803.079169074,653,632,654,0.401055187823,-0.00549574796395,0.0798831550256,0.999999987,0.000107289923261,-0.000112506137793,4.27911855758e-05,1793237994746185472
+56,0.933333333,BASELINE,767,746,716,679.497456126,663,636.497456126,880,788,803,653,632,653.502543874,0.401053622907,-0.00549688446067,0.0798823829702,0.99999998681,0.000106860789818,-0.00011450331672,4.29976239068e-05,1793237994762852352
+57,0.950000000,BASELINE,767,745.924976753,716,680,663,636.924976753,880,788,803,653,632,653,0.401052323637,-0.00549805522978,0.0798817803775,0.999999986674,0.000106188248278,-0.000116252818537,4.31537616331e-05,1793237994779518720
+58,0.966666667,BASELINE,767,745.338268442,716,680,663,636.338268442,880,788,803,653,632,653,0.401054773037,-0.00549556292877,0.0798833044629,0.999999986781,0.0001081649574,-0.000113612564757,4.27859975308e-05,1793237994796185344
+59,0.983333333,BASELINE,767,745.245243587,716,680,663,636,880,788.245243587,803.245243587,653,632,653,0.40105499383,-0.0054948110658,0.0798835987669,0.999999986803,0.000108336818785,-0.000113272471902,4.27335660764e-05,1793237994812851968
+60,1.000000000,BASELINE,767,745.824403732,716,680,663,636,880,788.824403732,803.824403732,653,632,653,0.401052180215,-0.0054964289325,0.0798822186364,0.999999986712,0.000106051252085,-0.000116064211118,4.31104823632e-05,1793237994829518592
+61,1.016666667,BASELINE,767,746,716,680,663,636,880,788.597682124,803.597682124,653,632,653,0.401051560328,-0.00549722771491,0.0798816969423,0.999999986714,0.000105151111977,-0.000116917287369,4.29517501038e-05,1793237994846185216
+62,1.033333333,BASELINE,767,746,716,680,663,636,880,788.020310168,803.020310168,653,632,653,0.401051894962,-0.00549767010231,0.0798815487659,0.999999986761,0.000104853790305,-0.000116926824347,4.25599497205e-05,1793237994862851840
+63,1.050000000,BASELINE,767,746,716,680,663,636.554470988,880,788,803.554470988,653,632,653.554470988,0.401054158271,-0.00549841550069,0.0798829632044,0.999999987083,0.00010438245575,-0.000114464756535,4.28391786411e-05,1793237994879518720
+64,1.066666667,BASELINE,767,746,716,680,663,637,880,788,803.86732423,653,632,653.86732423,0.401055771584,-0.00549900951616,0.0798839414572,0.999999987269,0.000104430040812,-0.0001126933952,4.30817086098e-05,1793237994896185344
+65,1.083333333,BASELINE,767,746,716,680,663,637,880,788,803.276983855,653,632,653.276983855,0.401054900174,-0.0054990432281,0.0798832185643,0.999999986968,0.000106289522352,-0.000113615469308,4.31132524776e-05,1793237994912851968
+66,1.100000000,BASELINE,767,746,716,680,662.692383526,637,880,788,803.307616474,653,632,653,0.401053810968,-0.00549898331515,0.0798826871312,0.999999986876,0.000106267830574,-0.000114480897177,4.30066919837e-05,1793237994929518848
+67,1.116666667,BASELINE,767,746,716,680,662.112857004,637,880,788,803.887142996,653,632,653,0.401052529247,-0.00549884064476,0.0798823249343,0.99999998697,0.000104583321609,-0.000115296253939,4.27780575194e-05,1793237994946185472
+68,1.133333333,BASELINE,767,746,716,680,662.463164015,637,880,788,803.536835985,652.536835985,632,653.463164015,0.401052698555,-0.00549704644438,0.0798824623483,0.99999998673,0.000106886278434,-0.000115254646334,4.28019346632e-05,1793237994962852096
+69,1.150000000,BASELINE,767,746,716,680,663,636.961622324,880,788,803.038377676,652.038377676,632,653.961622324,0.401053158793,-0.00549511957829,0.0798827127716,0.999999986439,0.000109789790679,-0.000115022962412,4.28620251284e-05,1793237994979518464
+70,1.166666667,BASELINE,767,746,716,680,663,636.385843624,880,788,803.614156376,652.614156376,632,653.385843624,0.401052779149,-0.00549692775146,0.0798828537739,0.999999986689,0.000107599678264,-0.000115031676363,4.2574102587e-05,1793237994996185344
+71,1.183333333,BASELINE,767,746,716.193444253,680,663,636.193444253,880,788.193444253,804,653,632,653,0.401052539901,-0.00549797718529,0.0798829391551,0.999999986825,0.000106335951668,-0.000115040301007,4.25291776025e-05,1793237995012852224
+72,1.200000000,BASELINE,767,746,716.779860957,680,663,636.779860957,880,788.779860957,804,653,632,653,0.401052585859,-0.00549748527796,0.0798829115448,0.999999986739,0.000106954131736,-0.000115048744231,4.29778901061e-05,1793237995029518848
+73,1.216666667,BASELINE,767,746,716.635599947,680,662.635599947,637,879.635599947,788.635599947,803.635599947,653,632,653,0.401053479493,-0.00549721534524,0.0798833226736,0.999999986787,0.000107506750024,-0.000114048087843,4.31375995848e-05,1793237995046185472
+74,1.233333333,BASELINE,767,746,716.052189358,680,662.052189358,637,879.052189358,788.052189358,803.052189358,653,632,653,0.401054882593,-0.00549707882301,0.079883997492,0.999999986915,0.000108019964549,-0.000112440945688,4.31236133783e-05,1793237995062851840
+75,1.250000000,BASELINE,767,746,716,680,662.522098177,637,879.522098177,788,803,653,632,653.522098177,0.401054036255,-0.00549620004371,0.0798830903239,0.999999986607,0.000109322108405,-0.00011398472293,4.29138789482e-05,1793237995079518720
+76,1.266666667,BASELINE,767,746,716,680,663,637,880,788,803,653,632,654,0.40105301471,-0.00549561961198,0.0798821928737,0.999999986359,0.000109916619335,-0.000115639083993,4.27570732694e-05,1793237995096185344
+77,1.283333333,BASELINE,767,746,716,680,663,637,880,788,803,653,632,654,0.401052222317,-0.00549689729788,0.079882121904,0.999999986635,0.000106581688815,-0.000116297620288,4.29614104987e-05,1793237995112851968
+78,1.300000000,BASELINE,767,746,716,680,663,637,880.268565799,788,803.268565799,653,632,653.731434201,0.401052196268,-0.00549763344271,0.07988231018,0.999999986862,0.000105060564237,-0.000115700454597,4.30364144096e-05,1793237995129518848
+79,1.316666667,BASELINE,767,746,716,680,663,637,880.848002099,788,803.848002099,653,632,653.151997901,0.401053057277,-0.00549774274239,0.0798827985385,0.999999987039,0.000105638958006,-0.000113649787688,4.29617122995e-05,1793237995146185472
+80,1.333333333,BASELINE,767,746,716.426504974,680,663,636.573495026,880.573495026,788.426504974,804,653,632,653.426504974,0.401052909213,-0.00549827508201,0.0798826576916,0.999999986993,0.000105728811333,-0.000113951704772,4.30181301576e-05,1793237995162852096
+81,1.350000000,BASELINE,767,746,716.995342616,680,662.995342616,636.004657384,880.004657384,788.995342616,804,653,632.004657384,654,0.401052399867,-0.00549894176257,0.0798822932223,0.999999986866,0.000105657780098,-0.000115089514084,4.3119569008e-05,1793237995179518720
+82,1.366666667,BASELINE,767,746,716.419469656,680,662.419469656,636.580530344,880.580530344,788.419469656,804,653,632.580530344,654,0.401051589683,-0.00549763469116,0.0798819439758,0.999999986588,0.000107161705418,-0.000116142553312,4.3024094665e-05,1793237995196185344
+83,1.383333333,BASELINE,767,746,716,680,662.155681118,636.844318882,880.844318882,788,803.844318882,653,632.844318882,654,0.401051175887,-0.0054967225115,0.0798816850065,0.999999986407,0.000108100018602,-0.000116880780061,4.2876690928e-05,1793237995212852224
+84,1.400000000,BASELINE,767,746,716,680,662.728895134,636.271104866,880.271104866,788,803.271104866,653,632.271104866,654,0.401051825194,-0.00549686942148,0.0798816681582,0.999999986494,0.000107521374393,-0.000116774687778,4.25900138229e-05,1793237995229518848
+85,1.416666667,BASELINE,767,746,716,680,663,636.313251587,880,788,803.313251587,653,632,653.686748413,0.401051910762,-0.00549711249147,0.0798819641848,0.999999986539,0.000107422893353,-0.000116515687203,4.24913424362e-05,1793237995246185472
+86,1.433333333,BASELINE,767,746,716,680,663,636.907606934,880,788,803.907606934,653,632,653.092393066,0.401051490444,-0.00549744185292,0.079882540977,0.999999986547,0.000107755298183,-0.000116119470742,4.25613824689e-05,1793237995262852352
+87,1.450000000,BASELINE,767,745.5135271,716,680,663,637,880,788.4864729,804,653,632,653.4864729,0.401051393133,-0.00549712630691,0.0798828646634,0.999999986532,0.000107700883943,-0.000116221097325,4.27638326564e-05,1793237995279518976
+88,1.466666667,BASELINE,767,745.061951489,716,679.938048511,663,637,880,789,804,653,632,653.938048511,0.401051436538,-0.00549684324431,0.0798830480892,0.999999986527,0.000107520222051,-0.000116366593066,4.29375103835e-05,1793237995296185600
+89,1.483333333,BASELINE,767,745.63302241,716,679.36697759,663,637,880,789,804,653,632,653.36697759,0.401052147757,-0.00549780264569,0.079882461707,0.999999986635,0.000106887171556,-0.00011611954864,4.26744458787e-05,1793237995312852224
+90,1.500000000,BASELINE,767,746,716.212138201,679.212138201,663,637.212138201,880,789,804,653,632,653.212138201,0.401052672781,-0.00549849755214,0.0798823684307,0.999999986804,0.000105939462842,-0.000115580828572,4.25510186469e-05,1793237995329518592
+91,1.516666667,BASELINE,767,746,716.805719306,679.805719306,663,637.805719306,880,789,804,653,632,653.805719306,0.401052863008,-0.00549871687366,0.0798831618015,0.99999998708,0.000104425971401,-0.000114517650403,4.26786713826e-05,1793237995346185216
+92,1.533333333,BASELINE,767,746,716.61049753,680,663,637.61049753,880,788.61049753,804,653,632,653.61049753,0.401052690067,-0.00549803819233,0.079883103028,0.999999987024,0.000104829404183,-0.000114677217124,4.25664710908e-05,1793237995362851840
+93,1.550000000,BASELINE,767,746,716.031481528,680,663,637.031481528,880,788.031481528,804,653,632,653.031481528,0.401052340427,-0.00549692258521,0.0798826296413,0.999999986806,0.000106165521746,-0.000115431713743,4.23375696398e-05,1793237995379518720
+94,1.566666667,BASELINE,767,746,716,680,663,637,880,788,804,653,632,653.544391583,0.401052553996,-0.00549677249,0.0798828298906,0.999999986722,0.000107381005034,-0.000115016279623,4.23825711235e-05,1793237995396185344
+95,1.583333333,BASELINE,767,746,716,680,663,636.877532196,880,788,804,653,632,654,0.401052737638,-0.00549669925296,0.0798830465322,0.99999998661,0.000108738440687,-0.000114662494293,4.253138024e-05,1793237995412851968
+96,1.600000000,BASELINE,767,746,716,680,663,636.290411411,880,788,804,653,632,654,0.401052684875,-0.00549670699765,0.0798831784159,0.999999986363,0.000110660771826,-0.00011479782742,4.30142927592e-05,1793237995429518592
+97,1.616666667,BASELINE,767,746,716,680,663,636.293318254,880,788.293318254,804,653,632,654,0.401052139732,-0.00549604612975,0.0798823739711,0.999999986167,0.000111310127387,-0.000115890906517,4.29465397719e-05,1793237995446185216
+98,1.633333333,BASELINE,767,746,716,680,663,636.873728744,880,788.873728744,804,653,632,654,0.401051112661,-0.00549473084134,0.0798806530727,0.999999986022,0.000110713527626,-0.000117921402316,4.23398097575e-05,1793237995462851840
+99,1.650000000,BASELINE,767,746,716,680,663,636.547830681,880,788.547830681,803.547830681,653,632,654,0.401051197182,-0.00549443462124,0.0798814072303,0.999999986163,0.000110286266551,-0.000117129073696,4.23210176976e-05,1793237995479518464
+100,1.666666667,BASELINE,766.970185941,746.029814059,716.029814059,680,663,636.029814059,880,788,803.029814059,653,632,653.970185941,0.401051598898,-0.00549456187392,0.0798827724907,0.99999998638,0.000109851221813,-0.000115615706535,4.24822473819e-05,1793237995496185344
+101,1.683333333,BASELINE,766.397062414,746.602937586,716.602937586,680,663,636.602937586,880,788,803.602937586,653,632,653.397062414,0.40105214864,-0.00549724267372,0.0798827331969,0.999999986558,0.000108416312421,-0.000115265609581,4.29450427892e-05,1793237995512852224
+102,1.700000000,BASELINE,766.181066213,746.818933787,716.818933787,680,663,637,880.181066213,788,804,653,632,653.181066213,0.401052624233,-0.00549886674893,0.0798827594195,0.999999986686,0.000107356038831,-0.00011504992075,4.31898388693e-05,1793237995529519104
+103,1.716666667,BASELINE,766.770482529,746.229517471,716.229517471,680,663,637,880.770482529,788,804,653,632,653.770482529,0.401052932603,-0.00549810764258,0.0798829333982,0.99999998671,0.000107140663921,-0.000115137356275,4.29429912713e-05,1793237995546185472
+104,1.733333333,BASELINE,767,746,716.354455254,680,663.354455254,637,880.645544746,788.354455254,804,653.354455254,632,654,0.401052918964,-0.00549831890912,0.0798827661839,0.999999986894,0.000105207391621,-0.000115402075455,4.27333335309e-05,1793237995562852096
+105,1.750000000,BASELINE,767,746,716.934956508,680,663.934956508,637,880.065043492,788.934956508,804,653.934956508,632,654,0.40105269997,-0.00549914900943,0.0798823813813,0.999999987172,0.000102178568231,-0.000115779853374,4.25473927755e-05,1793237995579518720
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,880,788,804,653,632,653,0.401052782313,-0.00549613958426,0.0798834682092,0.999999986536,0.0001079678671,-0.000116068890908,4.24228028571e-05,1793237995610539264
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.590785672,880.590785672,788,803.409214328,653,632,653,0.401052885645,-0.00549753074832,0.0798831392231,0.99999998671,0.000106846191545,-0.000115532176746,4.26255338561e-05,1793237995627205888
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.821775377,788.178224623,803,653,632,653.178224623,0.401052197607,-0.00549835409354,0.0798822505507,0.999999986653,0.000106744226845,-0.000116076997924,4.27340269573e-05,1793237995643872512
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.241878948,788.758121052,803,653,632,653.758121052,0.401049726025,-0.0054978977235,0.079880100491,0.99999998607,0.000108940424178,-0.000119059317514,4.26301324596e-05,1793237995660539136
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788.663709396,803.336290604,653,632,653.663709396,0.40105014476,-0.00549717595261,0.0798806607785,0.999999986147,0.000108861041677,-0.000118546788335,4.24582659423e-05,1793237995677205760
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788.0867756,803.9132244,653,632,653.0867756,0.401052631751,-0.00549626426593,0.0798831605391,0.999999986693,0.000107153297181,-0.000115533411331,4.22377599405e-05,1793237995693872640
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.513744659,880,788,804,653,632,653,0.401052492989,-0.00549632381364,0.079882949027,0.999999986507,0.000108801976019,-0.000115477004856,4.2579725829e-05,1793237995710539264
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,880.060376053,788,804,653,632,653,0.401051888733,-0.00549655238327,0.0798822917179,0.999999986242,0.000110505586639,-0.000116022291798,4.2942351647e-05,1793237995727205632
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,880.65010951,788,804,653,632,653,0.401051278852,-0.00549675533867,0.0798819342262,0.999999986442,0.000107481005385,-0.000117253241009,4.26130522012e-05,1793237995743872256
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.23676617,880.76323383,788,804.23676617,653,632,653,0.401051280529,-0.00549707479733,0.07988210779,0.999999986415,0.000105989798637,-0.000118864073977,4.25221623121e-05,1793237995760539136
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.81893425,880.18106575,788,804.81893425,653,632,653,0.401052174368,-0.0054975642146,0.0798830560741,0.999999986065,0.000106735526946,-0.000121029093168,4.27790717865e-05,1793237995777205760
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.603853798,880,788,804.603853798,653,632,653.396146202,0.401057257328,-0.00549731792084,0.0798852706076,0.999999985661,0.000107902632034,-0.000123198104727,4.30904135637e-05,1793237995793872384
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.028879093,880,788,804.028879093,653,632,653.971120907,0.401064231345,-0.0054967395121,0.0798880567521,0.99999998523,0.000109259955288,-0.000125368918711,4.34263272184e-05,1793237995810539008
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.444043846,716,679.444043846,663,636.555956154,880,788,804,653,632,653.444043846,0.40109412821,-0.00549887493166,0.0799002073226,0.999999987215,0.000105906560273,-0.000111658056745,4.34252166015e-05,1793237995827206656
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745.140131021,716,679.140131021,662.859868979,637,880.140131021,788,803.859868979,653,632.140131021,653,0.401129759154,-0.0055005321596,0.0799134840234,0.999999989057,0.000103955989048,-9.58651155207e-05,4.34577484718e-05,1793237995843873792
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.720592385,716,679.720592385,662.279407615,637,880.720592385,788,803.279407615,653,632.720592385,653,0.401179599013,-0.00550023581437,0.0799287432295,0.999999990401,0.000107196268386,-7.61688010626e-05,4.3651998503e-05,1793237995860539904
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.700032172,746,716,680,662.299967828,636.700032172,880.700032172,788,803,653,632.700032172,653.299967828,0.401234505257,-0.00550121062918,0.0799394682647,0.999999991403,0.00010725603165,-6.19462847515e-05,4.30454780185e-05,1793237995877206272
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.121664608,746,716,680,662.878335392,636.121664608,880.121664608,788,803,653,632.121664608,653.878335392,0.401294113603,-0.00550336520594,0.0799459851412,0.999999992291,0.000104363962055,-5.28039943256e-05,4.16957634941e-05,1793237995893872640
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.453395426,746,716,680,662.546604574,636.453395426,880,788,803,653,632,654,0.401364066397,-0.00550307056397,0.0799492682486,0.999999992697,0.000103343082658,-4.84202391822e-05,3.97688291822e-05,1793237995910539264
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680,662,636.971823171,880,788,803.028176829,653,632,653.971823171,0.401437735571,-0.00550224165404,0.0799516955625,0.999999992978,0.000102829337609,-4.53236031364e-05,3.76408604226e-05,1793237995927206144
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,662,636.385098558,880,788,803.614901442,653,632,653.385098558,0.401530447547,-0.00550375578085,0.0799542353743,0.999999993243,0.000102487132745,-4.26126483693e-05,3.45759707108e-05,1793237995943872768
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,662,636.199207718,880,788,803.800792282,653,632,653,0.401630770532,-0.00550499060937,0.0799577675155,0.999999993643,0.00010107553891,-3.88591157696e-05,3.14156459125e-05,1793237995960539392
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680,662,636.77889499,880,788,803.22110501,653,632,653,0.40174563026,-0.00550569198809,0.0799631949696,0.999999994293,9.76214507671e-05,-3.31142974423e-05,2.80730438938e-05,1793237995977206528
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,679.641726263,662.358273737,637,880,788,803.358273737,653,632,653,0.401876718817,-0.00550632377013,0.0799685797068,0.999999994754,9.60533003647e-05,-2.62192387326e-05,2.40551174646e-05,1793237995993873408
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,679.062537699,662.937462301,637,880,788,803.937462301,653,632,653,0.40201781423,-0.00550691263829,0.079973938105,0.99999999506,9.56480358974e-05,-1.8614930838e-05,1.96207795688e-05,1793237996010540288
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,679.509657658,663,637,880.509657658,788,804,653,632,653.509657658,0.402173340746,-0.00550994572078,0.0799776719162,0.999999995667,9.08679964197e-05,-1.34432676372e-05,1.51170669345e-05,1793237996027206400
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.916010899,880.916010899,788,804,653,632,654,0.402334341445,-0.00551313298952,0.0799805603565,0.999999996267,8.52279045456e-05,-9.71746584511e-06,1.03622628755e-05,1793237996043872768
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.323625319,880.323625319,788,804,653,632,654,0.402517904494,-0.00551546270003,0.0799795219926,0.999999996898,7.75871902366e-05,-1.29612498405e-05,4.13839993026e-06,1793237996060539392
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.262199685,879.737800315,788,804,653,632,653.737800315,0.402706828411,-0.00551747839746,0.079975365717,0.999999997453,6.73885151417e-05,-2.33767283667e-05,-2.67824965746e-06,1793237996077206016
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.840124792,879.159875208,788,804,653,632,653.159875208,0.402902207556,-0.00551911597871,0.0799674550358,0.999999997584,5.41096947094e-05,-4.24279389969e-05,-1.02086976446e-05,1793237996093872896
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.584487292,879.415512708,788,803.584487292,653,632,653,0.403129958475,-0.00552317561221,0.0799653931259,0.999999998413,2.67136877845e-05,-4.66614884186e-05,-1.68440871879e-05,1793237996110539520
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.01006969,879.98993031,788,803.01006969,653,632,653,0.403370089355,-0.00552816151328,0.0799655679671,0.999999998691,-6.08116706052e-06,-4.52283059908e-05,-2.31371785463e-05,1793237996127206400
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.420444913,746,716,680,663,636,880,788,803.579555087,653,632,653,0.403645542634,-0.00553984718772,0.0799678040518,0.999999998824,-1.34583267195e-05,-4.08588052604e-05,-2.24040342789e-05,1793237996143873280
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.166582881,746,716,680,663,636,880,788,804,653,632,653.166582881,0.403934014195,-0.00555117948885,0.0799701136345,0.999999998828,-2.14327145157e-05,-3.75733770408e-05,-2.17616647501e-05,1793237996160539648
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.746493657,746,716,680,663,636,880,788,804,653,632,653.746493657,0.404253223058,-0.00556133837781,0.0799725143252,0.999999998565,-3.20142560233e-05,-3.71077641398e-05,-2.16555956025e-05,1793237996177206272
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.324881369,879.675118631,788.324881369,804,653,632,653.675118631,0.404587870871,-0.00556406884651,0.0799730979523,0.999999998125,-4.39046389116e-05,-3.56706817706e-05,-2.34493012537e-05,1793237996193872640
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.902086235,879.097913765,788.902086235,804,653,632,653.097913765,0.404934509585,-0.00556102993349,0.0799722703326,0.999999997469,-5.68115522387e-05,-3.34790944818e-05,-2.67184926172e-05,1793237996210539520
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,680,662.523118361,637,879.476881639,788.523118361,804,653,632,653,0.405305588859,-0.00555970109357,0.0799711308756,0.999999997956,-4.83042906604e-05,-3.19038278213e-05,-2.71345125297e-05,1793237996227206144
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680,662.052565784,637,880.052565784,788,804,653,632,653,0.405683319248,-0.00555893708636,0.0799693033,0.999999998406,-3.76413443919e-05,-3.19953349035e-05,-2.73406360528e-05,1793237996243872768
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,680,662.642364076,637,880.642364076,788,804,653,632,653,0.406077996873,-0.00556037536757,0.0799610940935,0.999999997131,-4.96568942623e-05,-4.78347945906e-05,-3.13586297044e-05,1793237996260539648
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.772097416,788,803.772097416,653,632,653,0.406493836472,-0.00556071798537,0.0799547919423,0.999999996433,-4.93462394803e-05,-6.03451587429e-05,-3.25170207149e-05,1793237996277206528
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.193120953,788,803.193120953,653,632,653,0.406942275133,-0.00555937278193,0.0799514275262,0.999999996827,-3.00476093292e-05,-6.7727197101e-05,-2.92703197357e-05,1793237996293873152
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.38296169,653,632,653,0.40740300377,-0.00555904163183,0.0799521563289,0.999999996742,-2.96858779213e-05,-6.85873018787e-05,-3.04959805383e-05,1793237996310539776
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.957595957,653,632,653,0.407869883533,-0.00555921801612,0.0799549337906,0.99999999648,-3.8802077357e-05,-6.61831743975e-05,-3.39600614503e-05,1793237996327206144
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,653,632,653,0.408363109204,-0.0055600184201,0.0799490469862,0.999999995655,-4.00931450989e-05,-7.66280683463e-05,-3.48055479606e-05,1793237996343873024
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.110174121,788,804,652.889825879,632,653,0.408868470107,-0.00556069026235,0.0799460525242,0.999999995171,-4.01187705673e-05,-8.23539968869e-05,-3.55794693849e-05,1793237996360539904
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.70073643,788,804,652.29926357,632,653,0.409417591311,-0.00556058476163,0.0799586793404,0.999999996633,-3.73451264189e-05,-6.30403361365e-05,-3.69510281143e-05,1793237996377206272
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716.286138123,680,663,636.713861877,880.713861877,788.286138123,804,652.286138123,632,653,0.410007322198,-0.00556082608336,0.0799791288118,0.99999999806,-4.09731971698e-05,-2.76624899723e-05,-3.79014546466e-05,1793237996393873408
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716.866238168,680,663,636.133761832,880.133761832,788.866238168,804,652.866238168,632,653,0.410638773214,-0.0055614237106,0.0800076148328,0.999999997659,-5.1178022777e-05,2.42187827095e-05,-3.84192341769e-05,1793237996410541056
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716.55907867,680.44092133,663,636.44092133,880,788.55907867,804,653,632,653.44092133,0.411229938321,-0.00556055873265,0.0800092868761,0.999999997718,-4.88949066614e-05,2.52152291613e-05,-3.92014268831e-05,1793237996427207680
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716.014377605,680.985622395,663,637,880,788,804.014377605,653,632,653.985622395,0.411808884291,-0.00555916110882,0.0800022775871,0.999999998222,-4.29638591502e-05,1.00869509207e-05,-4.01163976629e-05,1793237996443874560
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716.603689903,680.396310097,663,637,880,788,804.603689903,653,632,653.396310097,0.412381994708,-0.00555399171809,0.0799694547995,0.999999997434,-4.08134584436e-05,-4.00388646237e-05,-4.31722124069e-05,1793237996460540160
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716.809951228,680.190048772,663,637,880,788,804.809951228,653,632,653,0.41298353058,-0.00554936611404,0.0799439993285,0.999999995295,-4.0271821569e-05,-7.49904228655e-05,-4.65204264971e-05,1793237996477206016
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716.229656957,680.770343043,663,637,880,788,804.229656957,653,632,653,0.413643435151,-0.00554585712003,0.0799336718825,0.999999994697,-4.30336151497e-05,-7.87832102249e-05,-5.04690524085e-05,1793237996493872640
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.651776736,746,716,681,663,637,880.348223264,788,804,653,632,653.348223264,0.414340556727,-0.00554525082318,0.0799448556737,0.999999996125,-4.55733053172e-05,-5.48753233478e-05,-5.15853444556e-05,1793237996510539520
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.075477668,746,716,681,663,637,880.924522332,788,804,653,632,653.924522332,0.4150620543,-0.00554654570614,0.0799701286812,0.999999997475,-4.79675242324e-05,-1.28243246962e-05,-5.08465424678e-05,1793237996527206144
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.499402892,746,716,681,663,637,881,788,804,653,632,653.500597108,0.415759066216,-0.00554676992842,0.0799845231234,0.999999997495,-4.98666463269e-05,4.21143571127e-06,-5.00639882475e-05,1793237996543873536
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663,637,881,788,804,652.92393056,632,653,0.416448711781,-0.00554652687249,0.0799925034974,0.999999997404,-5.12097542006e-05,1.03809325988e-05,-4.96186861699e-05,1793237996560540928
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663,637,881,788,804,652.333748939,632,653,0.417113511756,-0.00554421625969,0.0799682150351,0.999999996966,-4.9299343874e-05,-3.14094467829e-05,-5.14972530745e-05,1793237996577207552
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636.747660136,881,788,804,652.252339864,632,653,0.417832639688,-0.0055441824306,0.0799649353451,0.999999996824,-4.9865488487e-05,-3.20794526199e-05,-5.32562845649e-05,1793237996593873408
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636.166898083,881,788,804,652.833101917,632,653,0.418622475948,-0.00554711185193,0.0799889987233,0.99999999684,-5.36548872917e-05,2.07690043611e-05,-5.48597400803e-05,1793237996610539520
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,681.409806479,663,636,881,788,804.409806479,653,631.590193521,653,0.419398622517,-0.00554907200883,0.080000671807,0.999999995756,-5.84374994325e-05,4.51126497714e-05,-5.51199839841e-05,1793237996627206144
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716,681.984874749,663,636,881,788,804.984874749,653,631.015125251,653,0.420169248425,-0.00555064129235,0.0800073482813,0.999999994793,-6.36206424189e-05,5.79612169472e-05,-5.48385537169e-05,1793237996643872512
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,716,681.43409727,663,636.56590273,881,788,804.43409727,653,631.56590273,653.56590273,0.420880431256,-0.00555194639014,0.079989532659,0.99999999605,-6.45409793614e-05,2.65525367991e-05,-5.50422810177e-05,1793237996660540416
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636.85275532,881,788,804,652.85275532,632,653.85275532,0.42160993837,-0.00555240037014,0.0799796924405,0.999999996352,-6.46382622594e-05,8.43835743398e-06,-5.51995156842e-05,1793237996677207808
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636.270961913,881,788,804,652.270961913,632,653.270961913,0.422398262798,-0.00555036359036,0.0799953417134,0.999999995968,-6.26463702177e-05,3.30870404772e-05,-5.51808654313e-05,1793237996693874432
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,681.309129213,663,636.309129213,881,788,804.309129213,652.309129213,632,653,0.423194560506,-0.00554978713256,0.0800137328818,0.999999994803,-6.14005219949e-05,6.0668482304e-05,-5.42503815334e-05,1793237996710541056
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,681.887736373,663,636.887736373,881,788,804.887736373,652.887736373,632,653,0.42399780874,-0.00555048368484,0.0800345142485,0.999999992649,-6.08050244194e-05,9.08065036438e-05,-5.25250226965e-05,1793237996727207424
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,681.540884499,663,637,881,788,804.540884499,653,632,653,0.424735916976,-0.00554906504124,0.0800043044871,0.999999996322,-6.04764592488e-05,2.82678441363e-05,-5.3855926927e-05,1793237996743873536
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636.970003061,881,788,804.029996939,653,632,653,0.42546069919,-0.00554714281688,0.079962944489,0.999999995214,-6.03527623977e-05,-5.28814776951e-05,-5.5975536336e-05,1793237996760539392
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636.375753848,881,788,804.624246152,653,632,653,0.42622978312,-0.00554532619161,0.0799427450319,0.999999994201,-6.28739791831e-05,-6.44410440938e-05,-5.90914582143e-05,1793237996777206784
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,681.213399328,663,636.213399328,881,788,804.786600672,653,632,653,0.427005281423,-0.00554509531857,0.079934180169,0.999999993889,-6.47005605461e-05,-6.58868015657e-05,-6.07813474331e-05,1793237996793873664
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,681.793788772,663,636.793788772,881,788,804.206211228,653,632,653,0.427791810869,-0.00554759151752,0.0799456237123,0.999999994818,-6.53325540486e-05,-4.99394980928e-05,-6.00188400655e-05,1793237996810539776
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,682,663,637,881,788,804,653,632,653.370543359,0.428562732288,-0.00554933674737,0.079951859484,0.999999994827,-6.79361793508e-05,-4.70364073312e-05,-5.93132148298e-05,1793237996827206144
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716,682,663,637,881,788,804,653,632,653.945294726,0.429325052009,-0.00555066811484,0.0799552252303,0.999999994399,-7.1626379219e-05,-5.13220381643e-05,-5.86389376266e-05,1793237996843873024
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.518590025,716,682,663,636.481409975,881,788,804,652.481409975,632,653.481409975,0.430129908887,-0.00555230750956,0.0799808225371,0.999999995517,-7.37629399767e-05,-1.20284476495e-05,-5.81421163313e-05,1793237996860539648
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.904681798,716,682,663,636.095318202,881.095318202,788.095318202,804,652.095318202,632,653,0.430931719053,-0.00555378841082,0.0800082004157,0.999999995057,-7.53220020551e-05,3.01128885356e-05,-5.75001863223e-05,1793237996877206016
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746.309134085,716,682,663,636.690865915,881.690865915,788.690865915,804,652.690865915,632,653,0.431694057295,-0.00555426749165,0.0800326497257,0.999999993648,-7.47080453388e-05,6.31411374183e-05,-5.5998761816e-05,1793237996893872640
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.722119009,746,716.277880991,682,663.277880991,637,881.722119009,788.722119009,804,652.722119009,632,653,0.432414614576,-0.00555272462672,0.0800265504571,0.999999994662,-7.27372834168e-05,4.7555542596e-05,-5.58929723985e-05,1793237996910539008
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.14431348,746,716.85568652,682,663.85568652,637,881.14431348,788.14431348,804,652.14431348,632,653,0.433090076476,-0.00554899942051,0.0799874792723,0.999999995747,-6.93020844609e-05,-2.05003027598e-05,-5.72935299765e-05,1793237996927205632
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,716.5696615,682,664,636.5696615,881,788,804,652.4303385,632,653,0.433779660864,-0.00554951487284,0.0799487662512,0.999999993222,-7.35398842206e-05,-6.71659780606e-05,-6.03030109769e-05,1793237996943872512
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.004054999,746.004054999,716,682.004054999,664,636.004054999,881,788,804,653,632,653,0.434474300071,-0.00555143517227,0.0799106809798,0.999999989115,-8.03052792621e-05,-0.000106061847901,-6.38102102553e-05,1793237996960538880
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.594297128,746.594297128,716,682.594297128,664,636.594297128,881,788,804,653,632,653,0.435220005909,-0.00555235697654,0.0799461064754,0.999999993319,-8.31940469673e-05,-5.11641753557e-05,-6.18375562506e-05,1793237996977205760
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.818565653,716,683,664,637,881.181434347,788,804,653,632,653,0.435949412995,-0.00555338885284,0.0799787307262,0.999999994572,-8.49699523251e-05,-5.30819060167e-06,-6.00703385053e-05,1793237996993872896
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.238254354,716,683,664,637,881.761745646,788,804,653,632,653,0.436642987999,-0.00555466271877,0.0800051965471,0.999999994507,-8.42992704233e-05,2.06699757611e-05,-5.87547650025e-05,1793237997010539520
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.660808822,746,716,682.660808822,664,637,881.660808822,788,804,652.660808822,632.339191178,653,0.437313311074,-0.00555669342025,0.0800171493519,0.999999993787,-8.83095732051e-05,3.39033299148e-05,-5.89700903094e-05,1793237997027206144
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.085359427,746,716,682.085359427,664,637,881.085359427,788,804,652.085359427,632.914640573,653,0.437967438347,-0.0055592512834,0.0800189933448,0.999999992885,-9.55803414223e-05,3.82594864383e-05,-6.02517389088e-05,1793237997043872768
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+259,4.316666667,POSE1_TO_POSE2_PRESS,767,746.202323782,715,684,660.797676218,633,882.202323782,786.797676218,805,652.202323782,631.202323782,653,0.449367246761,-0.00556971395224,0.0796258590539,0.999999836765,-0.000122992865954,-0.000553674494561,-6.91895693116e-05,1793237998160539136
+260,4.333333333,POSE1_TO_POSE2_PRESS,767,746.373524501,715,684,660.626475499,633,882,786.626475499,805,652.373524501,631.373524501,653,0.449366980156,-0.00556960535351,0.079625974377,0.999999836299,-0.000122765646282,-0.000554559502917,-6.92378274425e-05,1793237998177205760
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+263,4.383333333,HOLD_POSE2,766,746,715,683,660,634,882,786,804,652,632,654,0.449365616934,-0.00556826063823,0.0796258040025,0.999999836747,-0.000118443269413,-0.00055477701912,-6.85485527888e-05,1793237998252397056
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,662.41812171,636.58187829,880,788,804,652.58187829,632,654,0.415294770402,-0.00540950412365,0.0798132302647,0.999999932933,0.000186595006177,-0.00031160766962,4.70815317596e-05,1793237999906282496
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.882435261,746,716,680.117564739,663,637,880,788,804,653,632,654,0.412698197759,-0.00540467673765,0.0798299641564,0.999999940727,0.000206395902454,-0.000271335520714,4.81983827599e-05,1793237999972950016
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880,788.470987724,804,652.529012276,632.470987724,653.529012276,0.412045876302,-0.00540227798735,0.0798198731887,0.999999933802,0.000208465068602,-0.000294353650066,4.78897326743e-05,1793237999989616384
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.724860763,880,788,804,653,632,653.724860763,0.406641633401,-0.00538790465682,0.0797842212309,0.999999905455,0.000232669271206,-0.00036457354895,4.51868494317e-05,1793238000156282624
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.660316526,880,788,803.660316526,653,632,653.339683474,0.404080639797,-0.00538678545382,0.0798334340663,0.999999930295,0.000233628082534,-0.000287177588454,4.85564583948e-05,1793238000272948992
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.070188757,880,788,803.070188757,653,632,653.929811243,0.403778505852,-0.0053852277143,0.0798320903662,0.999999929064,0.000233899262398,-0.000291332036274,4.78495839403e-05,1793238000289615616
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.241198201,880.758801799,788,804,653,632,653,0.402773813128,-0.00538575906614,0.0798509933844,0.999999935865,0.000226700170474,-0.000273236108042,4.71073463486e-05,1793238000356282880
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.814594284,880.185405716,788,804,653,632,653,0.402566207513,-0.00538573506359,0.0798473455784,0.999999933633,0.000229608105226,-0.000279062465785,4.62346610303e-05,1793238000372949504
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.599540252,880,788,804,653,632,653,0.402384284885,-0.00538700216039,0.0798462074642,0.999999933917,0.000229320478488,-0.000278424135032,4.53657208164e-05,1793238000389616128
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.007716167,880,788,804,653,632,653,0.402214635174,-0.00538888622399,0.0798462686356,0.999999935401,0.000227505815526,-0.000274696577696,4.44985702689e-05,1793238000406283008
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.720312282,746,716,680,662.720312282,636.279687718,880.440624564,788,803.279687718,653,632,654,0.401794108479,-0.00538635749579,0.0798572717521,0.999999939426,0.000230723811671,-0.000256397893701,4.66299612174e-05,1793238000456282368
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.302374594,880.697625406,788,803.604749189,653,632,654,0.40167508028,-0.00538599873534,0.0798568768956,0.999999939087,0.000230783452053,-0.000257687981763,4.65038121846e-05,1793238000472948992
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.894039342,880.105960658,788,804.788078684,653,632,654,0.40156496993,-0.0053870971657,0.0798524977562,0.99999993829,0.000227714509748,-0.000263639414285,4.5384323071e-05,1793238000489615616
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745.206770838,716,679.206770838,663,636.793229162,880,788,804,652.793229162,632,654,0.401245297156,-0.00538823457781,0.0798436169526,0.999999934298,0.000229350571552,-0.000277467107446,4.25877072012e-05,1793238000556282624
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745.783059828,716,679.783059828,663,636.216940172,880,788,804,652.216940172,632,654,0.401188966504,-0.00538855828698,0.0798415036722,0.999999933152,0.00023104221328,-0.00028013874737,4.28792772031e-05,1793238000572949248
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.367944429,880,788,804,652.367944429,632,654,0.401144876232,-0.0053878901067,0.0798409109158,0.999999932732,0.000231834863307,-0.000281002069928,4.27430594346e-05,1793238000589615872
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d265ba89ed68ec845132ddfd8ed775122b9a3952
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,439 @@
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+426,7.100000000,pose2_to_pose3_retreat,0.578252835513,1.33492881455e-06,1.07001177593,0.548824067888,0.00867499241375,1.06966131072
+427,7.116666667,pose2_to_pose3_retreat,0.578252712805,1.3371331827e-06,1.07001177981,0.548823945122,0.00867499437012,1.06966131343
+428,7.133333333,pose2_to_pose3_retreat,0.578252547161,1.34010887419e-06,1.07001178505,0.548823779398,0.00867499701103,1.0696613171
+429,7.150000000,pose2_to_pose3_retreat,0.578252358937,1.26434508935e-06,1.07001174954,0.548823592441,0.00867492545818,1.06966127945
+430,7.166666667,pose2_to_pose3_retreat,0.578252336938,1.25293000813e-06,1.07001174405,0.548823570633,0.00867491468378,1.0696612737
+431,7.183333333,pose2_to_pose3_retreat,0.578252333593,1.25119473636e-06,1.07001174321,0.548823567318,0.0086749130459,1.06966127282
+432,7.200000000,pose2_to_pose3_retreat,0.578252275798,1.22120567945e-06,1.07001172878,0.548823510027,0.00867488473998,1.06966125771
+433,7.216666667,pose2_to_pose3_retreat,0.578252204839,1.18438578159e-06,1.07001171107,0.548823439687,0.00867484998661,1.06966123916
+434,7.233333333,pose2_to_pose3_retreat,0.578252143882,1.11690320494e-06,1.07001169521,0.548823379528,0.0086747851932,1.06966122287
+435,7.250000000,pose2_to_pose3_retreat,0.578252143849,1.11684952244e-06,1.0700116952,0.548823379496,0.0086747851414,1.06966122286
+436,7.266666667,pose2_to_pose3_retreat,0.578252140055,1.11059267667e-06,1.07001169417,0.548823375767,0.00867477910437,1.06966122183
+437,7.283333333,pose2_to_pose3_retreat,0.578252113996,1.06762196593e-06,1.07001168714,0.548823350155,0.00867473764463,1.06966121473
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8194a00f2a6c39c95b3b648e39935a21989fdf38
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad43a636c9188c9aa8abf741085c25a84b84ae4e61839191d6bba2195a4cf013
+size 27951765
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7fdbec9075741b12f21da4215048a58e5db970df
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_02/franka_data.csv
@@ -0,0 +1,442 @@
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+0,0.000000000,BASELINE,767,746,716,680,663,637,881,788,804,653,633,654,0.400988304757,-0.00538769277743,0.079850666174,0.999999936436,0.00023733767942,-0.00026286890541,4.12207659945e-05,1793238001297287936
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+23,0.383333333,BASELINE,767,746,716,680,663,637,880,788,803.64710051,652.64710051,632,654,0.400990523173,-0.00539210656053,0.0798537497983,0.999999939114,0.000231716053214,-0.000257648205234,4.11914214331e-05,1793238001680620544
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+27,0.450000000,BASELINE,767,746,716,680,663,636.67404274,880.32595726,788,803,653,632,653.67404274,0.400990808394,-0.00539049476781,0.0798535647088,0.999999938568,0.000234084637166,-0.000257668059481,4.09405037444e-05,1793238001747287552
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+30,0.500000000,BASELINE,767,746,716,680,663,637,880.589857717,788,803,653,632,653.410142283,0.400991503247,-0.00538945463144,0.0798547823199,0.999999938795,0.000234822259191,-0.000256092438944,4.10409703688e-05,1793238001797287424
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+52,0.866666667,BASELINE,767,746,716,680,662.37625986,636.18812993,880,788.18812993,803,652,632,653.81187007,0.400988737663,-0.00539348963774,0.0798533483935,0.999999939068,0.000230974573318,-0.000258520230643,4.10080797536e-05,1793238002163954176
+53,0.883333333,BASELINE,767,746,716,680,663.537964642,636.768982321,880,788.768982321,803,652,632,653.231017679,0.400990378265,-0.00539153435794,0.0798551979951,0.99999993925,0.000232918599888,-0.000256035862646,4.11744540977e-05,1793238002180620800
+54,0.900000000,BASELINE,767,746,716,680,663.653912033,637,880,788.653912033,803,652.346087967,632,653.346087967,0.400990823846,-0.00539004763863,0.0798550368406,0.999999938802,0.000235055353695,-0.000255859680948,4.10059245966e-05,1793238002197287680
+55,0.916666667,BASELINE,767,746,716,680,663.079280619,637,880,788.079280619,803,652.920719381,632,653.920719381,0.400990480281,-0.00538887033908,0.0798535478584,0.999999937937,0.000237319377226,-0.000257207738572,4.06162372142e-05,1793238002213954048
+56,0.933333333,BASELINE,767,746,716,680,663,636.503421099,879.503421099,788,803.496578901,653,632,653.503421099,0.400989258733,-0.00538980752825,0.0798527647331,0.999999938343,0.000234544518376,-0.000258187131013,4.05370574409e-05,1793238002230620672
+57,0.950000000,BASELINE,767,746,716,680,663,636.074676307,879.074676307,788,804,652.925323693,632,653,0.400988189406,-0.00539106479228,0.0798522128538,0.999999938926,0.000231294500274,-0.00025885880897,4.05286748322e-05,1793238002247287040
+58,0.966666667,BASELINE,767,746,716,680,663,636.666921545,879.666921545,788,804,652.333078455,632,653,0.400989149019,-0.0053921948896,0.0798524807115,0.999999939413,0.000230340745224,-0.000257806720502,4.06665369139e-05,1793238002263953920
+59,0.983333333,BASELINE,767,746,716,680,663,637,880,788,804,652.251888488,632,653,0.400989635405,-0.00539204068928,0.0798528369716,0.999999939377,0.000230890596685,-0.000257447404666,4.07010069453e-05,1793238002280620800
+60,1.000000000,BASELINE,767,746,716,680,663,637,880,788,804,652.827501522,632,653,0.400989513604,-0.00539023592273,0.0798533068456,0.999999938668,0.000233372867939,-0.00025797843308,4.06025985752e-05,1793238002297287424
+61,1.016666667,BASELINE,767,746,716.402871868,680,663,637,880,788,804,653,632,653.402871868,0.400988762682,-0.00539025131609,0.0798527054002,0.999999938493,0.00023293898313,-0.000259072257604,4.04448278413e-05,1793238002313954304
+62,1.033333333,BASELINE,767,746,716.978138332,680,663,637,880,788,804,653,632,653.978138332,0.40098774255,-0.00539104558183,0.0798516455218,0.999999938544,0.000231257233569,-0.000260406910545,4.02616551147e-05,1793238002330620928
+63,1.050000000,BASELINE,767,746,716.446105993,680,663,636.446105993,880,788,803.446105993,653,632,653.446105993,0.400989641821,-0.00539074870965,0.0798534872692,0.999999939005,0.00023310759741,-0.000256934502788,4.04382401813e-05,1793238002347287552
+64,1.066666667,BASELINE,767,746,716,680,663,636.133802994,880,788,803,652.866197006,632,653,0.400990707604,-0.0053906558983,0.0798548432529,0.999999939305,0.000234273407899,-0.000254673046428,4.05818926397e-05,1793238002363954176
+65,1.083333333,BASELINE,767,746,716,680,663,636.727934284,880,788,803,652.272065716,632,653,0.400988509127,-0.00539141341978,0.079854133691,0.999999939041,0.000232604080073,-0.000257230993142,4.05633519501e-05,1793238002380620800
+66,1.100000000,BASELINE,767,746,716,680,663,637,879.68906476,788,803,652,632,653,0.400988438271,-0.00539142433758,0.0798542536589,0.99999993916,0.000232069578624,-0.000257242036603,4.06115589715e-05,1793238002397287424
+67,1.116666667,BASELINE,767,746,716,680,663,637,879.115466212,788,803,652,632,653,0.400990164728,-0.00539080456005,0.079855074374,0.999999939606,0.000232493724636,-0.000255101577144,4.07161512872e-05,1793238002413954304
+68,1.133333333,BASELINE,766.539999616,746,716,680,663,636.539999616,879,788.460000384,803.460000384,652.460000384,632,653,0.400990486673,-0.00539104612403,0.0798549963312,0.999999939473,0.000232856947225,-0.000255268323046,4.08715116709e-05,1793238002430620928
+69,1.150000000,BASELINE,766.036900213,746,716,680,663,636.036900213,879.073800427,788.963099787,804,652.963099787,632,653.036900213,0.400990541103,-0.00539147777073,0.0798547898401,0.999999939252,0.000233139422496,-0.000255847707669,4.10264237943e-05,1793238002447287296
+70,1.166666667,BASELINE,766.628260601,746,716,680,663,636.628260601,880.256521203,788.371739399,804,652.371739399,632,653.628260601,0.40099189486,-0.00539150361082,0.0798560569696,0.999999939916,0.000232439315861,-0.000253889782879,4.09823370358e-05,1793238002463953920
+71,1.183333333,BASELINE,767,746,716,680,663,637,880.785167327,788,804,652.214832673,632,654,0.400992178431,-0.0053914469359,0.0798562465237,0.999999939991,0.000232639004043,-0.000253408099319,4.10069821823e-05,1793238002480620544
+72,1.200000000,BASELINE,767,746,716,680,663,637,880.20670006,788,804,652.79329994,632,654,0.400990650558,-0.00539125059266,0.0798546121295,0.99999993907,0.000234361721725,-0.000255425161891,4.11479657631e-05,1793238002497287168
+73,1.216666667,BASELINE,767,746,716,680,663,637,880,788,804,653,632,654,0.400989655979,-0.00539065279487,0.0798539777965,0.999999938874,0.000234236247729,-0.000256337844165,4.09499860205e-05,1793238002513953792
+74,1.233333333,BASELINE,767,746,716,680,663,637,880,788,804,653,632,654,0.400988957906,-0.00538983179109,0.0798538994909,0.999999939082,0.000233083191692,-0.000256636498421,4.05635449791e-05,1793238002530620416
+75,1.250000000,BASELINE,767,746,716,680,663,637,880,788,804,653,632,653.469404412,0.400990857081,-0.00539011673429,0.0798548168425,0.999999939637,0.000232956330742,-0.000254539823536,4.08194068141e-05,1793238002547287296
+76,1.266666667,BASELINE,767,746,716,680,663,637,880,788,803.881310293,652.881310293,632,653,0.40099213795,-0.00539072570296,0.079855460417,0.999999940075,0.000232576619557,-0.000253117028017,4.10981130048e-05,1793238002563953920
+77,1.283333333,BASELINE,767,746,716,680,663,637,880,788,803.301697485,652.301697485,632,653,0.400989883151,-0.00539210990603,0.079854605878,0.999999939922,0.000230766723641,-0.000255357514237,4.11849652909e-05,1793238002580620544
+78,1.300000000,BASELINE,767,746,716,680,663,636.723750146,880,788,803,652.276249854,632,653,0.400989254731,-0.0053919745955,0.0798543300891,0.999999939744,0.000230748411319,-0.000256100979544,4.09838285287e-05,1793238002597287168
+79,1.316666667,BASELINE,767,746,716,680,663,636.14761083,880,788,803,652.85238917,632,653,0.400990391865,-0.00539018974151,0.0798546825758,0.999999939544,0.000232674994394,-0.000255219318801,4.0470058545e-05,1793238002613953792
+80,1.333333333,BASELINE,767,746,716,680.436125285,663,636.436125285,879.563874715,788,803.436125285,653,632,653.436125285,0.400991410109,-0.00539041796789,0.0798557797022,0.999999939796,0.000233229416141,-0.000253732007414,4.03900029436e-05,1793238002630620416
+81,1.350000000,BASELINE,767,746.022203127,716,680.977796873,663,637,879.022203127,788.022203127,804.022203127,653.022203127,632,654,0.400992276252,-0.0053913045949,0.0798570137262,0.999999940173,0.000233231878989,-0.000252231662943,4.04572338754e-05,1793238002647287296
+82,1.366666667,BASELINE,767,746.601379696,716,680.398620304,663,637,879.601379696,788.601379696,804.601379696,653.601379696,632,654,0.400990354174,-0.00539131261498,0.0798552475186,0.999999939769,0.000231244959649,-0.000255637747627,4.04715187414e-05,1793238002663953920
+83,1.383333333,BASELINE,767,746.819789406,716,680,663,637,880.180210594,788.819789406,804.819789406,653.819789406,632,654,0.400989272072,-0.00539131411584,0.0798541453479,0.999999939462,0.000230600783709,-0.000257402028856,4.05453849743e-05,1793238002680620544
+84,1.400000000,BASELINE,767,746.241721545,716,680,663,637,880.758278455,788.241721545,804.241721545,653.241721545,632,654,0.400990044412,-0.00539130122398,0.0798545091944,0.999999939393,0.000232921029223,-0.000255541643515,4.07507910901e-05,1793238002697287168
+85,1.416666667,BASELINE,767,746,716,680.334478427,663,637,881.334478427,788,803.665521573,653,632,654,0.400990583424,-0.00539082823466,0.0798546036249,0.999999939315,0.000233849386354,-0.000255028811506,4.05563900641e-05,1793238002713953792
+86,1.433333333,BASELINE,767,746,716,680.909335971,663,637,881.909335971,788,803.090664029,653,632,654,0.40099095475,-0.0053900245878,0.0798545044345,0.999999939235,0.000233777436973,-0.000255484423776,4.00746602168e-05,1793238002730620416
+87,1.450000000,BASELINE,767,746,716,680.50615785,663.49384215,637,881.012315701,788,803.49384215,653,632,654,0.400991066613,-0.00538962824272,0.079854508766,0.999999939239,0.000233786772329,-0.000255432456787,4.02562744356e-05,1793238002747287296
+88,1.466666667,BASELINE,767,746,716,680,663.920299687,636.920299687,880,788,804,653,632,653.920299687,0.400991202741,-0.00538953841119,0.0798546069368,0.999999939332,0.000233616814773,-0.000255180734848,4.05229184525e-05,1793238002763953920
+89,1.483333333,BASELINE,767,746,716,680,663.337312814,636.337312814,880,788,804,653,632,653.337312814,0.40099179889,-0.00539090253096,0.0798551752713,0.999999939889,0.000232218556928,-0.000254267784119,4.05421527904e-05,1793238002780620800
+90,1.500000000,BASELINE,767,746,716,680,663.242557804,636.242557804,880,788,804,653,632,653.242557804,0.400991571942,-0.00539136937947,0.0798552143766,0.999999940183,0.000231113121519,-0.000254140314609,4.04208509539e-05,1793238002797287424
+91,1.516666667,BASELINE,767,746,716,680,663.818149725,636.818149725,880,788,804,653,632,653.818149725,0.400990214874,-0.0053906042661,0.0798545268452,0.999999940116,0.000230409734154,-0.000255091318184,4.01065916428e-05,1793238002813954304
+92,1.533333333,BASELINE,767,746,716,680,663.607184653,637,880,788,804,652.607184653,632,653.607184653,0.400989870548,-0.00539011339481,0.0798543556046,0.999999939464,0.000232843628835,-0.000255414469076,4.02432808594e-05,1793238002830621696
+93,1.550000000,BASELINE,767,746,716,680,663.032946793,637,880,788,804,652.032946793,632,653.032946793,0.400989993957,-0.00538974918267,0.0798544228137,0.99999993853,0.000236726483107,-0.000255447645098,4.05882414795e-05,1793238002847288832
+94,1.566666667,BASELINE,767,746,716,680,663,637,880,788.554537988,804,652,632,653,0.400989742822,-0.00538909643502,0.0798542989989,0.999999938495,0.000236456032341,-0.000255814787189,4.07109599917e-05,1793238002863955712
+95,1.583333333,BASELINE,766.859064516,746,716,680,663,636.859064516,880,789,804,652.140935484,632,653,0.400989760304,-0.00538915349054,0.0798543086615,0.999999938734,0.000235360085512,-0.000255868393022,4.08431443842e-05,1793238002880622592
+96,1.600000000,BASELINE,766.278572684,746,716,680,663,636.278572684,880,789,804,652.721427316,632,653,0.400990686666,-0.00539147908822,0.0798547708827,0.999999939652,0.000232477984887,-0.000254880728562,4.10470407957e-05,1793238002897289216
+97,1.616666667,BASELINE,766.297790418,746,716,680.297790418,663,636.297790418,880,788.702209582,804,653,632,653,0.400990969859,-0.00539163409785,0.0798547766431,0.999999939776,0.000232113634026,-0.000254763064586,4.08305279554e-05,1793238002913955072
+98,1.633333333,BASELINE,766.870344018,746,716,680.870344018,663,636.870344018,880,788.129655982,804,653,632,653,0.400990659617,-0.00538978636432,0.0798543612394,0.999999939169,0.000234072343094,-0.000255448126638,4.02261148326e-05,1793238002930620928
+99,1.650000000,BASELINE,767,746,716,680.554223989,663,636.554223989,880,788,804.445776011,653,632.445776011,653.445776011,0.400991461636,-0.00539017355531,0.0798552465649,0.999999939287,0.000234657457446,-0.00025438503492,4.06270510108e-05,1793238002947287808
+100,1.666666667,BASELINE,767,746,716,680,663,636,880,788,804.977266871,653,632.977266871,653.977266871,0.400992514424,-0.00539117687383,0.0798564440519,0.999999939598,0.000234831664447,-0.000252891291157,4.12837631564e-05,1793238002963954432
+101,1.683333333,BASELINE,767,746,716,680,663,636,880,788,804.383155722,653,632.383155722,653.383155722,0.400991686176,-0.00539122170085,0.0798559168282,0.999999939484,0.000234784826158,-0.000253436201034,4.09719351795e-05,1793238002980621056
+102,1.700000000,BASELINE,767,746,716,680,663,636.204859909,880,788,804,653,632,653.204859909,0.400991154481,-0.00539180218907,0.0798556241466,0.999999939609,0.000233892586387,-0.00025379584394,4.07875301389e-05,1793238002997287680
+103,1.716666667,BASELINE,767,746,716,680,663,636.781804265,880,788,804,653,632,653.781804265,0.400991161412,-0.00539335559189,0.0798557574609,0.999999940166,0.000231464854669,-0.000253818988741,4.08345617902e-05,1793238003013954304
+104,1.733333333,BASELINE,767,746,716,680,663,637,880,788,804,653,632,654,0.400991394378,-0.00539334576261,0.0798556418233,0.999999940393,0.000230381757373,-0.000253899615986,4.09084862673e-05,1793238003030620928
+105,1.750000000,BASELINE,767,746,716,680,663,637,880,788,804,653,632,654,0.400991764821,-0.00539238515446,0.0798553747696,0.999999940421,0.000230116484792,-0.000254015204838,4.09987673315e-05,1793238003047287808
+106,1.766666667,BASELINE,767,746,716,680.521533977,663,637,880,788,804,653,632,654,0.400990228021,-0.00539122718991,0.0798548644927,0.999999939462,0.000232508279157,-0.000255626527982,4.08824621812e-05,1793238003063954432
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,880,788,804,653,632,653,0.400990323079,-0.00538968037631,0.0798545371849,0.999999939516,0.000234029792988,-0.000254119118918,4.0271947158e-05,1793238003107238656
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.403774202,746,716.596225798,680,663,636,880,788,804,652.403774202,632,653,0.400990373683,-0.00539011745801,0.0798545777585,0.99999993943,0.000233969816961,-0.000254468545784,4.05375952819e-05,1793238003123905280
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.184328233,746,716.815671767,680.184328233,663,636,880,788,803.815671767,652.184328233,632,653,0.400990436238,-0.00539053908448,0.0798545368936,0.999999939412,0.000233639340955,-0.000254825373776,4.06472491071e-05,1793238003140571648
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.755387507,746,716.244612493,680.755387507,663,636,880,788,803.244612493,652.755387507,632,653,0.400990523869,-0.00539092828509,0.0798543251663,0.999999939536,0.000232741340707,-0.000255197729815,4.04296181356e-05,1793238003157238272
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,680.660827381,663,636.339172619,880,788,803.339172619,652.660827381,632,653.339172619,0.400990865226,-0.00539134379894,0.0798548838002,0.999999939547,0.000233499627059,-0.000254419347222,4.0677447672e-05,1793238003173905152
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680.067506605,663,636.932493395,880,788,803.932493395,652.067506605,632,653.932493395,0.400991396705,-0.00539177902974,0.0798560196796,0.99999993947,0.000235498998874,-0.000252778695403,4.12740551714e-05,1793238003190571776
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.491757003,880,788,804,652,632,654,0.400990523952,-0.00539110428348,0.0798551500926,0.999999939185,0.000235230344953,-0.0002542201866,4.08433969466e-05,1793238003207238144
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.082489714,880,788.082489714,804,652.082489714,632,654,0.400989705755,-0.0053903484554,0.0798542803211,0.99999993895,0.000234750860005,-0.000255666611293,4.03293086108e-05,1793238003223905024
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.661266666,880,788.661266666,804,652.661266666,632,654,0.40099030043,-0.00538996216672,0.0798549584799,0.999999939189,0.000234754784523,-0.000254762042809,4.01067445094e-05,1793238003240572672
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788.755061204,804,653,632,653.755061204,0.400991320405,-0.00538994317519,0.0798556686324,0.999999939372,0.000234684269723,-0.000254095429159,4.01909310235e-05,1793238003257239552
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788.16448138,804,653,632,653.16448138,0.400992940532,-0.00539044248851,0.0798564239322,0.999999939476,0.000234508711201,-0.000253764601317,4.07079832351e-05,1793238003273905664
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.414206878,637,880,788,803.585793122,652.585793122,632,653.414206878,0.401003219746,-0.00539045708382,0.0798612797575,0.999999941347,0.000235309345828,-0.000245495870214,4.08412502948e-05,1793238003290572032
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.988304833,637,880,788,803.011695167,652.011695167,632,653.988304833,0.401016841519,-0.00539028456956,0.0798677184573,0.999999943787,0.00023648680799,-0.00023416297,4.08263696331e-05,1793238003307238912
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.432522884,636.432522884,880,788,803.567477116,652.567477116,632.567477116,654,0.401052343643,-0.00539193929101,0.0798819106198,0.999999950316,0.000232996961833,-0.000208323690624,4.10064466617e-05,1793238003323905536
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.145972159,880,788,804,653,632.854027841,654,0.401093859061,-0.00539348337313,0.0798971117684,0.999999956385,0.000230384226142,-0.000180156920773,4.11803448644e-05,1793238003340572416
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.722160353,880,788,804,653,632.277839647,654,0.401151756146,-0.00539458938654,0.0799148114573,0.999999961887,0.000230642601234,-0.000146019522381,4.13240840567e-05,1793238003357239552
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.306712514,788,804,653,632,653.693287486,0.401213917047,-0.00539527410944,0.0799295088959,0.999999965417,0.00023038171806,-0.000120116130785,4.07705178728e-05,1793238003373906432
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.899053657,788,804,653,632,653.100946343,0.401280048658,-0.00539556650192,0.0799414104625,0.999999967661,0.000229637271337,-0.000101880729923,3.95675801623e-05,1793238003390573568
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.519277244,880.519277244,788.480722756,804,652.519277244,632,653.480722756,0.401353725543,-0.00539666351852,0.0799455320552,0.999999968538,0.000229222826214,-9.46575493215e-05,3.77019968899e-05,1793238003407240192
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,880,789,803.940495889,652,632,654,0.401430393369,-0.00539784546617,0.0799478546459,0.999999969139,0.000228765225893,-9.01159737314e-05,3.55925915088e-05,1793238003423906560
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,880,789,803.367713033,652,632,654,0.401519490567,-0.00539833422121,0.0799484453548,0.999999969648,0.000227350605106,-8.91919829252e-05,3.25542067811e-05,1793238003440573440
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,879.793755541,788.793755541,803,652,632,653.793755541,0.40161844452,-0.00539969772236,0.0799506569243,0.999999970694,0.000224809336655,-8.49315240739e-05,2.93034442213e-05,1793238003457240064
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,879.217691858,788.217691858,803,652,632,653.217691858,0.401735072716,-0.0054026297404,0.079955774877,0.999999972627,0.000220247863932,-7.46884074882e-05,2.56718649415e-05,1793238003473906432
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.367409,879.367409,788,803.367409,652,632,653,0.401866080643,-0.00540370933335,0.0799601687131,0.999999973797,0.00021806566312,-6.6191079297e-05,2.17259937302e-05,1793238003490573568
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.957999518,879.957999518,788,803.957999518,652,632,653,0.402005823507,-0.0054036636764,0.0799641226874,0.999999974503,0.000217328743607,-5.87542241529e-05,1.75892064574e-05,1793238003507240960
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.462993744,745.462993744,716,680,663,636.462993744,880,788,804,652,632,653.537006256,0.402168203546,-0.0054059553715,0.079970143174,0.999999976222,0.000212084038118,-4.91891806595e-05,1.24853370117e-05,1793238003523907584
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.114421009,716,680,663,636,880,788,804,652.114421009,632,653.885578991,0.402335515181,-0.00540833526302,0.0799750635719,0.999999977858,0.000206218504265,-4.13135432795e-05,7.10041438971e-06,1793238003540573952
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.689000203,716,680,663,636,880,788,804,652.689000203,632,653.310999797,0.402515689932,-0.00541035018059,0.0799749235528,0.999999979315,0.000199244172119,-4.08873240715e-05,8.82963497438e-07,1793238003557240576
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.270191316,746,716,680.270191316,663,636.270191316,880,788,803.729808684,653,632,653,0.402706633167,-0.00541228916399,0.0799724350859,0.999999980672,0.00019110154873,-4.58652251976e-05,-5.76941079766e-06,1793238003573907200
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.859183858,746,716,680.859183858,663,636.859183858,880,788,803.140816142,653,632,653,0.402910282224,-0.00541413855185,0.079967175664,0.999999981794,0.000181580448126,-5.72194977699e-05,-1.29349548534e-05,1793238003590573824
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680.557966657,663,637,880,788,803.442033343,653,632,653.442033343,0.403139696225,-0.00541623296135,0.0799634725234,0.999999985668,0.000156288694091,-6.20325153112e-05,-1.97321604615e-05,1793238003607240192
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680.022720201,663,637,880,788,804,653,632,653.977279799,0.403378909177,-0.00541844236826,0.0799605139724,0.999999989448,0.000127620480029,-6.43614248678e-05,-2.59542744652e-05,1793238003623906560
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,680.597755575,663,637,880,788,804,653,632,653.402244425,0.403659537144,-0.00542157582855,0.0799637691293,0.999999988767,0.000137328298802,-5.62650292733e-05,-2.10096013001e-05,1793238003640572416
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680.827338466,663,637,880,788.172661534,803.827338466,653,632,653.172661534,0.403949461857,-0.00542457863624,0.0799674207968,0.999999988314,0.000143596077073,-4.89933853928e-05,-1.87795102602e-05,1793238003657238784
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,680.252733857,663,637,880,788.747266143,803.252733857,653,632,653.747266143,0.404261028659,-0.00542727729406,0.0799719955107,0.999999988725,0.000141855698243,-4.36417026777e-05,-2.28687631224e-05,1793238003673905664
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788.66762056,803.33237944,653,632,653.66762056,0.404595451335,-0.00543829760013,0.0799729854935,0.99999999174,0.00011940892848,-4.06190733389e-05,-2.47360137134e-05,1793238003690572544
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788.074255748,803.925744252,653,632,653.074255748,0.404947820548,-0.00545585209064,0.0799711607349,0.999999995657,8.07034357149e-05,-3.94252233481e-05,-2.48585416078e-05,1793238003707239424
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,653,632,653.505339215,0.405321172983,-0.00547391487559,0.0799684681937,0.99999999692,6.33544998923e-05,-3.95173555758e-05,-2.41883285237e-05,1793238003723906304
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.917598463,746,716,680,663,636.917598463,880,788,804,653,632,653.917598463,0.405701085278,-0.00548816264064,0.0799651111095,0.999999997494,5.18216799365e-05,-4.17948349285e-05,-2.40941696425e-05,1793238003740572928
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.343892326,746,716,680,663,636.343892326,880,788,804,653,632,653.343892326,0.406102213611,-0.00547923051812,0.0799585319164,0.999999996426,5.67518763676e-05,-5.60052742566e-05,-2.81107432558e-05,1793238003757240064
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.228883972,746,716,680,663,636,880,788,804,653,632,653,0.406516890906,-0.00547664120824,0.0799539950324,0.99999999555,6.11873511256e-05,-6.5470169395e-05,-2.95033835672e-05,1793238003773906944
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.800268827,746,716,680,663,636,880,788,804,653,632,653,0.406951842778,-0.00548354325346,0.0799525142505,0.999999995231,6.48825264514e-05,-6.78338540069e-05,-2.69695823683e-05,1793238003790573312
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.388100223,880,788,804,653,632,653,0.407412666547,-0.00548723083259,0.079951245744,0.999999995321,5.78836910659e-05,-7.2130224864e-05,-2.83791533628e-05,1793238003807239936
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.984770167,880,788,804,653,632,653,0.40788739417,-0.00548919091881,0.0799500913167,0.999999995472,4.51377657229e-05,-7.746524444e-05,-3.19079400251e-05,1793238003823906304
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.563307101,788,804.563307101,652.436692899,632,653.563307101,0.408382144672,-0.00548864723918,0.0799440906661,0.999999994301,4.94446843066e-05,-8.87366765096e-05,-3.28495556283e-05,1793238003840573184
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.14032287,716.14032287,680,663.14032287,637,880.85967713,788,804.85967713,652.14032287,632,653.85967713,0.408893591523,-0.00548997976971,0.0799431750181,0.999999993982,5.09091694962e-05,-9.11047754044e-05,-3.38109019388e-05,1793238003857239808
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.714106787,716.714106787,680,663.714106787,637,880.285893213,788,804.285893213,652.714106787,632,653.285893213,0.409454993657,-0.00549731054714,0.0799583591947,0.999999996351,4.22135261013e-05,-6.54899155153e-05,-3.50425293766e-05,1793238003873906432
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746.704424849,716.704424849,680,664,636.704424849,880.295575151,788.295575151,804,653,632,653,0.410034341448,-0.0055007373144,0.0799789681979,0.999999998319,3.46167648863e-05,-2.96314151095e-05,-3.58448207835e-05,1793238003890573312
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746.115325286,716.115325286,680,664,636.115325286,880.884674714,788.884674714,804,653,632,653,0.410631510455,-0.00550028715888,0.0800049643915,0.999999998814,2.81112605905e-05,1.63996572248e-05,-3.62207550559e-05,1793238003907239936
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,680.466778515,663.533221485,636.466778515,880.533221485,789,804,653,632,653.466778515,0.411233321401,-0.00550510919941,0.0800049409671,0.999999998969,2.19449587391e-05,1.37474957842e-05,-3.72981119885e-05,1793238003923906560
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716,680.953256684,663,637,880,788.953256684,804,653,632,653.953256684,0.411835132077,-0.00551101576646,0.0799965932872,0.999999999124,1.56288611368e-05,-3.29478556847e-06,-3.8690108978e-05,1793238003940573440
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716,680.378220283,663,637,880,788.378220283,804,653,632,653.378220283,0.412424169646,-0.00551467525128,0.0799657477607,0.999999997905,6.68658268799e-06,-4.90411622205e-05,-4.17084763911e-05,1793238003957239808
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.803959443,880,788,803.803959443,653,632,653,0.413034839393,-0.00551749008876,0.0799424352591,0.99999999583,-1.6350479906e-06,-7.94790154158e-05,-4.49402273346e-05,1793238003973906176
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.231189027,880,788,803.231189027,653,632,653,0.413687079518,-0.00551868177275,0.0799335989242,0.999999995541,-8.76398334508e-06,-8.04985764889e-05,-4.85820359776e-05,1793238003990572288
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.355915217,880.355915217,788,803.355915217,653,632,653,0.414366104259,-0.00552109914825,0.0799434706739,0.999999996953,-1.14462174426e-05,-5.94794259961e-05,-4.92411644285e-05,1793238004007238656
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.952720855,880.952720855,788,803.952720855,653,632,653,0.415063257328,-0.00552434609582,0.0799660044235,0.999999998515,-1.11188363377e-05,-2.35440417906e-05,-4.78815560425e-05,1793238004023905280
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.471547925,746,716,680.528452075,663.528452075,637,880.471547925,788,804,653,632,653,0.41577672496,-0.00552837906666,0.079981373578,0.999999998646,-2.01088930477e-05,-5.01828572151e-06,-4.77315691e-05,1793238004040572416
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,716,681,663.897585732,637,880,788,804.102414268,652.897585732,632,653.102414268,0.416485331208,-0.00553223003784,0.0799894773155,0.999999998407,-2.9526169432e-05,1.98652388473e-06,-4.80710675571e-05,1793238004057239552
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,716,681,663.323420415,637,880,788,804.676579585,652.323420415,632,653.676579585,0.417165078633,-0.0055349311546,0.079966953733,0.999999997357,-3.7218765934e-05,-3.71780472734e-05,-5.01859003814e-05,1793238004073906944
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.257947345,746,716,680.742052655,663.257947345,637,880.257947345,788.257947345,804.742052655,652,632,653.742052655,0.417884189815,-0.00553917427036,0.0799663068358,0.999999997114,-4.42862997824e-05,-3.39079069533e-05,-5.15793557186e-05,1793238004090573568
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.848605175,746,716,680.151394825,663.848605175,637,880.848605175,788.848605175,804.151394825,652,632,653.151394825,0.41865407399,-0.00554540631656,0.0799938773324,0.999999997078,-5.05476046056e-05,2.40961637883e-05,-5.20423506562e-05,1793238004107239424
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716,680.431176252,664.431176252,637,881,788.568823748,804,652.431176252,632,653.431176252,0.419416366839,-0.0055493909284,0.0800031762507,0.999999996165,-5.45769090659e-05,4.43622802805e-05,-5.2181078272e-05,1793238004123905536
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664.989141402,637,880.989141402,788,804,652.989141402,632,654,0.420175934982,-0.00555258998841,0.0800057661953,0.999999995669,-5.78522824063e-05,5.086336316e-05,-5.22280064136e-05,1793238004140572160
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664.414729085,637,880.414729085,788,804,652.414729085,632,654,0.420929884533,-0.00555522028945,0.0799869966607,0.9999999965,-6.19239129782e-05,1.80037980666e-05,-5.33109128403e-05,1793238004157238528
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,681,664,637,880.160080554,788,804,652,632,654,0.421693668605,-0.00555548737866,0.0799785442044,0.999999996545,-6.33558142338e-05,2.73965388619e-06,-5.37377313256e-05,1793238004173905152
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664,637,880.735922082,788,804,652,632,654,0.422482994837,-0.00554961673746,0.0799968872494,0.999999996396,-5.79318143323e-05,3.31743125591e-05,-5.24605592249e-05,1793238004190572032
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746.320817017,716,681,664,637,881,788.320817017,804.320817017,652,632,654,0.42327017957,-0.00553374322817,0.0800167365562,0.99999999584,-4.08960840869e-05,6.28033931566e-05,-5.19948815673e-05,1793238004207238912
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746.913380567,716,681,664,637,881,788.913380567,804.913380567,652,632,654,0.424055550315,-0.00550939683718,0.0800378617341,0.999999994329,-1.40246929317e-05,9.175011107e-05,-5.22165764657e-05,1793238004223905536
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,747,716,681,664,637,881.492785096,788.507214904,805,652,632.492785096,654,0.424784076408,-0.00550391531982,0.0800038178514,0.999999998345,-3.99028905522e-06,2.21929856523e-05,-5.29342225566e-05,1793238004240572160
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746.930485519,716,681,663.930485519,637,881.860971039,788,805,652,632.930485519,653.930485519,0.425513186652,-0.00550366831402,0.079963647918,0.999999997066,-8.33359101501e-07,-5.4397738308e-05,-5.39299639857e-05,1793238004257238784
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746.356818955,716,681,663.356818955,637,880.71363791,788,805,652,632.356818955,653.356818955,0.426317114219,-0.00551796091382,0.0799475496186,0.999999996277,-2.66495064216e-05,-5.96921574944e-05,-5.63267894973e-05,1793238004273905408
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.781962426,746,716,681.218037574,663.218037574,637,880.218037574,788,804.781962426,652,631.781962426,653,0.427112855922,-0.00552622112374,0.0799403283318,0.999999995771,-3.9388992562e-05,-5.98151182504e-05,-5.77002363418e-05,1793238004290571776
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.205147739,746,716,681.794852261,663.794852261,637,880.794852261,788,804.205147739,652,631.205147739,653,0.427895128054,-0.00552455514114,0.0799477140155,0.999999996562,-3.06110596492e-05,-5.14285331594e-05,-5.7389731453e-05,1793238004307238400
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746.380883668,716,682,664,636.619116332,881,788,804,652.380883668,631.380883668,653.380883668,0.428658683371,-0.00552617213757,0.0799537191971,0.999999996695,-3.31057812729e-05,-4.79642684178e-05,-5.66845087773e-05,1793238004323905024
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746.97200236,716,682,664,636.02799764,881,788,804,652.97200236,631.97200236,653.97200236,0.429411907587,-0.00552960122853,0.0799589623873,0.999999996456,-4.18226310746e-05,-4.72169601061e-05,-5.57614151251e-05,1793238004340571904
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746.448796449,716,682,664,636,880.448796449,788,804.551203551,653,632,653.448796449,0.430216991391,-0.00553690055239,0.0799862181144,0.999999997164,-5.13344480033e-05,-5.57890654992e-06,-5.48310193215e-05,1793238004357238784
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+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,682,664.127030746,636.872969254,881,788,804.127030746,653,632,653,0.433201256329,-0.0055350361684,0.0799805527491,0.999999996349,-5.35729141191e-05,-3.45096809069e-05,-5.69216451318e-05,1793238004423905536
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716.455033419,682,664,637,881,788,804.455033419,652.544966581,632,653,0.433896915414,-0.00552970909988,0.0799419877688,0.999999993886,-4.84978195188e-05,-7.92721887401e-05,-5.99345115224e-05,1793238004440572672
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716.964933212,682,664.035066788,637,881,788,804.964933212,652.035066788,632.035066788,653,0.434604933387,-0.00552452857299,0.0799105496222,0.999999991239,-4.28570902129e-05,-0.000108474503409,-6.2600343942e-05,1793238004457239296
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716.389635121,682,664.610364879,637,881,788,804.389635121,652.610364879,632.610364879,653,0.435353420035,-0.00552710136824,0.0799489451457,0.99999999556,-4.94877642283e-05,-5.24821480485e-05,-6.06364983274e-05,1793238004473905664
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716,682,665,637,881,788.18915753,804,652.81084247,632.81084247,653,0.436084335093,-0.00553032161444,0.0799824523697,0.999999996734,-5.50082126019e-05,-7.74031465119e-06,-5.86996622225e-05,1793238004490572032
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,682,665,637,881,788.775284028,804,652.224715972,632.224715972,653,0.436778374273,-0.00553490061188,0.0800057009387,0.999999996603,-5.81987254681e-05,1.3391006448e-05,-5.68195086559e-05,1793238004507239168
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.641821014,746.358178986,716,682,664.641821014,636.641821014,881,788.641821014,804,652,632,653.358178986,0.437462734493,-0.00554089352236,0.0800164106706,0.999999995766,-6.62383830573e-05,2.85058853655e-05,-5.71632839712e-05,1793238004523905792
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.060935382,746.939064618,716,682,664.060935382,636.060935382,881,788.060935382,804,652,632,653.939064618,0.438141076538,-0.00554776556799,0.0800193240687,0.999999994484,-7.72931161525e-05,3.98798912408e-05,-5.88898422011e-05,1793238004540572416
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.512905672,746.487094328,716,682,665.025811343,636.512905672,881,788,804,652,632,653.487094328,0.438776671261,-0.0055525090432,0.0800205039326,0.9999999939,-8.20891004469e-05,4.52231085356e-05,-5.84560575417e-05,1793238004557239296
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+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,682.665619649,665.334380351,637,881,788.665619649,804.665619649,652.665619649,632.665619649,653.665619649,0.439999539902,-0.00555547567727,0.0799998599563,0.999999994889,-8.09113738466e-05,1.91806969276e-05,-5.75043422342e-05,1793238004590572544
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.249162243,716,683,665,636.750837757,881,788.750837757,804.750837757,652.750837757,632.750837757,653.750837757,0.440564816619,-0.00555561846493,0.0799686066896,0.999999994502,-8.17981235847e-05,-2.83672745087e-05,-5.91556387686e-05,1793238004607238656
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.839155165,716,683,665,636.160844835,881,788.160844835,804.160844835,652.160844835,632.160844835,653.160844835,0.441086318634,-0.0055569718763,0.0799201463328,0.999999988444,-8.94067041886e-05,-0.000105289681648,-6.35032168916e-05,1793238004623905536
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.57835593,715.57835593,683,664.57835593,636.42164407,881,788,804.42164407,652,632,653,0.441610899513,-0.0055578122798,0.0798906807938,0.999999982359,-9.2520154154e-05,-0.000149922421574,-6.51601463797e-05,1793238004640572672
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+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,715.801277621,683.801277621,662.198722379,635,882,787,804,652.801277621,632,653.801277621,0.446326503214,-0.00554917860477,0.0797708713071,0.999999933888,-8.20125099367e-05,-0.000347688089737,-6.79061713884e-05,1793238004823905792
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.744158975,746,716,682,663,636.744158975,881.744158975,788.744158975,804,652.255841025,632.744158975,653,0.428462467071,-0.00543392601459,0.0798680525573,0.999999962504,0.000138441486013,-0.000231906383107,4.52276381692e-05,1793238007148767232
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,663,636.104487539,881.104487539,789,804.895512461,652.895512461,632.104487539,653.895512461,0.426839479217,-0.00542037346088,0.0798078791542,0.999999935412,0.000153593291394,-0.000321996792313,4.36276293985e-05,1793238007182100736
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.357501031,745.357501031,716,682.642498969,663,636,881,788,804,652.642498969,632.642498969,653.357501031,0.424435890128,-0.00540614203736,0.0797621409786,0.999999906678,0.000183600309384,-0.000388551613473,4.42940998037e-05,1793238007232101120
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.225467578,745.225467578,716,682.774532422,662.774532422,636,881,788,804,652.774532422,632.774532422,653,0.423647292501,-0.0054030312878,0.0797664238268,0.999999907907,0.000190680574044,-0.00038173791853,4.58631705083e-05,1793238007248767488
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,715.435385856,682,662.435385856,636.564614144,881.564614144,788.435385856,804.435385856,653,633,653.435385856,0.416928169987,-0.00540573583433,0.0798124662364,0.999999936835,0.000184340599241,-0.000300609098811,4.45300778699e-05,1793238007398767360
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.809720415,746,716,681,662,636.190279585,880.190279585,788.809720415,804,652.190279585,632.190279585,654,0.414798765852,-0.00542631820556,0.0798099666747,0.999999935946,0.000166775596935,-0.000313302067636,4.62186877777e-05,1793238007448767488
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.325260471,880.325260471,788,804,652.674739529,632,653,0.410972418201,-0.0054056822794,0.0797967490821,0.999999922652,0.00019991539925,-0.000335654279982,4.54582711011e-05,1793238007548768000
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.567190926,788,804,652.567190926,632.432809074,654,0.408259919113,-0.00539794188934,0.0798456900449,0.999999941527,0.000216381318018,-0.000260338051224,4.84763583374e-05,1793238007632100864
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.153108881,662.846891119,636.846891119,880.846891119,788,804,653,632,654,0.407731372829,-0.00539578306336,0.0798275769474,0.999999931162,0.000219357527098,-0.000295462783007,4.75461102787e-05,1793238007648767488
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.733005754,662.266994246,636.266994246,880.266994246,788,804,653,632,654,0.407218602592,-0.00539389049576,0.0797957767048,0.999999912282,0.000222855969627,-0.00035174845703,4.5206014238e-05,1793238007665434112
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745.943789112,716,680.056210888,663,636.056210888,880,788.943789112,804,653,632,654,0.405585916165,-0.00539166698065,0.0798266945389,0.999999934369,0.000223841174419,-0.000281163688723,4.58662236456e-05,1793238007732101888
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745.214283155,716.214283155,680.785716845,663,636.785716845,880,788,804,653,632,654,0.404834657078,-0.0053945665602,0.079835433716,0.999999935767,0.000225043821401,-0.000275018761397,4.675557616e-05,1793238007765435648
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,715.302018944,680,663,637,880,788,804,652.697981056,632,653.697981056,0.403066543304,-0.0053905151285,0.0798486522192,0.999999938347,0.000216227252902,-0.000272933445523,4.53882849455e-05,1793238007865433856
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01c093e067546ce224509f3b302666035ae5d1bc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,442 @@
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+391,6.516666667,pose2_to_pose3_retreat,0.57994394948,1.13186532848e-06,1.07001165167,0.55051518634,0.0086748045907,1.06966118653
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+394,6.566666667,pose2_to_pose3_retreat,0.579409596766,1.29073893769e-06,1.07001153541,0.549980830326,0.00867495257194,1.06966107771
+395,6.583333333,pose2_to_pose3_retreat,0.579265915821,1.23159379444e-06,1.07001166665,0.549837151059,0.00867489871083,1.06966119893
+396,6.600000000,pose2_to_pose3_retreat,0.579135235078,1.31879211003e-06,1.07001184502,0.549706468399,0.00867497930745,1.06966137491
+397,6.616666667,pose2_to_pose3_retreat,0.57901725018,1.324255302e-06,1.07001180055,0.549588483496,0.00867498472337,1.06966132964
+398,6.633333333,pose2_to_pose3_retreat,0.578908099046,1.30945656947e-06,1.07001163832,0.549479333018,0.00867497228428,1.06966117087
+399,6.650000000,pose2_to_pose3_retreat,0.578808092691,1.36117961122e-06,1.07001151202,0.549379326134,0.00867502265137,1.06966105541
+400,6.666666667,pose2_to_pose3_retreat,0.578718433719,1.37896966689e-06,1.07001181132,0.549289667199,0.00867504034948,1.06966135031
+401,6.683333333,pose2_to_pose3_retreat,0.578638067714,1.33666430433e-06,1.07001165343,0.549209301574,0.00867499926404,1.06966119065
+402,6.700000000,pose2_to_pose3_retreat,0.57856695543,1.32853508895e-06,1.07001153338,0.549138189748,0.00867499263244,1.06966106904
+403,6.716666667,pose2_to_pose3_retreat,0.5785049385,1.28536714573e-06,1.07001156894,0.549076174052,0.00867495367153,1.06966110498
+404,6.733333333,pose2_to_pose3_retreat,0.57845240138,1.12775902912e-06,1.07001163903,0.549023639176,0.00867480383509,1.0696611789
+405,6.750000000,pose2_to_pose3_retreat,0.578408752182,1.23589308035e-06,1.07001166321,0.548979988063,0.00867490522623,1.06966119691
+406,6.766666667,pose2_to_pose3_retreat,0.578373172742,1.2618937439e-06,1.0700115584,0.548944407955,0.00867492916599,1.06966109728
+407,6.783333333,pose2_to_pose3_retreat,0.578344675784,1.33052040928e-06,1.07001162984,0.548915909428,0.00867499253296,1.06966117018
+408,6.800000000,pose2_to_pose3_retreat,0.578321405597,1.38166501465e-06,1.0700117789,0.54889263809,0.0086750396152,1.06966131542
+409,6.816666667,pose2_to_pose3_retreat,0.578302891428,1.29881674441e-06,1.07001181194,0.548874125603,0.00867496211914,1.06966133973
+410,6.833333333,pose2_to_pose3_retreat,0.578288147189,1.31077721727e-06,1.0700117771,0.548859381123,0.00867497354796,1.06966131201
+411,6.850000000,pose2_to_pose3_retreat,0.578277102093,1.30112511462e-06,1.07001163317,0.548848336965,0.00867496741996,1.06966117654
+412,6.866666667,pose2_to_pose3_retreat,0.578269556861,1.27324993073e-06,1.07001148955,0.548840793016,0.00867494413158,1.06966103874
+413,6.883333333,pose2_to_pose3_retreat,0.578264685406,1.20583223932e-06,1.07001158234,0.548835921462,0.00867487614834,1.06966112595
+414,6.900000000,pose2_to_pose3_retreat,0.578261433537,1.16688198586e-06,1.07001162995,0.54883266959,0.00867483705293,1.06966117027
+415,6.916666667,pose2_to_pose3_retreat,0.578259158703,1.17643445918e-06,1.07001157616,0.548830395137,0.00867484791647,1.06966111679
+416,6.933333333,pose2_to_pose3_retreat,0.578257576384,1.18307892937e-06,1.07001153874,0.548828813082,0.00867485547288,1.0696610796
+417,6.950000000,pose2_to_pose3_retreat,0.578256297974,1.18925224988e-06,1.07001153608,0.548827534754,0.00867486189881,1.06966107627
+418,6.966666667,pose2_to_pose3_retreat,0.578255433074,1.19490860789e-06,1.07001158495,0.548826669665,0.00867486683603,1.06966112313
+419,6.983333333,pose2_to_pose3_retreat,0.578255264113,1.19601359341e-06,1.07001159449,0.548826500667,0.00867486780053,1.06966113228
+420,7.000000000,pose2_to_pose3_retreat,0.578255121364,1.1969471565e-06,1.07001160256,0.548826357887,0.0086748686154,1.06966114002
+421,7.016666667,pose2_to_pose3_retreat,0.578255046274,1.19743823733e-06,1.0700116068,0.54882628278,0.00867486904405,1.06966114408
+422,7.033333333,pose2_to_pose3_retreat,0.57825493705,1.19815254709e-06,1.07001161298,0.548826173533,0.00867486966754,1.06966115
+423,7.050000000,pose2_to_pose3_retreat,0.578254850771,1.19871680454e-06,1.07001161785,0.548826087235,0.00867487016006,1.06966115468
+424,7.066666667,pose2_to_pose3_retreat,0.578254815468,1.19894768387e-06,1.07001161985,0.548826051924,0.00867487036159,1.06966115659
+425,7.083333333,pose2_to_pose3_retreat,0.578254792301,1.19909919245e-06,1.07001162115,0.548826028752,0.00867487049383,1.06966115784
+426,7.100000000,pose2_to_pose3_retreat,0.578254778802,1.19918747683e-06,1.07001162192,0.54882601525,0.00867487057089,1.06966115858
+427,7.116666667,pose2_to_pose3_retreat,0.578254576146,1.2005128254e-06,1.07001163337,0.54882581255,0.00867487172774,1.06966116956
+428,7.133333333,pose2_to_pose3_retreat,0.578254041659,1.20400830835e-06,1.07001166357,0.548825277947,0.00867487477881,1.06966119851
+429,7.150000000,pose2_to_pose3_retreat,0.578254039222,1.2040242466e-06,1.07001166371,0.548825275509,0.00867487479272,1.06966119865
+430,7.166666667,pose2_to_pose3_retreat,0.578253599712,1.22587010563e-06,1.07001170062,0.548824835543,0.00867489507957,1.06966123522
+431,7.183333333,pose2_to_pose3_retreat,0.578253454688,1.23442799297e-06,1.07001171366,0.548824690344,0.00867490303814,1.06966124819
+432,7.200000000,pose2_to_pose3_retreat,0.578253354714,1.24032745039e-06,1.07001172265,0.548824590249,0.00867490852445,1.06966125714
+433,7.216666667,pose2_to_pose3_retreat,0.578253074406,1.25686845217e-06,1.07001174785,0.548824309602,0.00867492390706,1.06966128222
+434,7.233333333,pose2_to_pose3_retreat,0.578252958887,1.26368524831e-06,1.07001175823,0.548824193943,0.00867493024647,1.06966129255
+435,7.250000000,pose2_to_pose3_retreat,0.578252419322,1.22679800983e-06,1.07001174574,0.548823654211,0.0086748926581,1.06966127677
+436,7.266666667,pose2_to_pose3_retreat,0.578252237244,1.18378032733e-06,1.07001171438,0.548823472293,0.00867485008378,1.06966124296
+437,7.283333333,pose2_to_pose3_retreat,0.578252198194,1.1745544389e-06,1.07001170766,0.548823433278,0.00867484095297,1.06966123571
+438,7.300000000,pose2_to_pose3_retreat,0.578252163153,1.14868158642e-06,1.07001170041,0.54882339847,0.00867481585646,1.06966122812
+439,7.316666667,pose2_to_pose3_retreat,0.5782521516,1.12963106046e-06,1.07001169729,0.548823387115,0.00867479747508,1.06966122497
+440,7.333333333,pose2_to_pose3_retreat,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846272,1.06966122125
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d2b588cd9a07f9f9baa6472130727845b918baa5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77810333d40c1c4df70311b8f960fa14bb843d454d73164fd242bad10a119614
+size 28086422
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d4cf9584fd60d45ae68b0bd6e9341059352d6d3c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_03/franka_data.csv
@@ -0,0 +1,444 @@
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+30,0.500000000,BASELINE,767,746,716,680,663,637,880.559236288,788,803.559236288,653,632.440763712,653.440763712,0.400988428921,-0.00539538478654,0.0798526244149,0.999999940039,0.000223864236141,-0.000261218769998,3.96535201132e-05,1793238009326469120
+31,0.516666667,BASELINE,767,746,716,679.861218723,663,637,880.861218723,788,803.861218723,653,632,653.138781277,0.400989294016,-0.00539545198594,0.0798538411838,0.999999940376,0.000223852826926,-0.000259860938171,4.01242187217e-05,1793238009343135744
+32,0.533333333,BASELINE,767,746,716,679.283886867,663,637,880.283886867,788,803.283886867,653,632,653.716113133,0.400988467777,-0.00539543210547,0.0798533648155,0.999999939993,0.000224800317992,-0.000260526326257,4.00509075564e-05,1793238009359802368
+33,0.550000000,BASELINE,767,746,716,679.29863268,663,637,880,788,803.29863268,652.70136732,632,654,0.400988284711,-0.00539449955666,0.0798529929429,0.999999939589,0.00022611941287,-0.000260976923696,3.97785309801e-05,1793238009376468992
+34,0.566666667,BASELINE,767,746,716,679.88617091,663,637,880,788,803.88617091,652.11382909,632,654,0.400988723868,-0.00539268406714,0.0798527221625,0.999999939163,0.000227798007542,-0.000261219726658,3.9313573e-05,1793238009393135872
+35,0.583333333,BASELINE,767,746,716,680,663,637,880,788,804,652.467236239,632,654,0.400988707479,-0.00539222791185,0.0798524620093,0.999999938887,0.000228782310457,-0.000261397964627,3.9444898476e-05,1793238009409802752
+36,0.600000000,BASELINE,767,746,716,680,663,637,880,788,804,653,632,654,0.400988541529,-0.00539205227243,0.0798522634321,0.999999938683,0.000229465576839,-0.00026154200761,3.96860848945e-05,1793238009426469632
+37,0.616666667,BASELINE,767,746,716,680,663,637,880,788,804,653,632,654,0.400987918624,-0.00539135097304,0.0798527375305,0.999999938901,0.000228619339928,-0.000261473150462,3.95463634748e-05,1793238009443136256
+38,0.633333333,BASELINE,767,746,716,680,663,637,879.79732903,788,804,653,632,653.79732903,0.400987242285,-0.00539148431826,0.079852588235,0.999999939019,0.000227562219439,-0.000261939184288,3.95550432976e-05,1793238009459802880
+39,0.650000000,BASELINE,767,746,716,680,663,637,879.210631273,788,804,653,632,653.210631273,0.400986464697,-0.005393199172,0.079851257715,0.99999993895,0.000226105510526,-0.000263418744918,3.98449180423e-05,1793238009476469504
+40,0.666666667,BASELINE,766.628319121,746,716,680,663,637,879,788,803.628319121,653,632,653,0.400985979835,-0.00539356923754,0.0798508566606,0.999999939029,0.000225861450614,-0.000263361438234,3.96225128882e-05,1793238009493136128
+41,0.683333333,BASELINE,766.048463339,746,716,680,663,637,879,788,803.048463339,653,632,653,0.400985658927,-0.00539318609997,0.079850976191,0.999999939192,0.000226296583886,-0.00026244334679,3.91131846499e-05,1793238009509802752
+42,0.700000000,BASELINE,766.528125143,746,716,680,663,637,879.528125143,788.528125143,803.528125143,652.471874857,632,653,0.400986535115,-0.00539351487305,0.0798517343325,0.999999939535,0.000225358546827,-0.000261957398194,3.90202383782e-05,1793238009526469376
+43,0.716666667,BASELINE,767,746,716,680,663,636.89577308,880,789,803.89577308,652.10422692,632,653.10422692,0.400987384493,-0.00539364624549,0.07985237547,0.999999939711,0.000224958235938,-0.000261631613473,3.89885033753e-05,1793238009543136000
+44,0.733333333,BASELINE,767,746,716,680,663,636.320524209,880,789,803.320524209,652.679475791,632,653.679475791,0.400987619322,-0.00539259210904,0.0798522246372,0.999999939064,0.000227553972655,-0.000261851531551,3.90617807697e-05,1793238009559802624
+45,0.750000000,BASELINE,767,746,716,680.261694933,663,636.261694933,880.261694933,788.738305067,803.261694933,653,632,654,0.400987713212,-0.0053923566216,0.079852237463,0.999999938706,0.000229235417031,-0.000261712241006,3.93061942904e-05,1793238009576469504
+46,0.766666667,BASELINE,767,746,716,680.852684836,663,636.852684836,880.852684836,788.147315164,803.852684836,653,632,654,0.400987629756,-0.00539315125355,0.0798524562231,0.999999938721,0.000229766392364,-0.000261120952421,3.97659511626e-05,1793238009593136384
+47,0.783333333,BASELINE,767.435349983,746,716,680.564650017,663.435349983,637,880.129300033,788,803.564650017,653,632,653.564650017,0.400987419299,-0.00539318702173,0.0798526701705,0.999999938773,0.000229450810717,-0.00026119071456,3.98319239799e-05,1793238009609803008
+48,0.800000000,BASELINE,767.984956857,746,716,680,663.984956857,637,879.015043143,788,803,653,632,653,0.400987196444,-0.00539296525308,0.0798528729899,0.999999938842,0.000228846241231,-0.000261466937981,3.97599002616e-05,1793238009626469376
+49,0.816666667,BASELINE,767.412962045,746,716,680,663.412962045,637,879.587037955,788,803,653,632,653,0.400988075811,-0.00539253733189,0.0798527229759,0.999999939114,0.00022794911232,-0.000261260737909,3.94195745711e-05,1793238009643136000
+50,0.833333333,BASELINE,767,746,716,680,663,637,880,788,803.16324533,653,632,653.16324533,0.400988490998,-0.00539247555409,0.0798525783129,0.999999939292,0.000227352068363,-0.000261131150273,3.92219258782e-05,1793238009659802624
+51,0.850000000,BASELINE,767,746,716,680,663,637,880,788,803.750391638,653,632,653.750391638,0.400987700843,-0.00539336454482,0.0798524475447,0.999999939225,0.00022753425817,-0.000261200502966,3.93947680709e-05,1793238009676469248
+52,0.866666667,BASELINE,767,746,716,680,663,637,880,788,804,653,632,653.666731618,0.400987373576,-0.00539378066474,0.0798522553027,0.999999939135,0.000227401524825,-0.000261660426,3.93975362604e-05,1793238009693135872
+53,0.883333333,BASELINE,767,746,716,680,663,637,880,788,804,653,632,653.087012241,0.400987388613,-0.00539384709801,0.079852017601,0.999999939027,0.000227035906715,-0.000262409174653,3.92745352101e-05,1793238009709802752
+54,0.900000000,BASELINE,767,746,716,680.491623564,663,637,880,788,804,653,632,653.491623564,0.400986604367,-0.0053930470109,0.0798515746667,0.999999938889,0.000227016725047,-0.00026298612539,3.90385272289e-05,1793238009726469376
+55,0.916666667,BASELINE,767,746,716,680.929164362,663,637,880,788.070835638,804,652.929164362,632,654,0.400985929422,-0.00539232277533,0.0798512957231,0.999999938796,0.000227115846841,-0.000263280693736,3.88579721043e-05,1793238009743136000
+56,0.933333333,BASELINE,767,746,716,680.34438277,663,637,880,788.65561723,804,652.34438277,632,654,0.400987071641,-0.0053932591672,0.0798524695771,0.999999939068,0.00022762942056,-0.000261746572567,3.9224551484e-05,1793238009759802624
+57,0.950000000,BASELINE,766.762210773,746,716,680,663,637,879.762210773,788.762210773,804,652.237789227,632,654,0.400988354656,-0.00539347015764,0.0798534536521,0.999999939383,0.000228031300884,-0.000260157559679,3.94221880578e-05,1793238009776469248
+58,0.966666667,BASELINE,766.183777194,746,716,680,663,637,879.183777194,788.183777194,804,652.816222806,632,654,0.400989839369,-0.00539264197604,0.0798541658597,0.999999939762,0.000228273175076,-0.000258489911931,3.93778060137e-05,1793238009793135872
+59,0.983333333,BASELINE,766.395891518,746,716,679.604108482,663,637,879.395891518,788,804,652.604108482,632,654,0.40099047851,-0.00539340230976,0.0798542467841,0.999999940166,0.000227367218989,-0.000257702844667,3.95269224945e-05,1793238009809802240
+60,1.000000000,BASELINE,766.976135438,746,716,679.023864562,663,637,879.976135438,788,804,652.023864562,632,654,0.400990723901,-0.0053949023577,0.0798540337427,0.99999994058,0.000225926759759,-0.000257325831829,3.97661442557e-05,1793238009826469120
+61,1.016666667,BASELINE,767,746,716,679.553008848,663,637,880,788.553008848,804,652,632,654,0.400990231325,-0.00539480076566,0.0798537969848,0.999999940259,0.000226443017661,-0.00025815102871,3.95547705395e-05,1793238009843136000
+62,1.033333333,BASELINE,767,746,716,680,663,637,880,788.871115102,803.871115102,652.128884898,632,654,0.400989623488,-0.00539423786484,0.0798535132801,0.99999993988,0.000227087290074,-0.000259078850249,3.93639127688e-05,1793238009859802880
+63,1.050000000,BASELINE,767,746,716,680,663,637,880,788.298177053,803.298177053,652.701822947,632,654,0.400988727598,-0.00539232228553,0.0798530713323,0.999999939414,0.000227883453542,-0.000260182587109,3.93103284362e-05,1793238009876470528
+64,1.066666667,BASELINE,767,746,716,680,663,637,880.284124402,788,803.284124402,653,632,654,0.400987762034,-0.00539200546058,0.0798524464561,0.999999939286,0.000227494016168,-0.000261030272764,3.92146331611e-05,1793238009893137664
+65,1.083333333,BASELINE,767,746,716,680,663,637,880.876587208,788,803.876587208,653,632,654,0.400986720858,-0.00539342364114,0.0798516230618,0.999999939522,0.000225817937153,-0.000261600085633,3.90732381154e-05,1793238009909804288
+66,1.100000000,BASELINE,766.542597288,746.457402712,716,680,663.457402712,637,880.542597288,788.457402712,804,653,632,654,0.400988006145,-0.00539388799849,0.0798526972041,0.999999939786,0.00022585253418,-0.000260533109239,3.92564344445e-05,1793238009926470400
+67,1.116666667,BASELINE,766.034505891,746.965494109,716,680,663.965494109,637,880,788.965494109,804,653,632,654,0.400989732886,-0.0053940024219,0.0798541267288,0.999999940019,0.000226338362428,-0.000259179593161,3.94877727034e-05,1793238009943136256
+68,1.133333333,BASELINE,766.601610702,746.398389298,716,680,663.398389298,637,880,788.398389298,804,653,632,654,0.400988825375,-0.00539258922056,0.079853335422,0.999999939692,0.00022684165464,-0.000260050564558,3.91439710612e-05,1793238009959803136
+69,1.150000000,BASELINE,767,746,716,680,663,637,880,788,804,653,632,654,0.400988449156,-0.00539193625988,0.0798530216758,0.999999939535,0.000227124991877,-0.000260438344539,3.8941043002e-05,1793238009976470016
+70,1.166666667,BASELINE,767,746,716,680,663,637,880,788,804,653,632,654,0.400989327481,-0.00539307846143,0.0798538355972,0.999999939779,0.000226888947704,-0.000259685160865,3.90707608464e-05,1793238009993136384
+71,1.183333333,BASELINE,767,746,716,680,663,636.658326895,880,788.341673105,803.658326895,653,632,654,0.400988642928,-0.0053931494245,0.0798536310729,0.999999939667,0.000226864396918,-0.000260135015434,3.91032837457e-05,1793238010009802752
+72,1.200000000,BASELINE,767,746,716,680,663,636.064768241,880,788.935231759,803.064768241,653,632,654,0.400986806202,-0.00539243065772,0.0798526757381,0.99999993929,0.000226995761591,-0.00026147176428,3.90641533686e-05,1793238010026469120
+73,1.216666667,BASELINE,767,746,716,680,663.510134561,636.510134561,880,789,803.510134561,653,632,654,0.400987898487,-0.00539424163925,0.0798529154573,0.999999939873,0.000225902811323,-0.000260142600841,3.93494179051e-05,1793238010043136000
+74,1.233333333,BASELINE,767,746,716,680,663.916433646,637,880,788.916433646,804,652.916433646,632.083566354,654,0.400989289835,-0.00539568665609,0.0798534065174,0.999999940376,0.000225450596542,-0.000258554855026,3.96066912443e-05,1793238010059802880
+75,1.250000000,BASELINE,767,746,716,680,663.338182834,637,880,788.338182834,804,652.338182834,632.661817166,654,0.400990327825,-0.0053931310619,0.079854518942,0.999999939726,0.00022967902255,-0.000257369341171,3.94630597989e-05,1793238010076469760
+76,1.266666667,BASELINE,767,746,716,680.245225224,663,636.754774776,880,788,804,652.245225224,633,654,0.400989885883,-0.00539157333302,0.0798543931423,0.999999939273,0.000231163261845,-0.000257830359731,3.92531239771e-05,1793238010093136384
+77,1.283333333,BASELINE,767,746,716,680.835898236,663,636.164101764,880,788,804,652.835898236,633,654,0.400987359167,-0.00539142129312,0.0798525230611,0.999999939112,0.000228781776068,-0.000260610841977,3.89497854553e-05,1793238010109803008
+78,1.300000000,BASELINE,767,746,716,680.581443202,663,636.418556798,880,788,804,653,632.581443202,654,0.400986918017,-0.00539204337225,0.0798524141324,0.999999939074,0.000228191015638,-0.000261271282354,3.89558898732e-05,1793238010126469376
+79,1.316666667,BASELINE,767,746,716,680.001867809,663,636.998132191,880,788,804,653,632.001867809,654,0.400987279184,-0.00539296325458,0.0798529827184,0.999999939088,0.000228289146424,-0.000261116143603,3.90810368449e-05,1793238010143136000
+80,1.333333333,BASELINE,767,746,716.575070339,680,663,637,880,788.575070339,804,653,632,654,0.400986178188,-0.00539343383551,0.0798515244761,0.999999938357,0.000228868509597,-0.000263411908443,3.89775645242e-05,1793238010159802624
+81,1.350000000,BASELINE,767,746,716.849156337,680,663,637,880.150843663,788.849156337,804,653,632.150843663,653.849156337,0.400985494321,-0.00539390393131,0.0798505859502,0.99999993797,0.000228962809957,-0.000264799217487,3.89643168487e-05,1793238010176469248
+82,1.366666667,BASELINE,767,746,716.276615644,680,663,637,880.723384356,788.276615644,804,653,632.723384356,653.276615644,0.400985989793,-0.00539437673183,0.0798511186584,0.99999993856,0.00022769672386,-0.000263624703686,3.92053666857e-05,1793238010193135872
+83,1.383333333,BASELINE,766.691503599,746,716,679.691503599,663,637,880.691503599,788,804,653,632.691503599,653.308496401,0.400986567595,-0.00539380885423,0.0798516846233,0.999999938874,0.000227531159819,-0.000262570404852,3.92111395644e-05,1793238010209802752
+84,1.400000000,BASELINE,766.094640425,746,716,679.094640425,663,637,880.094640425,788,804,653,632.094640425,653.905359575,0.400987222356,-0.0053922682036,0.079852281675,0.999999938933,0.00022839430777,-0.000261628476729,3.89969875158e-05,1793238010226469376
+85,1.416666667,BASELINE,766.488310044,746,716,679.488310044,663,637,880,788,804,653,632,654,0.400987956837,-0.00539353130686,0.0798529823372,0.999999939465,0.000227743619583,-0.000260144025958,3.90947988196e-05,1793238010243136000
+86,1.433333333,BASELINE,767,746,716,680,663,637,880,788,803.932704166,653,632.067295834,653.932704166,0.400988708015,-0.00539497817836,0.0798536881835,0.999999940009,0.000227038109444,-0.000258643733252,3.92197994617e-05,1793238010259802624
+87,1.450000000,BASELINE,767,746,716,680,663,637,880,788,803.363729366,653,632.636270634,653.363729366,0.400989471675,-0.00539385626634,0.0798542871238,0.999999940005,0.000228050564753,-0.000257787482802,3.91092423982e-05,1793238010276469248
+88,1.466666667,BASELINE,767,746,716,680,663,637,880,788.213017326,803.213017326,653,632.786982674,653.213017326,0.400989410728,-0.00539311485897,0.0798541805711,0.999999939828,0.000228613013082,-0.000257984569734,3.90302496501e-05,1793238010293135872
+89,1.483333333,BASELINE,767,746,716,680,663,637,880,788.803537081,803.803537081,653,632.196462919,653.803537081,0.400987888435,-0.0053930477697,0.0798528237665,0.999999939348,0.000228377973505,-0.000260048347228,3.90071941698e-05,1793238010309802752
+90,1.500000000,BASELINE,767,746,716,679.613797508,662.613797508,637,879.613797508,788.613797508,804,653,632,653.613797508,0.400987903849,-0.00539363397707,0.0798525340097,0.999999939668,0.000226674440199,-0.000260300315618,3.90629662063e-05,1793238010326469376
+91,1.516666667,BASELINE,767,746,716,679.035048015,662.035048015,637,879.035048015,788.035048015,804,653,632,653.035048015,0.400988685908,-0.00539454589519,0.0798527762456,0.999999940383,0.000224238767493,-0.000259648979551,3.9158038875e-05,1793238010343136256
+92,1.533333333,BASELINE,767,746,716,679.538868644,662.538868644,637,879.538868644,788,804,652.461131356,632,653.538868644,0.400987779793,-0.00539361579953,0.079852251567,0.999999939897,0.000225223348214,-0.000260676875724,3.90889815195e-05,1793238010359802880
+93,1.550000000,BASELINE,767,746,716,680,663,637,880,788.112615304,803.887384696,652,632,653.887384696,0.400987059289,-0.00539318054263,0.0798518962039,0.999999939502,0.000225983618865,-0.000261532623346,3.90927128486e-05,1793238010376469504
+94,1.566666667,BASELINE,767,746,716,680,663,637,880,788.68694209,803.31305791,652,632,653.31305791,0.400987545935,-0.00539526089615,0.0798524377033,0.999999939805,0.000224920311037,-0.000261238779195,3.94382479963e-05,1793238010393135872
+95,1.583333333,BASELINE,767,746,716,680,663,637,879.729322996,788.729322996,803,652.270677004,632.270677004,653.270677004,0.400988293143,-0.00539595019413,0.0798530852643,0.999999940353,0.000223680463625,-0.000260219726415,3.9321442186e-05,1793238010409802752
+96,1.600000000,BASELINE,767,746,716,680,663,637,879.134314987,788.134314987,803,652.865685013,632.865685013,653.865685013,0.400989352564,-0.0053949726997,0.0798538599105,0.999999941193,0.000222229082547,-0.000258331713025,3.86506495459e-05,1793238010426469376
+97,1.616666667,BASELINE,767,746,716,680,663,637,879.883490621,788.441745311,803,653,632.558254689,654,0.400989827598,-0.00539368329487,0.0798541811518,0.999999940555,0.000225454675755,-0.00025794734764,3.90224688603e-05,1793238010443136000
+98,1.633333333,BASELINE,767,746,716.012420313,680,663,637,880.987579687,789,803.012420313,653,632,654,0.400990130902,-0.00539233426503,0.0798543690701,0.999999939501,0.000229921707387,-0.000257992247566,3.9674938014e-05,1793238010459802880
+99,1.650000000,BASELINE,767,746,716.589410987,680,663,637,880.410589013,789,803.589410987,653,632,654,0.40099037279,-0.00539240855022,0.0798545054977,0.999999939861,0.000228837156479,-0.00025762245549,3.92672284374e-05,1793238010476469504
+100,1.666666667,BASELINE,767,746,716.838932618,680,663,636.838932618,879.838932618,789,804,653,632,654,0.400989976467,-0.00539256164108,0.0798543148693,0.999999940027,0.0002279558774,-0.000257801918363,3.89912622449e-05,1793238010493136384
+101,1.683333333,BASELINE,767,746,716.280438363,680,663,636.280438363,879.280438363,789,804,653,632,654,0.400988005385,-0.00539290918153,0.0798533172444,0.999999939715,0.000227576162929,-0.000259336644349,3.90403672408e-05,1793238010509803008
+102,1.700000000,BASELINE,767,746,716,680,663,636.306986173,879.306986173,788.693013827,803.693013827,652.693013827,632,654,0.400987293566,-0.00539333668775,0.0798531694585,0.999999939834,0.00022681576253,-0.000259537808551,3.90786611991e-05,1793238010526469632
+103,1.716666667,BASELINE,767,746,716,680,663,636.923588836,879.923588836,788.076411164,803.076411164,652.076411164,632,654,0.400987851798,-0.00539384484487,0.0798538787934,0.999999940388,0.000225671414438,-0.000258393984665,3.91060514861e-05,1793238010543136256
+104,1.733333333,BASELINE,767,746,716,680,663,637,880,788.503133869,803.503133869,652.503133869,632,654,0.400988080468,-0.00539306421588,0.0798534575403,0.999999940233,0.000226011843453,-0.000258702049042,3.9057503405e-05,1793238010559802880
+105,1.750000000,BASELINE,767,746,716,679.922583595,663,637,880,789,804,653,632,654,0.400988445443,-0.0053924299746,0.0798530867535,0.999999940119,0.000226252902428,-0.00025893645953,3.9024064546e-05,1793238010576469248
+106,1.766666667,BASELINE,767,746,716,679.348433626,663,637,880,789,804,653,632,654,0.400989984118,-0.00539390472981,0.0798540659127,0.999999940909,0.000224508765104,-0.000257380528754,3.91564947892e-05,1793238010593136128
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,879,788,803,653,632,653,0.400989066004,-0.00539242945845,0.0798545108692,0.999999939774,0.000229038483334,-0.000257796432267,3.91712756923e-05,1793238010632370944
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.409752603,716,680.590247397,663,636.590247397,879.590247397,788,803.590247397,652.409752603,632,653.590247397,0.40098869504,-0.00539368054472,0.0798540458378,0.999999940262,0.000226578662778,-0.000258080705358,3.91369848571e-05,1793238010649037824
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.17852244,716,681,663,637,880,788,803.82147756,652.17852244,632,654,0.400988392991,-0.00539440614411,0.0798535540759,0.99999994044,0.000225299867482,-0.000258514387233,3.91161582453e-05,1793238010665704192
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.762320032,716,681,663,637,880,788,803.237679968,652.762320032,632,654,0.400988247387,-0.00539393880254,0.0798530016316,0.999999939923,0.000226702192317,-0.000259287251559,3.91258976172e-05,1793238010682370816
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,680.659853052,663,637,880.340146948,788,803.340146948,653,632,654,0.400988191585,-0.00539384473934,0.0798531364231,0.999999940119,0.000226011084093,-0.0002591482776,3.90166391992e-05,1793238010699037440
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680.086126253,663,637,880.913873747,788,803.913873747,653,632,654,0.40098819745,-0.00539400700744,0.0798537431415,0.999999940804,0.000223882409496,-0.000258383141717,3.8825664668e-05,1793238010715704320
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.49491359,788,804,653,632.50508641,654,0.400988479181,-0.00539411326261,0.0798534135108,0.99999994057,0.000224975105333,-0.000258324252417,3.89294842722e-05,1793238010732370944
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,879.903807748,788.096192252,804,653,633,654,0.400988689192,-0.00539408986377,0.0798529641444,0.999999940223,0.0002262989401,-0.000258489906261,3.90530914373e-05,1793238010749037568
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,879.328613809,788.671386191,804,653,633,654,0.400988299429,-0.00539347010322,0.0798527421195,0.999999940134,0.000225940353714,-0.000259152511253,3.90159424754e-05,1793238010765704448
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,879,789,804,653,632.75202208,654,0.400988185982,-0.00539347447261,0.0798527848348,0.999999940035,0.000225662837557,-0.000259773140367,3.9047720381e-05,1793238010782371328
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,879,789,804,653,632.173567582,654,0.400988440777,-0.00539431061097,0.0798531803655,0.999999939921,0.000225493362549,-0.000260337828781,3.91713561262e-05,1793238010799037952
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,879.409566019,789,804,653,632,654,0.400996422169,-0.00539435955971,0.0798572643702,0.999999941597,0.000225490160524,-0.000253808558813,3.92556783256e-05,1793238010815705088
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,879.994705517,789,804,653,632,654,0.401007715811,-0.00539407105471,0.0798629295563,0.999999943962,0.000225558236661,-0.000244238238371,3.93231475328e-05,1793238010832371712
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716,679.422061357,663,637,880,789,804,653,632.577938643,654,0.401038532003,-0.00539529048801,0.0798759734482,0.999999949693,0.000224619477733,-0.000220431936667,3.96240136463e-05,1793238010849038336
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716,679.158972112,663,637,880,789,804,653,632.841027888,654,0.401075755313,-0.00539637262971,0.0798903160913,0.999999955341,0.000224095413476,-0.000193689154224,3.98073419543e-05,1793238010865704960
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716,679.734290419,663,637,880,789,804,653,632.265709581,654,0.401129291948,-0.00539705914623,0.0799078837007,0.999999961236,0.00022468150693,-0.000159596190097,3.96772587806e-05,1793238010882371328
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.310433882,637,880,789,803.689566118,653,632,654,0.401189924151,-0.00539761615469,0.0799234869799,0.999999965349,0.000225075110549,-0.000130768393734,3.92697626496e-05,1793238010899038208
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.887285468,637,880,789,803.112714532,653,632,654,0.401256645844,-0.00539806201788,0.0799374044486,0.999999968206,0.00022530351734,-0.000106459223209,3.86241877468e-05,1793238010915704576
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.523358601,637,880.476641399,789,803.476641399,652.523358601,632,654,0.401325317712,-0.00539779658804,0.0799440712025,0.999999969155,0.000225490190772,-9.73327675418e-05,3.70086451124e-05,1793238010932371200
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.067210705,637,880.932789295,788.932789295,804,652.067210705,632,654,0.401396419749,-0.005397700112,0.0799484684182,0.999999969769,0.000225223116888,-9.22398246085e-05,3.50506683183e-05,1793238010949037824
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.643957492,637,880.356042508,788.356042508,804,652.643957492,632,654,0.401482354912,-0.00540019404407,0.0799490089365,0.999999970898,0.000221592939333,-8.97732133536e-05,3.22824162146e-05,1793238010965704192
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.780305041,637,880,788,804,653,632,653.780305041,0.401578251338,-0.0054016410652,0.0799514258703,0.999999971957,0.000219314742616,-8.4436957135e-05,2.92832046267e-05,1793238010982370816
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.206195873,637,880,788,804,653,632,653.206195873,0.40169021737,-0.00540139919838,0.0799568698574,0.999999972863,0.00021921757588,-7.44713598553e-05,2.5911407048e-05,1793238010999037440
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.624056578,880,788,804,653,632,653.375943422,0.401815277912,-0.00540357465917,0.0799613384814,0.999999974304,0.000215520737541,-6.67333656547e-05,2.21306755403e-05,1793238011015704064
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.037416766,880,788,804,653,632,653.962583234,0.401947677245,-0.0054071049041,0.0799652604664,0.999999976012,0.000209806473791,-6.02438241335e-05,1.81207578947e-05,1793238011032370688
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,679.45659623,663,636.54340377,880,788,804,653,632,653.45659623,0.402102917346,-0.0054079007375,0.0799687571501,0.999999977087,0.000207081568509,-5.26544582239e-05,1.31026526887e-05,1793238011049037312
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,679.123037,663,637,880,788,804,652.876963,632,653,0.402264378136,-0.00540882899523,0.0799718584789,0.999999978114,0.000204085538223,-4.53846765241e-05,7.84438684993e-06,1793238011065703936
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679.699754225,663,637,880,788,804,652.300245775,632,653,0.402443039056,-0.00541093245083,0.0799736088358,0.999999979347,0.000199338827498,-3.95695943543e-05,1.95382747991e-06,1793238011082370560
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.724845785,652.275154215,632,653.275154215,0.402627912731,-0.00541277056621,0.0799714037561,0.999999980488,0.000192493525657,-4.41536624724e-05,-4.51315849487e-06,1793238011099037184
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.150876336,652.849123664,632,653.849123664,0.402819533398,-0.00541432052412,0.0799649031043,0.999999981319,0.000183369171219,-6.00311233551e-05,-1.16061387083e-05,1793238011115703808
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.43640024,636.56359976,879.56359976,788,803,653,632,653.56359976,0.403039568866,-0.00541539883382,0.079961102284,0.999999982703,0.000173143823737,-6.53421083785e-05,-1.85731292595e-05,1793238011132370688
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746.027781274,716,679.972218726,663.972218726,636.027781274,879.027781274,788,803,653,632.027781274,653.027781274,0.403271974303,-0.00541645228235,0.0799586695307,0.999999984434,0.0001615859722,-6.62879384291e-05,-2.50732148926e-05,1793238011149037312
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746.60645363,716,679.39354637,663.39354637,636.60645363,879.60645363,788,803,653,632.60645363,653.60645363,0.403548741799,-0.00542034790659,0.0799642736792,0.999999989565,0.00013139055997,-5.53931993957e-05,-2.32056828143e-05,1793238011165703680
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746.816556738,716,679.366886523,663,636.816556738,880,788,803.183443262,652.816556738,632.816556738,654,0.403833726609,-0.00542245986023,0.0799696581088,0.999999991709,0.000118276570101,-4.59054114371e-05,-2.20094780626e-05,1793238011182370560
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746.243144365,716,680.51371127,663,636.243144365,880,788,803.756855635,652.243144365,632.243144365,654,0.404136179992,-0.00542078003362,0.0799745754526,0.999999988969,0.000141474777196,-3.94085631622e-05,-2.22404010718e-05,1793238011199037184
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.660749841,746,716,680.660749841,663.339250159,636.339250159,880,788,803.660749841,652.339250159,632,653.660749841,0.404458031579,-0.00542194791433,0.0799739329929,0.999999988647,0.000143424440875,-3.88213371558e-05,-2.50597750754e-05,1793238011215704064
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.071742569,746,716,680.071742569,663.928257431,636.928257431,880,788,803.071742569,652.928257431,632,653.071742569,0.40479416422,-0.00542521228662,0.0799691973875,0.999999990235,0.00012973085747,-4.25847943754e-05,-2.97847754808e-05,1793238011232370944
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.509516669,746,715.490483331,680,663.490483331,637,880,788,803.509516669,653,632,653.509516669,0.405164360231,-0.00542843223997,0.0799677989117,0.999999991559,0.00011966440818,-4.01632658869e-05,-3.0796822601e-05,1793238011249037312
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,715.089147269,680.089147269,663.089147269,636.910852731,880,788.089147269,804,653,632,654,0.405541620804,-0.00543157071216,0.0799658920212,0.999999992495,0.000111529956367,-3.96642348189e-05,-3.15965786773e-05,1793238011265704192
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,715.665748752,680.665748752,663.665748752,636.334251248,880,788.665748752,804,653,632,654,0.405931677148,-0.00543429733601,0.0799586743069,0.999999991759,0.000111208831958,-5.43679542232e-05,-3.40513836962e-05,1793238011282370816
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,680.759179594,663.759179594,636.240820406,880,788.759179594,804,652.759179594,632,654,0.406338983615,-0.00544046628171,0.0799545403328,0.999999991503,0.000108666422374,-6.34439355841e-05,-3.40635818527e-05,1793238011299037440
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,680.186217924,663.186217924,636.813782076,880,788.186217924,804,652.186217924,632,654,0.406770081553,-0.00545138290269,0.0799546594761,0.999999992121,0.000103060400089,-6.47580986428e-05,-3.07069186358e-05,1793238011315704064
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.399760041,636.600239959,880,788,804,652,632,654,0.407226630101,-0.00547259863317,0.0799547276261,0.999999994521,7.6243163672e-05,-6.54232338985e-05,-2.93941541945e-05,1793238011332370944
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.992005363,636.007994637,880,788,804,652,632,654,0.407695433156,-0.00549877340571,0.0799547712228,0.999999996646,3.92126841452e-05,-6.57758608214e-05,-2.90655312768e-05,1793238011349037568
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.428516436,636.571483564,880,788,804,652.571483564,632,653.428516436,0.408175013266,-0.00549596268982,0.0799455755315,0.999999995235,3.97278232332e-05,-8.34459775521e-05,-3.14331995127e-05,1793238011365703936
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716,680.149455886,663.149455886,637,880,788,804,653,632,653,0.40867225069,-0.00549364445207,0.0799412395512,0.99999999432,4.22084326285e-05,-9.20897641346e-05,-3.31232931119e-05,1793238011382370560
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,680.723645078,663.723645078,637,880,788,804,653,632,653,0.409219248633,-0.00549385292521,0.079951073497,0.999999995503,4.88146103323e-05,-7.44085219493e-05,-3.27829610427e-05,1793238011399037440
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663.703167244,637,880,788,804,653,632,653.296832756,0.409789964447,-0.00549931798683,0.0799696223021,0.999999997745,3.9784908292e-05,-4.28303489932e-05,-3.30655893741e-05,1793238011415704320
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663.130908789,637,880,788,804,653,632,653.869091211,0.410382687704,-0.00550966054104,0.0799962574673,0.999999999291,1.62469592951e-05,1.64253470218e-06,-3.39262512047e-05,1793238011432370944
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,715.540061959,681,663.459938041,637,880.459938041,788,804,653,632,654,0.410984165745,-0.00550915188192,0.0800041602441,0.999999999077,2.16034800606e-05,1.30964333469e-05,-3.47399114901e-05,1793238011449037568
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,715.052117891,680.947882109,663.947882109,636.947882109,880.947882109,788,804,653,632,653.947882109,0.411586526591,-0.00550650386096,0.0800036421053,0.999999998786,3.22306306283e-05,1.04586815845e-05,-3.57700165166e-05,1793238011465704448
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,715.604195369,680.395804631,663.395804631,636.395804631,880.395804631,788,804,653,632,653.395804631,0.412172446109,-0.00551420862535,0.0799756433114,0.999999998618,1.12036274219e-05,-3.34080698668e-05,-3.90101811906e-05,1793238011482371584
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.161024684,636,880,788,804,653,632,653,0.412770798163,-0.00552037085174,0.079950466898,0.99999999668,-4.99266416805e-06,-6.93576407662e-05,-4.24763705626e-05,1793238011499038208
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.729889317,636,880,788,804,653,632,653,0.413400639046,-0.00552262616974,0.0799324389522,0.999999995244,-8.95382917966e-06,-8.52547400325e-05,-4.65150305599e-05,1793238011515704832
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664,636,880,788,804,652.684964893,632,653.315035107,0.414063832274,-0.00552508800222,0.0799348527891,0.999999996032,-9.7516839474e-06,-7.47533134253e-05,-4.74618936948e-05,1793238011532371456
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,636,880,788,804,652.085098949,632,653.914901051,0.414757180127,-0.0055277365493,0.0799557485358,0.999999998115,-7.68951341617e-06,-4.03843420395e-05,-4.5613388472e-05,1793238011549038080
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664,636.51359372,880,788,804,652.51359372,632,653.48640628,0.41548090717,-0.00553320848645,0.0799774102332,0.999999998802,-1.70736100415e-05,-6.89484471123e-06,-4.53448679001e-05,1793238011565704704
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,880.107852656,788,804,653,632,653.107852656,0.416199191534,-0.00553832443989,0.0799914360752,0.999999998492,-2.78349424789e-05,1.22240144712e-05,-4.57469496566e-05,1793238011582371072
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,880.683713637,788,804,653,632,653.683713637,0.416872065318,-0.00553987027775,0.0799717779488,0.999999997729,-3.63614761879e-05,-3.03851878537e-05,-4.79255813458e-05,1793238011599037952
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746.257883206,716,680,663.742116794,637,880.742116794,788,804,653,632,654,0.417585116174,-0.00554278131509,0.0799676138177,0.999999997117,-4.48838700257e-05,-3.56368372805e-05,-4.98165548822e-05,1793238011615704832
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746.829991898,716,680,663.170008102,637,880.170008102,788,804,653,632,654,0.418347122073,-0.00554735582068,0.0799823288047,0.999999997245,-5.34012206644e-05,4.6309326547e-06,-5.13570230743e-05,1793238011632371456
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746.581152133,716,680,663.837695733,637,880.418847867,788,803.581152133,653,632,653.581152133,0.41911233995,-0.00555396722728,0.0799984322497,0.999999996029,-6.24602573989e-05,3.67712696392e-05,-5.18504503122e-05,1793238011649038080
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.985700325,746,716,680.014299675,665,637,880.985700325,788,803.014299675,652.985700325,632,653.014299675,0.419878437543,-0.00556128897833,0.0800141277954,0.999999994059,-7.15274111504e-05,6.38106931886e-05,-5.19051868948e-05,1793238011665704448
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.409307823,746,716,680.590692177,665,637,880.409307823,788,803.590692177,652.409307823,632,653.590692177,0.420625735631,-0.00556268084221,0.0799907142278,0.999999995733,-7.19111248309e-05,2.5416561338e-05,-5.2117085233e-05,1793238011682371072
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.166729406,746,716,681,664.833270594,637,880.166729406,788,804.166729406,652,632,654,0.421382590214,-0.00556517240179,0.0799767708534,0.999999995858,-7.44067919907e-05,2.35056805972e-06,-5.23738127428e-05,1793238011699037696
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.741896289,746,716,681,664.258103711,637,880.741896289,788,804.741896289,652,632,654,0.422162855327,-0.00557035788884,0.0799860266385,0.999999995099,-8.20761175021e-05,1.68339597844e-05,-5.27403585356e-05,1793238011715704576
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664.325553004,636.674446996,881,788,805,652.325553004,632,653.674446996,0.422948545138,-0.00556846733895,0.0800044643159,0.999999994489,-7.97810356487e-05,4.48938172627e-05,-5.13931302096e-05,1793238011732371200
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,681,664.916120796,636.083879204,881,788,805,652.916120796,632,653.083879204,0.423738650858,-0.0055608165765,0.080030376466,0.999999992882,-6.93744775915e-05,8.4005527704e-05,-4.86508125994e-05,1793238011749037824
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746.497299668,716,681,664.502700332,636,881,788,804.502700332,652.502700332,632,653.497299668,0.424486197551,-0.00552896980257,0.0800086582602,0.999999997743,-2.84536208289e-05,3.47722394218e-05,-4.9951814781e-05,1793238011765704448
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,747,716,681.076131104,664,636.076131104,881,788,804.076131104,652,632,654,0.425232709554,-0.00549846149395,0.0799790811989,0.999999998279,9.83413306299e-06,-2.53899017184e-05,-5.19595246203e-05,1793238011782371072
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,747,716,681.64977899,664,636.64977899,881,788,804.64977899,652,632,654,0.426018501127,-0.00550287602967,0.0799496744474,0.999999996644,-2.09672869346e-06,-6.13978503962e-05,-5.4211387642e-05,1793238011799037952
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.776173128,716,681.776173128,664,637,881,788,804.776173128,652,632,653.776173128,0.426807716006,-0.00551070427114,0.0799346416403,0.999999995389,-1.49910134993e-05,-7.67822390722e-05,-5.56926950017e-05,1793238011815704832
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.201498164,716,681.201498164,664,637,881,788,804.201498164,652,632,653.201498164,0.427602297029,-0.00552388348897,0.0799421399524,0.999999996211,-2.93954634998e-05,-5.98392518129e-05,-5.59661586085e-05,1793238011832371200
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716,681.385610735,664.385610735,636.614389265,881,788,804,652,632,653,0.428374247137,-0.00552698864661,0.0799499061088,0.999999996367,-3.44423143462e-05,-5.46979978101e-05,-5.55735373484e-05,1793238011849037568
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,681.979433345,664.979433345,636.020566655,881,788,804,652,632,653,0.429133977554,-0.00552465427914,0.0799578168883,0.99999999634,-3.44364956759e-05,-5.59291323188e-05,-5.48212612092e-05,1793238011865704192
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.555994162,716,682,665,636.555994162,881.555994162,788,804,652.555994162,632,653,0.429940604218,-0.00553208233474,0.0799795772187,0.999999997444,-4.33875587755e-05,-1.65851154146e-05,-5.43503106307e-05,1793238011882371072
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.868026164,746.868026164,716,681.868026164,665,637,882,788,804,652.868026164,632,653,0.430748943918,-0.00553882147027,0.0800031509445,0.999999996947,-5.15754907701e-05,2.34935220977e-05,-5.37915619875e-05,1793238011899037952
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.29191811,746.29191811,716,681.29191811,665,637,882,788,804,652.29191811,632,653,0.431557386363,-0.00554206348007,0.0800311551678,0.999999995157,-5.61138121385e-05,6.11454564654e-05,-5.29033785068e-05,1793238011915704320
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.290954603,746,716,681,665.290954603,636.709045397,882,788,804,652,632,653,0.432305016639,-0.00554079844359,0.0800300434973,0.999999995815,-5.5100479565e-05,5.04363377225e-05,-5.28217985022e-05,1793238011932370944
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.880775897,746,716,681,665.880775897,636.119224103,882,788,804,652,632,653,0.432990180999,-0.00553490379806,0.0799990241671,0.999999997345,-4.83845235322e-05,-9.9489449718e-06,-5.35687563491e-05,1793238011949037568
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,681.462595717,665.074808566,636.462595717,881.537404283,788,804,652,632,653,0.433687265467,-0.00552740823856,0.0799540026171,0.99999999532,-4.06710941653e-05,-6.66893547179e-05,-5.70782246078e-05,1793238011965704448
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.042084178,716,682.042084178,664.084168355,637,881,788,804,652.042084178,632,653.042084178,0.434391533362,-0.00552021238282,0.0799109906231,0.999999990933,-3.38642436461e-05,-0.000115204734303,-6.09522592173e-05,1793238011982371328
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.617715222,716,682.617715222,665.235430445,637,881,788,804,652.617715222,632,653.617715222,0.435148585935,-0.00552195825671,0.0799384303981,0.999999994762,-4.17549194988e-05,-7.1149555405e-05,-6.0575256389e-05,1793238011999037952
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.807314975,746.807314975,716,683,666,637,881.192685025,788,804.192685025,652.807314975,632.192685025,653.807314975,0.435895288976,-0.00552530415398,0.0799665090553,0.999999996576,-4.84679040303e-05,-3.10674778939e-05,-5.94363348693e-05,1793238012015704576
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.233652478,746.233652478,716,683,666,637,881.766347522,788,804.766347522,652.233652478,632.766347522,653.233652478,0.436621529025,-0.00553181362308,0.0799958509173,0.99999999699,-5.28523548916e-05,1.15897805593e-06,-5.67909452751e-05,1793238012032371200
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.34934136,746,716,683,665.65065864,637,881.65065864,788,804.65065864,652.34934136,632.65065864,653.34934136,0.437317256714,-0.00553702355116,0.0800121790065,0.999999996376,-5.9736984685e-05,2.17838147369e-05,-5.66200753479e-05,1793238012049037568
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.938747593,746,716,683,665.061252407,637,881.061252407,788,804.061252407,652.938747593,632.061252407,653.938747593,0.437992016484,-0.00554134044358,0.0800195641227,0.999999995381,-6.83397192407e-05,3.44361000349e-05,-5.81496777435e-05,1793238012065704192
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.479516271,746,716,682.479516271,665,636.479516271,881,788,804.520483729,652.479516271,632.520483729,653.479516271,0.438649152332,-0.00554781741103,0.0800207987114,0.999999994657,-7.45816421361e-05,4.30243611889e-05,-5.72000668734e-05,1793238012082371328
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.100291636,746,716,682,665,636.100291636,881,788.100291636,804.899708364,652.100291636,632.899708364,653,0.439296613465,-0.0055532194193,0.0800184116705,0.999999994216,-7.95794174736e-05,4.53052812876e-05,-5.64066648804e-05,1793238012099038208
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.675184218,746,716,682,665,636.675184218,881,788.675184218,804.324815782,652.675184218,632.324815782,653,0.439907964104,-0.00555234901292,0.0800022618292,0.999999994936,-7.99852775888e-05,1.99689480789e-05,-5.77131073401e-05,1793238012115704576
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,682.249081691,665,637,881,788.750918309,804,652.750918309,632,653,0.440489291946,-0.00555237502172,0.0799706796964,0.999999994351,-8.24471658247e-05,-2.96735444484e-05,-6.0164934509e-05,1793238012132371200
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,682.821686607,665,637,881,788.178313393,804,652.178313393,632,653,0.441031624212,-0.00555356535191,0.079919053118,0.999999987962,-8.75795544779e-05,-0.000110886428787,-6.41044602276e-05,1793238012149037568
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716,683.409003911,664.590996089,636.590996089,881.409003911,788,804,652,632,653,0.441567064946,-0.00555478126231,0.0798865143328,0.999999981198,-8.96960892103e-05,-0.000158957826878,-6.55032304058e-05,1793238012165704192
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716,683.997113038,664,636,881.997113038,788,804,652,632,653,0.44209946008,-0.00555600279495,0.0798628403215,0.999999975375,-9.04205532632e-05,-0.000191705581866,-6.57426661963e-05,1793238012182371072
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716,683.420672811,664,636,881.420672811,788,804,652,632,653,0.442645953461,-0.00555604299847,0.0798853692458,0.999999981857,-8.55447540048e-05,-0.000157734958041,-6.39338782513e-05,1793238012199037696
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.155514008,716,683,663.844485992,636,881.155514008,788,804.155514008,652.155514008,632,653,0.443180561022,-0.00555479565751,0.0799035964568,0.999999986129,-8.26148910116e-05,-0.000130306378023,-6.27463898199e-05,1793238012215704576
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.73101659,716,683,663.26898341,636,881.73101659,788,804.73101659,652.73101659,632,653,0.443683069287,-0.00555007111231,0.0799102062603,0.999999987128,-8.49403157867e-05,-0.000120545547527,-6.32368123647e-05,1793238012232371456
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.685596908,746.685596908,715.685596908,683,663,636,882,788,804.685596908,652.685596908,632,653,0.44414403801,-0.00554526875141,0.07989855106,0.999999984856,-7.82095732197e-05,-0.000141778161795,-6.37967704081e-05,1793238012249038080
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.095291973,746.095291973,715.095291973,683,663,636,882,788,804.095291973,652.095291973,632,653,0.444568554019,-0.00554039810428,0.0798708675556,0.999999977817,-6.35316652913e-05,-0.000190208818597,-6.44177486054e-05,1793238012265704448
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.486302456,746,715,683.486302456,663,636,882.486302456,788,804.972604913,652.486302456,632,653.486302456,0.444965917136,-0.00553943805938,0.0798365474942,0.999999964765,-7.80302011147e-05,-0.000245297714271,-6.48887225432e-05,1793238012282371072
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,715.065545702,684,662.934454298,635.934454298,882.934454298,788,805.934454298,652.934454298,632,654,0.4453571936,-0.00553954715173,0.0798036693431,0.999999949084,-9.49724474191e-05,-0.000297552347723,-6.53894703036e-05,1793238012299037696
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,715.639557533,684,662.360442467,635.360442467,882.360442467,788,805.360442467,652.360442467,632,654,0.445741801695,-0.00554211015709,0.0797918873175,0.999999943465,-8.73013703931e-05,-0.000317877411812,-6.63451945614e-05,1793238012315704320
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746.212822942,716,684,662,635,882,788,805,652.212822942,632,653.787177058,0.446114683807,-0.00554436796641,0.0797792130138,0.99999993757,-8.03608375844e-05,-0.000337490762008,-6.70970651482e-05,1793238012332370944
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746.784828551,716,684,662,635,882,788,805,652.784828551,632,653.215171449,0.446467775862,-0.00554611069412,0.0797650328077,0.999999931602,-7.46532498237e-05,-0.000355902946097,-6.75048904956e-05,1793238012349037568
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,747,715.627716847,684,662,635,882,787.627716847,804.627716847,652.627716847,632,653,0.446812360707,-0.00554789580877,0.0797551802956,0.999999928051,-7.95644461348e-05,-0.000364478522248,-6.87224947386e-05,1793238012365704192
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+214,3.566666667,POSE1_TO_POSE2_PRESS,767,747,715,683.878386912,662,634,882,787,804.121613088,652,632,653.878386912,0.447708666179,-0.00555552155898,0.079714610858,0.99999990579,-0.00010389143691,-0.000415658466252,-6.96731821386e-05,1793238012415704832
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+269,4.483333333,HOLD_POSE2,767,746.73109758,715.73109758,684,660,633,882.26890242,786,805,652.26890242,631.73109758,653.26890242,0.45033593348,-0.005562646022,0.0796122805322,0.999999820054,-0.000112063933168,-0.00058554009998,-6.69103277002e-05,1793238013352281856
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,683.5333927,662.5333927,636,882,788,805,652,632,653.5333927,0.442842668458,-0.00546015977274,0.0797339138871,0.999999910216,5.63013451115e-05,-0.000419305405529,2.40959545413e-05,1793238014351726592
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,683.888886757,663,636,882,788,804.888886757,652,632,654,0.442345710803,-0.00545621911072,0.0797570196785,0.999999925884,5.96077956368e-05,-0.000379479103753,2.59820757785e-05,1793238014368393472
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,767.259321776,746,716,683.259321776,663.259321776,636,881.740678224,788,804.259321776,652.259321776,632.259321776,654,0.441257206036,-0.00544807149601,0.0797996767734,0.999999944305,0.000104582395279,-0.000315612969043,2.89847058487e-05,1793238014401726720
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,715.018368924,683,663,636,882,788,804,652.018368924,632.018368924,654,0.439377506454,-0.00543358715048,0.079718953271,0.999999899159,0.000100686193841,-0.000437305292959,1.75687682563e-05,1793238014451727104
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,747,716,683,663,636,882.672223977,788.672223977,804.672223977,653,632.672223977,653.327776023,0.436858265681,-0.0054223792319,0.0798525053926,0.99999996294,0.000117037958983,-0.000243957413113,3.01212891398e-05,1793238014518393344
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,747,716,683,663,636.500404274,882,788.500404274,804,652.499595726,632,653.499595726,0.435457006694,-0.00541154889357,0.0798401628066,0.99999995563,0.000135942407211,-0.000263093359097,3.22608583413e-05,1793238014551726336
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.192842032,746,716,683,663,636.807157968,881.192842032,788,804.807157968,653,632,654,0.432410083623,-0.00540145289528,0.0797632360613,0.999999909977,0.000151991747324,-0.00039476784111,3.32044028882e-05,1793238014618393088
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.984330982,746,716,683,663,637,881,788,804.015669018,652.015669018,632,654,0.430872516621,-0.00540993927459,0.0797378503026,0.999999890121,0.000154067636377,-0.000441342297423,3.51779505767e-05,1793238014651726592
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,682.436089511,663,637,881.563910489,788,804,652.563910489,632,653.436089511,0.430178196525,-0.00542328533759,0.0797927345448,0.999999930012,0.000140188604466,-0.000344774520488,3.81333172205e-05,1793238014668393216
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,682,663.716425718,636.283574282,882,788.716425718,804,653,632,653.716425718,0.428707022703,-0.00543276898311,0.0798657590129,0.999999961243,0.000137170501615,-0.000238166530426,4.44408485048e-05,1793238014701726464
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,715.549877877,682.549877877,663,636.450122123,881,788.450122123,805,652.450122123,632,654,0.426267962927,-0.00541702741676,0.0797900499499,0.999999926584,0.000160204761099,-0.000345442960856,4.28345926777e-05,1793238014751726336
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,715.040574133,682,663,636.959425867,881,788.959425867,804.959425867,652.959425867,632,654,0.425465070842,-0.00541094037395,0.0797583859727,0.999999907342,0.000169489757025,-0.000393550369145,4.13171505827e-05,1793238014768393216
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,682.775273356,662.224726644,636,881,788,804,652,632,654,0.423100888385,-0.0053995616308,0.0797665982065,0.999999908269,0.000192950645157,-0.000379684026305,4.5522276429e-05,1793238014818393088
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.642876127,746,716,683,662.357123873,636.357123873,881,788,804,652.357123873,632,654,0.422363504532,-0.00539599255217,0.0797934646398,0.999999924571,0.000199198104806,-0.00033012265568,4.68696540871e-05,1793238014835059712
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,636.256965163,881,788.743034837,804,653,632.256965163,653.743034837,0.41859383867,-0.00538342262625,0.0798132945711,0.999999931941,0.000219226913683,-0.000293005651371,4.69551770112e-05,1793238014918393088
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,681.416847014,663,637,881,788,804.416847014,653,632.583152986,653,0.417106006479,-0.00538724532591,0.0798050043171,0.999999929371,0.000205073631827,-0.000311962825123,4.33837813071e-05,1793238014951726336
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,681.993237416,662.993237416,636.993237416,881,788,804.993237416,653,632,653.006762584,0.416398656088,-0.00539674312535,0.0798349857792,0.999999940739,0.000196248381433,-0.000279156749008,4.56026916518e-05,1793238014968392448
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,662.740428631,636.740428631,880.259571369,788.740428631,804,653,632,654,0.414310724412,-0.00542581210355,0.0798073544242,0.999999934919,0.000167382259448,-0.000316408097363,4.50710753466e-05,1793238015018392832
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.67871377,663,637,880.32128623,789,804,653,632.32128623,654,0.413663879452,-0.00542086861933,0.0798148121017,0.999999938374,0.000175221102784,-0.000300865683125,4.50563102193e-05,1793238015035059712
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.092545109,663,637,880.907454891,789,804,653,632.907454891,654,0.413026523403,-0.00541571200396,0.0798318719482,0.999999945177,0.000185811033703,-0.000270138054943,4.63127881096e-05,1793238015051726336
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.511611488,880.511611488,789,804.488388512,653,632.511611488,654,0.41237551425,-0.00541561557537,0.0798239270187,0.999999939901,0.000188533918047,-0.000287232295273,4.6373907753e-05,1793238015068393216
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.068046712,663,636.068046712,880,788.931953288,805,653,632,654,0.411726250235,-0.00541572144823,0.0798115839852,0.999999932249,0.000190068110676,-0.000311851720213,4.60985477415e-05,1793238015085060096
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.597004716,788,803.402995284,653,632,654,0.400991057731,-0.005395424729,0.0798410570542,0.999999934215,0.000223004082403,-0.000283202057555,4.04443765803e-05,1793238015818393088
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+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.864658079,637,880,788,803.864658079,652.135341921,632.135341921,654,0.400986319567,-0.00539583569133,0.0798483204232,0.999999938579,0.000220269708982,-0.000269759523,3.9399863597e-05,1793238016085059840
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+442,7.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.680608119,663,636.680608119,880,788.680608119,804,653,632.680608119,654,0.40098396212,-0.00539633990413,0.0798475917238,0.999999937934,0.000222237184514,-0.000270529909248,3.94441268691e-05,1793238016251726336
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3aa069ec8f0a96e419a2f93989cf264379ac68aa
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,444 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d7155b8792b360398ba4b7a0eb11625fce00f12f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ae264b40808e6d45f8f8e343ca20fb02c42dc7b16e48fa2255e1299e6a87c96
+size 28201456
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cf64e9a2b5221fc0a82a7cf4b36f722b7fcbece1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_04/franka_data.csv
@@ -0,0 +1,446 @@
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+8,0.133333333,BASELINE,766,746,716,680,663,636.307449558,880,788,804,653,632,653.307449558,0.400985954909,-0.00539665973137,0.0798497175832,0.999999939225,0.000220837987708,-0.00026695468153,3.89365011829e-05,1793238016510492160
+9,0.150000000,BASELINE,766.276898323,746,716,680,663,636,880,788,804,653,632,653.276898323,0.400986405561,-0.00539679278348,0.079849987127,0.999999939347,0.000220779843268,-0.000266543938207,3.89448865318e-05,1793238016527159040
+10,0.166666667,BASELINE,766.854613884,746,716,680,663,636,880,788,804,653,632,653.854613884,0.400986276466,-0.00539768300478,0.0798495388857,0.999999939457,0.000219635412136,-0.000267089326306,3.88538794867e-05,1793238016543825920
+11,0.183333333,BASELINE,767,746,716,680,663,636.43130788,880,788,804,653,632,654,0.400985920736,-0.005398064674,0.0798496578774,0.999999939292,0.000220748379641,-0.00026675380521,3.90842480474e-05,1793238016560492544
+12,0.200000000,BASELINE,766.992176916,746,716,680.007823084,663,637,879.992176916,788.007823084,804,653,632.007823084,654,0.400985505562,-0.00539825241095,0.0798499673698,0.999999939037,0.00022259437817,-0.000266127945664,3.94129819413e-05,1793238016577159168
+13,0.216666667,BASELINE,766.403431514,746,716,680.596568486,663,637,879.403431514,788.596568486,804,653,632.596568486,654,0.400986335619,-0.00539673864131,0.0798502581879,0.999999939123,0.000222502293108,-0.00026594009918,3.90207765917e-05,1793238016593825536
+14,0.233333333,BASELINE,766.182302791,746,716,680.817697209,663,637,879.182302791,788.817697209,804,653,632.817697209,653.817697209,0.400986936601,-0.00539590271957,0.0798505276664,0.999999939252,0.000222437846277,-0.000265536767166,3.88339026603e-05,1793238016610491904
+15,0.250000000,BASELINE,766.761481996,746,716,680.238518004,663,637,879.761481996,788.238518004,804,653,632.238518004,653.238518004,0.400987038883,-0.00539654248447,0.0798507506883,0.999999939474,0.000222433568349,-0.000264664319291,3.90940388008e-05,1793238016627158528
+16,0.266666667,BASELINE,767,746,716,680,663,637,880,788.339018333,803.660981667,653,632,653.339018333,0.400986851447,-0.00539665483799,0.079850562156,0.999999939299,0.000222764929883,-0.000265045582684,3.90995532168e-05,1793238016643825152
+17,0.283333333,BASELINE,767,746,716,680,663,637,880,788.915404361,803.084595639,653,632,653.915404361,0.40098646116,-0.00539639791817,0.0798500854691,0.999999938845,0.000223331293358,-0.000266304646902,3.89267912053e-05,1793238016660492032
+18,0.300000000,BASELINE,767,746,716,680,663,636.509951281,880,789,803.490048719,653,632,654,0.400986664655,-0.00539653941209,0.0798504047952,0.999999939052,0.000222980181656,-0.000265814182018,3.89755964111e-05,1793238016677158912
+19,0.316666667,BASELINE,767,745.933671793,716,680,663,636.066328207,880,788.933671793,804,653,632,654,0.40098678634,-0.00539662793981,0.0798506596348,0.999999939317,0.000222479282725,-0.000265232716845,3.899369301e-05,1793238016693825536
+20,0.333333333,BASELINE,767,745.342070632,716,680,663,636.657929368,880,788.342070632,804,653,632,654,0.400985451268,-0.00539575427579,0.0798493194222,0.999999939147,0.000222041998325,-0.000266313877614,3.84667704618e-05,1793238016710492416
+21,0.350000000,BASELINE,767,745.244284567,716,680,663,637,880,788,804,653,632,654,0.400985130024,-0.00539495397052,0.0798489008651,0.999999938909,0.000222696822336,-0.000266692959666,3.8260396548e-05,1793238016727159040
+22,0.366666667,BASELINE,767,745.823448255,716,680,663,637,880,788,804,653,632,654,0.400986198592,-0.00539425422965,0.0798497457658,0.999999938573,0.000224848770452,-0.000266109592356,3.84934489026e-05,1793238016743825664
+23,0.383333333,BASELINE,767,746,716,680,663,636.599579673,880.400420327,788,803.599579673,653,632,653.599579673,0.400986428465,-0.00539469724935,0.0798497553782,0.999999938711,0.000224293813171,-0.00026606894154,3.84466307188e-05,1793238016760492032
+24,0.400000000,BASELINE,767,746,716,680,663,636.02356861,880.97643139,788,803.02356861,653,632,653.02356861,0.400986290557,-0.00539564138783,0.0798493987035,0.999999939054,0.000222551834633,-0.000266266280561,3.82770848342e-05,1793238016777158656
+25,0.416666667,BASELINE,767,746,716,680,663,636.550308557,880.449691443,788,803,653,632.550308557,653,0.400986965183,-0.00539668225162,0.0798495923017,0.999999939324,0.000222322098462,-0.000265384281747,3.86907712134e-05,1793238016793825280
+26,0.433333333,BASELINE,767,746,716,680,663,637,880,788,803,653,632.872448235,653.127551765,0.400987112092,-0.00539732456991,0.0798496994624,0.999999939413,0.000222210607705,-0.000265093966419,3.90030736404e-05,1793238016810492160
+27,0.450000000,BASELINE,767,746,716,680,663,637,880,788,803,653,632.282677179,653.717322821,0.400985221057,-0.00539650769432,0.0798494083204,0.999999938863,0.000222293819901,-0.000267114645728,3.88578157411e-05,1793238016827159040
+28,0.466666667,BASELINE,767,746,716,680,663.301628058,637,880,788,803.301628058,653,632,654,0.400984117562,-0.00539645716556,0.0798493373762,0.999999938686,0.000221927159326,-0.000268088705815,3.87885132909e-05,1793238016843825664
+29,0.483333333,BASELINE,767,746,716,680,663.880902021,637,880,788,803.880902021,653,632,654,0.400983738989,-0.0053971120522,0.0798494691221,0.999999938856,0.000221146394917,-0.000268099362229,3.8789127155e-05,1793238016860492032
+30,0.500000000,BASELINE,767,746,716,680,663.543723564,637,880,788,804,653,632,654,0.400984817646,-0.00539623083795,0.0798502471982,0.999999939032,0.000222584326055,-0.000266233672969,3.88838258379e-05,1793238016877158656
+31,0.516666667,BASELINE,767,746,716,680,663,636.968573272,880,788.031426728,804,653,632.031426728,653.968573272,0.400986178336,-0.00539503911408,0.0798511203469,0.999999939199,0.000224391590885,-0.000264065745256,3.89852760313e-05,1793238016893825024
+32,0.533333333,BASELINE,767,746,716,680,663,636.379491213,880,788.620508787,804,653,632.620508787,653.379491213,0.400985851293,-0.00539539202536,0.0798507122663,0.999999939328,0.000222563230405,-0.000265151787926,3.87744467381e-05,1793238016910491648
+33,0.550000000,BASELINE,766.793839399,746,716,680,663,636,880,788.793839399,803.793839399,653,632.793839399,653.206160601,0.400985974944,-0.00539547990725,0.0798506172667,0.999999939178,0.000222744528598,-0.000265581362662,3.8673844598e-05,1793238016927158784
+34,0.566666667,BASELINE,766.214398546,746,716,680,663,636,880,788.214398546,803.214398546,653,632.214398546,653.785601454,0.400986914637,-0.00539508791934,0.0798510891407,0.999999938517,0.000226564572176,-0.000264822317756,3.87728229011e-05,1793238016943825408
+35,0.583333333,BASELINE,766.36280856,746,716,680,663.36280856,636.36280856,880,788,803.36280856,652.63719144,632.36280856,654,0.400987311399,-0.00539534299402,0.0798513280823,0.999999938947,0.000225794695786,-0.000263848122744,3.88127034876e-05,1793238016960492032
+36,0.600000000,BASELINE,766.938703787,746,716,680,663.938703787,636.938703787,880,788,803.938703787,652.061296213,632.938703787,654,0.400987389283,-0.00539597810493,0.0798514302169,0.999999940013,0.000222329043391,-0.000262747564546,3.88178744961e-05,1793238016977158912
+37,0.616666667,BASELINE,766.487749409,746,716,680.512250591,663.487749409,637,880,788.512250591,804,652.512250591,633,654,0.400987074913,-0.00539639120335,0.079851193608,0.999999939764,0.000222801463614,-0.000263275722584,3.89432941765e-05,1793238016993825280
+38,0.633333333,BASELINE,766,746,716,680.91150614,663.08849386,636.91150614,880,788.91150614,804,652.91150614,632.91150614,654,0.400986818842,-0.00539672668034,0.0798509796503,0.999999939462,0.000223553653137,-0.000263768419067,3.90516167404e-05,1793238017010492160
+39,0.650000000,BASELINE,766,746,716,680.31828792,663.68171208,636.31828792,880,788.31828792,804,652.31828792,632.31828792,654,0.40098716177,-0.00539677027234,0.0798511250159,0.999999939753,0.000223226101004,-0.000262952361434,3.89807327917e-05,1793238017027158528
+40,0.666666667,BASELINE,766.268422712,746,716,680,663.731577288,636.268422712,880,788,804,652.268422712,632,654,0.40098721477,-0.00539720462623,0.0798511718378,0.999999939762,0.000222790729069,-0.000263269674298,3.90947844173e-05,1793238017043825152
+41,0.683333333,BASELINE,766.847599447,746,716,680,663.152400553,636.847599447,880,788,804,652.847599447,632,654,0.400986932121,-0.00539809136669,0.0798511045754,0.999999939444,0.00022223053375,-0.000264899094662,3.94229366846e-05,1793238017060491776
+42,0.700000000,BASELINE,767,746,716,680,663,637,880,788,803.576434838,653,632,654,0.400985429128,-0.00539798050537,0.0798501299595,0.999999939123,0.000221676146195,-0.000266590869956,3.92699995039e-05,1793238017077158656
+43,0.716666667,BASELINE,767,746,716,680,663,637,880,788,803.001615782,653,632,654,0.400983490354,-0.00539751340332,0.0798488313303,0.9999999388,0.000221123832586,-0.000268304911978,3.89452666657e-05,1793238017093825536
+44,0.733333333,BASELINE,767,746,716,680,663,636.418820296,880,788,803.581179704,653,632,654,0.400985575622,-0.00539738831582,0.0798501484278,0.999999939666,0.00022083387623,-0.000265298316501,3.89385097709e-05,1793238017110492160
+45,0.750000000,BASELINE,767,746,716,680,663,636,880,788.164546167,804,653,631.835453833,653.835453833,0.400986949122,-0.00539709902902,0.079851113363,0.999999940134,0.000221175093785,-0.000263238109049,3.89684820121e-05,1793238017127159040
+46,0.766666667,BASELINE,767,746,716,680,663,636,880,788.749313288,804,653,631.250686712,653.250686712,0.400986475928,-0.00539638794502,0.0798511601096,0.999999939593,0.000223126325981,-0.000263628788025,3.90899647156e-05,1793238017143825664
+47,0.783333333,BASELINE,767,746,716.329454318,680,663,636,880,788.670545682,804,653,631.329454318,653.329454318,0.400986669464,-0.00539582597745,0.0798510400539,0.999999939231,0.000224602669311,-0.000263760805864,3.90098027669e-05,1793238017160492288
+48,0.800000000,BASELINE,767,746,716.906124091,680,663,636,880,788.093875909,804,653,631.906124091,653.906124091,0.400987363298,-0.00539537590358,0.0798507948332,0.999999939004,0.000225722666425,-0.000263698729972,3.87783310084e-05,1793238017177158656
+49,0.816666667,BASELINE,767,746,716.518792983,680,663,636.481207017,880,788,804,653,632,654,0.400987483371,-0.00539637163214,0.0798512805983,0.999999939737,0.000223227483949,-0.000263045037092,3.87661334562e-05,1793238017193825280
+50,0.833333333,BASELINE,767,746,716,680,663,636.942422596,879.942422596,788.057577404,803.942422596,653,632.057577404,654,0.400987530573,-0.00539748333791,0.0798518346929,0.999999940554,0.000220383296925,-0.000262331300662,3.88012361052e-05,1793238017210492160
+51,0.850000000,BASELINE,767,746,716,680,663,636.351261201,879.351261201,788.648738799,803.351261201,653,632.648738799,654,0.400987936353,-0.00539706456782,0.0798517048135,0.999999940508,0.000220819175468,-0.000262127190607,3.88795598868e-05,1793238017227158784
+52,0.866666667,BASELINE,767,746,716,680,663,636,879.233606325,788.766393675,803,653,632.766393675,654,0.400987610535,-0.00539672416788,0.0798514722197,0.999999940048,0.000222188836651,-0.000262711908168,3.89579883805e-05,1793238017243825152
+53,0.883333333,BASELINE,767,746,716,680,663,636,879.80925835,788.19074165,803,653,632.19074165,654,0.400986213513,-0.0053964985173,0.0798510892319,0.999999938975,0.000224925739628,-0.000264451624835,3.90365701881e-05,1793238017260492032
+54,0.900000000,BASELINE,767,746,716,680,663,636.386103526,880,788.386103526,803.386103526,653,632,653.613896474,0.400986371062,-0.00539724581009,0.0798506702501,0.999999939282,0.000223479702358,-0.00026453562395,3.89127974609e-05,1793238017277158912
+55,0.916666667,BASELINE,767,746,716,680,663,636.963539949,880,788.963539949,803.963539949,653,632,653.036460051,0.400987298976,-0.00539847524319,0.0798502334316,0.999999940265,0.000219960816612,-0.000263799135205,3.86887483112e-05,1793238017293825792
+56,0.933333333,BASELINE,767,746,716,680,663,637,880,789,804,653,632,653.548879283,0.400988111304,-0.00539804213946,0.0798515745963,0.999999940131,0.000222359069251,-0.000262240834471,3.90312760346e-05,1793238017310491904
+57,0.950000000,BASELINE,767,746,716,680,663,637,880,789,803.866695572,653,632,654,0.400988373607,-0.00539762559955,0.0798522822831,0.999999939837,0.000224437283116,-0.000261556523959,3.92723203189e-05,1793238017327158528
+58,0.966666667,BASELINE,767,746,716,680,663,637,880,789,803.287114213,653,632,654,0.400986820617,-0.00539763963207,0.0798504680423,0.999999939282,0.000224108979642,-0.000263983586945,3.90457806607e-05,1793238017343825152
+59,0.983333333,BASELINE,767,746,716,680,663,637,880,789,803.29190258,653,632,654,0.400985856257,-0.00539684220375,0.0798496111986,0.999999938952,0.000224066637771,-0.000265299857984,3.88045516413e-05,1793238017360491776
+60,1.000000000,BASELINE,767,746,716,680,663,637,880,789,803.870365209,653,632,654,0.400985469753,-0.00539524816631,0.079849694229,0.999999938849,0.000224305023667,-0.000265525667573,3.85489020851e-05,1793238017377158400
+61,1.016666667,BASELINE,767,746,716,680,663,637,880,788.553826378,804,653,632,654,0.400985332502,-0.00539645565468,0.0798499486224,0.999999938901,0.000224227928926,-0.000265357880766,3.88060892994e-05,1793238017393825024
+62,1.033333333,BASELINE,767,745.978275427,716,680,663,637,880,788.021724573,804,652.978275427,632,654,0.400985311028,-0.0053983819044,0.0798502606606,0.999999939004,0.000224077032562,-0.000265039404554,3.91944453113e-05,1793238017410491648
+63,1.050000000,BASELINE,767,745.389432095,716,680,663,637,880,788.610567905,804,652.389432095,632,654,0.400986432572,-0.00539794820801,0.0798507854544,0.999999939278,0.000224378235434,-0.000263754859815,3.91402273259e-05,1793238017427158528
+64,1.066666667,BASELINE,766.803728885,745.196271115,716,680,663,637,880,788.803728885,804,652.196271115,632.196271115,654,0.400986693345,-0.00539781040854,0.0798509114532,0.99999993947,0.00022405907285,-0.000263318758368,3.89953258751e-05,1793238017443825408
+65,1.083333333,BASELINE,766.224158082,745.775841918,716,680,663,637,880,788.224158082,804,652.775841918,632.775841918,654,0.400985273109,-0.00539825046892,0.0798502586416,0.999999939502,0.000222528392776,-0.0002645395898,3.86733278442e-05,1793238017460492032
+66,1.100000000,BASELINE,766.353377337,746,716,680,663,636.646622663,880,788,804,653,632.646622663,654,0.400985795134,-0.00539667276952,0.0798506090745,0.999999939521,0.000222925544181,-0.00026417335749,3.83915757233e-05,1793238017477158656
+67,1.116666667,BASELINE,766.929629022,746,716,680,663,636.070370978,880,788,804,653,632.070370978,654,0.40098754214,-0.00539382247322,0.0798515922516,0.999999939531,0.00022453857492,-0.000262806167353,3.81352066258e-05,1793238017493825024
+68,1.133333333,BASELINE,767,746,716,680,663,636.504022852,880,788,804,653,632.504022852,654,0.400986526399,-0.0053945435686,0.0798506909047,0.999999939154,0.00022459257581,-0.000264144016172,3.84578135464e-05,1793238017510492160
+69,1.150000000,BASELINE,767,746,716,680,663,637,880,788.080556017,804,653,632.919443983,654,0.400985385396,-0.00539578213782,0.0798498087129,0.999999938898,0.00022414744977,-0.000265432221309,3.88308092773e-05,1793238017527159040
+70,1.166666667,BASELINE,767,746,716,680,663,637,880,788.67230473,804,653,632.32769527,654,0.400985888285,-0.00539715188877,0.0798507116182,0.999999939764,0.000221911177993,-0.000264017554268,3.90124778557e-05,1793238017543825408
+71,1.183333333,BASELINE,767,746,716,680,663,636.742113083,880,789,804,653,632,653.742113083,0.400986256797,-0.0053979042629,0.0798513084161,0.999999940286,0.000220652472594,-0.000263101342083,3.89635376167e-05,1793238017560492288
+72,1.200000000,BASELINE,767,746,716,680,663,636.164183593,880,789,804,653,632,653.164183593,0.400986458545,-0.00539789046084,0.0798515253289,0.999999940387,0.000220606945383,-0.000262803721672,3.86284074696e-05,1793238017577159168
+73,1.216666667,BASELINE,767,746,716,680,663,636.409274931,880,788.590725069,804,653,632,653.409274931,0.400986426597,-0.0053974469755,0.0798514295238,0.999999939919,0.000222334415407,-0.000263130236064,3.86333050104e-05,1793238017593825792
+74,1.233333333,BASELINE,767,746,716,680,663,636.980959241,880,788.019040759,804,653,632,653.980959241,0.400986301913,-0.0053968329823,0.0798512096253,0.999999939219,0.000224765450098,-0.000263704421019,3.87731331067e-05,1793238017610492672
+75,1.250000000,BASELINE,767,746,716,680,663,637,880.569633901,788,804,653,632,654,0.400986755837,-0.00539732364727,0.0798513380998,0.999999939487,0.000223906542484,-0.000263400355646,3.88891811307e-05,1793238017627159040
+76,1.266666667,BASELINE,767,746,716,680.156329676,663,637,880.843670324,788,804,653,632,654,0.400987304992,-0.00539759709132,0.0798516114124,0.999999939837,0.000222982953729,-0.000262850927404,3.89118753491e-05,1793238017643825664
+77,1.283333333,BASELINE,767,746,716,680.736080068,663,637,880.263919932,788,804,653,632,654,0.400988058084,-0.00539717910444,0.0798522445109,0.999999940319,0.000222191189358,-0.000261718888435,3.86839388426e-05,1793238017660492288
+78,1.300000000,BASELINE,767,746,716,680.685746773,663,637,880,788,804,652.685746773,632,653.685746773,0.400987735233,-0.00539751903056,0.0798520606915,0.999999940437,0.000221357998885,-0.000261971004417,3.86896322427e-05,1793238017677158912
+79,1.316666667,BASELINE,767,746,716,680.108891638,663,637,880,788,804,652.108891638,632,653.108891638,0.400986513282,-0.00539849229754,0.0798511942246,0.999999940251,0.000220490191232,-0.000263379772797,3.88905556593e-05,1793238017693826048
+80,1.333333333,BASELINE,766.53791828,746,716,680,663,637,880,788,804,652.46208172,632,653.46208172,0.400987636018,-0.00539828951678,0.0798516998308,0.999999940311,0.000221236634732,-0.000262548215863,3.87322086198e-05,1793238017710492928
+81,1.350000000,BASELINE,766,746,716,680,663,637,880,788,804,653,632,654,0.400989132589,-0.0053977882226,0.0798524165305,0.999999940384,0.00022236780145,-0.000261346850686,3.85086094041e-05,1793238017727159552
+82,1.366666667,BASELINE,766,746,716,680,663,637,880,788,804,653,632,654,0.400987713398,-0.00539686496966,0.0798512967721,0.999999939735,0.00022365343283,-0.000262717373409,3.8596480931e-05,1793238017743825920
+83,1.383333333,BASELINE,766.21896483,745.78103517,716,680,663,637,880.21896483,788,804,653,632.21896483,654,0.400986972851,-0.00539621538924,0.0798507743846,0.999999939402,0.000224465224628,-0.00026328628244,3.86318587735e-05,1793238017760492544
+84,1.400000000,BASELINE,766.798428287,745.201571713,716,680,663,637,880.798428287,788,804,653,632.798428287,654,0.400987349611,-0.00539601637678,0.0798512354946,0.999999939594,0.000224496898116,-0.000262535433466,3.85808122439e-05,1793238017777159168
+85,1.416666667,BASELINE,766.623905368,745.376094632,716,680,663,637,880.623905368,788,804,653,632.623905368,654,0.400988042578,-0.0053960662995,0.079851967506,0.999999939827,0.000224443627261,-0.000261678537948,3.86831150986e-05,1793238017793825792
+86,1.433333333,BASELINE,766.047197657,745.952802343,716,680,663,637,880.047197657,788,804,653,632.047197657,654,0.400988904214,-0.00539624900704,0.0798528440192,0.99999994008,0.000224345046144,-0.000260765076061,3.88672162318e-05,1793238017810492416
+87,1.450000000,BASELINE,766.527150653,746,716,680,663,637,880,788,804,653,632,654,0.400985892852,-0.00539688105271,0.0798511061076,0.999999939445,0.000223420575185,-0.000263998116916,3.8694819537e-05,1793238017827158784
+88,1.466666667,BASELINE,767,746,716.104293382,680,663,637,880,788.104293382,804,653,632,654,0.400983391761,-0.00539737851122,0.0798496453347,0.999999938911,0.000222727082085,-0.000266616078637,3.85432056945e-05,1793238017843825408
+89,1.483333333,BASELINE,767,746,716.69546315,680,663,637,880,788.69546315,804,653,632,654,0.400984884381,-0.00539706069769,0.0798505662262,0.999999939271,0.00022345553196,-0.000264637243761,3.86369554882e-05,1793238017860492288
+90,1.500000000,BASELINE,767,746.280590434,716.719409566,680,663,637,880,789,804,653,632,654,0.400986287599,-0.0053973508678,0.0798511368039,0.99999993972,0.000222925747124,-0.000263377787271,3.86820023228e-05,1793238017877159424
+91,1.516666667,BASELINE,767,746.859297766,716.140702234,680,663,637,880,789,804,653,632,654,0.40098759583,-0.00539828699793,0.079851335186,0.999999940265,0.000221059134669,-0.000262882643682,3.86753040692e-05,1793238017893826048
+92,1.533333333,BASELINE,767,746.564798753,716,680,663,637,880,788.564798753,804,653,632,654,0.400987459529,-0.00539756202844,0.0798515834527,0.999999940115,0.000222092265704,-0.000262546208693,3.89243726674e-05,1793238017910492672
+93,1.550000000,BASELINE,767,746,716,680,663,637,880,788.010445362,804,652.989554638,632,654,0.400986871096,-0.00539633314382,0.0798518436823,0.99999993975,0.00022400080678,-0.000262265334488,3.92444698652e-05,1793238017927159040
+94,1.566666667,BASELINE,767,746,716,680,663,637,880,788.599044492,804,652.400955508,632,654,0.40098694139,-0.00539674744535,0.0798518790971,0.999999940036,0.000222804916453,-0.000262237863449,3.89483802596e-05,1793238017943825664
+95,1.583333333,BASELINE,767,746,716,680,663,637,880,788.815271857,804,652,632,654,0.400987116005,-0.00539670981155,0.0798519718849,0.999999940122,0.00022251413345,-0.000262198933981,3.86673813988e-05,1793238017960492032
+96,1.600000000,BASELINE,767,746,716,680,663,637,880,788.23581787,804,652,632,654,0.400987513534,-0.00539570648547,0.0798521872671,0.999999939781,0.000224157377419,-0.000262135520216,3.84186282837e-05,1793238017977158656
+97,1.616666667,BASELINE,767,746,716,680,663,637,880,788,803.659499178,652.340500822,632,654,0.400987680602,-0.00539517770208,0.079852278723,0.9999999397,0.000224578232867,-0.000262103304927,3.82909567134e-05,1793238017993825536
+98,1.633333333,BASELINE,767,746,716,680,663,637,880,788,803.085332095,652.914667905,632,654,0.400987689516,-0.00539497457029,0.0798522851353,0.999999939798,0.000224160232811,-0.000262092499373,3.82463765046e-05,1793238018010492160
+99,1.650000000,BASELINE,767,746,716,680,662.508494182,637,880,788.491505818,803,653,632,654,0.400988197891,-0.00539560402547,0.0798522440266,0.999999939846,0.000224659568437,-0.000261465867478,3.83744843554e-05,1793238018027159040
+100,1.666666667,BASELINE,767,746,716,680,662.070341665,636.929658335,880.070341665,788.929658335,803,653,632,653.929658335,0.400988566246,-0.00539628441382,0.0798521943351,0.999999939886,0.000225139714833,-0.000260879705042,3.85065587411e-05,1793238018043825920
+101,1.683333333,BASELINE,767,746,716,680,662.660496585,636.339503415,880.660496585,788.339503415,803,653,632,653.339503415,0.400987255579,-0.0053962671648,0.0798521425197,0.999999939945,0.00022429470628,-0.00026138701226,3.8445180073e-05,1793238018060492288
+102,1.700000000,BASELINE,767,746,716,680,663,636.246454697,880.753545303,788,803.246454697,653,632,653.246454697,0.400986551407,-0.00539652760388,0.079851985055,0.999999939909,0.000223802165623,-0.000261960193925,3.83529043477e-05,1793238018077158912
+103,1.716666667,BASELINE,767,746,716,680,663,636.826728254,880.173271746,788,803.826728254,653,632,653.826728254,0.400986668725,-0.00539716416696,0.0798516844901,0.999999939744,0.000223787037045,-0.000262622601411,3.82187790682e-05,1793238018093825536
+104,1.733333333,BASELINE,767,746,716,680.40231592,663,637,880,788,804,653,632,654,0.400987204367,-0.00539794340257,0.0798519175359,0.999999940261,0.000221947507839,-0.00026219990593,3.83144321133e-05,1793238018110492160
+105,1.750000000,BASELINE,767,746,716,680.975908724,663,637,880,788,804,653,632,654,0.400987918101,-0.00539878337783,0.0798523777543,0.999999941063,0.000219331281415,-0.000261315252508,3.85079080604e-05,1793238018127158784
+106,1.766666667,BASELINE,767,746,716,680.436059567,663,637,880,788,803.436059567,653,632,653.436059567,0.400987890239,-0.00539691711114,0.0798523826724,0.999999940264,0.000222723427844,-0.000261513637583,3.84370302073e-05,1793238018143825408
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,880,788,804,653,632,654,0.400989395734,-0.00540030879654,0.0798535090632,0.999999942362,0.000217358628591,-0.000257956627507,3.85982667759e-05,1793238018185047296
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.577767892,746,716,680,663,637,880,788,804,653,632,654,0.400987316939,-0.00539866548004,0.0798519273408,0.999999941235,0.000218510244506,-0.000261345956762,3.85026323603e-05,1793238018201713920
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679.845328203,663,636.845328203,880,788,803.845328203,653,632,654,0.400985996925,-0.00539740403553,0.0798508750022,0.999999940287,0.000219993922164,-0.000263721225996,3.8459612797e-05,1793238018218380544
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679.270769628,663,636.270769628,880,788,803.270769628,653,632,654,0.400986736775,-0.00539717925669,0.0798512597792,0.999999939855,0.000222379046489,-0.000263343632169,3.85594264971e-05,1793238018235047168
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716.311341009,679.311341009,663,636.311341009,880,788,803.311341009,653,632,654,0.400987554985,-0.00539729230259,0.0798516556585,0.999999939851,0.000223266956678,-0.000262595855333,3.86442800786e-05,1793238018251714048
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716.900182828,679.900182828,663,636.900182828,880,788,803.900182828,653,632,654,0.400988443039,-0.00539770645449,0.0798520614334,0.99999994023,0.000222820387416,-0.00026151813135,3.87157995771e-05,1793238018268380672
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746.481422352,716.518577648,680,663,637,880.481422352,788,804,653,632,654,0.400988295758,-0.00539745366202,0.0798518910774,0.99999994035,0.000221959726638,-0.000261828833704,3.84772271069e-05,1793238018285047296
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.939399466,746.939399466,716,680,663,637,880.939399466,788,803.939399466,653,632.060600534,654,0.400987867461,-0.00539710102542,0.0798515726608,0.999999940371,0.000221188942644,-0.000262432447813,3.82327892568e-05,1793238018301713920
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.364545709,746.364545709,716,680,663,637,880.364545709,788,803.364545709,653,632.635454291,654,0.400986847795,-0.00539705633637,0.0798509957307,0.999999940025,0.000221898100119,-0.000263116792062,3.84756909864e-05,1793238018318380800
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.213735292,746,716,680,663,637,880,788.213735292,803,652.786264708,632.786264708,654,0.400987049239,-0.00539732831029,0.0798511588473,0.999999940072,0.000221748780663,-0.000263044654177,3.86009191194e-05,1793238018335047424
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.797956981,746,716,680,663,637,880,788.797956981,803,652.202043019,632.202043019,654,0.400989367345,-0.0053981491843,0.0798526047525,0.9999999408,0.000220111386697,-0.000261661238438,3.8522173113e-05,1793238018351713792
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788.618191864,803.381808136,652.381808136,632,654,0.400998616425,-0.00539774379517,0.0798572778721,0.999999942522,0.000221062121296,-0.000254182008647,3.84482535133e-05,1793238018368380416
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788.034536542,803.965463458,652.965463458,632,654,0.401011529642,-0.00539669012825,0.0798636570951,0.999999944673,0.000223381099129,-0.000243480157735,3.83768854369e-05,1793238018385047040
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680,662.45647859,637,880,788.54352141,804,653,632,653.45647859,0.401044701596,-0.00539910195457,0.0798775918978,0.999999951085,0.000220864734539,-0.000218031401729,3.8868926123e-05,1793238018401713664
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680,662.120673033,637,880,789,804,653,632,653.120673033,0.401084272094,-0.00540155235292,0.079893196915,0.999999957486,0.000218527039397,-0.000189019802692,3.93239679669e-05,1793238018418380288
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680,662.695737667,637,880,789,804,653,632,653.695737667,0.401143138347,-0.00540332726905,0.0799133017207,0.999999964193,0.000218007262929,-0.000150084867438,3.95062608618e-05,1793238018435047168
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788.722380416,803.722380416,652.722380416,632,654,0.401203106312,-0.00540423104499,0.079928577992,0.999999968074,0.00021807770426,-0.000121489230867,3.91764860524e-05,1793238018451713792
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788.132838916,803.132838916,652.132838916,632,654,0.401264312111,-0.00540415604361,0.0799384291199,0.999999969867,0.000218811290243,-0.000104510406418,3.82713731193e-05,1793238018468380672
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.449368411,652.449368411,632,654,0.401332930047,-0.00540424077653,0.0799435462563,0.999999971057,0.000216953807494,-9.74436719783e-05,3.63591130683e-05,1793238018485047296
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.970815573,746,716,680,663.029184427,637,880.029184427,788,804,653,632,654,0.401404610005,-0.00540437715674,0.0799471818824,0.999999972073,0.000214446493443,-9.32864373412e-05,3.41182662086e-05,1793238018501713664
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.39582551,746,716,680,663.60417449,637,880.60417449,788,804,653,632,654,0.401493235632,-0.00540461052808,0.0799488620974,0.999999972624,0.000213880825558,-8.96232542169e-05,3.12108307807e-05,1793238018518380288
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.821220258,716,680,663.821220258,636.821220258,880.821220258,788.178779742,803.821220258,653,632,653.821220258,0.401591223574,-0.00540539498934,0.07995212641,0.999999973385,0.000213204765922,-8.35333569936e-05,2.82180654947e-05,1793238018535046912
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.247465239,716,680,663.247465239,636.247465239,880.247465239,788.752534761,803.247465239,653,632,653.247465239,0.401709895515,-0.00540739696488,0.0799588904443,0.999999974556,0.000212284819587,-7.20821589099e-05,2.50367826775e-05,1793238018551713536
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.335779202,745.335779202,716,680,663,636.335779202,879.664220798,788.664220798,803.335779202,652.664220798,632,653.335779202,0.401837959016,-0.00540867856675,0.0799647841633,0.999999975749,0.000210594983325,-6.08201501035e-05,2.12898562666e-05,1793238018568380416
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.926220689,745.926220689,716,680,663,636.926220689,879.073779311,788.073779311,803.926220689,652.073779311,632,653.926220689,0.401973145292,-0.00540941382168,0.0799700178168,0.99999997692,0.000208321245613,-4.97016253696e-05,1.71139330553e-05,1793238018585047296
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,879.508375169,788,804,652.508375169,632,654,0.402127364023,-0.00541100082333,0.0799737591214,0.999999977963,0.000204785480897,-4.4555914929e-05,1.23326431292e-05,1793238018601713664
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,653,632,654,0.402287592264,-0.00541285878345,0.0799767690264,0.999999979034,0.000200613251085,-4.04098303264e-05,7.29307109359e-06,1793238018618380288
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,653,632,654,0.402465932931,-0.00541553842311,0.0799769270449,0.999999980507,0.000193930530691,-3.70710030658e-05,1.30797599762e-06,1793238018635046912
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.759309532,652.759309532,632,654,0.402651608525,-0.00541732929978,0.0799740633296,0.999999981789,0.000186362120412,-4.07744207022e-05,-5.382749007e-06,1793238018651713792
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.170428328,652.170428328,632,654,0.402847895056,-0.00541783446255,0.0799668282749,0.999999982665,0.000177512442432,-5.46653812937e-05,-1.30942610529e-05,1793238018668380416
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.411887124,652.411887124,632,654,0.403070529709,-0.0054192804748,0.0799639053263,0.999999983845,0.000168493075052,-5.94431959551e-05,-1.96748817606e-05,1793238018685046784
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.991528449,652.991528449,632,654,0.403303895472,-0.00542110967807,0.0799627386209,0.999999985132,0.00015940459645,-6.05093902047e-05,-2.57949106219e-05,1793238018701713408
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.569141048,788.569141048,804,653,632.569141048,654,0.403576784098,-0.00542435657065,0.079965316849,0.999999989963,0.000129210427759,-5.34562758187e-05,-2.28165544412e-05,1793238018718380288
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.85464771,788.85464771,804,653,632.85464771,653.85464771,0.403858313276,-0.00542638785584,0.0799680928002,0.99999999245,0.000111516916742,-4.7196612679e-05,-2.09045927185e-05,1793238018735047424
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.28246334,788.28246334,804,653,632.28246334,653.28246334,0.404163494291,-0.0054247877201,0.0799712862632,0.999999990155,0.000131451277042,-4.36205805491e-05,-2.25204116559e-05,1793238018751714048
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,653,632,653.300317327,0.404488679278,-0.00542632395103,0.0799720148682,0.999999989578,0.000135933226835,-4.15650860129e-05,-2.52559168277e-05,1793238018768380928
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804,653,632,653.893428917,0.404833367167,-0.00543091798128,0.0799703403613,0.999999990881,0.000125349857249,-4.09920386129e-05,-2.90830598655e-05,1793238018785047552
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.525273597,880,788,803.525273597,653,632.474726403,653.525273597,0.405203088284,-0.0054334791014,0.07996920339,0.999999991928,0.000117316393971,-3.85107343145e-05,-2.99493999264e-05,1793238018801713920
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.053121002,880,788,803.053121002,653,632.946878998,653.053121002,0.405579840949,-0.00543563479537,0.0799676013666,0.999999992754,0.000110347469193,-3.72958369926e-05,-3.04207891168e-05,1793238018818380032
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.628418119,880,788,803.628418119,653,632.371581881,653.628418119,0.405971813619,-0.00543818230556,0.0799602705248,0.999999992187,0.000108352595518,-5.26383723664e-05,-3.33848426756e-05,1793238018835046656
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788.202853151,804,653,632,654,0.406378390068,-0.00544121517983,0.0799546462185,0.999999991569,0.000107469584712,-6.4085421067e-05,-3.47091117438e-05,1793238018851713536
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788.775715683,804,653,632,654,0.406811604161,-0.00544513337054,0.0799521346775,0.999999991214,0.000108614640622,-6.84270006872e-05,-3.3042371436e-05,1793238018868380160
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680.359958395,663,637,880.359958395,788.640041605,804,653,632,654,0.407267553838,-0.0054572735787,0.0799525778929,0.999999992368,9.78007580496e-05,-6.84584143318e-05,-3.18272241067e-05,1793238018885047040
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680.951523391,663,637,880.951523391,788.048476609,804,653,632,654,0.407738132164,-0.00547470404672,0.0799549222756,0.99999999422,7.92921831361e-05,-6.5716554823e-05,-3.0902643509e-05,1793238018901713664
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.531061889,716,680.468938111,663,637,880.468938111,788,804,653,632,654,0.408220797156,-0.00549466685027,0.0799457496936,0.999999994801,4.9242617694e-05,-8.37492887995e-05,-3.09583212763e-05,1793238018918380544
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.890853817,716,680.109146183,663,637,880,788.109146183,804,653,632,654,0.408716801111,-0.0055094717923,0.0799395894609,0.999999994535,2.67056854798e-05,-9.60820709437e-05,-3.13851021219e-05,1793238018935047424
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.314399674,716,680.685600326,663,637,880,788.685600326,804,653,632,654,0.409265296367,-0.00550122562958,0.0799507280005,0.999999995731,4.07446214083e-05,-7.60711564651e-05,-3.30261309443e-05,1793238018951713792
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663.267195277,637,880.267195277,788.732804723,804,653,632,653.732804723,0.409844028278,-0.00550012726081,0.0799704270063,0.999999997758,4.01919161848e-05,-4.15039788158e-05,-3.38419107318e-05,1793238018968380416
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663.854957987,637,880.854957987,788.145042013,804,653,632,653.145042013,0.410459036676,-0.00550760445407,0.0800003964298,0.999999999133,2.21328967471e-05,1.05270728276e-05,-3.36675984597e-05,1793238018985047296
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,680.563355802,663.563355802,636.563355802,880.563355802,788,804,652.563355802,632,653.436644198,0.411053333803,-0.00551276225076,0.080006492627,0.99999999909,1.65641543808e-05,1.90887829731e-05,-3.43675866968e-05,1793238019001713920
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.98375088,746,716,680.01624912,663,636.01624912,880.01624912,788,804,652.01624912,632,653.98375088,0.411640926791,-0.00551702314724,0.0800040174082,0.999999999185,1.49837215097e-05,1.23164147518e-05,-3.54038010603e-05,1793238019018380288
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.40726619,746,716,680.59273381,663,636.59273381,880.59273381,788,804,652.59273381,632,653.40726619,0.412231320179,-0.00551655952107,0.0799756773743,0.999999998707,9.82811108559e-06,-3.21355900503e-05,-3.81567413172e-05,1793238019035047168
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.168505928,746,716,680.831494072,663,637,880.831494072,788,804,653,632,653,0.412834900979,-0.00551818513421,0.0799505020887,0.999999996814,1.92510931841e-06,-6.81992798083e-05,-4.14285878012e-05,1793238019051713792
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.742563035,746,716,680.257436965,663,637,880.257436965,788,804,653,632,653,0.413470220511,-0.00552483901832,0.079932943554,0.999999995331,-1.2590168635e-05,-8.40744129341e-05,-4.59493103954e-05,1793238019068380672
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.326501958,637,880.326501958,788.326501958,804,653,632,653.326501958,0.414148454188,-0.00552818021486,0.0799374183443,0.999999996232,-1.60296735461e-05,-7.11595879444e-05,-4.70681038862e-05,1793238019085047296
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.918475543,637,880.918475543,788.918475543,804,653,632,653.918475543,0.41486158039,-0.00552882793704,0.0799598079518,0.999999998307,-1.04637080804e-05,-3.48362746814e-05,-4.54208627138e-05,1793238019101713664
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,880.502009528,788.502009528,804,652.502009528,632,654,0.415568847332,-0.00553317752113,0.0799796553034,0.999999998753,-2.05055136262e-05,-6.03532432989e-06,-4.51395995412e-05,1793238019118380544
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,680.075112622,663.924887378,637,880.075112622,788.075112622,804,652,632,654,0.416271636085,-0.0055381894414,0.0799937474731,0.999999998353,-3.27577429108e-05,1.26270424026e-05,-4.539270297e-05,1793238019135046912
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,680.649555507,663.350444493,637,880.649555507,788.649555507,804,652,632,654,0.416950875506,-0.00554367406293,0.0799722797647,0.999999997534,-4.31332219581e-05,-2.81227665242e-05,-4.7747856943e-05,1793238019151713536
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.776724293,746,716,681,663,636.776724293,880.776724293,788.776724293,804,652,632,653.776724293,0.417662760919,-0.00554830242855,0.0799658382284,0.999999996758,-5.15524362906e-05,-3.67742585723e-05,-4.97371148474e-05,1793238019168380160
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.204134642,746,716,681,663,636.204134642,880.204134642,788.204134642,804,652,632,653.204134642,0.418425720956,-0.00555159118611,0.0799829050748,0.999999997061,-5.69110839962e-05,4.79193048619e-06,-5.11539302363e-05,1793238019185047296
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.384521377,746,716,681,663.384521377,636.384521377,880.384521377,788,804,652,632,653,0.419206440487,-0.00555704067987,0.0799983061681,0.999999995975,-6.41266631509e-05,3.59070693484e-05,-5.14680401743e-05,1793238019201714176
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.982078589,746,716,681,663.982078589,636.982078589,880.982078589,788,804,652,632,653,0.419996999238,-0.00556368728306,0.0800127843854,0.999999994197,-7.23710350938e-05,6.12320251295e-05,-5.11712196879e-05,1793238019218380800
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,716,680.441697005,664,637,880.441697005,788.558302995,804,652.558302995,632,653,0.420730113789,-0.00556729883386,0.0799919787112,0.999999995506,-7.46611395886e-05,2.72931754858e-05,-5.16584414085e-05,1793238019235047168
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.866454779,637,880.133545221,788.866454779,804,653,632,653,0.421474661285,-0.00557105386155,0.0799782639422,0.999999995602,-7.79390933656e-05,4.19930397652e-06,-5.20031978744e-05,1793238019251713792
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.292277015,637,880.707722985,788.292277015,804,653,632,653,0.422262791938,-0.00557559191285,0.0799915451167,0.999999994776,-8.50838828683e-05,2.29342603556e-05,-5.17979060063e-05,1793238019268380416
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680.289424644,663.289424644,637,880.710575356,788,804,652.710575356,632,653.289424644,0.423052112679,-0.00557190049547,0.0800085149254,0.999999994157,-8.24918174145e-05,4.82618062089e-05,-5.05198518297e-05,1793238019285047040
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680.878927103,663.878927103,637,880.121072897,788,804,652.121072897,632,653.878927103,0.423842667262,-0.00555967669806,0.080029309139,0.999999993171,-6.98045014259e-05,8.04246010039e-05,-4.81295489912e-05,1793238019301713664
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636.540179374,880,788,804,652,632,654,0.424604032975,-0.0055268855911,0.0800053554751,0.99999999793,-2.85278864511e-05,2.88461268222e-05,-4.99462042985e-05,1793238019318380288
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636.038261611,880.038261611,788,804,652,632,653.961738389,0.425359726802,-0.00549202090096,0.0799708052016,0.999999997659,1.56064816726e-05,-4.06358888225e-05,-5.27854142775e-05,1793238019335047168
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636.613510179,880.613510179,788,804,652,632,653.386489821,0.426141698662,-0.00550266148826,0.0799498569551,0.999999996836,-3.85839703987e-06,-5.76186776788e-05,-5.47151965789e-05,1793238019351714048
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.807190698,746,716,681,664,637,881,788,804,652,632,653,0.426922120982,-0.00551313438741,0.0799377974388,0.999999996093,-1.99205885343e-05,-6.54797561523e-05,-5.59463294119e-05,1793238019368380672
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.219597825,746,716,681,664,637,881,788,804,652,632,653,0.427699370711,-0.00552326394136,0.0799439378947,0.999999996531,-2.9015666341e-05,-5.46638270357e-05,-5.5746954219e-05,1793238019385047296
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.363067173,746,716,681,664.363067173,636.636932827,881,788,804,652,632,653,0.428479942174,-0.0055254028532,0.079948380598,0.999999996463,-3.22211419628e-05,-5.44322232762e-05,-5.54399307142e-05,1793238019401714176
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.942791471,746,716,681,664.942791471,636.057208529,881,788,804,652,632,653,0.429262495806,-0.00552277341944,0.079951810182,0.999999996143,-3.19120490397e-05,-6.05167226895e-05,-5.50686690464e-05,1793238019418380800
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.479784547,746,716,681.520215453,663.959569093,636,881,788,804,652,632,653.520215453,0.430094785539,-0.0055306347612,0.0799788094209,0.99999999751,-4.15618491385e-05,-1.72308344113e-05,-5.4363003297e-05,1793238019435047168
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,716,682,663.194753676,636,881,788,804.097376838,652.097376838,632,653.902623162,0.430923794419,-0.00553861186458,0.0800076374325,0.999999996846,-5.11802652543e-05,2.8551112886e-05,-5.36056432911e-05,1793238019451713792
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,716,682,664.348970549,636,881,788,804.674485274,652.674485274,632,653.325514726,0.431709812778,-0.00554150063842,0.0800327617084,0.99999999528,-5.52723252718e-05,6.00000475603e-05,-5.27739843439e-05,1793238019468380672
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,716,681.74393754,664.74393754,636.25606246,881,788,804.74393754,652.74393754,632,653,0.432448705978,-0.00554090793101,0.0800293639717,0.999999995911,-5.60411075152e-05,4.71290802224e-05,-5.30654111121e-05,1793238019485047296
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,716,681.156578685,664.156578685,636.843421315,881,788,804.156578685,652.156578685,632,653,0.433126628073,-0.00553581084502,0.079989064143,0.999999996853,-5.25101963511e-05,-2.30834611874e-05,-5.48098983304e-05,1793238019501713920
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.422755596,746,716,681.422755596,664,637,881,788,804,652,632,653,0.433837391495,-0.00552912466815,0.0799484153829,0.999999994546,-4.77306203283e-05,-7.23779422073e-05,-5.82312867946e-05,1793238019518380800
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.999173175,746,716,681.999173175,664,637,881,788,804,652,632,653,0.434560092042,-0.0055218608927,0.0799076397909,0.999999990653,-4.24971829043e-05,-0.000114069192741,-6.22621905967e-05,1793238019535047424
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.577895483,716,682,664.577895483,637,881,788,804.577895483,652,632,653,0.435342926976,-0.00552234273415,0.0799445549448,0.999999995586,-4.37926895081e-05,-5.72348472431e-05,-6.0288217283e-05,1793238019551714048
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.844309538,716,682,665,637,881.155690462,788,804.844309538,652,632,653.155690462,0.436105697502,-0.00552412177664,0.0799775424811,0.999999997185,-4.61108422873e-05,-1.0842715882e-05,-5.81919606383e-05,1793238019568380928
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.269022568,716,682,665,637,881.730977432,788,804.269022568,652,632,653.730977432,0.436814160434,-0.00552936687878,0.0799996440527,0.99999999711,-5.11598212473e-05,7.02550867845e-06,-5.57893893694e-05,1793238019585047808
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,681.408488205,663,637,880.591511795,788.408488205,804,652.591511795,632.408488205,654,0.418137740309,-0.00538699410509,0.0798021655003,0.999999929271,0.000207702874557,-0.000310302280803,4.50638319066e-05,1793238022505293824
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,681.997031693,663,637,880.002968307,788.997031693,804,652.002968307,632.997031693,654,0.417410286463,-0.00538463546269,0.0797941644329,0.999999927218,0.000204936119755,-0.000319004621532,4.24306256679e-05,1793238022521960448
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,681.423036076,663,637,880.576963924,788.423036076,804,652.576963924,632.423036076,653.423036076,0.416701429677,-0.00539263707135,0.0798190045146,0.999999934783,0.000202091303744,-0.000295884431605,4.52357131611e-05,1793238022538627072
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746.155458061,716,681,663,637,880.844541939,788,804,653,632.155458061,653.155458061,0.415990416418,-0.00540367159279,0.0798320495899,0.999999939244,0.000193955819533,-0.000285780934032,4.71503010914e-05,1793238022555293952
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745.479710915,716,681,663,637,880,788.479710915,804,652.479710915,632,653.520289085,0.413297962193,-0.00542562462328,0.079826801648,0.999999945462,0.000174197317099,-0.000276677723383,4.67055194353e-05,1793238022621960704
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.362179019,663,637,880.637820981,789,804,653,632,653.637820981,0.412009228939,-0.00542029816466,0.0798214463197,0.999999938747,0.000182281016364,-0.000295077283339,4.70050935888e-05,1793238022655293696
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.628026089,880.628026089,788,804,652.628026089,632,654,0.410197408883,-0.00540916222488,0.0798069777511,0.999999929145,0.000195722479112,-0.000318376833173,4.51623373666e-05,1793238022705293568
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.038034858,880.038034858,788,804,652.038034858,632,654,0.409651853139,-0.00540876583352,0.0798231789164,0.999999937211,0.000197816521619,-0.000290427666068,4.58107194027e-05,1793238022721960192
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.119464136,788,804.119464136,653,632,654,0.408616224873,-0.00541213088468,0.0798582541186,0.999999949956,0.000203072143055,-0.000237621543612,4.88388014651e-05,1793238022755293696
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.152524336,746,716,680.847475664,663,636.152524336,880.152524336,788,804.152524336,653,632.847475664,654,0.407060370076,-0.00540360171811,0.0797846629229,0.999999907367,0.00021208257438,-0.000371941345267,4.41256366071e-05,1793238022805293824
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.434433585,746,716,680.565566415,663,636.434433585,880,788,803.565566415,653,632.565566415,654,0.4066221445,-0.00540146530377,0.0797863100971,0.999999910612,0.000210736253216,-0.000363932583694,4.38015033923e-05,1793238022821960448
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746.024788196,716,680.024788196,663,637,880,788,803,652.975211804,632,653.975211804,0.406211902599,-0.0053985636306,0.0798007350516,0.999999922253,0.000208747231075,-0.000331583842141,4.44013800554e-05,1793238022838627328
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746.602021934,716,680.602021934,663,637,880,788,803,652.397978066,632,653.397978066,0.405831505013,-0.00540057339653,0.0798170620324,0.999999932216,0.000210628440502,-0.000298651549874,4.48500662699e-05,1793238022855293952
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746.821619184,716,680.821619184,663,636.821619184,880,788,803.178380816,652,632,653,0.405454865757,-0.00540169348624,0.0798293254711,0.999999938008,0.000213333151218,-0.000276431445323,4.53645146603e-05,1793238022871960576
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,715.66384396,680,663,636,880,788,804,652.33615604,632,653.33615604,0.404728904158,-0.00539953266125,0.079834311109,0.999999935578,0.000218302797197,-0.000281168037053,4.61697665461e-05,1793238022905293824
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,715.073729459,680,663,636,880,788,804,652.926270541,632,653.926270541,0.404379267228,-0.00539788660589,0.0798349235615,0.999999934922,0.000215644679963,-0.000285558964146,4.59250037186e-05,1793238022921960704
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,715.507673892,680,662.492326108,636,880,788,804,653,632,654,0.404062915196,-0.00539745858522,0.0798374573877,0.999999934553,0.000216668577996,-0.000286014932397,4.63078845125e-05,1793238022938627584
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.384400516,879.615599484,788.615599484,804.384400516,653,632.384400516,654,0.402765685519,-0.00539809282414,0.0798404880152,0.999999934344,0.000211450290623,-0.000290872521454,4.46640550437e-05,1793238023021960704
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.955451513,879.044548487,788.044548487,804.955451513,653,632.955451513,654,0.402553592575,-0.00539736768072,0.079840120114,0.999999933072,0.000214757589749,-0.00029290603592,4.40675465169e-05,1793238023038627328
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.145053462,745.145053462,716,680,662.145053462,637,880,788,804,653,632,653,0.402207912675,-0.00539671428748,0.0798472501069,0.999999939053,0.000209324129476,-0.000276123316024,4.2817838443e-05,1793238023071960832
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716.301214312,680,662.698785688,637,880,788,804,653,632,653.301214312,0.401927056231,-0.00539606363494,0.0798594982489,0.999999943724,0.000210938737569,-0.000256762463512,4.61408354769e-05,1793238023105294080
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716.888495348,680,662.111504652,637,880,788,804,653,632,653.888495348,0.401799748689,-0.00539600242282,0.0798628934339,0.999999943737,0.000215546113208,-0.000252581791011,4.76269600055e-05,1793238023121960704
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716.53051706,680,662,637,879.53051706,788,804,653,632,654,0.40167976493,-0.00539590858735,0.0798595068489,0.999999942156,0.000216439779915,-0.000258048736807,4.74586672271e-05,1793238023138627072
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+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.048578409,663,636,880,788,803,653.048578409,632,654,0.401187597687,-0.00539870865796,0.0798393667762,0.999999934669,0.000215810344514,-0.000287511738307,3.77359276735e-05,1793238023238627072
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70f46472bd290a85a412feae8462147b1128d64c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,446 @@
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+419,6.983333333,pose2_to_pose3_retreat,0.578256868894,1.22276185254e-06,1.07001169508,0.548828104191,0.00867489010374,1.06966122797
+420,7.000000000,pose2_to_pose3_retreat,0.578256233803,1.2250560317e-06,1.07001164515,0.548827469206,0.00867489281274,1.06966117948
+421,7.016666667,pose2_to_pose3_retreat,0.578255678468,1.22706210294e-06,1.07001160148,0.548826913964,0.00867489518154,1.06966113708
+422,7.033333333,pose2_to_pose3_retreat,0.578255124006,1.22906501923e-06,1.07001155789,0.548826359594,0.00867489754661,1.06966109475
+423,7.050000000,pose2_to_pose3_retreat,0.578254466655,1.24353281533e-06,1.07001158278,0.548825702114,0.00867491161933,1.06966112074
+424,7.066666667,pose2_to_pose3_retreat,0.578253916779,1.27017047544e-06,1.07001169562,0.548825151844,0.00867493693559,1.06966123406
+425,7.083333333,pose2_to_pose3_retreat,0.578253485249,1.29107508953e-06,1.07001178418,0.548824720005,0.00867495680319,1.06966132298
+426,7.100000000,pose2_to_pose3_retreat,0.578253118014,1.30886507496e-06,1.07001185955,0.548824352507,0.00867497371067,1.06966139866
+427,7.116666667,pose2_to_pose3_retreat,0.578252906108,1.28745243619e-06,1.07001186894,0.548824141069,0.00867495383347,1.06966140675
+428,7.133333333,pose2_to_pose3_retreat,0.578252861503,1.27595177234e-06,1.07001186339,0.5488240967,0.0086749431074,1.0696614006
+429,7.150000000,pose2_to_pose3_retreat,0.578252848535,1.27260814499e-06,1.07001186178,0.5488240838,0.00867493998898,1.06966139882
+430,7.166666667,pose2_to_pose3_retreat,0.578252830249,1.26789330873e-06,1.0700118595,0.548824065611,0.0086749355917,1.0696613963
+431,7.183333333,pose2_to_pose3_retreat,0.578252814814,1.26391352807e-06,1.07001185758,0.548824050257,0.00867493187996,1.06966139417
+432,7.200000000,pose2_to_pose3_retreat,0.57825273812,1.24413919275e-06,1.07001184804,0.548823973968,0.00867491343747,1.0696613836
+433,7.216666667,pose2_to_pose3_retreat,0.578252700174,1.23435547035e-06,1.07001184332,0.548823936223,0.0086749043127,1.06966137837
+434,7.233333333,pose2_to_pose3_retreat,0.578252670965,1.22682421108e-06,1.07001183968,0.548823907167,0.00867489728869,1.06966137434
+435,7.250000000,pose2_to_pose3_retreat,0.578252568545,1.20041675244e-06,1.07001182694,0.548823805288,0.00867487265983,1.06966136022
+436,7.266666667,pose2_to_pose3_retreat,0.578252514078,1.18637317721e-06,1.07001182016,0.548823751108,0.00867485956212,1.06966135272
+437,7.283333333,pose2_to_pose3_retreat,0.578252485413,1.17898235204e-06,1.07001181659,0.548823722595,0.00867485266908,1.06966134877
+438,7.300000000,pose2_to_pose3_retreat,0.57825245232,1.1704499645e-06,1.07001181248,0.548823689677,0.00867484471137,1.0696613442
+439,7.316666667,pose2_to_pose3_retreat,0.578252410945,1.15978210564e-06,1.07001180733,0.548823648521,0.00867483476201,1.0696613385
+440,7.333333333,pose2_to_pose3_retreat,0.578252369451,1.14908344791e-06,1.07001180216,0.548823607246,0.00867482478393,1.06966133278
+441,7.350000000,pose2_to_pose3_retreat,0.578252350877,1.14429422219e-06,1.07001179985,0.548823588769,0.00867482031727,1.06966133022
+442,7.366666667,pose2_to_pose3_retreat,0.578252257985,1.11566068032e-06,1.0700117633,0.548823495471,0.00867479025958,1.06966129255
+443,7.383333333,pose2_to_pose3_retreat,0.578252154453,1.08111935603e-06,1.07001170854,0.548823390984,0.00867475242636,1.06966123659
+444,7.400000000,pose2_to_pose3_retreat,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846171,1.06966122125
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..774c557548cddc02b254ba3e9b8839ffea25c718
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c413785babedc04e9c5d772a6492ea08d37a2c73e62a7d93d1e08066fd6fbb75
+size 28343525
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ebb412328d8178b25f8d88c2cf63f94077f263b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_05/franka_data.csv
@@ -0,0 +1,448 @@
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+42,0.700000000,BASELINE,766.362928944,746,716,680,663,637,880,788,804,653,632,654,0.400989989994,-0.00539988268683,0.0798517879613,0.999999941459,0.000217482714182,-0.000261424582345,3.79404120768e-05,1793238024658037760
+43,0.716666667,BASELINE,766.955408045,746,716,680,663,637,880,788,804,653,632,654,0.400989996523,-0.00539885943969,0.0798519271289,0.999999941302,0.000218762801412,-0.000260965064907,3.79003718259e-05,1793238024674704384
+44,0.733333333,BASELINE,766.466339886,746,716,680,662.466339886,637,880,788.533660114,803.466339886,653,632.533660114,654,0.400988977737,-0.00539925578821,0.0798507714164,0.99999994055,0.000219971711123,-0.000262788644803,3.81404194188e-05,1793238024691371264
+45,0.750000000,BASELINE,766.110109452,746,716,680,662.110109452,637,879.889890548,788.889890548,803,653,632.889890548,653.889890548,0.400988169983,-0.00539956557655,0.0798498760818,0.999999939973,0.000220807557322,-0.00026424575901,3.8362273085e-05,1793238024708037632
+46,0.766666667,BASELINE,766.683843613,746,716,680,662.683843613,637,879.316156387,788.316156387,803,653,632.316156387,653.316156387,0.400988602165,-0.00539902440826,0.0798505208379,0.999999940357,0.000220096981409,-0.000263377434046,3.84115350699e-05,1793238024724704256
+47,0.783333333,BASELINE,767,746,716,680,663,636.740565667,879.259434333,788,803.259434333,653,632,653,0.400988500632,-0.0053993107287,0.079850625969,0.999999940662,0.000218866464068,-0.000263244404938,3.84108390216e-05,1793238024741370624
+48,0.800000000,BASELINE,767,746,716,680,663,636.16269609,879.83730391,788,803.83730391,653,632,653,0.400987744005,-0.00540061272641,0.079850068753,0.999999940869,0.000216997759415,-0.000264013893554,3.83488234226e-05,1793238024758037248
+49,0.816666667,BASELINE,767,745.573710801,716,680,663,636.426289199,880,788,804,653,632,653,0.400987650802,-0.00540036362215,0.0798503963195,0.999999940756,0.000218189906932,-0.0002634739237,3.82524769044e-05,1793238024774704128
+50,0.833333333,BASELINE,767,745,716.018987179,680,663,637,880.018987179,788,804,653,632,653.018987179,0.400987818209,-0.00539951594034,0.0798510247629,0.999999940518,0.000220476383382,-0.000262486508721,3.81446813316e-05,1793238024791370752
+51,0.850000000,BASELINE,767,745,716.592886026,680,663,637,880.592886026,788,804,653,632,653.592886026,0.400988004092,-0.00539893889962,0.0798503132973,0.999999940448,0.000219690015663,-0.000263419180093,3.80954645511e-05,1793238024808037632
+52,0.866666667,BASELINE,767,745.167896031,716.832103969,680,663.167896031,637,880.832103969,788.167896031,804,653,632,654,0.400988411603,-0.00539893288633,0.0798500264028,0.999999940523,0.000218955426373,-0.00026375107111,3.80399881086e-05,1793238024824704512
+53,0.883333333,BASELINE,767,745.745618286,716.254381714,680,663.745618286,637,880.254381714,788.745618286,804,653,632,654,0.4009893601,-0.00540032072386,0.0798507758664,0.999999940958,0.000218347225807,-0.000262616485806,3.79692321318e-05,1793238024841371136
+54,0.900000000,BASELINE,767,746,716,680,663.678368727,637,880,788.678368727,803.678368727,653,632,654,0.400989807298,-0.00540092978236,0.0798512778806,0.999999941426,0.000217404609654,-0.000261605690886,3.80183568506e-05,1793238024858037504
+55,0.916666667,BASELINE,767,746,716,680,663.1037005,637,880,788.1037005,803.1037005,653,632,654,0.40098986011,-0.00540092615199,0.0798515852189,0.999999941921,0.000216198898771,-0.000260692285622,3.81617953065e-05,1793238024874704128
+56,0.933333333,BASELINE,767,746,716,680,663,637,880,788,803,653,632,653.513881448,0.400989410619,-0.00540006440249,0.0798514264237,0.999999941389,0.000217758290091,-0.000261434070781,3.81565852773e-05,1793238024891370752
+57,0.950000000,BASELINE,767,746,716,680,663,637,880,788,803.077040691,653,632,653.077040691,0.400988946298,-0.0053993266386,0.0798512066072,0.999999940751,0.000219557690699,-0.000262367463351,3.81537877285e-05,1793238024908037376
+58,0.966666667,BASELINE,767,746,716,680,663,637,880,788,803.653487975,653,632,653.653487975,0.400989102803,-0.00540061741388,0.0798512565533,0.999999940921,0.000218966212344,-0.000262180426596,3.83787989524e-05,1793238024924704000
+59,0.983333333,BASELINE,767,746,716,680,663,636.770176743,880,788,804,653,632.229823257,654,0.400988583308,-0.00540112500395,0.0798508712616,0.999999940819,0.000218752201349,-0.000262748501765,3.8373803035e-05,1793238024941370880
+60,1.000000000,BASELINE,767,746,716,680,663,636.194010161,880,788,804,653,632.805989839,654,0.40098704508,-0.00540045233523,0.0798498300672,0.999999940305,0.000219107033045,-0.000264454529509,3.80221867144e-05,1793238024958038272
+61,1.016666667,BASELINE,767,746,716,680,662.609228297,636.390771703,880,788,804,653,633,653.609228297,0.400987317918,-0.00540042520585,0.0798502405415,0.999999940552,0.000218723994013,-0.000263833057317,3.80629542445e-05,1793238024974705152
+62,1.033333333,BASELINE,767,746,716,680,662.020072731,636.979927269,880,788,804,653,633,653.020072731,0.400988510183,-0.00540072579877,0.0798513879875,0.999999941182,0.000217966358629,-0.000262029978406,3.8302924102e-05,1793238024991371264
+63,1.050000000,BASELINE,767,746,716,680,662.558816121,637,880,788.558816121,804,653,632.441183879,653.558816121,0.400988106599,-0.00540128328503,0.0798514410636,0.99999994136,0.000216798870668,-0.00026230718856,3.8387826324e-05,1793238025008037632
+64,1.066666667,BASELINE,767,746,716,680,663,637,880,788.863163861,803.863163861,653,632,654,0.400987539261,-0.00540151477001,0.0798512917654,0.999999941277,0.000216539873739,-0.00026282742496,3.84395967404e-05,1793238025024704512
+65,1.083333333,BASELINE,767,746,716,680,663,637,880,788.286771554,803.286771554,653,632,654,0.40098662672,-0.00540066994017,0.0798506163801,0.999999940409,0.000219245643484,-0.000263892625306,3.8402508229e-05,1793238025041370880
+66,1.100000000,BASELINE,767,746,716,680,663,636.704704883,880,788,803.295295117,653,632,653.704704883,0.400987082204,-0.00540015492764,0.07985061549,0.999999940246,0.000220196185323,-0.000263718748714,3.83923521587e-05,1793238025058037504
+67,1.116666667,BASELINE,767,746,716,680,663,636.117019706,880,788,803.882980294,653,632,653.117019706,0.400988892255,-0.00539996648778,0.0798512824596,0.999999940787,0.000219408766695,-0.000262317984928,3.84088635757e-05,1793238025074704128
+68,1.133333333,BASELINE,766.535915224,746,716,680,663,636.464084776,880,788,804,653,632,653.464084776,0.400988287401,-0.00540012791982,0.0798509808692,0.99999994094,0.000218057771215,-0.000262863960034,3.83841872295e-05,1793238025091370752
+69,1.150000000,BASELINE,766.04340806,746,716,680,663,637,880,788,804,653,632,653.95659194,0.400987302556,-0.00540031270022,0.079850538068,0.999999940997,0.000216783778236,-0.000263703691684,3.83451227601e-05,1793238025108037376
+70,1.166666667,BASELINE,766.620945811,746,716,680,663,637,880,788,804,653,632,653.379054189,0.400989029919,-0.00539971441317,0.0798513208116,0.999999941092,0.000218181445305,-0.000262202381611,3.82550206179e-05,1793238025124704000
+71,1.183333333,BASELINE,766.802663866,746,716.197336134,680,663,637,880,788,804,653,632,653,0.400989858124,-0.00539922735684,0.079851778912,0.999999941145,0.000218929103543,-0.000261383631744,3.81935453738e-05,1793238025141370624
+72,1.200000000,BASELINE,766.228464743,746,716.771535257,680,663,637,880,788,804,653,632,653,0.40098896916,-0.00539895272346,0.0798516170248,0.999999941126,0.000218435406653,-0.000261868402035,3.81867403773e-05,1793238025158037248
+73,1.216666667,BASELINE,766,746,716.644379228,680,662.644379228,636.644379228,880,788.355620772,804,653,632,653,0.400988656088,-0.00539930404128,0.079851691818,0.999999941271,0.000217654589204,-0.000261992878439,3.79944652639e-05,1793238025174703872
+74,1.233333333,BASELINE,766,746,716.053760721,680,662.053760721,636.053760721,880,788.946239279,804,653,632,653,0.400988723571,-0.00540006899389,0.079851923012,0.999999941524,0.000216684039674,-0.00026187926904,3.76796296578e-05,1793238025191370496
+75,1.250000000,BASELINE,767.05150803,746,716,680.525754015,662.525754015,636,880,788.474245985,804,652.474245985,632,653.525754015,0.400988834984,-0.00540028110353,0.0798522596282,0.99999994179,0.000216949637663,-0.000260625546787,3.77890081426e-05,1793238025208037120
+76,1.266666667,BASELINE,767.896396727,746,716,680.896396727,662.896396727,636.103603273,880,788,803.896396727,652.103603273,632,653.896396727,0.400989069164,-0.00540059831296,0.0798525980633,0.999999942044,0.000217033518134,-0.000259548888437,3.79847181004e-05,1793238025224704000
+77,1.283333333,BASELINE,767.321067909,746,716,680.321067909,662.321067909,636.678932091,880,788,803.321067909,652.678932091,632,653.321067909,0.400989842299,-0.00540164613321,0.0798528967129,0.999999942247,0.00021572637659,-0.000259798275858,3.8380089354e-05,1793238025241370880
+78,1.300000000,BASELINE,767,746,716,680,662,637,880,788,803.253854638,653,632,653.253854638,0.400989233108,-0.00540157887968,0.0798522413866,0.99999994181,0.000215984740377,-0.000261249361721,3.84691412419e-05,1793238025258037504
+79,1.316666667,BASELINE,767,746,716,680,662,637,880,788,803.828264124,653,632,653.828264124,0.400986878387,-0.00540010356708,0.0798503814278,0.999999940556,0.000218219945521,-0.000264217891814,3.81713884365e-05,1793238025274704128
+80,1.333333333,BASELINE,767,746,716,680,662.413849725,636.586150275,880,788,803.586150275,653,632,653.586150275,0.400986836596,-0.00539992980667,0.0798504865883,0.999999940553,0.000218561205547,-0.000263965966026,3.80272938724e-05,1793238025291370752
+81,1.350000000,BASELINE,766.99587833,746,716,680,663,636,880,788,803.00412167,652.99587833,632.00412167,653,0.40098778157,-0.00540031067802,0.0798514284344,0.999999941085,0.000218101504627,-0.000262339085066,3.7951026336e-05,1793238025308037120
+82,1.366666667,BASELINE,766.416793585,746,716,680,663,636,880,788,803.583206415,652.416793585,632.583206415,653,0.40098877207,-0.00540062654438,0.0798521726737,0.999999941448,0.000218588421279,-0.000260507709706,3.81946937828e-05,1793238025324703744
+83,1.383333333,BASELINE,766.161130474,746,716,680,663,636.161130474,880,788,804,652.161130474,632.838869526,653.161130474,0.400989580548,-0.00540072311466,0.0798525469358,0.999999941711,0.000218846784053,-0.00025926049167,3.83263616917e-05,1793238025341370624
+84,1.400000000,BASELINE,766.736073801,746,716,680,663,636.736073801,880,788,804,652.736073801,632.263926199,653.736073801,0.400989921564,-0.00540025649213,0.0798519710277,0.999999941723,0.00021851817832,-0.000259513497265,3.81703941299e-05,1793238025358037248
+85,1.416666667,BASELINE,767,746,716,680,663,636.681863456,879.681863456,788,804,653,632,654,0.400989860554,-0.00539923164442,0.0798518532836,0.999999941551,0.000219249525528,-0.000259603491075,3.78688959872e-05,1793238025374703616
+86,1.433333333,BASELINE,767,746,716,680,663,636.093759277,879.093759277,788,804,653,632,654,0.400989458388,-0.00539773309218,0.079852124333,0.99999994122,0.000220880338704,-0.000259555154624,3.74439019919e-05,1793238025391370496
+87,1.450000000,BASELINE,767,746,716,680,663,636.487184322,879.487184322,788,804,652.512815678,632,654,0.400988051795,-0.00539799087861,0.0798512091349,0.999999941024,0.00022005303193,-0.000260976559224,3.76740047549e-05,1793238025408037376
+88,1.466666667,BASELINE,767,746,716,679.933584057,663,637,880.066415943,788,804,652.066415943,632,653.933584057,0.400986756,-0.00539858889694,0.0798503264023,0.999999940887,0.000218973555021,-0.000262360512034,3.79894257161e-05,1793238025424704000
+89,1.483333333,BASELINE,767,746,716,679.357070308,663,637,880.642929692,788,804,652.642929692,632,653.357070308,0.400987774301,-0.0053992415857,0.0798514210045,0.999999941036,0.00021953802634,-0.000261315873934,3.80058516022e-05,1793238025441370624
+90,1.500000000,BASELINE,767,746,716,679.219009266,663,637,880.780990734,788.219009266,804,653,632,653.219009266,0.400988880123,-0.00539903022605,0.0798524627231,0.999999941089,0.000220567836936,-0.000260243382271,3.80286053253e-05,1793238025458037248
+91,1.516666667,BASELINE,767,746,716,679.794382311,663,637,880.205617689,788.794382311,804,653,632,653.794382311,0.400990128358,-0.00539741291869,0.0798534183915,0.999999940982,0.000222354830334,-0.000259125568423,3.80616554692e-05,1793238025474703872
+92,1.533333333,BASELINE,767,746,716,680,663,636.620477556,879.620477556,788.620477556,804,653,632,653.620477556,0.40098997974,-0.0053987582279,0.0798529052347,0.999999941606,0.000218745861514,-0.000259811139038,3.79044400466e-05,1793238025491370496
+93,1.550000000,BASELINE,767,746,716,680,663,636.029905977,879.029905977,788.029905977,804,653,632,653.029905977,0.400989054344,-0.0054017510223,0.0798515752769,0.9999999426,0.000212136245115,-0.000261499555983,3.76414195961e-05,1793238025508037376
+94,1.566666667,BASELINE,766.452223199,746,716,680,663,636.547776801,879.547776801,788.547776801,804,653,632,653,0.400988458326,-0.00540122287781,0.0798509517008,0.999999941926,0.000214714711094,-0.000261952183361,3.77602970196e-05,1793238025524704000
+95,1.583333333,BASELINE,766.12466616,746,716,680,663,637,880,788.87533384,804,652.87533384,632,653,0.400988096354,-0.0054005303211,0.0798505930496,0.999999941306,0.000217435027488,-0.000262052126738,3.79226365914e-05,1793238025541370880
+96,1.600000000,BASELINE,766.701171748,746,716,680,663,637,880,788.298828252,804,652.298828252,632,653,0.400988518983,-0.00539992255738,0.0798510580293,0.999999941225,0.000218893174089,-0.000261112713945,3.81686695225e-05,1793238025558037760
+97,1.616666667,BASELINE,767,746,716,680,663,636.716473307,880,788.283526693,804,652,632,653,0.40098889148,-0.00539985137718,0.0798514019749,0.999999941268,0.000218879811694,-0.000260950189405,3.82301663583e-05,1793238025574704384
+98,1.633333333,BASELINE,767,746,716,680,663,636.127823488,880,788.872176512,804,652,632,653,0.400989210025,-0.00540035765251,0.0798516156671,0.999999941445,0.000217282854317,-0.000261623729309,3.80930708363e-05,1793238025591371264
+99,1.650000000,BASELINE,766.546359462,746,716,680,663,636,880,788.546359462,804,652.453640538,632,653.453640538,0.400988864552,-0.00539968642057,0.0798514302658,0.999999941378,0.000217462739881,-0.00026176080053,3.78722386588e-05,1793238025608037632
+100,1.666666667,BASELINE,766,746,716,680.032989332,663,636.032989332,880,788,804,653,632,654,0.400988280745,-0.00539883994104,0.0798510924182,0.99999994126,0.000217963468821,-0.000261829026888,3.76455945584e-05,1793238025624704256
+101,1.683333333,BASELINE,766,746,716,680.610324407,663,636.610324407,880,788,804,653,632,654,0.400986803442,-0.00540049113396,0.0798500657325,0.9999999414,0.00021562583161,-0.000263216649558,3.77063070251e-05,1793238025641370880
+102,1.700000000,BASELINE,766.184941478,746,716,680.815058522,663,637,880,788.184941478,804,653,632,654,0.400986350425,-0.00540111097339,0.0798498376778,0.999999941411,0.000215159711911,-0.000263538371959,3.78269426493e-05,1793238025658037504
+103,1.716666667,BASELINE,766.753914529,746,716,680.246085471,663,637,880,788.753914529,804,653,632,654,0.400988024339,-0.0053995892038,0.0798512679833,0.999999941157,0.000218579804643,-0.00026164674885,3.80720088953e-05,1793238025674704128
+104,1.733333333,BASELINE,767,746,716,680,663,636.661901754,880,788.661901754,804,653,632,653.661901754,0.400988402878,-0.00540026669103,0.0798516934185,0.999999941305,0.000218648618174,-0.000261023806195,3.80799634658e-05,1793238025691370752
+105,1.750000000,BASELINE,767,746,716,680,663,636.06612532,880,788.06612532,804,653,632,653.06612532,0.40098779416,-0.00540262031963,0.079851353002,0.999999941762,0.00021616328823,-0.000261367775429,3.79072057768e-05,1793238025708037632
+106,1.766666667,BASELINE,767,746,716,680,663,636.514385532,880,788,804,653,632,653.514385532,0.40098684353,-0.0054020880109,0.0798506381557,0.999999941509,0.000215707492277,-0.000262720445065,3.78161381152e-05,1793238025724704256
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,879,789,804,653,632,654,0.400989590536,-0.00540055925815,0.0798512524935,0.999999941643,0.00021808985465,-0.000260223592601,3.78621634334e-05,1793238025767646720
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.425067622,879.574932378,788.425067622,804,652.425067622,632,654,0.400987450656,-0.0054007634115,0.0798502036406,0.999999941175,0.000217575367079,-0.000262438465644,3.791196598e-05,1793238025784313344
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,680.154420379,663,636.154420379,880,788,803.845579621,652,632,654,0.400986442209,-0.00540075625368,0.0798498276852,0.999999940993,0.00021729586863,-0.000263366124861,3.78711900256e-05,1793238025800979968
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,680.746829816,663,636.746829816,880,788,803.253170184,652,632,654,0.400988642893,-0.0054001497451,0.0798513602974,0.999999941634,0.00021768287966,-0.000260642805525,3.75735024464e-05,1793238025817646592
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,680.669718375,663,637,879.669718375,788,803.330281625,652.330281625,632,654,0.400989110933,-0.00540013019047,0.0798518625607,0.999999941593,0.000218808776619,-0.000259820647326,3.78068428777e-05,1793238025834313216
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680.092951569,663,637,879.092951569,788,803.907048431,652.907048431,632,654,0.400988285921,-0.00540054867251,0.0798515958869,0.999999941046,0.000220486095183,-0.000260417302841,3.84364831046e-05,1793238025850979840
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.519580963,879.480419037,788.480419037,804,653,632,653.519580963,0.400988715763,-0.00539924483435,0.0798519128759,0.999999941086,0.000220765396616,-0.000260068861834,3.81350724232e-05,1793238025867646720
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.053573496,880,788.946426504,803.946426504,653,632,653.053573496,0.400989219865,-0.00539796513078,0.0798522360234,0.999999941229,0.000220613486396,-0.000259709327035,3.77148924786e-05,1793238025884313344
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.63099454,880,788.36900546,803.36900546,653,632,653.63099454,0.400988092741,-0.00540015695199,0.0798515229259,0.999999941265,0.000218871442749,-0.000261016765202,3.78824369131e-05,1793238025900979968
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.786454907,746,716.213545093,680,663,637,879.786454907,788,803.213545093,653,632,654,0.400988104985,-0.00540150523929,0.0798514443649,0.999999941509,0.000217271923888,-0.000261396013638,3.80436498519e-05,1793238025917646592
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.194822483,746,716.805177517,680,663,637,879.194822483,788,803.805177517,653,632,654,0.400990134512,-0.00540136002686,0.0798524892681,0.999999942125,0.000215924749181,-0.000260131877042,3.81936526891e-05,1793238025934313216
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.386614991,746,716.613385009,680,663.386614991,636.613385009,879.386614991,788.386614991,803.613385009,653,632,654,0.400999748447,-0.00539954943968,0.0798570089369,0.999999943241,0.000218969436667,-0.000253192971425,3.82650868425e-05,1793238025950979840
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.963047084,746,716.036952916,680,663.963047084,636.036952916,879.963047084,788.963047084,803.036952916,653,632,654,0.401013086112,-0.00539692120025,0.079863234618,0.999999944502,0.000224170404989,-0.000243467913475,3.82979459884e-05,1793238025967646720
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.461981282,746,716,680,663.461981282,636.538018718,880,788.461981282,803,653,632,654,0.401050234501,-0.00539863282632,0.0798779408297,0.999999951278,0.000221884690653,-0.000216153955749,3.85766425282e-05,1793238025984313344
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.116098238,746,716,680,663,637,880,788,803.232196476,653,632.116098238,653.883901762,0.401092895892,-0.00540051441454,0.0798938576765,0.999999957901,0.000219400520802,-0.000185907923495,3.87265363538e-05,1793238026000979968
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.707305725,746,716,680,663,637,880,788,804.414611449,653,632.707305725,653.292694275,0.401151443746,-0.0054018750232,0.0799123516188,0.999999964421,0.000218202818275,-0.000148593325487,3.8280419322e-05,1793238026017646592
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,804.416458607,653,632.708229304,653.291770696,0.401213528571,-0.00540364286071,0.0799276464675,0.999999968514,0.000216265037246,-0.000121592002066,3.76382900814e-05,1793238026034312960
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.260750899,653,632.13037545,653.86962455,0.401279081415,-0.00540580998882,0.0799398045819,0.999999971029,0.000213601604446,-0.000104702917082,3.68039695907e-05,1793238026050979840
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679.552799922,663,636.552799922,880,788,803.447200078,653,632,654,0.401351638358,-0.00540639492553,0.0799442304662,0.999999971735,0.000213947863499,-9.75893212492e-05,3.51085391772e-05,1793238026067646464
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745.974907886,716,679.025092114,663,636.025092114,880,788,804,652.974907886,632,654,0.401426831939,-0.00540660600039,0.0799463662652,0.999999971986,0.000214946229537,-9.34243011269e-05,3.31264749856e-05,1793238026084313088
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.388115165,716,679.611884835,663,636.611884835,880,788,804,652.388115165,632,654,0.401515366293,-0.00540876727841,0.0799476680966,0.999999973111,0.000210912676438,-9.15074548752e-05,3.03442530545e-05,1793238026100979712
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.19594829,716,680.19594829,663,636.80405171,880,788,804,652.19594829,632,653.80405171,0.401614180185,-0.00541015533669,0.0799509152224,0.999999974271,0.000208095622801,-8.60695324819e-05,2.73016321027e-05,1793238026117646336
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.774680077,716,680.774680077,663,636.225319923,880,788,804,652.774680077,632,653.225319923,0.401733075063,-0.00541003291582,0.0799579624659,0.999999975438,0.000207654992099,-7.3753214758e-05,2.37503239623e-05,1793238026134313216
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.647333752,746,716.352666248,680.647333752,663,636.352666248,880,788.352666248,804,653,632,653.352666248,0.401863804452,-0.00541145991376,0.0799636008466,0.999999976778,0.000204972478559,-6.35550191099e-05,1.97613274402e-05,1793238026150980096
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.069822897,746,716.930177103,680.069822897,663,636.930177103,880,788.930177103,804,653,632,653.930177103,0.402002079019,-0.00541387475349,0.0799683409985,0.999999978211,0.000200860638327,-5.47072444346e-05,1.5493279561e-05,1793238026167646976
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.504924244,746,716.495075756,680,663,636.495075756,880,788.495075756,804,653,632,654,0.402163980459,-0.00541472694709,0.0799732538753,0.999999979563,0.00019634931065,-4.7054561984e-05,1.03452297992e-05,1793238026184313088
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.918343995,746,716,680,663,636.081656005,880,788,804.081656005,652.918343995,632,654,0.402330959878,-0.00541544310047,0.0799773254868,0.999999980765,0.000191850808108,-4.04738804802e-05,4.93752552598e-06,1793238026200979968
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.326847252,746,716,680,663,636.673152748,880,788,804.673152748,652.326847252,632,654,0.40250935639,-0.00541665171392,0.0799759961189,0.999999981587,0.000187775425344,-3.95602757459e-05,-1.33573427702e-06,1793238026217646592
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.259176451,746,716,680,663,636.740823549,880,788,804.740823549,652,632,653.740823549,0.402696980747,-0.00541798715544,0.0799724108065,0.999999982333,0.000182437291792,-4.45484045612e-05,-8.07951740443e-06,1793238026234313216
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.838440812,746,716,680,663,636.161559188,880,788,804.161559188,652,632,653.161559188,0.402896001662,-0.00541947923199,0.0799660393593,0.99999998286,0.00017553963692,-5.68252880128e-05,-1.54044055213e-05,1793238026250979840
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.414028796,880,788,803.585971204,652,632,653.414028796,0.403121451073,-0.00542371220835,0.0799628031145,0.999999984348,0.000164265663824,-6.2096747176e-05,-2.15403173965e-05,1793238026267646720
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.988194825,880,788,803.011805175,652,632,653.988194825,0.40335712244,-0.00542900530445,0.0799607794972,0.999999986094,0.00015129902722,-6.46586619858e-05,-2.72163592352e-05,1793238026284313344
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,788,803.576615989,652.576615989,632,654,0.40363756141,-0.00542923388135,0.0799643419887,0.999999989484,0.000132417863218,-5.55653830494e-05,-2.02364827566e-05,1793238026300979968
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.837196866,880,788,804,652.837196866,632,654,0.403926955513,-0.00542905666907,0.0799679078972,0.999999991317,0.00012150462646,-4.83419692366e-05,-1.62721783949e-05,1793238026317646336
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.257496851,880,788,804,652.257496851,632,654,0.404236874854,-0.00542811258118,0.0799711822709,0.999999990081,0.000131313140135,-4.65333309786e-05,-2.07103041275e-05,1793238026334312960
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679.679559265,663,636,880,788,803.679559265,652.320440735,632,653.679559265,0.404566925184,-0.00543117596478,0.0799737498804,0.999999990654,0.000127905250496,-4.15480491018e-05,-2.46309471379e-05,1793238026350979840
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679.103030106,663,636,880,788,803.103030106,652.896969894,632,653.103030106,0.404913063744,-0.00543744202181,0.0799757526616,0.999999992535,0.000113935134521,-3.40240708752e-05,-2.81380310461e-05,1793238026367646464
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746.471337467,716,679.471337467,663,636.471337467,880,788,803.471337467,653,632,653,0.405281858748,-0.00543763528768,0.0799721184346,0.99999999267,0.000112035409734,-3.51130026366e-05,-2.95917776295e-05,1793238026384313088
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746.953617472,716,679.953617472,663,636.953617472,880,788,804,653,632,653,0.405657483437,-0.00543678589534,0.0799669058082,0.999999992425,0.000112504163152,-3.93445036542e-05,-3.07455666665e-05,1793238026400979968
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746.365157105,716,679.365157105,663,636.365157105,880,788,804,653,632,653,0.406055311596,-0.00543919415589,0.079957581351,0.999999991684,0.000109958166771,-5.84006405545e-05,-3.36154266245e-05,1793238026417646592
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,679.219983254,663,636.219983254,880,788,804,653,632,653,0.406469886708,-0.00544292809913,0.0799519248274,0.999999991155,0.000107445669057,-7.01198662024e-05,-3.50435641888e-05,1793238026434313216
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,679.799694525,663,636.799694525,880,788,804,653,632,653,0.406911847281,-0.0054488298673,0.0799522662992,0.999999991468,0.000104987950305,-6.98413931967e-05,-3.41141224176e-05,1793238026450979840
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.377954024,637,880,788,804,653,632,653.377954024,0.407367484018,-0.0054612652429,0.0799525526303,0.999999992949,8.96103942351e-05,-7.0650463409e-05,-3.28706176933e-05,1793238026467646464
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.955447049,637,880,788,804,653,632,653.955447049,0.407830341006,-0.00547715000479,0.0799528098503,0.999999994638,6.74118725051e-05,-7.20336967894e-05,-3.14613049661e-05,1793238026484313088
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.460627192,637,880.539372808,788,803.460627192,653,632,653.460627192,0.408321321821,-0.00549917515205,0.0799458223076,0.99999999506,3.85984682925e-05,-8.61572854482e-05,-3.11133915342e-05,1793238026500979968
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.876918382,880.876918382,788,803.123081618,653,632,653,0.408829278091,-0.00551527166632,0.0799424419922,0.999999994983,1.86110037634e-05,-9.3334470466e-05,-3.12306608373e-05,1793238026517646592
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.296016983,880.296016983,788,803.703983017,653,632,653,0.409391631604,-0.00550740638021,0.0799547320842,0.999999996402,3.35098382485e-05,-7.07118101421e-05,-3.27481955137e-05,1793238026534313472
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.717149956,746,716,680.282850044,663,636.282850044,880,788,803.717149956,653,632,653.282850044,0.409978187028,-0.00550580924811,0.0799759438117,0.999999998317,3.35522961834e-05,-3.32999680762e-05,-3.36391488995e-05,1793238026550979840
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.140396728,746,716,680.859603272,663,636.859603272,880,788,803.140396728,653,632,653.859603272,0.410589890185,-0.00551072521435,0.0800064258136,0.999999999072,1.81578256861e-05,1.94789863862e-05,-3.38790357422e-05,1793238026567646464
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.434664015,746,716,680.565335985,663,637,880,788,803,653,632,653.565335985,0.411173468507,-0.00551563604127,0.0800076876222,0.999999999128,1.20249915697e-05,1.90530996841e-05,-3.51512655234e-05,1793238026584313088
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.990804566,746,716,680,663,637,880.009195434,788,803.018390867,652.990804566,632,653.009195434,0.411748357415,-0.00552043677666,0.0799992182388,0.999999999284,8.85701025012e-06,1.10974639058e-06,-3.67738115759e-05,1793238026600979712
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.415333202,746,716,680,663,637,880.584666798,788,804.169333597,652.415333202,632,653.584666798,0.412345398916,-0.00551855967017,0.0799704475952,0.999999998351,4.76171010747e-06,-4.14005680637e-05,-3.95148352987e-05,1793238026617646592
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,881,788,804.835300631,652,632,653.835300631,0.412959166322,-0.00552008479842,0.0799461947993,0.999999996349,-2.67105450812e-06,-7.41499045021e-05,-4.23815506465e-05,1793238026634313472
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,881,788,804.243438184,652,632,653.243438184,0.413616313875,-0.00553043393789,0.0799336594616,0.999999995458,-1.87598422914e-05,-8.15832374007e-05,-4.55742588617e-05,1793238026650979840
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.341411871,746,716,680,663,637,881,788.341411871,804,652.341411871,632.341411871,653.341411871,0.414303881252,-0.00553555499493,0.0799420991308,0.999999996673,-2.43445157716e-05,-6.27516349993e-05,-4.60872847294e-05,1793238026667646464
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.92136246,746,716,680,663,637,881,788.92136246,804,652.92136246,632.92136246,653.92136246,0.415012702421,-0.0055370232785,0.0799651936844,0.999999998418,-2.25901409888e-05,-2.55691647553e-05,-4.47280615427e-05,1793238026684313088
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.006731607,788.503365803,804,653,632.503365803,654,0.415711728577,-0.00553899404662,0.079981748871,0.999999998547,-2.95081716071e-05,-4.70245670005e-06,-4.48755331993e-05,1793238026700979712
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.927174515,746,716,680,663,636.927174515,879.145650971,788,804,652.927174515,632.072825485,653.927174515,0.416408621537,-0.00554159553921,0.0799921990747,0.999999998226,-3.79623206561e-05,6.18481963971e-06,-4.54724252788e-05,1793238026717646336
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.339289153,746,716,680,663,636.339289153,880.321421694,788,804,652.339289153,632.660710847,653.339289153,0.417101293839,-0.00554810037822,0.079966726535,0.999999997106,-4.76593742467e-05,-3.5406665756e-05,-4.75762986947e-05,1793238026734312960
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.245145117,746,716,680.245145117,663,636,881,788,804,652,632.754854883,653,0.417835458062,-0.00555308162117,0.0799635392658,0.99999999662,-5.56114423287e-05,-3.5198938164e-05,-4.92708851305e-05,1793238026750979584
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.824869348,746,716,680.824869348,663,636,881,788,804,652,632.175130652,653,0.418626251414,-0.00555598342973,0.0799907673902,0.999999996615,-6.11819195248e-05,2.20572120118e-05,-5.04068685276e-05,1793238026767646464
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716,681,663.400674097,636.400674097,880.599325903,788,803.599325903,652.400674097,632,653.400674097,0.419394754703,-0.00556065947708,0.0800036641811,0.999999995364,-6.67419255749e-05,4.75693526749e-05,-5.05393783233e-05,1793238026784313088
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663.974782241,636.974782241,880.025217759,788,803.025217759,652.974782241,632,653.974782241,0.420153609563,-0.00556610351355,0.0800103575717,0.999999994364,-7.22973988457e-05,5.93409160437e-05,-5.02375288721e-05,1793238026800979712
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.449083638,746,716,681,663.449083638,636.449083638,881.101832724,788.550916362,803.550916362,652.449083638,632,653.449083638,0.420888653615,-0.005569938757,0.0799909980757,0.99999999523,-7.92697456176e-05,2.4106428366e-05,-5.1729196484e-05,1793238026817646336
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.130620744,746,716,681,663,636.130620744,881.738758512,788.869379256,804,652,632,653,0.421640397987,-0.00557283989917,0.0799786434983,0.999999995006,-8.48987630463e-05,1.19586387829e-06,-5.27143254171e-05,1793238026834312960
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.722606845,746,716,681,663,636.722606845,880.554786309,788.277393155,804,652,632,653,0.422454993416,-0.00557270277139,0.0799952587375,0.999999994575,-8.55530843868e-05,2.94425575338e-05,-5.16192655059e-05,1793238026850979584
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636.693055454,880.306944546,788,804,652,632,653,0.423263413728,-0.0055552482061,0.0800130845209,0.999999995011,-6.53479928191e-05,5.58105296288e-05,-5.09119624469e-05,1793238026867646464
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,681,663,636.115461781,880.884538219,788,804,652,632,653,0.424066389072,-0.00552252394667,0.0800319777037,0.999999995123,-2.67500612825e-05,8.05219326987e-05,-5.05465649713e-05,1793238026884313088
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663.458365836,636.458365836,881,788,804,652,632,653,0.424803255854,-0.00550734599511,0.0799994858751,0.999999998553,-5.73766166903e-06,1.4774653443e-05,-5.14173306736e-05,1793238026900979712
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663.967689634,636.967689634,881,788,804.032310366,652,632,653,0.425527483119,-0.00549804346912,0.0799558893122,0.999999996214,8.46896710244e-06,-6.87814819287e-05,-5.26341825462e-05,1793238026917646592
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,681,663.375412447,636.375412447,881,788,804.624587553,652,632,653,0.426318908861,-0.00551459084674,0.0799423376546,0.999999995932,-1.91281688439e-05,-6.92900545499e-05,-5.44963678702e-05,1793238026934313216
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663.211794995,636,881,788,805,652.211794995,632,653.211794995,0.427120472075,-0.00552435707349,0.0799361296335,0.999999995655,-3.29705389952e-05,-6.72017509108e-05,-5.55532626421e-05,1793238026950979584
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663.790226345,636,881,788,805,652.790226345,632,653.790226345,0.427939584302,-0.0055223845154,0.0799426341118,0.999999996374,-2.30021658875e-05,-6.06180189572e-05,-5.52161267491e-05,1793238026967646208
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716.367141262,681.367141262,664,636.367141262,881,788,804.632858738,652.632858738,632,653.632858738,0.428738397929,-0.00552446612109,0.079951950865,0.999999996795,-2.65602715695e-05,-5.24304626541e-05,-5.43636246062e-05,1793238026984312832
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716.943193263,681.943193263,664,636.943193263,881,788,804.056806737,652.056806737,632,653.056806737,0.429525661198,-0.00552885462735,0.0799628678587,0.99999999693,-3.78152154745e-05,-4.33302985294e-05,-5.32178687482e-05,1793238027000979456
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.470079894,746.529920106,716.470079894,682,663.470079894,637,881,788.529920106,804.529920106,652,632,653,0.430323517116,-0.00553450660787,0.0799914462381,0.999999997688,-4.33200006557e-05,-6.55698863801e-07,-5.24180650907e-05,1793238027017646080
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.116181151,747,716,682,663.116181151,637,881,788.883818849,804.883818849,652.116181151,632,653,0.431121752561,-0.00553906491259,0.0800193304677,0.999999996687,-4.73614225009e-05,4.12281106871e-05,-5.18017972805e-05,1793238027034312960
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.69592392,747,716,682,663.69592392,637,881,788.30407608,804.30407608,652.69592392,632,653,0.431916878442,-0.00553870793641,0.0800367355875,0.999999995372,-4.80740696512e-05,6.53009320891e-05,-5.17668227386e-05,1793238027050979584
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.726117831,716,681.726117831,664,636.726117831,881,788,804.273882169,652.726117831,632.273882169,653,0.432671065928,-0.00553597460004,0.0800202410791,0.999999996811,-4.72311811697e-05,3.6536242915e-05,-5.30335407289e-05,1793238027067646464
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746.150128048,716,681.150128048,664,636.150128048,881,788,804.849871952,652.150128048,632.849871952,653,0.433380095984,-0.0055306200032,0.0799663533509,0.999999996173,-4.46724480939e-05,-5.05112284569e-05,-5.57360993755e-05,1793238027084313088
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,681.425373772,664,636.425373772,881,788,804.574626228,652,632.574626228,653.425373772,0.43410943839,-0.00552694372849,0.0799348551092,0.999999993337,-4.36805782792e-05,-8.92846681931e-05,-5.87021527222e-05,1793238027100979712
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.000704009,716,682.000704009,664,637,881,788,804.000704009,652,632,653.999295991,0.434845973525,-0.00552386802529,0.0799113280884,0.999999991004,-4.32492144797e-05,-0.000110942384708,-6.17548683022e-05,1793238027117646336
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.576354558,716,682.576354558,664,637,881,788,804.576354558,652,632,653.423645442,0.435608643441,-0.00552807441061,0.0799517540875,0.999999995603,-4.94683062056e-05,-5.27350541993e-05,-5.97219364581e-05,1793238027134312960
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.843844765,746.843844765,716,682.843844765,664,637,881.156155235,788,804.843844765,652.156155235,632,653,0.436355844137,-0.00553178916789,0.0799854820053,0.999999996832,-5.43734980435e-05,-6.74764641266e-06,-5.77334298788e-05,1793238027150979840
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.252477347,746.252477347,716,682.252477347,664,637,881.747522653,788,804.252477347,652.747522653,632,653,0.437059931539,-0.00553413373502,0.0800005420563,0.999999996879,-5.56167892573e-05,5.18225937555e-06,-5.58687386862e-05,1793238027167646720
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.330283811,746,716,682,664,636.669716189,881.669716189,788,804,652.669716189,632,653.330283811,0.437772310241,-0.00553775144971,0.0800111206936,0.999999996562,-5.79625043302e-05,2.03202944383e-05,-5.5715370753e-05,1793238027184313344
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.906633165,746,716,682,664,636.093366835,881.093366835,788,804,652.093366835,632,653.906633165,0.438490866021,-0.00554231767499,0.0800183606213,0.9999999958,-6.11295387887e-05,3.78484249449e-05,-5.68369600099e-05,1793238027200979968
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.481405256,716,681.518594744,664,636,881,788,804,652.481405256,632,654,0.439157972993,-0.00554415669413,0.0800158969954,0.999999995191,-6.99387905755e-05,3.79455256334e-05,-5.73364575855e-05,1793238027217646848
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746.942439267,716,681.057560733,664,636.057560733,881,788,804.115121465,652.942439267,632,653.942439267,0.439807942892,-0.00554533525621,0.080008830641,0.999999994817,-7.82762713325e-05,2.99947465949e-05,-5.77769051823e-05,1793238027234313472
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746.350613452,716,681.649386548,664,636.649386548,881,788,805.298773095,652.350613452,632,653.350613452,0.440391164444,-0.00554527700073,0.0799764538036,0.999999995444,-7.21111330986e-05,-2.13782901774e-05,-5.87854753235e-05,1793238027250980096
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,682.236237783,664,636.763762217,881.236237783,788,805.527524433,652,632,653.236237783,0.440963976498,-0.00554456228103,0.0799366458835,0.999999992141,-7.12391648718e-05,-8.31720530736e-05,-6.10388831794e-05,1793238027267646464
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,682.815858184,664,636.184141816,881.815858184,788,804.368283631,652,632,653.815858184,0.441521657809,-0.00554289336005,0.0798860365417,0.999999982016,-7.80610661806e-05,-0.000160112821957,-6.51017204589e-05,1793238027284313088
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716,683,663.609636403,636,881.609636403,788.390363597,804,652.390363597,632.390363597,653.609636403,0.442099236345,-0.00554392340432,0.0798711687255,0.999999979115,-7.53581119011e-05,-0.000178206318263,-6.58374344914e-05,1793238027300979968
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716,683,663.037512569,636,881.037512569,788.962487431,804,652.962487431,632.962487431,653.037512569,0.442686079433,-0.0055462101347,0.0798729427951,0.999999981295,-6.82202161102e-05,-0.000168899484404,-6.50239812079e-05,1793238027317646848
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,715.860507596,683,663,636,881.860507596,787.860507596,804,652.860507596,632,654,0.443785978008,-0.00555530023029,0.0799172665294,0.999999988706,-8.21285242004e-05,-0.000109085623083,-6.27989806435e-05,1793238027350980096
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,715.281010775,683,663,636,881.281010775,787.281010775,804,652.281010775,632,654,0.444256087709,-0.00555844910886,0.0798953123663,0.999999983257,-8.42406302437e-05,-0.000149610616583,-6.33011121193e-05,1793238027367646720
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.703171218,746,715,683,663,636,881,787.296828782,804.296828782,652,632,654,0.444706856092,-0.00556095739827,0.0798633715444,0.999999973578,-8.97744436479e-05,-0.000201825117007,-6.36557708329e-05,1793238027384313344
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.126891932,746,715,683,663,636,881,787.873108068,804.873108068,652,632,654,0.445139415497,-0.00556286260255,0.0798220287486,0.999999957982,-9.85296352086e-05,-0.000265044742102,-6.38715906412e-05,1793238027400979968
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+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716,683.023598793,662,635,881.976401207,787.976401207,804,652.976401207,632,654,0.44600418681,-0.00555283323102,0.0797792727993,0.999999936171,-9.41596659575e-05,-0.000338171986546,-6.65680743629e-05,1793238027434313216
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,716,683.611411613,662,635,881.388588387,787.388588387,804,652.388588387,632,654,0.446402391433,-0.00554624045152,0.0797688820668,0.999999933964,-8.07873017735e-05,-0.000347751889739,-6.79241973862e-05,1793238027450979840
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+210,3.500000000,POSE1_TO_POSE2_PRESS,766.221271954,746,715.221271954,683.221271954,662,635,881,787,804.778728046,652,632,653.221271954,0.44716383329,-0.00554191526592,0.0797447986602,0.999999924783,-8.21303521775e-05,-0.000372502704535,-7.02226323321e-05,1793238027484313344
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.476501963,636.476501963,880,788,803.476501963,653,632.476501963,653,0.404044707317,-0.00540320725027,0.0798428970894,0.999999938794,0.000207674687835,-0.000277773634884,4.61029695673e-05,1793238030550417920
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662,636.113870169,880,788,803.113870169,653,632.113870169,653.113870169,0.403737101135,-0.00540381427388,0.0798421293699,0.999999937959,0.000207308966731,-0.000281017594468,4.61903101977e-05,1793238030567084800
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662,636.686492417,880,788,803.686492417,653,632.686492417,653.686492417,0.403471059827,-0.00540351158084,0.0798430696997,0.999999939943,0.000202486744066,-0.000277665954171,4.48872701809e-05,1793238030583751424
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.738406158,746,716,680,662.261593842,637,880,788,804,653,632.738406158,653.738406158,0.403214493599,-0.00540368060573,0.0798438146984,0.9999999402,0.000200565168693,-0.000278204928058,4.44537823124e-05,1793238030600418048
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.160305168,746,716,680,662.839694832,637,880,788,804,653,632.160305168,653.160305168,0.402969391459,-0.00540442037076,0.0798443233623,0.999999938379,0.000202153139543,-0.000283451227031,4.50723814863e-05,1793238030617084672
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.413952307,746,716,680.413952307,663,637,880,788,804,653,632,653,0.402751366945,-0.00540352673164,0.0798460252399,0.999999937401,0.00020633997519,-0.000283951839152,4.46500439828e-05,1793238030633751296
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.98673504,746,716,680.98673504,663,637,880,788,804,653,632,653,0.402543731922,-0.00540200636745,0.0798481849447,0.999999936728,0.000211523975921,-0.000282631566342,4.38283067906e-05,1793238030650417920
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.830786325,663,637,880,788,804,653,632,653,0.402365538494,-0.00540252372146,0.0798497816695,0.999999940086,0.000203508764753,-0.000276663840939,4.3246220975e-05,1793238030667084288
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.175438958,663,637,880,788,804,653,632,653,0.402197451439,-0.00540247460697,0.0798519886236,0.999999942697,0.00019877967866,-0.00027058833623,4.32927531586e-05,1793238030683751168
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.74894837,663,637,880,788,804,653,632,653,0.402050711984,-0.00540103056211,0.0798556104704,0.999999943568,0.000202216827013,-0.000264518282048,4.47527261644e-05,1793238030700418048
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.89659337,788,804,653,632,653,0.401785879543,-0.00540327041897,0.0798627877928,0.999999945715,0.000204688786764,-0.000253606344564,4.85499246862e-05,1793238030733751296
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.514305673,746,716,680,662.514305673,636.514305673,880.514305673,788,803.514305673,653,632,653.485694327,0.401670320133,-0.00540275355278,0.0798591289021,0.999999944097,0.000205994371053,-0.000258891747323,4.84433627752e-05,1793238030750417920
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.233995764,637,880,788,803,653,632,653.766004236,0.40137488813,-0.00540408544981,0.0798441145002,0.999999936858,0.000217814913772,-0.000278666135918,3.44252677027e-05,1793238030800417536
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.810186772,637,880,788,803,653,632,653.189813228,0.401302710901,-0.00540575782406,0.079842459916,0.999999937187,0.000212318123272,-0.000281612978724,3.52217934519e-05,1793238030817084160
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.618840986,637,879.618840986,788,803.381159014,653,632,653.381159014,0.401241371356,-0.00540431888773,0.0798411178524,0.999999936445,0.000211935638699,-0.000284427438,3.59751261667e-05,1793238030833751040
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.050432549,637,879.050432549,788,803.949567451,653,632,653.949567451,0.40118535597,-0.00540135147875,0.0798399293187,0.999999935179,0.000214065624941,-0.000287176862026,3.67072397067e-05,1793238030850417664
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.457284243,662,637,879.542715757,788,804,653,632,654,0.401142634225,-0.00540247972445,0.0798383676487,0.999999935019,0.000212305445187,-0.000288942507826,3.74324597282e-05,1793238030867084544
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.134658177,662.134658177,636.865341823,879.865341823,788,804,653,632,653.865341823,0.40110439938,-0.00540367772033,0.0798374212406,0.999999935213,0.000210352511513,-0.000289617490628,3.8055208799e-05,1793238030883751168
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+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.798584955,636.798584955,879,787.798584955,803.798584955,653,632,653.798584955,0.400994291371,-0.00540329820624,0.079840426754,0.999999937206,0.000211317028983,-0.000281824749592,3.88257680632e-05,1793238031000418048
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+422,7.033333333,POSE2_TO_POSE3_RETREAT,766.074073211,745.074073211,716,680,662,636,879.925926789,787.925926789,803.925926789,653,632,653.925926789,0.400988704483,-0.00540356174016,0.0798435214176,0.999999938509,0.000212108725733,-0.0002765802022,3.86590318525e-05,1793238031050419200
+423,7.050000000,POSE2_TO_POSE3_RETREAT,766,745.51284696,716,680,662,636.51284696,880,788,804,653,631.48715304,654,0.400988653464,-0.00540381894192,0.0798439380586,0.999999938671,0.000212765481547,-0.000275467111847,3.88101950369e-05,1793238031067085568
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+425,7.083333333,POSE2_TO_POSE3_RETREAT,766.681556841,746,716,680,662.681556841,637,880.681556841,788,804,653,631.681556841,653.318443159,0.40098816572,-0.00540384325737,0.0798445175087,0.999999939415,0.000210332574456,-0.000274690567126,3.84055325414e-05,1793238031100418816
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.740242922,636.740242922,881,788,803.740242922,653,632,653.259757078,0.400988103181,-0.00540314488523,0.0798452326121,0.999999939609,0.000210861287619,-0.000273587984021,3.83232966604e-05,1793238031117085184
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.165649009,636.165649009,881,788,803.165649009,653,632,653.834350991,0.400988758027,-0.00540202004454,0.0798465805824,0.999999939458,0.000214947408383,-0.000270887539553,3.87560163982e-05,1793238031133751552
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.415201615,636.415201615,880.584798385,788,803,653,632,653.584798385,0.400988160589,-0.00540230506586,0.0798463906295,0.999999939365,0.000215313785415,-0.000270950344357,3.86863923022e-05,1793238031150418176
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+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,662.418779915,637,879.418779915,788,803,652.418779915,632,653.581220085,0.400986251206,-0.00540258803198,0.0798449914635,0.999999939201,0.00021479144581,-0.000272024866335,3.82825887836e-05,1793238031183751424
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,662,637,879.162730252,788,803,652.162730252,632,654,0.400985616453,-0.00540225875174,0.0798447211701,0.999999939143,0.000214963275052,-0.000272102847432,3.82672143221e-05,1793238031200417792
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,662,637,879.741373958,788,803,652.741373958,632,654,0.400985414176,-0.0054025616114,0.0798452570196,0.99999993919,0.000213983797269,-0.000272663090821,3.8545704712e-05,1793238031217084160
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746.318052932,716,680,662,637,880,788,803.318052932,653,632,654,0.400986613226,-0.00540289470229,0.0798463032428,0.999999939787,0.000212890713754,-0.000271327865808,3.85364070289e-05,1793238031233751040
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746.893144057,716,680,662,637,880,788,803.893144057,653,632,654,0.400988944776,-0.00540325222487,0.0798477619302,0.999999940821,0.000211705818484,-0.000268460795836,3.82945300394e-05,1793238031250417920
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746.04054045,716,680,662.479729775,637,880,788,804,653,632,653.520270225,0.400988192387,-0.00540416958472,0.079847605904,0.999999940852,0.000210916810845,-0.000268938169474,3.84958057742e-05,1793238031267084288
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,745.06776444,716,680.06776444,662.93223556,637,880,788,804,653,632,653.06776444,0.40098688182,-0.00540502811328,0.0798471667952,0.999999940625,0.000210576259099,-0.000270009949982,3.87553612418e-05,1793238031283750912
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,745.646937003,716,680.646937003,662.353062997,637,880,788,804,653,632,653.646937003,0.40098667013,-0.00540447846121,0.0798473722723,0.999999940182,0.000212938313424,-0.000269807605905,3.86915178062e-05,1793238031300417792
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+439,7.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.200934175,662.799065825,637,880,788,804,653,632,654,0.400986352237,-0.00540703953192,0.0798470108364,0.999999940802,0.000209828176968,-0.000269880869313,3.91415779064e-05,1793238031333751296
+440,7.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,879.617661382,788,804,653,632,654,0.400986180475,-0.00540619589128,0.0798471170959,0.999999940506,0.00021142109618,-0.00026973701233,3.91190845931e-05,1793238031350417920
+441,7.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,879.029780887,788,804,653,632,654,0.400985989394,-0.00540377894024,0.0798474686574,0.999999939697,0.0002156296048,-0.000269439800034,3.88954379034e-05,1793238031367084288
+442,7.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.45011627,879,788,803.45011627,653,632,653.45011627,0.40098564602,-0.00540421353286,0.0798464056777,0.999999939971,0.000213175203275,-0.000270463092445,3.82534297402e-05,1793238031383751168
+443,7.383333333,POSE2_TO_POSE3_RETREAT,766.871859578,746,716,680.128140422,662.871859578,636,879.256280844,788.128140422,803.128140422,653,632,653,0.400985541958,-0.00540466986135,0.0798458912025,0.99999994026,0.000211354074723,-0.000270878039376,3.78758072058e-05,1793238031400417792
+444,7.400000000,POSE2_TO_POSE3_RETREAT,766.296982939,746,716,680.703017061,662.296982939,636,880.406034122,788.703017061,803.703017061,653,632,653,0.400986300538,-0.00540467148523,0.0798475521316,0.999999940418,0.000212980250999,-0.000268926452184,3.84977420736e-05,1793238031417085184
+445,7.416666667,POSE2_TO_POSE3_RETREAT,766.278900033,745.721099967,716,680.721099967,662.278900033,636.278900033,880.721099967,788.721099967,804,652.721099967,632,653.278900033,0.400987390192,-0.00540536090679,0.0798484701572,0.999999941041,0.000211914668177,-0.000267422973114,3.86633380586e-05,1793238031433751808
+446,7.433333333,POSE2_TO_POSE3_RETREAT,766.855858429,745.144141571,716,680.144141571,662.855858429,636.855858429,880.144141571,788.144141571,804,652.144141571,632,653.855858429,0.400988833659,-0.00540678537253,0.0798485942473,0.999999942155,0.000207972422589,-0.00026639838394,3.83412480793e-05,1793238031450418176
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78bed92dc7efe7411961f2f5a37d265982cfbc72
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,448 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+1,0.016666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1b877481ba815ce59f25549f7b09af18b4051352
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da027f45f1742230851790f72d947df42b0b46e96f1a2057966a62e4268bbf26
+size 27763374
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..64af6e83d769ab6edcadf02494a5d4a1412c0bfa
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_01/franka_data.csv
@@ -0,0 +1,437 @@
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+8,0.133333333,BASELINE,767,745.259465274,716,678.740534726,663,637,880,788.740534726,804,653,632,653,0.40093528114,-0.0154382065865,0.0599409848853,0.999999974012,-0.000109415341548,-0.000195209328158,-4.35616100726e-05,1793238033256269824
+9,0.150000000,BASELINE,767,745,716,679,663,637,879.675143478,789,804,652.675143478,632,653,0.400935256445,-0.0154377702301,0.0599410048609,0.999999973979,-0.000109778495872,-0.000195156116626,-4.363599192e-05,1793238033272936448
+10,0.166666667,BASELINE,767,745,716,679,663,637,879.099551556,789,804,652.099551556,632,653,0.40093494917,-0.0154365511926,0.059941172507,0.999999973886,-0.000110816648743,-0.000195018693624,-4.37608378936e-05,1793238033289603072
+11,0.183333333,BASELINE,767,745.472547302,716,679.472547302,663,637,879.472547302,788.527452698,804,652.472547302,632,653,0.400934407836,-0.0154372530677,0.0599404623122,0.999999973579,-0.000111948407832,-0.000195940562792,-4.37832322815e-05,1793238033306269696
+12,0.200000000,BASELINE,767,746,716,679.954530003,663,637.045469997,879.954530003,788,804,653,632,653,0.400933905128,-0.0154382330497,0.0599396576733,0.999999973283,-0.000112906901436,-0.000196900506106,-4.3775361711e-05,1793238033322936320
+13,0.216666667,BASELINE,767,746,716,679.362939537,663,637.637060463,879.362939537,788,804,653,632,653,0.400934454236,-0.0154377284976,0.0599399235824,0.999999973684,-0.000111549266494,-0.000195657116149,-4.36613194843e-05,1793238033339603200
+14,0.233333333,BASELINE,767,746,716,679,663,637.775705661,879.224294339,788,804,653,632,653.224294339,0.400934555985,-0.0154377660221,0.0599399234436,0.999999973829,-0.00011093636291,-0.00019528910796,-4.3560000538e-05,1793238033356269824
+15,0.250000000,BASELINE,767,746,716,679,663,637.195386947,879.804613053,788,804,653,632,653.804613053,0.400933947638,-0.0154386639894,0.0599395010047,0.999999973569,-0.000111505577741,-0.000196310600746,-4.34788773488e-05,1793238033372936448
+16,0.266666667,BASELINE,767,746,716,679,663,637.381779913,880,788,804,653,632,654,0.400934504206,-0.0154386497326,0.0599398139479,0.999999973718,-0.000111165553838,-0.000195784575018,-4.33067969168e-05,1793238033389603072
+17,0.283333333,BASELINE,767,746,716,679,663,637.957346894,880,788,804,653,632,654,0.400935652071,-0.0154381724414,0.0599405001625,0.999999974072,-0.000110364010835,-0.000194473046732,-4.30885476456e-05,1793238033406269952
+18,0.300000000,BASELINE,766.468207858,746,716,679.531792142,663,637.468207858,880,788.531792142,803.468207858,653,632,653.468207858,0.400935139957,-0.0154381058725,0.0599407601556,0.99999997412,-0.000110242520298,-0.000194321371269,-4.2967157472e-05,1793238033422936832
+19,0.316666667,BASELINE,766.109287172,746,716,679.890712828,663,637,880,789,803.109287172,653,632,653,0.400934534244,-0.0154381453986,0.0599408372182,0.999999974109,-0.000110191236689,-0.000194424451074,-4.28874205891e-05,1793238033439603200
+20,0.333333333,BASELINE,766.700630508,746,716,679.299369492,663,637,880,789,803.700630508,653,632,653,0.400934101708,-0.0154385078992,0.0599402578637,0.999999973945,-0.000110209544999,-0.000195241761379,-4.29572177426e-05,1793238033456269824
+21,0.350000000,BASELINE,766.713831387,746,716,679,663,637,880,789,804,653,632,653,0.400934482028,-0.0154385566851,0.0599402702448,0.999999974005,-0.000109842656664,-0.000195169009082,-4.28173089728e-05,1793238033472936448
+22,0.366666667,BASELINE,766.134245594,746,716,679,663,637,880,789,804,653,632,653,0.400935695791,-0.0154382838099,0.0599408893502,0.999999974296,-0.000109080814769,-0.000194183649109,-4.24623824862e-05,1793238033489602816
+23,0.383333333,BASELINE,766.438438533,745.561561467,716,679,663.438438533,637,880,788.561561467,804,653,632,653.438438533,0.400935433296,-0.0154373482665,0.0599410709569,0.999999974372,-0.000108386905202,-0.000194063960125,-4.29707978556e-05,1793238033506269696
+24,0.400000000,BASELINE,767,745.009370262,716,678.990629738,663.990629738,637.009370262,880,788,804,652.990629738,632,654,0.40093475064,-0.0154362383367,0.0599411204475,0.999999974383,-0.000107741846234,-0.000194198551929,-4.37225856507e-05,1793238033522936576
+25,0.416666667,BASELINE,767,745.600674129,716,678.399325871,663.399325871,637.600674129,880,788,804,652.399325871,632,654,0.400935611247,-0.0154367040981,0.0599411553892,0.99999997433,-0.000108858859563,-0.00019391881791,-4.34261921563e-05,1793238033539603200
+26,0.433333333,BASELINE,767,746,715.811596331,678.188403669,663,637.811596331,880,788,804,652.188403669,632,654,0.400935951595,-0.0154374626471,0.0599409870255,0.999999974233,-0.000109843676793,-0.000193913248635,-4.32085150216e-05,1793238033556269824
+27,0.450000000,BASELINE,767,746,715.231301499,678.768698501,663,637.231301499,880,788,804,652.768698501,632,654,0.400935209776,-0.0154388302122,0.0599403957745,0.999999974047,-0.000110553518253,-0.000194477958755,-4.31545726777e-05,1793238033572936448
+28,0.466666667,BASELINE,767,746,715.347948301,679.347948301,663,637,880.347948301,788,804,653,632,654,0.400935156658,-0.0154393884202,0.0599401433999,0.999999974017,-0.000110662653244,-0.000194582374083,-4.31084221391e-05,1793238033589603072
+29,0.483333333,BASELINE,767,746,715.926505454,679.926505454,663,637,880.926505454,788,804,653,632,654,0.400935559987,-0.0154394102125,0.0599401156216,0.999999974089,-0.000110373659424,-0.000194381720911,-4.30674357598e-05,1793238033606269696
+30,0.500000000,BASELINE,767,746,716,679.503781167,663,637,880.503781167,788.496218833,804,653,632,653.503781167,0.400935700319,-0.015439107419,0.0599402283959,0.999999974135,-0.000110307750764,-0.000194210131372,-4.29418623159e-05,1793238033622936576
+31,0.516666667,BASELINE,767,746,716,679,663.067678103,637,880,788.932321897,804,653,632,653,0.400935739564,-0.0154388236593,0.059940347568,0.999999974171,-0.000110249281982,-0.000194091546242,-4.27988201885e-05,1793238033639603456
+32,0.533333333,BASELINE,767,746,716,679,663.662771991,637,880,788.337228009,804,653,632,653,0.400935289282,-0.0154390563131,0.0599403572112,0.999999974156,-0.000109995812597,-0.000194353066424,-4.26155666515e-05,1793238033656270080
+33,0.550000000,BASELINE,767,745.748894921,716,679,663.748894921,637,880,788.251105079,804,653,632,653.251105079,0.40093538855,-0.0154390369175,0.0599406385985,0.999999974298,-0.000109787529051,-0.000193742310349,-4.25960213584e-05,1793238033672936704
+34,0.566666667,BASELINE,767,745.16940342,716,679,663.16940342,637,880,788.83059658,804,653,632,653.83059658,0.400936206502,-0.0154386879004,0.0599412753631,0.999999974644,-0.000109638337984,-0.00019199082193,-4.27905679844e-05,1793238033689603328
+35,0.583333333,BASELINE,767,745,716,679,663,637,880,789,804.406686083,653,632,653.593313917,0.400935958609,-0.0154385552243,0.059941058193,0.999999974507,-0.000109925385137,-0.000192533258418,-4.28183932879e-05,1793238033706269696
+36,0.600000000,BASELINE,767,745,716,679,663,637,880,789,804.981370301,653,632,653.018629699,0.400935270424,-0.0154385119167,0.0599404882706,0.999999974169,-0.000110392638119,-0.000194023293221,-4.27773476225e-05,1793238033722936320
+37,0.616666667,BASELINE,767,745.568874271,716,679,663,637,880,788.431125729,804.431125729,653,632,653,0.400935469562,-0.0154394536583,0.0599402628001,0.999999974137,-0.000110426565896,-0.000194147635746,-4.28820855062e-05,1793238033739603200
+38,0.633333333,BASELINE,766.845393274,746,716,679,663,637,879.845393274,788,804,652.845393274,632,653.154606726,0.40093582736,-0.0154403274293,0.0599401980833,0.999999974103,-0.000110991689977,-0.000193990960349,-4.29325297195e-05,1793238033756269568
+39,0.650000000,BASELINE,766.265712152,746,716,679,663,637,879.265712152,788,804,652.265712152,632,653.734287848,0.400936539641,-0.0154409235858,0.0599405436121,0.999999974032,-0.000113057195852,-0.000193187455923,-4.28202707226e-05,1793238033772936448
+40,0.666666667,BASELINE,766.31102734,745.68897266,716,679,663,637,879.31102734,788,803.68897266,652,632,653.68897266,0.400935892252,-0.0154407640058,0.0599402775589,0.999999973897,-0.00011341503664,-0.000193670039984,-4.28442827125e-05,1793238033789603072
+41,0.683333333,BASELINE,766.885277293,745.114722707,716,679,663,637,879.885277293,788,803.114722707,652,632,653.114722707,0.400934094175,-0.0154399648458,0.0599394939235,0.999999973708,-0.000112327679373,-0.000195241041507,-4.29836209226e-05,1793238033806269696
+42,0.700000000,BASELINE,767,745,716,679,663,637,880,788.461025424,803,652,632,653,0.400933816029,-0.0154391313375,0.0599395817681,0.999999973944,-0.000109784471372,-0.000195528739233,-4.27468002439e-05,1793238033822936576
+43,0.716666667,BASELINE,766.961856842,745,716,679,663,637,880,788.961856842,803,652.038143158,632,653,0.400933991619,-0.01543839994,0.0599398654109,0.999999974245,-0.00010725313693,-0.000195462014363,-4.24313011062e-05,1793238033839603200
+44,0.733333333,BASELINE,766.370294171,745,716,679,663,637,880,788.370294171,803,652.629705829,632,653,0.400935244948,-0.0154392744857,0.0599398331923,0.999999974042,-0.000110167500835,-0.000194901388689,-4.23367890153e-05,1793238033856269824
+45,0.750000000,BASELINE,766.216801748,745.216801748,716,679,663,637,879.783198252,788,803,653,632,653,0.40093598484,-0.0154393683512,0.059939897598,0.99999997404,-0.00011094500784,-0.000194448975477,-4.2442595175e-05,1793238033872936448
+46,0.766666667,BASELINE,766.796422472,745.796422472,716,679,663,637,879.203577528,788,803,653,632,653,0.400935865493,-0.0154381557441,0.0599401237051,0.99999997438,-0.000108146472219,-0.000194177656499,-4.28836350907e-05,1793238033889603072
+47,0.783333333,BASELINE,767,746,716,679.372872946,663,637,879.372872946,788,803.372872946,653,632,653.372872946,0.400935828581,-0.015437673784,0.0599407925256,0.999999974523,-0.000107411932858,-0.000193792408574,-4.31386178527e-05,1793238033906269696
+48,0.800000000,BASELINE,767,746,716,679.947607203,663,637,879.947607203,788,803.947607203,653,632,653.947607203,0.400935836296,-0.0154375873724,0.0599417010167,0.999999974562,-0.000107794773824,-0.000193345483192,-4.32928753507e-05,1793238033922936576
+49,0.816666667,BASELINE,767,745.46829542,716,679.46829542,663,637,880.53170458,788,804,653,632,653.46829542,0.400936282362,-0.0154374934805,0.0599414291325,0.999999974592,-0.000108110656451,-0.000193040666065,-4.31588882397e-05,1793238033939603200
+50,0.833333333,BASELINE,767,745.116099808,716,679,663,637,880.883900192,788.116099808,803.883900192,652.883900192,632,653,0.400936532901,-0.0154374389789,0.0599409900288,0.999999974551,-0.00010847493769,-0.00019307602167,-4.30410014704e-05,1793238033956269824
+51,0.850000000,BASELINE,767,745.697922679,716,679,663,637,880.302077321,788.697922679,803.302077321,652.302077321,632,653,0.400935822723,-0.0154375454975,0.0599403550748,0.999999974225,-0.000109060306609,-0.000194418768469,-4.31036773119e-05,1793238033972936448
+52,0.866666667,BASELINE,767,746,716,679,663,637,880,789,803.277537852,652,632.277537852,653,0.40093526807,-0.0154382326739,0.0599399424393,0.999999974037,-0.000109765157203,-0.000195011920148,-4.29880665357e-05,1793238033989603328
+53,0.883333333,BASELINE,767,746,716,679,663,637,880,789,803.854769051,652,632.854769051,653,0.400934881356,-0.0154395468613,0.0599397698698,0.999999974,-0.000110599027508,-0.000194795637395,-4.26799367426e-05,1793238034006269952
+54,0.900000000,BASELINE,767,746,716,679,663,637,880,788.569586537,803.569586537,652.430413463,632.569586537,653,0.400934243815,-0.0154392511644,0.0599394729231,0.999999973908,-0.00011045713819,-0.000195328074773,-4.27792046469e-05,1793238034022936320
+55,0.916666667,BASELINE,767,746,716,679,663,637,880,788.005661549,803.005661549,653,632.005661549,653.005661549,0.400933535822,-0.0154384261367,0.059939140711,0.999999973799,-0.000109987046269,-0.00019610181579,-4.3009722964e-05,1793238034039602688
+56,0.933333333,BASELINE,767,746,716,679,663,637,880,788.59504892,803.59504892,653,632.59504892,653.59504892,0.400934258121,-0.0154388264122,0.05993948362,0.999999973926,-0.000109499504285,-0.00019580297154,-4.26515631606e-05,1793238034056269568
+57,0.950000000,BASELINE,766.818619194,746,716,679.181380806,663.181380806,637,880,788.818619194,804,653,632.818619194,654,0.400934820452,-0.0154390918426,0.0599396417151,0.999999973998,-0.000109320064086,-0.000195569836757,-4.24943772802e-05,1793238034072936192
+58,0.966666667,BASELINE,766.238996052,746,716,679.761003948,663.761003948,637,880,788.238996052,804,653,632.238996052,654,0.400935031554,-0.0154390612054,0.0599393940301,0.999999973949,-0.000109817096714,-0.000195480974673,-4.27784527178e-05,1793238034089602816
+59,0.983333333,BASELINE,766.337041832,746,716,679.662958168,663.662958168,637,880,788.337041832,804,653,632,653.662958168,0.400934975124,-0.0154382831697,0.0599395956995,0.999999974208,-0.000108432231123,-0.000194882462434,-4.29849950805e-05,1793238034106269696
+60,1.000000000,BASELINE,766.910564231,746,716,679.089435769,663.089435769,637,880,788.910564231,804,653,632,653.089435769,0.400934730986,-0.0154369807327,0.0599401126521,0.999999974677,-0.000105726958698,-0.000193926361465,-4.3137137502e-05,1793238034122936320
+61,1.016666667,BASELINE,767,746,716,679,663,637,880,788.513706405,804,653,632,653,0.40093414619,-0.0154397051736,0.0599394881033,0.999999973911,-0.000110199059838,-0.000195395596087,-4.30655032165e-05,1793238034139602944
+62,1.033333333,BASELINE,767,746,716.064211499,679,663,637,880,788.064211499,804,653,632,653,0.400933653815,-0.0154426898309,0.0599387745335,0.999999973044,-0.000115135528219,-0.000197007687968,-4.29382370586e-05,1793238034156269568
+63,1.050000000,BASELINE,767,746,716.656782908,679,663,637,880,788.656782908,804,653,632,653,0.400934439795,-0.01544169394,0.0599390637871,0.999999973477,-0.000112981857923,-0.000196108238899,-4.26933966682e-05,1793238034172936192
+64,1.066666667,BASELINE,767,746,716.756680222,679.243319778,663,637,880,788.756680222,804,653,632,653,0.40093531366,-0.0154410735117,0.0599395579974,0.999999973838,-0.000111651182008,-0.000195064313598,-4.25202656792e-05,1793238034189603072
+65,1.083333333,BASELINE,767,746,716.178449466,679.821550534,663,637,880,788.178449466,804,653,632,653,0.400936308491,-0.0154409698791,0.0599403343147,0.999999974105,-0.000111453294752,-0.000193821527913,-4.24458371862e-05,1793238034206269952
+66,1.100000000,BASELINE,767,746,716,679.605129792,663,637,880,788.394870208,804,653,632,653,0.400936822286,-0.015440133145,0.0599404628007,0.999999974183,-0.000111278829585,-0.000193497428578,-4.25475972429e-05,1793238034222936576
+67,1.116666667,BASELINE,767,746,716,679.034002281,663,637,880,788.965997719,804,653,632,653,0.400937121361,-0.015438969178,0.0599403021155,0.999999974177,-0.000111114819287,-0.000193583401177,-4.27280021774e-05,1793238034239603200
+68,1.133333333,BASELINE,766.455802674,745.455802674,716,679,663,637,879.455802674,788.455802674,804,653,632,653.544197326,0.400936579312,-0.0154398974147,0.0599402615005,0.999999974187,-0.00011164123009,-0.000193253465572,-4.25966657759e-05,1793238034256269824
+69,1.150000000,BASELINE,766,745,716,679,662.874672741,637,879,788.125327259,803.874672741,652.874672741,632,653.874672741,0.400936086596,-0.0154406545651,0.0599401746484,0.999999974209,-0.000111890929354,-0.00019301058883,-4.25401349249e-05,1793238034272936448
+70,1.166666667,BASELINE,766,745,716,679,662.284331389,637,879,788.715668611,803.284331389,652.284331389,632,653.284331389,0.400935974492,-0.0154402854924,0.0599398880359,0.999999974267,-0.000110951749622,-0.000193188425362,-4.28343855161e-05,1793238034289603072
+71,1.183333333,BASELINE,766.299380354,745,716,679.299380354,662.299380354,637,879,789,803,652,632,653,0.400935545971,-0.0154396425572,0.0599395480844,0.999999974232,-0.000110228090431,-0.000193740184121,-4.30099694776e-05,1793238034306269696
+72,1.200000000,BASELINE,766.876932214,745,716,679.876932214,662.876932214,637,879,789,803,652,632,653,0.40093482345,-0.0154387451607,0.0599391585725,0.999999974112,-0.000109704683662,-0.000194639375549,-4.30752934818e-05,1793238034322936320
+73,1.216666667,BASELINE,766.547209881,745.452790119,716,679.547209881,663,637,879.452790119,789,803,652.452790119,632,653,0.400935036144,-0.0154389495239,0.0599391659389,0.999999974155,-0.000109529460178,-0.000194562479825,-4.28708698599e-05,1793238034339602944
+74,1.233333333,BASELINE,766.028838312,745.971161688,716,679,663,637,880,789,803,653,632,653,0.400935497645,-0.0154394492093,0.0599392976709,0.999999974239,-0.000109506170475,-0.000194202533016,-4.26073215149e-05,1793238034356269824
+75,1.250000000,BASELINE,766.617485338,745.382514662,716,679,663,637,880,789,803,653,632,653,0.400935873049,-0.0154398902986,0.0599397573979,0.999999974259,-0.000110601995502,-0.000193478792716,-4.26139696317e-05,1793238034372936704
+76,1.266666667,BASELINE,767,745.203147493,716,679.203147493,663,637,880,788.796852507,803.203147493,653,632,653.203147493,0.400935764588,-0.0154402974358,0.0599400682603,0.999999974222,-0.000111318649148,-0.000193256563455,-4.2611491069e-05,1793238034389603328
+77,1.283333333,BASELINE,767,745.783270663,716,679.783270663,663,637,880,788.216729337,803.783270663,653,632,653.783270663,0.400934758229,-0.0154406415692,0.0599401028785,0.999999974084,-0.000111331683965,-0.000193964975617,-4.25920763575e-05,1793238034406269952
+78,1.300000000,BASELINE,767,746,716,679.639913518,663,637,880,788,804,653,632,653.639913518,0.400934919233,-0.0154409384922,0.059939950257,0.999999974097,-0.000111325613816,-0.000193956374661,-4.23618158605e-05,1793238034422936320
+79,1.316666667,BASELINE,767,746,716,679.065070235,663,637,880,788,804,653,632,653.065070235,0.400935776457,-0.0154412072589,0.0599396859652,0.999999974198,-0.0001113081494,-0.000193520144619,-4.20058062211e-05,1793238034439602944
+80,1.333333333,BASELINE,766.478449185,745.478449185,716,679,662.478449185,637,880,788,803.478449185,653,632,653,0.400936945209,-0.0154409572831,0.0599397568181,0.999999974278,-0.000112025662095,-0.00019261930377,-4.23210605809e-05,1793238034456269312
+81,1.350000000,BASELINE,766,745,716,679.108052472,662.108052472,637,879.891947528,788,803.108052472,652.891947528,632,653.108052472,0.400937630106,-0.0154407371562,0.0599398470386,0.999999974317,-0.000112561524578,-0.000192040516406,-4.26232784629e-05,1793238034472936192
+82,1.366666667,BASELINE,766,745,716,679.687474752,662.687474752,637,879.312525248,788,803.687474752,652.312525248,632,653.687474752,0.400936030748,-0.0154409361008,0.0599398351257,0.999999974188,-0.00011189568641,-0.00019312537567,-4.24948372109e-05,1793238034489602816
+83,1.383333333,BASELINE,766.264936921,745,716,679.735063079,663,637,879.529873842,788,803.735063079,652,632,653.735063079,0.40093593892,-0.0154406810845,0.0599401340232,0.999999974268,-0.000111148242282,-0.000193154296384,-4.24541435728e-05,1793238034506269440
+84,1.400000000,BASELINE,766.840103958,745,716,679.159896042,663,637,880.680207916,788,803.159896042,652,632,653.159896042,0.400937612346,-0.015439894499,0.0599407968668,0.999999974591,-0.000110305240881,-0.000191946757108,-4.25161987246e-05,1793238034522936064
+85,1.416666667,BASELINE,767,745.417391334,716,679,663,637,880.165217332,788.417391334,803,652.417391334,632,653,0.400936303854,-0.0154395461585,0.0599398272068,0.999999974406,-0.00010987740232,-0.000193140993552,-4.25732282643e-05,1793238034539603200
+86,1.433333333,BASELINE,767,745.995495092,716,679,663,637,879.009009817,788.995495092,803,652.995495092,632,653,0.400933847204,-0.01543936656,0.0599382289672,0.999999974021,-0.000109609418172,-0.000195260010159,-4.26283227376e-05,1793238034556270080
+87,1.450000000,BASELINE,767,746,716,679.584243134,663,637,879.584243134,789,803.584243134,653,632,653.584243134,0.400934031779,-0.0154384936858,0.0599388942644,0.999999974229,-0.000108336971651,-0.000194916802284,-4.25628650676e-05,1793238034572936448
+88,1.466666667,BASELINE,766.829804492,746,716,679.829804492,663,637,880,789,804,653,632,653.829804492,0.400934348791,-0.0154381320322,0.0599391848254,0.999999974344,-0.000107768466661,-0.000194651238711,-4.25214579401e-05,1793238034589603072
+89,1.483333333,BASELINE,766.25076867,746,716,679.25076867,663,637,880,789,804,653,632,653.25076867,0.400934934112,-0.0154390115019,0.0599385324982,0.999999974226,-0.00010890990664,-0.000194618643478,-4.25400989134e-05,1793238034606269696
+90,1.500000000,BASELINE,766.325986857,746,716,679,663,637,880,788.674013143,804,653,632,653,0.400936064526,-0.0154393602722,0.0599393361941,0.999999974388,-0.00010922751566,-0.000193602341089,-4.25652676667e-05,1793238034622936320
+91,1.516666667,BASELINE,766.901000403,746,716,679,663,637,880,788.098999597,804,653,632,653,0.400937611346,-0.0154393036326,0.0599412521701,0.999999974761,-0.000108915786691,-0.000191834568723,-4.25954230968e-05,1793238034639602944
+92,1.533333333,BASELINE,766.52508558,746,716,679,663,637,880,788,803.52508558,652.52508558,632,653,0.400937869374,-0.0154394933021,0.0599413047273,0.999999974861,-0.000108928911435,-0.000191305154536,-4.25947562859e-05,1793238034656269824
+93,1.550000000,BASELINE,766.050244458,746,716,679,663,637,879.949755542,788,803,652.050244458,632,653,0.400937758597,-0.0154397418334,0.0599409555715,0.999999974869,-0.000109022453657,-0.000191223258116,-4.25529192035e-05,1793238034672936448
+94,1.566666667,BASELINE,766.643343806,746,716,679,663,637,879.356656194,788,803,652.643343806,632,653,0.400936559107,-0.0154400728603,0.0599404533605,0.999999974482,-0.000109254891458,-0.000193193835503,-4.21355258045e-05,1793238034689603072
+95,1.583333333,BASELINE,767,746,715.7694885,679,663,637,879.2305115,788,803,653,632,653,0.400936148918,-0.0154398929027,0.0599401097499,0.999999974372,-0.000109022560651,-0.000193910744625,-4.20629894026e-05,1793238034706269696
+96,1.600000000,BASELINE,767,746,715.191268161,679,663,637,879.808731839,788,803,653,632,653,0.40093692933,-0.0154389421646,0.0599400053755,0.999999974681,-0.000108089162243,-0.000192736592051,-4.25106431493e-05,1793238034722936320
+97,1.616666667,BASELINE,767,746,715.384660967,679.384660967,663,637,879.615339033,788,803.384660967,653,632,653,0.400935966459,-0.0154387769044,0.0599394733984,0.999999974457,-0.000108790591827,-0.000193461889201,-4.27052539408e-05,1793238034739602944
+98,1.633333333,BASELINE,767,746,715.959457528,679.959457528,663,637,879.040542472,788,803.959457528,653,632,653,0.400934141895,-0.0154389999011,0.0599387300598,0.999999973965,-0.000110300107076,-0.000195126072955,-4.27747871e-05,1793238034756269824
+99,1.650000000,BASELINE,767,746,716,680,663,637,879.547375362,788,803.452624638,652.452624638,632,653,0.400935667464,-0.0154401911323,0.0599393248086,0.999999974111,-0.000111249913894,-0.000193860549149,-4.26473058874e-05,1793238034772936192
+100,1.666666667,BASELINE,767,745.86596152,716,679.86596152,663,637,880.13403848,788.13403848,803,652.13403848,632,653,0.40093680072,-0.0154411466955,0.0599397515211,0.999999974279,-0.00011159383799,-0.000192813555431,-4.256226998e-05,1793238034789603072
+101,1.683333333,BASELINE,767,745.286772286,716,679.286772286,663,637,880.713227714,788.713227714,803,652.713227714,632,653,0.400935786763,-0.0154410755719,0.059939282945,0.999999974363,-0.000110066644346,-0.000193230668194,-4.26678499079e-05,1793238034806269952
+102,1.700000000,BASELINE,767,745,716,679,663,637,880.709352364,789,803,653,632,653,0.400935193731,-0.0154407556693,0.0599390118475,0.999999974407,-0.00010875260711,-0.000193763759618,-4.26063933195e-05,1793238034822936320
+103,1.716666667,BASELINE,767,745,716,679,663,637,880.133667636,789,803,653,632,653,0.400935013498,-0.01544019179,0.0599389344166,0.99999997441,-0.000107647611689,-0.000194410590874,-4.23811246131e-05,1793238034839603200
+104,1.733333333,BASELINE,766.558677965,745.441322035,716,679,663,637,880,788.558677965,803.441322035,653,632,653.441322035,0.40093648383,-0.0154399568635,0.0599396824724,0.999999974673,-0.000107636665032,-0.000193044960128,-4.24575629069e-05,1793238034856269568
+105,1.750000000,BASELINE,766.016575477,746,716,679,663,637,880,788,804,653,632,653.983424523,0.400938380014,-0.0154398365183,0.0599406580397,0.999999975001,-0.000107949967239,-0.000191124874028,-4.2608729974e-05,1793238034872936192
+106,1.766666667,BASELINE,766.608272384,746,716,679,663,637,880,788,804,653,632,653.391727616,0.400937733364,-0.0154402402634,0.0599408661438,0.999999975018,-0.000108034419907,-0.000191082627605,-4.218709695e-05,1793238034889602816
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788,804,652,632,654,0.400937195923,-0.0154420646626,0.0599404875126,0.99999997455,-0.000111077920763,-0.000191909279833,-4.16258661689e-05,1793238034929465088
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788.575355407,804,652.575355407,632.575355407,653.424644593,0.400936622831,-0.0154413038026,0.0599399036857,0.99999997454,-0.000109697938062,-0.000192666595618,-4.2015360969e-05,1793238034946131712
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.849561441,746,716,679,663,637,880,788.849561441,804,653,632.849561441,653,0.400936283349,-0.015440726347,0.0599396856351,0.999999974574,-0.000108785492662,-0.000192953540044,-4.22771863714e-05,1793238034962798592
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.275245262,746,716,679,663,637,880,788.275245262,804,653,632.275245262,653,0.400936602094,-0.015440665654,0.0599404982,0.999999974733,-0.000109190386056,-0.000191915160252,-4.21792889262e-05,1793238034979465216
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.30893901,745.69106099,716,679,663.30893901,637,880,788,803.69106099,653,632,653.30893901,0.400936624778,-0.0154397398431,0.0599404571061,0.999999974789,-0.000108553444419,-0.000191963340269,-4.22880010499e-05,1793238034996131840
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.902205192,745.097794808,716,679,663.902205192,637,880,788,803.097794808,653,632,653.902205192,0.400936374988,-0.0154380178344,0.0599396303607,0.999999974746,-0.000106957666228,-0.000193011518621,-4.25868630552e-05,1793238035012798720
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663.518672423,637,879.518672423,788.481327577,803,652.518672423,632,653.518672423,0.400939162163,-0.0154391198654,0.0599410185301,0.999999975048,-0.000108939634772,-0.000190325538876,-4.25770739915e-05,1793238035029465344
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,879.114800343,789,803.057400172,652.057400172,632,653,0.400942755615,-0.0154407409023,0.0599427944492,0.999999975426,-0.000111429624897,-0.000186887389335,-4.2487553383e-05,1793238035046131968
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.262301581,789,803.63115079,652.63115079,632,653,0.400948209811,-0.0154420165491,0.0599441257664,0.999999976019,-0.000112137181848,-0.000183313120504,-4.22288176288e-05,1793238035062798848
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.210144668,716,679,663,637,880.789855332,788.789855332,804,653,632,653,0.40095683141,-0.0154428983437,0.0599463036163,0.999999976965,-0.000112785084066,-0.000177735108554,-4.19462276517e-05,1793238035079465216
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.798577029,716,679,663,637,880.201422971,788.201422971,804,653,632,653,0.400971154746,-0.0154430711533,0.0599500053351,0.999999978508,-0.000113325599936,-0.000168550099139,-4.16206970024e-05,1793238035096131840
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788,804,652.618358129,632,653,0.400993400039,-0.0154434298287,0.0599542858931,0.999999980577,-0.000113599773803,-0.000155608685775,-4.15548154393e-05,1793238035112798720
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788,804,652.038086815,632,653,0.401019768398,-0.0154438852399,0.0599588677142,0.999999982766,-0.000113735327262,-0.000140712212414,-4.1624070882e-05,1793238035129465600
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.460718741,746,716,679,663,637,880,788.539281259,804,652.539281259,632,653,0.401054530226,-0.0154461592062,0.0599622379692,0.999999984967,-0.00011329967876,-0.000124566988203,-4.13809107529e-05,1793238035146131968
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.11575587,746,716,679,663,637,879.88424413,788.88424413,803.88424413,653,632,653,0.401091718328,-0.0154483470434,0.059965122862,0.999999986802,-0.00011254508928,-0.000109681485186,-4.12307223954e-05,1793238035162798336
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.689502553,746,716,679,663,637,879.310497447,788.310497447,803.310497447,653,632,653,0.401136173217,-0.015449688671,0.0599664241441,0.999999987999,-0.000110687358599,-0.00010012716392,-4.15352098221e-05,1793238035179464960
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745.728924041,716,679,663,637,879.271075959,788.271075959,803.271075959,653,632,653.271075959,0.401186002656,-0.015450955127,0.059968363572,0.999999988731,-0.000109943000087,-9.32484016902e-05,-4.18874562204e-05,1793238035196131840
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745.1381192,716,679,663,637,879.8618808,788.8618808,803.8618808,653,632,653.8618808,0.401242171271,-0.0154521329193,0.0599710556808,0.999999988992,-0.000110511842757,-8.95254104807e-05,-4.22960333922e-05,1793238035212798464
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745.444079646,716,679.444079646,663,637,880.444079646,788.555920354,804,653,632,653.555920354,0.401313934199,-0.0154551901894,0.0599744019226,0.9999999897,-0.000110344245319,-8.12982823304e-05,-4.25966461109e-05,1793238035229465344
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745.976561731,716,679.976561731,663,637,880.976561731,788.023438269,804,653,632,653.023438269,0.401391229864,-0.015458923064,0.0599779843908,0.999999990445,-0.00011015395193,-7.16826105594e-05,-4.28683312005e-05,1793238035246132224
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.402243013,716,679.402243013,663,637,880.402243013,788.597756987,804,653,632,653.597756987,0.401486734781,-0.0154650569579,0.0599824281067,0.999999990581,-0.000114711351912,-6.1731222059e-05,-4.32343469643e-05,1793238035262798848
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.823732437,745.176267563,716,679,663,637,880,788.823732437,804,652.823732437,632,654,0.401586009863,-0.0154711095021,0.0599850208714,0.999999990518,-0.000118873437613,-5.40549865825e-05,-4.37267159996e-05,1793238035279465472
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.23542308,745.76457692,716,679,663,637,880,788.23542308,804,652.23542308,632,654,0.401694098044,-0.0154769718826,0.0599832868654,0.999999990217,-0.000122111438872,-5.1697133925e-05,-4.45144474957e-05,1793238035296132096
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.349685085,746,716,679,663,637,880,788,803.650314915,652.349685085,632,654,0.401817562962,-0.015484221402,0.0599827379326,0.999999989881,-0.000125808894436,-4.8795630887e-05,-4.50368606152e-05,1793238035312798720
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.932657677,746,716,679,663,637,880,788,803.067342323,652.932657677,632,654,0.401951286267,-0.0154923963323,0.0599829796047,0.999999989508,-0.00012981286883,-4.5531438873e-05,-4.53822703729e-05,1793238035329465344
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788.50762085,803,653,632,654,0.402105227762,-0.0154983887565,0.0599827375898,0.999999989204,-0.000132766532453,-4.25152053761e-05,-4.6454998317e-05,1793238035346131712
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.081353042,788.918646958,803.081353042,653,632,653.918646958,0.402267245499,-0.0155042915961,0.059982765141,0.999999988897,-0.000135884116473,-3.85410749959e-05,-4.74972071552e-05,1793238035362798592
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.65396872,788.34603128,803.65396872,653,632,653.34603128,0.402462087637,-0.0155113747227,0.0599848019713,0.999999988535,-0.000140819897488,-2.85869834467e-05,-4.77815157505e-05,1793238035379465472
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.765842079,716,679.234157921,663,637,880.765842079,788.234157921,804,653,632,653.234157921,0.402667872837,-0.0155197590062,0.059986770471,0.999999987694,-0.000148162202618,-1.90574162057e-05,-4.79305986779e-05,1793238035396132352
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.17408691,716,679.82591309,663,637,880.17408691,788.82591309,804,653,632,653.82591309,0.402890369865,-0.0155301303675,0.0599886346186,0.999999986133,-0.000159179661384,-1.01761672638e-05,-4.78731699888e-05,1793238035412798976
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.409646982,716,680,663,637,880,789,804,653,632,653.590353018,0.403132124148,-0.0155411315025,0.0599909157676,0.999999984214,-0.000171051304452,-2.59331700394e-06,-4.80327546512e-05,1793238035429465600
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.990037538,716,680,663,637,880,789,804,653,632,653.009962462,0.403381904978,-0.0155523951312,0.0599933707255,0.999999982029,-0.000183278976896,4.44835186941e-06,-4.82827919108e-05,1793238035446132224
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.565477582,746,716,680,663,637,880,789,804,653,632,653,0.403638236237,-0.0155579927613,0.059980040639,0.999999980976,-0.000187919828278,-1.52262427901e-05,-5.00323820674e-05,1793238035462798848
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.8564627,746,716,679.8564627,663,637,880,789,804,652.8564627,632.1435373,653,0.403904227656,-0.0155614448932,0.0599676868726,0.999999980199,-0.000189280305679,-3.35005655952e-05,-5.14974929003e-05,1793238035479465472
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.270053548,746,716,679.270053548,663,637,880,789,804,652.270053548,632.729946452,653,0.404199671632,-0.0155585825966,0.0599591960583,0.999999981222,-0.000180928300286,-4.60148247401e-05,-5.20040617604e-05,1793238035496131840
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,879.687461392,788.687461392,804,652.312538608,632.687461392,653,0.404514946055,-0.0155541604635,0.0599533727072,0.999999981793,-0.000174968237656,-5.49999543038e-05,-5.2672764249e-05,1793238035512798720
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,879.108127511,788.108127511,804,652.891872489,632.108127511,653,0.404847148562,-0.0155484067922,0.0599498264069,0.999999982082,-0.000171050030736,-6.09724811527e-05,-5.34798704551e-05,1793238035529465344
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.531041165,716,679,663,637,879.468958835,788,804,653,632,653,0.405224717615,-0.0155503375426,0.0599550110617,0.99999998237,-0.000172424378902,-5.15073930672e-05,-5.36378393653e-05,1793238035546132480
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.045313053,716,679.045313053,663.045313053,637,880,788.045313053,804,653,632,653.045313053,0.405615903551,-0.01555410727,0.059963344608,0.999999982607,-0.000174856496358,-3.66899904763e-05,-5.35191202957e-05,1793238035562799360
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.619143849,716,679.619143849,663.619143849,637,880,788.619143849,804,653,632,653.619143849,0.406044491092,-0.0155587591988,0.0599850377976,0.999999983259,-0.000175460787308,-7.63011090358e-07,-5.19105885607e-05,1793238035579465728
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.800774924,637,880,788.800774924,804,653,632,654,0.406487711383,-0.015563529879,0.0600050383639,0.999999982904,-0.00017503444091,3.22541977875e-05,-5.01425929576e-05,1793238035596132096
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.208357837,637,880,788.208357837,804,653,632,654,0.40695981095,-0.0155685349275,0.0600216983553,0.999999982182,-0.000172574021636,5.95286609547e-05,-4.80598785235e-05,1793238035612798976
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679.624485247,663,637,880,788.375514753,804,653,632,653.624485247,0.407424443881,-0.0155677254241,0.0600254759674,0.999999981732,-0.000174306193727,6.22580512489e-05,-4.77137548569e-05,1793238035629465600
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679.045248191,663,637,880,788.954751809,804,653,632,653.045248191,0.407885026037,-0.0155637614402,0.0600222646978,0.9999999816,-0.000178312908692,5.16713759563e-05,-4.83097574172e-05,1793238035646132224
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,679.528799886,663,637,880,789,804,653,632.528799886,653.528799886,0.408369839002,-0.0155634359545,0.0600128768847,0.999999984485,-0.000166114255367,3.17333412554e-05,-4.9291494316e-05,1793238035662799104
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.102331806,746,716,680,663,637,880,789,804,653,632.897668194,654,0.408862009606,-0.0155635701104,0.0600031818367,0.99999998645,-0.000156346017332,1.1001650275e-05,-5.03470667681e-05,1793238035679465728
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.675511738,746,716,680,663,637,880,789,804,653,632.324488262,654,0.409378586678,-0.0155644005599,0.0599944813014,0.999999985161,-0.000164078856565,-9.73582069488e-06,-5.15919774973e-05,1793238035696132352
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.741457287,745.741457287,716,680,663.258542713,637,880.258542713,789,804.258542713,653,632,654,0.409936564905,-0.0155655175697,0.0599954965601,0.999999984955,-0.000165329529556,-6.97148799827e-06,-5.20388567156e-05,1793238035712798976
+155,2.583333333,POSE1_TO_POSE2_PRESS,767.145572772,745.145572772,716,680,663.854427228,637,880.854427228,789,804.854427228,653,632,654,0.410548562673,-0.0155670084785,0.060009188808,0.999999985825,-0.000158122391681,2.64575651359e-05,-5.14444791784e-05,1793238035729465600
+156,2.600000000,POSE1_TO_POSE2_PRESS,767.435115056,745.435115056,716,679.564884944,664,637,880.564884944,789,804.564884944,653,632,653.564884944,0.411150203187,-0.0155688506717,0.0600120442827,0.999999986078,-0.000155459802343,3.28216948671e-05,-5.09817182004e-05,1793238035746132224
+157,2.616666667,POSE1_TO_POSE2_PRESS,767.98910174,746,716,679,663.98910174,637,880.01089826,789,804,653,632,653,0.411748323069,-0.0155707102398,0.0600109917628,0.999999986388,-0.000154206155817,2.9715138182e-05,-5.061254356e-05,1793238035762798848
+158,2.633333333,POSE1_TO_POSE2_PRESS,767.412900399,746,716,679,663.412900399,637,880.587099601,789,804,653,632,653,0.412337500681,-0.0155675805916,0.0599889429699,0.999999987318,-0.000149830993288,-1.0810029529e-05,-5.28907826138e-05,1793238035779465728
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,679.166200553,663,637,881,789,804,653,632,653,0.412928441,-0.0155643667772,0.0599662958772,0.99999998657,-0.000144781714392,-5.34923658301e-05,-5.51123528596e-05,1793238035796132352
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,679.752633026,663,637,881,789,804,653,632,653,0.413523838224,-0.0155609401516,0.0599421360068,0.999999983675,-0.000138027957886,-0.000101629020312,-5.71906381029e-05,1793238035812798976
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,679.664960955,663,637,880.664960955,788.664960955,804,653,632,653.335039045,0.414204490274,-0.0155622753601,0.0599482918997,0.999999984775,-0.000137673504027,-9.06826208289e-05,-5.7215411557e-05,1793238035829465856
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,679.085492482,663,637,880.085492482,788.085492482,804,653,632,653.914507518,0.414947340388,-0.0155670845889,0.0599765648119,0.999999987695,-0.000141987693884,-3.66318786893e-05,-5.57420349595e-05,1793238035846132736
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663.985252384,637,880.492626192,788.492626192,804,653,632,653.507373808,0.415687963491,-0.0155724994477,0.0600127512755,0.999999987429,-0.000147497019478,2.54114726456e-05,-5.23542393947e-05,1793238035862799360
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,679,664.859587643,637,880.929793821,789,804,653,632.070206179,653.070206179,0.416422220586,-0.0155772583122,0.0600440943368,0.99999998428,-0.000151677652627,7.75241757092e-05,-4.92397396517e-05,1793238035879465984
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663.70881871,637,880.354409355,789,804,653,632.645590645,653.645590645,0.41711344321,-0.0155765426549,0.0600307308645,0.999999987078,-0.000144809133345,4.82258955758e-05,-5.04759026042e-05,1793238035896132352
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.773874021,745.773874021,716,679,663,637,880.226125979,788.773874021,804,652.773874021,632.773874021,654,0.417810857405,-0.0155758545497,0.0600157253623,0.999999987971,-0.000144112926116,2.312218227e-05,-5.24812947062e-05,1793238035912798720
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.185077412,745.185077412,716,679,663,637,880.814922588,788.185077412,804,652.185077412,632.185077412,654,0.418518202014,-0.0155752106335,0.0599980862992,0.999999986683,-0.000153316139105,4.7458922184e-06,-5.57204100418e-05,1793238035929465344
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.397168517,745,716,679,663.397168517,637,880.602831483,788.397168517,804.397168517,652,632,653.602831483,0.419261122578,-0.0155758305933,0.0599838486317,0.999999986329,-0.000154116109661,-1.6906274506e-05,-5.74876007113e-05,1793238035946131968
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+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745.549652811,716,679,664,637,880.549652811,789,805,652,632,653.549652811,0.420740757826,-0.0155755910759,0.0599541279115,0.999999985223,-0.000145937901054,-6.82503341141e-05,-5.99823112478e-05,1793238035979465728
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637,881,789,804.873627405,652,632.126372595,653.873627405,0.42146265037,-0.0155740737446,0.0599384880835,0.999999983653,-0.000140812936712,-9.54706331548e-05,-6.12456588334e-05,1793238035996132608
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637,881,789,804.283199173,652,632.716800827,653.283199173,0.422196055327,-0.015572679592,0.0599286788195,0.999999981828,-0.000136014547574,-0.000118344502413,-6.19504641925e-05,1793238036012798976
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+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637,881,789,804,652,632.119121952,653,0.42385784094,-0.0155869940279,0.0600108284555,0.999999987306,-0.000147680174575,2.35545673967e-05,-5.49844202772e-05,1793238036046131968
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679,664.45711513,637,881,789,804.45711513,652,632,653.45711513,0.424677924846,-0.0155916579431,0.0600386709424,0.999999984563,-0.00015328431424,6.76380180565e-05,-5.29343750568e-05,1793238036062798848
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+179,2.983333333,POSE1_TO_POSE2_PRESS,766.780161467,746,716,680,664.780161467,637,881,788.219838533,804,653,632.780161467,653.780161467,0.427738219716,-0.0155895601631,0.0599949396153,0.999999985768,-0.000157809597276,1.29572012218e-05,-5.82389861969e-05,1793238036129465600
+180,3.000000000,POSE1_TO_POSE2_PRESS,767.363377571,746,716,679.636622429,665,637,881,788.363377571,804,652.636622429,633,653.636622429,0.4284874843,-0.0155880309113,0.0599814419263,0.999999985664,-0.00015825191262,-5.11045646725e-06,-6.00234197331e-05,1793238036146132224
+181,3.016666667,POSE1_TO_POSE2_PRESS,767.942870428,746,716,679.057129572,665,637,881,788.942870428,804,652.057129572,633,653.057129572,0.429241193392,-0.0155872001933,0.0599700757086,0.999999985608,-0.000157158290946,-1.78071243683e-05,-6.13926169769e-05,1793238036162799104
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+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663,635.023878492,881,786.023878492,805,652,631,653.023878492,0.449518969053,-0.015645552271,0.0597332410737,0.999999880793,-0.000235390711008,-0.000421852081065,-7.10316536254e-05,1793238037312798976
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663,635,881.552531156,786.552531156,805,652.552531156,631.552531156,653,0.449518392078,-0.0156433751682,0.0597323780714,0.999999880899,-0.000232742876023,-0.000423013409335,-7.13662488283e-05,1793238037329465600
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+253,4.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680.279108444,663,635.720891556,881.279108444,787,805,652.279108444,632,653,0.449518754222,-0.0156420509202,0.0597325021166,0.999999881072,-0.000231998562263,-0.000422926267886,-7.18761267367e-05,1793238037362798592
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+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636,881,787,804.539367604,652,631.460632396,653.460632396,0.449517693814,-0.0156426034883,0.0597314526642,0.999999880114,-0.000233610325364,-0.000424379397525,-7.14100332971e-05,1793238037412798720
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+259,4.316666667,POSE1_TO_POSE2_PRESS,767,746,716,681.208076661,663.208076661,635.208076661,882,786.791923339,805,652.791923339,631.791923339,653,0.449519072738,-0.0156417419426,0.0597313215937,0.999999880889,-0.000230950956429,-0.000424079145864,-7.09928255042e-05,1793238037462798848
+260,4.333333333,POSE1_TO_POSE2_PRESS,767,746,716,681.787719962,663.787719962,635.787719962,882,786.212280038,805,652.212280038,631.212280038,653,0.449519173395,-0.0156411574438,0.0597322020712,0.999999881565,-0.000229153267654,-0.00042346001512,-7.09944185484e-05,1793238037479465472
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,663.988982722,636,881.011017278,787.988982722,805,652,632,653,0.447036956297,-0.0155048073653,0.0597133923395,0.999999888645,-0.00015656895897,-0.000441520221942,-5.70653809572e-05,1793238038347088896
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,663.436254506,636,881.563745494,788,804.436254506,652,632,653.563745494,0.446753512895,-0.015492619497,0.0597232546751,0.999999895303,-0.000145464525534,-0.000430465898081,-5.41526971097e-05,1793238038363755776
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,745.858311115,716,681,663.141688885,636,882,788,804.141688885,652,632,653.858311115,0.446462407629,-0.0154809024503,0.0597316796199,0.999999900881,-0.00013524443548,-0.000421067453174,-5.14665080593e-05,1793238038380422144
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,745.270269835,716,681,663.729730165,636,882,788,804.729730165,652,632,653.270269835,0.446149502147,-0.0154706149965,0.0597357406676,0.999999903894,-0.000127954011556,-0.000416399032561,-4.95164858013e-05,1793238038397088768
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,745.893256221,716,681.893256221,664,636,882,788,805,652,632,653.893256221,0.445454157062,-0.0154738068515,0.0597490367138,0.999999915096,-0.00011524488663,-0.000393119622475,-4.45430010559e-05,1793238038430422528
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.529199808,746,716,681.529199808,664,636,881.529199808,788.470800192,804.529199808,652,632,654,0.44508324622,-0.0154778426113,0.0597600448347,0.999999924642,-0.000104739167095,-0.000371606714903,-4.06602054055e-05,1793238038447089152
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,745.204692375,716,681,664,636.204692375,881.795307625,788.204692375,805,652,632,653.204692375,0.443910381371,-0.0154581589065,0.0598130681354,0.999999957986,-6.57363028858e-05,-0.000280892713088,-2.83905430167e-05,1793238038497089024
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,745.792963177,716,681,664,636.792963177,881.207036823,788.792963177,805,652,632,653.792963177,0.443477796822,-0.0154517910259,0.0598299420069,0.999999965088,-5.2365510788e-05,-0.000257860464354,-2.42932555636e-05,1793238038513755904
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,745.044605646,716,681,664.955394354,637,881.955394354,788.044605646,805.955394354,652,632,653.044605646,0.442469078744,-0.0154540582292,0.0598277756204,0.999999963145,-3.28495056659e-05,-0.000268984719626,-1.66481923118e-05,1793238038547089152
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,745.528691129,716,680.471308871,664.471308871,637,882,788.528691129,805.471308871,652.528691129,632,653.528691129,0.441915520414,-0.01545169793,0.0598038157163,0.999999951552,-2.04736826245e-05,-0.000310252745325,-1.48247921779e-05,1793238038563755776
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,637,882,789,805,652.305085581,632.694914419,653.305085581,0.440794960543,-0.015444349807,0.0597693780402,0.999999931263,5.81836494512e-07,-0.000370623638096,-1.05879474995e-05,1793238038597089024
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.279900977,664,636.720099023,881.720099023,789,804.720099023,652,633,653.279900977,0.440225683728,-0.0154392712652,0.0597704567046,0.999999930821,1.40932729221e-05,-0.000371638706855,-6.61074057167e-06,1793238038613755648
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664.009956278,637,882,789,804.009956278,652.990043722,633,653.009956278,0.438473973725,-0.0154332450081,0.0598434515816,0.999999964834,6.59069033861e-05,-0.000256527533182,1.34676741598e-05,1793238038663755776
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745.831935547,716,680,664.831935547,637,881.831935547,789,805,652,632.831935547,654,0.437142602738,-0.015428413541,0.0598187089347,0.999999948105,9.34199199312e-05,-0.000307682325503,1.98807992448e-05,1793238038697089280
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,745.240942892,716,680,664.240942892,637,881.240942892,789,805,652,632.240942892,654,0.436443367397,-0.0154230816001,0.0597772330569,0.99999992383,0.000108863773557,-0.000374283165243,2.00272557795e-05,1793238038713755904
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745.920655621,716,680.920655621,664,637,881.920655621,789,805,652,632.920655621,654,0.435081805943,-0.0154201551098,0.0597577811765,0.999999920089,0.000124419506374,-0.000379202387067,2.33926011931e-05,1793238038747088896
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.934168221,664.868336443,637,881,789,804,652,633,653.934168221,0.43369429482,-0.015424034234,0.0597979799177,0.999999952029,6.72968039368e-05,-0.000302236488273,8.09220554946e-06,1793238038780422144
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.366930334,663.733860667,637,881,789,804,652,633,653.366930334,0.432977223237,-0.0154267210184,0.0598016510024,0.999999952528,7.44795783359e-05,-0.000298733641142,1.24376007489e-05,1793238038797089024
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881.21368672,788.78631328,804.21368672,652,633,653,0.432248195804,-0.0154267829083,0.0598031183561,0.99999995161,8.37456657583e-05,-0.000299183884027,1.59965532408e-05,1793238038813755904
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881.818812299,788.181187701,804.818812299,652,633,653,0.431497267103,-0.0154220364242,0.0598005488385,0.999999948062,9.68280405422e-05,-0.000306875535776,1.811487303e-05,1793238038830422528
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.403002615,663.403002615,637,882,788,804.596997385,652,632.596997385,653.403002615,0.430762042605,-0.0154202786709,0.0598131424707,0.999999953337,0.000107148558923,-0.000285295759038,2.12262326709e-05,1793238038847089152
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636.868057718,881,789,804,652.131942282,632.131942282,653.868057718,0.428411510206,-0.0154125026248,0.0598005769238,0.999999938905,0.000131806728595,-0.000322898736174,2.35121807126e-05,1793238038897089024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636.279958893,881,789,804,652.720041107,632.720041107,653.279958893,0.427636605096,-0.015410221386,0.0597711388629,0.999999924188,0.000127631914824,-0.000367351503592,1.96701693681e-05,1793238038913755648
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,664,636.883003054,881,789,804,652.116996946,633,653,0.426138646458,-0.0154103084703,0.0597894053475,0.999999940627,0.000127283643275,-0.000319604204909,1.99606945221e-05,1793238038947089408
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.538917918,663.538917918,637,881,788.538917918,804,652.461082082,633,653.461082082,0.425369513453,-0.0154094593145,0.0598109172163,0.999999947633,0.000130412079361,-0.000295289640276,2.30444997606e-05,1793238038963756032
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,881,788.038492595,804,652.961507405,633,654,0.424592302151,-0.0154081819291,0.0598313234965,0.999999952162,0.00013401151701,-0.00027752696165,2.63702013925e-05,1793238038980422656
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,881,788.611310329,804,652.388689671,633,654,0.423802179825,-0.0154066459267,0.0598352235472,0.999999951808,0.000136939090117,-0.000277301366744,2.71075824349e-05,1793238038997089024
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,716.190311587,679.190311587,663,637,881,789,804.190311587,652.190311587,632.809688413,653.809688413,0.423027438916,-0.0154062523591,0.0598394604152,0.999999952629,0.000141177293733,-0.000272096428466,2.78376097684e-05,1793238039013755648
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,716.634473466,680,663,637,881,789,804.634473466,653,632.365526534,653.365526534,0.421510573717,-0.0154065719749,0.0598365384599,0.999999951085,0.000151205010472,-0.000272341484816,2.823527424e-05,1793238039047089408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,716.056483041,680,663,637,881,789,804.056483041,653,632.943516959,653.943516959,0.420717192136,-0.0154027132452,0.0598212182675,0.999999941051,0.000151913196082,-0.000306715420296,2.73189617924e-05,1793238039063756032
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,789,804.093900413,653,633,653.906099587,0.412244682467,-0.0153905816787,0.0598008878188,0.999999922497,0.000168022142443,-0.000355037583367,2.68960307091e-05,1793238039263756032
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.518227485,789,804,653,633,654,0.411617760439,-0.0153875974293,0.0597799708545,0.999999910919,0.000174781997896,-0.000383391859999,2.4993413034e-05,1793238039280422912
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745.942994009,716,679.942994009,663,637,880,789,804,652.942994009,632.942994009,654,0.411007450623,-0.0153854136379,0.0597641388773,0.999999902603,0.000181307345531,-0.00040171109113,2.34501567895e-05,1793238039297089536
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745.366022345,716,679.366022345,663,637,880,789,804,652.366022345,632.366022345,654,0.410458607206,-0.0153896061032,0.0597901684794,0.999999921803,0.000174768151722,-0.000353847509914,2.53566602422e-05,1793238039313755904
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745.216206281,716,679.216206281,663,637,880,789,804,652.216206281,632.216206281,653.783793719,0.40991692721,-0.0153930411162,0.0598176015111,0.999999937464,0.000170511562057,-0.000308585685998,2.78045235828e-05,1793238039330422528
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745.807556304,716,679.807556304,663,637,880,789,804,652.807556304,632.807556304,653.192443696,0.409387676662,-0.0153951618588,0.0598474696583,0.999999949158,0.000170215564508,-0.00026783822779,3.11917108999e-05,1793238039347089152
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745.610140198,716,679.610140198,663.389859802,637,880,789,803.610140198,653,633,653.389859802,0.40885684101,-0.0153953288001,0.0598587960225,0.999999951986,0.000173481074746,-0.000254663491716,3.28469754855e-05,1793238039363756032
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745.032200948,716,679.032200948,663.967799052,637,880,789,803.032200948,653,633,653.967799052,0.408325240611,-0.0153945531725,0.0598611773062,0.999999951049,0.00017846475762,-0.000254790616936,3.36667116412e-05,1793238039380423168
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745.540175439,716,679.540175439,663.459824561,637,880,789,803.540175439,653,633,654,0.407825623809,-0.0153933264849,0.0598470364638,0.999999945795,0.000178858851081,-0.000274598252416,3.18725051091e-05,1793238039397089536
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.883776981,663,637,880.116223019,789,804,653,632.883776981,654,0.407333063438,-0.0153923031383,0.0598332015712,0.99999994058,0.000178070625679,-0.00029365152092,2.999748455e-05,1793238039413755904
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.29134198,663,637,880.70865802,789,804,653,632.29134198,654,0.406861683425,-0.0153922220107,0.0598246147339,0.999999938068,0.000173547568911,-0.000304855807265,2.8423294539e-05,1793238039430422528
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745.705471219,716,679.294528781,663,637,880.705471219,789,804,653,632.294528781,654,0.406425085136,-0.0153924598961,0.0598259037226,0.999999940462,0.000172651889342,-0.000297439388087,2.82401455195e-05,1793238039447089408
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745.125952147,716,679.874047853,663,637,880.125952147,789,804,653,632.874047853,654,0.406022142172,-0.015393006463,0.0598367487034,0.999999947215,0.000175266112401,-0.00027200530525,2.94029878831e-05,1793238039463756032
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767.451015867,745.451015867,716,680,663,637.451015867,880,789,804,653,633,654,0.405633753705,-0.0153941498637,0.0598452294511,0.999999950661,0.000176498711484,-0.000258103891625,3.01581135432e-05,1793238039480422400
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767.972862977,745.972862977,716,680,663,637.972862977,880,789,804,653,633,654,0.405250043329,-0.0153952846774,0.0598519459,0.99999995282,0.000177285217643,-0.00024897303841,3.07015389539e-05,1793238039497089024
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767.399528258,745.399528258,716,680,663,637.399528258,880,789,804,653,633,654,0.40487914225,-0.0153929108175,0.0598363658406,0.99999994711,0.000176815245576,-0.000271402433982,2.9262810846e-05,1793238039513755648
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745.179852038,716,679.820147962,663,637,880.179852038,788.820147962,804,653,632.820147962,654,0.404512309847,-0.0153902149772,0.0598194762913,0.999999938872,0.000180264700396,-0.000298336975097,2.747370447e-05,1793238039530422272
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745.773129194,716,679.226870806,663,637,880.773129194,788.226870806,804,653,632.226870806,654,0.404154830147,-0.0153867790019,0.0597995766253,0.999999924796,0.000192723725306,-0.000335627472129,2.48791852478e-05,1793238039547088896
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.643906074,788.356093926,804,653,632.356093926,654,0.403841229061,-0.015386321676,0.0597894801686,0.999999919547,0.000192560275297,-0.000351111858628,2.33811206071e-05,1793238039563755520
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.067326514,788.932673486,804,653,632.932673486,654,0.403554796627,-0.0153877086648,0.0597854536445,0.999999920373,0.00018458126399,-0.000353094378396,2.25619566185e-05,1793238039580422144
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.50815896,663,637,880,789,803.49184104,653,633,653.49184104,0.403315800391,-0.0153905593235,0.0598008952075,0.999999930788,0.000178550998661,-0.00032553612365,2.38674892789e-05,1793238039597089024
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745.914785822,716,679.914785822,663,637,880,789,803.085214178,653,633,653.085214178,0.403086601412,-0.0153927627316,0.0598178581749,0.999999940555,0.000174647966305,-0.000296217755343,2.53431867852e-05,1793238039613755648
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745.327632047,716,679.327632047,663,637,880,789,803.672367953,653,633,653.672367953,0.402878170978,-0.0153900138043,0.0598286221581,0.999999944069,0.000181757470852,-0.000279536288543,2.61666273318e-05,1793238039630422272
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745.256155866,716,679,663,637,880,789,804,653,633,654,0.40267437682,-0.0153883559702,0.0598371513763,0.999999947143,0.000186188490198,-0.000265204561933,2.67224477683e-05,1793238039647089152
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745.835694525,716,679,663,637,880,789,804,653,633,654,0.402476435722,-0.0153880755816,0.0598428593249,0.999999949891,0.000187238067848,-0.000253839255075,2.69404123857e-05,1793238039663755776
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716.414109535,679,663,637,880,789,804,652.585890465,633,653.585890465,0.402295387014,-0.0153886008296,0.0598451389265,0.999999950018,0.000188894417269,-0.000252054195222,2.74317931248e-05,1793238039680422656
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716.99207991,679,663,637,880,789,804,652.00792009,633,653.00792009,0.402121022536,-0.0153894448635,0.0598460619502,0.999999949133,0.000190790862885,-0.00025405998611,2.80313630983e-05,1793238039697089280
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716.432596265,679.567403735,663,637,880,789,804,652.567403735,632.432596265,653.567403735,0.401961870498,-0.0153898608787,0.0598404969456,0.99999994571,0.000190895652699,-0.000267210740446,2.71689349834e-05,1793238039713755904
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745.853824466,716,680,663,637,880,789,803.853824466,653,632,653.853824466,0.401811737106,-0.0153905849976,0.0598357198135,0.999999942667,0.00019094362382,-0.000278395382716,2.64921151427e-05,1793238039730422528
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745.264488057,716,680,663,637,880,789,803.264488057,653,632,653.264488057,0.401688304829,-0.015392261224,0.0598336045634,0.999999941343,0.000190894804776,-0.000283149911513,2.64395862526e-05,1793238039747089152
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745.319485874,716,679.680514126,663,637,880,789,803.319485874,652.680514126,632.319485874,653,0.401579479172,-0.0153938481546,0.0598345049443,0.99999994185,0.000189427643624,-0.000282329385756,2.65818260106e-05,1793238039763755776
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745.899093798,716,679.100906202,663,637,880,789,803.899093798,652.100906202,632.899093798,653,0.401482546059,-0.0153953623815,0.0598378606201,0.999999943834,0.000186805683187,-0.000276969709543,2.68826443538e-05,1793238039780422400
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,789,804,652.472798505,632.527201495,653.472798505,0.401402157804,-0.0153960344208,0.0598390242783,0.999999944796,0.000184332544292,-0.000275162459678,2.67247362609e-05,1793238039797088768
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767.045353954,746,716,679.045353954,663,637,880,789,804,653,632,654,0.401326307685,-0.0153964013405,0.0598396421603,0.999999945488,0.000182093969783,-0.000274161162903,2.64823293918e-05,1793238039813755392
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767.619017497,746,716,679.619017497,663,637,880,789,804,653,632,654,0.40126269576,-0.0153952819733,0.0598392848479,0.999999945559,0.000182222317948,-0.000273825374861,2.63819979333e-05,1793238039830422528
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767.799911987,746,716,679.799911987,663,637,880,789,804,653,632,654,0.401204306572,-0.0153941096803,0.0598392424185,0.999999945482,0.000182916476818,-0.000273680053648,2.60230017797e-05,1793238039847089408
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767.204195917,746,716,679.204195917,663,637,880,789,804,653,632,654,0.401156244146,-0.0153928327386,0.059839822598,0.999999945107,0.000184729396298,-0.000273911336833,2.51525556516e-05,1793238039863756288
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,789,804.379820285,653,632.379820285,654,0.401118146823,-0.0153929086862,0.0598405274368,0.999999945504,0.000184842661357,-0.000272396175799,2.5021203502e-05,1793238039880422912
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,789,804.957734445,653,632.957734445,654,0.401085246763,-0.0153936902282,0.0598412972913,0.999999946298,0.000184069477838,-0.000269970163186,2.527532313e-05,1793238039897089280
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,745.466979903,716,679.533020097,663,637,880,789,804.466979903,653,632.466979903,654,0.401057526613,-0.0153923066795,0.0598389629545,0.999999944685,0.000186333610208,-0.000274368048708,2.51337235781e-05,1793238039913755904
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,745.110121117,716.110121117,679.889878883,663,637,880.110121117,789,804,653,632.110121117,654,0.401032275149,-0.0153911658498,0.0598368674974,0.999999943237,0.000188150617143,-0.000278395184891,2.49305679475e-05,1793238039930422528
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,745.695960251,716.695960251,679.304039749,663,637,880.695960251,789,804,653,632.695960251,654,0.401015922628,-0.0153918115648,0.0598368621077,0.999999943433,0.000187000740415,-0.000278494655072,2.45963808243e-05,1793238039947089152
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,716.719801156,679.280198844,663,637,880.719801156,789,803.719801156,652.719801156,632.719801156,654,0.40100374097,-0.0153918194057,0.0598370452362,0.999999943648,0.00018702993581,-0.00027772652454,2.43278367686e-05,1793238039963756032
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,716.13728935,679.86271065,663,637,880.13728935,789,803.13728935,652.13728935,632.13728935,654,0.400996059348,-0.0153911390297,0.0598374317612,0.99999994388,0.000188331259024,-0.000276022319707,2.41301164828e-05,1793238039980422912
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.560076923,663,637,880,789,803.439923077,652.439923077,632.439923077,654,0.400991417377,-0.0153914339829,0.05983934495,0.999999944863,0.000188083129208,-0.000272614789213,2.40660153418e-05,1793238039997089792
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,789,803.984553901,653,633,654,0.400987725932,-0.0153920111878,0.0598416409797,0.99999994602,0.000187394131124,-0.000268821603622,2.40348297412e-05,1793238040013755904
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,789,803.411027022,653,633,654,0.400984511954,-0.0153919199012,0.0598407602804,0.99999994557,0.000188039190988,-0.00027007171766,2.37042123373e-05,1793238040030422528
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.167194768,663,637,880,789,803.167194768,653,633,654,0.400982154346,-0.0153918117566,0.0598404856866,0.999999945366,0.000188684297288,-0.000270390794857,2.35396133587e-05,1793238040047089152
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.75729183,663,637,880,789,803.75729183,653,633,654,0.400981962843,-0.0153916609716,0.0598417441758,0.999999945787,0.00018932952101,-0.000268354908255,2.37949412527e-05,1793238040063756032
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.658733001,663,637,880,789,803.658733001,653,632.658733001,654,0.400981590113,-0.015392267154,0.0598428832126,0.999999946187,0.000189254458234,-0.000266901317239,2.39164361249e-05,1793238040080422400
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.079035003,663,637,880,789,803.079035003,653,632.079035003,654,0.400981090766,-0.0153934022022,0.0598439387923,0.999999946575,0.000188676157117,-0.00026585455533,2.39444266594e-05,1793238040097089024
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,789,803.992506263,653,632.496253131,654,0.400979631408,-0.0153935579123,0.0598435377766,0.999999946613,0.000187983969531,-0.000266224804881,2.36605673517e-05,1793238040113755648
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788.927473241,804.927473241,653,633,653.927473241,0.40097821667,-0.0153937395605,0.0598430580244,0.999999946659,0.000187117691347,-0.000266683843436,2.34246606731e-05,1793238040130422528
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788.339242557,804.339242557,653,633,653.339242557,0.400978196804,-0.0153952049235,0.0598436534035,0.999999947149,0.000185141371094,-0.000266183660863,2.3879766139e-05,1793238040147089408
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788,803.754471264,653,633,653,0.400978767654,-0.015395699657,0.0598442741383,0.999999947652,0.000184079827088,-0.000265021670672,2.39663035478e-05,1793238040163755776
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788,803.174413254,653,633,653,0.400980143346,-0.0153948719223,0.0598449294202,0.999999948173,0.000184264651913,-0.000262957977315,2.3550672491e-05,1793238040180422400
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,745.597405116,716,679.402594884,663,637,880,788.402594884,803.402594884,653,632.597405116,653.402594884,0.400978316263,-0.0153948781279,0.0598441545064,0.999999947675,0.000184434395539,-0.000264735729446,2.34138165656e-05,1793238040197089024
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,745.021708351,716,679.978291649,663,637,880,788.978291649,803.978291649,653,632.021708351,653.978291649,0.400975112096,-0.0153952428989,0.0598427646579,0.999999946732,0.000184597654758,-0.000268165170436,2.33968243326e-05,1793238040213755648
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,745.559682803,716,680,663,637,880,789,804.559682803,653,632,654,0.400977708086,-0.0153971263047,0.0598443686683,0.999999947977,0.000182998914313,-0.000264574462277,2.36185395245e-05,1793238040230422528
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6afbcf92d110ec4f824c1873488c00ac9cd2346b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,437 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d98590b6b67dd73fde5a7cacd7d12fff771b3079
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e57ac108b82d444d7dec75386f72c97ba5e4136d515637f61005da53383f65a
+size 27956691
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..62b259a2f3d8af2f7674d6503727d507d3ce6062
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_02/franka_data.csv
@@ -0,0 +1,440 @@
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+6,0.100000000,BASELINE,767,745.516788017,716,679,662.516788017,637,879.483211983,788,803.483211983,653,632.483211983,653.516788017,0.40098013102,-0.0153985035738,0.0598482183344,0.999999949892,0.000182557018284,-0.00025761446424,2.28699916559e-05,1793238040687567104
+7,0.116666667,BASELINE,767,745,716,679,662.062178482,637,880,788.062178482,804,653,632.937821518,653.062178482,0.400979882592,-0.0153979742355,0.0598484757307,0.999999949602,0.000184269317131,-0.00025751069599,2.29819701743e-05,1793238040704233984
+8,0.133333333,BASELINE,767,745,716,679,662.636792309,637,880,788.636792309,804,653,632.363207691,653.636792309,0.400979507453,-0.015397598032,0.0598479963553,0.999999949728,0.000182571407747,-0.000258271387068,2.25462023832e-05,1793238040720900352
+9,0.150000000,BASELINE,767,745.211012365,716,679,663,637,880,789,804,653,632.211012365,653.788987635,0.400979285296,-0.0153975715764,0.0598477947153,0.999999949939,0.000181272038315,-0.000258384231622,2.23813249538e-05,1793238040737566976
+10,0.166666667,BASELINE,767,745.784555842,716,679,663,637,880,789,804,653,632.784555842,653.215444158,0.400979325967,-0.0153981460074,0.0598480702405,0.999999950301,0.000180657383109,-0.000257384039327,2.26818524477e-05,1793238040754233856
+11,0.183333333,BASELINE,767,746,716,679,663,637,880,789,804,653,632.62891393,653.37108607,0.400979765144,-0.0153990376076,0.0598487020379,0.999999950502,0.000180505043343,-0.000256692121981,2.28849295592e-05,1793238040770900224
+12,0.200000000,BASELINE,767,746,716,679,663,637,880,789,804,653,632.034570395,653.965429605,0.400980444073,-0.0154001200272,0.0598495481801,0.999999950606,0.000180630847543,-0.000256185672787,2.30293773757e-05,1793238040787566848
+13,0.216666667,BASELINE,767,745.454681233,716,679,663,637,880,789,804,653,632,654,0.400980762831,-0.0153998467964,0.0598492649521,0.999999950687,0.000179951581662,-0.000256341273887,2.30936468266e-05,1793238040804233728
+14,0.233333333,BASELINE,767.124348632,745,716,679,663,637,880,789,803.875651368,653,632.124348632,654,0.400980821093,-0.0153995099738,0.059848921576,0.99999995069,0.000179558194062,-0.000256599423595,2.31525764401e-05,1793238040820900096
+15,0.250000000,BASELINE,767.703500728,745,716,679,663,637,880,789,803.296499272,653,632.703500728,654,0.400980007951,-0.0153992467774,0.0598486133099,0.999999950414,0.000180392250347,-0.000257083100545,2.32100862606e-05,1793238040837566976
+16,0.266666667,BASELINE,767.715043948,745.284956052,715.715043948,679,663,637,880.284956052,789,803,653,632.715043948,653.715043948,0.400979540299,-0.0153997129257,0.0598486398755,0.999999950597,0.000179986097981,-0.000256658752258,2.31726335508e-05,1793238040854233856
+17,0.283333333,BASELINE,767.131172601,745.868827399,715.131172601,679,663,637,880.868827399,789,803,653,632.131172601,653.131172601,0.400979435063,-0.0154009441472,0.0598490176754,0.999999951259,0.000178278982374,-0.000255281896946,2.30355663438e-05,1793238040870900736
+18,0.300000000,BASELINE,767,746,715.449311744,679,663,637,880.550688256,789,803.449311744,653,632,653.449311744,0.400979502068,-0.0154002096683,0.0598486694786,0.999999950758,0.000179625295519,-0.000256303986994,2.29709619817e-05,1793238040887567104
+19,0.316666667,BASELINE,767,745.97130059,716,679,663,637,880.05739882,789,804,653,632,653.97130059,0.400979633895,-0.0153990040311,0.0598481362985,0.999999949957,0.000181750107674,-0.000257927554342,2.29319267428e-05,1793238040904233472
+20,0.333333333,BASELINE,767,745.394115727,716,679,663,637,881.211768546,789,804,653,632,653.394115727,0.400980050767,-0.0153996792808,0.059848088149,0.999999949982,0.000181844275856,-0.000257761651617,2.29802785203e-05,1793238040920900096
+21,0.350000000,BASELINE,767,745,716,679,663,637,881.634657711,789,804,653,632,653,0.400980276043,-0.0153998187751,0.0598482099476,0.999999950087,0.00018172594442,-0.000257441388929,2.29250560175e-05,1793238040937566976
+22,0.366666667,BASELINE,767,745,716,679,663,637,880.482797726,789,804,653,632,653,0.400980088845,-0.0153988048822,0.0598486976149,0.999999950366,0.000181150138664,-0.000256788816411,2.26468562984e-05,1793238040954233600
+23,0.383333333,BASELINE,767,745.342351225,716,679,663,637,880,789,804,652.657648775,632.342351225,653,0.400979649024,-0.0153989560499,0.0598491006957,0.999999950536,0.000180362413118,-0.000256672233566,2.27485780419e-05,1793238040970900224
+24,0.400000000,BASELINE,767,745.931744384,716,679,663,637,880,789,804,652.068255616,632.931744384,653,0.40097902691,-0.0153999479295,0.0598494427388,0.999999950627,0.000179421765393,-0.00025694242282,2.31244525144e-05,1793238040987566848
+25,0.416666667,BASELINE,767,745.487900419,716,679.512099581,663,637,880,789,804,652,632.487900419,653.512099581,0.400979080911,-0.0154001954674,0.0598487913145,0.999999950532,0.000179117888632,-0.000257531535818,2.30372028425e-05,1793238041004233728
+26,0.433333333,BASELINE,767,745.090528135,716,679.909471865,663,637,880,789,804,652.090528135,632,654,0.400979054737,-0.0154003213522,0.0598480807042,0.999999950411,0.000178886746714,-0.000258174248878,2.28698198496e-05,1793238041020900352
+27,0.450000000,BASELINE,767,745.664985632,716,679.335014368,663,637,880,789,804,652.664985632,632,654,0.400978126607,-0.0154003180676,0.0598477492732,0.999999950286,0.00017859858947,-0.000258880196919,2.25983256024e-05,1793238041037567232
+28,0.466666667,BASELINE,767,746,716,679,663,637,880,789,804,653,632,654,0.400978056612,-0.0154001032232,0.0598479474022,0.999999950252,0.000179162962381,-0.000258631624554,2.25212879104e-05,1793238041054233856
+29,0.483333333,BASELINE,767,746,716,679,663,637,880,789,804,653,632,654,0.400979187269,-0.0153995923769,0.0598488864592,0.999999950339,0.000180920143901,-0.000257047544967,2.27163220774e-05,1793238041070900224
+30,0.500000000,BASELINE,767,746,716,679,663,637,880,789,804,653,632,653.600920255,0.4009786179,-0.0154002216266,0.0598483967116,0.999999950153,0.000180907542508,-0.000257758581405,2.29354063975e-05,1793238041087566848
+31,0.516666667,BASELINE,767,746,716,679,663,637,880,789,804,653,632,653.010736064,0.400977234451,-0.0154013968258,0.0598472227625,0.999999949835,0.00018004745785,-0.000259568663589,2.31660074354e-05,1793238041104233472
+32,0.533333333,BASELINE,767,746,716,679,663,637,879.430899128,788.430899128,803.430899128,653,632,653,0.400978609912,-0.0154008091002,0.0598488313143,0.999999950438,0.00017931437755,-0.000257747606108,2.3169151823e-05,1793238041120900096
+33,0.550000000,BASELINE,767,745.852530187,716,679,663,637,879.147469813,788.147469813,803,653,632.147469813,653,0.400979640133,-0.0154002517411,0.0598499509337,0.999999950856,0.000178969059307,-0.000256363202794,2.31447803897e-05,1793238041137566976
+34,0.566666667,BASELINE,767,745.277858571,716,679,663,637,879.722141429,788.722141429,803,653,632.722141429,653,0.400979522157,-0.0153998769728,0.0598495048294,0.999999950701,0.000179740223118,-0.000256438629137,2.30529074386e-05,1793238041154233856
+35,0.583333333,BASELINE,767,745.303735486,716,679.303735486,663,637,880,789,803.303735486,653,632.696264514,653.303735486,0.400978874197,-0.0153995206608,0.0598486921952,0.999999950529,0.000179652651529,-0.000257198365813,2.26958740812e-05,1793238041170900736
+36,0.600000000,BASELINE,767,745.891809984,716,679.891809984,663,637,880,789,803.891809984,653,632.108190016,653.891809984,0.400977730097,-0.0153991816265,0.0598475364376,0.999999950342,0.000178761183258,-0.000258598712941,2.20906133844e-05,1793238041187567360
+37,0.616666667,BASELINE,767.473190347,746,716,680,663,637,880,789,804,653,632,654,0.400977609837,-0.0153994857326,0.0598476015866,0.999999950386,0.00017826106365,-0.000258769650459,2.21383690001e-05,1793238041204233728
+38,0.633333333,BASELINE,767.947219417,746,716,679.947219417,663,637,880,788.947219417,803.947219417,653,632.052780583,654,0.400977670505,-0.015399838138,0.05984786399,0.999999950435,0.000178098002401,-0.000258672219371,2.23404436248e-05,1793238041220900096
+39,0.650000000,BASELINE,767.370417985,746,716,679.370417985,663,637,880,788.370417985,803.370417985,653,632.629582015,654,0.400977235782,-0.0153992305101,0.0598473519959,0.999999950018,0.000180405384512,-0.000258662176425,2.26129734922e-05,1793238041237566720
+40,0.666666667,BASELINE,767,745.794523416,716,679.205476584,663,637,880,788.205476584,803.205476584,653,633,654,0.400977118247,-0.0153988705294,0.0598471496816,0.999999949867,0.000181308009394,-0.000258615460677,2.26170672398e-05,1793238041254233600
+41,0.683333333,BASELINE,767,745.220256526,716,679.779743474,663,637,880,788.779743474,803.779743474,653,633,654,0.400977570002,-0.0153989550272,0.0598475031821,0.999999950199,0.000179689369474,-0.000258502924414,2.21393706022e-05,1793238041270900224
+42,0.700000000,BASELINE,767,745.362459381,716,679.637540619,663,637,880,789,804,653,633,654,0.400978689497,-0.0153994152823,0.0598484229575,0.999999950588,0.000179637678756,-0.000257026871816,2.21797595459e-05,1793238041287566848
+43,0.716666667,BASELINE,767,745.950432036,716,679.049567964,663,637,880,789,804,653,633,654,0.400980224443,-0.0154001093243,0.0598496950551,0.999999951008,0.000180560905185,-0.000254702473038,2.25424885583e-05,1793238041304233728
+44,0.733333333,BASELINE,767,745.468639352,716,679,663,637,879.468639352,789,804,653,632.468639352,653.468639352,0.400978899717,-0.015399513592,0.0598490325796,0.999999950496,0.000180850547496,-0.000256529046282,2.22071872497e-05,1793238041320900352
+45,0.750000000,BASELINE,767,745,716.11080551,679,663,637,879.11080551,789,804,652.88919449,632.11080551,653.11080551,0.400977762095,-0.0153990433802,0.059848387191,0.999999950016,0.000181094932768,-0.00025824629792,2.19461454811e-05,1793238041337567232
+46,0.766666667,BASELINE,767,745,716.686744081,679,663,637,879.686744081,789,804,652.313255919,632.686744081,653.686744081,0.40097851505,-0.0153995985214,0.0598485611705,0.999999950044,0.000181394197472,-0.000257900447218,2.22665892878e-05,1793238041354233856
+47,0.783333333,BASELINE,767,745,716.732530343,679,663,637,880,789,804,652.267469657,632.732530343,654,0.400978759712,-0.0154000614644,0.0598487087951,0.999999950094,0.000181329434084,-0.000257722561867,2.259433754e-05,1793238041370900480
+48,0.800000000,BASELINE,767,745,716.14609606,679,663,637,880,789,804,652.85390394,632.14609606,654,0.400978398222,-0.0154004144587,0.0598488249908,0.999999950171,0.000180830557626,-0.000257744979588,2.29307965783e-05,1793238041387567360
+49,0.816666667,BASELINE,767,745,716,679.435470105,663,637,880.435470105,789,804,653,632,653.564529895,0.400978148314,-0.0154006930752,0.0598490571906,0.999999950211,0.0001811461893,-0.00025735479961,2.30598058473e-05,1793238041404233728
+50,0.833333333,BASELINE,767,745.015368534,716,680,663,637,880.984631466,788.984631466,803.984631466,653,632,653.015368534,0.400977978898,-0.0154009339711,0.0598493305989,0.99999995025,0.000181711680186,-0.00025679883271,2.31190503431e-05,1793238041420900096
+51,0.850000000,BASELINE,767,745.593343319,716,680,663,637,880.406656681,788.406656681,803.406656681,653,632,653.593343319,0.400979400897,-0.0154006973803,0.0598497035971,0.999999950696,0.000181531126813,-0.000255185098582,2.3144001443e-05,1793238041437566720
+52,0.866666667,BASELINE,767,745.829309395,716,679.829309395,663,637,880,788.170690605,803.341381211,653,632.170690605,654,0.400980251322,-0.0154008344163,0.0598499027517,0.999999951053,0.000180664596285,-0.000254402389495,2.31097658387e-05,1793238041454233600
+53,0.883333333,BASELINE,767,745.253451631,716,679.253451631,663,637,880,788.746548369,804.493096738,653,632.746548369,654,0.400979745006,-0.0154018583283,0.0598496892549,0.999999951201,0.000178169766345,-0.000255592279131,2.29350391457e-05,1793238041470900224
+54,0.900000000,BASELINE,767,745.329298917,716,679,663.329298917,637,880.329298917,789,804.670701083,653,632.670701083,654,0.400979000265,-0.0154019864379,0.0598495170461,0.999999951197,0.000177088716298,-0.000256374203666,2.27632038694e-05,1793238041487567104
+55,0.916666667,BASELINE,767,745.917468029,716,679,663.917468029,637,880.917468029,789,804.082531971,653,632.082531971,654,0.400978068092,-0.0154014103346,0.0598493772947,0.999999951077,0.000177119074452,-0.000256835416475,2.25936416172e-05,1793238041504233472
+56,0.933333333,BASELINE,767,746,716,679,663.50157518,637,880.50157518,789,804,653,632.49842482,654,0.400978689156,-0.0154010240355,0.0598494671574,0.999999950858,0.000178447926963,-0.000256761603131,2.26623891051e-05,1793238041520900352
+57,0.950000000,BASELINE,767,746,716,679,663,637,880,789,804,653,633,653.922411452,0.400979471748,-0.0154008695243,0.0598496245043,0.999999950737,0.000179585263209,-0.000256429960971,2.27603082356e-05,1793238041537566976
+58,0.966666667,BASELINE,767,746,716,679,663,637,880,789,804,653,633,653.347197766,0.40097966431,-0.0154020029201,0.0598499742975,0.99999995136,0.000178134942374,-0.000255004793871,2.27958472291e-05,1793238041554233600
+59,0.983333333,BASELINE,767,746,716,679,663,637,880.228096805,789,804,653,633,653.228096805,0.400979441033,-0.0154023449909,0.0598498815936,0.999999951466,0.000177903543323,-0.000254758030643,2.27176475851e-05,1793238041570900480
+60,1.000000000,BASELINE,767,746,716,679,663,637,880.803514624,789,804,653,633,653.803514624,0.400978584562,-0.0154014821183,0.0598491151031,0.999999950786,0.000179528185625,-0.000256305612503,2.24662591153e-05,1793238041587567360
+61,1.016666667,BASELINE,767,745.610615524,716,679,663,637,880.610615524,789,804,653,632.610615524,654,0.400978845207,-0.0154016622846,0.0598491711815,0.999999951026,0.000178807272157,-0.00025587432615,2.24530514906e-05,1793238041604233728
+62,1.033333333,BASELINE,767,745.019326083,716,679,663,637,880.019326083,789,804,653,632.019326083,654,0.400979685102,-0.015402383291,0.059849653781,0.99999995174,0.000176870133028,-0.000254416950221,2.25633462237e-05,1793238041620900352
+63,1.050000000,BASELINE,767,745,716,679,663,636.441099445,880,789,804,653,632.558900555,654,0.400979921472,-0.0154021917417,0.059849768361,0.999999951694,0.000176895203202,-0.000254569815317,2.26847946926e-05,1793238041637566976
+64,1.066666667,BASELINE,767,745,716,679.135955706,663,636.135955706,880,789,804,652.864044294,632.864044294,653.864044294,0.400979879701,-0.0154015108808,0.0598498118077,0.99999995142,0.000178025738088,-0.000254857877585,2.26832468819e-05,1793238041654233600
+65,1.083333333,BASELINE,767,745,716,679.710654692,663,636.710654692,880,789,804,652.289345308,632.289345308,653.289345308,0.400979006145,-0.0153993504657,0.059849665829,0.999999950481,0.000182509762506,-0.000255406653422,2.22835609962e-05,1793238041670900224
+66,1.100000000,BASELINE,767,745.29313611,716,679.70686389,663,637,880.29313611,789,804,652.29313611,632.29313611,653.29313611,0.40097913497,-0.015399013619,0.0598500886812,0.999999950473,0.00018325211659,-0.00025490747946,2.22493478813e-05,1793238041687566848
+67,1.116666667,BASELINE,767,745.883508787,716,679.116491213,663,637,880.883508787,789,804,652.883508787,632.883508787,653.883508787,0.400980280197,-0.0154005258493,0.0598510883213,0.999999951417,0.000180200460701,-0.000253345696702,2.25857198809e-05,1793238041704233472
+68,1.133333333,BASELINE,767,745.53495013,716,679.930099739,663,637,880.53495013,789,804,653,632.53495013,653.53495013,0.40098058416,-0.0154015338207,0.0598509663982,0.999999951668,0.000178853924188,-0.000253286807866,2.28273349069e-05,1793238041720900352
+69,1.150000000,BASELINE,767,745,716,680.912172306,663,637,880,789,804.043913847,653,632.043913847,653,0.400980623236,-0.0154022723914,0.0598505546811,0.999999951716,0.000178080046508,-0.000253627243053,2.30005843178e-05,1793238041737567232
+70,1.166666667,BASELINE,767,745,716,679.766635107,663,637,880,789,804.616682446,653,632.616682446,653,0.400979962805,-0.0154012594034,0.0598499733097,0.999999951354,0.000179154775695,-0.000254327490945,2.2631029667e-05,1793238041754233856
+71,1.183333333,BASELINE,767,745.191195538,716,679.191195538,663,637,880,789,804.808804462,653,633,653.191195538,0.400979505291,-0.0154007102453,0.0598495866718,0.999999951181,0.000179474118702,-0.000254800101379,2.24507157251e-05,1793238041770900480
+72,1.200000000,BASELINE,767,745.769238378,716,679.769238378,663,637,880,789,804.230761622,653,633,653.769238378,0.400979458343,-0.0154010995572,0.0598495940394,0.99999995139,0.00017826508364,-0.000254812131444,2.26532937967e-05,1793238041787567360
+73,1.216666667,BASELINE,767,746,716,679.646793515,663,637,880,789,804,653,633,654,0.400979856889,-0.0154012768485,0.0598497847114,0.999999951443,0.00017856866379,-0.000254381030762,2.27373650934e-05,1793238041804233984
+74,1.233333333,BASELINE,767,746,716,679.058888218,663,637,880,789,804,653,633,654,0.400980551457,-0.0154013132563,0.0598500971854,0.999999951393,0.000179877347282,-0.00025365547835,2.27426909401e-05,1793238041820900352
+75,1.250000000,BASELINE,767,745.477431955,716,679,663,637,880,788.477431955,803.477431955,653,632.477431955,653.477431955,0.400980670675,-0.0154011535025,0.0598503706175,0.999999951267,0.000180700939988,-0.000253577234989,2.2629654354e-05,1793238041837566976
+76,1.266666667,BASELINE,767,745.102204374,716,679,663,637,880.102204374,788.102204374,803.102204374,653,632,653.102204374,0.400980740015,-0.0154011167018,0.0598506331579,0.999999951175,0.000181291965176,-0.000253522193076,2.25566704107e-05,1793238041854233344
+77,1.283333333,BASELINE,767,745.676747544,716,679,663,637,880.676747544,788.676747544,803.676747544,653,632,653.676747544,0.400980874834,-0.015401749046,0.0598508654477,0.999999951285,0.000181057731404,-0.000253241369038,2.27296817713e-05,1793238041870899968
+78,1.300000000,BASELINE,767,746,716,679,663,637,880.748509141,789,804,653,632.251490859,653.748509141,0.400981022002,-0.0154020749277,0.0598511118272,0.99999995152,0.000180156276376,-0.000252943422422,2.28815149297e-05,1793238041887566848
+79,1.316666667,BASELINE,767,746,716,679,663,637,880.17350841,789,804,653,632.82649159,653.17350841,0.400981185056,-0.0154020065858,0.0598513763313,0.999999951913,0.000178396529083,-0.000252623449881,2.30061051065e-05,1793238041904233984
+80,1.333333333,BASELINE,767.412982106,746,716,679,663,637,880,789,803.587017894,653,633,653,0.400981034843,-0.0154020803841,0.0598511670232,0.999999952126,0.000177162800921,-0.000252670526006,2.2787838539e-05,1793238041920900608
+81,1.350000000,BASELINE,767.9956577,746,716,679.0043423,663,637,880,788.9956577,803.0043423,653,633,653.0043423,0.400980744983,-0.0154022171242,0.0598507509906,0.999999952255,0.000176169651509,-0.000252884569403,2.24259910359e-05,1793238041937567232
+82,1.366666667,BASELINE,767.416966784,746,716,679.583033216,663,637,880,788.416966784,803.583033216,653,633,653.583033216,0.400979890808,-0.0154025542075,0.0598500753979,0.999999951782,0.000176929728698,-0.000254202255312,2.26709416189e-05,1793238041954233600
+83,1.383333333,BASELINE,767,746,716,679.839620765,663,637,880,788.160379235,803.839620765,653,632.839620765,654,0.400979328838,-0.0154025649969,0.059849613692,0.999999951508,0.000177109493456,-0.000255145612567,2.27216056591e-05,1793238041970900224
+84,1.400000000,BASELINE,767,746,716,679.265742114,663,637,880,788.734257886,803.265742114,653,632.265742114,654,0.400979520246,-0.0154017345158,0.0598497034419,0.999999951756,0.000175793061863,-0.000255123853394,2.22713484704e-05,1793238041987566848
+85,1.416666667,BASELINE,767,745.682874638,716,679,663,637,880,789,803,652.682874638,632.317125362,654,0.40098022569,-0.0154015804073,0.0598504085662,0.99999995206,0.000175512121474,-0.000254133139051,2.21696514124e-05,1793238042004233728
+86,1.433333333,BASELINE,767,745.092255085,716,679,663,637,880,789,803,652.092255085,632.907744915,654,0.400981374447,-0.0154020096138,0.0598516443996,0.999999952411,0.000176124206014,-0.000252306781641,2.23685584404e-05,1793238042020900352
+87,1.450000000,BASELINE,767,745.488402387,716,679,663,637,880,789,803.488402387,652.488402387,632.511597613,653.511597613,0.400980130065,-0.0154019901005,0.0598508828392,0.999999952043,0.000176389793992,-0.000253567719162,2.2445088677e-05,1793238042037566720
+88,1.466666667,BASELINE,767,746,716,679,663,637,880,789,804,653,632.066925413,653.066925413,0.400978543074,-0.0154018702324,0.0598498390992,0.999999951523,0.000176835672427,-0.00025529908317,2.24962937866e-05,1793238042054233600
+89,1.483333333,BASELINE,767,746,716,679,663,637,880,789,804,653,632.643238834,653.643238834,0.400977720256,-0.0154016187674,0.059849461874,0.999999950865,0.000179141994186,-0.000256261097135,2.25271671752e-05,1793238042070900480
+90,1.500000000,BASELINE,767,746,716,679.218441073,663,637,880,789,803.781558927,653,632.781558927,654,0.400977325156,-0.0154014848333,0.0598492220671,0.999999950532,0.000180251640232,-0.000256777821264,2.257754118e-05,1793238042087567104
+91,1.516666667,BASELINE,767,746,716,679.791837645,663,637,880,789,803.208162355,653,632.208162355,654,0.400977625076,-0.015401541881,0.0598492055579,0.999999950734,0.000179416749628,-0.00025657097224,2.26596026789e-05,1793238042104233472
+92,1.533333333,BASELINE,767,746,716,679.624159886,663,637,880,788.624159886,803.375840114,653,632.375840114,653.624159886,0.400978250687,-0.0154015913959,0.0598496064864,0.999999951038,0.000178994342099,-0.000255678925869,2.26757914534e-05,1793238042120900096
+93,1.550000000,BASELINE,767,746,716,679.034112615,663,637,880,788.034112615,803.965887385,653,632.965887385,653.034112615,0.400979061922,-0.0154016366177,0.0598502453302,0.999999951399,0.000178807026022,-0.000254396356564,2.26544365874e-05,1793238042137566976
+94,1.566666667,BASELINE,767,745.454055817,716,679.545944183,663,637,880,788,804,653,632.454055817,653,0.400979986787,-0.0154036113514,0.0598507047845,0.99999995199,0.000176733029079,-0.000253496524411,2.28962338857e-05,1793238042154233600
+95,1.583333333,BASELINE,767,745,716,679.875352077,663,637,880.124647923,788.124647923,803.875352077,653,632,653.124647923,0.400980908805,-0.0154047788289,0.0598510658703,0.999999952422,0.000175425671698,-0.000252687975378,2.30427288583e-05,1793238042170900224
+96,1.600000000,BASELINE,767,745,716,679.299327994,663,637,880.700672006,788.700672006,803.299327994,653,632,653.700672006,0.400981795264,-0.0154025943254,0.0598511106032,0.999999952237,0.000177313696918,-0.000252124937003,2.27856417614e-05,1793238042187567104
+97,1.616666667,BASELINE,767,745.281605354,716,679.281605354,663,637,880.718394646,789,803.563210708,653,632,653.718394646,0.400981658218,-0.0154014840473,0.0598510229678,0.999999952086,0.000177871059781,-0.000252349523847,2.25579035929e-05,1793238042204233728
+98,1.633333333,BASELINE,767,745.867849478,716,679.867849478,663,637,880.132150522,789,804.735698955,653,632,653.132150522,0.400980413951,-0.015401535859,0.0598507921372,0.999999951975,0.000176988920983,-0.000253426158365,2.23619149124e-05,1793238042220900352
+99,1.650000000,BASELINE,767,746,716,679.548446854,663,637,880,789,804.548446854,653,632,653.451553146,0.400980678726,-0.0154010787541,0.0598509796493,0.99999995175,0.000178721250354,-0.000253091835712,2.24502607645e-05,1793238042237566976
+100,1.666666667,BASELINE,767,745.965975532,716,679.034024468,663,637,880,789,804,653,632.034024468,653.965975532,0.400981279752,-0.0154005212802,0.0598512099701,0.9999999515,0.000181000562714,-0.000252444691417,2.25984027401e-05,1793238042254233600
+101,1.683333333,BASELINE,767,745.391337714,716,679.608662286,663,637,880,789,804,653,632.608662286,653.391337714,0.400980245642,-0.0154007222836,0.0598501860567,0.999999951477,0.00017988153401,-0.000253351419492,2.23818766479e-05,1793238042270900480
+102,1.700000000,BASELINE,767,745,716,679.816769858,663,637,880,788.816769858,804,653,632.816769858,653.183230142,0.400979358589,-0.0154006901723,0.0598496697114,0.999999951366,0.000179595540854,-0.000254005230151,2.22562814029e-05,1793238042287567104
+103,1.716666667,BASELINE,767,745,716,679.242351444,663,637,880,788.242351444,804,653,632.242351444,653.757648556,0.400978785499,-0.0154001603715,0.0598502370019,0.999999951066,0.000181088042002,-0.000254119073162,2.23248195343e-05,1793238042304233728
+104,1.733333333,BASELINE,767,745,716,679.340703673,663,637,880,788.340703673,804,653,632,654,0.400978864528,-0.0154009323261,0.0598502994708,0.999999951278,0.000180413100017,-0.000253771216316,2.22641687468e-05,1793238042320900352
+105,1.750000000,BASELINE,767,745,716,679.930062151,663,637,880,788.930062151,804,653,632,654,0.400979419492,-0.0154026543371,0.0598499935074,0.999999951859,0.00017815629926,-0.000253086398373,2.21092323808e-05,1793238042337567232
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804,653,633,654,0.400977898954,-0.0154023064324,0.0598491537706,0.999999951108,0.000178103917218,-0.000256033925629,2.25542122551e-05,1793238042368338176
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745.576002364,716,679,663,637,880,789,804,653,632.423997636,653.423997636,0.400979200795,-0.0154025805235,0.0598501473727,0.999999951487,0.000178055830814,-0.000254596818395,2.24055417683e-05,1793238042385004544
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679.154923874,663,637,880,789,804,653,632.154923874,653,0.400980556029,-0.0154023036733,0.0598511939007,0.999999951903,0.000178087434903,-0.000252951268305,2.22475158013e-05,1793238042401671168
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679.741988097,663,637,880,789,804,653,632.741988097,653,0.400982060198,-0.0154004900429,0.0598523880587,0.999999952422,0.000178341325429,-0.000250724293172,2.20633938843e-05,1793238042418337792
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679.675333197,662.675333197,637,880,789,804,653,632.675333197,653,0.400982023795,-0.0154000054775,0.0598523502022,0.999999952283,0.000179098774052,-0.000250740367317,2.20700862922e-05,1793238042435004416
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679.096093237,662.096093237,637,880,789,804,653,632.096093237,653,0.400980779421,-0.0154005630399,0.0598513463158,0.999999951626,0.000180251065535,-0.000252515229781,2.22263973502e-05,1793238042451671040
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745.517963674,716,679,662.482036326,637,880.482036326,789,804,653,632,653.482036326,0.400980790433,-0.0154009986005,0.0598516586485,0.99999995176,0.000179996804054,-0.000252147289865,2.24322931673e-05,1793238042468337920
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.940480653,789,804,653,632,654,0.400981071526,-0.0154013081777,0.059852140719,0.999999952032,0.000179465623095,-0.000251429800231,2.25956327489e-05,1793238042485004800
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.36667589,789,804,653,632,654,0.400981528855,-0.0154007388424,0.0598518274563,0.999999952144,0.000178958898421,-0.000251374469536,2.23060456849e-05,1793238042501671680
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.213301758,716,679.213301758,663,637,880,789,804,653,632.213301758,654,0.400982177245,-0.0154002431953,0.0598517656235,0.999999952127,0.000178943141301,-0.000251468501243,2.20995513208e-05,1793238042518338304
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.804207073,716,679.804207073,663,637,880,789,804,653,632.804207073,654,0.400983163868,-0.0153998779968,0.0598521488916,0.999999951885,0.000179796533632,-0.00025182694603,2.20401542233e-05,1793238042535004672
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679.612579963,663,637,880,788.612579963,804,652.612579963,632.612579963,653.612579963,0.40099092141,-0.0154012800648,0.0598557934123,0.999999953541,0.00017827617101,-0.000246233622023,2.24820916477e-05,1793238042551671040
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679.033178793,663,637,880,788.033178793,804,652.033178793,632.033178793,653.033178793,0.401002034195,-0.0154035578794,0.0598610540056,0.999999956069,0.000175579524009,-0.000237690973781,2.31724590889e-05,1793238042568337664
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788.542718866,804,652.542718866,632,653.542718866,0.401036640538,-0.0154052870344,0.0598760812801,0.999999961603,0.000177521234278,-0.000211305192399,2.51019297782e-05,1793238042585004288
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745.882032155,716,679,663,637,880,789,804,653,632,654,0.401076818324,-0.0154073792079,0.0598925384901,0.999999966956,0.000179046191777,-0.000182475497765,2.70594845813e-05,1793238042601670912
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.308466354,716,679,663,637,880,789,804,653,632,654,0.401133001974,-0.0154110020876,0.0599122270259,0.999999972755,0.000177873517836,-0.000148393093331,2.88348212798e-05,1793238042618337536
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.274065957,745.274065957,716,679,663,636.725934043,880,789,804,653,632,654,0.401193096725,-0.0154149748518,0.0599294031112,0.999999976704,0.000176253520745,-0.000120822873409,3.0472293373e-05,1793238042635004416
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.867031552,745.867031552,716,679,663,636.132968448,880,789,804,653,632,654,0.401257742379,-0.0154193547367,0.0599436557401,0.999999979249,0.00017411302437,-0.000100830150116,3.19493478926e-05,1793238042651671296
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.551571951,746,716,679.448428049,663,636.448428049,880,788.551571951,803.551571951,653,632.448428049,653.551571951,0.40133050911,-0.0154219899645,0.0599523924545,0.999999980417,0.000174856365444,-8.68775120557e-05,3.23017289766e-05,1793238042668337920
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679.97366239,662.97366239,637,880,788.02633761,803.02633761,653,633,653.02633761,0.401406148646,-0.015424291249,0.0599591753655,0.999999981135,0.000176157696176,-7.52066602984e-05,3.22759861436e-05,1793238042685004288
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679.398725683,662.398725683,637,880,788.601274317,803.601274317,653,633,653.601274317,0.401492729865,-0.0154301413303,0.0599584731372,0.999999981982,0.000171717942282,-7.46966081758e-05,3.11458277007e-05,1793238042701670912
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.823597567,716,679,662.176402433,637,880,789,804,653,633,654,0.401584087457,-0.0154355764629,0.0599572660538,0.999999982617,0.000168178279184,-7.47183937607e-05,2.99754463114e-05,1793238042718337792
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.248036416,716,679,662.751963584,637,880,789,804,653,633,654,0.401686252883,-0.0154400726599,0.0599549165978,0.999999982814,0.000166675318132,-7.59436075918e-05,2.8714049667e-05,1793238042735004672
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804,652.664211686,632.664211686,654,0.401802061052,-0.0154454584295,0.0599544061785,0.999999983396,0.000164370265098,-7.37215439545e-05,2.74991896911e-05,1793238042751671552
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804,652.074128838,632.074128838,654,0.401928200963,-0.0154515178782,0.0599552884725,0.999999984246,0.000161457782761,-6.88888362315e-05,2.63195720836e-05,1793238042768338176
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.505644911,716,679,663,637,880,789,803.494355089,652.505644911,632,654,0.402081741752,-0.0154600676227,0.0599570103534,0.999999985059,0.000158407826116,-6.44137590511e-05,2.52990569833e-05,1793238042785005056
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745.916913661,716,679.083086339,663,637,880,788.916913661,803.083086339,653,632,654,0.402244589406,-0.0154688025404,0.0599591496057,0.999999985938,0.00015512835117,-5.89300362302e-05,2.42224011875e-05,1793238042801671680
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745.344485055,716,679.655514945,663,637,880,788.344485055,803.655514945,653,632,654,0.402439064604,-0.0154765208295,0.0599630365577,0.999999987287,0.000150613439449,-4.72032116599e-05,2.26804725009e-05,1793238042818338048
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,716,679.763483975,663,637,880.47303205,788.236516025,804,653,632,654,0.402640966413,-0.0154861060713,0.0599665210892,0.999999988768,0.000143765092973,-3.6715079562e-05,2.11382821798e-05,1793238042835004672
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,716,679.169527577,663,637,881.660944847,788.830472423,804,653,632,654,0.402854091848,-0.0154985127887,0.0599693974529,0.999999990517,0.000133390288942,-2.8098951135e-05,1.95956965516e-05,1793238042851671296
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.761101357,789,804,653,632,654,0.403084179509,-0.0155096192343,0.0599707636605,0.999999991823,0.000124343718705,-2.41445386577e-05,1.76042920295e-05,1793238042868337664
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,879.02735539,789,804,653,632,654,0.403321042305,-0.0155202063183,0.0599715266738,0.99999999293,0.000115827678749,-2.20521331604e-05,1.54336179728e-05,1793238042885004288
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.433326701,745.566673299,716,679.566673299,663.566673299,637,879.566673299,789,803.433326701,653,632,653.433326701,0.403577203002,-0.0155289953962,0.059960184229,0.999999994289,9.83776415495e-05,-4.0035930087e-05,1.1837296269e-05,1793238042901671168
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.145497568,745.854502432,716,679.854502432,663.854502432,637,880.145497568,789,803.145497568,652.854502432,632,653,0.403842679111,-0.0155362361557,0.0599501881498,0.999999995451,7.70134529645e-05,-5.56342262275e-05,8.44571612137e-06,1793238042918338304
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.73365128,745.26634872,716,679.26634872,663.26634872,637,880.73365128,789,803.73365128,652.26634872,632,653,0.404135554813,-0.0155388540629,0.0599448786166,0.999999997023,4.4176739369e-05,-6.29957971162e-05,5.74656684065e-06,1793238042935004672
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.683614577,788.683614577,804,652.316385423,632,653.316385423,0.40444574236,-0.0155316193296,0.0599388665657,0.9999999966,3.93800086146e-05,-7.24327688448e-05,1.65490957878e-06,1793238042951671296
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.105365992,788.105365992,804,652.894634008,632,653.894634008,0.404770258459,-0.0155162298481,0.0599322730604,0.99999999483,5.77911658511e-05,-8.35874912969e-05,-3.58928699327e-06,1793238042968337920
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745.471293377,716,679,663,637,880.471293377,788.471293377,804,652.528706623,632,654,0.40514030649,-0.0155151181556,0.0599386820521,0.999999995748,5.51924518792e-05,-7.36210495986e-05,-6.20865546028e-06,1793238042985004544
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.952423776,789,804,652.047576224,632.047576224,654,0.405524544786,-0.0155179947141,0.0599489075168,0.999999997245,4.62403699219e-05,-5.74925125112e-05,-8.19858396942e-06,1793238043001671424
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.37638952,789,804,652.62361048,632.62361048,654,0.405953713695,-0.0155298342884,0.0599693442524,0.999999999461,1.87160919074e-05,-2.519180025e-05,-9.69327861688e-06,1793238043018338048
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663.205021517,637,880.205021517,788.794978483,804,653,633,654,0.406394873929,-0.015539778497,0.0599884111155,0.999999999914,-3.52009642036e-06,5.55516961126e-06,-1.13387516865e-05,1793238043035004416
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663.796569344,637,880.796569344,788.203430656,804,653,633,654,0.406858641339,-0.0155461493791,0.0600048953618,0.99999999923,-1.57866670767e-05,3.33728726602e-05,-1.32684866902e-05,1793238043051671040
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663.620399247,637,880.620399247,788.379600753,804,653,632.620399247,654,0.407322039146,-0.0155484856367,0.060011884164,0.99999999845,-3.43933712741e-05,4.06601640419e-05,-1.62423544262e-05,1793238043068338176
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663.041831716,637,880.041831716,788.958168284,804,653,632.041831716,654,0.407785243212,-0.0155487071558,0.0600138959525,0.999999997527,-5.63232400942e-05,3.71864910162e-05,-1.97635016391e-05,1793238043085004800
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663.53236293,637,880,789,804,653,632,653.46763707,0.408260624148,-0.0155445501908,0.0600046607148,0.999999998273,-5.16009411203e-05,1.4272607822e-05,-2.42265261674e-05,1793238043101671424
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.89385965,716,679,663.89385965,636.89385965,880,788.89385965,804,653,632,653,0.408745798638,-0.0155411501167,0.0599954449841,0.999999998364,-4.89711452731e-05,-7.93391597667e-06,-2.84847482353e-05,1793238043118338048
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745.320418827,716,679,663.320418827,636.320418827,880,788.320418827,804,653,632,653,0.409269912467,-0.0155425847779,0.0599901743498,0.999999997203,-6.4699146029e-05,-2.03556140274e-05,-3.15181043706e-05,1793238043135004672
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.261410842,880.261410842,788,804,652.738589158,632.261410842,653.261410842,0.409827410163,-0.015545598226,0.0599934259741,0.999999996755,-7.23478020889e-05,-1.27438506546e-05,-3.30640890453e-05,1793238043151671040
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.853863954,880.853863954,788,804,652.146136046,632.853863954,653.853863954,0.410427184185,-0.0155506109993,0.0600074699111,0.999999996826,-6.97650383928e-05,2.02376412485e-05,-3.27265148141e-05,1793238043168337664
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.435500299,716,679,663,637,881,788.435500299,804.435500299,652.435500299,632.564499701,654,0.411031630097,-0.0155522084345,0.0600124715081,0.999999998045,-4.67554336032e-05,3.21484109296e-05,-2.62684325858e-05,1793238043185004544
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716.013536841,679,663,637,881,789,804.986463159,653,632,654,0.411637070352,-0.0155525593457,0.0600139818938,0.999999999022,-1.78532140944e-05,3.61775794448e-05,-1.81332525308e-05,1793238043201671424
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716.5891621,679,663,637,881,789,804.4108379,653,632,654,0.412220282548,-0.0155475848829,0.0599934640142,0.99999999948,-2.19896200734e-05,-5.88948124568e-07,-2.35726582368e-05,1793238043218338048
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716.831606532,679,663,637,880.831606532,789,804,653,632,654,0.412810778395,-0.015543790891,0.059970858551,0.999999998271,-2.76342140173e-05,-4.29817930739e-05,-2.90901134429e-05,1793238043235004928
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716.243384665,679,663,637,880.243384665,789,804,653,632,654,0.413419433365,-0.0155429399778,0.0599430484522,0.999999993768,-3.70389306251e-05,-9.94018295361e-05,-3.48021566234e-05,1793238043251671552
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.339720868,788.660279132,804.339720868,653,632,654,0.414088302457,-0.0155462100889,0.0599430024586,0.999999993304,-4.40634212684e-05,-0.000100528664343,-3.66598506022e-05,1793238043268338176
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.919215292,788.080784708,804.919215292,653,632,654,0.414799670395,-0.0155523888016,0.0599625522544,0.999999996177,-4.94079580903e-05,-6.26297885038e-05,-3.57971609599e-05,1793238043285004544
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,788.495980389,804.504019611,653,632,653.504019611,0.415548428236,-0.0155573836031,0.060005436097,0.999999997918,-5.46851403357e-05,1.22556633733e-05,-3.19933534699e-05,1793238043301670912
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.92645117,716,679,663,637.07354883,881,789,804,652.92645117,632,653.07354883,0.416293308516,-0.0155614221517,0.0600449143373,0.999999994676,-5.85394239767e-05,8.0095024916e-05,-2.83792753992e-05,1793238043318337792
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.340201031,716,679,663,637.659798969,881,789,804,652.340201031,632,653.659798969,0.416968937761,-0.0155601316271,0.0600343037016,0.999999996559,-5.25508844427e-05,5.70516221561e-05,-2.94088883701e-05,1793238043335004672
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.243147969,716,679,663.243147969,637.756852031,881,789,804,652,632,653.756852031,0.417669512044,-0.015559764495,0.0600183718128,0.999999997663,-5.24257412689e-05,3.0340023798e-05,-3.17011455148e-05,1793238043351671296
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.822485778,716,679,663.822485778,637.177514222,881,789,804,652,632,653.177514222,0.418404576815,-0.0155606740965,0.0599950824634,0.999999997536,-6.04076535578e-05,-1.44342810706e-06,-3.57392045191e-05,1793238043368338176
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.597789393,746,716,679,663.597789393,637,880.597789393,789,804,652,632,653.402210607,0.419143938974,-0.0155624290403,0.0599802989701,0.999999996804,-6.49466682898e-05,-2.65775515783e-05,-3.83146958945e-05,1793238043385004800
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.017893624,746,716,679,663.017893624,637,880.017893624,789,804,652,632,653.982106376,0.419885199553,-0.0155645574322,0.0599692731227,0.999999995691,-6.79647086959e-05,-4.87741896848e-05,-4.02440664036e-05,1793238043401671424
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.555622863,745.444377137,716,679,663,637,880,789,804,652,632,654,0.420611710074,-0.0155611890409,0.059951380614,0.999999994621,-6.25964252123e-05,-7.08366540643e-05,-4.26877578023e-05,1793238043418338048
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745.13254618,716,679,663.13254618,637,880.26509236,789,804.13254618,652.13254618,632.13254618,654,0.421337452897,-0.01555872514,0.0599338504395,0.999999992638,-5.88370633539e-05,-9.61666905893e-05,-4.48702346686e-05,1793238043435004416
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.721911083,716,679,663.721911083,637,881.443822165,789,804.721911083,652.721911083,632.721911083,654,0.422062168384,-0.015559981732,0.0599183225451,0.999999988229,-6.15430857398e-05,-0.000132773095093,-4.6096000927e-05,1793238043451671040
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637,881.693983297,789,804.693983297,652.693983297,632.693983297,654,0.422868543613,-0.0155649705432,0.0599397782189,0.999999991829,-6.83016757657e-05,-9.82293121682e-05,-4.50292766388e-05,1793238043468337664
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637,881.114576266,789,804.114576266,652.114576266,632.114576266,654,0.423747872283,-0.015573293658,0.0599942744099,0.999999996026,-7.86807630026e-05,-1.21110204532e-07,-4.19144783439e-05,1793238043485004544
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.537697874,716,679.462302126,664.462302126,637,880.537697874,788.537697874,804,652,632,654,0.424566682603,-0.0155771654641,0.0600292386637,0.999999994203,-8.36102668798e-05,5.54331859013e-05,-3.91289556569e-05,1793238043501671168
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.038426127,716,679.961573873,664.923147747,637,880.038426127,788,804,652,632,653.961573873,0.425368002262,-0.01557968412,0.0600562861343,0.999999990929,-8.6968506472e-05,9.60591904561e-05,-3.67703672247e-05,1793238043518338048
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745.61272117,716,679.38727883,663.77455766,637,880.61272117,788,804,652,632,653.38727883,0.426133432836,-0.0155786334953,0.060040069958,0.999999992637,-8.71472548067e-05,7.47790448872e-05,-3.92337078181e-05,1793238043535004672
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663.192560172,637,881,788.192560172,803.807439828,652.192560172,632,653.192560172,0.426896189805,-0.0155787603483,0.0600233714564,0.999999993547,-9.13687432048e-05,5.29189986125e-05,-4.19114384428e-05,1793238043551671296
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663.783879878,637,881,788.783879878,803.216120122,652.783879878,632,653.783879878,0.427653410332,-0.0155813255582,0.0600056741379,0.999999993136,-0.0001039620623,2.98580722048e-05,-4.50331350138e-05,1793238043568337920
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679.366501692,664,637,881,789,803.366501692,652.633498308,632,653.633498308,0.428417681072,-0.0155807250791,0.0599904883856,0.999999993504,-0.000103445264294,1.04542727817e-05,-4.6716191644e-05,1793238043585004288
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716,679.944113365,664,637,881,789,803.944113365,652.055886635,632,653.055886635,0.429186012786,-0.0155783011197,0.0599767493307,0.999999994297,-9.53768589472e-05,-6.84297014256e-06,-4.75705718227e-05,1793238043601670912
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.479695778,716,680,664,637,881,789,804,652,632,653.520304222,0.4299218899,-0.0155772450851,0.0599578582434,0.999999993362,-9.56742778532e-05,-4.07965845286e-05,-4.95868822174e-05,1793238043618337792
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,745,716,680,664,636.901605443,881,789,804,652,632,653.901605443,0.430664326915,-0.0155776213924,0.0599471490132,0.999999992089,-9.79652502592e-05,-6.00554975664e-05,-5.11639845885e-05,1793238043635004416
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745,716,680,664,636.313299735,881,789,804,652,632,653.313299735,0.43145673564,-0.015584399815,0.0599799254746,0.999999993161,-0.00010572030531,2.73488336689e-06,-4.99345337314e-05,1793238043651671296
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745.271152062,716,680,664,636.271152062,881.271152062,789,804,652,632,653,0.432240168601,-0.0155891379597,0.0600090708092,0.999999991163,-0.000112327118767,5.20466377441e-05,-4.84452554901e-05,1793238043668337920
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,745.851213261,716,680,664,636.851213261,881.851213261,789,804,652,632,653,0.433013375897,-0.0155915517237,0.0600340793916,0.999999988295,-0.000117625801326,8.60029047158e-05,-4.66599699299e-05,1793238043685004544
+186,3.100000000,POSE1_TO_POSE2_PRESS,767.428217679,746,716,680,664,637,881.571782321,789,804,652,632.428217679,653,0.433740763418,-0.0155900903738,0.0600189778255,0.999999990426,-0.000116662014937,5.66761795306e-05,-4.82178039086e-05,1793238043701671424
+187,3.116666667,POSE1_TO_POSE2_PRESS,767.99578028,746,716,680,664,637,881.00421972,789,804,652,632.99578028,653.00421972,0.434452019506,-0.0155873130894,0.0599900709596,0.999999992237,-0.000113582045328,5.61569290337e-06,-5.09291551257e-05,1793238043718337792
+188,3.133333333,POSE1_TO_POSE2_PRESS,767.412623862,746,716,680,664,637,881.587376138,789,804,652,632.412623862,653.587376138,0.435118826006,-0.0155874105788,0.0599656133659,0.999999991254,-0.000116583539955,-3.19387308715e-05,-5.3662971904e-05,1793238043735004416
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+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746.443443427,716.556556573,681,663.443443427,636,882,786,804.556556573,652,631.556556573,653.556556573,0.450002559621,-0.0156402203542,0.0597232632358,0.999999878545,-0.000219241038645,-0.000435933901911,-6.93205400825e-05,1793238044768337920
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.002793917,663,637,881,789,804.997206083,652.997206083,632.997206083,654,0.415852024262,-0.015387952651,0.0598499912526,0.999999950542,0.000169753224413,-0.00026318099352,2.88920168848e-05,1793238046648186368
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.590093053,663,637,881,789,804.409906947,652.409906947,633,654,0.415158332829,-0.0153874628283,0.0598359792487,0.999999942017,0.000171792178209,-0.000292712456927,2.77838117253e-05,1793238046664853248
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.821150294,663,637,881,789,804.178849706,652.178849706,632.821150294,654,0.41447609535,-0.0153872096203,0.0598285535526,0.999999937006,0.000173808612637,-0.000308293889389,2.70822802406e-05,1793238046681519872
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.241866773,663,637,881,789,804.758133227,652.758133227,632.241866773,654,0.413819286871,-0.0153874884614,0.0598362053508,0.999999941505,0.0001757702701,-0.000292144148003,2.73271840056e-05,1793238046698186496
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.3331937,663.3331937,637,880.6668063,789,804.6668063,653,632,654,0.413153044674,-0.0153862367072,0.0598294173533,0.999999938216,0.000176216526837,-0.000302981154779,2.68158903414e-05,1793238046714853376
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.905226976,663.905226976,637,880.094773024,789,804.094773024,653,632,654,0.412480040249,-0.0153838877933,0.0598122786355,0.999999928756,0.000175576515313,-0.00033316277627,2.57625399594e-05,1793238046731520256
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767.493136946,746,716,679.506863054,663.506863054,637,880,789,804,653,632.493136946,654,0.411828176237,-0.0153797821198,0.0597855957407,0.999999912951,0.000183204075569,-0.000374136948252,2.35928072103e-05,1793238046748186880
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767.917463338,745.917463338,716,679,663,637,880.082536662,789,804,653,633,654,0.41119297095,-0.015376434734,0.0597636606569,0.999999899433,0.000190546362219,-0.000405408157882,2.16859167277e-05,1793238046764853248
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767.33807453,745.33807453,716,679,663,637,880.66192547,789,804,653,633,654,0.410632776402,-0.0153797520826,0.0597817153447,0.999999915644,0.00018628839215,-0.000365368409134,2.26957904451e-05,1793238046781519872
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745.239008161,716,679,663,637,881,789,804,653,633,654,0.410088144902,-0.0153831641275,0.0598049353388,0.999999930469,0.000181355737281,-0.000324926361962,2.44008714028e-05,1793238046798186496
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745.812859999,716,679,663,637,881,789,804,653,633,654,0.409565316841,-0.0153867088392,0.0598353917794,0.999999943932,0.000175477868553,-0.000283920709672,2.70799179786e-05,1793238046814853120
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663.389222952,637,881,789,804,652.610777048,633,654,0.409039247555,-0.0153878668017,0.0598526611144,0.999999950159,0.000176682229005,-0.000260030057709,2.91604749437e-05,1793238046831519744
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663.966801152,637,881,789,804,652.033198848,633,654,0.408511609707,-0.0153878697539,0.0598635488641,0.999999953213,0.000181313866395,-0.000244421802034,3.09514072562e-05,1793238046848186368
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663.446572308,637,881,789,804,652.553427692,632.446572308,654,0.407996611913,-0.0153864731963,0.0598506809965,0.999999946611,0.000186252680817,-0.000266845919025,2.96815646624e-05,1793238046864853248
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.277888996,789,804.722111004,653,632,654,0.407008047626,-0.0153837194605,0.0598250897443,0.999999934396,0.000186195291352,-0.000309574660835,2.6518608499e-05,1793238046898186752
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,789,804.698868281,653,632.301131719,654,0.406567684793,-0.0153839893419,0.0598253187796,0.999999936769,0.000184311540942,-0.000303001770237,2.6108248982e-05,1793238046914853376
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,789,804.123112789,653,632.876887211,654,0.406165333996,-0.0153857022346,0.0598365748237,0.999999945578,0.00018352628744,-0.000272841806927,2.68358520527e-05,1793238046931519744
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716.451288257,679.451288257,663.451288257,637,880,789,804.451288257,653,632.548711743,654,0.405773161241,-0.0153866714358,0.0598447367062,0.999999949174,0.000186011761987,-0.000257435284987,2.79032272876e-05,1793238046948186368
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716.973863939,680,663.973863939,637,880,789,804.973863939,653,632,653.973863939,0.405383955755,-0.0153872612368,0.0598512135436,0.999999951061,0.000189256461889,-0.000247429958095,2.89664988253e-05,1793238046964852992
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.20387799,789,804,653,632,653.20387799,0.404625722213,-0.0153821720252,0.0598248140908,0.999999938367,0.000192989841578,-0.00029206052506,2.68645973055e-05,1793238046998186240
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.775954163,789,804,653,632,653.775954163,0.404273248402,-0.0153828740968,0.0598051658694,0.999999926656,0.00020153060863,-0.000324671320033,2.57091160815e-05,1793238047014853120
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.648344235,663,637,880.648344235,789,804,653,632,654,0.403950571565,-0.0153820584889,0.0597912133082,0.999999918508,0.000205082055055,-0.000346860867089,2.47720010599e-05,1793238047031520000
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.070308693,663,637,880.070308693,789,804,653,632,654,0.403647076611,-0.015380265869,0.0597809273485,0.999999912968,0.000205421607671,-0.000362341698255,2.39754600316e-05,1793238047048186624
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.519912621,663,637,880,788.480087379,804.519912621,653,632.519912621,654,0.403397659077,-0.0153815799604,0.059794713111,0.999999922072,0.000206125664823,-0.000335713829797,2.57841059258e-05,1793238047064853248
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.687268265,788.687268265,804.312731735,653,632.312731735,654,0.402946421598,-0.0153815314056,0.0598274966756,0.999999936652,0.000216187924946,-0.000281195704301,2.97837092028e-05,1793238047098186752
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.735951407,789,804,653,632.264048593,654,0.402740241991,-0.0153798209583,0.0598386921537,0.999999941713,0.000215514765194,-0.000263160904966,2.95525565631e-05,1793238047114853120
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.160682541,789,804,653,632.839317459,654,0.402543859551,-0.0153775451856,0.0598443478798,0.999999946987,0.000204679538697,-0.00025181713345,2.68282691495e-05,1793238047131519744
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.584896437,663,637,880,789,804,653,632.584896437,654,0.402359773702,-0.015379805062,0.0598453449356,0.999999951905,0.000179935977682,-0.000251636782853,2.21954549853e-05,1793238047148186624
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.008909878,663,637,880,789,804,653,632.008909878,654,0.402180453686,-0.0153838228342,0.0598445364157,0.999999955926,0.000149801919756,-0.000255783074545,1.68229471426e-05,1793238047164853760
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,789,804,653,632.58310338,653.41689662,0.402014985428,-0.0153824533601,0.0598384995006,0.999999951767,0.000156287337711,-0.000267865225178,1.69947548427e-05,1793238047181520128
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767.17047395,746,716,679,663,637,880,789,804,653,632.82952605,653.17047395,0.401859604482,-0.0153825937078,0.0598338787176,0.999999947948,0.000162502593876,-0.000278208940628,1.72484338889e-05,1793238047198186752
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767.746208932,746,716,679,663,637,880,789,804,653,632.253791068,653.746208932,0.401727686349,-0.015386524517,0.0598328197383,0.999999945588,0.000166707815615,-0.000284123525283,1.74896545324e-05,1793238047214853376
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767.678287155,746,716,679,663,637,880,789,803.678287155,653,632,653.678287155,0.401613130491,-0.0153920206867,0.0598329919404,0.999999944425,0.000171963687325,-0.000285036261373,1.82551140549e-05,1793238047231519744
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767.102965333,746,716,679,663,637,880,789,803.102965333,653,632,653.102965333,0.401512261447,-0.0153987508437,0.0598341346933,0.999999944197,0.000178047795809,-0.000282005998264,1.94338355772e-05,1793238047248186368
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.48207813,663,637,880.48207813,788.51792187,803.48207813,652.51792187,632,653,0.401431181208,-0.0153981718282,0.0598363391584,0.999999944937,0.000181025855704,-0.000277415340077,1.99038672871e-05,1793238047264852992
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745.931282774,716,680,663,637,881,788.068717226,804,652.068717226,632,653,0.40135535559,-0.0153959123469,0.05983851974,0.999999945695,0.000183446394842,-0.000273036927926,2.02296240294e-05,1793238047281519872
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745.348559258,716,680,663,637,881,788.651440742,804,652.651440742,632,653,0.401286568737,-0.0153930006374,0.0598387905394,0.99999994514,0.00018676111721,-0.000272790360737,2.06317282825e-05,1793238047298187008
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.768704641,663,637,881,788.768704641,804,653,632,653.231295359,0.401225151001,-0.0153912299482,0.0598392067655,0.999999944921,0.000188443402521,-0.000272409450495,2.09994050283e-05,1793238047314854144
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.193120487,663,637,881,788.193120487,804,653,632,653.806879513,0.40117470238,-0.0153911576959,0.0598398394626,0.999999945213,0.000187695765174,-0.000271828567352,2.1315835564e-05,1793238047331520768
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880.620560041,788.379439959,804,653,632.379439959,654,0.401133517368,-0.0153907617565,0.0598401321768,0.999999945366,0.000187531730252,-0.000271368524142,2.14322701168e-05,1793238047348186880
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880.049526398,788.950473602,804,653,632.950473602,654,0.401097009906,-0.0153902023752,0.0598402532206,0.999999945449,0.000187662378441,-0.000270969497634,2.14477190728e-05,1793238047364852992
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,745.541024191,716,679,663,637,880,788.458975809,804,653,632.458975809,653.458975809,0.401069973699,-0.0153896691672,0.0598401725861,0.999999945555,0.000188254957588,-0.000270154898559,2.158554845e-05,1793238047381519360
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,745.869457559,716,679,663,637,880,788.130542441,804,653,632,653.130542441,0.401045067356,-0.0153896790572,0.0598397452235,0.999999945545,0.000188065579341,-0.000270314904667,2.17164315752e-05,1793238047398186240
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,745.289866284,716,679,663,637,880,788.710133716,804,653,632,653.710133716,0.401024393432,-0.0153915485827,0.0598381910459,0.999999945116,0.000185035468227,-0.000273963182538,2.17834416333e-05,1793238047414853120
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,745.287365356,716,679.287365356,663,637,880,789,804,653,632.287365356,654,0.401009752899,-0.0153919113674,0.0598382872502,0.999999945208,0.000184044792159,-0.000274303462088,2.16812083964e-05,1793238047431520000
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,745.862236279,716,679.862236279,663,637,880,789,804,653,632.862236279,654,0.401001148699,-0.0153907666765,0.0598400346414,0.99999994583,0.000185094545854,-0.000271334129721,2.14096492958e-05,1793238047448186368
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,745.553017279,716,679.553017279,663,637,880.446982721,789,804,653,633,654,0.400994389155,-0.0153900608707,0.0598403871498,0.999999946067,0.000185871453624,-0.000269932192948,2.13276462497e-05,1793238047464852992
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,745.034363534,716,679,663,637,880.965636466,789,804,653,633,654,0.400988487279,-0.0153895557322,0.0598404183188,0.999999946241,0.000186434473303,-0.000268895512208,2.13189036806e-05,1793238047481519616
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,745.614156213,716,679,663,637,880.385843787,789,804,653,633,654,0.400986970705,-0.015390040126,0.0598423269923,0.999999947333,0.000184967505397,-0.000265815390355,2.15247202479e-05,1793238047498186240
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,745.807307102,716,679,663.192692898,637,880,788.807307102,804,653,633,654,0.400985567477,-0.0153908355967,0.0598436768812,0.999999947981,0.000184139150133,-0.000263929494382,2.17315367229e-05,1793238047514852864
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+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,879.904634084,789,803.904634084,652.904634084,632,653.904634084,0.400980893389,-0.0153927172481,0.0598440177617,0.999999948184,0.000184049770068,-0.000263219058072,2.17791383456e-05,1793238047598187008
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..edce2baf188dee0b95480450ec36cdec46ceaf87
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,440 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8fc7dac232bacd3454bace301f8c96f022900e82
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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+size 28012273
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..342d7195fa4f3142f4fc22796bc3e537d03f1595
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_03/franka_data.csv
@@ -0,0 +1,441 @@
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+60,1.000000000,BASELINE,767.82034199,745.82034199,716,679,663.82034199,637,880.82034199,789,804.82034199,653,632,653.82034199,0.400983581003,-0.0153965762859,0.0598522067496,0.999999951843,0.000182088124702,-0.000250421265875,2.1157456776e-05,1793238049055124224
+61,1.016666667,BASELINE,767.601083059,745.601083059,716,679.398916941,663.601083059,637,880.601083059,789,804.601083059,653,632,654,0.400983898509,-0.01539647278,0.0598521178609,0.999999951819,0.00018322773876,-0.000249680646648,2.11924318209e-05,1793238049071791616
+62,1.033333333,BASELINE,767.02267818,745.02267818,716,679.97732182,663.02267818,637,880.02267818,789,804.02267818,653,632,654,0.400984481962,-0.01539648859,0.0598517762303,0.999999951782,0.000184851213329,-0.000248618130821,2.13287746309e-05,1793238049088459008
+63,1.050000000,BASELINE,767,745,716,680,663,637,880,789,804,653,632,653.447178723,0.400984767547,-0.0153969262078,0.0598527810424,0.999999952967,0.000179505707752,-0.000247775056647,2.12277892725e-05,1793238049105125120
+64,1.066666667,BASELINE,767,745,716,680,663,637,880,789,804,653,632.131356372,653.131356372,0.40098449508,-0.0153971039291,0.0598531768298,0.999999953621,0.000175571739327,-0.000247969828571,2.10375883608e-05,1793238049121791488
+65,1.083333333,BASELINE,767,745,716,680,663,637,880,789,804,653,632.720893535,653.720893535,0.400982318482,-0.0153963150712,0.0598512566389,0.999999952336,0.000177553295397,-0.00025175344916,2.05699787108e-05,1793238049138457600
+66,1.100000000,BASELINE,767,745,716,679.695770601,663,637,879.695770601,789,804,653,632.695770601,654,0.400982047959,-0.0153967725054,0.0598507616712,0.99999995204,0.000178611534517,-0.000252165863438,2.07670938082e-05,1793238049155123968
+67,1.116666667,BASELINE,767,745,716,679.11801032,663,637,879.11801032,789,804,653,632.11801032,654,0.400983491178,-0.0153983504736,0.0598515481134,0.999999952639,0.000178839624636,-0.000249547245549,2.15618590809e-05,1793238049171791104
+68,1.133333333,BASELINE,767,745,716,679.459363687,663,637,879.459363687,789,804,652.540636313,632,653.540636313,0.400982304667,-0.0153979339388,0.0598511108827,0.999999952308,0.00017837308569,-0.000251227884607,2.12602755106e-05,1793238049188458496
+69,1.150000000,BASELINE,767,745.037224044,716,679.962775956,663,637,880,789,803.962775956,652,632.037224044,653,0.400980688057,-0.015397156325,0.0598504972582,0.999999951825,0.000177701600444,-0.000253657523948,2.0728870867e-05,1793238049205125888
+70,1.166666667,BASELINE,767,745.623723374,716,679.376276626,663,637,880,789,803.376276626,652,632.623723374,653,0.400982685337,-0.0153986050466,0.0598519155715,0.999999952716,0.000176636924459,-0.00025085546271,2.09587812457e-05,1793238049221792512
+71,1.183333333,BASELINE,767,746,716,679,663,637,880,789,803.208089048,652.208089048,632.791910952,653.208089048,0.40098373239,-0.0153991634407,0.0598525563406,0.999999953043,0.000176609656813,-0.000249555999546,2.10870953373e-05,1793238049238458880
+72,1.200000000,BASELINE,767,746,716,679,663,637,880,789,803.788635798,652.788635798,632.211364202,653.788635798,0.400983078635,-0.0153981282416,0.0598518053868,0.999999952372,0.000178439241758,-0.000250946029813,2.10335627052e-05,1793238049255124992
+73,1.216666667,BASELINE,767,745.633883459,716,679,663,637,880,788.633883459,804,653,632,653.633883459,0.400981942087,-0.0153979977959,0.0598507775106,0.999999951838,0.000179309165409,-0.000252455822205,2.09224928624e-05,1793238049271791360
+74,1.233333333,BASELINE,767,745.058158097,716,679,663,637,880,788.058158097,804,653,632,653.058158097,0.400980529132,-0.0153983853392,0.0598495910909,0.999999951384,0.000179629664251,-0.000254034180654,2.07784818538e-05,1793238049288457472
+75,1.250000000,BASELINE,767,745,716,679,663,637,880.516829483,788.516829483,804,653,632,653.516829483,0.400981671567,-0.015398470321,0.0598505061388,0.999999951965,0.000178711978944,-0.000252392267078,2.07373561352e-05,1793238049305124096
+76,1.266666667,BASELINE,767,745,716,679,663,637,880.905579748,789,804,653,632,653.905579748,0.400982870835,-0.0153984181895,0.0598514786504,0.999999952536,0.000177988985829,-0.000250638519342,2.07134957545e-05,1793238049321790976
+77,1.283333333,BASELINE,767,745,716,679,663,637,880.313841156,789,804,653,632,653.313841156,0.400982857033,-0.0153978229434,0.0598515100711,0.99999995246,0.000179024271774,-0.000250201655642,2.07196803609e-05,1793238049338457600
+78,1.300000000,BASELINE,767.271407589,745,716,678.728592411,663,637,880,789,804,653,632.271407589,653,0.400982820108,-0.0153975435341,0.0598515619313,0.999999952512,0.000178927482301,-0.000250061328737,2.07417403884e-05,1793238049355123968
+79,1.316666667,BASELINE,767.84932704,745,716,678.15067296,663,637,880,789,804,653,632.84932704,653,0.400982757071,-0.0153976208124,0.0598516368749,0.999999952708,0.000177552192977,-0.000250255893181,2.07817291877e-05,1793238049371790592
+80,1.333333333,BASELINE,767.575600964,745,716,678.848798072,663,637,880.424399036,788.575600964,803.575600964,653,633,653.424399036,0.400983474949,-0.015397419129,0.0598519569492,0.999999952509,0.000179074176792,-0.000249947399508,2.09935135999e-05,1793238049388457472
+81,1.350000000,BASELINE,767.001533106,745,716,679.996933789,663,637,880.998466894,788.001533106,803.001533106,653,633,653.998466894,0.400984468226,-0.0153971190668,0.0598523634714,0.999999952166,0.0001816179146,-0.000249461497068,2.12658835605e-05,1793238049405124096
+82,1.366666667,BASELINE,767,745,716.574493854,680,663,637,880.425506146,788,803,653,633,654,0.400982729708,-0.0153988634923,0.0598512656177,0.999999952465,0.000177320456552,-0.000251388757862,2.07633083266e-05,1793238049421790720
+83,1.383333333,BASELINE,767,745,716.845703509,679.845703509,663,637,880,788.154296491,803.154296491,652.845703509,632.845703509,653.845703509,0.400981492462,-0.0153996431258,0.0598505928077,0.999999952518,0.000175378096614,-0.000252566589018,2.04081416903e-05,1793238049438457344
+84,1.400000000,BASELINE,767,745,716.255242505,679.255242505,663,637,880,788.744757495,803.744757495,652.255242505,632.255242505,653.255242505,0.400981692887,-0.0153976800145,0.0598511328961,0.999999951911,0.00018014489879,-0.000251607670529,2.04755347006e-05,1793238049455123712
+85,1.416666667,BASELINE,767,745,716,679,663,637,880,789,804,652.329639985,632,653,0.400981218353,-0.0153973482776,0.0598510727318,0.999999951761,0.000180559298595,-0.000251887617955,2.06974725364e-05,1793238049471790336
+86,1.433333333,BASELINE,767,745,716,679,663,637,880,789,804,652.910274841,632,653,0.40098022989,-0.0153982587036,0.0598505555223,0.999999951965,0.000177659686695,-0.000253110864205,2.10370840742e-05,1793238049488456960
+87,1.450000000,BASELINE,767,745.484726892,716,679,662.515273108,637,880,788.515273108,804,653,632,653.484726892,0.400980584121,-0.0153982455363,0.0598510327613,0.999999952059,0.000178228290586,-0.000252341196601,2.10138908976e-05,1793238049505124352
+88,1.466666667,BASELINE,767,746,716,679,662.059518097,637,879.940481903,788,804,653,632,654,0.400981251549,-0.0153980009406,0.0598516529068,0.999999952129,0.000179471847556,-0.000251185244343,2.0914588434e-05,1793238049521791744
+89,1.483333333,BASELINE,767,746,716,679,662.647350778,637,879.352649222,788,804,653,632,654,0.400982520711,-0.0153972004932,0.0598519281812,0.999999952182,0.000181079839824,-0.000249833712493,2.07283110744e-05,1793238049538458112
+90,1.500000000,BASELINE,767,745.768025455,716,679,663,637,879.231974545,788,804,653,632,653.768025455,0.400983431143,-0.0153966258126,0.0598522443966,0.999999952205,0.000181957569811,-0.000249117526935,2.05371239509e-05,1793238049555124992
+91,1.516666667,BASELINE,767,745.188213393,716,679,663,637,879.811786607,788,804,653,632,653.188213393,0.400983803673,-0.0153963896611,0.0598526220015,0.99999995219,0.00018174029753,-0.000249354020496,2.03385748291e-05,1793238049571792128
+92,1.533333333,BASELINE,767,745.38896697,716,679,663,637,880,788.38896697,804,653,632,653.38896697,0.400984104604,-0.0153963656293,0.0598526339974,0.999999952168,0.000182457301774,-0.000248899805208,2.05480520668e-05,1793238049588458752
+93,1.550000000,BASELINE,767,745.964882514,716,679,663,637,880,788.964882514,804,653,632,653.964882514,0.400984371123,-0.0153964435481,0.0598524702713,0.999999952142,0.000183623345835,-0.000248113615647,2.09536383457e-05,1793238049605125120
+94,1.566666667,BASELINE,767,746,716,679.539924944,663,637,880,789,804.539924944,653,632,654,0.400984633865,-0.0153978877543,0.0598529126502,0.999999952686,0.000181430692673,-0.000247524925449,2.10400492801e-05,1793238049621791232
+95,1.583333333,BASELINE,767,745.881832805,716.118167195,679.881832805,663,637,880,789,804.881832805,652.881832805,632.118167195,653.881832805,0.400984651413,-0.015398964809,0.0598532120725,0.999999953063,0.000179566957646,-0.000247356293631,2.10751058449e-05,1793238049638457344
+96,1.600000000,BASELINE,767,745.290552055,716.709447945,679.290552055,663,637,880,789,804.290552055,652.290552055,632.709447945,653.290552055,0.400983688245,-0.0153982166558,0.0598527815489,0.999999952644,0.000179893360397,-0.000248818128371,2.09875340767e-05,1793238049655123968
+97,1.616666667,BASELINE,767,745,716.705866351,679,663,637,880,789,804,652.294133649,633,653.294133649,0.400983601758,-0.0153976030327,0.0598529778417,0.999999952697,0.000179683873105,-0.000248771064022,2.08125384687e-05,1793238049671790592
+98,1.633333333,BASELINE,767,745,716.12755255,679,663,637,880,789,804,652.87244745,633,653.87244745,0.400984362286,-0.0153971193874,0.0598537797394,0.999999953206,0.0001789566303,-0.000247266161721,2.05530774531e-05,1793238049688457216
+99,1.650000000,BASELINE,767,745.445831621,716,679,663.445831621,637,880,789,804,653,632.554168379,653.554168379,0.400983512798,-0.0153977885009,0.0598529391469,0.999999952982,0.00017802695801,-0.000248842867581,2.04892710548e-05,1793238049705123584
+100,1.666666667,BASELINE,767,746,716,679,663.981552689,637,880,789,804,653,632.018447311,653.018447311,0.400982289453,-0.0153987219622,0.0598516928743,0.999999952553,0.000177144666483,-0.000251185887939,2.04807998505e-05,1793238049721790208
+101,1.683333333,BASELINE,767,746,716,679,663.389455839,637,880,789,804,653,632.610544161,653.610544161,0.400983607713,-0.0153977320978,0.0598522843443,0.999999952367,0.000179517028121,-0.000250242226006,2.04714122202e-05,1793238049738456832
+102,1.700000000,BASELINE,767,745.801698611,716,679,663,637,880,789,804,653,633,653.801698611,0.400984114992,-0.0153976474687,0.0598525141355,0.999999952322,0.000180395872565,-0.000249779098313,2.05851251426e-05,1793238049755123456
+103,1.716666667,BASELINE,767,745.222281771,716,679,663,637,880,789,804,653,633,653.222281771,0.400983063644,-0.0153993026116,0.0598520488161,0.999999952557,0.000178404325936,-0.000250239509517,2.09354250266e-05,1793238049771790336
+104,1.733333333,BASELINE,767,745,716,679,663,637,880,789,804,653,633,653,0.400981954966,-0.0154003283247,0.0598517256086,0.999999952741,0.000176455992987,-0.000250871754979,2.10649737178e-05,1793238049788456704
+105,1.750000000,BASELINE,767,745,716,679,663,637,880,789,804,653,633,653,0.400980810605,-0.0154009622794,0.0598514908519,0.999999952893,0.000174534556155,-0.000251610950591,2.10571263074e-05,1793238049805123328
+106,1.766666667,BASELINE,767,745,716,679.506849092,663,637,880,789,803.493150908,652.493150908,632.493150908,653,0.400982160928,-0.0154002785746,0.0598521140908,0.999999952911,0.00017682970063,-0.000249933664556,2.10252600915e-05,1793238049821790208
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,789,804,653,632,654,0.400982749957,-0.0153961474713,0.0598508025586,0.999999952025,0.000181818623434,-0.000249960947896,2.03043232626e-05,1793238049864288000
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716.579488681,679,663,637,880,789,804,653,632.579488681,654,0.400983131883,-0.0153972839603,0.0598521704438,0.999999952515,0.000180957024366,-0.000248582726511,2.0770737983e-05,1793238049880954624
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716.842306139,679,663,637,880,789,804,653,633,653.842306139,0.400983030249,-0.0153980808818,0.059852760571,0.999999952678,0.000180321674008,-0.000248359345382,2.10972839789e-05,1793238049897621248
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716.267495826,679,663,637,880,789,804,653,633,653.267495826,0.400981649545,-0.0153979796127,0.0598512934485,0.999999951979,0.000180284774526,-0.000251190635006,2.10538629393e-05,1793238049914287872
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745.685778775,716,679,663,637,880,789,804,653,632.685778775,653.314221225,0.400981120191,-0.0153981800926,0.059850819088,0.999999951793,0.000179762760917,-0.000252304353607,2.10036418608e-05,1793238049930954496
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745.098049926,716,679,663,637,880,789,804,653,632.098049926,653.901950074,0.400981331875,-0.0153986432241,0.0598512088575,0.99999995206,0.000178818489357,-0.000251923046457,2.0947501826e-05,1793238049947621376
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.482711747,745.482711747,716,679.482711747,663,637,880.482711747,789,804,653,632,653.517288253,0.400982378004,-0.0153982562955,0.0598520383924,0.999999952193,0.000179784121313,-0.000250686953513,2.11549159138e-05,1793238049964288000
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.938166861,745.938166861,716,679.938166861,663,637,880.938166861,789,804,653,632,653.061833139,0.400983401761,-0.0153977470871,0.0598527516315,0.999999952249,0.00018090526742,-0.000249636086741,2.13566676505e-05,1793238049980954624
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.361088837,745.361088837,716,679.361088837,663,637,880.361088837,789,804,653,632,653.638911163,0.400982846824,-0.0153976372752,0.0598517620467,0.999999951914,0.000180135597176,-0.000251554894457,2.1071493884e-05,1793238049997621248
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804.215027955,653,632.215027955,654,0.400985419261,-0.0153974350811,0.0598528471053,0.999999952374,0.000179766880837,-0.000249993391049,2.09513153988e-05,1793238050014287872
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804.789537709,653,632.789537709,654,0.400993220015,-0.0153970784435,0.0598574005341,0.999999954134,0.000180068475698,-0.000242613534626,2.11069745684e-05,1793238050030954496
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.371841709,788.628158291,804.628158291,653,633,654,0.401009651418,-0.01539865778,0.0598652176928,0.999999957319,0.000179324260416,-0.000229603350048,2.20718953763e-05,1793238050047621120
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.958651757,788.041348243,804.041348243,653,633,654,0.401031072353,-0.0154013563378,0.0598749216723,0.99999996113,0.000177975443589,-0.000213338171378,2.35046648129e-05,1793238050064287744
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,879.917579456,788.541210272,804,653,633,654,0.401076521611,-0.015405104432,0.0598920715354,0.999999967564,0.000177020784741,-0.00018139316824,2.51236227041e-05,1793238050080954368
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,716,679.121791972,663,637,879.121791972,789,804,653,632.878208028,654,0.401126936163,-0.0154081857034,0.0599098591247,0.999999972813,0.000176758145127,-0.000149724740429,2.66915608615e-05,1793238050097621248
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,716,679.69622476,663,637,879.69622476,789,804,653,632.30377524,654,0.401189034862,-0.0154084930419,0.0599279191301,0.999999975968,0.000178956355912,-0.00012350162087,2.80174300897e-05,1793238050114287872
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745.270655495,716,679.729344505,663,637,880,789,803.729344505,653,632.270655495,654,0.401255164174,-0.0154119020538,0.0599422518641,0.999999978661,0.00017723531826,-0.000102060860257,2.91486933755e-05,1793238050130954496
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745.845083893,716,679.154916107,663,637,880,789,803.154916107,653,632.845083893,654,0.40132581728,-0.01541879226,0.0599524012567,0.999999981211,0.000171115472864,-8.59876296597e-05,3.00615386666e-05,1793238050147621376
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745.568818374,716,679.431181626,663,637,880,789,803,653,633,654,0.401401629291,-0.0154220271133,0.0599561281268,0.999999981966,0.000170717939147,-7.77733385665e-05,2.95646457033e-05,1793238050164287744
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,716,680,663,637,880,789,803.021214401,653,632.978785599,653.978785599,0.401479843568,-0.0154239668122,0.0599573106199,0.999999982078,0.000172416717977,-7.28123700029e-05,2.8538899618e-05,1793238050180954624
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,716,680,663,637,880,789,803.601388763,653,632.398611237,653.398611237,0.401571158229,-0.0154273472844,0.0599539430765,0.999999981574,0.000173672750453,-7.71048490133e-05,2.72952629577e-05,1793238050197620992
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,716,679.820123032,663,637,880,789,804,653,632.179876968,653,0.401670604182,-0.0154317637983,0.0599512952547,0.999999981428,0.000173182101677,-8.04362706126e-05,2.61010819497e-05,1793238050214287872
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,716,679.245336765,663,637,880,789,804,653,632.754663235,653,0.401787901895,-0.0154384548807,0.0599502275398,0.999999982097,0.000168856716814,-8.1657746645e-05,2.50154780813e-05,1793238050230954752
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804,653,633,653,0.401922685571,-0.0154463782445,0.0599523533747,0.999999983321,0.000164325393777,-7.59893219175e-05,2.41154926868e-05,1793238050247621376
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804,653,633,653,0.40207049083,-0.0154552192732,0.059956857405,0.99999998486,0.000159640710752,-6.51900764598e-05,2.33537348764e-05,1793238050264288000
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.493985156,789,804,653,632.506014844,653,0.402239658975,-0.0154633296678,0.0599610361656,0.999999985971,0.000156753683897,-5.4594776708e-05,2.24901708678e-05,1793238050280954368
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745.083551192,716,679,663,637,880.916448808,789,804,653,632,653,0.402417012186,-0.0154715548188,0.0599645146175,0.999999986994,0.000153457345771,-4.47619982805e-05,2.14100645447e-05,1793238050297620992
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.660491753,716,679,663,637,880.339508247,789,804,653,632,653,0.402617744949,-0.0154813111327,0.0599642375509,0.999999988442,0.000145643979439,-3.91938416158e-05,1.91701505775e-05,1793238050314287616
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.236725603,745.763274397,716,679,663,637,880,789,804,653,632.236725603,653,0.402831968479,-0.0154921139875,0.059965713946,0.999999989784,0.00013803885703,-3.28699022173e-05,1.72344528556e-05,1793238050330954240
+136,2.266666667,POSE1_TO_POSE2_PRESS,767.811948884,745.188051116,716,679,663,637,880,789,804,653,632.811948884,653,0.403065482655,-0.0155044133072,0.0599696976435,0.999999991007,0.000130731506366,-2.54652574952e-05,1.57337588793e-05,1793238050347620864
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.602973227,745,716,679,663,637,880,789,803.602973227,653,632.602973227,653,0.403306971754,-0.0155140949595,0.0599679973877,0.999999991945,0.000123513032496,-2.60452012011e-05,1.32545107503e-05,1793238050364287744
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.013108931,745,716,679,663,637,880,789,803.013108931,653,632.013108931,653,0.403552334297,-0.0155225051996,0.0599635364125,0.999999992714,0.000116337726657,-3.05032923e-05,1.02999749201e-05,1793238050380954368
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,788.433490531,804.133018938,653,632,653.566509469,0.403827592519,-0.0155294552106,0.05995498625,0.999999994799,9.24918916869e-05,-4.24691361427e-05,6.65893810524e-06,1793238050397620992
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,788.144628894,804.855371106,653,632,654,0.404110481189,-0.0155323851972,0.0599467064597,0.999999996062,6.92273185706e-05,-5.54322241141e-05,3.28768994207e-06,1793238050414288128
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,788.718986319,804.281013681,653,632,654,0.404414022836,-0.0155234693005,0.0599395061689,0.999999996298,4.88156315637e-05,-7.08513514726e-05,7.64413189488e-07,1793238050430956032
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,803.699773898,653,632.300226102,654,0.404743330801,-0.0155135858846,0.0599362545517,0.999999995816,4.82294813059e-05,-7.76700129224e-05,-3.11952926427e-06,1793238050447622656
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,803.111940974,653,632.888059026,654,0.405097322095,-0.015502775616,0.0599367856343,0.999999994838,6.6635546823e-05,-7.62497101139e-05,-8.30694541645e-06,1793238050464288256
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,716,678.530835193,663,637,880,789,803.469164807,653,633,653.530835193,0.405493850181,-0.0155117066754,0.0599484402702,0.99999999706,4.99361300095e-05,-5.73576257977e-05,-9.78859663699e-06,1793238050480954624
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.048655644,745.048655644,716,678.048655644,663,637,880,789,804,653,632.951344356,653,0.405903878392,-0.0155247780234,0.0599633700497,0.999999999074,2.5379230877e-05,-3.31162225709e-05,-1.05051113583e-05,1793238050497621248
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.627791881,745.627791881,716,678.627791881,663,637,880,789,804,653,632.372208119,653,0.406352006257,-0.0155323616337,0.0599854806383,0.999999999899,5.18507859175e-06,4.63965447898e-06,-1.23832774225e-05,1793238050514288128
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.795446131,746,715.795446131,679,663,637,880,789,804,653,632,653.204553869,0.406805368186,-0.0155381516181,0.0600032197425,0.999999999276,-1.34642169837e-05,3.24894571017e-05,-1.45339815713e-05,1793238050530954752
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.222954816,746,715.222954816,679,663,637,880,789,804,653,632,653.777045184,0.407268144766,-0.0155407153511,0.0600130957196,0.999999998518,-2.9334729216e-05,4.25208913266e-05,-1.71749084215e-05,1793238050547621632
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,715.360755605,679,663.360755605,637,880.360755605,789,804,653,632,653.639244395,0.407733148253,-0.0155405085593,0.0600130835703,0.999999998468,-3.78142454261e-05,3.47471508156e-05,-2.06525016287e-05,1793238050564288256
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,715.951622207,679,663.951622207,637,880.951622207,789,804,653,632,653.048377793,0.408199572174,-0.0155385345649,0.060006764196,0.999999998709,-4.15793520628e-05,1.5616229497e-05,-2.4663769402e-05,1793238050580954880
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663.468454904,637,881,789,804,652.468454904,632.531545096,653.531545096,0.408700326568,-0.0155378504829,0.0599939684649,0.999999998257,-5.06011711949e-05,-6.55101566269e-06,-2.97091208928e-05,1793238050597621248
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745.890634552,716,679,663.109365448,637,880.890634552,789,804,652.109365448,632.890634552,654,0.40921494544,-0.0155379072616,0.0599849905234,0.999999997268,-6.17804151822e-05,-2.13951243931e-05,-3.44767339838e-05,1793238050614287872
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745.317590837,716,679,663.682409163,637,880.317590837,789,804,652.682409163,632.317590837,654,0.409775365691,-0.0155406173792,0.0599946475507,0.999999996073,-8.01190266533e-05,-4.04322492399e-06,-3.76758404829e-05,1793238050630954496
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745.255203619,716,679.255203619,663.744796381,637,880,789,804,653,632.255203619,654,0.410351579951,-0.0155447006978,0.0600036940414,0.99999999455,-9.52631889305e-05,1.30159587879e-05,-4.06909363361e-05,1793238050647621120
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.827688263,716,679.827688263,663.172311737,637,880,789,804,653,632.827688263,654,0.410947430133,-0.0155504912443,0.0600119814861,0.999999992949,-0.000106435865692,2.97112269711e-05,-4.3477262027e-05,1793238050664288000
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,679.583060812,663.416939188,637,880.416939188,789,803.583060812,653,632.583060812,654,0.411553663979,-0.0155496631654,0.0600076150219,0.999999997737,-5.46176612237e-05,2.50408631001e-05,-3.02710729322e-05,1793238050680954880
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663.987086091,637,881,789,803.012913909,653,632,653.987086091,0.41216374136,-0.0155458658998,0.0599973983908,0.999999999639,2.24167132594e-05,1.01404354089e-05,-1.08147153329e-05,1793238050697621760
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663.412661242,637,881,789,803.587338758,653,632,653.412661242,0.412746531631,-0.0155368834357,0.0599697249543,0.999999998455,1.65208362682e-05,-4.95528449609e-05,-1.90166294522e-05,1793238050714288128
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,789,804.162230293,653,632,653,0.413349190732,-0.0155318700729,0.0599479817361,0.999999995154,6.613936377e-06,-9.46184254631e-05,-2.63891147809e-05,1793238050730954752
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,789,804.738312321,653,632,653,0.414002535457,-0.0155369819433,0.059941366589,0.999999994168,-1.35251382179e-05,-0.000102368537028,-3.1645715388e-05,1793238050747621376
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881.312538987,789,804.687461013,652.687461013,632,653,0.41470946036,-0.0155448899595,0.0599635276993,0.999999996988,-3.15859406329e-05,-6.29597756912e-05,-3.26043884133e-05,1793238050764288000
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881.885221305,789,804.114778695,652.114778695,632,653,0.415460982951,-0.0155551253611,0.0600096408664,0.999999998279,-4.79168820419e-05,1.57019015236e-05,-2.99856602852e-05,1793238050780954624
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881.523034654,789,803.523034654,652,632,653.476965346,0.41619234705,-0.0155579435194,0.060029331075,0.999999997239,-4.81947759246e-05,4.88381331447e-05,-2.85216933754e-05,1793238050797621248
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663.070928789,637,881,789,803.141857579,652.070928789,632,654,0.416915307457,-0.0155585725315,0.0600381568245,0.999999996606,-4.47817796728e-05,6.32956888869e-05,-2.78457764164e-05,1793238050814288128
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663.646681274,637,881,789,804.293362547,652.646681274,632,654,0.417614419152,-0.0155568533175,0.0600167962055,0.999999998233,-4.37387626412e-05,2.60300857211e-05,-3.07185333063e-05,1793238050830954752
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679.222279712,663.777720288,637,881,789,804.777720288,653,632,653.777720288,0.418324450334,-0.0155562024125,0.0599975746622,0.999999998367,-4.5798349636e-05,-5.03757876426e-06,-3.38112347565e-05,1793238050847621120
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679.797633549,663.202366451,637,881,789,804.202366451,653,632,653.202366451,0.419051826383,-0.0155572484335,0.059981750872,0.999999997568,-5.2786183004e-05,-2.62603028905e-05,-3.72533016154e-05,1793238050864288000
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745.61733882,716,680,663.38266118,637,880.61733882,789,804.38266118,652.61733882,632,653.38266118,0.419795477393,-0.0155572717197,0.0599671589396,0.99999999673,-5.4420448068e-05,-4.4613759029e-05,-3.98375524163e-05,1793238050880954880
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745.027062652,716,680,663.972937348,637,880.027062652,789,804.972937348,652.027062652,632,653.972937348,0.42054795843,-0.0155567401152,0.0599532353596,0.999999995822,-5.31501039418e-05,-6.14104763118e-05,-4.19563900534e-05,1793238050897621504
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,716,680,663.447564523,637,881.104870955,789,804.447564523,652,632,654,0.421272553834,-0.0155547189557,0.0599337434987,0.999999991839,-5.31169506826e-05,-0.000107733968838,-4.35258845198e-05,1793238050914288128
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.129878073,716,679.870121927,663,637,881.870121927,789,804.129878073,652,632,654,0.422014806805,-0.0155544224774,0.0599228470157,0.999999988515,-5.3721384246e-05,-0.000134492534277,-4.46821771153e-05,1793238050930954496
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745.70208386,716,679.29791614,663,637,881.29791614,789,804.70208386,652,632,654,0.422821759755,-0.0155602435315,0.0599421351695,0.999999993394,-5.62947957291e-05,-8.97865893761e-05,-4.45211198763e-05,1793238050947621120
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663.266934502,637,881,789,804.733065498,652.266934502,632,654,0.423627631487,-0.0155664987207,0.0599755569589,0.999999996688,-6.23814830745e-05,-3.03508555903e-05,-4.25687980137e-05,1793238050964287744
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663.823796411,637,881,789,804.176203589,652.823796411,632,654,0.424432328818,-0.0155732254395,0.0600243298097,0.999999995624,-7.22840685837e-05,4.50834423574e-05,-3.86709174739e-05,1793238050980954624
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679.421658834,664,637,881.421658834,789,804.421658834,652.578341166,632,654,0.425253559646,-0.0155743973614,0.0600397801706,0.999999994153,-7.30630705059e-05,7.03069419529e-05,-3.7593296956e-05,1793238050997621248
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.963869713,746,716,680,664,637,882,789,804.963869713,652.036130287,632,653.963869713,0.426079198327,-0.0155730438865,0.0600385343996,0.999999994293,-7.04048022276e-05,7.07978966238e-05,-3.80165487158e-05,1793238051014287872
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.38499728,746,716,680,664,637,882,789,804.38499728,652.61500272,632,653.38499728,0.426856084648,-0.0155723795027,0.0600181895015,0.999999994784,-7.95530928828e-05,4.89006264195e-05,-4.13750183195e-05,1793238051030954752
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.191416907,746,716,680,664,637,881.808583093,789,804,653,632,653.191416907,0.4276272148,-0.0155721508327,0.0600003525043,0.999999995019,-8.52040226532e-05,2.72411594176e-05,-4.42799296956e-05,1793238051047621376
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.762949613,746,716,680,664,637,881.237050387,789,804,653,632,653.762949613,0.428386914484,-0.0155727874033,0.0599874956943,0.99999999539,-8.39098929504e-05,6.05391825646e-06,-4.62841655227e-05,1793238051064288000
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881,789,804.34623219,653,632,653.65376781,0.429125214625,-0.0155726032006,0.0599713717351,0.999999994962,-8.52182921858e-05,-2.30907605114e-05,-4.77536284382e-05,1793238051080954624
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881,789,804.937841961,653,632,653.062158039,0.42984834869,-0.0155718373092,0.0599529323213,0.999999993228,-8.83711249527e-05,-5.78749390209e-05,-4.88440932672e-05,1793238051097621248
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680.518518361,664,637,881.518518361,789,804.481481639,653,632.518518361,653.518518361,0.43065127929,-0.0155741260405,0.0599572289942,0.99999999384,-8.95033558492e-05,-4.22971200357e-05,-5.02098248475e-05,1793238051114287872
+183,3.050000000,POSE1_TO_POSE2_PRESS,767.097177805,746,716,680.902822195,664.097177805,637,882,789,804.097177805,652.902822195,633,654,0.431462704634,-0.0155775337479,0.0599701595954,0.999999994396,-9.20305856763e-05,-1.2615640553e-05,-5.07820851306e-05,1793238051130954496
+184,3.066666667,POSE1_TO_POSE2_PRESS,767.672230857,746,716,680.327769143,664.672230857,637,882,789,804.672230857,652.327769143,633,654,0.432269834829,-0.0155846805571,0.0600124217889,0.999999991976,-0.00010258430993,5.73459734957e-05,-4.72935048648e-05,1793238051147621120
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.747395343,746,716,680,664.747395343,637,882,789,805,652,633,653.747395343,0.433031350638,-0.0155871935457,0.060032125597,0.999999989532,-0.000106285255194,8.68121080021e-05,-4.58500835621e-05,1793238051164287744
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+199,3.316666667,POSE1_TO_POSE2_PRESS,767,745.614991365,716,680,664.385008635,637,881,789,805,652.614991365,633,654,0.442184023093,-0.0155834632481,0.0599829014079,0.999999990106,-0.000125740112987,-3.15648999644e-05,-5.45930075534e-05,1793238051397621248
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.328720676,663,637,881,789,804,652.328720676,633,653.328720676,0.420348443456,-0.0153847299557,0.0597921530427,0.999999922586,0.000167297446117,-0.000355579293199,2.0061870426e-05,1793238054048999936
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745.73189746,716,679.26810254,663,637,880.73189746,789,804,652,632.73189746,653,0.419548669082,-0.0153808938758,0.0597592824693,0.999999902833,0.000171325544023,-0.000405820313615,1.70473405285e-05,1793238054065666304
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.141197511,716,679.858802489,663,637,880.141197511,789,804,652,632.141197511,653,0.418819772224,-0.0153800696079,0.0597458692205,0.999999900065,0.000174855548726,-0.00041117503646,1.52143740273e-05,1793238054082332928
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.559308256,663,637,880.440691744,789,804.440691744,652,632,653.440691744,0.418112679717,-0.0153799185423,0.0597658141481,0.999999914273,0.000174447808556,-0.000375128878119,1.73215305331e-05,1793238054099000064
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880.980237218,789,804.980237218,652.019762782,632,654,0.417412461853,-0.0153799695607,0.0597961240395,0.999999931491,0.00017312111842,-0.00032652760329,2.06653941826e-05,1793238054115666688
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880.402595961,789,804.402595961,652.597404039,632,654,0.416712964509,-0.0153797557381,0.0598232301278,0.999999941143,0.00018077041249,-0.000290621215687,2.39820789051e-05,1793238054132333568
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.173862126,716,679,663,637,880.173862126,789,804,653,632.173862126,654,0.416007358172,-0.0153796650534,0.0598399637108,0.999999945473,0.00018519696198,-0.00027215658175,2.61932187925e-05,1793238054149000448
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745.747599092,716,679,663,637,880.747599092,789,804,653,632.747599092,654,0.415287701297,-0.0153798575804,0.0598328410171,0.999999939904,0.000182211350056,-0.000293807167411,2.58616574487e-05,1793238054165666816
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745.66937387,716,679.33062613,663,637,880.66937387,789,804,653,632.66937387,653.66937387,0.414606924634,-0.0153806728599,0.0598329609474,0.999999939228,0.00018224577439,-0.000296077173511,2.58523027195e-05,1793238054182333440
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745.079049761,716,679.920950239,663,637,880.079049761,789,804,653,632.079049761,653.079049761,0.413956687379,-0.0153819772947,0.0598387697654,0.999999942532,0.000184652356589,-0.000283124251745,2.6096032687e-05,1793238054199000064
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.499075979,663,637,880,789,804.500924021,653,632,653.500924021,0.413297137701,-0.0153802396345,0.0598369959806,0.999999941841,0.000184027448473,-0.000285969782619,2.59596212273e-05,1793238054215666944
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.921094599,745,716,679.078905401,663,636.921094599,880,789,804.921094599,653,632.078905401,654,0.412634324144,-0.0153774567562,0.0598292181974,0.9999999379,0.000184239873773,-0.000299357439919,2.5300066134e-05,1793238054232333312
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.345581022,745,716,679.654418978,663,636.345581022,880,789,804.345581022,653,632.654418978,654,0.411960030496,-0.0153710558095,0.0597910315202,0.999999915056,0.000192672154877,-0.000363720904821,2.17179059739e-05,1793238054249000192
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.234902932,745,716,679.765097068,663,636.234902932,880,788.765097068,804,653,632.765097068,653.765097068,0.411325118956,-0.0153687183827,0.0597697495278,0.999999902519,0.000197411594299,-0.000394465069693,1.96724609723e-05,1793238054265666816
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.822857148,745,716,679.177142852,663,636.822857148,880,788.177142852,804,653,632.177142852,653.177142852,0.410749397472,-0.0153724882916,0.0597738747169,0.999999910283,0.000196600815844,-0.000374680542414,1.99366480935e-05,1793238054282333184
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745.404666965,716,679.404666965,663,637,880.404666965,788.404666965,804,652.595333035,632.404666965,653.404666965,0.410202493415,-0.0153761275393,0.0598004462293,0.999999925648,0.000193954921544,-0.000332524310584,2.26369601621e-05,1793238054298999808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745.983827352,716,679.983827352,663,637,880.983827352,788.983827352,804,652.016172648,632.983827352,653.983827352,0.409668015456,-0.0153797104458,0.0598366966537,0.999999942101,0.000190517720136,-0.000280721340522,2.63877354662e-05,1793238054315666432
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,880.442069875,788.442069875,804,652,632.442069875,654,0.40914710899,-0.01538012391,0.0598518950186,0.999999947462,0.000190705065859,-0.000260611127619,2.80836845262e-05,1793238054332333312
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.868448292,663,637,880.131551708,788.131551708,804,652.131551708,632,654,0.408627011724,-0.0153804391519,0.0598611286349,0.999999950353,0.000190981940517,-0.000248942861589,2.91238645484e-05,1793238054348999680
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.295952459,663,637,880.704047541,788.704047541,804,652.704047541,632,654,0.408108319897,-0.0153807303427,0.0598523962445,0.999999946865,0.000191209906628,-0.000262519281056,2.8163846739e-05,1793238054365666560
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745.712058215,716,679,663,637,881,788.712058215,804,653,632,653.712058215,0.407601438081,-0.015380319753,0.0598419287917,0.999999942483,0.000190428057023,-0.000279379358706,2.6800619237e-05,1793238054382333440
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745.115965602,716,679,663,637,881,788.115965602,804,653,632,653.115965602,0.407107195188,-0.0153791581285,0.0598296045028,0.999999936983,0.00018856551827,-0.000299753555502,2.5005883036e-05,1793238054399000064
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880.533542658,788.466457342,804,653,632,653.466457342,0.40666654883,-0.0153791399078,0.059829941857,0.999999939786,0.000186342392128,-0.000291710521779,2.46789184133e-05,1793238054415666432
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745,716,679.045104931,663,637,880,789,804,652.954895069,632.045104931,654,0.406242230851,-0.0153794303355,0.059833966134,0.999999944389,0.000184957719189,-0.000276398044783,2.48421997255e-05,1793238054432333312
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.61820739,663,637,880,789,804,652.38179261,632.61820739,654,0.40585751593,-0.0153801009855,0.0598453504574,0.999999947895,0.000194407474712,-0.000256335296375,2.65943745868e-05,1793238054448999936
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.807754759,745.192245241,716,680,663,637,880,788.807754759,804,652.192245241,632.807754759,654,0.405473189015,-0.0153800010407,0.0598514069388,0.999999949275,0.000200619106889,-0.000245826480751,2.77643033006e-05,1793238054465666560
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.23185024,745.76814976,716,680,663,637,880,788.23185024,804,652.76814976,632.23185024,654,0.405089636483,-0.0153783632381,0.0598468307706,0.999999947185,0.000200368491932,-0.000254384225342,2.77722569644e-05,1793238054482332928
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.352127683,746,716,679.647872317,663,637,880,788.352127683,804,653,632,654,0.404714799339,-0.0153772745904,0.0598323560643,0.999999939697,0.000205582485185,-0.000278593130477,2.69615736735e-05,1793238054499000064
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.941546146,746,716,679.058453854,663,637,880,788.941546146,804,653,632,654,0.404345835257,-0.0153765560054,0.0598112109595,0.999999927578,0.000214478952503,-0.000313348994765,2.55992296652e-05,1793238054515667456
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767.524322312,745.475677688,716,679,663,637,880,789,804,653,632,653.475677688,0.404016864768,-0.015375900985,0.0597943502564,0.999999918448,0.000217586493237,-0.000339334974496,2.47436198554e-05,1793238054532334080
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767.89499389,745,716,679,663,637,880,789,804,652.89499389,632,653,0.403704993336,-0.0153753714302,0.0597826436391,0.999999911785,0.000220560982816,-0.000356631947933,2.44378042493e-05,1793238054549000448
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767.320396868,745,716,679,663,637,880,789,804,652.320396868,632,653,0.403449899485,-0.0153753716672,0.059791876942,0.99999991657,0.000225790502824,-0.000339389038401,2.63412085274e-05,1793238054565666816
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880,788.745540129,804,652,632.254459871,653,0.403211365747,-0.0153746754445,0.0598052018595,0.999999922236,0.000233019288875,-0.000316874857781,2.8648909409e-05,1793238054582333184
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880,788.170356076,804,652,632.829643924,653,0.402993704586,-0.015373101396,0.0598236838948,0.999999928646,0.000242767972713,-0.00028771670666,3.14661903102e-05,1793238054598999808
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745.415467706,716,679,662.584532294,637,880,788,803.584532294,652.415467706,632.584532294,653,0.402789479454,-0.0153718011371,0.0598377489115,0.999999934075,0.000246843064578,-0.000264151125001,3.38077880079e-05,1793238054615666688
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.994346907,716,679,662.005653093,637,880,788.005653093,803.005653093,653,632.005653093,653.005653093,0.402591024152,-0.0153705995461,0.0598498400784,0.999999938918,0.000248501047878,-0.000243146096765,3.5930910421e-05,1793238054632333312
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.415884554,716,679,662.584115446,637,880,788.584115446,803.584115446,653,632.584115446,653.584115446,0.402404301999,-0.0153677214175,0.0598502665874,0.999999939245,0.000247159918142,-0.000243129683631,3.61995017426e-05,1793238054648999936
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.160996552,663,637,880.160996552,789,804,652.839003448,632.839003448,654,0.402222577103,-0.0153658567338,0.0598483380996,0.999999939543,0.000241859469646,-0.00024734612907,3.51954974567e-05,1793238054665666560
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,716,679.733832636,663,637,880.733832636,789,804,652.266167364,632.266167364,654,0.402053635538,-0.0153665845081,0.0598403853788,0.999999939462,0.000226430829308,-0.000262390498834,3.09361117272e-05,1793238054682333696
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.684051687,663,637,880.684051687,789,804.315948313,652.315948313,632,654,0.401896933831,-0.0153703671223,0.0598342904599,0.999999943228,0.00019407901377,-0.00027452242175,2.26810232372e-05,1793238054699000576
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.093881895,663,637,880.093881895,789,804.906118105,652.906118105,632,654,0.401750855462,-0.0153768011284,0.059829807985,0.999999948766,0.000147039040066,-0.00028412654168,1.09579381104e-05,1793238054715666944
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880.487720053,789,804.512279947,653,632,654,0.401638872009,-0.0153856790251,0.0598316668278,0.999999947301,0.00015952429052,-0.000282565644675,1.03476404825e-05,1793238054732333312
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.067156677,663,637,880.932843323,789,803.932843323,653,632,654,0.401535996587,-0.0153941236023,0.059834847322,0.999999944919,0.000180163494243,-0.000278498750956,1.18795514556e-05,1793238054748999936
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.642473038,663,637,880.357526962,789,803.357526962,653,632,654,0.401453236307,-0.0153957911808,0.0598389515376,0.999999947346,0.000177297822442,-0.000271451071867,1.37143041136e-05,1793238054765666560
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745.217227396,716,679.782772604,663,637,880,789,803.217227396,653,632.217227396,654,0.401375077757,-0.0153961133722,0.0598415856204,0.999999948716,0.000175789822762,-0.00026728534462,1.50105547521e-05,1793238054782333440
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745.791059125,716,679.208940875,663,637,880,789,803.791059125,653,632.791059125,654,0.401304473493,-0.0153942269523,0.059841806307,0.999999948431,0.000176510601832,-0.000267850680928,1.54227908434e-05,1793238054799000320
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745.625152999,716,679,663,636.625152999,880,789,803.625152999,652.625152999,633,654,0.401243284843,-0.0153917656204,0.0598419262163,0.999999948147,0.000178353328916,-0.000267650977231,1.60779191414e-05,1793238054815666944
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,745.035664135,716,679,663,636.035664135,880,789,803.035664135,652.035664135,633,654,0.40118748769,-0.0153889750871,0.0598419884194,0.999999947858,0.000180838496787,-0.000267013202481,1.68721303995e-05,1793238054832333312
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.544028666,663,636.544028666,880,789,803,652.544028666,632.455971334,654,0.401147612227,-0.0153891421833,0.0598434489844,0.999999948692,0.000179381345266,-0.000264842728519,1.723836267e-05,1793238054848999936
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,745,716,680,663,637,880,789,803.122523196,653,632,654,0.40111082405,-0.0153895035192,0.0598446878278,0.999999949438,0.000178102546395,-0.000262857564632,1.75981087207e-05,1793238054865666560
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,745,716,680,663,637,880,789,803.698915578,653,632,654,0.401081674226,-0.0153898788575,0.0598447717631,0.999999949617,0.00017842485276,-0.00026192447416,1.80359200219e-05,1793238054882333184
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,745.279772099,716.279772099,679.720227901,663,637,879.720227901,789,804.279772099,652.720227901,632.279772099,653.720227901,0.401054917464,-0.0153903974227,0.0598435675877,0.999999949229,0.000177813480262,-0.000263808211146,1.81595133547e-05,1793238054899000064
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,745.8655108,716.8655108,679.1344892,663,637,879.1344892,789,804.8655108,652.1344892,632.8655108,653.1344892,0.401030777816,-0.0153910726248,0.0598409546987,0.9999999482,0.00017618101045,-0.000268772509404,1.79394691721e-05,1793238054915666688
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,716.549692305,679.450307695,663,637,879.90061539,789,804.549692305,652.90061539,633,653.450307695,0.401014969087,-0.0153892843244,0.059839645913,0.999999947468,0.000177482978554,-0.000270653570239,1.759187239e-05,1793238054932333568
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.965719663,663,637,880.965719663,789,804,653.965719663,632.965719663,653.965719663,0.401002353821,-0.0153869186619,0.0598390088718,0.999999946956,0.000179701186746,-0.000271102478095,1.72616086753e-05,1793238054949000448
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.390326476,663,637,880.390326476,789,804,653.390326476,632.390326476,653.390326476,0.401000954353,-0.0153870289207,0.0598428401165,0.999999948471,0.000182577124203,-0.000263450036343,1.78050170426e-05,1793238054965667072
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,745.815711133,716,679,663,637,879.815711133,789,804,652.815711133,632.184288867,653.184288867,0.400998093296,-0.0153875784894,0.0598452598604,0.999999949461,0.000183755641586,-0.000258806464015,1.82054495978e-05,1793238054982333952
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d7a3aa28092a91a1b6f7da8baf09030538cf95e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,441 @@
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+425,7.083333333,pose2_to_pose3_retreat,0.578254476306,-0.00999875173817,1.05001153699,0.548825760853,-0.00132508141786,1.04966108148
+426,7.100000000,pose2_to_pose3_retreat,0.578254156881,-0.00999875153249,1.050011552,0.548825441544,-0.00132508078757,1.04966109678
+427,7.116666667,pose2_to_pose3_retreat,0.578254027868,-0.0099987531821,1.05001156062,0.548825312606,-0.00132508217303,1.04966110558
+428,7.133333333,pose2_to_pose3_retreat,0.578253915979,-0.00999875461274,1.0500115681,0.548825200784,-0.00132508337458,1.04966111322
+429,7.150000000,pose2_to_pose3_retreat,0.578253668435,-0.00999875777793,1.05001158464,0.548824953385,-0.00132508603293,1.04966113011
+430,7.166666667,pose2_to_pose3_retreat,0.578253158871,-0.00999876429339,1.05001161869,0.54882444412,-0.00132509150508,1.04966116488
+431,7.183333333,pose2_to_pose3_retreat,0.578252863281,-0.0099987680729,1.05001163844,0.548824148704,-0.00132509467939,1.04966118505
+432,7.200000000,pose2_to_pose3_retreat,0.578252838268,-0.00999876839273,1.05001164012,0.548824123706,-0.001325094948,1.04966118675
+433,7.216666667,pose2_to_pose3_retreat,0.578252743056,-0.00999877805014,1.05001164507,0.548824028523,-0.00132510456508,1.04966119109
+434,7.233333333,pose2_to_pose3_retreat,0.578252619259,-0.0099987980786,1.05001165026,0.54882390474,-0.00132512467799,1.04966119482
+435,7.250000000,pose2_to_pose3_retreat,0.578252523879,-0.00999881350957,1.05001165425,0.548823809371,-0.00132514017403,1.0496611977
+436,7.266666667,pose2_to_pose3_retreat,0.578252421244,-0.00999883011428,1.05001165856,0.548823706747,-0.00132515684876,1.0496612008
+437,7.283333333,pose2_to_pose3_retreat,0.578252238473,-0.0099988596838,1.05001166622,0.548823523997,-0.00132518654295,1.04966120631
+438,7.300000000,pose2_to_pose3_retreat,0.578252158065,-0.00999867179573,1.0500117558,0.548823441265,-0.0013250065758,1.04966129413
+439,7.316666667,pose2_to_pose3_retreat,0.578252179325,-0.00999863438498,1.05001193089,0.548823461705,-0.00132497204466,1.04966146612
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..984f50e1842069aadff9043ce3e7152de61a51f1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4fd476cb5e6498c2f7f38b3c2c52eeca05a81552db85199cdf6bc54a1d49b0f
+size 28078235
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..406b59e499b07743380814bd87b93394f76180de
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_04/franka_data.csv
@@ -0,0 +1,442 @@
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+0,0.000000000,BASELINE,767,745,716,679,663,637,880,788,804,653,632,654,0.400985360272,-0.0153907699509,0.0598507806573,0.999999952485,0.000178698837,-0.000250558028908,1.78194163072e-05,1793238055551105024
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+4,0.066666667,BASELINE,767,745.31087623,716,679,663,637,880,788.31087623,804,653,632,653.68912377,0.400985826807,-0.0153948020023,0.0598520019636,0.999999953627,0.000174448709174,-0.000248950743617,1.83551153014e-05,1793238055617771008
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+21,0.350000000,BASELINE,767,745.177552239,716,679,663,637,880.177552239,788,803.822447761,653,632,653,0.400986857555,-0.0153941023342,0.0598527289251,0.999999953274,0.000178150638411,-0.000247741735882,1.83910777284e-05,1793238055901103360
+22,0.366666667,BASELINE,767,745.746440673,716,679,663,637,880.746440673,788,803.253559327,653,632,653,0.40098866801,-0.0153951589115,0.059853288144,0.99999995374,0.000177948768093,-0.000245980831074,1.86648256159e-05,1793238055917770240
+23,0.383333333,BASELINE,767,745.690306684,716,679,663,637,880.690306684,788.309693316,803.309693316,653,632,653,0.400989121167,-0.015395710549,0.0598536756426,0.999999953824,0.000177932186343,-0.000245639910834,1.87931167985e-05,1793238055934436864
+24,0.400000000,BASELINE,767,745.131585777,716,679,663,637,880.131585777,788.868414223,803.868414223,653,632,653,0.400988482907,-0.0153958561594,0.0598539250593,0.999999953603,0.000178064597025,-0.000246440814648,1.88044447735e-05,1793238055951103232
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+30,0.500000000,BASELINE,767.392139164,745.607860836,716,679,663,636.392139164,880,789,804,653,632.392139164,653.607860836,0.400988450791,-0.0153942424307,0.0598543693212,0.999999953956,0.000178170011316,-0.000244961857212,1.83635982908e-05,1793238056051103232
+31,0.516666667,BASELINE,767.984293059,745.015706941,716,679,663,636.984293059,880,789,804,653,632.984293059,653.015706941,0.400987838404,-0.0153943602526,0.0598533992136,0.99999995386,0.000177700214179,-0.000245699253746,1.83070239002e-05,1793238056067770112
+32,0.533333333,BASELINE,767.435484591,745,716,679,663,637,879.435484591,789,804,653,632.435484591,653.564515409,0.400989040555,-0.0153927841972,0.0598544786872,0.999999954191,0.000178178992873,-0.000244015135772,1.8054486948e-05,1793238056084436480
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+40,0.666666667,BASELINE,767.196125609,746,716,679.803874391,663.196125609,637.196125609,880.196125609,789,804,653,632,654,0.400988917242,-0.0153944492911,0.059855002089,0.999999954615,0.000176527644723,-0.000243479474923,1.80279160766e-05,1793238056217769984
+41,0.683333333,BASELINE,767.768983139,746,716,679.231016861,663.768983139,637.768983139,880.768983139,789,804,653,632,654,0.400988503479,-0.0153959004942,0.0598545620685,0.999999954658,0.000175359295138,-0.000244141112465,1.80960569994e-05,1793238056234436352
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+49,0.816666667,BASELINE,766.588574395,745.411425605,716.588574395,679,663.588574395,637,880,788.411425605,804,652.588574395,632.588574395,654,0.400987855668,-0.0153941962481,0.0598546024729,0.99999995424,0.000177383174141,-0.000244398680458,1.80101403113e-05,1793238056367770624
+50,0.833333333,BASELINE,766.012354155,746,716,679.012354155,663,637,880,789,803.987645845,652.012354155,632,654,0.400988349358,-0.0153940700097,0.0598556147537,0.999999954549,0.000176875241269,-0.000243505413797,1.79754806093e-05,1793238056384436736
+51,0.850000000,BASELINE,766.586530707,746,716,679.586530707,663,637,880,789,803.413469293,652.586530707,632,654,0.400987541187,-0.0153948880064,0.0598548100247,0.999999954582,0.000175492970967,-0.000244349643234,1.81977136963e-05,1793238056401102848
+52,0.866666667,BASELINE,767,746,716,680,663,637,880.161005619,788.838994381,803,653,632,654,0.400987228995,-0.0153957443027,0.0598544420735,0.999999954695,0.000174487576589,-0.00024459252506,1.84078302131e-05,1793238056417769216
+53,0.883333333,BASELINE,767,746,716,680,663,637,880.736248117,788.263751883,803,653,632,654,0.400988192866,-0.0153966991368,0.0598551978684,0.999999955016,0.000174451812468,-0.000243288253639,1.8586773083e-05,1793238056434435840
+54,0.900000000,BASELINE,767,745.679050215,716,679.679050215,663,637,880.679050215,788.320949785,803.320949785,653,632,653.679050215,0.400989001376,-0.015396231685,0.0598553728284,0.999999955038,0.000175068648313,-0.000242763874846,1.84332767522e-05,1793238056451102720
+55,0.916666667,BASELINE,767,745.086339111,716,679.086339111,663,637,880.086339111,788.913660889,803.913660889,653,632,653.086339111,0.400989678335,-0.0153945599256,0.0598550559717,0.999999954808,0.000176238067261,-0.000242899863128,1.79982905339e-05,1793238056467769600
+56,0.933333333,BASELINE,767,745,716,679.492560208,662.507439792,637,880,789,804,653,632,653.492560208,0.400988907369,-0.0153952798286,0.0598548602515,0.999999954791,0.000175540093942,-0.000243458738419,1.81981376476e-05,1793238056484436480
+57,0.950000000,BASELINE,767,745.069369788,716,679.930630212,662.069369788,637,880,789,804,653,632,654,0.400988009505,-0.0153962197066,0.0598547147519,0.999999954766,0.000174866457263,-0.000244024473205,1.84669628252e-05,1793238056501102848
+58,0.966666667,BASELINE,767,745.648126777,716,679.351873223,662.648126777,637,880,789,804,653,632,654,0.400987992658,-0.0153957804373,0.0598547863578,0.999999954422,0.0001767095623,-0.000244111109211,1.84474667142e-05,1793238056517769472
+59,0.983333333,BASELINE,767,746,716,679,663,637,880.225049433,789,804,653,632,654,0.400988071593,-0.0153957177933,0.059854740653,0.999999954292,0.000177318814207,-0.000244201479745,1.84225804256e-05,1793238056534436096
+60,1.000000000,BASELINE,767,746,716,679,663,637,880.799127317,789,804,653,632,654,0.400988299074,-0.0153962392563,0.0598545130114,0.9999999545,0.000176014487502,-0.000244297642161,1.83893345245e-05,1793238056551102720
+61,1.016666667,BASELINE,767,745.617062807,716,679,663,637,880.617062807,789,804,653,632,654,0.400988902882,-0.0153957632607,0.0598550409197,0.999999954699,0.000176197784704,-0.000243350106298,1.83641271284e-05,1793238056567769344
+62,1.033333333,BASELINE,767,745.028014851,716,679,663,637,880.028014851,789,804,653,632,654,0.400989709242,-0.0153947503963,0.0598559754925,0.999999954892,0.000177181775422,-0.000241840813951,1.83432463508e-05,1793238056584436224
+63,1.050000000,BASELINE,767,745.551195723,716.551195723,679,663,637,880,789,804,653,632,654,0.400989436559,-0.0153966916737,0.0598559475332,0.999999955385,0.000173638392806,-0.000242356428697,1.85291541265e-05,1793238056601102848
+64,1.066666667,BASELINE,767,746,716.870042573,679.129957427,663,637,880,788.870042573,803.870042573,653,632,653.870042573,0.400989499637,-0.015397995294,0.0598561569138,0.99999995579,0.000171244607179,-0.000242379748801,1.86313572924e-05,1793238056617769472
+65,1.083333333,BASELINE,767,746,716.291134587,679.708865413,663,637,880,788.291134587,803.291134587,653,632,653.291134587,0.400990908772,-0.0153965864668,0.0598573522488,0.999999955877,0.000173603202816,-0.00024035308618,1.84087230461e-05,1793238056634436096
+66,1.100000000,BASELINE,767,745.70914935,716,680,663,637,880,788,803.29085065,653,632.29085065,653,0.400990407501,-0.0153954938352,0.0598568529547,0.999999955462,0.000175026922263,-0.000241059967789,1.81887921094e-05,1793238056651102720
+67,1.116666667,BASELINE,767,745.124050956,716,680,663,637,880,788,803.875949044,653,632.875949044,653,0.400987973509,-0.0153947210922,0.0598546392385,0.99999995454,0.000175504846156,-0.000244532321149,1.79715960699e-05,1793238056667769344
+68,1.133333333,BASELINE,767,745,716,679.543785246,663,637,880,788.456214754,804,653,633,653.456214754,0.400987236358,-0.0153954027162,0.0598542046574,0.999999954584,0.000174613003688,-0.000244981534616,1.80906955309e-05,1793238056684435968
+69,1.150000000,BASELINE,767,745,716,678.964852071,663,637,880,789,804,653,632.964852071,654,0.400986979506,-0.0153964389471,0.0598542158203,0.999999954859,0.000173452990495,-0.000244665264876,1.82838657285e-05,1793238056701102848
+70,1.166666667,BASELINE,767,745,716,678.38641787,663,637,880,789,804,653,632.38641787,654,0.400987089644,-0.0153969077461,0.0598537175783,0.999999954688,0.000173844614906,-0.000245089900203,1.82233215208e-05,1793238056717769472
+71,1.183333333,BASELINE,767,745,716,678.191000916,663,637,880.191000916,788.808999084,803.808999084,653,632.191000916,654,0.400987449237,-0.0153969389643,0.0598536253228,0.999999954562,0.000174598602699,-0.000245069359013,1.82392919658e-05,1793238056734436096
+72,1.200000000,BASELINE,767,745,716,678.766376364,663,637,880.766376364,788.233623636,803.233623636,653,632.766376364,654,0.400988310842,-0.0153960895852,0.0598543500839,0.999999954523,0.000176081818767,-0.000244152934686,1.84092422048e-05,1793238056751102976
+73,1.216666667,BASELINE,767,745,716,679,663,637,880.650207088,788.349792912,803,653,632.650207088,653.650207088,0.400989146072,-0.0153955704548,0.0598552891447,0.999999954866,0.000175908570251,-0.000242872133736,1.83485465426e-05,1793238056767769600
+74,1.233333333,BASELINE,767,745,716,679,663,637,880.061293632,788.938706368,803,653,632.061293632,653.061293632,0.400989963272,-0.0153952770842,0.0598563747022,0.99999995547,0.000174602952462,-0.000241342242783,1.81301799405e-05,1793238056784436224
+75,1.250000000,BASELINE,767,745.518773291,716,679,663,637.518773291,880.518773291,789,803.518773291,653,632,653.518773291,0.400989072289,-0.0153963280821,0.0598555613,0.999999955443,0.000173340397314,-0.000242354690824,1.82059455205e-05,1793238056801102848
+76,1.266666667,BASELINE,767.097043551,746,716,679.097043551,663,637.902956449,881,789,804,653,632,653.902956449,0.400988202389,-0.015397221928,0.0598547636604,0.999999955357,0.000172370385558,-0.000243393244109,1.82998388056e-05,1793238056817769472
+77,1.283333333,BASELINE,767.671530596,746,716,679.671530596,663,637.328469404,881,789,804,653,632,653.328469404,0.400988412511,-0.015396574238,0.0598551289094,0.999999955349,0.00017281504266,-0.000243107174043,1.83148089453e-05,1793238056834436096
+78,1.300000000,BASELINE,767.748034948,745.748034948,716,679.748034948,663.251965052,637,880.748034948,788.748034948,804,653,632,653,0.40098862264,-0.0153958007488,0.0598556336499,0.99999995526,0.000173903341697,-0.000242694506387,1.83400638983e-05,1793238056851102720
+79,1.316666667,BASELINE,767.159659879,745.159659879,716,679.159659879,663.840340121,637,880.159659879,788.159659879,804,653,632,653,0.40098883278,-0.0153948592992,0.0598563246318,0.99999995506,0.000175850996358,-0.000242112812542,1.83790505727e-05,1793238056867769344
+80,1.333333333,BASELINE,767,745,716,679,663.578286691,637,880,788.421713309,804,652.578286691,632,653,0.400988603917,-0.015394517866,0.0598559528118,0.999999954847,0.000176417800613,-0.00024260075193,1.80759231259e-05,1793238056884436224
+81,1.350000000,BASELINE,767,745,716,679,663,637,880,789,804.000477359,652,632,653,0.400988212171,-0.0153944012187,0.0598551861891,0.999999954631,0.000176470225527,-0.000243485827872,1.76462812154e-05,1793238056901103104
+82,1.366666667,BASELINE,767,745,716,679,663,637,880,789,804.577331815,652,632,653,0.400988554019,-0.0153958915934,0.0598556276472,0.999999954778,0.000176365411557,-0.000242909000166,1.82959988398e-05,1793238056917769472
+83,1.383333333,BASELINE,767,745.152917604,716,679,663,637,880,789,804.847082396,652.152917604,632,653.152917604,0.400988961102,-0.0153965874114,0.0598560173214,0.999999954985,0.000176204490828,-0.000242146634479,1.86235759224e-05,1793238056934436352
+84,1.400000000,BASELINE,767,745.725025747,716,679,663,637,880,789,804.274974253,652.725025747,632,653.725025747,0.400989547014,-0.0153951051245,0.0598562650416,0.999999955358,0.000175889765532,-0.000240875656413,1.80680745262e-05,1793238056951102976
+85,1.416666667,BASELINE,767,746,716,679,663.308512476,637,880,789,804,653,632,654,0.400989986794,-0.0153945390999,0.0598566921734,0.999999955589,0.000175755884976,-0.000240014011927,1.80286506654e-05,1793238056967769600
+86,1.433333333,BASELINE,767,746,716,679,663.902529164,637,880,789,804,653,632,654,0.400990291342,-0.0153948210046,0.0598572853367,0.999999955691,0.000175789362127,-0.000239531173791,1.84668163101e-05,1793238056984436224
+87,1.450000000,BASELINE,767,746,716,679.484489415,663.515510585,637,880,789,803.515510585,653,632.484489415,654,0.400989959095,-0.015395834743,0.0598568459261,0.999999955549,0.000175265963902,-0.000240493770333,1.8628304048e-05,1793238057001102592
+88,1.466666667,BASELINE,767,746,716,679.936250375,663,637,880,789,803.063749625,653,632.936250375,654,0.400989577875,-0.0153969092416,0.0598562872692,0.999999955393,0.000174653320169,-0.000241577904931,1.87080179565e-05,1793238057017769472
+89,1.483333333,BASELINE,767,746,716,679.359672066,663,637,880,789,803.640327934,653,632.359672066,654,0.400989808268,-0.0153973168806,0.0598563998832,0.999999955528,0.000174202110835,-0.00024135725473,1.85668113955e-05,1793238057034436352
+90,1.500000000,BASELINE,767,745.786422523,716,679,663,637,880,789,803.786422523,652.786422523,632,654,0.400989923711,-0.015396796141,0.0598564518931,0.999999955343,0.000175354112242,-0.000241307786651,1.83376995694e-05,1793238057051102976
+91,1.516666667,BASELINE,767,745.218692768,716,679,663,637,880,789,803.218692768,652.218692768,632,654,0.400989848542,-0.0153947359723,0.0598564034097,0.999999954617,0.000179164543526,-0.000241542171269,1.79628240263e-05,1793238057067769600
+92,1.533333333,BASELINE,767,745.368062038,716,679,663,637,880,789,803.368062038,652,632,653.631937962,0.400989315132,-0.0153945955598,0.0598560285983,0.999999954369,0.00017966771366,-0.000242191869109,1.8002698871e-05,1793238057084436224
+93,1.550000000,BASELINE,767,745.966737247,716,679,663,637,880,789,803.966737247,652,632,653.033262753,0.400988494606,-0.0153956579907,0.0598554493228,0.999999954424,0.00017809868465,-0.000243101785873,1.83024399291e-05,1793238057101102848
+94,1.566666667,BASELINE,767,745.458342924,715.458342924,679,663,637,880,789,804,652.541657076,632,653.541657076,0.400988847888,-0.0153963182347,0.0598560980327,0.999999954768,0.000176989423506,-0.000242468370549,1.8668710738e-05,1793238057117769472
+95,1.583333333,BASELINE,767,745,715.116028713,679,663,637,880,788.883971287,803.883971287,653,632,654,0.400989042035,-0.0153970678465,0.0598564923677,0.999999955097,0.000175681445302,-0.000242039393447,1.89301983519e-05,1793238057134436096
+96,1.600000000,BASELINE,767,745,715.693780281,679,663,637,880,788.306219719,803.306219719,653,632,654,0.400988328127,-0.0153982672406,0.0598555869709,0.999999955305,0.000173475061729,-0.000242785254532,1.87591385829e-05,1793238057151102720
+97,1.616666667,BASELINE,767,745,716,679,663,637,879.72545956,788,803.27454044,653,632,654,0.400988096283,-0.0153979346809,0.0598551828379,0.999999955144,0.000173964868968,-0.000243112452417,1.85393349475e-05,1793238057167769600
+98,1.633333333,BASELINE,767,745,716,679,663,637,879.141306502,788,803.858693498,653,632,654,0.400988408086,-0.0153958744625,0.0598553440047,0.999999954564,0.000177495301949,-0.000242967503388,1.82645604916e-05,1793238057184436224
+99,1.650000000,BASELINE,767,745,716,679,663,636.555893376,879.444106624,788.444106624,803.555893376,653,632,653.555893376,0.400989355784,-0.0153955535447,0.0598562219668,0.999999955078,0.00017611353552,-0.000241856248081,1.82512464493e-05,1793238057201102848
+100,1.666666667,BASELINE,767,745.029394737,716,679,663,636.029394737,880,789,803.029394737,653,632,653.029394737,0.400990398733,-0.0153958034748,0.0598572497129,0.999999955873,0.000173346286564,-0.000240559286352,1.83113038013e-05,1793238057217769472
+101,1.683333333,BASELINE,767,745.604890747,716,679,663,636.604890747,880,789,803.604890747,653,632,653.604890747,0.40098944162,-0.015396348055,0.0598568109682,0.999999955533,0.000173959072276,-0.00024154055353,1.81845169069e-05,1793238057234436096
+102,1.700000000,BASELINE,767,745.820772338,716,679,663,637,880,788.820772338,803.820772338,653,632,654,0.400988400579,-0.0153966285188,0.0598563791967,0.999999955208,0.000174532476067,-0.000242472559643,1.816909327e-05,1793238057251102976
+103,1.716666667,BASELINE,767,745.248974314,716,679,663,637,880,788.248974314,803.248974314,653,632,654,0.400987175706,-0.0153963304762,0.0598559626986,0.999999954918,0.000175019619791,-0.000243296666918,1.83975935708e-05,1793238057267769600
+104,1.733333333,BASELINE,767,745.334117625,716,679,663,637,880,788.334117625,803,653,632,654,0.400987549947,-0.0153964986654,0.0598557685774,0.999999954924,0.000175077437938,-0.000243235863572,1.83578101315e-05,1793238057284436224
+105,1.750000000,BASELINE,767,745.92591994,716,679,663,637,880,788.92591994,803,653,632,654,0.40098915749,-0.015397026431,0.0598557459622,0.999999955156,0.000174804143322,-0.000242492582345,1.81111157161e-05,1793238057301102848
+106,1.766666667,BASELINE,767,745.492959997,716,679.507040003,663,637,880,789,803.507040003,653,632,653.492959997,0.400988633805,-0.0153967317442,0.0598556386088,0.999999955085,0.000175230000349,-0.000242473067016,1.81931898375e-05,1793238057317769728
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,716,679,663,637,881,788,804,653,632,654,0.400989859982,-0.0153963510929,0.0598570747105,0.999999955344,0.00017582659657,-0.000240947713979,1.84913379903e-05,1793238057361033728
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.410226335,745,716,679,663,637,881,788.589773665,803.410226335,653,632,654,0.400989040648,-0.0153968522839,0.0598557410388,0.99999995543,0.00017470138879,-0.000241406129089,1.85238007787e-05,1793238057377700096
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.823712788,788.823712788,803.176287212,653,632.176287212,653.823712788,0.400988341388,-0.0153975153497,0.0598549336248,0.999999955532,0.000173384227285,-0.000241929458609,1.85286603559e-05,1793238057394366720
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.24464778,788.24464778,803.75535222,653,632.75535222,653.24464778,0.400987916468,-0.0153985482638,0.0598553285942,0.999999955674,0.000171628493199,-0.000242601103476,1.84704526279e-05,1793238057411033344
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745.332606832,716,679,663,637,880,788.332606832,803.667393168,652.667393168,632.667393168,653,0.400987761647,-0.0153984347213,0.0598554877673,0.999999955519,0.00017205792281,-0.000242936315446,1.84336708135e-05,1793238057427699968
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745.908536989,716,679,663,637,880,788.908536989,803.091463011,652.091463011,632.091463011,653,0.400987804421,-0.0153974824717,0.0598554744402,0.999999955147,0.000174085940546,-0.000243025405036,1.84125634387e-05,1793238057444366592
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,789,803.479830653,652.479830653,632,653,0.400988372994,-0.0153961119374,0.0598556787123,0.99999995527,0.000174493610876,-0.000242235191294,1.82546962147e-05,1793238057461033472
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,789,804,653,632,653.052497764,0.400989035668,-0.0153948301705,0.0598559704997,0.999999955442,0.000174728305405,-0.000241369277416,1.80746063947e-05,1793238057477700352
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,789,804,653,632,653.648443862,0.40098964488,-0.0153952847789,0.0598567429693,0.999999955145,0.000176339081323,-0.000241438179703,1.79317461772e-05,1793238057494366976
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.237780863,746,716,679,663,637,880,789,804,653,632,654,0.400990894018,-0.0153961124179,0.0598574322922,0.999999955209,0.000176543070628,-0.000241005416213,1.82160223832e-05,1793238057511033600
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.817610595,746,716,679,663,637,880,789,804,653,632,654,0.400993063692,-0.0153974766631,0.0598580020079,0.999999955789,0.000174723390746,-0.000239851004176,1.91147363202e-05,1793238057527700224
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.606198539,746,716,679,663,637,880,789,804,653,632,653.606198539,0.401004845432,-0.015398089631,0.0598637431807,0.99999995794,0.000175164694865,-0.00023034149345,1.95202476105e-05,1793238057544366848
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.031677536,746,716,679,663,637,880,789,804,653,632,653.031677536,0.401021038249,-0.0153983578301,0.0598718575882,0.99999996066,0.000176643587619,-0.000216997741839,1.96994232075e-05,1793238057561033472
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745.444348772,716,679,663,637,880,789,804,652.444348772,632.555651228,653.555651228,0.401058375787,-0.0153995210498,0.0598865968856,0.999999966154,0.00017617906616,-0.000190286450407,2.10828954706e-05,1793238057577700352
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.141566348,716,679,663.141566348,637,880,789,804,652.141566348,632.858433652,654,0.4011015053,-0.0154014232786,0.0599025117391,0.999999971203,0.000175373249706,-0.000162245539081,2.26794994446e-05,1793238057594366976
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.720800525,716,679,663.720800525,637,880,789,804,652.720800525,632.279199475,654,0.401158726625,-0.0154054487644,0.0599208657586,0.999999975801,0.00017386289457,-0.000132505598278,2.47177562251e-05,1793238057611033600
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745.700328941,716,679,663.700328941,637,880,788.700328941,804.299671059,653,632,654,0.401221323888,-0.0154105191599,0.0599355765205,0.999999978891,0.000171266188703,-0.000110431050271,2.6285928028e-05,1793238057627700224
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745.121796831,716,679,663.121796831,637,880,788.121796831,804.878203169,653,632,654,0.401288923765,-0.0154165619033,0.0599468970221,0.99999998101,0.000167658571548,-9.54895902606e-05,2.74166587773e-05,1793238057644366848
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,716,679.451885184,663,637,880,788.451885184,804.548114816,653,632.451885184,654,0.401364501201,-0.0154199424321,0.0599527231337,0.999999982213,0.000166667284897,-8.39802480572e-05,2.72603648703e-05,1793238057661033728
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745.025101893,716,679.974898107,663,637,880,789,804,653,632.974898107,654,0.401442516161,-0.0154226115925,0.0599568604718,0.999999983072,0.000166367061394,-7.39113852164e-05,2.67407391262e-05,1793238057677700352
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.617016806,716,679.382983194,663,637,880,789,804,653,632.382983194,654,0.401527534739,-0.0154252482362,0.0599559489577,0.999999983038,0.000165917144706,-7.57027463588e-05,2.57667231645e-05,1793238057694367232
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.204387215,745.795612785,716,679,663,637,880,788.795612785,803.795612785,653,632.204387215,654,0.401621732048,-0.0154294187779,0.0599548719477,0.999999983167,0.000165031757064,-7.62557206023e-05,2.48173801647e-05,1793238057711033856
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.783427236,745.216572764,716,679,663,637,880,788.216572764,803.216572764,653,632.783427236,654,0.401732754455,-0.0154364010371,0.059953491575,0.999999983595,0.000163348127687,-7.4538664562e-05,2.39132641443e-05,1793238057727700224
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.640013128,745.359986872,716,679,663,637,880,788,803.359986872,652.640013128,632.640013128,654,0.401860967254,-0.0154419090553,0.0599539330824,0.999999984136,0.000161894661055,-7.08229586639e-05,2.24256619799e-05,1793238057744366848
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.064935457,745.935064543,716,679,663,637,880,788,803.935064543,652.064935457,632.064935457,654,0.401999451257,-0.0154465362206,0.059955463156,0.999999984723,0.00016057871563,-6.59130668417e-05,2.0589428956e-05,1793238057761033472
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788.510161453,804,652.510161453,632,653.489838547,0.402160888545,-0.0154548815624,0.0599575311098,0.999999985775,0.00015671632988,-5.93433615497e-05,1.91666721356e-05,1793238057777700096
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745.912252516,716,679,663,637,880,789,804,652.912252516,632.087747484,653,0.402328335912,-0.0154637530645,0.0599593097276,0.999999986818,0.000152366298088,-5.32334739506e-05,1.77566971726e-05,1793238057794366976
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.320379881,716,679,663,637,880,789,804,652.320379881,632.679620119,653,0.402513526648,-0.0154729283614,0.0599590327083,0.999999987755,0.000147076856516,-5.09791374918e-05,1.61177814567e-05,1793238057811033600
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.264868587,789,804,652.264868587,633,653,0.402716581416,-0.0154836205528,0.0599614625896,0.999999989231,0.000139149394076,-4.42890555566e-05,1.46528581169e-05,1793238057827700224
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.842300053,789,804,652.842300053,633,653,0.402940716941,-0.0154961027817,0.0599670867971,0.999999991181,0.000128108888547,-3.2364493513e-05,1.3393257667e-05,1793238057844366848
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.417150302,716,679,663,637,881,789,804,653,633,653,0.40318414996,-0.0155074196717,0.0599685937737,0.999999992322,0.000120255737231,-2.76173742646e-05,1.14856090638e-05,1793238057861033472
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.991030731,716,679,663,637,881,789,804,653,633,653,0.403434833357,-0.0155182987247,0.0599685538398,0.999999993177,0.000113600126793,-2.55669368522e-05,9.33447829648e-06,1793238057877699840
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.43571083,788.43571083,804,653,632.43571083,653,0.40369698019,-0.0155243512344,0.059958706197,0.999999993273,0.000108222110239,-4.13473171225e-05,5.77239572247e-06,1793238057894366720
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788.142576345,804.142576345,653,632,653,0.403965130403,-0.0155277607037,0.0599487125579,0.999999994351,8.93125559775e-05,-5.75839055591e-05,2.37707275407e-06,1793238057911033344
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,788.736825409,804.736825409,653,632,653,0.404251722296,-0.0155230399564,0.0599387497247,0.999999996857,2.74716978459e-05,-7.43688692768e-05,-4.18997316024e-07,1793238057927700224
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.322362784,789,804.677637216,653,632,653.322362784,0.404568190896,-0.0155129976912,0.059932809357,0.999999996303,1.77104551131e-05,-8.40210722711e-05,-4.61671402945e-06,1793238057944367104
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.900975207,789,804.099024793,653,632,653.900975207,0.404908408842,-0.0154987252937,0.0599300664893,0.999999994861,4.9347851299e-05,-8.80033690928e-05,-9.92861501249e-06,1793238057961033728
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716.47479363,679,663,637,881,789,804,653,632.47479363,654,0.405296491352,-0.0155042810086,0.059938603185,0.999999996041,4.69200994591e-05,-7.46482714112e-05,-1.19792381203e-05,1793238057977700096
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.950864224,716.950864224,679,663,637,880.950864224,788.950864224,804,652.950864224,632.950864224,653.950864224,0.405697378691,-0.0155140769557,0.0599505956188,0.999999997698,3.63175377527e-05,-5.57515672061e-05,-1.33322844746e-05,1793238057994366720
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.359828948,716.359828948,679,663,637,880.359828948,788.359828948,804,652.359828948,632.359828948,653.359828948,0.406130489721,-0.0155254846607,0.0599750144919,0.999999999694,1.31305393003e-05,-1.52189383709e-05,-1.44185360556e-05,1793238058011033600
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745.226455188,716,679,663,637,880,788.226455188,804,652,632,653,0.406576197346,-0.0155346046015,0.0599963602625,0.999999999654,-7.02947058703e-06,1.99598361138e-05,-1.56361615296e-05,1793238058027699968
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745.805345038,716,679,663,637,880,788.805345038,804,652,632,653,0.407041509161,-0.0155401640695,0.0600129233288,0.999999998506,-2.24785439772e-05,4.68063466396e-05,-1.705824558e-05,1793238058044366848
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.618604197,716,679,663,637,880,789,804,652,632,653.381395803,0.407500578625,-0.0155387745608,0.0600143908004,0.999999998245,-3.37450493812e-05,4.41172771838e-05,-2.05969694503e-05,1793238058061033472
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.043991743,716,679,663,637,880,789,804,652,632,653.956008257,0.407956485676,-0.0155338646723,0.0600082107823,0.999999998412,-4.28926485038e-05,2.64653629816e-05,-2.5207991545e-05,1793238058077699840
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.532445454,716,679,663.532445454,637,880.532445454,789,804,652,632,654,0.408455035864,-0.01553229771,0.0599971746961,0.999999998438,-4.70084726641e-05,1.8298467981e-06,-3.01836172408e-05,1793238058094366720
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637,880.88815703,789,803.88815703,652.11184297,632,653.88815703,0.408962759722,-0.0155319187584,0.0599879842068,0.999999997677,-5.5193997526e-05,-1.9351206221e-05,-3.50041386063e-05,1793238058111033088
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637,880.296714085,789,803.296714085,652.703285915,632,653.296714085,0.409494661304,-0.0155354457219,0.0599884343292,0.999999995555,-8.26198975673e-05,-2.32362069274e-05,-3.90299253538e-05,1793238058127699968
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745.711829584,716,679.288170416,664,637,880.288170416,789,803.288170416,653,632,653,0.410057924531,-0.0155404218379,0.0599947529763,0.99999999399,-0.00010046768014,-1.04317283455e-05,-4.26212141708e-05,1793238058144366592
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.133547633,716,679.866452367,664,637,880.866452367,789,803.866452367,653,632,653,0.410652760719,-0.0155468568683,0.0600069796787,0.999999992864,-0.000108672830228,1.91746495654e-05,-4.57750787529e-05,1793238058161033216
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.44127636,716,679.55872364,663.55872364,637,881,789,804,652.55872364,632,653.44127636,0.411253599734,-0.0155479852211,0.0600085436957,0.999999990817,-0.000123797486883,2.37737812626e-05,-4.97590619917e-05,1793238058177700096
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745.984514198,716,679.015485802,663,637,881,789,804,652.015485802,632,653.984514198,0.411856106905,-0.0155474024997,0.0600064152485,0.999999988914,-0.000137631616619,1.99570624167e-05,-5.32081597637e-05,1793238058194366720
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745.394581587,716,679.605418413,663,637,881,789,804,652.605418413,632,653.394581587,0.412453629541,-0.0155424591952,0.0599860877466,0.999999999116,-2.65162486598e-05,-1.74869526592e-05,-2.75688474803e-05,1793238058211033600
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.191968605,716,679.808031395,663,637,881,789,804,653,632,653.191968605,0.413058500204,-0.0155363636907,0.0599645753545,0.99999999717,4.46012123953e-05,-5.914658686e-05,-1.31663582425e-05,1793238058227700224
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.771686752,716,679.228313248,663,637,881,789,804,653,632,653.771686752,0.413678212809,-0.0155279409047,0.0599406696523,0.999999993184,3.49285283602e-05,-0.000109321176005,-2.14606708902e-05,1793238058244366848
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.650584562,716,679,663.349415438,637,880.650584562,789,804,652.650584562,632,654,0.414364980377,-0.0155292830433,0.0599517264945,0.999999995474,1.65545692918e-05,-8.99544485367e-05,-2.61929673973e-05,1793238058261033472
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745.074148482,716,679,663.925851518,637,880.074148482,789,804,652.074148482,632,654,0.415095314574,-0.0155369696055,0.0599854990461,0.99999999924,-7.47274306762e-06,-2.54056446171e-05,-2.86109662613e-05,1793238058277700352
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.510718995,716,679,663.489281005,637,880.510718995,789,804,652,632,654,0.415834270062,-0.0155456700161,0.0600166365274,0.999999998932,-2.33569651498e-05,2.85700661869e-05,-2.78199835213e-05,1793238058294366720
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,789,804,652,632,654,0.416567562437,-0.015552678765,0.0600396314719,0.999999996782,-3.52247083914e-05,6.67263618647e-05,-2.72488807574e-05,1793238058311033344
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,789,804,652,632,654,0.417265808441,-0.0155503834132,0.0600234483004,0.999999998465,-3.28715691297e-05,3.28349552955e-05,-3.0182464227e-05,1793238058327699968
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.746192368,716,679,663,637,881,789,804,652.253807632,632,653.746192368,0.41797826819,-0.015549853706,0.0600068048149,0.999999998822,-3.50588254099e-05,5.94546481105e-06,-3.30441293855e-05,1793238058344366848
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.168859878,716,679,663,637,881,789,804,652.831140122,632,653.168859878,0.418708846088,-0.0155515746395,0.0599895745717,0.999999998361,-4.30336568747e-05,-1.20187907285e-05,-3.58141217562e-05,1793238058361033728
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745,716,679.407349722,663.407349722,637,881,789,804,653,632,653.407349722,0.419440066211,-0.015552639009,0.059973135506,0.999999997507,-4.61876617854e-05,-3.7173148591e-05,-3.8346765806e-05,1793238058377700352
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745,716,679.98309509,663.98309509,637,881,789,804,653,632,653.98309509,0.42017155178,-0.0155534319591,0.059957023509,0.999999995915,-4.73487687732e-05,-6.52998455096e-05,-4.07812914609e-05,1793238058394366976
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745.571360618,716,679.428639382,663.428639382,637,881,789,804,652.428639382,632,654,0.420909390326,-0.0155511871551,0.0599389679675,0.999999993202,-4.25797297676e-05,-9.98895993339e-05,-4.24844535364e-05,1793238058411033600
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.842522265,716,679,663,637,881,789,804,652,632.157477735,654,0.421658825464,-0.0155499225701,0.0599258001647,0.999999990461,-3.95487009666e-05,-0.000124778618971,-4.40875333571e-05,1793238058427699968
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745.263175187,716,679,663,637,881,789,804,652,632.736824813,654,0.422438812015,-0.0155515300789,0.0599258836951,0.999999990514,-4.16542145495e-05,-0.00012315645497,-4.54817690022e-05,1793238058444366592
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745.312988567,716,679,663.312988567,637,881,789,804.312988567,652,633,653.687011433,0.42325912343,-0.0155566809357,0.0599563117975,0.999999995335,-4.94977605463e-05,-7.03476915055e-05,-4.39367441946e-05,1793238058461033216
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.886502558,716,679,663.886502558,637,881,789,804.886502558,652,633,653.113497442,0.424113000418,-0.0155647812044,0.0600119981147,0.999999996959,-6.21175295274e-05,2.50677742296e-05,-3.99451373784e-05,1793238058477699840
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637,881,788.537656975,804.537656975,652.462343025,632.537656975,653.462343025,0.424918027009,-0.015567913065,0.0600368216584,0.999999995205,-6.45222815581e-05,6.3313491435e-05,-3.76540520956e-05,1793238058494366720
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679.039781424,663.960218576,637,881,788.039781424,804,652.960218576,632,654,0.425710816386,-0.0155696970544,0.060051328116,0.999999993687,-6.49171664072e-05,8.42824523916e-05,-3.61673943856e-05,1793238058511033344
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679.631423552,663.368576448,637,881,788.631423552,804,652.368576448,632,654,0.426501043885,-0.0155697880337,0.0600283449151,0.999999994703,-7.23928957991e-05,6.12543815638e-05,-4.00197357857e-05,1793238058527700224
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.21849994,637,881,789,804.21849994,652,632,654,0.427284080282,-0.0155709274664,0.0600070440859,0.999999995372,-7.88978038926e-05,3.40410941931e-05,-4.32624220958e-05,1793238058544367104
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.798032346,637,881,789,804.798032346,652,632,654,0.428055234783,-0.0155737992828,0.0599885230744,0.999999995454,-8.37986028523e-05,-8.75262076665e-08,-4.54977619153e-05,1793238058561033728
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881.374174457,789,804.625825543,652,632,653.625825543,0.428813158616,-0.0155725400558,0.0599753898318,0.999999995138,-8.40918607844e-05,-2.09922658722e-05,-4.7029863868e-05,1793238058577700096
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881.948502991,789,804.051497009,652,632,653.051497009,0.429564005031,-0.0155690710434,0.0599651386254,0.999999994877,-8.19204442798e-05,-3.48232613314e-05,-4.81857884294e-05,1793238058594366464
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,882,789,804.522932129,652,632.522932129,653,0.430323416364,-0.0155682697492,0.059953952766,0.999999994497,-7.74359671901e-05,-5.02828720963e-05,-4.98156346718e-05,1793238058611033088
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,882,789,804.899980684,652,633,653.100019316,0.431097965211,-0.0155690258216,0.0599526475109,0.999999994641,-7.56746907983e-05,-4.92564745919e-05,-5.06537105325e-05,1793238058627699712
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,882,789,804.309919013,652,633,653.690080987,0.431942546675,-0.0155761247861,0.0600002030965,0.999999994417,-8.83719124301e-05,3.33286829464e-05,-4.73838198137e-05,1793238058644366336
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+187,3.116666667,POSE1_TO_POSE2_PRESS,767,745.43260935,715.43260935,680,663.56739065,637,881,789,804.43260935,652,632,653,0.434203544524,-0.0155791810947,0.0600049640972,0.999999993484,-9.78147507237e-05,3.23826284374e-05,-4.9144739414e-05,1793238058694366976
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.014637753,637,881,789,804.992681124,652.007318876,632.007318876,653,0.434909732757,-0.0155767729843,0.0599723441894,0.999999993294,-0.000101211146142,-1.9840243209e-05,-5.26678714093e-05,1793238058711033344
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664.18774329,637,881,789,804.406128355,652.593871645,632.593871645,653,0.435592580712,-0.0155752526319,0.0599542961051,0.999999992244,-9.77607245882e-05,-5.45822080124e-05,-5.45447220571e-05,1793238058727699968
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664.821697212,637,881.178302788,789,804.178302788,652.821697212,632.821697212,653.178302788,0.436286421441,-0.0155746559735,0.0599442131442,0.999999990925,-9.73431342698e-05,-7.44700308282e-05,-5.59354095979e-05,1793238058744366592
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664.242041654,637,881.757958346,789,804.757958346,652.242041654,632.242041654,653.757958346,0.437005006618,-0.0155761385145,0.0599520593686,0.999999991181,-0.000103752330838,-6.09217539118e-05,-5.6231763027e-05,1793238058761033472
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.337207967,716,680,664.337207967,637,882,789,805,652,632.337207967,653.662792033,0.437683984167,-0.0155766414308,0.0599483214028,0.999999989647,-0.000109817950431,-7.39560375433e-05,-5.63668221526e-05,1793238058777700096
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.91616653,716,680,664.91616653,637,882,789,805,652,632.91616653,653.08383347,0.438334566237,-0.015576442036,0.0599362785176,0.999999986101,-0.000115637252903,-0.000106047848654,-5.63862463655e-05,1793238058794366976
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766.653719835,746,716.653719835,680,664.653719835,637,882,789,804,652,632,653.346280165,0.440348263898,-0.0155775024084,0.0600113808433,0.999999993335,-0.000103239098705,1.54593213487e-05,-4.9318749873e-05,1793238058844366848
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+199,3.316666667,POSE1_TO_POSE2_PRESS,767,745.605039189,716,680.210078377,664.394960811,636.605039189,881.394960811,789,805.605039189,652,633,653,0.442119699411,-0.0155798918499,0.0599841398612,0.999999990694,-0.000120503180547,-3.25398806548e-05,-5.50639189435e-05,1793238058894366976
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,635,882,785.197719832,804.197719832,652,631,653.197719832,0.450932563736,-0.0156323412874,0.0596740119735,0.999999847871,-0.000214574562886,-0.000503452010002,-6.89279138862e-05,1793238060485656064
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,636,881.766338888,786.233661112,805,652,632,653.233661112,0.449114500872,-0.0155358247147,0.0595799256769,0.999999776448,-0.000167312656685,-0.000643977563288,-6.63573254172e-05,1793238060785655552
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,637,882.683105785,789,805,652,632.316894215,654,0.442428921391,-0.0154385239595,0.0598291762599,0.999999963878,3.59339478114e-05,-0.000266361073062,-2.15182440385e-06,1793238061085656064
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,716.265594539,681,664.734405461,637,882.734405461,789,805,652,632,653.734405461,0.441830414087,-0.0154366738291,0.0598115474656,0.999999953336,4.98296340612e-05,-0.000301406139212,5.85198331776e-07,1793238061102322432
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745.28883753,716,680.71116247,664.42232494,637,881,788,804,652.71116247,632,653,0.428386821226,-0.015397051065,0.0598028668523,0.99999993849,0.0001475326823,-0.000317622965479,1.92152670214e-05,1793238061418989568
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745.878213097,716,680.121786903,663.243573806,637,881,788,804,652.121786903,632,653,0.427578596136,-0.0153924133032,0.0597635932467,0.999999915773,0.000149255109375,-0.000381985781894,1.6237640415e-05,1793238061435656192
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663.920987157,637,881.460493578,788.460493578,804,652,632.460493578,653.460493578,0.426793707114,-0.0153934547791,0.0597701542335,0.999999925609,0.000141325686935,-0.000358595740581,1.48027309672e-05,1793238061452322816
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.040546123,664.959453877,637,881.959453877,789,804.040546123,652.040546123,633,654,0.426015216453,-0.0153956772826,0.0597890773093,0.999999941879,0.000132201059767,-0.00031395098839,1.4134825769e-05,1793238061468988928
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.615589171,664.384410829,637,881.384410829,789,804.615589171,652.615589171,633,654,0.425240949051,-0.0153939691523,0.0598135914699,0.999999947798,0.000140460004884,-0.000290413560338,1.82810472976e-05,1793238061485655552
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745.80539374,716,680.80539374,663.80539374,637,881,788.80539374,804.80539374,653,633,654,0.424470002733,-0.0153926584788,0.0598317055805,0.999999951025,0.000147776703131,-0.000275033688235,2.16538685846e-05,1793238061502322432
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745.21836287,716,680.21836287,663.21836287,637,881,788.21836287,804.21836287,653,633,654,0.423705753256,-0.015392149279,0.059836913959,0.999999949874,0.000153193356938,-0.000276103569385,2.34671247277e-05,1793238061518989312
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745.364211381,716,679.635788619,663,637,881,788.364211381,804.364211381,653,632.635788619,654,0.422938972991,-0.0153927243686,0.059843579724,0.999999952868,0.000157885786626,-0.000262200021393,2.42253548207e-05,1793238061535656192
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745.944145933,716,679.055854067,663,637,881,788.944145933,804.944145933,653,632.055854067,654,0.42217069378,-0.0153939416851,0.0598511087018,0.999999957894,0.000162149256449,-0.000239427679541,2.43586906383e-05,1793238061552322816
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745.478007768,716.521992232,679.521992232,663.521992232,637,881,789,805,652.478007768,632.521992232,654,0.421347367438,-0.0153885731814,0.0598347423613,0.99999994843,0.000167031989308,-0.000273321009267,2.31418977815e-05,1793238061568989184
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.098863581,716.901136419,680,663.901136419,637,881,789,805,652,633,653.901136419,0.420524264281,-0.0153826947929,0.0598117041567,0.99999993417,0.000172033735184,-0.00031876135566,2.13602050016e-05,1793238061585655808
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745.672124547,716.327875453,680,663.327875453,637,881,789,805,652,633,653.327875453,0.419730383336,-0.0153777377236,0.0597688711031,0.999999907834,0.000177289873449,-0.000390631158017,1.75582963065e-05,1793238061602322432
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.253364262,663,637,881,789,804.746635738,652.253364262,632.746635738,653.253364262,0.418976288593,-0.0153751623836,0.0597497973286,0.999999898068,0.000179662486487,-0.000413937184503,1.55679465835e-05,1793238061618989056
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.845264853,663,637,881,789,804.154735147,652.845264853,632.154735147,653.845264853,0.418275354823,-0.0153757694259,0.0597624698625,0.999999914674,0.000178182235857,-0.000372354014364,1.59981379984e-05,1793238061635655424
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.573717379,663,637,881,789,804,653,632.426282621,654,0.417572856732,-0.0153776479737,0.0597909778635,0.999999929078,0.000178350637749,-0.000331162658062,1.91456383484e-05,1793238061652322304
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.996555811,663,637,881,789,804.003444189,653,633,654,0.41686968162,-0.0153799636456,0.0598249422044,0.999999941547,0.000179109177444,-0.000290321472058,2.32439768065e-05,1793238061668989440
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.420103203,663,637,881,789,804.579896797,653,633,654,0.41614599773,-0.0153801287092,0.0598341769598,0.999999942783,0.000180965045855,-0.00028466597795,2.55194996405e-05,1793238061685656064
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745.84433438,716,679.15566562,663,637,880.84433438,789,804.84433438,653,633,654,0.415433120214,-0.0153799551818,0.059838808965,0.99999994281,0.000181803005119,-0.000283916103247,2.68069426608e-05,1793238061702322688
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745.270402727,716,679.729597273,663,637,880.270402727,789,804.270402727,653,633,654,0.41474927874,-0.0153788718771,0.0598310736036,0.999999939582,0.000179905891866,-0.000296347390702,2.54394632445e-05,1793238061718989312
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745.312433676,716,679.687566324,663,637,880.312433676,789,804,653,633,654,0.414088200618,-0.015379015141,0.0598324249287,0.999999940241,0.000181057037606,-0.000293426443902,2.5237067495e-05,1793238061735655936
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745.903202957,716,679.096797043,663,637,880.903202957,789,804,653,633,654,0.413447401566,-0.0153802511094,0.0598418712469,0.999999944245,0.000184923764627,-0.000276828758655,2.60726017705e-05,1793238061752322560
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,881,788.515717074,804.484282926,653,632.515717074,654,0.41276912761,-0.0153767624294,0.0598220926079,0.999999933736,0.000186109302924,-0.000311928381957,2.43283128029e-05,1793238061768988928
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,881,788.063028271,804.936971729,653,632.063028271,654,0.412088069821,-0.015372626247,0.0597966807419,0.999999918823,0.000187383463781,-0.000356026368512,2.20523693522e-05,1793238061785655808
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,881,788.638231143,804.361768857,653,632.638231143,654,0.411444063936,-0.0153707517476,0.0597720294121,0.999999904648,0.000193647210529,-0.000390925139,1.95641600068e-05,1793238061802322176
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.782096118,746,716,679,663.217903882,637,881,789,804,653,633,654,0.410843101184,-0.0153703119619,0.0597670957361,0.999999903427,0.000196108023975,-0.000392852460736,1.88147024505e-05,1793238061818989056
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.194847052,746,716,679,663.805152948,637,881,789,804,653,633,654,0.410315096233,-0.0153723040035,0.0597955833141,0.999999923899,0.000192122897885,-0.000338893460196,2.10124142899e-05,1793238061835656192
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.388830485,746,716,679,663.611169515,637,880.611169515,789,804,653,633,653.611169515,0.409789956667,-0.0153759463434,0.0598260407179,0.99999993904,0.000190814400887,-0.000291405881266,2.43424411911e-05,1793238061852322560
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.970734633,746,716,679,663.029265367,637,880.029265367,789,804,653,633,653.029265367,0.409266239861,-0.0153804081385,0.0598574762406,0.999999950855,0.000190834982785,-0.000247131679807,2.82347189806e-05,1793238061868989184
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788.453780032,804,653,632.453780032,653,0.408732839238,-0.0153792084099,0.0598600772636,0.99999995085,0.000190799210951,-0.000247162391587,2.83863966005e-05,1793238061885655808
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663.12133461,637,880.12133461,788.12133461,804,653,632.12133461,653.12133461,0.40820261299,-0.0153780699332,0.0598577219754,0.999999949073,0.00019129994482,-0.00025391961114,2.79873790023e-05,1793238061902322432
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,663.696334329,637,880.696334329,788.696334329,804,653,632.696334329,653.696334329,0.407686172832,-0.0153782814513,0.0598425444506,0.999999942493,0.000193817809311,-0.000277054632115,2.62699702467e-05,1793238061918989056
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745.721462893,716,679,663.721462893,637,880.721462893,789,804,653,633,654,0.407201035737,-0.0153779645892,0.0598320611857,0.999999938091,0.000193367370809,-0.000292909488902,2.51147804517e-05,1793238061935655680
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745.131198787,716,679,663.131198787,637,880.131198787,789,804,653,633,654,0.406750931745,-0.0153770563861,0.0598268315396,0.999999936539,0.000189594932554,-0.000300616691304,2.458880255e-05,1793238061952322560
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745.448808963,716,679,663.448808963,637,880.448808963,789,804,653,633,654,0.406341088421,-0.0153778975022,0.0598344713178,0.999999941936,0.000191361919607,-0.000280854847318,2.50991648143e-05,1793238061968989440
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.025761186,663.974238814,637,880.974238814,789,804,653,633,653.974238814,0.405943340191,-0.0153791667462,0.0598455683785,0.999999948428,0.000194741198612,-0.000254063147815,2.59307849397e-05,1793238061985656320
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.600066684,663.399933316,637,880.399933316,789,804,653,633,653.399933316,0.405558128944,-0.0153789067071,0.0598519651167,0.999999949928,0.000198741170436,-0.00024474640544,2.72963714771e-05,1793238062002322688
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745.820559809,716,679.820559809,663,637,880,789,804,653,632.820559809,653.179440191,0.40517452602,-0.0153781122785,0.059851764686,0.999999948987,0.000202184129739,-0.000245687277036,2.80084945874e-05,1793238062018989056
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745.229562593,716,679.229562593,663,637,880,789,804,653,632.229562593,653.770437407,0.404794611937,-0.0153760921952,0.0598364332455,0.999999942258,0.00020434954625,-0.0002701546134,2.72218592622e-05,1793238062035655680
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880,788.645433911,804,653,632,654,0.404432376543,-0.0153740558989,0.0598182751418,0.999999931771,0.000213355609404,-0.000300406234592,2.63430976782e-05,1793238062052322048
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880,788.065667674,804,653,632,654,0.404081369606,-0.0153720093049,0.0597983217014,0.999999918091,0.000226706461034,-0.000334331705628,2.54058226529e-05,1793238062068988416
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,716,679.51125645,662.48874355,637,880.51125645,788.51125645,804,653,632,653.48874355,0.403785119699,-0.0153723939981,0.059791701371,0.999999914143,0.000229009416022,-0.000344386886029,2.58232822615e-05,1793238062085655552
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.912637786,662.087362214,637,880.912637786,789,804,652.912637786,632,653.087362214,0.403504509603,-0.0153729425475,0.0597902024701,0.999999913302,0.000231143111007,-0.000345331566618,2.673672716e-05,1793238062102322176
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.339065886,662.660934114,637,880.339065886,789,804,652.339065886,632,653.660934114,0.403272015445,-0.0153726746404,0.0598077281712,0.99999992188,0.000240188688789,-0.000312541515539,2.94474780827e-05,1793238062118989056
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.240658383,716,679,663,637,880.240658383,789,804,652.240658383,632,654,0.403047372145,-0.0153720589912,0.0598230160817,0.999999928387,0.000246148762582,-0.000285694882793,3.18542667261e-05,1793238062135655680
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.829278161,716,679,663,637,880.829278161,789,804,652.829278161,632,654,0.402834080202,-0.0153709405514,0.0598350684304,0.999999933001,0.000247647590002,-0.000267441678887,3.38215644668e-05,1793238062152322304
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745.586925826,716,679,663,637,880.586925826,789,804,653,632.413074174,654,0.402636940001,-0.0153703587737,0.0598438356054,0.999999936585,0.000249758427946,-0.00025135157478,3.56821919898e-05,1793238062168988928
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745.005100456,716,679,663,637,880.005100456,789,804,653,632.994899544,654,0.402446398198,-0.015369996236,0.0598512607039,0.999999939633,0.000252119287525,-0.000236145151798,3.7499241992e-05,1793238062185655552
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745.569164075,716,679.569164075,663,637,880,789,804,653,632.430835925,654,0.402266265158,-0.0153673568554,0.0598464144764,0.999999936895,0.000251164891309,-0.000248435017368,3.74930790548e-05,1793238062202322176
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.856458728,663,637,880,789,804,653,632,654,0.402091023963,-0.0153650247265,0.059840796667,0.999999933786,0.000250086048687,-0.000261712422693,3.73080802819e-05,1793238062218989056
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.281542096,663,637,880,789,804,653,632,654,0.40193020731,-0.0153636764753,0.0598331862177,0.99999992997,0.000248721327684,-0.000277226825078,3.6634094644e-05,1793238062235655424
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745.698581207,716,679,663,637,880.301418793,788.698581207,804,653,632,654,0.401787746702,-0.0153656791599,0.0598300401741,0.999999928437,0.000245998997892,-0.000285176252761,3.58469608707e-05,1793238062252322048
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745.107900434,716,679,663,637,880.892099566,788.107900434,804,653,632,654,0.401662901785,-0.0153708976303,0.059831178477,0.999999929254,0.000241973814225,-0.000285865817916,3.49512423751e-05,1793238062268988928
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745.472374975,716,679.472374975,663,637,880.527625025,788.472374975,804.472374975,653,632.472374975,654,0.40156603058,-0.0153835951033,0.0598360705961,0.999999940003,0.000206055727472,-0.000277567909718,2.21384505091e-05,1793238062285655552
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.949788076,663,637,880,788.949788076,804.949788076,653,632.949788076,654,0.401476801273,-0.0153970676278,0.0598417173579,0.999999950423,0.000165910463772,-0.000267511185127,8.13332566991e-06,1793238062302322176
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.373134245,663,637,880,788.373134245,804.373134245,653,632.373134245,654,0.401402143425,-0.0154011409978,0.0598464800001,0.999999953939,0.000156178561103,-0.000260074152186,9.55188567504e-06,1793238062318989056
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788.207395518,804,653,632.207395518,654,0.401330782022,-0.0154018054871,0.0598490237458,0.999999955824,0.000151341825882,-0.000255610166256,1.05277142164e-05,1793238062335655936
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788.795031407,804,653,632.795031407,654,0.401265464346,-0.0153962201109,0.059847499351,0.999999954935,0.000155479925003,-0.000256596985699,1.06918357592e-05,1793238062352322304
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,745.622451601,716,679,663,637,880.377548399,789,804,653,632.622451601,654,0.401210293615,-0.0153938867985,0.0598470871877,0.999999954378,0.000157318377158,-0.000257618553295,1.12927200482e-05,1793238062368988672
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,745.04267647,716,679,663,637,880.95732353,789,804,653,632.04267647,654,0.401160557908,-0.0153932953935,0.0598472707705,0.999999954004,0.000157925066329,-0.00025865873306,1.21275481219e-05,1793238062385655296
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..43c6acc2a247a9a40f689054e640104da088b326
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,442 @@
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+411,6.850000000,pose2_to_pose3_retreat,0.578285825956,-0.00999884444338,1.05001171868,0.54885710152,-0.00132516965379,1.04966125929
+412,6.866666667,pose2_to_pose3_retreat,0.578275229979,-0.00999884040245,1.05001179167,0.548846505135,-0.00132516692589,1.04966133436
+413,6.883333333,pose2_to_pose3_retreat,0.5782675572,-0.00999869076928,1.05001177904,0.548838831785,-0.0013250191349,1.04966132457
+414,6.900000000,pose2_to_pose3_retreat,0.578262725545,-0.00999864121357,1.0500117668,0.548833999423,-0.0013249719195,1.0496613145
+415,6.916666667,pose2_to_pose3_retreat,0.578259235062,-0.00999864024148,1.05001175463,0.548830508161,-0.00132497355833,1.04966130418
+416,6.933333333,pose2_to_pose3_retreat,0.5782566769,-0.00999868145192,1.05001162786,0.548827950975,-0.00132501136978,1.04966117982
+417,6.950000000,pose2_to_pose3_retreat,0.578255170924,-0.00999871577292,1.05001152496,0.548826445946,-0.00132504241492,1.04966107858
+418,6.966666667,pose2_to_pose3_retreat,0.578254558788,-0.00999874638354,1.05001153962,0.548825834242,-0.00132507166485,1.04966109068
+419,6.983333333,pose2_to_pose3_retreat,0.578254094897,-0.00999878065093,1.05001158827,0.54882537071,-0.0013251048817,1.04966113522
+420,7.000000000,pose2_to_pose3_retreat,0.578253848725,-0.00999879883554,1.05001161409,0.548825124728,-0.00132512250883,1.04966115886
+421,7.016666667,pose2_to_pose3_retreat,0.578253840641,-0.00999879943268,1.05001161493,0.548825116651,-0.00132512308766,1.04966115964
+422,7.033333333,pose2_to_pose3_retreat,0.578253688178,-0.00999881069503,1.05001163092,0.548824964306,-0.00132513400474,1.04966117428
+423,7.050000000,pose2_to_pose3_retreat,0.578253422531,-0.00999883031823,1.05001165878,0.548824698865,-0.00132515302636,1.04966119979
+424,7.066666667,pose2_to_pose3_retreat,0.578253272234,-0.00999884142057,1.05001167455,0.548824548684,-0.00132516378834,1.04966121422
+425,7.083333333,pose2_to_pose3_retreat,0.578253248077,-0.00999884320509,1.05001167708,0.548824524545,-0.00132516551815,1.04966121654
+426,7.100000000,pose2_to_pose3_retreat,0.578253221116,-0.00999884519665,1.05001167991,0.548824497605,-0.00132516744866,1.04966121913
+427,7.116666667,pose2_to_pose3_retreat,0.578253145177,-0.00999885080625,1.05001168787,0.548824421725,-0.00132517288628,1.04966122642
+428,7.133333333,pose2_to_pose3_retreat,0.578252932665,-0.00999882612914,1.05001160291,0.548824208674,-0.00132514993325,1.04966114403
+429,7.150000000,pose2_to_pose3_retreat,0.578252805259,-0.0099988041338,1.05001153284,0.548824080821,-0.00132512936484,1.04966107629
+430,7.166666667,pose2_to_pose3_retreat,0.578252763717,-0.00999879696186,1.05001151,0.548824039132,-0.00132512265818,1.04966105421
+431,7.183333333,pose2_to_pose3_retreat,0.578252575249,-0.00999876442482,1.05001140635,0.548823850002,-0.00132509223196,1.04966095401
+432,7.200000000,pose2_to_pose3_retreat,0.578252439233,-0.00999874094292,1.05001133155,0.548823713507,-0.00132507027344,1.0496608817
+433,7.216666667,pose2_to_pose3_retreat,0.578252302618,-0.00999870608714,1.05001132325,0.548823576223,-0.00132503765293,1.04966087431
+434,7.233333333,pose2_to_pose3_retreat,0.578252252578,-0.0099986707494,1.05001145403,0.54882352556,-0.0013250045462,1.04966100224
+435,7.250000000,pose2_to_pose3_retreat,0.578252184438,-0.00999862263031,1.05001163211,0.548823456572,-0.00132495946504,1.04966117645
+436,7.266666667,pose2_to_pose3_retreat,0.578252164766,-0.00999860873809,1.05001168353,0.548823436654,-0.00132494644988,1.04966122675
+437,7.283333333,pose2_to_pose3_retreat,0.578252150679,-0.0099985987899,1.05001172034,0.548823422392,-0.00132493712975,1.04966126276
+438,7.300000000,pose2_to_pose3_retreat,0.578252125251,-0.00999858083296,1.0500117868,0.548823396647,-0.00132492030651,1.04966132777
+439,7.316666667,pose2_to_pose3_retreat,0.578252120668,-0.00999857778525,1.05001180229,0.548823392002,-0.00132491748226,1.04966134293
+440,7.333333333,pose2_to_pose3_retreat,0.578252179325,-0.00999863438498,1.05001193089,0.548823451002,-0.00132497300616,1.04966146932
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f0aeb27f27664ea4b07f7b5d4ecfaecbe6a621e5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76a5420178fd619412e5beb3bd0781958cefa913224abe8290702fab9e351bb9
+size 28145503
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0e58befc59867a98beee2e844a0007046eec3196
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_05/franka_data.csv
@@ -0,0 +1,443 @@
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+0,0.000000000,BASELINE,767,745,716,679,664,637,880,789,804,653,632,653,0.400990109902,-0.0153963822948,0.0598535880662,0.999999955962,0.000163529731147,-0.000247192799557,1.51627660435e-05,1793238063104881664
+1,0.016666667,BASELINE,767,745,716,679,663.423250824,637,880,789,804,653,632,653.576749176,0.400990252429,-0.0153957139019,0.0598536143108,0.999999955797,0.000165604363175,-0.000246466635644,1.53654582275e-05,1793238063121548544
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+3,0.050000000,BASELINE,767,745,716,679,663,637,880,789,804,652.275619845,632,653.275619845,0.400989731068,-0.0153964163573,0.0598539521988,0.999999956214,0.000164060971298,-0.000245821133454,1.51099196917e-05,1793238063154882048
+4,0.066666667,BASELINE,767,745.307361505,716,679,663,637,880,788.692638495,804,652.307361505,632,653,0.40099036602,-0.0153968914223,0.0598548858499,0.999999956553,0.000163430396516,-0.000244852843184,1.52451871131e-05,1793238063171548416
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+21,0.350000000,BASELINE,767,745,716,679.825795195,663,637,880,788,803.174204805,653,632.174204805,653.174204805,0.40099204818,-0.0153985960637,0.0598565878847,0.999999957625,0.000161028304065,-0.000242024400362,1.5654517402e-05,1793238063454882048
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+23,0.383333333,BASELINE,767,745,716,679,663,637,880,788.336167935,804,653,632.663832065,654,0.400991113194,-0.0153977795642,0.0598561497832,0.999999957366,0.000163281130559,-0.000241596493925,1.54587703449e-05,1793238063488215040
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+27,0.450000000,BASELINE,767,745,716.339789337,679,663,637,880,789,804,653,632,653.660210663,0.400991588175,-0.0153945513046,0.0598568639276,0.99999995671,0.000167147964732,-0.000241695372273,1.49832804822e-05,1793238063554881536
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+30,0.500000000,BASELINE,767,745,716,679,663,637,880,788.389614625,803.389614625,653,632,653.610385375,0.400991246951,-0.0153964481583,0.0598562077484,0.999999956794,0.000165512794913,-0.000242458492682,1.51788195497e-05,1793238063604881920
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+42,0.700000000,BASELINE,767,745,716,679,663,637,880,789,804,653,632.373431287,653.626568713,0.400992130235,-0.015394546387,0.0598565525685,0.999999956572,0.000168004224562,-0.000241675786028,1.4965768177e-05,1793238063804881408
+43,0.716666667,BASELINE,767,745,716,679,663,637,880,789,804,653,632.952871777,653.047128223,0.400992378121,-0.0153957572768,0.0598579970731,0.999999957136,0.000167350853616,-0.000239777793513,1.5134023513e-05,1793238063821548032
+44,0.733333333,BASELINE,767,745,716,679,663,637,880,789,804,653,633,653.530326323,0.400992223526,-0.0153960678692,0.0598575029442,0.999999957065,0.000166672608402,-0.000240536263071,1.52339539829e-05,1793238063838214912
+45,0.750000000,BASELINE,767,745,716,679,663,637,880.106113064,789,804,653,632.893886936,653.893886936,0.400991953292,-0.0153963754083,0.05985691125,0.999999956973,0.000165897606011,-0.000241446504433,1.53178907102e-05,1793238063854881536
+46,0.766666667,BASELINE,767,745,716,679,663,637,880.675387461,789,804,653,632.324612539,653.324612539,0.400991333847,-0.0153970175278,0.0598566428628,0.999999957037,0.000164709891298,-0.000241992644035,1.53584212849e-05,1793238063871548416
+47,0.783333333,BASELINE,767,745.256091427,716,679,663.256091427,637,881,788.743908573,804,653,632,653.256091427,0.400990230924,-0.0153978235197,0.0598561564608,0.999999956935,0.000163894905488,-0.000242959794274,1.54273680216e-05,1793238063888215040
+48,0.800000000,BASELINE,767,745.851960006,716,679,663.851960006,637,881,788.148039994,804,653,632,653.851960006,0.40098848653,-0.0153988469344,0.0598553808009,0.999999956614,0.000163574449012,-0.00024448553336,1.55340167779e-05,1793238063904881920
+49,0.816666667,BASELINE,767.433934083,746,716,679,663.566065917,637,880.566065917,788.433934083,803.566065917,653,632.433934083,654,0.400990225618,-0.0153971098485,0.0598562095574,0.999999956702,0.000166253985505,-0.000242313385225,1.54752892142e-05,1793238063921548288
+50,0.833333333,BASELINE,767.988668529,746,716,679,663,637.011331471,880,789,803.011331471,653,632.988668529,654,0.400993032845,-0.0153945463882,0.0598575339742,0.999999956908,0.000169765065569,-0.000239013529182,1.53631097055e-05,1793238063938215168
+51,0.850000000,BASELINE,767.410446124,746,716,679,663,637.589553876,880,789,803.589553876,653,632.410446124,654,0.400991667499,-0.015396293944,0.0598571216066,0.999999957318,0.000165263030127,-0.0002404519858,1.53118131966e-05,1793238063954881792
+52,0.866666667,BASELINE,767,745.829646055,716.170353945,679.170353945,663,637.829646055,880,789,804,653,632,654,0.400991010548,-0.0153975549588,0.0598570640038,0.999999957661,0.000162246395972,-0.00024108031837,1.53074152089e-05,1793238063971548416
+53,0.883333333,BASELINE,767,745.242540052,716.757459948,679.757459948,663,637.242540052,880,789,804,653,632,654,0.400992086609,-0.0153976257046,0.0598578742938,0.999999957884,0.000162863631824,-0.000239726772113,1.54177492627e-05,1793238063988215040
+54,0.900000000,BASELINE,767,745.340138362,716.659861638,679.659861638,663,637,880.340138362,789,803.659861638,653,632.340138362,654,0.400992408714,-0.0153976484782,0.0598581578757,0.999999957836,0.000163546439491,-0.000239458724623,1.54702436563e-05,1793238064004881664
+55,0.916666667,BASELINE,767,745.919700171,716.080299829,679.080299829,663,637,880.919700171,789,803.080299829,653,632.919700171,654,0.400992200111,-0.0153976374842,0.0598580707078,0.999999957598,0.000164275403141,-0.000239954759944,1.54820246995e-05,1793238064021548288
+56,0.933333333,BASELINE,767.496323461,745.503676539,716,679,663,637,880.503676539,789,803.496323461,653,632.503676539,654,0.400991750654,-0.0153974985716,0.0598575970848,0.999999957344,0.000164687309692,-0.000240726595454,1.55209464147e-05,1793238064038215168
+57,0.950000000,BASELINE,767.927490295,745.072509705,716,679.072509705,663,637,880,789,804,653,632,654,0.400991398966,-0.0153975102754,0.0598572461702,0.999999957187,0.000164829044863,-0.000241274082424,1.56179062677e-05,1793238064054881536
+58,0.966666667,BASELINE,767.351057086,745.648942914,716,679.648942914,663,637,880,789,804,653,632,654,0.400991995959,-0.0153987117074,0.0598581800181,0.999999957724,0.000163447558031,-0.000239954122549,1.60878788153e-05,1793238064071548416
+59,0.983333333,BASELINE,767,746,716,680,663,637,880,789,804,653,632,654,0.40099178346,-0.0153987159248,0.0598581497881,0.999999957662,0.00016356364799,-0.000240130102293,1.61380231115e-05,1793238064088215296
+60,1.000000000,BASELINE,767,746,716,680,663,637,880,789,804,653,632,654,0.400990310056,-0.0153968553005,0.0598566178619,0.999999956663,0.000166012438609,-0.000242636232563,1.55342218975e-05,1793238064104881920
+61,1.016666667,BASELINE,767,746,716,680,663,637,880,789,804,653,632.397050513,653.602949487,0.400990292649,-0.0153961693748,0.0598564516585,0.99999995659,0.000166334570644,-0.000242736717976,1.52382622335e-05,1793238064121548288
+62,1.033333333,BASELINE,767,746,716,680,663,637,880,789,804,653,632.980477031,653.019522969,0.400990958688,-0.0153960348542,0.0598569265272,0.999999956953,0.000165658446343,-0.000241707990546,1.50868038127e-05,1793238064138214912
+63,1.050000000,BASELINE,767,746,716,679.444632134,663,637,880.555367866,789,804,653,632.444632134,653.555367866,0.400991639184,-0.0153973708698,0.0598575586505,0.99999995767,0.000163327895577,-0.000240321051493,1.51911190922e-05,1793238064154881792
+64,1.066666667,BASELINE,767,746,716,679,663,637,881,789,804,653,632.129752858,654,0.400992268823,-0.0153985551624,0.0598581051289,0.999999958175,0.000161857918171,-0.000239194515497,1.54190288548e-05,1793238064171548160
+65,1.083333333,BASELINE,767,746,716,679,663,637,881,789,804,653,632.703418243,654,0.40099272276,-0.0153990461982,0.0598583399712,0.99999995794,0.000163528108753,-0.000239001303466,1.603948656e-05,1793238064188215040
+66,1.100000000,BASELINE,767,746,716.285597053,679,663,637,881,789,804,652.714402947,633,654,0.40099326173,-0.0153989674863,0.0598584674078,0.999999957952,0.00016344192396,-0.000239009394224,1.60624989413e-05,1793238064204881920
+67,1.116666667,BASELINE,767,746,716.876888333,679,663,637,881,789,804,652.123111667,633,654,0.400993891716,-0.0153982789339,0.0598584798805,0.999999958227,0.00016147576934,-0.000239232953253,1.54460243388e-05,1793238064221548544
+68,1.133333333,BASELINE,767.45902901,745.54097099,716.54097099,679,663,637.45902901,880.54097099,788.54097099,804,652.45902901,632.54097099,654,0.400992771032,-0.0153966051592,0.0598578511724,0.999999957562,0.000163856213326,-0.000240413650585,1.51269403321e-05,1793238064238215168
+69,1.150000000,BASELINE,767.961584806,745.038415194,716,679,663,637.961584806,880.038415194,788.038415194,804,653,632,654,0.400991280898,-0.0153949646756,0.0598570885438,0.99999995672,0.000167009580587,-0.000241753017759,1.49194946145e-05,1793238064254881536
+70,1.166666667,BASELINE,767.387059545,745.612940455,716,679,663,637.387059545,880.612940455,788.612940455,804,653,632,654,0.400991059398,-0.0153974043237,0.0598568099446,0.99999995704,0.000164998639226,-0.000241794260946,1.5178685068e-05,1793238064271548160
+71,1.183333333,BASELINE,767,746,716,679,663,637,880.808034757,789,804,653.191965243,632.191965243,654,0.400990844922,-0.0153985931639,0.0598566717315,0.999999957249,0.000163864397732,-0.00024169165574,1.53312786923e-05,1793238064288214784
+72,1.200000000,BASELINE,767,746,716,679,663,637,880.21971971,789,804,653.78028029,632.78028029,654,0.400990644951,-0.0153971994669,0.0598568233728,0.999999957236,0.000164540274283,-0.000241292047393,1.52637823537e-05,1793238064304881664
+73,1.216666667,BASELINE,767,745.636839718,716,679,663.363160282,637,880.363160282,789,804,653.636839718,633,654,0.400991070628,-0.0153966788986,0.0598572757676,0.999999957175,0.00016604116305,-0.000240516034027,1.52430741214e-05,1793238064321548544
+74,1.233333333,BASELINE,767,745.057199597,716,679,663.942800403,637,880.942800403,789,804,653.057199597,633,654,0.400991869252,-0.0153966788023,0.0598579074414,0.999999957082,0.000168033841545,-0.000239515645659,1.52502562828e-05,1793238064338215168
+75,1.250000000,BASELINE,767,745.520210906,716,679.520210906,663.479789094,637,881,789,804,653,632.479789094,654,0.400991203441,-0.0153980531421,0.0598573595206,0.999999957023,0.000166362511361,-0.000240905588254,1.55505919563e-05,1793238064354881536
+76,1.266666667,BASELINE,767,746,716.097252314,680,663,637.097252314,881,789,804,653,632,653.902747686,0.400990501109,-0.0153990076591,0.0598567836121,0.999999956972,0.000164668984854,-0.00024226127497,1.57711340826e-05,1793238064371547904
+77,1.283333333,BASELINE,767,746,716.673677893,680,663,637.673677893,881,789,804,653,632,653.326322107,0.40099040882,-0.0153971522263,0.0598567061334,0.999999956974,0.000164842632898,-0.000242158722262,1.54403835061e-05,1793238064388214784
+78,1.300000000,BASELINE,767,746,716.744759313,680,663,637.744759313,880.744759313,789,804,653,632.255240687,653.255240687,0.400990492791,-0.0153956591193,0.0598569343404,0.999999956995,0.000165239065908,-0.000241819724122,1.51411016269e-05,1793238064404881920
+79,1.316666667,BASELINE,767,746,716.156493791,680,663,637.156493791,880.156493791,789,804,653,632.843506209,653.843506209,0.400990806734,-0.0153946387566,0.0598575613903,0.999999957041,0.000165926177195,-0.000241172224229,1.48828785011e-05,1793238064421548544
+80,1.333333333,BASELINE,767,746,716,679.57499477,663,637,880,788.57499477,804,653,632.57499477,654,0.400991935858,-0.0153960891193,0.0598582902394,0.999999957615,0.000165131503792,-0.000239309826007,1.52495692458e-05,1793238064438215168
+81,1.350000000,BASELINE,767,746,716,679,663,637,880,788.004014061,804,653,632.004014061,654,0.400993344851,-0.0153984126462,0.0598590451322,0.999999958366,0.000163810148693,-0.000237031894839,1.58368886468e-05,1793238064454881792
+82,1.366666667,BASELINE,767,746,716,679,663,637,880,788.577666053,804,653,632.577666053,654,0.40099254145,-0.0153975659359,0.0598582598484,0.999999958049,0.000163962513841,-0.000238273613172,1.5591375095e-05,1793238064471548416
+83,1.383333333,BASELINE,767.152184364,745.847815636,716,679,663,637,880,789,804,653,632.847815636,654,0.400992088276,-0.0153972680246,0.0598577545609,0.999999957855,0.000163922134634,-0.000239125512376,1.54178002656e-05,1793238064488215040
+84,1.400000000,BASELINE,767.729120731,745.270879269,716,679,663,637,880,789,804,653,632.270879269,654,0.400992612599,-0.0153985018305,0.0598580307528,0.999999958006,0.000163343799081,-0.000238889412738,1.54450089268e-05,1793238064504881664
+85,1.416666667,BASELINE,767.685566819,745.314433181,716,679,663,637,880,789,804,653,632.314433181,653.685566819,0.40099344368,-0.0153984672341,0.0598585868868,0.999999958164,0.000163568883302,-0.000238070566789,1.54501366055e-05,1793238064521548544
+86,1.433333333,BASELINE,767.092841058,745.907158942,716,679,663,637,880,789,804,653,632.907158942,653.092841058,0.40099454626,-0.0153973100241,0.0598593907867,0.999999958328,0.000164505043154,-0.000236735954756,1.54357212637e-05,1793238064538215168
+87,1.450000000,BASELINE,767,746,716,679.487243233,663,637,880,789,804,653,632.512756767,653,0.400993076353,-0.0153972562862,0.0598587725617,0.999999958173,0.000163744131539,-0.000237919441895,1.53777137267e-05,1793238064554881536
+88,1.466666667,BASELINE,767,746,716,679.935377026,663,637,880,789,803.935377026,653,632,653.064622974,0.400991302197,-0.0153974190111,0.0598578804233,0.999999957949,0.000162866743664,-0.00023946078473,1.53073790571e-05,1793238064571548160
+89,1.483333333,BASELINE,767,746,716,679.360812108,663,637,880,789,803.360812108,653,632,653.639187892,0.400990897339,-0.0153976726444,0.0598569110366,0.999999957676,0.000163557400393,-0.000240135549268,1.52036576304e-05,1793238064588215040
+90,1.500000000,BASELINE,767,746,716,679.217615181,663.217615181,637,880,789,803.217615181,653,632,654,0.40099121887,-0.015397399348,0.0598569362442,0.999999957597,0.000164414984715,-0.000239876721753,1.52322873248e-05,1793238064604881664
+91,1.516666667,BASELINE,767,746,716,679.802562046,663.802562046,637,880,789,803.802562046,653,632,654,0.400992766535,-0.0153962366009,0.0598586403146,0.999999957844,0.000165554340639,-0.000238042002543,1.54843240558e-05,1793238064621548544
+92,1.533333333,BASELINE,767.386092647,746,716,679.613907353,663.613907353,637,880,789,804,653,632,654,0.400992346094,-0.0153961921302,0.0598583894975,0.999999957725,0.000165589064581,-0.000238510390213,1.5565078682e-05,1793238064638214912
+93,1.550000000,BASELINE,767.968901706,746,716,679.031098294,663.031098294,637,880,789,804,653,632,654,0.400990922892,-0.0153967174276,0.0598571426542,0.99999995742,0.000165060972311,-0.000240152223844,1.55585641189e-05,1793238064654881792
+94,1.566666667,BASELINE,768,746,716,679,663,637,880,789,804,652.454237706,632,654,0.400990056889,-0.0153975509546,0.0598567705277,0.999999957331,0.000164163382514,-0.000241140356059,1.54657627232e-05,1793238064671548416
+95,1.583333333,BASELINE,767.878338107,745.878338107,716,679,663,637,880,789,804,652.121661893,632,654,0.400990028358,-0.0153981009853,0.0598569324258,0.999999957387,0.000163814330113,-0.000241149629723,1.54099774624e-05,1793238064688214784
+96,1.600000000,BASELINE,767.304762476,745.304762476,716,679,663,637,880,789,804,652.695237524,632,654,0.40099299396,-0.0153975334319,0.0598588948165,0.99999995793,0.00016558018624,-0.000237659797591,1.55097551579e-05,1793238064704881664
+97,1.616666667,BASELINE,767,745,716,679.276679276,663,637,880,789,804,653,632,654,0.400993958707,-0.0153973685373,0.0598592344082,0.999999957937,0.000166596774722,-0.000236917576246,1.55441310356e-05,1793238064721548288
+98,1.633333333,BASELINE,767,745,716,679.867039077,663,637,880,789,804,653,632,654,0.400992655018,-0.0153976601505,0.0598577341782,0.999999957345,0.00016676389337,-0.000239290413138,1.55043586844e-05,1793238064738214912
+99,1.650000000,BASELINE,767,745.448065153,716,680,663,637,880,789,804,653,632,654,0.400991883355,-0.015398007901,0.05985766211,0.999999957487,0.000165424392214,-0.000239631648972,1.54404145981e-05,1793238064754881792
+100,1.666666667,BASELINE,767,745.973734369,716,679.973734369,663,637,880,789,804,653,632,653.973734369,0.400991301909,-0.015398389924,0.0598579772061,0.999999957823,0.000163711537994,-0.000239407782909,1.53774693592e-05,1793238064771548416
+101,1.683333333,BASELINE,767,745.39788524,716,679.39788524,663,637,880,789,804,653,632,653.39788524,0.400991464561,-0.0153991476145,0.0598577067004,0.999999957806,0.000163350483154,-0.000239716698174,1.54824461212e-05,1793238064788215040
+102,1.700000000,BASELINE,767,745.181685829,716,679,663,637,880.181685829,789,804,653,632,653.181685829,0.400992087531,-0.0153990335474,0.0598579178751,0.999999957921,0.000163341901352,-0.000239243679836,1.55103160464e-05,1793238064804881664
+103,1.716666667,BASELINE,767,745.7695782,716,679,663,637,880.7695782,789,804,653,632,653.7695782,0.400993739663,-0.0153969704366,0.0598592059735,0.999999958324,0.000164121365945,-0.000237022442865,1.53657933074e-05,1793238064821548288
+104,1.733333333,BASELINE,767,746,716,679,663,637,881,789,804,653,632,653.647506596,0.400994215357,-0.0153962695695,0.0598594990102,0.999999958269,0.000165326584399,-0.000236425157148,1.52134692736e-05,1793238064838214912
+105,1.750000000,BASELINE,767,746,716,679,663,637,881,789,804,653,632,653.067799565,0.400993932731,-0.0153964467905,0.0598591506406,0.99999995792,0.000166806239497,-0.00023687465351,1.50561165913e-05,1793238064854881280
+106,1.766666667,BASELINE,767,746,716,679,663,637,880.490494092,789,803.490494092,653,632,653,0.400994524704,-0.0153980290814,0.0598597050234,0.99999995856,0.000164043041121,-0.000236071785252,1.54863079722e-05,1793238064871548160
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,716,679,663,637,880,789,805,653,633,654,0.400994510464,-0.0153967114033,0.0598589361574,0.999999958184,0.000165245409508,-0.000236811399293,1.56921643937e-05,1793238064914831616
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.411029257,746,716,679,663,637,880,788.411029257,804.411029257,653,632.411029257,654,0.400992515061,-0.0153968063511,0.0598583026538,0.999999958011,0.000164134175161,-0.000238332279116,1.53693503689e-05,1793238064931497984
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.824116761,716,679,663,637,880.175883239,788.175883239,804,653,632.175883239,654,0.400991263268,-0.0153968625178,0.0598580315038,0.999999957782,0.000164262754957,-0.000239210877441,1.52552016077e-05,1793238064948164608
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.241958523,716,679,663,637,880.758041477,788.758041477,804,653,632.758041477,654,0.40099172915,-0.0153968291035,0.0598585973591,0.999999957424,0.00016725519748,-0.000238605861618,1.56230514117e-05,1793238064964831232
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745.335839506,716,679,663,637,881,789,804,653,633,654,0.400991142232,-0.015397269421,0.0598582971688,0.999999957222,0.000167228737062,-0.000239477630601,1.55170492472e-05,1793238064981497856
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745.910536412,716,679,663,637,881,789,804,653,633,654,0.400989806536,-0.0153980466683,0.0598573810253,0.999999957128,0.000165055157698,-0.000241399725661,1.50740317696e-05,1793238064998164224
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679.486142598,663,637,880.513857402,789,804,653,632.513857402,654,0.400991973773,-0.0153979414124,0.0598583681746,0.999999957669,0.000165019515214,-0.000239157703002,1.53084236391e-05,1793238065014830848
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679.93672606,663,637,880.06327394,789,804,653,632,654,0.400994238623,-0.0153976965029,0.0598594923312,0.99999995819,0.000165326208722,-0.000236736545788,1.56134073077e-05,1793238065031497472
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679.348328447,663,637,880.651671553,789,804,653,632,654,0.400991953587,-0.0153976429362,0.0598588412271,0.999999957626,0.000165202668169,-0.000239200414747,1.54677129837e-05,1793238065048164352
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,789,804,653,632.236705586,654,0.400993596409,-0.0153979563241,0.0598595696402,0.999999957963,0.000164370951816,-0.000238357937996,1.55262956028e-05,1793238065064831232
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,789,804,653,632.816859182,654,0.401000938356,-0.0153988021447,0.059862299664,0.99999995959,0.000162511707675,-0.000232718118172,1.58812738987e-05,1793238065081497856
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,789,804,653,632.606992515,654,0.401019607778,-0.0153988509573,0.0598704442663,0.999999962692,0.000163171307829,-0.000218448110046,1.64596836089e-05,1793238065098164480
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,789,804,653,632.032691792,654,0.401043502532,-0.0153985321124,0.0598810865986,0.999999966202,0.000164992843509,-0.000200197019965,1.7141161624e-05,1793238065114830848
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745.455792202,716,679,663,637,880.455792202,789,804.544207798,653,632,653.455792202,0.401091945185,-0.0154029696013,0.0598990603426,0.999999972166,0.000163747161338,-0.000168742858485,1.95361249572e-05,1793238065131497472
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.123834694,716,679,663,637,880.123834694,789,804.876165306,653,632.123834694,653.123834694,0.401145275285,-0.015407380844,0.0599174739505,0.999999977057,0.00016244401364,-0.000137919891163,2.18059222047e-05,1793238065148164096
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.713123176,716,679,663,637,880.713123176,789,804.286876824,653,632.713123176,653.713123176,0.401211406398,-0.0154106143431,0.0599358775509,0.999999980346,0.000161620747916,-0.000112464816215,2.32165147364e-05,1793238065164830976
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663.296103599,637,880.703896401,789,804,653,633,654,0.401278559291,-0.0154138870257,0.0599477404769,0.999999982217,0.000161311249357,-9.47442676335e-05,2.38188033785e-05,1793238065181497856
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663.873099971,637,880.126900029,789,804,653,633,654,0.401346681473,-0.0154171968789,0.0599533987216,0.999999983122,0.000161489125882,-8.43609248055e-05,2.36543105806e-05,1793238065198164480
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.448614602,746,716,679,663.551385398,637,880,789,804,653,633,654,0.401425723857,-0.0154207269083,0.0599560888741,0.999999983603,0.000161580156129,-7.8310691955e-05,2.35403796663e-05,1793238065214831104
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.975640266,746,716,679.024359734,663,637,880.024359734,789,804,653,632.975640266,654,0.401508337532,-0.0154243697299,0.0599577109199,0.999999983964,0.00016149066467,-7.37995293575e-05,2.33678384035e-05,1793238065231497728
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.384820262,746,716,679.615179738,663,637,880.615179738,789,804,653,632.384820262,654,0.401602402708,-0.0154291918935,0.0599539547052,0.999999984384,0.000157772711653,-7.66690443541e-05,2.15008799003e-05,1793238065248164352
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.798340676,716,679.798340676,663,637,880.798340676,789,804,653,632.201659324,654,0.401707001481,-0.0154346074198,0.0599521076628,0.999999984862,0.000154739705791,-7.70274163344e-05,1.9975084358e-05,1793238065264830976
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.219969323,716,679.219969323,663,637,880.219969323,789,804,653,632.780030677,654,0.401831277652,-0.0154411313834,0.0599538270724,0.999999985473,0.000152986223786,-7.26948182978e-05,1.90866024322e-05,1793238065281497600
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,803.643506341,653,632.643506341,654,0.401969980142,-0.0154482536005,0.0599558889336,0.999999986372,0.000149615369526,-6.7438711327e-05,1.79780518777e-05,1793238065298164480
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,803.068214565,653,632.068214565,654,0.402117536803,-0.0154557429965,0.0599581609749,0.999999987413,0.000145251852264,-6.16157999816e-05,1.67344340334e-05,1793238065314831360
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745.50323915,716.50323915,679,663,637,880,789,803.50323915,653,632.50323915,653.49676085,0.402289656328,-0.0154640298132,0.0599589934567,0.999999988539,0.000139927687818,-5.57583860422e-05,1.52562342469e-05,1793238065331497984
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716.922143347,679,663,637,880,788.922143347,804,652.922143347,633,653.077856653,0.402468610074,-0.0154725225242,0.0599597260526,0.999999989633,0.000134417597198,-4.97901390686e-05,1.36790375938e-05,1793238065348164352
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716.322879902,679,663,637,880,788.322879902,804,652.322879902,633,653.677120098,0.402671203687,-0.0154816757056,0.0599610866331,0.999999990743,0.00012852781642,-4.3110723371e-05,1.16501956992e-05,1793238065364831232
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.733910501,716.266089499,679.266089499,663,637,880,788.266089499,803.733910501,652.266089499,632.733910501,653.733910501,0.402891627661,-0.0154919662906,0.0599641849863,0.999999991895,0.000122030273784,-3.49154132271e-05,9.99448126067e-06,1793238065381498112
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.156966959,716.843033041,679.843033041,663,637,880,788.843033041,803.156966959,652.843033041,632.156966959,653.156966959,0.403132881605,-0.0155035856252,0.0599693134597,0.999999993058,0.000114822725161,-2.49491883649e-05,8.77466606192e-06,1793238065398164736
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.418238346,716.581761654,679.581761654,663,637,880,789,803.418238346,653,632,653.418238346,0.403380823949,-0.0155141674575,0.0599666698726,0.999999993891,0.000106751274811,-2.80013743164e-05,6.13087307942e-06,1793238065414831104
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.992793969,716.007206031,679.007206031,663,637,880,789,803.992793969,653,632,653.992793969,0.403631266088,-0.0155243615213,0.0599611214649,0.999999994513,9.83569399085e-05,-3.59192131616e-05,2.95486606109e-06,1793238065431497728
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.41886036,716,679,663,637,880.58113964,789,804,653,632.58113964,654,0.40390002289,-0.0155265548838,0.0599505250018,0.999999993656,9.93977015985e-05,-5.29835472608e-05,-1.65375448857e-07,1793238065448164352
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745.16773833,716,679,663.16773833,637,880.83226167,789,804,653,632.83226167,653.83226167,0.40418185897,-0.0155238786746,0.0599406980493,0.999999994061,8.44519323745e-05,-6.8788830738e-05,-3.66102342863e-06,1793238065464830976
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.749591548,716,679,663.749591548,637,880.250408452,789,804,653,632.250408452,653.250408452,0.404495411038,-0.0155094312715,0.0599329291693,0.999999996228,2.97425211433e-05,-8.11989423639e-05,-8.08522866116e-06,1793238065481497600
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663.67365261,637,880,788.67365261,804,653,632.32634739,653,0.404839045563,-0.0155017493803,0.0599305855849,0.999999996151,1.62770372832e-05,-8.53750550271e-05,-1.20145374205e-05,1793238065498164224
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663.100747806,637,880,788.100747806,804,653,632.899252194,653,0.405205407599,-0.0154991788724,0.0599323408429,0.99999999583,3.39715828031e-05,-8.33303333946e-05,-1.55699493978e-05,1793238065514830848
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,679.473001936,663,637,880,788.473001936,804,653,632.526998064,653.473001936,0.405609080304,-0.0155106254697,0.0599486982801,0.999999997916,2.32862367993e-05,-5.78107568798e-05,-1.68225589228e-05,1793238065531497472
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.048474788,745.951525212,716,679.951525212,663,637,880.048474788,788.951525212,804.048474788,653,632,654,0.406023403474,-0.0155243184746,0.0599682331839,0.999999999463,6.93849237544e-06,-2.67696565649e-05,-1.76057884933e-05,1793238065548164352
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.641272369,745.358727631,716,679.358727631,663,637,880.641272369,788.358727631,804.641272369,653,632,654,0.406467923921,-0.0155296511609,0.0599884607767,0.999999999764,-4.99358331647e-06,1.00264530598e-05,-1.86359093006e-05,1793238065564830976
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.771331471,745.228668529,716,679.228668529,663,637,881,788.228668529,804.771331471,653,632,653.771331471,0.406921413946,-0.0155325193377,0.0600041198174,0.999999999009,-1.92042708956e-05,3.4547342471e-05,-2.04692811176e-05,1793238065581497600
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.192213379,745.807786621,716,679.807786621,663,637,881,788.807786621,804.192213379,653,632,653.192213379,0.407388650409,-0.0155316104912,0.0600127772501,0.999999998232,-3.69070803786e-05,4.02556472058e-05,-2.35336879153e-05,1793238065598163968
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.382707285,637,880.617292715,788.617292715,804,653,632,653.382707285,0.407860397497,-0.0155305082597,0.0600086160617,0.999999998268,-4.52942505042e-05,2.54099518036e-05,-2.76814845247e-05,1793238065614830848
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.95554266,637,880.04445734,788.04445734,804,653,632,653.95554266,0.408334385438,-0.015529309955,0.0599980866119,0.999999998273,-4.90534320964e-05,3.53076714706e-07,-3.23675065715e-05,1793238065631497472
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,679.455633223,664,637,880,788.544366777,804,653,632,654,0.408832889944,-0.0155303607162,0.0599903557329,0.99999999728,-6.19820687522e-05,-1.52606793572e-05,-3.69436014716e-05,1793238065648164352
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745.867928491,716,679,663.867928491,637,880,789.132071509,804,653,632,654,0.409350225225,-0.0155326208519,0.0599868864752,0.999999995937,-7.72228458011e-05,-2.16181890767e-05,-4.11792075532e-05,1793238065664830976
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745.288570967,716,679,663.288570967,637,880,789.711429033,804,653,632,654,0.4099243484,-0.0155383358901,0.0599970525698,0.999999994248,-9.76812621077e-05,6.81539057517e-07,-4.42930048105e-05,1793238065681497856
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789.711562249,804,653,632,654,0.410511179328,-0.0155438777854,0.0600053259445,0.999999992149,-0.000114451018281,1.79526779332e-05,-4.77601069763e-05,1793238065698164480
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789.136884371,804,653,632,654,0.411110621256,-0.0155492478575,0.0600117210213,0.999999990077,-0.000127560220946,3.02335433585e-05,-5.15778225894e-05,1793238065714831104
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.562587427,745.437412573,716,679,663,637,880.437412573,789,804,653,632,653.562587427,0.411721195055,-0.0155486364818,0.0600051181207,0.999999991566,-0.000118527203264,1.81029052557e-05,-4.99234121773e-05,1793238065731497728
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.011979832,745.988020168,716,679,663,637,880.988020168,789,804,652.988020168,632,653,0.4123344206,-0.0155459818237,0.0599939981839,0.999999993819,-0.000101062826612,-2.59390577953e-06,-4.62759093461e-05,1793238065748164096
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.605450985,745.394549015,716,679,663,637,880.394549015,789,804,652.394549015,632,653,0.412907416605,-0.0155349264692,0.0599608912077,0.999999997174,-1.03926965919e-05,-6.86000369297e-05,-2.89340690504e-05,1793238065764831232
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.193480456,716,679.193480456,663,637,880,789,804,652,632,653.193480456,0.413514045228,-0.0155263490131,0.0599395640688,0.999999992734,4.58703576497e-05,-0.000109770259327,-1.94536432204e-05,1793238065781498112
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.770716674,716,679.770716674,663,637,880,789,804,652,632,653.770716674,0.414187381903,-0.0155226863061,0.0599416014645,0.99999999393,3.38892339915e-05,-0.00010168008738,-2.55658176777e-05,1793238065798164480
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.65373613,716,679.65373613,663.34626387,637,880,789,804,652,632,653.65373613,0.414910734338,-0.0155289607216,0.0599702468874,0.999999998262,1.06665120612e-05,-5.08983581739e-05,-2.77831761488e-05,1793238065814831104
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745.079301937,716,679.079301937,663.920698063,637,880,789,804,652,632,653.079301937,0.415667044595,-0.0155417831969,0.0600164256502,0.999999999032,-1.99638524304e-05,2.80149414619e-05,-2.74340480781e-05,1793238065831497728
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.508765583,716,679.508765583,663.491234417,637,880.508765583,789,804,652.508765583,632,653.508765583,0.416389275427,-0.0155470095493,0.0600298144552,0.99999999807,-2.66255278862e-05,4.87164251149e-05,-2.78932580558e-05,1793238065848164352
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.902792187,745.902792187,716,679.902792187,663,637,881,789,804,653,632,654,0.417104730807,-0.0155500519027,0.0600327141811,0.999999997811,-2.92768125522e-05,5.18044914603e-05,-2.89391511418e-05,1793238065864830720
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.323324077,745.323324077,716,679.323324077,663,637,881,789,804,653,632,654,0.417813651225,-0.0155482949586,0.060009630813,0.999999998902,-3.10773110431e-05,1.37646625038e-05,-3.22533562194e-05,1793238065881497600
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.506965723,745.253482861,716,679.253482861,663.253482861,637,881,789,804,652.746517139,632,653.746517139,0.418532006551,-0.0155479646201,0.0599908413022,0.999999998672,-3.36721771064e-05,-1.68592501584e-05,-3.51924808659e-05,1793238065898164224
+167,2.783333333,POSE1_TO_POSE2_PRESS,767.653861495,745.826930748,716,679.826930748,663.826930748,637,881,789,804,652.173069252,632,653.173069252,0.41926227142,-0.0155494350495,0.0599774718162,0.99999999787,-3.72697536055e-05,-3.81222438165e-05,-3.76581514268e-05,1793238065914831104
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.198677554,746,716,680,664,637,881.400661223,789,804.400661223,652.400661223,632,653.400661223,0.420005498162,-0.0155495763231,0.0599646210691,0.999999997082,-3.92341962343e-05,-5.21367673638e-05,-3.97194665472e-05,1793238065931497984
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.050972367,746,716,680,664,637,881.974513817,789,804.974513817,652.974513817,632,653.974513817,0.420754327808,-0.0155491430504,0.0599519945549,0.999999996329,-4.04926938806e-05,-6.30180378911e-05,-4.16059932728e-05,1793238065948164608
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,716,679.430929296,664,637,882,789,804.430929296,652.430929296,632.569070704,654,0.421488446858,-0.0155467144765,0.059928026198,0.999999991195,-3.91289445874e-05,-0.000118786171999,-4.43607530744e-05,1793238065964831232
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.159275904,746,716,679,664,637,881.840724096,789,804,652,632.840724096,654,0.422250655483,-0.0155468156988,0.0599188854611,0.999999988064,-3.95642615709e-05,-0.000142106029412,-4.59672844252e-05,1793238065981497600
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.735568082,746,716,679,664,637,881.264431918,789,804,652,632.264431918,654,0.423088198274,-0.0155537832334,0.0599499465411,0.999999995185,-4.50289833104e-05,-7.50077290419e-05,-4.4461872442e-05,1793238065998164224
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637,881,789,804,652,632,654,0.423920942121,-0.0155594945187,0.0599896852149,0.999999997803,-5.12472718904e-05,-7.149679113e-06,-4.14233776485e-05,1793238066014831104
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,664,637,881,789,804,652,632,654,0.424749616814,-0.0155641406073,0.0600367817739,0.999999995742,-5.81045229359e-05,6.13525725532e-05,-3.70849545783e-05,1793238066031497728
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716.46043029,679,663.53956971,637,881,789,804,652,632.46043029,654,0.425544960685,-0.0155659735343,0.0600410330347,0.999999995168,-5.89279397239e-05,6.92891633885e-05,-3.72974945147e-05,1793238066048164096
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716.963496765,679.036503235,663.036503235,637,881.036503235,789,804.036503235,652,633,654,0.426332632304,-0.0155671264884,0.0600337530079,0.999999995618,-5.92116341358e-05,6.1262741417e-05,-3.87874923335e-05,1793238066064830720
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716.367189501,679.632810499,663.632810499,637,881.632810499,789,804.632810499,652,633,654,0.427129560756,-0.0155685635373,0.0600127788835,0.99999999558,-7.4193974112e-05,3.90541967293e-05,-4.25390509216e-05,1793238066081497856
+178,2.966666667,POSE1_TO_POSE2_PRESS,767.220309077,746,716,680,664,637,881.779690923,788.779690923,804.779690923,652,632.779690923,653.779690923,0.427915499684,-0.0155688659789,0.0599950687567,0.999999995491,-8.12942997131e-05,1.84327710347e-05,-4.55000944827e-05,1793238066098164992
+179,2.983333333,POSE1_TO_POSE2_PRESS,767.793690735,746,716,680,664,637,881.206309265,788.206309265,804.206309265,652,632.206309265,653.206309265,0.428683826664,-0.0155673500722,0.0599825895871,0.999999996016,-7.57627234742e-05,3.54896653733e-07,-4.71942404222e-05,1793238066114831616
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,746,716,680,663.631397454,637,881,788.368602546,804,652.368602546,632,653.368602546,0.429432699864,-0.0155648827064,0.0599650645205,0.99999999579,-7.13060835166e-05,-3.09625693451e-05,-4.87481380132e-05,1793238066131497984
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,746,716,680,663.055625671,637,881,788.944374329,804,652.944374329,632,653.944374329,0.430170639222,-0.0155618805828,0.0599447034606,0.999999994033,-6.74536005949e-05,-6.97212093204e-05,-5.02232103194e-05,1793238066148164352
+182,3.033333333,POSE1_TO_POSE2_PRESS,767.467127743,746,716,680,663.532872257,637,881,789,804,653,632,653.467127743,0.430991820246,-0.0155659381512,0.0599623699258,0.999999995536,-7.31068223677e-05,-3.23982812198e-05,-5.03364121973e-05,1793238066164830976
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.879377193,746,716,680,664.120622807,637,881.120622807,789,804,653,632.120622807,653,0.431816459303,-0.0155709990861,0.05998637489,0.999999995429,-8.04613696442e-05,1.36938980683e-05,-4.98086237137e-05,1793238066181497856
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.299651243,746,716,680,664.700348757,637,881.700348757,789,804,653,632.700348757,653,0.432620377771,-0.0155770054047,0.0600190263523,0.999999992855,-9.04221961209e-05,6.2194982859e-05,-4.73954860941e-05,1793238066198164480
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.276466454,746,716,679.723533546,664.723533546,637,882,789,804,653,633,653.276466454,0.433383302474,-0.0155787624648,0.0600254394946,0.999999992079,-9.47842961245e-05,6.8159974342e-05,-4.70405997628e-05,1793238066214830848
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.848723652,746,716,679.151276348,664.151276348,637,882,789,804,653,633,653.848723652,0.434102368004,-0.0155759732538,0.060003780324,0.999999994057,-9.3156332597e-05,2.86157066107e-05,-4.88878313526e-05,1793238066231497728
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,679.425514338,664.425514338,637,882,789,804.425514338,652.574485662,633,654,0.434816368929,-0.0155727907607,0.0599762896075,0.999999994226,-9.29888630045e-05,-1.37567267252e-05,-5.20742885183e-05,1793238066248164352
+188,3.133333333,POSE1_TO_POSE2_PRESS,767.004026316,746,716,680,664.995973684,637,882,789,805,652.004026316,632.995973684,654,0.435528632536,-0.0155695161706,0.0599468947757,0.999999992471,-9.33617515595e-05,-5.68917429938e-05,-5.57216321174e-05,1793238066264831232
+189,3.150000000,POSE1_TO_POSE2_PRESS,767.595997609,746,716,680,664.404002391,637,882,789,805,652.595997609,632.404002391,654,0.436252950765,-0.0155734298958,0.0599454507,0.999999991818,-9.60039600904e-05,-6.29799477348e-05,-5.63966874189e-05,1793238066281497600
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.816838023,746,716,680.183161977,664.183161977,637,882,789,805,653,632.183161977,654,0.436959836576,-0.0155751210191,0.0599432842537,0.99999999075,-9.93482307514e-05,-7.33930549338e-05,-5.69547810646e-05,1793238066298164224
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.240005089,746,716,680.759994911,664.759994911,637,882,789,805,653,632.759994911,654,0.437629254942,-0.0155720350937,0.0599395652128,0.999999988598,-0.000104201447555,-9.31016978382e-05,-5.72614885531e-05,1793238066314831104
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716,680.664861927,664.664861927,637,881.664861927,789,805,652.664861927,633,653.664861927,0.438304898078,-0.0155699573413,0.0599393867074,0.999999988519,-0.000101799069633,-9.71050191475e-05,-5.62943481109e-05,1793238066331497472
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680.090922837,664.090922837,637,881.090922837,789,805,652.090922837,633,653.090922837,0.438984976604,-0.015568597958,0.0599417309938,0.999999990037,-9.42267524482e-05,-8.99175882191e-05,-5.44195334651e-05,1793238066348164096
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664.481879966,637,881,789,805,652,633,653.481879966,0.439682312239,-0.0155710562757,0.0599801709344,0.999999993834,-9.4270736868e-05,-2.86734302914e-05,-5.12156575049e-05,1793238066364830976
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,881.056656449,789,805,652,633,653.943343551,0.440376662332,-0.0155741490855,0.0600217589907,0.999999993537,-9.63586910874e-05,3.63922345142e-05,-4.81358577552e-05,1793238066381497856
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,637,881.65224164,789,805,652,633,653.34775836,0.441011713119,-0.0155764414345,0.0600286605437,0.999999992543,-0.000104251762953,4.10161418398e-05,-4.86160883808e-05,1793238066398164480
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664.759802678,637,882,789,804.759802678,652,632.759802678,653.240197322,0.441612440794,-0.0155780387292,0.0600175285272,0.999999992157,-0.000112386109125,2.12047831979e-05,-5.10555945083e-05,1793238066414830848
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664.18255301,637,882,789,804.18255301,652,632.18255301,653.81744699,0.442165005158,-0.015578660702,0.0599810912453,0.999999990574,-0.000120859018011,-3.28949002522e-05,-5.62444167474e-05,1793238066431497472
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716.392808289,680,664.392808289,637,882,789,804,652,632.392808289,653.607191711,0.442721788258,-0.0155789101588,0.0599628859034,0.999999988701,-0.000126634862297,-5.48675147637e-05,-5.95914041713e-05,1793238066448164096
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716.96729624,680,664.96729624,637,882,789,804,652,632.96729624,653.03270376,0.443280522635,-0.0155789873214,0.0599531131012,0.99999998755,-0.000131163275034,-6.19808879627e-05,-6.20865161679e-05,1793238066464830720
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,716,680.14454628,665,637,881,789,805,652,633,653,0.444361295188,-0.0155854492323,0.0599794596684,0.999999986296,-0.000151091881353,-2.59589220987e-05,-6.24986783718e-05,1793238066498164224
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,716,680.723166859,665,637,881,789,805,652,633,653,0.444889096623,-0.0155864843233,0.0599952204174,0.999999986522,-0.000151673070163,-1.72272333116e-06,-6.28320915958e-05,1793238066514831104
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680.699526154,664.699526154,636.699526154,881,788.699526154,805,652.300473846,633,653.300473846,0.44535620832,-0.0155874069491,0.0599865643589,0.999999985572,-0.00015531018711,-2.30133411892e-05,-6.48410339126e-05,1793238066531497728
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+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664,636,881.461346317,788,805,653,632.538653683,653.538653683,0.446149868909,-0.0155921842275,0.059919896478,0.999999972506,-0.000173154233181,-0.000140818925118,-7.1940749501e-05,1793238066564831232
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716,680.047847784,663.952152216,636,882,788,804.952152216,652.952152216,632,653.047847784,0.446525520422,-0.0155968390184,0.0598851312024,0.999999961901,-0.000185497099427,-0.00019004500567,-7.53171472943e-05,1793238066581497856
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,716,680.627321501,663.372678499,636,882,788,804.372678499,652.372678499,632,653.627321501,0.446916706053,-0.0155997304026,0.0598736103221,0.999999957781,-0.000193239042994,-0.000203010761819,-7.66987363581e-05,1793238066598164224
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663.205875967,636,882.205875967,788,804.205875967,652,632,654,0.447304260975,-0.015603608162,0.0598675944893,0.999999956151,-0.000195419534618,-0.000208945496154,-7.64903251662e-05,1793238066614830848
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,716,681,663.782773732,636,882.782773732,788,804.782773732,652,632,654,0.447685272733,-0.015609263529,0.0598714996438,0.999999959268,-0.00018757738933,-0.000202209190368,-7.34164761565e-05,1793238066631497472
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+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636,882.066207925,788,805,652,632.933792075,653.066207925,0.448338967203,-0.0156197281559,0.0598536021947,0.99999996759,-0.000105950834321,-0.000226992692735,-4.54739263303e-05,1793238066664831232
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+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746,716,682,663.734514285,636,882.265485715,786.734514285,804.734514285,652,631,654,0.44930514529,-0.0156213842713,0.0597439486928,0.999999906142,-0.000152450109388,-0.000401142281581,-5.96714127856e-05,1793238066731497728
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.132822089,746,716,680,663.132822089,637,881,788.132822089,804.867177911,652,632.132822089,653.867177911,0.431618464442,-0.0154079579776,0.0598086386628,0.999999953603,7.61418464613e-05,-0.000294941393777,2.35757251956e-06,1793238068910529024
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.707979922,746,716,680,663.707979922,637,881,788.707979922,804.292020078,652,632.707979922,653.292020078,0.430864978733,-0.0154069267699,0.0598206625034,0.999999959024,9.22360646799e-05,-0.00027085737348,8.94641301727e-06,1793238068927195648
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.290163134,664.290163134,636.709836866,881,789,804.290163134,652,632.709836866,653,0.430102820935,-0.0154023891583,0.0598314117578,0.999999960544,0.000114816350183,-0.000255964832038,1.45219912892e-05,1793238068943862528
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.879592082,664.879592082,636.120407918,881,789,804.879592082,652,632.120407918,653,0.429331719045,-0.0153942351438,0.0598408464403,0.99999995805,0.000144086175782,-0.000250552115982,1.90525199707e-05,1793238068960529152
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.078163368,664.539081684,636.460918316,881.460918316,789,804.539081684,652,632,653,0.428486712188,-0.0153891621319,0.0598077974676,0.999999940265,0.000153176599357,-0.000309319986027,1.80886844222e-05,1793238068977195520
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745.960162315,716,679.039837685,663.960162315,637,882,789,804,652,632.039837685,653.039837685,0.427629958579,-0.0153852804398,0.0597673828579,0.999999916544,0.000156235434174,-0.000377168294992,1.56734047951e-05,1793238068993862144
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745.385628756,716,679.614371244,663.385628756,637,882,789,804,652,632.614371244,653.614371244,0.426870195756,-0.0153867723189,0.0597744929971,0.999999929216,0.000147870975131,-0.000345746905748,1.27088919465e-05,1793238069010529024
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745.782027061,716,680,663.782027061,637,881.217972939,789,804.782027061,652,633,653.217972939,0.42535240625,-0.015389400669,0.059813994781,0.999999947999,0.000141842179875,-0.000289158474573,1.64132730026e-05,1793238069043862528
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745.635012576,716,680,663.635012576,637,881,789,805,652.364987424,633,653.364987424,0.424568327126,-0.0153873325744,0.0598296828124,0.999999950392,0.000150581375933,-0.000275977792039,1.94411128961e-05,1793238069060529152
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745.05532425,716,680,663.05532425,637,881,789,805,652.94467575,633,653.94467575,0.423769175633,-0.0153833276886,0.0598392249075,0.999999949555,0.000164644846785,-0.000270758337811,2.17293154458e-05,1793238069077195520
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.477307733,745,716,680,663,637,881,789,804.477307733,652.477307733,632.477307733,654,0.422979117981,-0.0153829715114,0.0598435752381,0.999999952276,0.000169767827696,-0.000257163721882,2.22268919944e-05,1793238069093862144
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,663.100034916,637,881,789,804,652.100034916,632,654,0.422190277054,-0.0153831728775,0.0598455655811,0.999999953976,0.000172974393783,-0.000248239675945,2.24855267958e-05,1793238069110528768
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,663.675015617,637,881,789,804,652.675015617,632,654,0.421402657563,-0.0153841936085,0.059838951873,0.999999949736,0.000171560744287,-0.00026568591356,2.2506688084e-05,1793238069127195392
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.249421176,745.249421176,716,680,663.750578824,637,881,789,804,652.750578824,632,654,0.420602983274,-0.0153807449789,0.0598155360066,0.999999936444,0.000173756862509,-0.000310640843309,2.05438160297e-05,1793238069143862016
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.823079033,745.823079033,716,680,663.176920967,637,881,789,804,652.176920967,632,654,0.419787638335,-0.0153714863749,0.0597702780659,0.999999906976,0.000180645521107,-0.000391355873664,1.60017868306e-05,1793238069160528896
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767.995084683,746,716,679.995084683,663.004915317,637,881,788,804,652.995084683,632,653,0.418313201953,-0.0153675401328,0.0597524340196,0.99999990811,0.000185847541198,-0.00038607529463,1.36262352899e-05,1793238069193862400
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767.419401963,746,716,679.419401963,663.580598037,637,881,788,804,652.419401963,632,653,0.417602219589,-0.0153715494199,0.0597920128176,0.999999928474,0.000182005718891,-0.00033106223312,1.79930731443e-05,1793238069210529024
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745.843892417,716,679.156107583,663.843892417,636.843892417,880.843892417,788.156107583,804,652.156107583,632,653,0.416894473302,-0.0153749855192,0.0598252926012,0.999999942705,0.00017991719214,-0.00028590802898,2.18443672749e-05,1793238069227195648
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.686086796,745.313913204,716,679.686086796,663,636.313913204,880,789,804,652.686086796,632.313913204,653,0.415500790727,-0.0153763271091,0.0598423235649,0.999999945241,0.00018415687916,-0.000273848744272,2.47042331222e-05,1793238069260528896
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.096551551,745.903448449,716,679.096551551,663,636.903448449,880,789,804,652.096551551,632.903448449,653,0.41481006975,-0.0153736160431,0.0598291765972,0.999999936811,0.000184907375315,-0.000302729576173,2.32738763884e-05,1793238069277195520
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.483344637,746,716,679.483344637,663,637,880,789,804.483344637,652.483344637,632.516655363,653.483344637,0.414140792487,-0.0153722618482,0.0598324499764,0.999999938478,0.000187809145039,-0.000295340533471,2.33519235726e-05,1793238069293862400
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745.359481177,716,680,663,637,880,789,804.359481177,652.359481177,632,653.359481177,0.412779436752,-0.0153692137014,0.0598210891921,0.999999931067,0.000194728639688,-0.000315308204729,2.29648812341e-05,1793238069327195648
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.967292237,745,716,678.967292237,663,636.967292237,880.032707763,788.032707763,804.032707763,652.032707763,632,653.032707763,0.410348887382,-0.0153681481618,0.0597899148538,0.999999921419,0.000198341302861,-0.000342709775651,1.92925165262e-05,1793238069393862144
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745.545871677,716,679,663,637,880,788.545871677,804.545871677,652,632,653.545871677,0.409812622487,-0.0153702286123,0.0598203877786,0.999999934725,0.000198730578128,-0.000300913644581,2.25410213403e-05,1793238069410529024
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745.876261565,716,679,663,637,880,789,804.876261565,652,632,653.876261565,0.409277939011,-0.0153719852175,0.0598474010798,0.999999944966,0.000198771682245,-0.000264399586629,2.55168784056e-05,1793238069427195648
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745.300797493,716,679,663,637,880,789,804.300797493,652,632,653.300797493,0.408744169925,-0.0153731941621,0.0598587797764,0.999999949497,0.000196622209604,-0.00024821803381,2.71010811512e-05,1793238069443862272
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745.449158209,716,679,663,637,880,789,804,652.449158209,632.449158209,654,0.407245706344,-0.0153689350666,0.059833613685,0.999999937009,0.000200916241566,-0.000291686173227,2.31012335641e-05,1793238069493861888
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.179316485,745.820683515,716,679.820683515,663,637,880,788.820683515,804,653,632.179316485,653.179316485,0.405965835834,-0.0153743044714,0.0598486480467,0.999999947875,0.000202018428935,-0.000250605406069,2.52159210383e-05,1793238069543862272
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.755595685,745.244404315,716,679.244404315,663,637,880,788.244404315,804,653,632.755595685,653.755595685,0.405566252119,-0.0153765047456,0.0598529127382,0.999999949431,0.000203464647865,-0.000242929938546,2.69206558083e-05,1793238069560528640
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745.339834086,716,679,663,637,880,788.339834086,804,653,632.660165914,654,0.405182538217,-0.015374372801,0.0598481918414,0.999999946522,0.000207863381855,-0.000251013834408,2.72076526723e-05,1793238069577195264
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745.929933983,716,679,663,637,880,788.929933983,804,653,632.070066017,654,0.404810511364,-0.0153690504578,0.0598368536407,0.999999940018,0.00021443645219,-0.000270703480587,2.64505774933e-05,1793238069593861888
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880.511458827,789,804,652.488541173,632,654,0.404453588563,-0.01536819762,0.0598176665876,0.999999929097,0.000224612594802,-0.000301173890679,2.54689980947e-05,1793238069610528768
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745.909432844,716,679,663,637,880.909432844,788.909432844,803.909432844,652,632,654,0.404106496884,-0.0153678658578,0.0597988449945,0.999999917548,0.000233862325024,-0.000331074788201,2.45383573169e-05,1793238069627195392
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745.337033904,716,679,663,637,880.337033904,788.337033904,803.337033904,652,632,654,0.403800881568,-0.0153671025421,0.0597875937888,0.999999910631,0.000235600700899,-0.000350218104943,2.40396434576e-05,1793238069643862272
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745.242287686,716,679,663,637,880,788.242287686,803,652,632,654,0.403524891343,-0.0153672512706,0.059789557631,0.999999911772,0.000238478054194,-0.00034489312895,2.51414031607e-05,1793238069660529152
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745.831522215,716,679,663,637,880,788.831522215,803,652,632,654,0.40329132315,-0.0153687060123,0.0598104449247,0.999999923702,0.000242986379991,-0.000304530477613,2.85349807567e-05,1793238069677195520
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788.586260874,803.827478253,652.413739126,632,654,0.403066674479,-0.0153687026583,0.0598249555191,0.999999929826,0.000245011258267,-0.000281727980369,3.07768123721e-05,1793238069693862144
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,663,637,880,788.006853943,804.986292113,652.993146057,632,654,0.402845597334,-0.0153681154594,0.0598369127799,0.999999933835,0.000246041724134,-0.000265956852427,3.2557466288e-05,1793238069710529024
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.570148935,663,637,880,788.570148935,803.85970213,653,632,654,0.402651565854,-0.0153662355909,0.0598425179925,0.999999936029,0.00024914105019,-0.000254419597607,3.37854216367e-05,1793238069727195648
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745.854037687,716,679.854037687,663,637,880,789,803.145962313,653,632,654,0.402462601516,-0.0153642377696,0.0598473495261,0.999999937683,0.000251772548691,-0.000244987344132,3.50080281447e-05,1793238069743862272
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745.281615707,716,679.281615707,663,637,880,789,803.718384293,653,632,654,0.402287496005,-0.0153619405361,0.0598501427577,0.999999938173,0.000252964830791,-0.00024155721678,3.62343375069e-05,1793238069760528640
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880.301585413,788.698414587,804,652.698414587,632.301585413,654,0.40211634423,-0.0153607713594,0.0598478065705,0.999999936954,0.000251838833598,-0.000247665150166,3.64941543932e-05,1793238069777195264
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745.475920224,716,679,663,636.524079776,880.524079776,788,804,652.475920224,633,654,0.401808151065,-0.0153618317447,0.0598369018251,0.999999932595,0.000243848277029,-0.000272346033416,3.42930067997e-05,1793238069810528768
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2c7eaa3aaff791e2a5622bd66d7c7180a4d5cac2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,443 @@
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+395,6.583333333,pose2_to_pose3_retreat,0.579428632155,-0.00999882690722,1.05001175747,0.549999907106,-0.00132515127771,1.04966129697
+396,6.600000000,pose2_to_pose3_retreat,0.579274798946,-0.00999874595036,1.05001164282,0.549846073964,-0.00132507021757,1.04966118961
+397,6.616666667,pose2_to_pose3_retreat,0.579131599307,-0.00999870191312,1.05001161629,0.549702874149,-0.00132502722454,1.04966116186
+398,6.633333333,pose2_to_pose3_retreat,0.579002528425,-0.00999892440035,1.05001161492,0.549573806028,-0.00132524125424,1.049661147
+399,6.650000000,pose2_to_pose3_retreat,0.578887866967,-0.00999879405481,1.05001166745,0.549459143211,-0.00132511539036,1.04966121033
+400,6.666666667,pose2_to_pose3_retreat,0.57878996227,-0.00999877915088,1.05001179182,0.549361238214,-0.00132510188146,1.04966132836
+401,6.683333333,pose2_to_pose3_retreat,0.578704804799,-0.00999882839942,1.05001185675,0.549276080444,-0.00132515303353,1.04966138463
+402,6.700000000,pose2_to_pose3_retreat,0.578631317617,-0.00999884046403,1.05001178753,0.54920259281,-0.0013251671651,1.04966131502
+403,6.716666667,pose2_to_pose3_retreat,0.578566203252,-0.00999875465189,1.05001156601,0.549137477842,-0.00132508306433,1.04966110658
+404,6.733333333,pose2_to_pose3_retreat,0.578509194554,-0.00999868403579,1.05001184294,0.549080470203,-0.00132500880325,1.04966138272
+405,6.750000000,pose2_to_pose3_retreat,0.578459487412,-0.00999869858302,1.05001171996,0.54903076271,-0.00132502499032,1.04966125731
+406,6.766666667,pose2_to_pose3_retreat,0.578416694596,-0.00999874768823,1.0500116175,0.548987969526,-0.00132507553894,1.04966115337
+407,6.783333333,pose2_to_pose3_retreat,0.578381083287,-0.00999877631618,1.0500116907,0.548952358375,-0.00132510333799,1.04966122814
+408,6.800000000,pose2_to_pose3_retreat,0.578351148645,-0.00999862489365,1.05001163892,0.548922423532,-0.00132495247093,1.04966118715
+409,6.816666667,pose2_to_pose3_retreat,0.578326843745,-0.00999864160999,1.0500117553,0.548898119055,-0.00132496794119,1.04966129496
+410,6.833333333,pose2_to_pose3_retreat,0.578307353696,-0.00999870649798,1.05001176719,0.548878629411,-0.00132503148931,1.04966130346
+411,6.850000000,pose2_to_pose3_retreat,0.57829221921,-0.00999877012216,1.0500116913,0.548863495026,-0.00132509462943,1.04966123195
+412,6.866666667,pose2_to_pose3_retreat,0.578281149355,-0.00999877395286,1.0500118543,0.548852424161,-0.00132510182558,1.04966139632
+413,6.883333333,pose2_to_pose3_retreat,0.578272865263,-0.00999867858579,1.05001178996,0.548844138833,-0.00132501048668,1.04966133633
+414,6.900000000,pose2_to_pose3_retreat,0.578267010847,-0.00999855905094,1.05001164558,0.548838283289,-0.00132489459983,1.04966119681
+415,6.916666667,pose2_to_pose3_retreat,0.578262737765,-0.00999857835037,1.05001160144,0.548834010366,-0.00132491368175,1.04966114516
+416,6.933333333,pose2_to_pose3_retreat,0.578259684174,-0.00999860086498,1.0500115749,0.548830956967,-0.00132493580512,1.04966111235
+417,6.950000000,pose2_to_pose3_retreat,0.578257767159,-0.00999865105127,1.05001155223,0.548829040796,-0.00132498292294,1.04966109504
+418,6.966666667,pose2_to_pose3_retreat,0.578256700146,-0.00999867958645,1.05001153951,0.548827974266,-0.00132500970312,1.04966108546
+419,6.983333333,pose2_to_pose3_retreat,0.578256383756,-0.0099986880477,1.05001153573,0.548827658018,-0.00132501764397,1.04966108262
+420,7.000000000,pose2_to_pose3_retreat,0.578256294855,-0.00999869042517,1.05001153467,0.548827569158,-0.00132501987522,1.04966108183
+421,7.016666667,pose2_to_pose3_retreat,0.578255902046,-0.00999870093011,1.05001152999,0.548827176525,-0.00132502973407,1.0496610783
+422,7.033333333,pose2_to_pose3_retreat,0.578255583958,-0.00999870943674,1.0500115262,0.548826858582,-0.00132503771751,1.04966107544
+423,7.050000000,pose2_to_pose3_retreat,0.578255386275,-0.00999871426707,1.05001154102,0.548826660976,-0.0013250423033,1.04966108985
+424,7.066666667,pose2_to_pose3_retreat,0.578255384014,-0.00999871431933,1.0500115413,0.548826658716,-0.00132504235329,1.04966109012
+425,7.083333333,pose2_to_pose3_retreat,0.578255111091,-0.00999872062793,1.05001157533,0.54882638589,-0.00132504838789,1.04966112279
+426,7.100000000,pose2_to_pose3_retreat,0.578254465618,-0.00999873554801,1.05001165581,0.548825740646,-0.00132506265994,1.04966120004
+427,7.116666667,pose2_to_pose3_retreat,0.578254014775,-0.00999874596923,1.05001171202,0.548825289963,-0.00132507262853,1.04966125401
+428,7.133333333,pose2_to_pose3_retreat,0.578253877759,-0.00999874913636,1.0500117291,0.548825152995,-0.0013250756581,1.04966127041
+429,7.150000000,pose2_to_pose3_retreat,0.578253836924,-0.00999875008026,1.05001173419,0.548825112174,-0.001325076561,1.04966127529
+430,7.166666667,pose2_to_pose3_retreat,0.578253509305,-0.00999875765315,1.05001177504,0.548824784672,-0.00132508380497,1.04966131451
+431,7.183333333,pose2_to_pose3_retreat,0.578252924362,-0.00999870779972,1.05001176566,0.548824198651,-0.00132503771872,1.0496613025
+432,7.200000000,pose2_to_pose3_retreat,0.578252605034,-0.0099986524391,1.05001172398,0.548823878162,-0.00132498634847,1.04966125952
+433,7.216666667,pose2_to_pose3_retreat,0.578252593468,-0.00999865043401,1.05001172247,0.548823866554,-0.00132498448791,1.04966125796
+434,7.233333333,pose2_to_pose3_retreat,0.578252492338,-0.00999863290158,1.05001170927,0.548823765057,-0.00132496821921,1.04966124435
+435,7.250000000,pose2_to_pose3_retreat,0.578252351502,-0.00999863819313,1.05001173514,0.548823624077,-0.00132497391319,1.04966127232
+436,7.266666667,pose2_to_pose3_retreat,0.578252203104,-0.00999865883179,1.05001178483,0.548823475715,-0.00132499428759,1.04966132559
+437,7.283333333,pose2_to_pose3_retreat,0.578252178791,-0.00999864308615,1.05001188815,0.548823450782,-0.00132498070139,1.0496614275
+438,7.300000000,pose2_to_pose3_retreat,0.578252179026,-0.00999863925162,1.05001190699,0.548823450893,-0.0013249773051,1.04966144593
+439,7.316666667,pose2_to_pose3_retreat,0.578252179107,-0.00999863794098,1.05001191342,0.548823450931,-0.00132497614425,1.04966145223
+440,7.333333333,pose2_to_pose3_retreat,0.578252179116,-0.00999863779227,1.05001191415,0.548823450936,-0.00132497601254,1.04966145295
+441,7.350000000,pose2_to_pose3_retreat,0.578252179325,-0.00999863438498,1.05001193089,0.548823451034,-0.00132497299424,1.04966146933
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..33b2ee289605c3e3a3b2a015a40bcb71904aea18
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:216a0043c114a56dae52b9be288ad356539531cd8c08885f5acc798338eb7bbe
+size 27503840
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..346ebb3d84a3851480a656a5bb8570c447c2514e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_01/franka_data.csv
@@ -0,0 +1,434 @@
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+31,0.516666667,BASELINE,767,745.994438756,715.005561244,679,666.994438756,637,880,788.005561244,804,653,632.994438756,653.005561244,0.400948297157,-0.0154273921662,0.0499450438183,0.999999975798,7.67301523399e-05,-0.00020362442861,-3.24510741081e-05,1793238072381506816
+32,0.533333333,BASELINE,767,745.429839157,715,679,666.429839157,637,880.570160843,788.570160843,804,653,632.429839157,653.570160843,0.400948969409,-0.0154281661354,0.0499449545648,0.999999975995,7.61992349808e-05,-0.000202896820028,-3.21889754928e-05,1793238072398173184
+33,0.550000000,BASELINE,767,745.145409674,715.145409674,679,666,637,881,789,803.854590326,653,632,654,0.400949557543,-0.0154287997866,0.0499449572045,0.999999976131,7.59775156981e-05,-0.000202353308452,-3.19211580247e-05,1793238072414840064
+34,0.566666667,BASELINE,767,745.719793999,715.719793999,679,666,637,881,789,803.280206001,653,632,654,0.400949890573,-0.0154289969288,0.0499452559762,0.999999976084,7.6702587495e-05,-0.000202355937112,-3.16430140543e-05,1793238072431506688
+35,0.583333333,BASELINE,767,745.698198877,716,679,666,637,881,788.698198877,803.301801123,653,632,654,0.400949332453,-0.0154278069732,0.0499449576196,0.999999975831,7.78729505579e-05,-0.000203107005401,-3.1945890724e-05,1793238072448173312
+36,0.600000000,BASELINE,767,745.108930938,716,679,666,637,881,788.108930938,803.891069062,653,632,654,0.400947925508,-0.0154252958011,0.0499440904958,0.99999997538,7.94674554742e-05,-0.000204570965525,-3.28021919189e-05,1793238072464839936
+37,0.616666667,BASELINE,767,745.472078194,716,679,666,637,880.527921806,788.472078194,804,653.472078194,632,654,0.400947751412,-0.0154249737383,0.0499439659556,0.999999975379,7.84146496095e-05,-0.000204935446212,-3.30777933961e-05,1793238072481506560
+38,0.633333333,BASELINE,767,745.949223253,716,678.949223253,666,637,880.050776747,789,803.949223253,653.949223253,632,654,0.40094794329,-0.0154252882746,0.0499440883375,0.999999975511,7.67928177371e-05,-0.000204887625625,-3.31834562925e-05,1793238072498173184
+39,0.650000000,BASELINE,767,745.375035584,716,678.375035584,666,637,880.624964416,789,803.375035584,653.375035584,632,654,0.400949025659,-0.0154270475135,0.0499450200962,0.999999975972,7.54939550379e-05,-0.000203159988868,-3.28948622932e-05,1793238072514840064
+40,0.666666667,BASELINE,767,745.198680896,716,678.198680896,666.198680896,637,880.801319104,789,803.198680896,653,632,653.801319104,0.400949214214,-0.0154282215103,0.0499451447678,0.999999976146,7.44598728642e-05,-0.00020271823479,-3.27093427e-05,1793238072531506688
+41,0.683333333,BASELINE,767,745.771510015,716,678.771510015,666.771510015,637,880.228489985,789,803.771510015,653,632,653.228489985,0.400947719572,-0.0154282934017,0.0499437495642,0.999999975782,7.3924415272e-05,-0.00020469800563,-3.27179288823e-05,1793238072548173312
+42,0.700000000,BASELINE,767,746,715.641739179,679,666.641739179,637,880.358260821,789,804,653,632,653.358260821,0.40094721923,-0.0154267945106,0.0499435558754,0.999999975443,7.75069536773e-05,-0.000205050689224,-3.25617225756e-05,1793238072564839936
+43,0.716666667,BASELINE,767,746,715.045750509,679,666.045750509,637,880.954249491,789,804,653,632,653.954249491,0.400947378667,-0.0154242533098,0.049944159465,0.999999975091,8.38220329515e-05,-0.000204323701366,-3.22961664265e-05,1793238072581506560
+44,0.733333333,BASELINE,767,745.466875623,715.533124377,679,666,637,881.533124377,789,803.466875623,653,632.533124377,654,0.400946567505,-0.0154252954483,0.0499436145312,0.999999975179,8.04762243844e-05,-0.000205181893969,-3.26597787461e-05,1793238072598173184
+45,0.750000000,BASELINE,767,745.110338044,716,679,666,637,881.889661956,788.889661956,803,653,633,654,0.400946365423,-0.0154263805201,0.0499433726786,0.99999997534,7.74406118371e-05,-0.000205520033254,-3.29432615079e-05,1793238072614840064
+46,0.766666667,BASELINE,767,745.686545561,716,679,666,637,881.313454439,788.313454439,803,653,633,654,0.400949075743,-0.0154263888889,0.0499448137,0.999999975712,7.91062840945e-05,-0.000203105905198,-3.26675436764e-05,1793238072631506688
+47,0.783333333,BASELINE,767,746,716,679,666,637,881,788.250726118,803,653,633,654,0.400949773404,-0.0154265730038,0.0499451999267,0.999999975832,7.91930887415e-05,-0.000202501686001,-3.25339873757e-05,1793238072648173312
+48,0.800000000,BASELINE,767,746,716,679,666,637,881,788.800559042,803,653,633,654,0.400948070041,-0.0154269667774,0.0499443278233,0.999999975655,7.73963640696e-05,-0.000204056619528,-3.25700243858e-05,1793238072664839936
+49,0.816666667,BASELINE,767,746,715.603399805,679,666,637,881,789,803.396600195,653,632.603399805,654,0.400946393238,-0.0154263577048,0.0499434509801,0.999999975305,7.7898638283e-05,-0.000205553322928,-3.26927647302e-05,1793238072681506816
+50,0.833333333,BASELINE,767,746,715.017515943,679,666,637,881,789,803.982484057,653,632.017515943,654,0.400944844423,-0.0154252383595,0.0499426306589,0.999999974885,7.96184023882e-05,-0.000206908051249,-3.28560230415e-05,1793238072698173440
+51,0.850000000,BASELINE,767,746,715.59298236,679,666,637,881,789,803.40701764,653,632.59298236,654,0.400946890946,-0.0154260474845,0.0499436967167,0.999999975417,7.84367232579e-05,-0.000204796099391,-3.2737915242e-05,1793238072714840064
+52,0.866666667,BASELINE,767,746,716,679,666.166892263,637,880.833107737,789,803.166892263,653.166892263,632.833107737,654,0.400948190282,-0.0154264561517,0.0499442437332,0.999999975721,7.78131863518e-05,-0.000203562871741,-3.26312956147e-05,1793238072731506688
+53,0.883333333,BASELINE,767,746,716,679,666.737041176,637,880.262958824,789,803.737041176,653.737041176,632.262958824,654,0.40094768421,-0.015425897205,0.0499435366059,0.999999975486,7.8538271431e-05,-0.000204452878537,-3.25524345124e-05,1793238072748173312
+54,0.900000000,BASELINE,767,746,715.678281567,679,666.678281567,637,880,789,804,653.678281567,632.321718433,653.678281567,0.400947553594,-0.0154253610769,0.0499434373843,0.999999975346,7.94581444972e-05,-0.000204765760708,-3.26283817108e-05,1793238072764839936
+55,0.916666667,BASELINE,767,746,715.081167883,679,666.081167883,637,880,789,804,653.081167883,632.918832117,653.081167883,0.400947744373,-0.0154248444818,0.0499438585381,0.99999997529,8.05447586289e-05,-0.000204584616493,-3.28368468741e-05,1793238072781506560
+56,0.933333333,BASELINE,767,746,715.49738372,679,666.49738372,637,880,789,804,653,633,653.49738372,0.40094778583,-0.0154262215934,0.0499439341799,0.999999975391,7.98618589504e-05,-0.000204400167084,-3.25674937033e-05,1793238072798173184
+57,0.950000000,BASELINE,767,746,716,679,667,637,880,789,804,653,632.927194348,654,0.40094787408,-0.0154276953744,0.0499439833006,0.999999975539,7.86474114656e-05,-0.000204194486667,-3.22697817001e-05,1793238072814839808
+58,0.966666667,BASELINE,767,746,716,679,667,637,880,789,804,653,632.353214902,654,0.400948446139,-0.0154277838352,0.0499442240258,0.999999975837,7.56902105259e-05,-0.000203846237339,-3.22943029643e-05,1793238072831506688
+59,0.983333333,BASELINE,767,745.772142516,716,679,666.772142516,637,880.227857484,789,804,653,632.227857484,654,0.400948418506,-0.0154271891746,0.0499440677367,0.999999975837,7.49793825381e-05,-0.00020409616672,-3.23743280805e-05,1793238072848173312
+60,1.000000000,BASELINE,767,745.179721603,716,679,666.179721603,637,880.820278397,789,804,653,632.820278397,654,0.400947431388,-0.0154255015452,0.0499432762394,0.999999975364,7.78626665692e-05,-0.000205303159552,-3.25431572825e-05,1793238072864839936
+61,1.016666667,BASELINE,767,745,716,679,666.403673251,637,881,788.596326749,803.596326749,653,632.596326749,653.596326749,0.400947263283,-0.0154260462028,0.0499433515207,0.999999975439,7.71394536991e-05,-0.000205203827154,-3.26150565543e-05,1793238072881506560
+62,1.033333333,BASELINE,767,745,716,679,666.983137418,637,881,788.016862582,803.016862582,653,632.016862582,653.016862582,0.400947451839,-0.015427562973,0.0499438042653,0.999999975749,7.48456897455e-05,-0.000204535618476,-3.2644744941e-05,1793238072898173184
+63,1.050000000,BASELINE,767,745.556971871,716,679,666.443028129,637,881,788.556971871,803.556971871,653,632.556971871,653.556971871,0.400947559582,-0.0154274246073,0.0499434741118,0.999999975657,7.60152443409e-05,-0.000204586745719,-3.24257631869e-05,1793238072914839808
+64,1.066666667,BASELINE,767.131165215,745.868834785,716,679,666,637,881,789.131165215,804,653,633,653.868834785,0.400947655367,-0.0154269540257,0.0499432931429,0.99999997555,7.73316688093e-05,-0.000204635312967,-3.23183887028e-05,1793238072931506688
+65,1.083333333,BASELINE,767.707147857,745.292852143,716,679,666,637,881,789.707147857,804,653,633,653.292852143,0.400947718813,-0.0154255250446,0.0499436976778,0.999999975433,7.87941402755e-05,-0.00020460208162,-3.2614781362e-05,1793238072948173312
+66,1.100000000,BASELINE,767.708729966,745.291270034,716,679,666,637,880.708729966,789.708729966,804.291270034,653,632.708729966,653.291270034,0.400947609928,-0.0154250153825,0.0499437007889,0.999999975328,7.94776563314e-05,-0.000204827530488,-3.27629447316e-05,1793238072964840192
+67,1.116666667,BASELINE,767.116188809,745.883811191,716,679,666,637,880.116188809,789.116188809,804.883811191,653,632.116188809,653.883811191,0.400947322793,-0.0154254566054,0.049943288693,0.999999975237,7.93554705681e-05,-0.000205320541649,-3.27577891725e-05,1793238072981507072
+68,1.133333333,BASELINE,767,746,716,679,666,637,880.465894893,789,804.068210213,653,632.465894893,654,0.400948321344,-0.0154260519686,0.0499438977587,0.999999975529,7.87083701873e-05,-0.000204165659705,-3.26047949257e-05,1793238072998173696
+69,1.150000000,BASELINE,767,746,716,679,666,637,880.954874503,789,803,653,633,654,0.400949467316,-0.0154266784363,0.0499446833749,0.999999975881,7.78978104493e-05,-0.000202777570456,-3.24122104377e-05,1793238073014840064
+70,1.166666667,BASELINE,767,746,716,679,666,637,880.379199597,789,803,653,633,654,0.400948659523,-0.0154272285721,0.0499446163035,0.999999975863,7.66707461859e-05,-0.000203373347675,-3.21781187788e-05,1793238073031506688
+71,1.183333333,BASELINE,767,745.801657549,716,678.801657549,666,637,880,789,803.198342451,653,633,654,0.400948808707,-0.0154272791525,0.0499448613798,0.999999975956,7.6277820856e-05,-0.000203081071163,-3.20479125869e-05,1793238073048173312
+72,1.200000000,BASELINE,767,745.22051179,716,678.22051179,666,637,880,789,803.77948821,653,633,654,0.40095080487,-0.015426365585,0.0499457089051,0.999999976266,7.74947934423e-05,-0.000201074840414,-3.21182065493e-05,1793238073064839680
+73,1.216666667,BASELINE,767,745,715.639181741,678.360818259,666,637,880,789,804,653,632.639181741,654,0.400950320734,-0.0154263989255,0.04994514623,0.999999976165,7.80726008119e-05,-0.000201354067954,-3.21262629209e-05,1793238073081506560
+74,1.233333333,BASELINE,767,745,715.057739042,678.942260958,666,637,880,789,804,653,632.057739042,654,0.400948320004,-0.0154270112586,0.0499437212795,0.999999975812,7.82595867874e-05,-0.000203030752492,-3.20962637482e-05,1793238073098173184
+75,1.250000000,BASELINE,767,745,715.520163018,679,666.520163018,637,880,789,804,653,632,654,0.400948277238,-0.0154263180169,0.0499434746496,0.99999997561,7.86399093289e-05,-0.000203862824572,-3.21772982744e-05,1793238073114840064
+76,1.266666667,BASELINE,767,745.09727724,716,679,667,637,880.09727724,789,804,653.09727724,632,654,0.400948694779,-0.0154254342094,0.049943571826,0.999999975525,7.91343799137e-05,-0.000204073228474,-3.22752343419e-05,1793238073131506944
+77,1.283333333,BASELINE,767,745.672438804,716,679,667,637,880.672438804,789,804,653.672438804,632,654,0.400950313158,-0.015424321355,0.049944719782,0.99999997593,8.0084899198e-05,-0.000201687084134,-3.23960627613e-05,1793238073148173568
+78,1.300000000,BASELINE,767,746,716,679,666.752835245,637.247164755,881,789,804,653.752835245,632.247164755,654,0.400950254347,-0.0154240127556,0.0499447900742,0.999999975923,8.04212866803e-05,-0.000201575854809,-3.24583549151e-05,1793238073164840192
+79,1.316666667,BASELINE,767,746,716,679,666.178685633,637.821314367,881,789,804,653.178685633,632.821314367,654,0.400947976708,-0.01542476814,0.0499434346786,0.999999975373,7.99452127785e-05,-0.000204474208346,-3.24432069221e-05,1793238073181506816
+80,1.333333333,BASELINE,767,746,716,679,666,637.589951763,880.589951763,789,804,653,633,654,0.400946720291,-0.0154253133278,0.0499426179522,0.999999975048,8.03410420293e-05,-0.000205910381944,-3.24088460748e-05,1793238073198173440
+81,1.350000000,BASELINE,767,746,715.994795613,679,666.005204387,637,880,789,804,653.005204387,633,654,0.400945958984,-0.0154257558371,0.0499420667702,0.999999974835,8.11076928238e-05,-0.000206649952267,-3.23670059846e-05,1793238073214839808
+82,1.366666667,BASELINE,767,746,715.418033762,679,666.581966238,637,880,789,804,653.581966238,633,654,0.400948896796,-0.015425352306,0.0499439484907,0.999999975632,7.93333363561e-05,-0.000203443065077,-3.245715657e-05,1793238073231506688
+83,1.383333333,BASELINE,767,745.842872623,715.157127377,679,667,637,880.157127377,789,804,654,632.842872623,654,0.400950664343,-0.0154251104895,0.0499450310855,0.999999976104,7.81775133873e-05,-0.000201551353423,-3.25133042178e-05,1793238073248173312
+84,1.400000000,BASELINE,767,745.271927067,715.728072933,679,667,637,880.728072933,789,804,654,632.271927067,654,0.400949349826,-0.0154252945719,0.0499440090651,0.99999997575,7.8650689457e-05,-0.000203123350314,-3.24799001225e-05,1793238073264840448
+85,1.416666667,BASELINE,767,745.311542855,716,679,666.688457145,637,881,789,804,653.688457145,632,654,0.400947952433,-0.0154257850626,0.0499432590618,0.999999975411,7.90138767227e-05,-0.00020465814794,-3.24027044925e-05,1793238073281507072
+86,1.433333333,BASELINE,767,745.906402383,716,679,666.093597617,637,881,789,804,653.093597617,632,654,0.400946479675,-0.0154265542005,0.0499427564304,0.999999975086,7.92770402822e-05,-0.000206159116508,-3.22856848993e-05,1793238073298173696
+87,1.450000000,BASELINE,767,745.512446068,716,678.512446068,666,637,881,789,803.512446068,653,632.487553932,654,0.400947913345,-0.0154274651875,0.0499437968674,0.999999975596,7.69444845144e-05,-0.000204562942084,-3.22631708352e-05,1793238073314840320
+88,1.466666667,BASELINE,767,745.065149563,716,678.065149563,666.065149563,637,881,789,803.065149563,653,632.934850437,654,0.400949596425,-0.015428141843,0.0499448777011,0.999999976137,7.47897009548e-05,-0.000202708295146,-3.2278729131e-05,1793238073331506688
+89,1.483333333,BASELINE,767,745.63502658,716,678.63502658,666.63502658,637,881,789,803.63502658,653,632.36497342,654,0.400949007331,-0.0154267978857,0.049944039309,0.999999975778,7.77670983206e-05,-0.000203331503495,-3.2452531293e-05,1793238073348173056
+90,1.500000000,BASELINE,767,745.79157983,716,679,666.79157983,637,880.79157983,789,804,653,632,654,0.400948695862,-0.0154257953911,0.0499437816573,0.999999975608,7.92894929569e-05,-0.0002035568331,-3.25936193997e-05,1793238073364839936
+91,1.516666667,BASELINE,767,745.211922598,716,679,666.211922598,637,880.211922598,789,804,653,632,654,0.400948878899,-0.0154254011086,0.0499445584177,0.999999975788,7.82202430213e-05,-0.000203073462832,-3.26764373613e-05,1793238073381506560
+92,1.533333333,BASELINE,767,745,716,679,666,637,880.376193963,789,804,653,632.376193963,654,0.400948992736,-0.0154261380144,0.0499444967926,0.999999975834,7.76911296295e-05,-0.000203085250894,-3.2435597001e-05,1793238073398173184
+93,1.550000000,BASELINE,767,745,716,679,666,637,880.969185628,789,804,653,632.969185628,654,0.400949066693,-0.0154275268153,0.0499439520126,0.999999975804,7.7473292691e-05,-0.000203382394864,-3.20082348357e-05,1793238073414840064
+94,1.566666667,BASELINE,767,745.544897912,716,679,666,637,881,789,803.455102088,653,633,654,0.400948772207,-0.0154276261844,0.0499441150803,0.999999975709,7.81235289631e-05,-0.00020360900254,-3.19827525402e-05,1793238073431506688
+95,1.583333333,BASELINE,767,746,716,679,666.118229533,637,881,789,803,653,632.881770467,654,0.400948425993,-0.0154277648935,0.0499442337861,0.999999975645,7.79551914291e-05,-0.000203982585346,-3.20009408469e-05,1793238073448173312
+96,1.600000000,BASELINE,767,746,716,679,666.686109302,637,881,789,803,653,632.313890698,654,0.40094795985,-0.0154283220189,0.0499440362151,0.999999975712,7.44926953389e-05,-0.000204929847833,-3.2101440003e-05,1793238073464840192
+97,1.616666667,BASELINE,767,746,716,679,666.731421722,637,880.731421722,789,803.268578278,653,632,654,0.400948068901,-0.0154278993263,0.0499438639684,0.999999975736,7.39569242073e-05,-0.000204982847123,-3.22641969831e-05,1793238073481506816
+98,1.633333333,BASELINE,767,746,716,679,666.130922808,637,880.130922808,789,803.869077192,653,632,654,0.400948888801,-0.0154262657324,0.0499437230187,0.99999997571,7.70381263873e-05,-0.000203930677277,-3.25038948652e-05,1793238073498173184
+99,1.650000000,BASELINE,767,746,716,679,666,637,880.45335975,789,804,653,632.45335975,654,0.400949908866,-0.0154267163177,0.0499442321265,0.999999976044,7.71681697298e-05,-0.00020225700353,-3.23984680534e-05,1793238073514839808
+100,1.666666667,BASELINE,767,746,716,679,666.032618765,637,881.032618765,789,804,653,632.967381235,654,0.40095080017,-0.0154276886552,0.0499448232725,0.999999976422,7.65095322274e-05,-0.000200658345989,-3.22170880123e-05,1793238073531506688
+101,1.683333333,BASELINE,767,746,716,679,666.60358858,637,881.60358858,789,804,653,632.39641142,654,0.400948645268,-0.0154276816388,0.04994377711,0.99999997592,7.64142469596e-05,-0.000203157683304,-3.2370270671e-05,1793238073548173568
+102,1.700000000,BASELINE,767.177209101,746,716,679,666.822790899,637,881.822790899,789,803.822790899,653,632.177209101,654,0.400947954101,-0.0154275113259,0.0499432795934,0.999999975662,7.73062321558e-05,-0.000204092411861,-3.23417005871e-05,1793238073564840192
+103,1.716666667,BASELINE,767.756849137,746,716,679,666.243150863,637,881.243150863,789,803.243150863,653,632.756849137,654,0.400950586989,-0.0154269701766,0.0499440280178,0.99999997596,8.04402476636e-05,-0.000201474010142,-3.19003812199e-05,1793238073581506816
+104,1.733333333,BASELINE,767.656466726,746,716,679.343533274,666.343533274,637,881,788.656466726,803.343533274,653,632.656466726,654,0.400950944035,-0.0154270679872,0.0499442338254,0.999999976067,8.00254322132e-05,-0.000201124783819,-3.17833797113e-05,1793238073598173184
+105,1.750000000,BASELINE,767.06469238,746,716,679.93530762,666.93530762,637,881,788.06469238,803.93530762,653,632.06469238,654,0.40094965653,-0.0154276275176,0.0499440475318,0.999999976037,7.70461912559e-05,-0.000202415289314,-3.19007339502e-05,1793238073614839808
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,881,789,803,653,632,653,0.400946747916,-0.0154261504182,0.0499425989673,0.99999997529,7.74286572259e-05,-0.000205833965397,-3.25104827222e-05,1793238073645594624
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.430726304,637,881,789,803,653,632.569273696,653.569273696,0.400948180033,-0.0154260212645,0.0499433771732,0.999999975633,7.79965594975e-05,-0.000203941089726,-3.25394190862e-05,1793238073662261248
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.85551143,789,803.14448857,653,632.85551143,654,0.400949238772,-0.0154260609585,0.0499439286293,0.999999975868,7.84191412745e-05,-0.000202629196449,-3.25082931825e-05,1793238073678927872
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.261826043,789,803.738173957,653,632.261826043,654,0.400949136726,-0.0154266255785,0.0499437751492,0.999999975777,7.83899400263e-05,-0.000203123504,-3.22904412398e-05,1793238073695594752
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679.323913676,666,637,880.323913676,789,804,653,632,654,0.400948916572,-0.0154275134942,0.0499436176478,0.999999975762,7.81077609673e-05,-0.000203327133441,-3.21448143599e-05,1793238073712261376
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679.903384491,666,637,880.903384491,789,804,653,632,654,0.400948603232,-0.0154286564793,0.0499434569737,0.999999975808,7.76259908133e-05,-0.000203301427471,-3.20561706709e-05,1793238073728928000
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679.520448596,666,637,881.479551404,789,804,653,632,654,0.400950060036,-0.0154279175905,0.0499442849526,0.999999975995,7.78860280534e-05,-0.000202286939313,-3.20050804595e-05,1793238073745594624
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745.945009986,716,679,666,637,881.945009986,789,804,653.054990014,632,654,0.40095225719,-0.0154269741095,0.049945387495,0.999999976293,7.8083738196e-05,-0.000200732832711,-3.19729407007e-05,1793238073762260992
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745.370206744,716,679,666,637,881.370206744,789,804,653.629793256,632,654,0.400958104659,-0.0154276561041,0.0499472154687,0.999999977379,7.62891920313e-05,-0.000195948010759,-3.204890675e-05,1793238073778927616
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.210852059,716,679,666.210852059,637,881,789,804,653.789147941,632,654,0.400966475686,-0.0154279460837,0.0499494713484,0.999999978623,7.59387191857e-05,-0.000189641172751,-3.20034709097e-05,1793238073795594240
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.803229912,716,679,666.803229912,637,881,789,804,653.196770088,632,654,0.400979412962,-0.0154275267323,0.0499525015015,0.999999980134,7.82012218262e-05,-0.000180580326653,-3.17383646784e-05,1793238073812260864
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.613500665,716,679,666.613500665,637.386499335,881,789,803.613500665,653,632.386499335,654,0.400999562953,-0.0154287951999,0.0499560980094,0.999999982192,7.90887164334e-05,-0.000168500125434,-3.11351629761e-05,1793238073828927744
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.034761602,716,679,666.034761602,637.965238398,881,789,803.034761602,653,632.965238398,654,0.401023300457,-0.0154309031666,0.0499599762151,0.999999984396,7.92923001754e-05,-0.000154918135528,-3.03637969694e-05,1793238073845594880
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.54188586,716,679.54188586,666.54188586,637.45811414,881,789,803.54188586,653,633,654,0.401061402449,-0.0154330369743,0.0499671618547,0.999999987952,7.73891398519e-05,-0.00013117171316,-3.00186407596e-05,1793238073862261760
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,716,679.879527556,666.879527556,637,881,789,804,653,632.879527556,654,0.401101495071,-0.0154346909874,0.0499736268732,0.999999990879,7.57629104415e-05,-0.000107754298855,-2.9859809726e-05,1793238073878928384
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716,679.29292076,666.29292076,637,881,789,804,653,632.29292076,654,0.401145738224,-0.015434482181,0.049976485878,0.99999999279,7.57290867397e-05,-8.81230725994e-05,-3.03165298703e-05,1793238073895594752
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716,678.709898827,666,637,880.709898827,789,804,653,632,654,0.40119523007,-0.0154365396221,0.0499785051753,0.999999993907,7.53604100367e-05,-7.4820765974e-05,-3.01573494527e-05,1793238073912261376
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,678.130452449,666,637,880.130452449,789,804,653,632,654,0.401249956929,-0.0154408574053,0.049979686953,0.999999994481,7.46577529406e-05,-6.78308877705e-05,-2.93838734166e-05,1793238073928928000
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,678.447576562,666,637,880.447576562,789,803.552423438,653,632.447576562,654,0.401316235493,-0.0154443611729,0.0499811420718,0.999999994713,7.46560662491e-05,-6.4580242199e-05,-2.8810101731e-05,1793238073945594624
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.025125602,653,632.974874398,654,0.40138672018,-0.0154477715354,0.0499827181269,0.999999994876,7.46045005521e-05,-6.23133259823e-05,-2.82808438687e-05,1793238073962261248
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.601180212,653,632.398819788,654,0.401475839476,-0.0154543196964,0.0499852045618,0.999999995573,6.89935271306e-05,-5.77949035719e-05,-2.74553727554e-05,1793238073978928128
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.82485132,716,679,666,637,881,789,804,653,632,654,0.401571267617,-0.0154604277103,0.049988044679,0.999999996163,6.52679541319e-05,-5.200391393e-05,-2.66274632286e-05,1793238073995595008
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.255577235,716,679,666,637,881,789,804,653,632,654,0.40168089212,-0.0154655452896,0.0499916806634,0.999999996564,6.57849728663e-05,-4.33493516348e-05,-2.57940668149e-05,1793238074012261632
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,880.669831341,789,804.330168659,653,632,653.669831341,0.40180132293,-0.0154727059621,0.0499922241813,0.999999996912,6.14658204814e-05,-4.21332625253e-05,-2.49695105205e-05,1793238074028928000
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,880.070665359,789,804.929334641,653,632,653.070665359,0.401930557941,-0.0154815311983,0.0499902481835,0.999999997189,5.32065089141e-05,-4.69774974916e-05,-2.41521564186e-05,1793238074045594624
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,716,679,666.506423821,637,880,789,804.493576179,653,632,653.506423821,0.402076560072,-0.0154892768334,0.0499857916156,0.999999997216,4.7963802247e-05,-5.19397390104e-05,-2.38505878224e-05,1793238074062260992
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745.080868972,716,679,666.919131028,637,880,789,804,653,632,654,0.402229579361,-0.0154972639894,0.0499818380638,0.999999997264,4.28900985944e-05,-5.55089808189e-05,-2.34777565535e-05,1793238074078927616
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745.657200423,716,679,666.342799577,637,880,789,804,653,632,654,0.402411855337,-0.0155076152918,0.0499829984378,0.999999997818,3.63806264047e-05,-5.04470185591e-05,-2.22457864664e-05,1793238074095594496
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880,788.76163235,803.76163235,653,632,654,0.402607277165,-0.0155184973535,0.0499858859044,0.999999998427,2.98308968977e-05,-4.2808107392e-05,-2.05598863373e-05,1793238074112261376
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880,788.173366759,803.173366759,653,632,654,0.402821995671,-0.0155301585117,0.0499913085561,0.999999999072,2.32220743908e-05,-3.13865141347e-05,-1.82076660558e-05,1793238074128928000
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.590828278,716,679.409171722,666,637,880.409171722,788.409171722,803.409171722,653.409171722,632,653.590828278,0.403069126638,-0.0155409841061,0.049998635152,0.999999999564,2.04770285953e-05,-1.470466655e-05,-1.53597720459e-05,1793238074145594880
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.010682901,716,679.989317099,666,637,880.989317099,788.989317099,803.989317099,653.989317099,632,653.010682901,0.403329801245,-0.0155514605574,0.0500067573165,0.999999999728,1.93464738634e-05,4.17519409352e-06,-1.23047593093e-05,1793238074162261760
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.565721504,716,679.434278496,666.565721504,637,880.434278496,789,804,653.434278496,632,653.565721504,0.403606804966,-0.0155462165001,0.0500098128405,0.999999999341,3.23625283051e-05,1.25493386342e-05,-1.06404664172e-05,1793238074178928384
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.855672316,637,880.144327684,788.855672316,803.855672316,653,632,653.855672316,0.403889694277,-0.0155400765744,0.0500129557864,0.999999998686,4.62650153348e-05,2.01692871404e-05,-8.99427868666e-06,1793238074195594752
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.270120655,637,880.729879345,788.270120655,803.270120655,653,632,653.270120655,0.404189639892,-0.0155320994629,0.0500166565614,0.999999997707,6.20661035242e-05,2.60860854084e-05,-7.32368272525e-06,1793238074212261376
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,788.312379878,803,653,632,653,0.404518380689,-0.0155310264545,0.0500213873825,0.999999996876,7.02188447308e-05,3.59523634038e-05,-4.92027672063e-06,1793238074228928000
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,788.892267632,803,653,632,653,0.404871780401,-0.0155358658041,0.0500270002884,0.999999996209,7.18218923121e-05,4.9200796295e-05,-1.88932544508e-06,1793238074245594624
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.471371947,653,632.471371947,653.471371947,0.405233237299,-0.0155380412611,0.0500177790869,0.999999996423,7.80969132243e-05,3.24654962158e-05,-2.25719949313e-07,1793238074262261504
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,715.950462233,679,666,637,881,789,804,653,632.950462233,654,0.405596996714,-0.015539323809,0.0500046089521,0.999999996278,8.59293521281e-05,7.70868854861e-06,1.07515145726e-06,1793238074278928128
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,715.380280869,679,666,637,881,789,804,653,632.380280869,654,0.405965634059,-0.0155376101065,0.049985508903,0.999999994671,9.8926502384e-05,-2.94507785237e-05,1.84269369675e-06,1793238074295594752
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,715.197717287,679,666.197717287,637,881,789,804,653,632.197717287,654,0.406351799004,-0.0155365313814,0.0499704024373,0.999999992193,0.000111301816584,-5.67079508654e-05,3.10366241252e-06,1793238074312261376
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,715.79136874,679,666.79136874,637,881,789,804,653,632.79136874,654,0.406773063414,-0.0155367242154,0.0499632932304,0.999999990434,0.000122431886876,-6.41355104109e-05,5.35273083273e-06,1793238074328928000
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,881,789,804,653,632.624227732,654,0.407242463352,-0.0155370236743,0.0499681254048,0.999999989357,0.000136296477302,-5.13107635239e-05,8.72334307317e-06,1793238074345594624
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,881,789,804,653,632.044835405,654,0.407737946517,-0.01553738091,0.0499794282666,0.999999988043,0.000151642824188,-2.75118807139e-05,1.2701687202e-05,1793238074362261248
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.471909927,716,679,666.471909927,637,881,789,804,653,632,654,0.408271217397,-0.0155397309816,0.0499967115608,0.999999986475,0.000163534269331,2.61898115916e-06,1.72857176358e-05,1793238074378927872
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.103697891,716,679,666,637,881,789,804,653,632,654,0.408806892092,-0.0155420209196,0.0500124724708,0.999999984193,0.000174160698946,2.86948487422e-05,2.14142545818e-05,1793238074395594496
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745.694451733,716,679,666,637,881,789,804,653,632,654,0.409338970748,-0.0155432433481,0.050018726964,0.999999982942,0.000180206549655,3.3230454549e-05,2.31647872082e-05,1793238074412261376
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.720183405,788.720183405,804,653,632,654,0.409875377738,-0.0155445970025,0.0500172389305,0.999999983482,0.000178291317066,2.66185168326e-05,2.32277111108e-05,1793238074428928000
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.140591827,788.140591827,804,653,632,654,0.410416421853,-0.015546091243,0.0500074561225,0.99999998565,0.000167847164309,8.06391897832e-06,2.1482654988e-05,1793238074445594624
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.434891793,788.434891793,803.565108207,653,632,654,0.410967863361,-0.0155449974332,0.0499853807167,0.999999984941,0.000168904376931,-3.46906714797e-05,1.96344984572e-05,1793238074462261248
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.009087962,653,632,654,0.411524382263,-0.0155431497086,0.0499599777146,0.999999981269,0.000173519644251,-8.38826265448e-05,1.77972374966e-05,1793238074478927872
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.585041678,653,632,654,0.412189909267,-0.0155459752128,0.0499725717799,0.999999984011,0.000170318428858,-5.11881601194e-05,1.86991266079e-05,1793238074495594752
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804,653,632,654,0.412857708654,-0.0155491072267,0.0499878615235,0.999999985422,0.000168704574499,-1.69134506231e-05,2.02379056497e-05,1793238074512261376
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804,653,632,654,0.413531364966,-0.0155530292554,0.0500100992538,0.999999984844,0.000171182071252,2.14342612702e-05,2.34182394145e-05,1793238074528928000
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.662303205,746,716,679,666,637,881,788.662303205,804,653,632,654,0.41418543832,-0.0155554938256,0.0500096442944,0.999999984709,0.000172248722072,1.77525015697e-05,2.44260895368e-05,1793238074545594624
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.081990856,746,716,679,666,637,881,788.081990856,804,653,632,654,0.414825442425,-0.0155569112964,0.0499928859531,0.999999984741,0.00017230176181,-1.61249966614e-05,2.38731360636e-05,1793238074562261248
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.493844812,745.506155188,716,679,666,637,881,788.493844812,804,653,632,654,0.415487310282,-0.0155535556969,0.0499657970209,0.999999982564,0.000176393843027,-5.74990893465e-05,2.12598091258e-05,1793238074578927872
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.068452824,716,679,666.068452824,637,880.931547176,789,804,653,632,654,0.416162630397,-0.0155505263541,0.0499428738197,0.999999979399,0.000180501957105,-9.0892714136e-05,1.89522806319e-05,1793238074595594752
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.639455184,716,679,666.639455184,637,880.360544816,789,804,653,632,654,0.416910300561,-0.0155556577969,0.0499630122134,0.999999981995,0.000179848879822,-5.66419539221e-05,2.13785829103e-05,1793238074612261376
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,880.439174933,789,804,653,632.219587467,654,0.417661113868,-0.0155606992206,0.0499848949915,0.99999998353,0.000179025952259,-1.78867032593e-05,2.38565760478e-05,1793238074628928000
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679,667,637,881.630721497,789,804,653,632.815360748,654,0.418417311966,-0.0155655864289,0.0500097661615,0.999999983416,0.000177912045961,2.85854114571e-05,2.64231236708e-05,1793238074645594368
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679.398516357,667,637,881.601483643,789,804,653,632.601483643,654,0.419132005705,-0.0155659098921,0.0500036346493,0.999999984669,0.000172767417133,1.102817904e-05,2.63144405253e-05,1793238074662261248
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679.976005365,667,637,881.023994635,789,804,653,632.023994635,654,0.419828059899,-0.0155641837889,0.0499835799124,0.999999985318,0.000165812601234,-3.52844682263e-05,2.50043180642e-05,1793238074678928128
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,715.450339709,679.450339709,666.450339709,637,881,789,804,653,632,654,0.420600860607,-0.0155642584254,0.0499847889503,0.999999985068,0.0001699742798,-1.83891107258e-05,2.51794599759e-05,1793238074695594496
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,715.127102309,679,666.127102309,637,881,789,804,653,632,654,0.421384293363,-0.0155650397345,0.0499915115912,0.999999984465,0.000174230893178,6.37195861529e-06,2.59555350356e-05,1793238074712261120
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,715.719001015,679,666.719001015,637,881,789,804,653,632,654,0.422194439487,-0.0155681197816,0.0500150258151,0.999999982667,0.00017707237748,4.98765618787e-05,2.86936851263e-05,1793238074728928000
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.696073275,637,881.303926725,789,804,653,632,654,0.422972855543,-0.0155674807884,0.0500174871365,0.999999981675,0.000181417422238,5.36718118916e-05,2.92590054375e-05,1793238074745594368
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.117449964,637,881.882550036,789,804,653,632,654,0.423722593125,-0.0155634804335,0.0500009203163,0.999999981872,0.000187121422517,2.15767516486e-05,2.7860467644e-05,1793238074762261248
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881.540922595,789,804,653,632,654,0.424488579149,-0.0155634358845,0.0499943308184,0.999999982526,0.00018452023443,1.19406825191e-05,2.75131215744e-05,1793238074778927872
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.034885787,637.034885787,881,789,804,653,632.034885787,654,0.42526039963,-0.0155643446321,0.0499917364394,0.999999983302,0.00018039231308,9.6771687453e-06,2.75905796262e-05,1793238074795594496
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.607837052,637.607837052,881,789,804,653,632.607837052,654,0.426058383275,-0.0155644181288,0.0500115700328,0.99999998183,0.000185339693851,3.29055350556e-05,3.00909420202e-05,1793238074812261120
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679.186411175,667,637.813588825,881,789,804,653,632.813588825,654,0.426839629937,-0.0155648952883,0.0500203850788,0.999999981096,0.000188191118215,3.73625023308e-05,3.15753620231e-05,1793238074828928000
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679.777182418,667,637.222817582,881,789,804,653,632.222817582,654,0.427584571161,-0.0155662480667,0.0500052988761,0.999999982133,0.000186496029217,1.10086247305e-06,3.08560168992e-05,1793238074845594624
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679.63752569,667.36247431,637,881.36247431,789,804,652.63752569,632.36247431,654,0.428336735849,-0.0155642462276,0.0499841594045,0.999999981276,0.000188215504089,-3.4012921811e-05,2.94313587003e-05,1793238074862261248
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716,679.055551903,667.944448097,637,881.944448097,789,804,652.055551903,632.944448097,654,0.429093274724,-0.0155602129705,0.0499593543241,0.999999978846,0.000192002697887,-6.84316099497e-05,2.75795920536e-05,1793238074878927872
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,679.520200405,667.479799595,636.479799595,881.479799595,789,804.520200405,652.520200405,633,654,0.429884345728,-0.015562538999,0.0499774507756,0.999999980579,0.000192361458872,-3.11937205896e-05,2.94273922363e-05,1793238074895594496
+182,3.033333333,POSE1_TO_POSE2_PRESS,767.095370322,746,716,680,667,636.095370322,881.095370322,789.095370322,804.904629678,653,632.904629678,653.904629678,0.430667322471,-0.0155644614184,0.0499938641238,0.999999980939,0.000192760863269,6.15451083061e-07,3.10508999919e-05,1793238074912261120
+183,3.050000000,POSE1_TO_POSE2_PRESS,767.670913531,746,716,680,667,636.670913531,881.670913531,789.670913531,804.329086469,653,632.329086469,653.329086469,0.431391198677,-0.0155609729735,0.0499790092538,0.99999997997,0.000195186468135,-3.2980001181e-05,2.9579511611e-05,1793238074928927744
+184,3.066666667,POSE1_TO_POSE2_PRESS,767.747455699,746,716,680,667,637,882,789.747455699,804,653,632.252544301,653.252544301,0.43211780464,-0.0155583681375,0.0499637505888,0.999999978059,0.00019854264663,-6.05082203243e-05,2.83287567979e-05,1793238074945594368
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.157696434,746,716,680,667,637,882,789.157696434,804,653,632.842303566,653.842303566,0.432848055511,-0.0155569431587,0.0499479527493,0.999999975797,0.000203141392655,-7.99350391996e-05,2.73726076313e-05,1793238074962260992
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881.577802628,789,804,653,633,653.577802628,0.433594566623,-0.0155573666167,0.0499663427821,0.999999976891,0.000207069657652,-4.94426503368e-05,2.99191711366e-05,1793238074978927616
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881.001509519,789,804,653,633,653.001509519,0.434347012539,-0.0155584647265,0.0499972108766,0.999999977222,0.000210753207048,-7.30497408936e-07,3.37441723358e-05,1793238074995594240
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881,789,804.572686191,653,633,653,0.435034313257,-0.0155557821207,0.0500018420737,0.999999976808,0.000212596099464,-3.06413927177e-06,3.432305406e-05,1793238075012261120
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881.151321145,789,804.848678855,653,633,653,0.43571189646,-0.015552620403,0.0499978789321,0.999999976093,0.000215089548122,-1.96346522161e-05,3.41332244502e-05,1793238075028928000
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881.742887547,789,804.257112453,653,633,653,0.43636170598,-0.0155480936704,0.0499691123707,0.999999972426,0.000219489752422,-7.72350984398e-05,3.17317516328e-05,1793238075045594624
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881.672640978,789,804.327359022,653,633,653.327359022,0.437032539039,-0.015547699224,0.0499641341358,0.999999971788,0.000220953310049,-8.13212442698e-05,3.14689346163e-05,1793238075062261248
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881.093623784,789,804.906376216,653,633,653.906376216,0.437719533964,-0.0155504814846,0.0499774432456,0.999999974246,0.000220159312163,-4.42681172599e-05,3.28502154502e-05,1793238075078927872
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680,667,636.516803837,881.483196163,789,805,653,633,654,0.438383411926,-0.0155535619988,0.0499974050671,0.999999975219,0.000219613633006,-1.05194431326e-05,3.49322710757e-05,1793238075095594496
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,636.059013211,881.940986789,789,804.940986789,653,633,653.940986789,0.439033284166,-0.0155559901624,0.0500141226988,0.999999975178,0.000219191682785,1.58943596638e-05,3.66974846439e-05,1793238075112261120
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667,636.629808249,881.370191751,789,804.370191751,653,633,653.370191751,0.439600362853,-0.0155522620282,0.0499915774162,0.999999975205,0.000219427379498,-1.57747501501e-05,3.45427281823e-05,1793238075128927744
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716.209210294,680,667,637,881.209210294,789,804.209210294,653,633,653,0.44016844841,-0.0155500219253,0.0499717959955,0.999999974193,0.00022013930819,-4.5432390463e-05,3.29803216932e-05,1793238075145594880
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716.804495578,680,667,637,881.804495578,789,804.804495578,653,633,653,0.440738391976,-0.0155505278235,0.0499571149859,0.999999972342,0.00022173007174,-7.13780776905e-05,3.2511033341e-05,1793238075162261504
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716.611031008,680,667,637,882,789,805,653,633,653.388968992,0.441311260153,-0.0155516209984,0.0499678445323,0.999999973108,0.000223279928197,-5.26265618277e-05,3.40593036966e-05,1793238075178928128
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716.031844859,680,667,637,882,789,805,653,633,653.968155141,0.4418855586,-0.0155530013687,0.0499910005788,0.999999973989,0.000224809779777,-1.20168151433e-05,3.65942188931e-05,1793238075195594752
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,882,789,805,653,633,654,0.442423366206,-0.0155529961548,0.0500052827352,0.999999973714,0.000225505049242,1.78484541895e-05,3.74243138652e-05,1793238075212261120
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+203,3.383333333,POSE1_TO_POSE2_PRESS,767,745.292220334,716,680,666.292220334,637,882,789,805,652.292220334,633,654,0.443830146146,-0.0155527271176,0.0499871663897,0.999999974481,0.000222675924345,-1.29433691807e-05,3.58484336004e-05,1793238075262260992
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,745.870964768,716,680,666.870964768,637,882,789,805,652.870964768,633,654,0.444252042017,-0.015549544677,0.0499560188239,0.999999972613,0.000221990213699,-6.65681216866e-05,3.26095961302e-05,1793238075278927616
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+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,882,789,805,653,633,654,0.445507761503,-0.0155508496195,0.0499729905215,0.999999974169,0.000223763302742,-2.06341749851e-05,3.41545581451e-05,1793238075328927744
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,766.151117875,746,716,680.151117875,666,636,882,788,805,653,632.848882125,653.848882125,0.449661945981,-0.0155730468904,0.0498239305242,0.999999955901,0.000155633121871,-0.000252065486373,2.09786458093e-05,1793238076550837760
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766.690046526,746,716,680.690046526,666,636,882,788,805,653,632,653.309953474,0.449660469503,-0.0155739560761,0.0498230490289,0.999999955829,0.000153561258542,-0.000253589492919,2.12913464338e-05,1793238076584171008
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.103396776,746,716,680.103396776,666,636,882,788,805,653,632,653.896603224,0.449660872069,-0.0155756773056,0.0498229612406,0.999999956306,0.000150431134055,-0.000253569654094,2.14806024665e-05,1793238076600837632
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.47617841,746,716,680,666,636,882,788,805,652.52382159,632,654,0.449661638996,-0.0155742714018,0.0498235953748,0.99999995606,0.000153451304175,-0.000252732535937,2.14130476355e-05,1793238076617504512
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746.054163653,716.054163653,680,666,636,882,788,805,652.054163653,632,654,0.449662351342,-0.0155724248723,0.0498242998198,0.999999955722,0.000157103493761,-0.000251835971753,2.12755990151e-05,1793238076634171392
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746.631412366,716.631412366,680,666,636,882,788,805,652.631412366,632,654,0.449661783695,-0.0155727846516,0.0498241915698,0.999999956133,0.000154150951866,-0.000252054065714,2.09938041732e-05,1793238076650838016
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746.219430812,716.219430812,680,665.219430812,636,882,788.780569188,805,653,632,654,0.449656146852,-0.0155744531971,0.0498195448828,0.999999955285,0.000150847496482,-0.000257382768049,2.0738846228e-05,1793238076684171008
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.633797231,746,716,680,665.366202769,636,882.366202769,788.633797231,804.633797231,653,632,654,0.449644831272,-0.0155735550676,0.0498147461863,0.999999953053,0.00015151335942,-0.000265562177751,2.03802218885e-05,1793238076700837888
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.040532365,746,716,680,665.959467635,636,882.959467635,788.040532365,804.040532365,653,632,654,0.449628901594,-0.0155714447896,0.049809056804,0.99999994985,0.000153237958203,-0.000276449804685,1.98334023629e-05,1793238076717504512
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766.539520991,746,716,680,666,636,882.460479009,788,804.539520991,653,632,654,0.449590494701,-0.0155699378872,0.049792813205,0.999999941235,0.000154595654272,-0.000305448415564,1.82277295255e-05,1793238076734171136
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746.117573032,716,680.117573032,666,636,882,788,805,653,632,654,0.449546294016,-0.0155678551319,0.049775339323,0.999999931182,0.000156000013285,-0.000336197845126,1.64853969539e-05,1793238076750837760
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746.691616609,716,680.691616609,666,636,882,788,805,653,632,654,0.44948599859,-0.0155633648775,0.0497560937497,0.999999919533,0.000157689997553,-0.000368588486553,1.45139490353e-05,1793238076767504640
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746.727340162,716,680.727340162,666,636,882,788,805,653,631.727340162,654,0.449423225914,-0.0155594655926,0.0497409000666,0.999999910261,0.000158457403743,-0.00039268301576,1.30134360784e-05,1793238076784171264
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746.138171642,716,680.138171642,666,636,882,788,805,653,631.138171642,654,0.449357577606,-0.0155562523165,0.0497304098951,0.999999904537,0.000158153863921,-0.000407147259756,1.20595934383e-05,1793238076800837888
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,788,805,653,632,654,0.449204081962,-0.0155481609775,0.049720752001,0.999999898731,0.000158197899208,-0.000421202098176,1.00171565841e-05,1793238076834170880
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,788,805,653,632,654,0.449106693106,-0.0155436349815,0.0497183387096,0.999999895507,0.000159950581061,-0.00042814588718,9.60279555914e-06,1793238076850837760
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.251214936,636,882,788.748785064,805,653,632,654,0.448891604014,-0.0155308191695,0.0497156766769,0.999999890543,0.000168432944739,-0.000436423265856,8.92867180871e-06,1793238076884171008
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.501239667,666,636.498760333,882,789,805,653,632,653.498760333,0.448488343272,-0.015503897855,0.0497221530631,0.99999989403,0.000180733582006,-0.000423366880386,6.05490627051e-06,1793238076934171392
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,666,636,882,788.918716698,805,653,632,653.081283302,0.448324580915,-0.0154940005336,0.0497260910803,0.999999895659,0.00018556077067,-0.000417390699814,5.82150083376e-06,1793238076950838016
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,666,636,882,788,805,653,632,654,0.447937187157,-0.0154690938647,0.0497298674543,0.999999897968,0.000198847943712,-0.000405602400371,3.23858743197e-06,1793238076984171008
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,666,636,882,788,805,653,632,654,0.44771864835,-0.0154553653724,0.0497304114955,0.999999896017,0.000205190298841,-0.000407261469814,1.07496268157e-06,1793238077000837632
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767.3926633,746,716,680.6073367,666,636.3926633,882,788.3926633,805,653,632.3926633,653.6073367,0.447491088446,-0.0154420542731,0.0497367389099,0.999999899128,0.000210467290446,-0.000396797207894,-2.04686033832e-07,1793238077017504512
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.714128196,666.714128196,636.714128196,882,789,805.714128196,653,632.714128196,654,0.446410111903,-0.0154119549179,0.0497739349658,0.99999992394,0.00019856840913,-0.000335666790161,-4.33928331173e-06,1793238077084171264
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.703859451,636.703859451,882,789,805.703859451,653,632.703859451,654,0.446103087305,-0.0154151643893,0.0497905650291,0.999999936011,0.000183522055781,-0.000307045312051,-4.54183081249e-06,1793238077100837632
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.114387975,636.114387975,882,789,805.114387975,653,632.114387975,654,0.445792214317,-0.0154241305149,0.0498118588063,0.999999950184,0.000162709462265,-0.000270453344738,-3.60967318227e-06,1793238077117504256
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.62327663,637,881.62327663,789,804.37672337,653,633,654,0.444625802448,-0.0154116052304,0.0498336287216,0.999999959126,0.000132618207158,-0.000253173908854,-7.98802713716e-06,1793238077167504384
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,745.211111619,716.788888381,680,667,637,882,789,804,653,633,653.211111619,0.443705417427,-0.015398431842,0.0498082911906,0.999999950023,0.000112207694499,-0.000295158609878,-1.56750771403e-05,1793238077200837632
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,745.369585037,716.630414963,680,666.630414963,637,882,789,804.369585037,653,633,653.369585037,0.443210076859,-0.0153957134666,0.0497892491511,0.999999942033,9.79284614912e-05,-0.000325517170078,-1.9558093749e-05,1793238077217504512
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,745.94705039,716.05294961,680,666.05294961,637,882,789,804.94705039,653,633,653.94705039,0.442703092959,-0.0153944068443,0.0497682521269,0.999999931763,8.24557819094e-05,-0.000359345901811,-2.33665797157e-05,1793238077234171136
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.526033658,637,882,789,805,653,633,654,0.442214179277,-0.0153959169321,0.0497793429074,0.99999994078,6.58884644446e-05,-0.000336860939731,-2.4973879953e-05,1793238077250837760
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.320747542,637,882,789,804.320747542,653,633,654,0.441206575377,-0.0153966599534,0.0498221057165,0.999999964368,3.6046815106e-05,-0.000263189833482,-2.63877033226e-05,1793238077284171264
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+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,804,653,632.170879061,654,0.440062895744,-0.015391724362,0.0498389896013,0.999999971331,2.30248567685e-05,-0.000236235644516,-3.16358709774e-05,1793238077317504512
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,804.416789486,653,632.416789486,654,0.439436731536,-0.0153859011496,0.0498161856561,0.999999960367,3.96249325746e-05,-0.000276314313342,-3.66829009531e-05,1793238077334171392
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,805,653,633,653.990459261,0.438796684162,-0.0153790203888,0.0497833197577,0.999999941346,6.40829813372e-05,-0.000333777852864,-4.23435697318e-05,1793238077350838272
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,805,653,633,653.414913653,0.438147796082,-0.0153755848484,0.0497643952773,0.999999931647,4.47410094007e-05,-0.000364026260858,-4.67923768756e-05,1793238077367505152
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745.225611268,716,680,666.774388732,637,881.225611268,789,804.774388732,653,633,653.774388732,0.432682154677,-0.0153684786137,0.049798869683,0.999999946254,-1.58601832136e-05,-0.00032277447236,-5.52847765045e-05,1793238077500838144
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745.812536915,716,680,666.187463085,637,881.812536915,789,804.187463085,653,633,653.187463085,0.43196696084,-0.0153692769314,0.0498273506969,0.999999958566,2.9685875996e-05,-0.000283634119686,-3.92176181477e-05,1793238077517504768
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,804.394400745,653,633,653,0.431213211057,-0.0153661277977,0.0498251142912,0.999999957418,3.52985341221e-05,-0.00028717042181,-3.80860002926e-05,1793238077534171392
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,804.973889089,653,633,653,0.430441367467,-0.0153611261716,0.0498084625625,0.99999995051,2.21709172739e-05,-0.000310734375183,-4.3963455722e-05,1793238077550837760
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.448436282,789,805,653,633,653.551563718,0.429646369345,-0.015358890311,0.049782109326,0.999999935644,1.1231502064e-05,-0.000355184608871,-4.92933492127e-05,1793238077567504384
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,804.871593148,653,633,653.871593148,0.428863246572,-0.0153586123521,0.0497660191535,0.999999925604,-1.58223053274e-07,-0.000382023280072,-5.33865512315e-05,1793238077584171008
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,804.29733997,653,633,653.29733997,0.428125150133,-0.0153646793785,0.0497871531716,0.999999939222,-1.34699822588e-05,-0.00034429034129,-5.32754975698e-05,1793238077600837632
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745.715139536,716,679.715139536,666.284860464,636.715139536,881.284860464,789,804.284860464,653,632.715139536,653,0.4273522012,-0.0153667957035,0.0497964416214,0.999999942686,-2.20657340269e-05,-0.000333525213582,-5.38781544735e-05,1793238077617504256
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745.124405648,716,679.124405648,666.875594352,636.124405648,881.875594352,789,804.875594352,653,632.124405648,653,0.426541828898,-0.0153646699001,0.0497930107038,0.999999936294,-2.55975974678e-05,-0.000351717201817,-5.52471694345e-05,1793238077634170880
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,716,679,666.543195103,636.456804897,881.543195103,789,804.543195103,653,632.456804897,653,0.425773403867,-0.0153641850613,0.0497929510185,0.999999938906,-2.42917210252e-05,-0.000344342113321,-5.50161541658e-05,1793238077650837760
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745.035136564,716,679.035136564,666,637,881,789,804,653,633,653,0.425017908467,-0.0153643033862,0.049795780612,0.999999944719,-2.20294150144e-05,-0.000327312868402,-5.42413283917e-05,1793238077667504384
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745.608287955,716,679.608287955,666,637,881,789,804,653,633,653,0.424289042687,-0.0153669542145,0.0498290799418,0.999999962738,-2.48839305801e-05,-0.000266897574012,-5.16756109098e-05,1793238077684171008
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.813031483,666,637,881.186968517,789,804,653,633,653.186968517,0.423547412236,-0.0153690273297,0.0498501665783,0.999999972427,-2.65585956858e-05,-0.000227868167305,-5.01731741417e-05,1793238077700837888
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.222413799,666,637,881.777586201,789,804,653,633,653.777586201,0.422778223802,-0.0153698532123,0.0498448870524,0.999999970757,-2.56860644514e-05,-0.000235009068084,-5.09662700843e-05,1793238077717504512
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745.639300917,716,679,666,637,881.639300917,789,804.360699083,653,633,654,0.421966972281,-0.0153673652281,0.0498216980038,0.999999958988,-2.58646327266e-05,-0.000280182897105,-5.34117922779e-05,1793238077734170880
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745.060721349,716,679,666,637,881.060721349,789,804.939278651,653,633,654,0.421130312575,-0.0153628755009,0.0497876906982,0.999999937361,-2.66781182061e-05,-0.00034833053633,-5.68554632292e-05,1793238077750837760
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745.51382364,716,679.51382364,666,637,881,789,804.48617636,653,633,654,0.420391481548,-0.0153633107912,0.0498009377764,0.999999945148,-3.26383124511e-05,-0.000324682403586,-5.67517372909e-05,1793238077767504384
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.911654682,666,637,881,789,804.088345318,653,632.911654682,654,0.419659999299,-0.0153640068299,0.0498178672293,0.999999953955,-3.77892030394e-05,-0.000295815919993,-5.61755609963e-05,1793238077784171008
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.334645245,666,637,881,789,804.665354755,653,632.334645245,654,0.418905716506,-0.0153629509221,0.0498245171688,0.999999953566,-3.51255899497e-05,-0.000297621260121,-5.52868604779e-05,1793238077800837888
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745.752541163,716,679.247458837,666,637,880.752541163,789,804.752541163,653,632,654,0.418161809269,-0.0153611429846,0.0498197756579,0.999999949077,-3.25965590403e-05,-0.000312534671467,-5.57263739883e-05,1793238077817504512
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745.16340268,716,679.83659732,666,637,880.16340268,789,804.16340268,653,632,654,0.417432228178,-0.0153582966797,0.0497993053618,0.999999938159,-3.02533531377e-05,-0.000345547097191,-5.79998236533e-05,1793238077834171136
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.581152894,666,637,880.418847106,789,804,653,632,654,0.416721246877,-0.0153611301296,0.0498067632493,0.999999943674,-3.73622674008e-05,-0.00032848751752,-5.78960592839e-05,1793238077850838016
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.001547026,666,637,880.998452974,789,804,653,632,654,0.416017404346,-0.0153661435403,0.0498249403216,0.999999954532,-4.80990234515e-05,-0.000292209677919,-5.68798905487e-05,1793238077867504640
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.57452502,716,679.57452502,666,637,881,789,804,653,632.57452502,653.42547498,0.415343994004,-0.0153690879099,0.0498349665413,0.999999960733,-5.35759125142e-05,-0.000269339199359,-5.58597601192e-05,1793238077884171264
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.850074674,666,636.850074674,880.850074674,789,804,653,633,653,0.414663619301,-0.0153699485168,0.0498356017014,0.999999961722,-5.71795626566e-05,-0.000264889430612,-5.5865676291e-05,1793238077900837888
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.276545466,666,636.276545466,880.276545466,789,804,653,633,653,0.413963337,-0.0153649372389,0.0498097646924,0.999999947939,-5.55302767483e-05,-0.000312384747337,-5.87706475338e-05,1793238077917504512
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.692971752,716,679,666,636.307028248,880,789,804,653,633,653,0.413287029144,-0.0153617320536,0.0497909197577,0.999999937011,-5.32840205004e-05,-0.000345561027352,-6.10401114554e-05,1793238077934171136
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.100044825,716,679,666,636.899955175,880,789,804,653,633,653,0.412633045862,-0.0153602086666,0.049778585707,0.999999929999,-5.04818773558e-05,-0.000365403698931,-6.27178033309e-05,1793238077950838016
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745.480403085,716,679,666,637,880,788.519596915,804,653,632.519596915,653.480403085,0.412020406857,-0.0153630170093,0.0498013405709,0.999999941423,-5.46554530877e-05,-0.000332428226659,-6.04831880614e-05,1793238077967504640
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745.942074176,716,679.057925824,666,637,880.057925824,788.057925824,804,653.057925824,632,654,0.411417944483,-0.0153659470884,0.0498288711745,0.999999953864,-5.93372027766e-05,-0.000292263911924,-5.77373926385e-05,1793238077984171520
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745.368045698,716,679.631954302,666,637,880.631954302,788.631954302,804,653.631954302,632,654,0.410831382377,-0.0153621279244,0.0498354944104,0.999999956576,-5.59311406247e-05,-0.000283569993664,-5.75124854576e-05,1793238078000837888
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745.211979497,716,680,666,637,880.788020503,788.788020503,804,653.788020503,632,654,0.410246283341,-0.0153603933423,0.0498306619983,0.999999953153,-5.54668930194e-05,-0.00029537492722,-5.80542634099e-05,1793238078017504768
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745.802719436,716,680,666,637,880.197280564,788.197280564,804,653.197280564,632,654,0.409663798552,-0.0153623834466,0.0498053608779,0.999999937285,-6.02590171647e-05,-0.000343806772355,-5.99659379388e-05,1793238078034171136
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745.616991254,716,679.616991254,666,637,880.383008746,788.383008746,804,653,632.383008746,654,0.409126521173,-0.015363073655,0.0498014223158,0.999999936039,-5.96412204837e-05,-0.00034745080065,-6.03629997758e-05,1793238078050838016
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745.041941838,716,679.041941838,666,637,880.958058162,788.958058162,804,653,632.958058162,654,0.408611910747,-0.0153631120954,0.049808194943,0.999999942613,-5.63108887686e-05,-0.000328638212235,-6.00006346767e-05,1793238078067504896
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745.514992514,716,679.514992514,666,636.485007486,881,789,804,653,633,654,0.408135896715,-0.0153667304775,0.0498279641957,0.999999952901,-5.94089187835e-05,-0.000295529093214,-5.77170316145e-05,1793238078084171264
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745.923897606,715.923897606,679.923897606,666,636.076102394,881,789,804,653.076102394,633,654,0.407661328082,-0.0153697258814,0.0498455565727,0.999999960786,-6.22426935094e-05,-0.000267309330736,-5.56684262955e-05,1793238078100838144
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745.324258016,715.324258016,679.324258016,666,636.675741984,881,789,804,653.675741984,633,654,0.407175813142,-0.0153664980121,0.0498411392442,0.9999999573,-5.97793361695e-05,-0.000280463000828,-5.62762902857e-05,1793238078117504768
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767.271135883,745.271135883,715.271135883,679,666,637,881,789,804,653.728864117,633,654,0.406701454497,-0.0153646736574,0.0498286348226,0.999999949177,-6.09274565051e-05,-0.000307574746975,-5.77254607625e-05,1793238078134171392
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767.861530505,745.861530505,715.861530505,679,666,637,881,789,804,653.138469495,633,654,0.406240232263,-0.0153645019218,0.0498066079615,0.999999934347,-6.63280417372e-05,-0.000351121932728,-6.01652578391e-05,1793238078150838016
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767.557523572,746,716,679,666,637,881,789,804,653,633,653.557523572,0.405810331101,-0.0153644355882,0.0497907375619,0.999999925061,-6.84334010437e-05,-0.000376039771894,-6.1556150137e-05,1793238078167504640
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767.02046418,746,716,679.02046418,666.02046418,637,880.97953582,789,804,653,633,653.02046418,0.405392096777,-0.015364504408,0.0497776949234,0.999999918049,-6.95931509621e-05,-0.000393888902025,-6.25349992726e-05,1793238078184171264
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767.596738444,746,716,679.596738444,666.596738444,637,880.403261556,789,804,653,633,653.596738444,0.405030086122,-0.0153673668715,0.0497902215553,0.999999925278,-7.24923777345e-05,-0.0003747814426,-6.10515214505e-05,1793238078200837888
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767.823374102,746,716,680,666.823374102,637,880.176625898,789,803.823374102,653,632.823374102,654,0.404687991718,-0.0153704017183,0.0498048614951,0.999999934197,-7.58434048418e-05,-0.000349730522329,-5.95130221815e-05,1793238078217504512
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767.235065036,746,716,680,666.235065036,637,880.764934964,789,803.235065036,653,632.235065036,654,0.404392318561,-0.015373838359,0.0498244271734,0.999999946801,-8.02474967638e-05,-0.000310826467448,-5.78462780183e-05,1793238078234171392
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.652353248,666,637,881,789,803.347646752,653,632.347646752,654,0.404099857814,-0.0153754244541,0.0498434051649,0.999999954894,-8.24928796015e-05,-0.000283325270738,-5.59711723879e-05,1793238078250838272
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.07336609,666,637,881,789,803.92663391,653,632.92663391,654,0.403809534724,-0.01537577911,0.049861992084,0.999999960382,-8.33017569445e-05,-0.000263412065288,-5.39574131508e-05,1793238078267504896
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745.49751687,716,679,666,637,881,789,804,653,632.49751687,654,0.403530416477,-0.0153752392084,0.0498609746726,0.999999959549,-8.21003853819e-05,-0.000266905697345,-5.4065567612e-05,1793238078284171264
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745.077847971,716,679,666,637,881,789,804,653,632,654,0.403255876051,-0.0153750399507,0.0498563526728,0.999999957425,-8.12912585834e-05,-0.000274907786119,-5.44827172033e-05,1793238078300837888
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745.653027414,716,679,666,637,881,789,804,653,632,654,0.403000194267,-0.0153778461291,0.0498468755317,0.999999952839,-8.48514394108e-05,-0.000290014541913,-5.49069164753e-05,1793238078317504512
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,803.766428245,653,632.233571755,654,0.402758867548,-0.0153796739153,0.0498386947341,0.999999948071,-8.67136106735e-05,-0.000305432704725,-5.52159095393e-05,1793238078334171392
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,803.177726986,653,632.822273014,654,0.402539366715,-0.0153800141243,0.0498324849366,0.999999943146,-8.59940770474e-05,-0.000321324339236,-5.53497396095e-05,1793238078350838016
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745.593879062,716,679,666,637,881,789,803.406120938,653,632.593879062,654,0.402345473458,-0.0153806774061,0.0498305794909,0.99999994134,-8.53403310427e-05,-0.00032707401801,-5.53213286163e-05,1793238078367504640
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745.012129991,716,679,666,637,881,789,803.987870009,653,632.012129991,654,0.402162654275,-0.0153814804017,0.0498305354743,0.999999940951,-8.4715035103e-05,-0.000328437779336,-5.52227560229e-05,1793238078384171520
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745.561328289,716,679,666,637,881,789,804,653,632,654,0.402011981693,-0.0153823393531,0.0498306715233,0.999999942175,-8.29365855895e-05,-0.000325361781192,-5.3964717904e-05,1793238078400838144
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,880.864540645,789,804,653.135459355,632.135459355,654,0.401867648573,-0.0153829996278,0.0498316492823,0.999999943696,-8.10710385221e-05,-0.00032131483277,-5.28452198183e-05,1793238078417504768
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,880.287641841,789,804,653.712358159,632.712358159,654,0.40174174387,-0.0153830085645,0.0498353575375,0.999999946087,-7.90016803338e-05,-0.000314411824109,-5.2257663801e-05,1793238078434171392
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.296943543,637,880.296943543,789,804,654,633,654,0.401627768727,-0.0153831084306,0.0498378541452,0.999999947775,-7.75393211369e-05,-0.00030942811873,-5.18757345155e-05,1793238078450838016
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.889172661,637,880.889172661,789,804,654,633,654,0.401525656519,-0.0153832987185,0.0498391458709,0.999999948798,-7.66805715382e-05,-0.000306352999482,-5.16982837868e-05,1793238078467504640
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,632.04367753,654,0.401362663909,-0.0153854660886,0.0498447122177,0.999999952309,-8.0243362058e-05,-0.000293874695294,-5.08069260602e-05,1793238078500837632
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..651516193ab6adf3fdf522cdf9f5cc1900949c1b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,434 @@
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+399,6.650000000,pose2_to_pose3_retreat,0.578378002364,-0.00999882397934,1.04001162204,0.548949277618,-0.00132514928724,1.0396611669
+400,6.666666667,pose2_to_pose3_retreat,0.578346176321,-0.00999866556291,1.04001151448,0.548917448896,-0.00132499990784,1.03966106289
+401,6.683333333,pose2_to_pose3_retreat,0.578321085024,-0.00999894422413,1.04001155313,0.548892362061,-0.00132526390663,1.03966109215
+402,6.700000000,pose2_to_pose3_retreat,0.578301195527,-0.00999881663529,1.04001154714,0.548872470886,-0.00132514199744,1.03966108823
+403,6.716666667,pose2_to_pose3_retreat,0.578286255412,-0.00999876686704,1.04001144923,0.54885752972,-0.00132509584343,1.0396609902
+404,6.733333333,pose2_to_pose3_retreat,0.578275179114,-0.00999884686351,1.04001136691,0.548846454425,-0.0013251726225,1.03966090397
+405,6.750000000,pose2_to_pose3_retreat,0.578267504761,-0.00999887844821,1.04001154541,0.548838782088,-0.00132519751638,1.03966107939
+406,6.766666667,pose2_to_pose3_retreat,0.578262325588,-0.00999890756317,1.04001158066,0.548833603097,-0.0013252260836,1.03966111358
+407,6.783333333,pose2_to_pose3_retreat,0.578258954175,-0.00999892010254,1.04001158426,0.548830231388,-0.00132523966131,1.03966111678
+408,6.800000000,pose2_to_pose3_retreat,0.578256746196,-0.00999879072169,1.04001165129,0.54882802175,-0.00132511590135,1.03966118389
+409,6.816666667,pose2_to_pose3_retreat,0.57825531796,-0.00999870703142,1.04001169464,0.548826592441,-0.00132503584695,1.0396612273
+410,6.833333333,pose2_to_pose3_retreat,0.578254728162,-0.0099987398788,1.04001175502,0.548826003073,-0.0013250672654,1.03966128693
+411,6.850000000,pose2_to_pose3_retreat,0.578254292403,-0.00999878296932,1.04001181149,0.548825567876,-0.00132510848195,1.03966134262
+412,6.866666667,pose2_to_pose3_retreat,0.578254066483,-0.00999880530962,1.04001184077,0.548825342248,-0.00132512985069,1.0396613715
+413,6.883333333,pose2_to_pose3_retreat,0.578254057085,-0.00999880623897,1.04001184199,0.548825332862,-0.00132513073962,1.0396613727
+414,6.900000000,pose2_to_pose3_retreat,0.578254034041,-0.00999880851765,1.04001184498,0.548825309848,-0.00132513291921,1.03966137565
+415,6.916666667,pose2_to_pose3_retreat,0.578253961676,-0.00999881567358,1.04001185435,0.548825237577,-0.00132513976393,1.03966138489
+416,6.933333333,pose2_to_pose3_retreat,0.578253723455,-0.00999883923031,1.04001188523,0.548824999663,-0.00132516229619,1.03966141534
+417,6.950000000,pose2_to_pose3_retreat,0.578253340449,-0.0099988771043,1.04001193486,0.548824617151,-0.00132519852307,1.0396614643
+418,6.966666667,pose2_to_pose3_retreat,0.578253175292,-0.00999889343603,1.04001195627,0.548824452207,-0.00132521414455,1.03966148541
+419,6.983333333,pose2_to_pose3_retreat,0.578253156162,-0.00999889526918,1.04001195867,0.548824433101,-0.00132521589793,1.03966148778
+420,7.000000000,pose2_to_pose3_retreat,0.578253115446,-0.00999889011626,1.04001195166,0.548824392319,-0.00132521096177,1.03966148093
+421,7.016666667,pose2_to_pose3_retreat,0.578252998602,-0.00999887532901,1.04001193154,0.548824275286,-0.00132519679657,1.03966146127
+422,7.033333333,pose2_to_pose3_retreat,0.578252736143,-0.00999884211343,1.04001188636,0.548824012404,-0.00132516497823,1.03966141711
+423,7.050000000,pose2_to_pose3_retreat,0.578252684136,-0.00999883553162,1.04001187741,0.548823960313,-0.00132515867329,1.03966140835
+424,7.066666667,pose2_to_pose3_retreat,0.578252499907,-0.00999881221634,1.04001184569,0.548823775786,-0.00132513633878,1.03966137736
+425,7.083333333,pose2_to_pose3_retreat,0.578252387427,-0.00999879798146,1.04001182633,0.548823663125,-0.0013251227027,1.03966135843
+426,7.100000000,pose2_to_pose3_retreat,0.578252325358,-0.00999879169198,1.04001182151,0.54882360088,-0.00132511700956,1.03966135362
+427,7.116666667,pose2_to_pose3_retreat,0.578252296827,-0.00999878969428,1.04001182263,0.548823572225,-0.00132511543768,1.03966135463
+428,7.133333333,pose2_to_pose3_retreat,0.578252283152,-0.00999878873679,1.04001182318,0.548823558491,-0.00132511468429,1.03966135511
+429,7.150000000,pose2_to_pose3_retreat,0.578252218779,-0.00999878422943,1.04001182572,0.548823493837,-0.00132511113771,1.03966135738
+430,7.166666667,pose2_to_pose3_retreat,0.578252214907,-0.00999878395832,1.04001182588,0.548823489948,-0.00132511092439,1.03966135752
+431,7.183333333,pose2_to_pose3_retreat,0.578252165108,-0.00999878047145,1.04001182785,0.548823439933,-0.00132510818077,1.03966135928
+432,7.200000000,pose2_to_pose3_retreat,0.578252175943,-0.00999880938518,1.04001184964,0.548823450902,-0.00132513679119,1.03966137741
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd49a4647a232efb5ae8b2924053950af0a085f1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08d0eac611b7b227fabc68f966206bcea3ed9b3ef305d4ac88c7d81855f1eda2
+size 27700244
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4658294cc71b6c85fd4fd77e71ecd4b3ec3ef6ed
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_02/franka_data.csv
@@ -0,0 +1,437 @@
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+39,0.650000000,BASELINE,767,745.346550368,716,678.346550368,666.346550368,637,880,788.346550368,803.653449632,653.346550368,633,653.653449632,0.40099680442,-0.015406357991,0.049864559797,0.999999963488,-8.75816206507e-05,-0.000251181143662,-4.75477975505e-05,1793238079925457920
+40,0.666666667,BASELINE,767.229430066,745,716,678.229430066,666,637,880,788.229430066,804,653,632.770569934,653.770569934,0.40099625302,-0.015405940108,0.0498636753969,0.999999963186,-8.745560412e-05,-0.000252399782613,-4.7677614196e-05,1793238079942124544
+41,0.683333333,BASELINE,767.802153224,745,716,678.802153224,666,637,880,788.802153224,804,653,632.197846776,653.197846776,0.400997597804,-0.0154046803871,0.0498648267378,0.999999963701,-8.66123473532e-05,-0.000250583423379,-4.80052344846e-05,1793238079958791424
+42,0.700000000,BASELINE,767.625835417,745.374164583,715.625835417,679,666,637,880,788.625835417,803.625835417,653,632,653.374164583,0.400998276467,-0.0154055234648,0.0498656888238,0.99999996391,-8.75037401089e-05,-0.000249477867634,-4.77930019315e-05,1793238079975458048
+43,0.716666667,BASELINE,767.054199739,745.945800261,715.054199739,679,666,637,880,788.054199739,803.054199739,653,632,653.945800261,0.400998603576,-0.0154074763268,0.049866398251,0.999999963956,-8.93106207716e-05,-0.000248747449383,-4.72958537543e-05,1793238079992124672
+44,0.733333333,BASELINE,767,745.459445436,715.540554564,679,666,637,880.540554564,788,803,653,632,654,0.400997576547,-0.0154074226306,0.0498654965511,0.999999963706,-8.84366079719e-05,-0.000250036580148,-4.74187598391e-05,1793238080008791296
+45,0.750000000,BASELINE,767,745.134088623,716,679.134088623,666,637,881,788.134088623,803.134088623,653,632,654,0.400996941853,-0.0154071196201,0.0498648500059,0.999999963598,-8.72635740337e-05,-0.000250850857451,-4.75639439458e-05,1793238080025457664
+46,0.766666667,BASELINE,767,745.715473978,716,679.715473978,666,637,881,788.715473978,803.715473978,653,632,654,0.400998089083,-0.0154066860662,0.0498656175689,0.999999964074,-8.60298074727e-05,-0.000249375439068,-4.75667860029e-05,1793238080042124544
+47,0.783333333,BASELINE,767,745.707624465,716,679.707624465,666,636.707624465,880.707624465,789,804.292375535,653.292375535,632,654,0.400998601393,-0.0154060843781,0.0498661049422,0.999999964242,-8.61064599249e-05,-0.000248655565788,-4.76627371092e-05,1793238080058791168
+48,0.800000000,BASELINE,767,745.135020356,716,679.135020356,666,636.135020356,880.135020356,789,804.864979644,653.864979644,632,654,0.400998505162,-0.0154053215411,0.0498663237666,0.999999964117,-8.7439088909e-05,-0.000248659847751,-4.78479289801e-05,1793238080075457792
+49,0.816666667,BASELINE,766.559676332,745.440323668,716,679,666,636.440323668,880.440323668,789,804.559676332,654,632,654,0.400998280589,-0.0154046249692,0.049866282606,0.999999964099,-8.70583912153e-05,-0.000248865278674,-4.78353129814e-05,1793238080092124672
+50,0.833333333,BASELINE,766.01697422,745.98302578,716,679,666,637,881,789,804,654,632,653.98302578,0.400998010439,-0.0154040150596,0.0498661688854,0.999999964111,-8.62200960894e-05,-0.000249125413144,-4.77568433431e-05,1793238080108791296
+51,0.850000000,BASELINE,766.609254122,745.390745878,716,679,666,637,881,789,804,654,632,653.390745878,0.400997537729,-0.015405649392,0.0498663148029,0.999999963983,-8.77903896634e-05,-0.000249136003122,-4.75150685859e-05,1793238080125457920
+52,0.866666667,BASELINE,767,745,716,679,666,637,881.195807277,789,804,654,632,653.195807277,0.400997549244,-0.0154064014424,0.0498664366294,0.999999964011,-8.86461718229e-05,-0.000248724054381,-4.74935852034e-05,1793238080142124544
+53,0.883333333,BASELINE,767,745,716,679,666,637,881.771257049,789,804,654,632,653.771257049,0.400998499601,-0.0154054428733,0.0498665117471,0.999999964344,-8.81166177595e-05,-0.000247492863092,-4.78992155163e-05,1793238080158791168
+54,0.900000000,BASELINE,767,745,715.654048501,679,666,637,881.308097002,789,804,653.654048501,632.345951499,654,0.400999277166,-0.015406349996,0.0498667296386,0.999999964383,-8.91552349385e-05,-0.000246992270157,-4.77579596444e-05,1793238080175457792
+55,0.916666667,BASELINE,767,745,715.079852405,679,666,637,880.159704809,789,804,653.079852405,632.920147595,654,0.400999940732,-0.0154084880258,0.0498670417263,0.999999964224,-9.12284671495e-05,-0.000246973696075,-4.72558907017e-05,1793238080192124416
+56,0.933333333,BASELINE,766.491990858,745,715,679,666,637,880.508009142,789,803.491990858,653.508009142,632.491990858,654,0.400998739642,-0.0154078013155,0.0498662745917,0.999999963997,-8.95547576546e-05,-0.000248469554258,-4.74123308304e-05,1793238080208791040
+57,0.950000000,BASELINE,766.096554242,745.096554242,715.096554242,679,666,637,881,789,803,653.903445758,632,654,0.400997571739,-0.0154067585146,0.0498655703599,0.999999963863,-8.74290643564e-05,-0.000249729451121,-4.75977936535e-05,1793238080225457664
+58,0.966666667,BASELINE,766.677454993,745.677454993,715.677454993,679,666,637,881,789,803,653.322545007,632,654,0.400998081232,-0.0154062183278,0.0498660561591,0.999999964277,-8.60722113717e-05,-0.000248578552283,-4.7395255953e-05,1793238080242124544
+59,0.983333333,BASELINE,767,746,716,679.255222294,666,637,880.744777706,789,803.510444587,653,632,654,0.400998302711,-0.0154061385558,0.0498663054338,0.999999964392,-8.56334173969e-05,-0.000248292075089,-4.72586078272e-05,1793238080258791168
+60,1.000000000,BASELINE,767,746,716,679.829077708,666,637,880.170922292,789,804.658155415,653,632,654,0.400998164618,-0.0154066335901,0.0498662594188,0.999999964137,-8.63407770606e-05,-0.000249084787812,-4.72042197331e-05,1793238080275457792
+61,1.016666667,BASELINE,767,746,716,679.597010585,666,637,880.402989415,788.597010585,804.597010585,653.402989415,632,653.597010585,0.400998495827,-0.0154056055007,0.0498663901658,0.999999964286,-8.5050819212e-05,-0.000248882283504,-4.74490824968e-05,1793238080292124416
+62,1.033333333,BASELINE,767,746,716,679.023075034,666,637,880.976924966,788.023075034,804.023075034,653.976924966,632,653.023075034,0.400999026112,-0.0154039313096,0.0498665958943,0.999999964603,-8.29136090093e-05,-0.000248257612955,-4.78208860125e-05,1793238080308791040
+63,1.050000000,BASELINE,767,746,716,679,666,637,881,788.568743544,804,653.431256456,632,653.568743544,0.400998213274,-0.0154049498035,0.0498657083932,0.999999964367,-8.44529682131e-05,-0.000248726079995,-4.76423079637e-05,1793238080325457920
+64,1.066666667,BASELINE,767,746,716,679,666,637,881,789,804,653,632,654,0.400997633847,-0.0154055772891,0.0498650498657,0.999999964234,-8.53993578996e-05,-0.000248956476663,-4.75258471703e-05,1793238080342124800
+65,1.083333333,BASELINE,767,746,716,679,666,637,881,789,804,653,632,654,0.40099782884,-0.0154048578874,0.0498651259151,0.99999996445,-8.43487452321e-05,-0.000248427987299,-4.76370895115e-05,1793238080358791168
+66,1.100000000,BASELINE,767.312663432,746,716,679,666,637,880.687336568,789,804,653,632,653.687336568,0.400998599983,-0.0154056367757,0.0498659421717,0.999999964585,-8.5842362644e-05,-0.000247403158123,-4.74593952632e-05,1793238080375458304
+67,1.116666667,BASELINE,767.887131186,746,716,679,666,637,880.112868814,789,804,653,632,653.112868814,0.400999853555,-0.015407670236,0.0498673782306,0.999999964643,-8.94663553279e-05,-0.000245962725819,-4.70397640253e-05,1793238080392125696
+68,1.133333333,BASELINE,767.527080777,746,716,679,666,637,880.472919223,789,804,653,632,653.472919223,0.400999291215,-0.0154075935014,0.0498668159053,0.999999964423,-8.9994789706e-05,-0.000246617048028,-4.72779950904e-05,1793238080408792320
+69,1.150000000,BASELINE,767,745.939095103,716,679,666,637,880.939095103,789,803.939095103,653,632,654,0.400998270757,-0.0154068969289,0.0498658221368,0.999999964129,-8.95539507966e-05,-0.000247892446842,-4.76654182575e-05,1793238080425458688
+70,1.166666667,BASELINE,767,745.356000034,716,679,666,637,880.356000034,789,803.356000034,653,632,654,0.400997129435,-0.0154053098811,0.0498653187585,0.999999963765,-8.72923968775e-05,-0.000250101310369,-4.79528146225e-05,1793238080442125312
+71,1.183333333,BASELINE,767,745.223233818,716,679,666,637,880,789,803.223233818,653,632,654,0.400997084567,-0.0154051493966,0.0498654046993,0.999999963761,-8.62477894695e-05,-0.000250487531942,-4.79016387263e-05,1793238080458791424
+72,1.200000000,BASELINE,767,745.796414815,716,679,666,637,880,789,803.796414815,653,632,654,0.400998758528,-0.0154072252298,0.0498664144718,0.99999996433,-8.71108989346e-05,-0.000248016532601,-4.73197081311e-05,1793238080475457792
+73,1.216666667,BASELINE,767,746,716,679,666,637,880.369062111,788.630937889,803.630937889,653,632,653.630937889,0.400999258999,-0.0154070997381,0.0498665469565,0.999999964568,-8.69156604074e-05,-0.000247111888958,-4.73952041647e-05,1793238080492124416
+74,1.233333333,BASELINE,767,746,716,679,666,637,880.941415392,788.058584608,803.058584608,653,632,653.058584608,0.400999113074,-0.0154057616862,0.0498661962032,0.999999964624,-8.61374500287e-05,-0.000247070044099,-4.783283177e-05,1793238080508791040
+75,1.250000000,BASELINE,767,745.467536368,716,679,666,637,880.467536368,788.532463632,803.532463632,653,632.532463632,653.532463632,0.400998468192,-0.0154071871731,0.0498659056335,0.999999964228,-8.84111717107e-05,-0.000247929447535,-4.75236922991e-05,1793238080525457664
+76,1.266666667,BASELINE,767,745.122224425,716,679,666,637,880.244448851,788.877775575,804,653.122224425,632.877775575,654,0.400997934063,-0.015408130527,0.0498657534042,0.999999963943,-8.959333638e-05,-0.000248697734506,-4.729864457e-05,1793238080542124288
+77,1.283333333,BASELINE,767,745.69926185,716,679,666,637,881.3985237,788.30073815,804,653.69926185,632.30073815,654,0.400998023778,-0.015406107184,0.0498660904208,0.999999964277,-8.54186875385e-05,-0.000248744549939,-4.77033793859e-05,1793238080558791168
+78,1.300000000,BASELINE,767,745.724107787,716,679,666,637,881.724107787,788.275892213,803.724107787,653.724107787,632,654,0.400998149372,-0.0154052024021,0.0498661462081,0.999999964455,-8.41403609684e-05,-0.000248446960241,-4.77921291199e-05,1793238080575458048
+79,1.316666667,BASELINE,767,745.14792053,716,679,666,637,881.14792053,788.85207947,803.14792053,653.14792053,632,654,0.400998314019,-0.0154055151188,0.0498658958911,0.999999964475,-8.60145383893e-05,-0.00024777450257,-4.75369446756e-05,1793238080592124672
+80,1.333333333,BASELINE,767,745.437576264,716,679,666,637,881,789,803,653,632,653.562423736,0.400998564901,-0.0154062495067,0.0498660544199,0.999999964516,-8.61023332656e-05,-0.000247568988505,-4.75737649989e-05,1793238080608791296
+81,1.350000000,BASELINE,767.025876047,745.974123953,716,679,666,637,880.974123953,789,803.025876047,653,632.025876047,653.025876047,0.400998805299,-0.0154070897279,0.0498663446489,0.999999964567,-8.56008115644e-05,-0.000247517234985,-4.7692766234e-05,1793238080625458176
+82,1.366666667,BASELINE,767.605350463,745.394649537,716,679,666,637,880.394649537,789,803.605350463,653,632.605350463,653.605350463,0.400998184192,-0.0154070782622,0.0498664313654,0.999999964625,-8.56916605571e-05,-0.000247304624089,-4.74122163727e-05,1793238080642124800
+83,1.383333333,BASELINE,768,745.184081095,716,679,666,637,880,789,804,653,633,654,0.400997837813,-0.0154068518435,0.0498664108125,0.99999996459,-8.61782210817e-05,-0.000247291909466,-4.73329844497e-05,1793238080658791168
+84,1.400000000,BASELINE,768,745.761223659,716,679,666,637,880,789,804,653,633,654,0.400998078054,-0.0154061664439,0.0498661612113,0.999999964355,-8.75097296431e-05,-0.00024770602583,-4.76836191308e-05,1793238080675457792
+85,1.416666667,BASELINE,767.665027188,746,716,679,666,637,880.334972812,789,804,653.334972812,632.665027188,654,0.400998637834,-0.0154063780372,0.0498663558261,0.999999964359,-8.82355193996e-05,-0.000247419078934,-4.77433817542e-05,1793238080692124672
+86,1.433333333,BASELINE,767.093672713,746,716,679,666,637,880.906327287,789,804,653.906327287,632.093672713,654,0.400999423103,-0.0154072226152,0.0498668639128,0.999999964533,-8.8533868959e-05,-0.000246637409775,-4.75978834574e-05,1793238080708791296
+87,1.450000000,BASELINE,767,746,716,679,666,637,881.496359287,789,804,654,632,654,0.401000022141,-0.0154068094203,0.0498675427471,0.999999964894,-8.77272833526e-05,-0.000245430752997,-4.77399239074e-05,1793238080725457920
+88,1.466666667,BASELINE,767,745.912335263,716,679,666,637,881.824670525,789,804,653.912335263,632.087664737,653.912335263,0.40100030972,-0.0154064820244,0.0498680677924,0.999999965149,-8.72457689603e-05,-0.000244543446323,-4.78422566865e-05,1793238080742124544
+89,1.483333333,BASELINE,767,745.334391698,716,679,666,637,880.668783397,789,804,653.334391698,632.665608302,653.334391698,0.400999059659,-0.0154080138867,0.0498675454875,0.999999964609,-8.97940622196e-05,-0.000245908244372,-4.74071708463e-05,1793238080758791424
+90,1.500000000,BASELINE,767,745,716,679,666,637,880.242552585,789,804,653,632.757447415,653.242552585,0.400998267932,-0.0154086011856,0.0498668161417,0.999999964272,-9.0418039746e-05,-0.000247080666107,-4.72321392161e-05,1793238080775458048
+91,1.516666667,BASELINE,767,745,716,679,666,637,880.818124827,789,804,653,632.181875173,653.818124827,0.400998105486,-0.0154078916183,0.049865802533,0.999999964219,-8.8399971552e-05,-0.000247988959048,-4.74141566479e-05,1793238080792124672
+92,1.533333333,BASELINE,767,745,716,679,666,637,881,789,803.601452322,653,632,653.601452322,0.400997961286,-0.0154074306308,0.0498658505231,0.999999964315,-8.7159953487e-05,-0.000248055648788,-4.73517386359e-05,1793238080808791296
+93,1.550000000,BASELINE,767,745,716,679,666,637,881,789,803.018788597,653,632,653.018788597,0.400997825516,-0.015407084479,0.0498663889371,0.999999964479,-8.62793690633e-05,-0.000247733545341,-4.71763994262e-05,1793238080825457664
+94,1.566666667,BASELINE,767,745,716,679,666,637,881,789,803.564907965,653.564907965,632.564907965,653.564907965,0.400997099886,-0.0154074478893,0.0498661672771,0.999999964381,-8.61614408982e-05,-0.000248128316878,-4.73877955635e-05,1793238080842124544
+95,1.583333333,BASELINE,767,745,716,679,666,637,880.853153114,789,804,653.853153114,632.853153114,653.853153114,0.40099657943,-0.0154080195392,0.0498658833562,0.999999964256,-8.65575445902e-05,-0.000248474833511,-4.74973025341e-05,1793238080858791168
+96,1.600000000,BASELINE,767,745,716,679,666,637,880.276459716,789,804,653.276459716,632.276459716,653.276459716,0.40099671709,-0.0154091315357,0.0498654913207,0.999999964073,-8.8383923781e-05,-0.000248610179364,-4.72708419523e-05,1793238080875457792
+97,1.616666667,BASELINE,767,745.300535825,716,679,666,637,880,789,804,653.300535825,632,653,0.400997486008,-0.015409453169,0.0498662235788,0.999999964207,-8.97118034283e-05,-0.000247652933767,-4.69573812049e-05,1793238080892124416
+98,1.633333333,BASELINE,767,745.877809551,716,679,666,637,880,789,804,653.877809551,632,653,0.400998836199,-0.015409047024,0.0498679911033,0.999999964632,-9.05806571024e-05,-0.000245689613551,-4.65638094126e-05,1793238080908791296
+99,1.650000000,BASELINE,767,746,716,679,666,637,880,789,803.53636857,653.53636857,632,653.46363143,0.400999581314,-0.0154085774954,0.0498677529584,0.999999964791,-8.97961719536e-05,-0.000245261280274,-4.69118960982e-05,1793238080925457920
+100,1.666666667,BASELINE,767,745.94905675,716,679,666,637,880.05094325,789,803,653,632,653.94905675,0.401000115319,-0.0154081381928,0.0498670639614,0.999999964877,-8.85950571984e-05,-0.000245252624592,-4.74156509344e-05,1793238080942124544
+101,1.683333333,BASELINE,767,745.370091209,716,679,666,637,880.629908791,789,803,653,632,653.370091209,0.401000145102,-0.015408188577,0.0498672836849,0.999999964938,-8.7676842308e-05,-0.000245322033444,-4.74688626864e-05,1793238080958791168
+102,1.700000000,BASELINE,767,745,716,679.207688457,666.207688457,637,881,789,803,653.207688457,632,653.207688457,0.401000458847,-0.0154076102344,0.0498678837301,0.999999965182,-8.61551934963e-05,-0.000244876023592,-4.74207769666e-05,1793238080975457792
+103,1.716666667,BASELINE,767,745,716,679.783366882,666.783366882,637,881,789,803,653.783366882,632,653.783366882,0.401001275725,-0.0154059178907,0.0498691576433,0.999999965745,-8.35643585937e-05,-0.000243516776113,-4.7193208693e-05,1793238080992124416
+104,1.733333333,BASELINE,767,745.359316069,716,679.640683931,666.640683931,637,881,789,803,654,632,653.640683931,0.400999919239,-0.0154058782288,0.0498682105452,0.999999965408,-8.42415665139e-05,-0.000244627468384,-4.73849842429e-05,1793238081008791296
+105,1.750000000,BASELINE,767,745.935428678,716,679.064571322,666.064571322,637,881,789,803,654,632,653.064571322,0.400997251435,-0.0154068357269,0.0498659233804,0.99999996452,-8.68905768297e-05,-0.000247228420593,-4.78297745887e-05,1793238081025457920
+106,1.766666667,BASELINE,767,746,716,679,666,637,880.475910803,789,803,654,632,653.524089197,0.400997183605,-0.0154073995463,0.0498650639717,0.999999964218,-8.75878929698e-05,-0.000248220096325,-4.77374848013e-05,1793238081042124544
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880,789,804,654,632,654,0.400999326373,-0.0154089477807,0.0498676443189,0.999999964891,-8.83293651088e-05,-0.000245336945698,-4.71858582637e-05,1793238081084442624
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.575925316,746,716,679.575925316,666,637,880.575925316,789,804,653.424074684,632,654,0.400999625548,-0.0154087722221,0.049868112581,0.999999964954,-8.82552701323e-05,-0.000245128175568,-4.70630495156e-05,1793238081101108992
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.844995541,746,716,680,666,637,881,789,804,653.155004459,632,654,0.400999601377,-0.015408305505,0.0498681131832,0.999999964962,-8.75619915291e-05,-0.000245347225282,-4.7045967169e-05,1793238081117775616
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.257108541,746,716,680,666,637,881,789,804,653.742891459,632,654,0.400998674193,-0.0154070256662,0.0498668077473,0.99999996481,-8.51395124416e-05,-0.000246761051821,-4.73241479999e-05,1793238081134442240
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679.671995487,666,637,881,789.328004513,804,654,632,653.671995487,0.400998085697,-0.015407127169,0.0498664812676,0.999999964662,-8.48028223691e-05,-0.00024745868253,-4.74271069424e-05,1793238081151108864
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679.08903861,666,637,881,789.91096139,804,654,632,653.08903861,0.400997760458,-0.0154083023652,0.0498669157144,0.999999964519,-8.60873809951e-05,-0.000247599626238,-4.73938688558e-05,1793238081167775488
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.513559322,789.513559322,803.513559322,653.513559322,632,653,0.400998677345,-0.0154094430522,0.0498677624091,0.999999964554,-8.93222004882e-05,-0.000246364715247,-4.70924369244e-05,1793238081184442112
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880,789,803,653.060084503,632,653,0.400999567395,-0.0154103577385,0.0498684120838,0.999999964565,-9.22283205197e-05,-0.000245302663683,-4.68075318705e-05,1793238081201108736
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880,789,803,653.629595251,632,653,0.400998331411,-0.0154094090241,0.0498667612372,0.999999964194,-8.93667497191e-05,-0.000247809081162,-4.70726621712e-05,1793238081217775360
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.790780063,716,679,666,637,880,789,803.209219937,653.790780063,632,653,0.400999108635,-0.0154090004775,0.049866712064,0.999999964308,-8.82199660274e-05,-0.000247756146263,-4.70910931878e-05,1793238081234441984
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.192340088,716,679,666,637,880,789,803.807659912,653.192340088,632,653,0.401003631104,-0.0154095968262,0.0498696425467,0.999999965328,-9.02632682294e-05,-0.000242941947687,-4.66505798415e-05,1793238081251108608
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,715.60982233,679,666,637,880,789,804,653,632,653.39017767,0.401017493152,-0.0154095962508,0.0498754947223,0.999999968117,-8.85458104848e-05,-0.000231937053618,-4.61541674597e-05,1793238081267775488
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,715.034845721,679,666,637,880,789,804,653,632,653.965154279,0.401035778683,-0.0154093129557,0.0498827306928,0.99999997158,-8.50471529537e-05,-0.000218000074432,-4.56312797018e-05,1793238081284442112
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745.539687155,715.539687155,679.539687155,666,637,880.539687155,789,803.460312845,653.539687155,632,653.460312845,0.401078055505,-0.015412561893,0.049897609587,0.999999977879,-8.71532771392e-05,-0.000186361072145,-4.37789098219e-05,1793238081301108736
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.885771473,716,679.885771473,666,637,881,789,803.114228527,653.885771473,632,653,0.401125147727,-0.0154160782173,0.0499129844018,0.999999983293,-8.95166458679e-05,-0.000153781349626,-4.18590176498e-05,1793238081317775360
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.311080279,716,679.311080279,666,637,881,789,803.688919721,653.311080279,632,653,0.40118541202,-0.0154197538118,0.049928370706,0.999999987573,-9.14594166554e-05,-0.000122013066436,-4.0012680769e-05,1793238081334441984
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,715.727567691,679,666,637.272432309,880.727567691,789,804,653.272432309,632.272432309,653.272432309,0.401250432638,-0.0154232819766,0.0499411082872,0.99999999016,-9.1476264216e-05,-9.92271327667e-05,-3.82825475549e-05,1793238081351108608
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,715.133645242,679,666,637.866354758,880.133645242,789,804,653.866354758,632.866354758,653.866354758,0.401321066066,-0.0154266361635,0.04995072018,0.999999991559,-8.92203808389e-05,-8.70410334219e-05,-3.66895433475e-05,1793238081367775232
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,715.444912153,679,666,637.555087847,880.889824306,789,804,654,632.555087847,654,0.401395497554,-0.015432315993,0.0499534803873,0.999999991699,-9.21720582672e-05,-8.25687928085e-05,-3.59008108963e-05,1793238081384442368
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,881.961631036,789,804,653.980815518,632,653.980815518,0.401471688851,-0.0154386196752,0.0499542944399,0.999999991491,-9.65378638223e-05,-8.03045893051e-05,-3.53367253985e-05,1793238081401108992
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,880.802788884,789,804,653.401394442,632,653.401394442,0.401567066606,-0.0154434218588,0.0499563726177,0.999999991625,-9.80438719457e-05,-7.71133568503e-05,-3.45133231569e-05,1793238081417775616
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,880.181453394,789,804,653,632,653.181453394,0.401669068278,-0.0154487160769,0.0499579199633,0.999999991651,-9.94359471219e-05,-7.53382595623e-05,-3.36822479416e-05,1793238081434442240
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,880.772027422,789,804,653,632,653.772027422,0.4017860048,-0.015455119678,0.0499582704483,0.999999991458,-0.000100571138945,-7.67561044568e-05,-3.28338726832e-05,1793238081451108864
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.353845163,716,679,666,637,880.646154837,788.646154837,804,653.353845163,632,654,0.40191371064,-0.0154626594385,0.0499565372257,0.999999991054,-0.000101858741515,-8.05507864723e-05,-3.20673271036e-05,1793238081467775488
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.930157761,716,679,666,637,880.069842239,788.069842239,804,653.930157761,632,654,0.402048187312,-0.0154709135189,0.0499534939469,0.999999990495,-0.000103242166974,-8.58398195856e-05,-3.13522289114e-05,1793238081484442112
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.506675381,788.506675381,804,653.493324619,632,653.493324619,0.402215215345,-0.0154805716363,0.0499558386772,0.999999990491,-0.00010700290437,-8.1587867944e-05,-3.01916992817e-05,1793238081501108480
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804,653.082885434,632,653.082885434,0.402390105004,-0.0154903982785,0.0499589873567,0.999999990602,-0.000110512229302,-7.5808833137e-05,-2.89193792377e-05,1793238081517775104
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804,653.657104913,632,653.657104913,0.402584988227,-0.0155000761831,0.0499624972994,0.999999991146,-0.000110587874981,-6.8776752198e-05,-2.73484989287e-05,1793238081534441728
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.760601334,789,804,653.760601334,632,654,0.402797688882,-0.0155106398227,0.0499673512108,0.999999991848,-0.00011073337787,-5.82915847905e-05,-2.53648214966e-05,1793238081551108608
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.16633902,789,804,653.16633902,632,654,0.403036800529,-0.0155225163982,0.0499741973036,0.999999992671,-0.000110982430959,-4.2687864375e-05,-2.27692497978e-05,1793238081567775232
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.585467561,716,679,666,637,880.414532439,789,804,653,632,654,0.403295969962,-0.0155300654814,0.0499815572022,0.999999993979,-0.000104761090396,-2.60235294078e-05,-1.97553496228e-05,1793238081584441856
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.009801305,716,679,666,637,880.990198695,789,804,653,632,654,0.403562936094,-0.0155359324153,0.0499891168233,0.999999995212,-9.60246288281e-05,-8.94692097954e-06,-1.65788401195e-05,1793238081601108480
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.563805404,716,679,666,637,881,789,804,653.563805404,632,654,0.403853936074,-0.0155224904193,0.049993071962,0.999999997787,-6.46952602187e-05,-2.98947917656e-06,-1.52336605374e-05,1793238081617775104
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.862464377,789,804,653.862464377,632,654,0.404152982064,-0.0155111631667,0.0499969393813,0.999999999277,-3.53573903652e-05,2.86467235888e-06,-1.3695323732e-05,1793238081634441984
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.288228832,789,804,653.288228832,632,654,0.40447625371,-0.0155076125346,0.0500007265108,0.999999999802,-1.35854296557e-05,9.00237874427e-06,-1.1442961228e-05,1793238081651108608
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745.704184571,716,678.704184571,666,637,880,789,804,653,632,653.704184571,0.404818179075,-0.0155105471046,0.0500017263614,0.999999999907,9.3316147079e-07,1.04045708162e-05,-8.71764106769e-06,1793238081667775232
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745.110255315,716,678.110255315,666,637,880,789,804,653,632,653.110255315,0.405178903132,-0.0155200172644,0.0499999172772,0.999999999927,8.14202907571e-06,7.03445575782e-06,-5.51568824089e-06,1793238081684442112
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.468938341,716,678,666,637,880,789,804,653.468938341,632,653,0.405534919233,-0.0155225362222,0.0499848600693,0.99999999944,2.32823419353e-05,-2.36742157676e-05,-4.16152529766e-06,1793238081701108736
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,678.044689456,666,637,880,788.955310544,804,653.955310544,632,653,0.405893890318,-0.0155232907833,0.0499672468846,0.999999997436,4.0460260814e-05,-5.89887751397e-05,-3.21968266716e-06,1793238081717775616
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,678.61945055,666,637,880,788.38054945,804,653.38054945,632,653,0.406300640828,-0.0155219121776,0.0499551370977,0.999999995362,6.03615646664e-05,-7.50165382802e-05,-2.1723881459e-06,1793238081734442240
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.200169863,788,804,653,632,653,0.406720148857,-0.0155207146958,0.0499465538175,0.999999993023,8.10950571079e-05,-8.58951057712e-05,-4.57339561158e-07,1793238081751108864
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.792564019,788,804,653,632,653,0.407164654674,-0.0155198721189,0.0499448805772,0.999999990888,0.000103459186377,-8.66840435092e-05,2.5661445124e-06,1793238081767775488
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679,665.624176903,637,881.375823097,788.375823097,803.624176903,653,632,653.375823097,0.407669108338,-0.015523147006,0.0499594352773,0.999999990565,0.000124353913026,-5.78865142358e-05,7.44876735695e-06,1793238081784442112
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679,665.045840311,637,881.954159689,788.954159689,803.045840311,653,632,653.954159689,0.408205865079,-0.0155286406021,0.0499827344558,0.999999989391,0.000144456846362,-1.31462211343e-05,1.33331930461e-05,1793238081801108736
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,679.530298688,665.530298688,637,881.469701312,789,803.530298688,653,632.530298688,654,0.408742444966,-0.015531386696,0.0499995384693,0.999999986106,0.000165334299637,1.06802696319e-05,1.83748423119e-05,1793238081817775360
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716,679.893979693,666,637,880.893979693,788.893979693,804,653,632.893979693,653.893979693,0.409279887656,-0.0155335072929,0.0500122181783,0.999999982093,0.00018591448289,2.69605331764e-05,2.28722348391e-05,1793238081834441984
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,679.319267058,666,637,880.319267058,788.319267058,804,653,632.319267058,653.319267058,0.409821211753,-0.0155339083098,0.0500091370822,0.999999978532,0.000204885739754,1.78396667624e-05,2.52843192003e-05,1793238081851108608
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745.737036289,716,679.262963711,666,637,880.262963711,788.262963711,804,653,632.262963711,653.262963711,0.410358526262,-0.0155331640639,0.0499984443519,0.999999976228,0.000216338097993,-4.98135684267e-06,2.67765428586e-05,1793238081867775232
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.145408946,716,679.854591054,666,637,880.854591054,788.854591054,804,653,632.854591054,653.854591054,0.410890829486,-0.015530988418,0.0499782382655,0.999999974775,0.000218393007909,-4.49254416551e-05,2.71190843947e-05,1793238081884442112
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,716,679.565206858,666,637,881,789,804,653,632.565206858,653.565206858,0.411483492587,-0.0155297113329,0.0499634557508,0.999999986,0.000151441921379,-6.82414513352e-05,2.02078548096e-05,1793238081901108992
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,716,679.011234594,666,637,880.988765406,789,804,653,632.011234594,653.011234594,0.412097194363,-0.0155290185873,0.0499512349156,0.999999994329,6.35832525019e-05,-8.47120044773e-05,1.11337440046e-05,1793238081917775616
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,716,679.585797764,666,637,880.414202236,789,804,653,632.585797764,653.585797764,0.41277955468,-0.015542943627,0.0499788422439,0.999999997979,5.49173431529e-05,-2.96358336801e-05,1.21332650755e-05,1793238081934442240
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.165237557,716,679.834762443,666,637.165237557,880.165237557,789,804,653,632.834762443,654,0.413451933682,-0.0155539884525,0.0500000700966,0.999999998272,5.62724163414e-05,9.60095422614e-06,1.4042959276e-05,1793238081951108864
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.757273328,716,679.242726672,666,637.757273328,880.757273328,789,804,653,632.242726672,654,0.414098531535,-0.0155575938647,0.0500048201638,0.999999996314,8.35110577642e-05,7.9256092568e-06,1.83035734192e-05,1793238081967775488
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.658050098,716,679,666,637.658050098,880.658050098,789,804,653,632,654,0.414747330723,-0.0155548607978,0.0499866937925,0.999999993696,0.000108103689884,-2.37530207052e-05,1.8891647941e-05,1793238081984442112
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745.078487281,716,679,666,637.078487281,880.078487281,789,804,653,632,654,0.41539765954,-0.0155477232712,0.0499526711241,0.999999988386,0.00013085767123,-7.62802249799e-05,1.69277611605e-05,1793238082001108736
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.497883227,716,679,666,637,880.497883227,789,803.502116773,653,632.497883227,653.502116773,0.416109807404,-0.0155490917981,0.0499458265919,0.999999986213,0.000142067031314,-8.41356270008e-05,1.76442007532e-05,1793238082017775360
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.924917577,716,679,666,637,881,789,803.075082423,653,632.924917577,653,0.416834083458,-0.0155520462842,0.0499474378066,0.999999985595,0.00014932854601,-7.8422493328e-05,1.90064056697e-05,1793238082034442240
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.338672676,716,679,666,637,881,789,803.661327324,653,632.338672676,653,0.41757500478,-0.0155567272216,0.049977633359,0.999999989283,0.000142024142685,-2.79721665455e-05,2.19067139524e-05,1793238082051108864
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.244416788,716,679.244416788,666,637,881,789,804,653,632.244416788,653.244416788,0.418312271141,-0.015560249692,0.0499975972979,0.999999990745,0.000133861643449,3.75251471004e-06,2.40042143931e-05,1793238082067775232
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.823189776,716,679.823189776,666,637,881,789,804,653,632.823189776,653.823189776,0.419044537708,-0.0155621874087,0.0500035646437,0.999999991886,0.000124525289306,9.86097719554e-06,2.50034937802e-05,1793238082084441856
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745.598701522,716,679.598701522,666,637,881,789,804,653,632.598701522,654,0.41977657079,-0.0155619846445,0.0499898050164,0.999999991424,0.000128157254505,-1.23299265622e-05,2.39739316443e-05,1793238082101108736
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745.02088505,716,679.02088505,666,637,881,789,804,653,632.02088505,654,0.420508501124,-0.0155608403533,0.0499673681426,0.999999989202,0.00013749355699,-4.6968790484e-05,2.20519488111e-05,1793238082117775360
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,716,679,666,636.44509655,881,789,804,653,632,653.44509655,0.421341377955,-0.0155627081947,0.0499941884251,0.999999989111,0.000145212592436,7.40041189259e-06,2.52408933878e-05,1793238082134441984
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.133708493,716,679,666,636.133708493,881,789,804.133708493,653,632,653.133708493,0.422159143833,-0.0155644343411,0.0500164378006,0.999999986906,0.000150543596307,5.23782983255e-05,2.79478972868e-05,1793238082151108608
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745.723052055,716,679,666,636.723052055,881,789,804.723052055,653,632,653.723052055,0.42291251665,-0.0155652927211,0.0500168165088,0.999999987197,0.000147943634287,5.39794186946e-05,2.83594861179e-05,1793238082167775232
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789.30586081,804.69413919,653,632,654,0.423663753425,-0.0155650735778,0.0500072638354,0.999999988296,0.000146466313537,3.43052098725e-05,2.78957840937e-05,1793238082184441856
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789.882876234,804.117123766,653,632,654,0.424413096496,-0.0155638991782,0.0499889066999,0.99999998898,0.000145984247301,-4.23020484748e-06,2.66561109003e-05,1793238082201108736
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.540909171,716,679.459090829,666.459090829,637,881,789.540909171,804.459090829,653,632,654,0.425207227893,-0.0155665062392,0.0499964945442,0.999999988651,0.000147784931602,7.97729372722e-06,2.81740987421e-05,1793238082217775616
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745,716,680,667,637,881.035797918,789,804.964202082,653,632,654,0.426011282452,-0.0155696523846,0.0500103153483,0.999999987719,0.000150447108868,3.178559209e-05,3.02828006677e-05,1793238082234441984
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,745,716,680,667,637,881.623236477,789,804.376763523,653,632,654,0.42679247728,-0.0155662652706,0.0500183631993,0.999999986518,0.000157426034112,3.52182412288e-05,3.06717855311e-05,1793238082251108608
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745.208023631,716,680,667,637,881.791976369,789,804,652.791976369,632.208023631,654,0.427555459682,-0.0155638212151,0.0500103228721,0.999999986072,0.0001635234368,1.38224178786e-05,3.04278414807e-05,1793238082267775488
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745.788069205,716,680,667,637,881.211930795,789,804,652.211930795,632.788069205,654,0.428285871769,-0.0155630636907,0.0499735110297,0.999999984108,0.000168044357112,-5.1975747823e-05,2.90519902139e-05,1793238082284442112
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.633619147,716,680,666.633619147,637,881.366380853,789,804.366380853,652.366380853,633,653.633619147,0.42905760701,-0.0155626609689,0.0499647327668,0.999999983469,0.000168832130863,-6.12337760136e-05,2.84364722301e-05,1793238082301108736
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.05630579,716,680,666.05630579,637,881.94369421,789,804.94369421,652.94369421,633,653.05630579,0.429853132741,-0.0155624625139,0.049972093977,0.999999984858,0.000167470660269,-3.79405555255e-05,2.82586928627e-05,1793238082317775360
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,745.518677866,716,679.481322134,666.518677866,637,882,789,804.481322134,653,633,653.518677866,0.430622419984,-0.0155639946363,0.0499790876646,0.999999984639,0.000170321692962,-2.88837436058e-05,2.96394622926e-05,1793238082334441728
+183,3.050000000,POSE1_TO_POSE2_PRESS,767.093370296,746,716,679,666.906629704,637,882,789,804.093370296,653,633,654,0.431384202086,-0.0155649882612,0.0499809125411,0.999999984029,0.000173694176423,-2.89283935788e-05,3.06010133639e-05,1793238082351108352
+184,3.066666667,POSE1_TO_POSE2_PRESS,767.667859421,746,716,679,666.332140579,637,882,789,804.667859421,653,633,654,0.432121923036,-0.0155622434102,0.0499563082092,0.999999981548,0.000177407782903,-6.79432849304e-05,2.85345076729e-05,1793238082367775232
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.749161442,745.749161442,716,679,666.250838558,637,881.749161442,789,804.749161442,653,632.749161442,654,0.432861242558,-0.0155597538967,0.0499481751573,0.999999979653,0.000182716560969,-8.07005670431e-05,2.82268066595e-05,1793238082384441856
+186,3.100000000,POSE1_TO_POSE2_PRESS,767.154546724,745.154546724,716,679,666.845453276,637,881.154546724,789,804.154546724,653,632.154546724,654,0.433602752875,-0.0155576143253,0.0499626161222,0.999999979798,0.000190211533784,-5.74715921405e-05,3.03295610872e-05,1793238082401108480
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,745.424357132,716,679,666.575642868,636.575642868,881.424357132,789,804.424357132,653,632.424357132,654,0.434335552014,-0.0155577112622,0.0499817062043,0.999999980586,0.000191592713659,-3.23229155962e-05,3.27800737234e-05,1793238082417775360
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,745.997743564,716,679,666.002256436,636.002256436,881.997743564,789,804.997743564,653,632.997743564,654,0.435065291948,-0.0155585936347,0.0500024290035,0.999999981147,0.00019082680092,-6.50006021599e-06,3.53527151621e-05,1793238082434442240
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,745.425893713,716,679,666,636,882,789,804.425893713,652.425893713,633,653.425893713,0.435723126128,-0.0155533517962,0.0499824752433,0.999999978214,0.000199725094752,-5.01666620267e-05,3.41453546124e-05,1793238082451108608
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,745,716,679.308689141,666,636.154344571,882,789,804,652.154344571,633,653,0.436388147333,-0.0155493673793,0.0499658072996,0.999999974671,0.00020660132001,-8.29874272877e-05,3.29559783999e-05,1793238082467775232
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,745,716,680.4910368,666,636.7455184,882,789,804,652.7455184,633,653,0.43707431359,-0.0155490102216,0.0499588937722,0.999999974378,0.000207646584779,-8.43350762494e-05,3.18597686324e-05,1793238082484441856
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,745.32975599,716,680.67024401,666,637,882,789,804.32975599,653,632.67024401,653,0.43777138882,-0.015550898032,0.0499737654419,0.999999977181,0.000205164497955,-5.0050873546e-05,3.22563038072e-05,1793238082501108736
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,745.908750937,716,680.091249063,666,637,882,789,804.908750937,653,632.091249063,653,0.43847670932,-0.0155544826531,0.0500051029837,0.999999979364,0.000200016337785,1.1164896502e-05,3.37810980437e-05,1793238082517775872
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679.515421085,666,636.515421085,882,789,805,653,632.484578915,653.484578915,0.439095552889,-0.0155543477257,0.0500007244254,0.999999979995,0.000197205634997,5.90333701772e-07,3.34729467134e-05,1793238082534442752
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,636,882,789,805,653,632.938875188,654,0.439695417241,-0.0155533630314,0.0499881418525,0.999999980093,0.000195266770204,-2.46962136101e-05,3.27779274394e-05,1793238082551108864
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,636,882,789,805,653,632.351037489,654,0.440271146797,-0.0155510521628,0.0499624430576,0.999999978217,0.000197072330395,-6.1023033799e-05,3.17041509714e-05,1793238082567775232
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,679.233066608,666,636.233066608,882,789,804.766933392,653,632.233066608,653.766933392,0.440850463232,-0.0155496931375,0.0499522371829,0.999999976754,0.000200004299849,-7.40082794837e-05,3.18157659733e-05,1793238082584442112
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679.811635887,666,636.811635887,882,789,804.188364113,653,632.811635887,653.188364113,0.441435096875,-0.0155497451445,0.0499649983296,0.999999977128,0.000204606081333,-5.23914982669e-05,3.36846294812e-05,1793238082601108992
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.609602603,789,804.390397397,653,632.609602603,653,0.44201464788,-0.0155490384807,0.0499849986805,0.999999976039,0.000215290978929,-1.59855714549e-05,3.62835915326e-05,1793238082617775872
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.030748245,789,804.969251755,653,632.030748245,653,0.442591745388,-0.0155479655828,0.0500084936213,0.99999997265,0.00022891238587,2.75595376934e-05,3.92349949587e-05,1793238082634443008
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.540507139,789,805,653,632.540507139,653,0.443088249166,-0.0155497457851,0.0500104784896,0.999999971579,0.000233091532738,2.85829261633e-05,4.11608300808e-05,1793238082651109376
+202,3.366666667,POSE1_TO_POSE2_PRESS,766.884056993,746,716,680,666.115943007,637,881.884056993,789,804.884056993,652.884056993,633,653,0.443570655457,-0.0155512761972,0.050004965539,0.999999970942,0.000236714095436,1.70796143036e-05,4.23079375664e-05,1793238082667775488
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766.601086123,745.601086123,716,680,666,636.398913877,881.398913877,789,805,652.398913877,633,654,0.44616341672,-0.0155505907211,0.0499918647935,0.99999996657,0.000254265470695,1.93257890563e-05,4.28353968301e-05,1793238082767775488
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+211,3.516666667,POSE1_TO_POSE2_PRESS,767,745.644068481,716,680,666,636.644068481,882,789,805,652.644068481,633,653.644068481,0.447128697741,-0.0155580421198,0.0499488933694,0.99999999047,0.000128202645854,-4.69149202612e-05,2.0546237272e-05,1793238082817775360
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+221,3.683333333,POSE1_TO_POSE2_PRESS,766.858086438,745.141913562,716,680,665,636,881.141913562,788,804.141913562,652,632,653.141913562,0.449216454404,-0.0155739905546,0.0498519405169,0.999999966404,0.000161262284077,-0.000201739404231,2.20847298123e-05,1793238082984442112
+222,3.700000000,POSE1_TO_POSE2_PRESS,766.263969896,745.736030104,716,680,665,636,881.736030104,788,804.736030104,652,632,653.736030104,0.449335840622,-0.0155738104856,0.0498441946878,0.999999963154,0.000162280190951,-0.000216484621821,2.21812675351e-05,1793238083001108736
+223,3.716666667,POSE1_TO_POSE2_PRESS,766.321338682,746,716,680,665.321338682,636,882,788,804.678661318,652.321338682,632,653.678661318,0.449448446045,-0.015573462599,0.0498377559827,0.999999960349,0.000163726313199,-0.000228080881555,2.17949928042e-05,1793238083017775360
+224,3.733333333,POSE1_TO_POSE2_PRESS,766.899604882,746,716,680,665.899604882,636,882,788,804.100395118,652.899604882,632,653.100395118,0.449555629871,-0.015572980533,0.0498323623928,0.999999957959,0.000165514816736,-0.000237159382113,2.10226836202e-05,1793238083034442240
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+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882.046455452,788,805,652.046455452,632,653,0.449744435597,-0.0155823005443,0.0498358669607,0.999999961033,0.000156255982988,-0.000230260385574,2.23125192361e-05,1793238083067775488
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882.591916213,788,805,652.591916213,632,653,0.449814116294,-0.0155829772444,0.0498375990383,0.999999961086,0.000155570269431,-0.000230459262928,2.26733005637e-05,1793238083084442368
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882.683332065,787.841666032,804.841666032,652.841666032,632,653.158333968,0.449879811593,-0.0155833913422,0.0498382788792,0.999999960902,0.000155826151991,-0.000231055808766,2.29641619385e-05,1793238083101109248
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766.044389568,746,716,680,666.955610432,636,881,787.955610432,804.955610432,652,631.044389568,654,0.450021716969,-0.0155849649586,0.0498353389082,0.999999960918,0.00015139723702,-0.000233947938116,2.25967729623e-05,1793238083151108608
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.529809626,746,716,680,666.470190374,636,881.529809626,787.470190374,804.470190374,652.529809626,631.529809626,653.470190374,0.450050793296,-0.0155861843158,0.0498348022595,0.99999996081,0.00014977562029,-0.000235440760903,2.27078206146e-05,1793238083167775488
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,787,804.106885114,653,632,653.106885114,0.45007752785,-0.0155869813367,0.0498346192725,0.999999960709,0.000148906290399,-0.000236398107748,2.29040637365e-05,1793238083184442112
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+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,787.281192267,804.718807733,653,632,654,0.450114700142,-0.0155851093467,0.0498362980511,0.999999960633,0.000151157507907,-0.000235217323891,2.3626536931e-05,1793238083217775616
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,787.858000406,804.141999594,653,632,654,0.450125685965,-0.0155846983052,0.0498344785368,0.999999959665,0.000152026275105,-0.000238732309918,2.37723460064e-05,1793238083234442240
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.564714978,636,882,788,804.435285022,653,631.564714978,653.564714978,0.450132659605,-0.0155823114868,0.0498326492915,0.999999958717,0.000153556282085,-0.000241803676395,2.273209683e-05,1793238083251108608
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665.012681804,636,882,788.012681804,805.012681804,652.987318196,631.012681804,653.012681804,0.450138335885,-0.0155793675491,0.0498308714773,0.999999957799,0.000155257400901,-0.00024462317958,2.13522998777e-05,1793238083267775488
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665.588152274,636,882,788.588152274,805.588152274,652.411847726,631.588152274,653.588152274,0.450144586286,-0.0155803345734,0.0498315170788,0.999999958298,0.00015496882694,-0.000242694894331,2.20935127066e-05,1793238083284442112
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.831734272,635.831734272,882,788.831734272,805.831734272,652,632,654,0.45014935005,-0.015581071731,0.0498319099532,0.999999958623,0.000154013917976,-0.000241912613168,2.26312534798e-05,1793238083301108736
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665.239934199,635.239934199,882,788.239934199,805.239934199,652,632,654,0.450150371866,-0.0155812303008,0.0498316666996,0.999999958513,0.000151381806184,-0.000244014889144,2.26568435496e-05,1793238083317775360
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,635.34268399,882,787.65731601,805,652.34268399,631.65731601,654,0.450151248017,-0.0155816259382,0.0498307625117,0.999999958484,0.000149139975314,-0.00024552172444,2.25633224975e-05,1793238083334442240
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,635.919041111,882,787.080958889,805,652.919041111,631.080958889,654,0.450152024839,-0.0155821832297,0.0498294076389,0.999999958509,0.000147164273605,-0.000246622534005,2.23885806411e-05,1793238083351109120
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665.494744242,636,882,787,805,653,631.494744242,654,0.450152522049,-0.0155805060003,0.0498291025267,0.999999958017,0.000149157093144,-0.00024746504814,2.18847932804e-05,1793238083367775744
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+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665.465508964,636,882,788,805,653,631.534491036,653.465508964,0.450157816582,-0.0155782192303,0.0498291038322,0.999999957835,0.000148645281344,-0.000248491675384,2.20520925277e-05,1793238083567776000
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+260,4.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,787,804.212541677,652.787458323,632,653,0.450156388057,-0.0155790669952,0.0498274983646,0.99999995789,0.000146026676743,-0.000249829091836,2.19514852082e-05,1793238083634442240
+261,4.350000000,HOLD_POSE2,767,746,716,680,666,636,882,787,805,653,631,654,0.450160015603,-0.0155785559024,0.0498290877574,0.999999958884,0.000147425602765,-0.000244966907616,2.21155918544e-05,1793238083669124352
+262,4.366666667,HOLD_POSE2,767,746,716,679.428112253,666,636,882,787.571887747,805,653,631.571887747,653.428112253,0.450159170909,-0.0155772018947,0.0498292121275,0.999999958824,0.00014550715413,-0.000246399811511,2.16267994132e-05,1793238083685790720
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+266,4.433333333,HOLD_POSE2,767,746,716,680,665,636,882,787.100680679,805,653,631.100680679,653.100680679,0.450157448295,-0.0155783200737,0.0498272837757,0.999999957871,0.000144615828634,-0.000250741300853,2.17304603203e-05,1793238083752457472
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+268,4.466666667,HOLD_POSE2,767,746,716,680,665,636,881.051458893,788,805,653,631.051458893,653,0.450157747095,-0.0155752547746,0.0498269625238,0.999999957459,0.000146321339039,-0.000251490439514,2.06253539025e-05,1793238083785790464
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746.710766835,716.710766835,680.289233165,665,636,881.710766835,788,804.710766835,652,631,653.289233165,0.450157954127,-0.0155757686082,0.0498265515192,0.999999957425,0.000144898965875,-0.000252389287084,2.13290828658e-05,1793238084006220544
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746.703307576,716.703307576,680,665.296692424,636,882,788,805,652.296692424,631,653,0.450157659186,-0.0155757685271,0.0498262498947,0.999999957428,0.000144552871662,-0.000252581723208,2.12348005077e-05,1793238084022887168
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746.106184644,716.106184644,680,665.893815356,636,882,788,805,652.893815356,631,653,0.450158496838,-0.0155752170592,0.0498273339767,0.999999957631,0.000145864658438,-0.000251022954314,2.11744701078e-05,1793238084039553536
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,787.528453238,805,653,631.471546762,653.471546762,0.450159133804,-0.0155742939042,0.0498275666983,0.999999957761,0.000145835735876,-0.000250546003234,2.09025611471e-05,1793238084056220416
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.954677445,636,882,787.045322555,805,653,632,654,0.450159653654,-0.0155733666065,0.049827590766,0.999999957853,0.000145587875106,-0.000250345069884,2.06206825993e-05,1793238084072887552
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.378105239,636,882,787.621894761,805,653,632,654,0.450159309496,-0.0155733330676,0.049827327493,0.999999957692,0.000146172743678,-0.000250636818554,2.07583476466e-05,1793238084089554176
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.203945667,665,636,882,788,805,653,631.796054333,654,0.450158120357,-0.0155736048728,0.0498270252715,0.9999999575,0.000146208576039,-0.000251373941536,2.08234673383e-05,1793238084106220800
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.796434141,665,636,882,788,805,653,631.203565859,654,0.450155321419,-0.0155744583981,0.049826648848,0.999999957249,0.000145198423516,-0.000252959560003,2.07503787535e-05,1793238084122887168
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,665.38007969,636,881.61992031,788,805,652.61992031,631.38007969,653.61992031,0.450142845331,-0.0155742076523,0.0498202728095,0.999999954763,0.000144343039295,-0.000263115302789,2.02238814498e-05,1793238084139553536
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,665.959096818,636,881.040903182,788,805,652.040903182,631.959096818,653.040903182,0.450125304127,-0.0155733789202,0.0498107565136,0.99999995093,0.000143568662202,-0.000277756732825,1.94600655637e-05,1793238084156219904
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,716.534486125,680.465513875,666,636,881.534486125,787.465513875,805,652.534486125,631.465513875,653,0.450089850926,-0.0155701632691,0.0497944359763,0.999999942569,0.000145453727256,-0.000305607392279,1.75602219618e-05,1793238084172886784
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746,716.890576112,680,665.890576112,636,882,787.109423888,805,653,631,653,0.450049510166,-0.0155669246058,0.049777294221,0.999999932797,0.000147362989055,-0.000335325072282,1.57013803812e-05,1793238084189553408
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,716.316384802,680,665.316384802,636,882,787.683615198,805,653,631,653,0.449994192925,-0.0155643588261,0.0497588611932,0.999999920895,0.000148516413245,-0.000368708097365,1.43834616213e-05,1793238084206220544
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636,882.26620361,788,805,653,631.26620361,653.26620361,0.44993562373,-0.0155618355647,0.0497431363909,0.999999911176,0.000148471894164,-0.000394254836392,1.29405942321e-05,1793238084222887168
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636,882.859097063,788,805,653,631.859097063,653.859097063,0.449873063681,-0.0155593644829,0.0497307351725,0.999999905012,0.00014695723768,-0.000410184742977,1.13443877362e-05,1793238084239553536
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.439994142,636,882.560005858,788,805,653,632,653.560005858,0.449800398455,-0.015555486317,0.0497237568297,0.999999900565,0.000148619393453,-0.000420323233451,1.05038487034e-05,1793238084256220160
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.982887897,636,882,788,805,653,632,653.017112103,0.449724170141,-0.0155511036249,0.0497185586905,0.999999896664,0.000151274535306,-0.000428590793371,9.88858602318e-06,1793238084272886784
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746,716.168774226,680,665.168774226,636,882.168774226,788,805,653,632,654,0.449536110772,-0.0155379599913,0.0497121163336,0.999999889699,0.000156640719279,-0.000442723619732,7.85458385604e-06,1793238084306220032
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,745.534922728,716,680,666.465077272,636,882,788.465077272,805,652.465077272,632.465077272,653.465077272,0.446035873435,-0.0154139271096,0.0497938429216,0.999999942974,0.000155418053937,-0.00029971317176,-8.38080001424e-06,1793238084572886784
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,745.041194727,716,680,666.958805273,636.041194727,881.958805273,789,805,653,633,654,0.445688541904,-0.0154146089685,0.0498142302026,0.999999955018,0.000141871834225,-0.000264129195281,-8.50059891777e-06,1793238084589553408
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.804140169,881.195859831,789,805.195859831,653,633,653.804140169,0.444861886196,-0.0154083783002,0.0498382618211,0.999999962431,0.000126837509261,-0.00024280110049,-9.87805572346e-06,1793238084622886400
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.214243444,881.785756556,789,805.785756556,653,633,653.214243444,0.444410757558,-0.0154007416002,0.049829843197,0.999999959043,0.000118677007692,-0.000260107178156,-1.32216569471e-05,1793238084639553536
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.369733053,882.369733053,789,805.630266947,652.630266947,632.630266947,653.369733053,0.443926773892,-0.0153958539824,0.0498147986263,0.999999953739,0.000106714646194,-0.000284324875658,-1.71467695468e-05,1793238084656220160
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.950333093,882.950333093,789,805.049666907,652.049666907,632.049666907,653.950333093,0.443424052287,-0.0153925342275,0.0497959751312,0.999999946662,9.25839996009e-05,-0.000312484422935,-2.14035308958e-05,1793238084672886784
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,745.851474759,716.148525241,680,666.851474759,637,882,789,804.851474759,653,633,654,0.440803675883,-0.0153917684435,0.0498383686872,0.999999969541,8.87973393705e-06,-0.000244768419597,-3.04611242182e-05,1793238084756219904
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.569634603,637,882,789,805,653,633,653.569634603,0.440213244351,-0.015388999949,0.0498403665686,0.99999997097,-7.80728119726e-07,-0.000238647941059,-3.32760771735e-05,1793238084772886528
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767.009594182,746,716,680.009594182,666.009594182,637,882,789,805,653,633,653.009594182,0.439605190374,-0.0153851164471,0.0498334912551,0.9999999693,-7.4408463524e-06,-0.000244890673351,-3.70587396287e-05,1793238084789553152
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767.585300626,746,716,680.585300626,666.585300626,637,882,789,805,653,633,653.585300626,0.438935829095,-0.0153782675402,0.0498016306552,0.999999952659,4.03021093812e-05,-0.000302046952029,-4.27132780666e-05,1793238084806220032
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.644500519,666,636.644500519,882,789,805,652.644500519,633,653.644500519,0.434159241057,-0.0153660455621,0.0498009008296,0.999999944637,-4.82068186621e-05,-0.00032334947181,-6.20259672821e-05,1793238084922886656
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,715.775245169,680.224754831,666.224754831,637,881.775245169,789,805,653,633,654,0.433425527497,-0.0153638224365,0.0497887333809,0.99999993721,-5.47749591594e-05,-0.000343785997164,-6.62643818536e-05,1793238084939553280
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,715.188978594,680.811021406,666.811021406,637,881.188978594,789,805,653,633,654,0.432713943711,-0.0153640031179,0.0498054891089,0.999999945446,-5.2382159279e-05,-0.000319053814746,-6.7589833424e-05,1793238084956220160
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,715.393396934,680.213206132,666.606603066,637,881,789,805,653,633,653.606603066,0.431984054683,-0.0153668672949,0.0498200315491,0.999999951758,-5.98938743323e-05,-0.000297033224427,-6.83273025038e-05,1793238084972886784
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,715.973921567,679.052156866,666.026078433,637,881,789,805,653,633,653.026078433,0.431245458417,-0.0153710079342,0.0498335211904,0.999999956862,-7.21168847288e-05,-0.000276302462516,-6.87850849861e-05,1793238084989553664
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767.54914,745.45086,716,679.54914,666,637,881.54914,789,804.45086,653,633,653.54914,0.430457065424,-0.0153700839047,0.0498077718349,0.999999949293,-6.49187988672e-06,-0.000314391948833,-5.0291545923e-05,1793238085006220032
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767.875650475,745.124349525,716,679.875650475,665.875650475,637,881.875650475,789,803.875650475,653,633,653.875650475,0.429668846798,-0.0153671250809,0.0497841997167,0.999999937347,4.54410073049e-05,-0.000349156571963,-3.64861532849e-05,1793238085022886656
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767.299566676,745.700433324,716,679.299566676,665.299566676,637,881.299566676,789,803.299566676,653,633,653.299566676,0.428889770319,-0.0153576396909,0.049775241713,0.999999933042,3.43317184216e-05,-0.000361792204299,-4.29499363157e-05,1793238085039553280
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,715.717145401,679,665.282854599,637,881.282854599,789,803.565709198,653,633,653.282854599,0.428115978595,-0.0153535840175,0.0497826680124,0.999999936465,2.52874592824e-05,-0.000352460248749,-4.69250311503e-05,1793238085056220160
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,715.127858419,679,665.872141581,637,881.872141581,789,804.744283162,653,633,653.872141581,0.427347912196,-0.0153554106639,0.0498078443544,0.999999947682,1.84803643551e-05,-0.000319329561894,-4.82039888729e-05,1793238085072886784
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,715.453857993,679,665.546142007,637,881.546142007,789,805,653,632.546142007,654,0.426550500382,-0.0153577336859,0.0497997505921,0.999999943201,5.30185467467e-06,-0.000333057035259,-5.1417831301e-05,1793238085089553664
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,715.966848484,679.033151516,665.033151516,637,881.033151516,789,805.033151516,653,632,654,0.425749379465,-0.0153603192121,0.0497846893725,0.999999935366,-9.26846184689e-06,-0.000355211562032,-5.48379131968e-05,1793238085106220288
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,715.392860064,679.607139936,665.607139936,637,881.607139936,789,805.607139936,653,632,654,0.425020405267,-0.0153649433803,0.049806358389,0.999999952533,-1.77427583211e-05,-0.000303022837065,-5.28759279484e-05,1793238085122886912
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,715.185829299,680.185829299,666,637,881.814170701,789,805.814170701,653,632.185829299,654,0.424280174559,-0.0153681913636,0.0498284289075,0.999999965495,-2.39296994736e-05,-0.00025657240707,-5.1074345469e-05,1793238085139553280
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,715.774714929,680.774714929,666,637,881.225285071,789,805.225285071,653,632.774714929,654,0.423515528788,-0.0153684544575,0.0498513702721,0.999999973684,-2.51554599431e-05,-0.000222568101173,-4.96206700483e-05,1793238085156219904
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.284806544,666,637,881,789,805,653.357596728,632.642403272,654,0.422724840179,-0.0153655625339,0.0498446697171,0.999999970336,-2.04478007076e-05,-0.000237255209644,-5.11762520483e-05,1793238085172886528
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.1264829,666,637,881,789,805,653.93675855,632.06324145,654,0.421918015609,-0.0153607157776,0.0498196031798,0.999999958643,-1.20638250414e-05,-0.000282111269792,-5.45963544954e-05,1793238085189553152
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,716.511997129,679.511997129,666,637,881,789,804.488002871,653.488002871,632.511997129,654,0.421130222719,-0.0153579033307,0.0498005049052,0.999999949324,-1.64690258892e-05,-0.000312776686127,-5.70191987139e-05,1793238085206220032
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.913894572,746,716.913894572,679.913894572,666,637,880.913894572,789,804,653,633,654,0.42035486881,-0.0153562095732,0.0497892386755,0.999999942867,-2.27759945928e-05,-0.000332149454432,-5.85129480102e-05,1793238085222886656
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.343439045,746,716.343439045,679.343439045,666,637,880.343439045,789,804,653,633,654,0.419636362446,-0.0153594058344,0.0498179130946,0.999999953644,-3.09621473846e-05,-0.000297784909339,-5.54680935172e-05,1793238085239553536
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.237755625,746,715.762244375,679,666,637,880.237755625,789,804,653,633,654,0.418889712568,-0.0153611601926,0.0498288712305,0.999999955814,-3.38181410397e-05,-0.000290338709866,-5.41393923522e-05,1793238085256220160
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.835196818,746,715.164803182,679,666,637,880.835196818,789,804,653,633,654,0.418100486198,-0.0153607331859,0.0498130275106,0.999999945692,-2.86104706502e-05,-0.000323615589861,-5.54069521965e-05,1793238085272886784
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,715.418093852,679,666,637,881,789,804,653,632.581906148,654,0.417371096197,-0.0153602287329,0.0498058858418,0.999999943597,-2.7526514407e-05,-0.000329828451293,-5.71078362964e-05,1793238085289553152
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,715.995450682,679,666,637,881,789,804,653,632.004549318,654,0.416664499382,-0.0153596947784,0.0498020590125,0.999999944818,-2.80133892414e-05,-0.000325731916946,-5.89737851558e-05,1793238085306219776
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,880.430762979,789,804,653,632,653.430762979,0.415991617111,-0.015363303884,0.0498248904087,0.999999956813,-3.82967352086e-05,-0.000285740341369,-5.70937719501e-05,1793238085322886400
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.26112159,716,679,666,637,880.73887841,789,804,653,632.73887841,653,0.414632121916,-0.015365806224,0.0498290247394,0.999999959181,-5.51551983903e-05,-0.000274430516289,-5.72974362368e-05,1793238085356219904
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,716,679,666.323184138,637,881,789,804,653,633,653,0.413929726223,-0.015363814818,0.0498099141591,0.999999948672,-5.52274809305e-05,-0.000310059530043,-5.88910415101e-05,1793238085372886528
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,666.901827403,637,881,789,804,653,633,653,0.413212817118,-0.0153603961068,0.0497840283955,0.99999993145,-4.96118183988e-05,-0.000361874098509,-6.07081995144e-05,1793238085389553152
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745.473886604,716,679,666.526113396,637,880.526113396,789,804.473886604,653,633,653.473886604,0.412587279018,-0.015360187046,0.0497895652475,0.999999935919,-3.71743570614e-05,-0.000350832266125,-6.07946728622e-05,1793238085406220032
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.045061727,666,637,880,789,804.954938273,653,632.954938273,654,0.411981990298,-0.0153607309377,0.049802485529,0.999999944626,-2.5226093177e-05,-0.000326302003354,-6.03291333383e-05,1793238085422887168
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.621677478,666,637,880,789,804.378322522,653,632.378322522,654,0.411395338431,-0.0153624206806,0.0498267651987,0.999999954451,-3.54907394991e-05,-0.000294160400625,-5.75233691934e-05,1793238085439553536
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745.795356653,716,679.795356653,666,637,880.204643347,789,804.204643347,653,632,654,0.410805777212,-0.0153621196102,0.0498384605717,0.999999957959,-4.36977765737e-05,-0.000281071715655,-5.63196253038e-05,1793238085456219904
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745.200275499,716,679.200275499,666,637,880.799724501,789,804.799724501,653,632,654,0.410210665327,-0.0153580202789,0.0498261464381,0.999999950847,-4.7979112242e-05,-0.000304333981739,-5.81723666067e-05,1793238085472886528
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745.382898153,716,679,666,637,881,789,804.617101847,653,632,654,0.40962990507,-0.0153563521282,0.0498122214483,0.99999994284,-5.12421731803e-05,-0.000328859873866,-5.95512965131e-05,1793238085489553152
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745.960031464,716,679,666,637,881,789,804.039968536,653,632,654,0.409056424999,-0.0153559172576,0.0497974793084,0.999999934033,-5.39886878498e-05,-0.000354026775527,-6.06898732739e-05,1793238085506219776
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.536449908,637,880.463550092,789,804,653,632.536449908,654,0.408567103093,-0.015360530583,0.0498125298443,0.9999999451,-5.95328927475e-05,-0.000320582981775,-5.90082388561e-05,1793238085522886400
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,667,637,880,789,804,653,633,654,0.408088997859,-0.0153643790861,0.0498294638934,0.999999955398,-6.42528954628e-05,-0.000286036698102,-5.70809934913e-05,1793238085539553024
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,667,637,880,789,804,653,633,654,0.407631251268,-0.0153635415929,0.0498450286253,0.999999961312,-6.47309644847e-05,-0.000264879475233,-5.50067753701e-05,1793238085556219904
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.711660674,637,880.288339326,789,804,653,632.711660674,654,0.407162955198,-0.0153624059862,0.0498461960875,0.999999960197,-6.7005472566e-05,-0.000268547384376,-5.47576201072e-05,1793238085572886528
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.13231853,637,880.86768147,789,804,653,632.13231853,654,0.406684012226,-0.0153609695124,0.0498328332864,0.999999951701,-7.10930139925e-05,-0.000297269745121,-5.63503865532e-05,1793238085589553152
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745.554809866,716,679.445190134,666,637,881,789,804,653,632,654,0.406214861273,-0.0153608519408,0.0498089816689,0.99999993714,-7.9236608898e-05,-0.000340507956424,-5.91307768859e-05,1793238085606219776
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745.021976748,716,679.978023252,666,637,881,789,804,653,632.021976748,654,0.405751678293,-0.0153611917135,0.0497829811243,0.999999919505,-8.86290221625e-05,-0.00038635420587,-6.21724611654e-05,1793238085622886400
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745.594272682,716,679.405727318,666,637,881,789,804,653,632.594272682,654,0.405365359536,-0.015363207993,0.0497809135233,0.999999917078,-9.92291865519e-05,-0.000389915332502,-6.29544143597e-05,1793238085639553024
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,653.172475538,632.827524462,654,0.404999147027,-0.015364814689,0.0497850974645,0.999999919187,-0.000108309818008,-0.000381969898178,-6.31992161435e-05,1793238085656219904
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,653.765066373,632.234933627,654,0.404681909302,-0.0153654237227,0.0498045088903,0.99999993175,-0.000113689174989,-0.000345996823257,-6.21356262996e-05,1793238085672886528
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,653.650787912,632,654,0.404375555569,-0.0153679752371,0.0498247772629,0.999999941855,-0.000120140890186,-0.000313334808146,-6.06435224323e-05,1793238085689553408
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,653.07218947,632,654,0.404076351156,-0.0153718027056,0.0498456085386,0.999999950163,-0.000127297004026,-0.00028284771968,-5.88699411656e-05,1793238085706220288
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,653,632,654,0.403786705493,-0.0153742382207,0.0498550484473,0.999999958958,-8.00567620276e-05,-0.000268849061933,-5.82685726441e-05,1793238085722886656
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,653.076218469,632.076218469,654,0.403501114043,-0.0153761085733,0.0498603905853,0.99999996352,-3.37355826642e-05,-0.000261616378282,-5.81256850194e-05,1793238085739553280
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,653.651301775,632.651301775,654,0.403233139491,-0.0153755785601,0.0498495404887,0.999999957106,-4.41832013999e-05,-0.000283284138628,-5.98899371867e-05,1793238085756219648
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,632.767338009,654,0.402980836284,-0.0153753294756,0.0498419678715,0.99999995201,-5.31318096215e-05,-0.000299028806804,-6.1144648742e-05,1793238085772886528
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,632.17630958,654,0.402752671474,-0.0153755131025,0.0498394435166,0.999999949604,-5.97715095653e-05,-0.000305650206974,-6.16145210176e-05,1793238085789553152
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,632,654,0.402540656849,-0.0153766030787,0.049836611244,0.999999947417,-5.92514732817e-05,-0.000313086864208,-6.02651555309e-05,1793238085806219776
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,654,632,654,0.402335508163,-0.0153780783714,0.0498336480664,0.99999994528,-5.56876157482e-05,-0.00032087011177,-5.81423768658e-05,1793238085822886656
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,788.441605888,804,654,632,653.441605888,0.402155932581,-0.0153722251375,0.0498295386002,0.999999943734,-2.20773621431e-05,-0.000330726829579,-5.1610902331e-05,1793238085839553280
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.866858418,716,679,666,637,881,788.133141582,804,654,632,653,0.401987917838,-0.0153682032363,0.0498270953372,0.999999942415,2.09978145771e-06,-0.00033615479941,-4.65456946299e-05,1793238085856219904
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.292374467,716,679,666,637,881,788.707625533,804,654,632,653,0.401855730711,-0.0153709668089,0.0498302870852,0.999999945508,-7.92335029873e-06,-0.000326699930121,-4.67709951156e-05,1793238085872886528
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745.291034815,716,679,666,637,880.708965185,789,804,653.708965185,632,653.291034815,0.401733799935,-0.0153723469919,0.0498333735088,0.999999947862,-1.60748632662e-05,-0.000319035462739,-4.72584235115e-05,1793238085889552896
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..50f3b31040bb52e32ce3828a05ebe1a8dfa4c54c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,437 @@
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+393,6.550000000,pose2_to_pose3_retreat,0.578893771705,-0.0099985987077,1.04001170345,0.549465053584,-0.00132493484745,1.03966123495
+394,6.566666667,pose2_to_pose3_retreat,0.578797925742,-0.00999871441824,1.04001169727,0.549369210018,-0.00132504270204,1.03966123037
+395,6.583333333,pose2_to_pose3_retreat,0.578711885492,-0.00999872549161,1.04001180523,0.549283168809,-0.00132505728522,1.03966133559
+396,6.600000000,pose2_to_pose3_retreat,0.578634845206,-0.00999878547357,1.04001176004,0.549206129302,-0.00132511511727,1.03966129059
+397,6.616666667,pose2_to_pose3_retreat,0.578567140998,-0.0099988178048,1.0400116191,0.549138425695,-0.00132514612475,1.03966115142
+398,6.633333333,pose2_to_pose3_retreat,0.578507679115,-0.00999877399359,1.04001148464,0.549078963058,-0.00132510573054,1.03966101879
+399,6.650000000,pose2_to_pose3_retreat,0.578456598443,-0.00999869450415,1.04001177232,0.549027882008,-0.0013250281122,1.03966130523
+400,6.666666667,pose2_to_pose3_retreat,0.578413254018,-0.00999882224479,1.04001165589,0.548984539744,-0.00132514945503,1.03966119024
+401,6.683333333,pose2_to_pose3_retreat,0.578377006013,-0.00999879198307,1.04001160193,0.548948291342,-0.00132512055789,1.03966114171
+402,6.700000000,pose2_to_pose3_retreat,0.578347146086,-0.00999869580692,1.04001168371,0.548918429941,-0.00132502913569,1.03966122505
+403,6.716666667,pose2_to_pose3_retreat,0.57832293524,-0.00999882193853,1.04001184386,0.548894220855,-0.00132515028653,1.03966136937
+404,6.733333333,pose2_to_pose3_retreat,0.578304040051,-0.00999874290931,1.04001163669,0.548875324741,-0.0013250736879,1.03966117242
+405,6.750000000,pose2_to_pose3_retreat,0.578289234007,-0.00999875324189,1.0400116698,0.548860518705,-0.00132508415044,1.03966120857
+406,6.766666667,pose2_to_pose3_retreat,0.578278337711,-0.00999881060572,1.04001176729,0.548849623022,-0.00132513994613,1.03966130436
+407,6.783333333,pose2_to_pose3_retreat,0.578270523572,-0.00999885624851,1.04001162214,0.548841809706,-0.00132518284864,1.03966115698
+408,6.800000000,pose2_to_pose3_retreat,0.578264993676,-0.00999886759566,1.04001156904,0.548836280329,-0.00132519242381,1.03966110467
+409,6.816666667,pose2_to_pose3_retreat,0.578260949429,-0.00999886356019,1.04001155941,0.548832236422,-0.00132518719086,1.03966109702
+410,6.833333333,pose2_to_pose3_retreat,0.578258248231,-0.00999876305485,1.04001163248,0.548829533658,-0.00132509248637,1.03966116541
+411,6.850000000,pose2_to_pose3_retreat,0.578256852841,-0.0099986972529,1.04001168152,0.548828137205,-0.0013250306179,1.03966121117
+412,6.866666667,pose2_to_pose3_retreat,0.578255879474,-0.00999865135216,1.04001171572,0.548827163096,-0.00132498746099,1.03966124309
+413,6.883333333,pose2_to_pose3_retreat,0.578255339985,-0.00999866022867,1.04001173565,0.548826620922,-0.00132499468548,1.03966126466
+414,6.900000000,pose2_to_pose3_retreat,0.578255262264,-0.00999866186443,1.04001173853,0.54882654279,-0.00132499605023,1.03966126781
+415,6.916666667,pose2_to_pose3_retreat,0.578255149987,-0.00999866422747,1.04001174269,0.54882642992,-0.00132499802178,1.03966127236
+416,6.933333333,pose2_to_pose3_retreat,0.578254659818,-0.00999867454385,1.04001176086,0.548825937161,-0.001325006629,1.03966129222
+417,6.950000000,pose2_to_pose3_retreat,0.578254318554,-0.00999868172626,1.04001177351,0.548825594095,-0.00132501262147,1.03966130605
+418,6.966666667,pose2_to_pose3_retreat,0.578254237102,-0.00999868344055,1.04001177652,0.548825512213,-0.00132501405175,1.03966130935
+419,6.983333333,pose2_to_pose3_retreat,0.578254049351,-0.00999868739205,1.04001178348,0.54882532347,-0.00132501734859,1.03966131696
+420,7.000000000,pose2_to_pose3_retreat,0.578253704095,-0.00999869465851,1.04001179628,0.54882497639,-0.00132502341118,1.03966133095
+421,7.016666667,pose2_to_pose3_retreat,0.578253593277,-0.00999869699084,1.04001180039,0.548824864987,-0.00132502535711,1.03966133544
+422,7.033333333,pose2_to_pose3_retreat,0.578253541647,-0.00999869807748,1.0400118023,0.548824813083,-0.00132502626372,1.03966133753
+423,7.050000000,pose2_to_pose3_retreat,0.578253357889,-0.00999869077056,1.04001180851,0.548824629171,-0.00132501963668,1.03966134295
+424,7.066666667,pose2_to_pose3_retreat,0.578253320514,-0.00999868890821,1.04001180975,0.548824591792,-0.00132501795708,1.03966134398
+425,7.083333333,pose2_to_pose3_retreat,0.578253084964,-0.00999867717122,1.04001181758,0.548824356217,-0.00132500737176,1.0396613505
+426,7.100000000,pose2_to_pose3_retreat,0.578253021442,-0.00999867400608,1.04001181969,0.548824292689,-0.00132500451719,1.03966135226
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+428,7.133333333,pose2_to_pose3_retreat,0.578252819856,-0.00999866396142,1.04001182639,0.548824091082,-0.00132499545816,1.03966135784
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+430,7.166666667,pose2_to_pose3_retreat,0.578252728435,-0.0099986594061,1.04001182943,0.548823999651,-0.00132499134982,1.03966136037
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f7ee4d42feef1c4c3be6b8e2061d99e19c874618
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f066d693d395c3523dfe1c95620171bbfacf2f7b1f5cc3363ada914fae2b98f
+size 27826917
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9fce1f1df00b0fa2fe6d4d687c417c432b377360
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_03/franka_data.csv
@@ -0,0 +1,439 @@
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+32,0.533333333,BASELINE,767.370325052,746,716,679.629674948,666,637,880.629674948,789,803.370325052,653.370325052,632.629674948,654,0.400995210168,-0.0154034180201,0.0498627166276,0.999999964178,-6.82038957783e-05,-0.000254574320855,-4.67402058268e-05,1793238087248696576
+33,0.550000000,BASELINE,767,746,716,679.793610033,666,637,881,789,803.206389967,653.206389967,632.793610033,654,0.400994919784,-0.0154037674793,0.0498625987872,0.999999963993,-6.94495062901e-05,-0.000254967678464,-4.67206576983e-05,1793238087265363456
+34,0.566666667,BASELINE,767,746,716,679.217769903,666,637,881,789,803.782230097,653.782230097,632.217769903,654,0.40099478867,-0.0154037381296,0.0498625420013,0.999999963887,-6.96541570815e-05,-0.000255319196841,-4.6761503318e-05,1793238087282030080
+35,0.583333333,BASELINE,767,746,716,679,666,637,880.654178208,789,804.345821792,654,632.345821792,654,0.400995551065,-0.0154034913892,0.0498628657987,0.999999964127,-6.97244702917e-05,-0.000254334868215,-4.68870273452e-05,1793238087298696960
+36,0.600000000,BASELINE,767,746,716,679,666,637,880.09803567,789,804.90196433,654,632.90196433,654,0.400996856872,-0.0154031124368,0.0498634210581,0.999999964575,-6.97130825384e-05,-0.000252538108636,-4.70640508081e-05,1793238087315363584
+37,0.616666667,BASELINE,767,745.493114417,716,679,666,637,880.506885583,789,804.493114417,654,633,653.493114417,0.4009964886,-0.0154024960657,0.0498630081732,0.999999964543,-6.85382251136e-05,-0.000253026056189,-4.68462012934e-05,1793238087332030208
+38,0.633333333,BASELINE,767.114729026,745.114729026,716,679,666,637,881,789,804.114729026,653.885270974,632.885270974,653.114729026,0.400995776991,-0.0154022893511,0.0498625163899,0.999999964382,-6.78421207228e-05,-0.000253883290819,-4.66519592431e-05,1793238087348696576
+39,0.650000000,BASELINE,767.692252407,745.692252407,716,679,666,637,881,789,804.692252407,653.307747593,632.307747593,653.692252407,0.400995125563,-0.0154039400594,0.0498625420873,0.999999964121,-7.00815663595e-05,-0.000254257904377,-4.68938155282e-05,1793238087365363200
+40,0.666666667,BASELINE,767.731632156,746,716,679,666,637,880.731632156,789,804.463264312,653,632,654,0.400995583332,-0.0154038878897,0.0498628906177,0.999999964231,-6.90388681402e-05,-0.000254128097878,-4.68129449172e-05,1793238087382030080
+41,0.683333333,BASELINE,767.157122872,746,716,679,666,637,880.157122872,789,803.314245744,653,632,654,0.400997306422,-0.0154018931568,0.0498636074209,0.999999964749,-6.42520541262e-05,-0.000253422872629,-4.63639225958e-05,1793238087398696704
+42,0.700000000,BASELINE,767,745.571225702,716,679,666,637,880,789,803,653.428774298,632,653.571225702,0.400996941557,-0.0154020322803,0.0498634986533,0.999999964673,-6.38907494822e-05,-0.000253777775319,-4.65699613613e-05,1793238087415363328
+43,0.716666667,BASELINE,767,745.018621304,716,679.018621304,666,637,880.018621304,789,803.018621304,654,632,653.018621304,0.400995852661,-0.0154029786414,0.0498631107883,0.999999964395,-6.52432755203e-05,-0.000254448989522,-4.69974163893e-05,1793238087432029952
+44,0.733333333,BASELINE,767,745.598312452,716,679.598312452,666,637,880.598312452,789,803.598312452,654,632,653.598312452,0.400996630855,-0.0154040442837,0.0498636775837,0.999999964686,-6.80381950333e-05,-0.000252626361356,-4.66662461596e-05,1793238087448696832
+45,0.750000000,BASELINE,767.17730061,745.82269939,715.82269939,680,666,637,881,789,804,654,632,654,0.400997191313,-0.0154049267635,0.049864227871,0.999999964897,-7.01241886035e-05,-0.000251262398208,-4.64207486411e-05,1793238087465363456
+46,0.766666667,BASELINE,767.754702304,745.245297696,715.245297696,680,666,637,881,789,804,654,632,654,0.400997260422,-0.0154053959139,0.0498647409056,0.999999964948,-7.06104014087e-05,-0.000250933470505,-4.63685823959e-05,1793238087482030336
+47,0.783333333,BASELINE,767.670146063,745.329853937,715.329853937,679.670146063,666,637,881,789,803.670146063,654,632.329853937,654,0.400996832988,-0.0154050692667,0.0498643241279,0.999999964947,-7.01683944145e-05,-0.000251043587884,-4.6477778565e-05,1793238087498696960
+48,0.800000000,BASELINE,767.096656306,745.903343694,715.903343694,679.096656306,666,637,881,789,803.096656306,654,632.903343694,654,0.400996038799,-0.0154041548297,0.0498632205747,0.999999964905,-6.90407882781e-05,-0.000251477991519,-4.67061597979e-05,1793238087515363328
+49,0.816666667,BASELINE,767,746,716,679,666,637,881,789,803.491511324,654,632.508488676,654,0.400996924428,-0.0154032709491,0.0498640355975,0.999999965129,-6.80471846796e-05,-0.000250841672257,-4.67882369086e-05,1793238087532030208
+50,0.833333333,BASELINE,767,745.919191756,716,679,666,636.919191756,881,788.919191756,803.919191756,653.919191756,632.080808244,654,0.400997949881,-0.0154027125899,0.0498650310102,0.999999965327,-6.74255607947e-05,-0.000250216744373,-4.6811885167e-05,1793238087548696832
+51,0.850000000,BASELINE,767,745.341251063,716,679,666,636.341251063,881,788.341251063,803.341251063,653.341251063,632.658748937,654,0.400997740734,-0.0154041187332,0.0498647436435,0.999999965036,-6.89252499555e-05,-0.000250997128748,-4.66585259509e-05,1793238087565363456
+52,0.866666667,BASELINE,767,745.235689784,716,679,666,636.235689784,880.764310216,788.235689784,803.235689784,653.235689784,632.764310216,654,0.400997871295,-0.0154046160071,0.0498648027741,0.99999996501,-6.9710950025e-05,-0.000250898441929,-4.6597039367e-05,1793238087582030336
+53,0.883333333,BASELINE,767,745.811189053,716,679,666,636.811189053,880.188810947,788.811189053,803.811189053,653.811189053,632.188810947,654,0.400998491637,-0.0154038029039,0.0498653614725,0.999999965365,-6.94672449088e-05,-0.000249532340224,-4.6668011617e-05,1793238087598696960
+54,0.900000000,BASELINE,767,746,716,679,666,637,880.395676691,789.395676691,804,653.604323309,632,654,0.400998404441,-0.0154048433047,0.0498650724151,0.999999965248,-7.07121397165e-05,-0.000249682908212,-4.65091964424e-05,1793238087615363328
+55,0.916666667,BASELINE,767,746,716,679,666,637,880.984553124,789.984553124,804,653.015446876,632,654,0.400997971771,-0.0154067887285,0.0498643694182,0.999999964896,-7.26838833152e-05,-0.000250574030838,-4.62381814007e-05,1793238087632029952
+56,0.933333333,BASELINE,767,746,716,679,666,637,881,789.43587766,804,653,632,654,0.400999050215,-0.0154039017292,0.0498650601576,0.999999965332,-6.98406947005e-05,-0.000249527657997,-4.68328966069e-05,1793238087648696576
+57,0.950000000,BASELINE,767,745.857624711,716,679,666,637,881.142375289,789,804,653,632,654,0.40099948086,-0.0154022622481,0.0498654375244,0.999999965543,-6.8034164904e-05,-0.000249123686071,-4.71440956759e-05,1793238087665363200
+58,0.966666667,BASELINE,767,745.282609797,716,679,666,637,881.717390203,789,804,653,632,654,0.400997819325,-0.0154048091993,0.0498647485513,0.999999965026,-6.97718914344e-05,-0.000250830391599,-4.65229010029e-05,1793238087682029824
+59,0.983333333,BASELINE,766.70702397,745,716,679,666,637,881.414047939,789,803.70702397,653.29297603,632.29297603,654,0.400997619862,-0.015405323698,0.0498648065706,0.999999965071,-6.91443614511e-05,-0.000250864735119,-4.62999655946e-05,1793238087698696704
+60,1.000000000,BASELINE,766.130886288,745,716,679,666,637,880.261772575,789,803.130886288,653.869113712,632.869113712,654,0.400998833492,-0.0154038738295,0.0498655865589,0.999999965656,-6.62308086802e-05,-0.000249282739141,-4.64619481252e-05,1793238087715363584
+61,1.016666667,BASELINE,766.454000473,745,716,679,666,637,880,789,803.454000473,653.545999527,633,654,0.400998235278,-0.0154033209758,0.0498651717142,0.999999965421,-6.7690037521e-05,-0.00024975603343,-4.68808996243e-05,1793238087732030208
+62,1.033333333,BASELINE,767,745.040975801,716,679,666,637,880.040975801,789,803.959024199,653.040975801,632.959024199,653.959024199,0.400997153177,-0.0154031288561,0.049864443883,0.999999964975,-7.0231309856e-05,-0.00025075607907,-4.73146741484e-05,1793238087748696832
+63,1.050000000,BASELINE,767,745.62158654,716,679,666,637,880.62158654,789,803.37841346,653.62158654,632.37841346,653.37841346,0.400996712727,-0.0154042148087,0.0498642197492,0.999999965007,-7.00941348962e-05,-0.000250736500323,-4.6948847813e-05,1793238087765363200
+64,1.066666667,BASELINE,767,746,716,679,666,637,881,789,803.199662063,653.800337937,632,653,0.400997170146,-0.0154051154367,0.0498644673121,0.999999965174,-7.02224698925e-05,-0.000250107590232,-4.65421224736e-05,1793238087782030080
+65,1.083333333,BASELINE,767,746,716,679,666,637,881,789,803.772992877,653.227007123,632,653,0.400999307931,-0.0154056692284,0.0498655976583,0.999999965594,-7.08477083767e-05,-0.000248338312865,-4.60588544239e-05,1793238087798696704
+66,1.100000000,BASELINE,767,745.652614576,716,679,666,637,880.652614576,789,803.652614576,653,632,653.347385424,0.400999284902,-0.0154053014679,0.0498657329502,0.999999965631,-7.02274621282e-05,-0.000248363277556,-4.60633546008e-05,1793238087815363584
+67,1.116666667,BASELINE,767,745.07752611,716,679,666,637,880.07752611,789,803.07752611,653,632,653.92247389,0.400997845508,-0.0154043296512,0.0498652160071,0.999999965417,-6.87908296685e-05,-0.000249564326129,-4.63875754898e-05,1793238087832030208
+68,1.133333333,BASELINE,767,745.512692427,716,679.512692427,666,637,880.512692427,788.487307573,803,653,632,654,0.400997574916,-0.0154042049286,0.0498648685943,0.999999965337,-6.79963398474e-05,-0.000250062706357,-4.65987530432e-05,1793238087848697088
+69,1.150000000,BASELINE,767,746,716,680,666,637,881,788.102393503,803.102393503,653,632,653.897606497,0.4009973936,-0.015404277847,0.0498644976635,0.999999965225,-6.77214607333e-05,-0.000250560743926,-4.67288038007e-05,1793238087865363712
+70,1.166666667,BASELINE,767,746,716,680,666,637,881,788.678785905,803.678785905,653,632,653.321214095,0.400996782531,-0.0154046546884,0.0498638955844,0.999999964866,-6.93887918564e-05,-0.000251564017546,-4.65648393907e-05,1793238087882030336
+71,1.183333333,BASELINE,767,746,716,679.747203362,666,637,881,789,804,653.252796638,632.252796638,653.252796638,0.400996680917,-0.0154048566165,0.0498639333089,0.999999964839,-7.0291270725e-05,-0.00025142740832,-4.65308281129e-05,1793238087898696960
+72,1.200000000,BASELINE,767,746,716,679.176190555,666,637,881,789,804,653.823809445,632.823809445,653.823809445,0.400997220596,-0.0154048383664,0.0498647764072,0.999999965231,-7.02309666261e-05,-0.000249855933817,-4.6660399637e-05,1793238087915363584
+73,1.216666667,BASELINE,767,745.588236152,716,679,666,637,881,788.588236152,804,653.588236152,632.588236152,653.588236152,0.40099699887,-0.0154042809494,0.0498646733896,0.99999996518,-6.92996640791e-05,-0.000250311225547,-4.67152960898e-05,1793238087932030208
+74,1.233333333,BASELINE,767,745,716,679,666,637,880.992922147,788,803.992922147,653,632,653.007077853,0.400996440288,-0.0154034931904,0.0498641528073,0.99999996493,-6.79997432359e-05,-0.000251657842276,-4.6735216244e-05,1793238087948696832
+75,1.250000000,BASELINE,767,745,716,679,666,637,880.413820198,788,803.413820198,653,632,653.586179802,0.40099611793,-0.0154035348693,0.0498640074145,0.999999964841,-6.83216277455e-05,-0.00025194370135,-4.66215966247e-05,1793238087965363456
+76,1.266666667,BASELINE,767.164016625,745.164016625,716,679,666.164016625,637,880.164016625,788.164016625,803,653,632,654,0.40099572612,-0.0154038179646,0.0498637595641,0.999999964743,-6.83205929139e-05,-0.000252354286657,-4.6520597876e-05,1793238087982030336
+77,1.283333333,BASELINE,767.738685888,745.738685888,716,679,666.738685888,637,880.738685888,788.738685888,803,653,632,654,0.400995160421,-0.0154047055006,0.0498632551881,0.999999964618,-6.75110566133e-05,-0.000253077152219,-4.64511983323e-05,1793238087998696960
+78,1.300000000,BASELINE,767.687848648,746,716,679,666.687848648,637,881,789,803.312151352,653.312151352,632.312151352,653.687848648,0.400995182303,-0.0154045601673,0.0498632924403,0.999999964651,-6.7603692899e-05,-0.00025287917063,-4.66872682229e-05,1793238088015363584
+79,1.316666667,BASELINE,767.11538709,746,716,679,666.11538709,637,881,789,803.88461291,653.88461291,632.88461291,653.11538709,0.400995694181,-0.0154035535004,0.0498637813686,0.999999964814,-6.84486717396e-05,-0.00025191327334,-4.71780761191e-05,1793238088032030464
+80,1.333333333,BASELINE,767.475343528,746,716,678.524656472,666,637,881,789,804,654,632.524656472,653,0.40099536929,-0.0154037638365,0.0498637241684,0.999999964729,-6.8424214604e-05,-0.000252304277478,-4.69400867357e-05,1793238088048696832
+81,1.350000000,BASELINE,767.931606752,746,716,678.068393248,666,637,880.931606752,788.931606752,803.931606752,654,632,653.068393248,0.40099513842,-0.0154041859546,0.0498636189821,0.999999964642,-6.81398545323e-05,-0.000252792039795,-4.65663738985e-05,1793238088065363456
+82,1.366666667,BASELINE,767.3555758,746,716,678.6444242,666,637,880.3555758,788.3555758,803.3555758,654,632,653.6444242,0.400997173293,-0.0154038996338,0.0498641809351,0.99999996502,-6.75555103958e-05,-0.000251455483804,-4.65508576976e-05,1793238088082030080
+83,1.383333333,BASELINE,767,746,716,679.21436027,666,637,880.21436027,788.21436027,803.21436027,654,632,654,0.400998357673,-0.0154034933057,0.0498644904707,0.999999965309,-6.67817905691e-05,-0.00025049751216,-4.66091018958e-05,1793238088098696704
+84,1.400000000,BASELINE,767,746,716,679.774465892,666,637,880.774465892,788.774465892,803.774465892,654,632,654,0.400998170278,-0.0154028934155,0.049864392878,0.99999996546,-6.57026233555e-05,-0.000250150165486,-4.6786315503e-05,1793238088115363584
+85,1.416666667,BASELINE,767.362813689,745.637186311,716,679.637186311,666,637,881,789,804,654,632.362813689,653.637186311,0.40099719348,-0.0154028855956,0.0498643115324,0.999999965271,-6.60241512886e-05,-0.000250829780604,-4.67255109471e-05,1793238088132030208
+86,1.433333333,BASELINE,767.970199454,745.029800546,716,679.029800546,666,637,881,789,804,654,632.970199454,653.029800546,0.400995684547,-0.0154032768891,0.0498642411387,0.999999964852,-6.72898854432e-05,-0.000252201668892,-4.65042587516e-05,1793238088148696832
+87,1.450000000,BASELINE,767.448267992,745.551732008,716,679.551732008,666,637,881,789,804,654,632.448267992,653.551732008,0.400996310016,-0.0154036329366,0.0498648631587,0.999999965078,-6.74738382342e-05,-0.000251214993915,-4.67080743051e-05,1793238088165363712
+88,1.466666667,BASELINE,767,746,716,680,666,637,881,789,803.869862656,653.869862656,632,654,0.400996721005,-0.0154040095309,0.0498651079854,0.999999965218,-6.7575127956e-05,-0.000250605878817,-4.68348783101e-05,1793238088182030336
+89,1.483333333,BASELINE,767,746,716,680,666,637,881,789,803.297550608,653.297550608,632,654,0.400996029063,-0.0154044621169,0.0498639498165,0.999999964954,-6.7585193095e-05,-0.000251693092892,-4.6625498496e-05,1793238088198696960
+90,1.500000000,BASELINE,767,746,716,679.722862779,666,637,881,789,803,653.277137221,632.277137221,654,0.40099578162,-0.0154047107329,0.0498636625116,0.999999964884,-6.74809484443e-05,-0.000252024347871,-4.64902267083e-05,1793238088215363584
+91,1.516666667,BASELINE,767,746,716,679.145602156,666,637,881,789,803,653.854397844,632.854397844,654,0.400996015543,-0.0154047384613,0.0498643183014,0.999999965025,-6.72529129756e-05,-0.000251536943284,-4.64352095932e-05,1793238088232030208
+92,1.533333333,BASELINE,767,745.557033382,716,679,666,636.557033382,881,789,803.885933237,654,633,654,0.400995508765,-0.0154046685224,0.0498642387108,0.999999965,-6.76306430936e-05,-0.000251508766641,-4.65671853046e-05,1793238088248696832
+93,1.550000000,BASELINE,767,745.034379097,715.965620903,679.034379097,666,636.034379097,881,789,804.965620903,654,632.965620903,654,0.400994799093,-0.0154046125541,0.0498638818547,0.999999964906,-6.81992483672e-05,-0.000251696159301,-4.67518867352e-05,1793238088265363712
+94,1.566666667,BASELINE,767,745.610495828,715.389504172,679.610495828,666,636.610495828,881,789,804.389504172,654,632.389504172,654,0.400994829278,-0.0154052958541,0.049863064632,0.999999964592,-6.85558346501e-05,-0.000252839539351,-4.6773517332e-05,1793238088282030848
+95,1.583333333,BASELINE,767.186841066,746,715.186841066,679.813158934,666,637,881,789.186841066,804,654,632.186841066,653.813158934,0.400995623937,-0.0154055865395,0.0498630223133,0.999999964633,-6.90416689646e-05,-0.000252557405509,-4.67060707604e-05,1793238088298697472
+96,1.600000000,BASELINE,767.76366336,746,715.76366336,679.23633664,666,637,881,789.76366336,804,654,632.76366336,653.23633664,0.400998014231,-0.0154050577461,0.0498645974011,0.99999996541,-6.97972743699e-05,-0.000249299889287,-4.64526992026e-05,1793238088315363840
+97,1.616666667,BASELINE,767.662392431,746,716,679,666.337607569,637,881.337607569,789.662392431,804,653.662392431,632.662392431,653,0.400998841352,-0.0154048207499,0.0498653420092,0.999999965744,-6.96247173609e-05,-0.00024802343487,-4.63521210488e-05,1793238088332030208
+98,1.633333333,BASELINE,767.09044598,746,716,679,666.90955402,637,881.90955402,789.09044598,804,653.09044598,632.09044598,653,0.400998583449,-0.015404786295,0.0498655101679,0.999999965776,-6.88079077433e-05,-0.000248122067737,-4.63575992869e-05,1793238088348696832
+99,1.650000000,BASELINE,767,746,716,679,666.498362776,637,881.498362776,789,804.501637224,653.501637224,632,653.501637224,0.400997179939,-0.0154043155917,0.0498644642303,0.9999999654,-6.79816130097e-05,-0.00024986120496,-4.63555988401e-05,1793238088365363456
+100,1.666666667,BASELINE,767,746,716,679,666,637,881,789,804.905931748,654,632,653.905931748,0.4009959329,-0.0154039417569,0.0498634921676,0.999999965021,-6.74167665951e-05,-0.000251520462863,-4.63758402316e-05,1793238088382030080
+101,1.683333333,BASELINE,767,746,716,679,666,637,881,789,804.331056378,654,632,653.331056378,0.400996585532,-0.0154044818885,0.0498640633635,0.999999965043,-6.81973567764e-05,-0.000251196374571,-4.65169457503e-05,1793238088398696704
+102,1.700000000,BASELINE,767,746,716,679,666,637,880.75616184,789,804,654,632,653.24383816,0.400998221151,-0.0154051794553,0.0498651820348,0.999999965455,-6.89466144057e-05,-0.000249383623025,-4.63148552375e-05,1793238088415363584
+103,1.716666667,BASELINE,767,746,716,679,666,637,880.181241321,789,804,654,632,653.818758679,0.401001191467,-0.0154060907868,0.0498670440656,0.999999966385,-6.96533287723e-05,-0.000245549571223,-4.5646774683e-05,1793238088432030464
+104,1.733333333,BASELINE,767,746,716,679,666,637,880.782893194,789,804,654,632,654,0.401000742342,-0.0154065526382,0.0498668415104,0.999999966229,-6.97612319358e-05,-0.000246113572909,-4.58626323525e-05,1793238088448697088
+105,1.750000000,BASELINE,767,746,716,679,666,637,881.926213451,789,804,654,632,654,0.400998718979,-0.0154068075586,0.0498656884647,0.999999965571,-6.95934554593e-05,-0.000248702342778,-4.64854359672e-05,1793238088465363456
+106,1.766666667,BASELINE,767,746,716,679,666,637,880.881833134,789,804,653.440916567,632,654,0.400997313196,-0.0154079605761,0.0498653767166,0.999999965208,-7.12880278243e-05,-0.000249760510804,-4.60705041234e-05,1793238088482030080
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,716,679,666,637,880,789,803,654,632,654,0.400997947166,-0.015405465379,0.0498669197404,0.999999965995,-6.64888979532e-05,-0.000247952134566,-4.5924939327e-05,1793238088524677376
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.397641739,746,716,679.602358261,666,637,880.602358261,789,803.602358261,654,632.602358261,654,0.400997201443,-0.0154063437238,0.0498653355945,0.999999965448,-6.82629746907e-05,-0.000249644137761,-4.60568071038e-05,1793238088541344256
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.798520314,716,679.798520314,666,637,881,789,803.597040628,653.798520314,632.798520314,654,0.400996475227,-0.0154067151837,0.0498643086775,0.9999999651,-6.90347334974e-05,-0.000250799090075,-4.61879411574e-05,1793238088558010880
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.205686023,716,679.205686023,666,637,881,789,802.411372046,653.205686023,632.205686023,654,0.4009957869,-0.0154061020695,0.0498643641227,0.999999965147,-6.78595879642e-05,-0.000250910873825,-4.63176500483e-05,1793238088574677504
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,880.620447339,789,802.759105322,653,632,654,0.400995980225,-0.0154053990141,0.0498641591873,0.999999965064,-6.8197460882e-05,-0.000251111582916,-4.65213733819e-05,1793238088591344384
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,880.039244121,789,803.921511757,653,632,654,0.400996641959,-0.0154046481744,0.0498638159158,0.999999964912,-6.93391775645e-05,-0.000251359536683,-4.67644194555e-05,1793238088608010752
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745.535625811,716,679,666,637,880,789,804,653,632,654,0.400997443604,-0.0154034570773,0.0498645783367,0.999999965398,-6.55206305092e-05,-0.000250436909851,-4.68281924285e-05,1793238088624677376
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.112603307,637,880.112603307,789,804,653,632.112603307,654,0.40099794871,-0.015402834898,0.0498651684945,0.999999965719,-6.29150447248e-05,-0.00024982694231,-4.67931297175e-05,1793238088641344256
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.700410405,637,880.700410405,789,804,653,632.700410405,654,0.400997159624,-0.0154047481793,0.0498646937884,0.999999965209,-6.69441468593e-05,-0.000250894162401,-4.6395748542e-05,1793238088658010880
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.283586553,746,716,679,666.716413447,637,881,789,804,653.283586553,632.716413447,654,0.400996989729,-0.0154059944533,0.0498647313353,0.999999965065,-6.93198232751e-05,-0.000250868323768,-4.61547537463e-05,1793238088674677248
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.861948994,746,716,679,666.138051006,637,881,789,804,653.861948994,632.138051006,654,0.400997463457,-0.0154065474023,0.049865301347,0.999999965313,-6.99768353174e-05,-0.000249706298067,-4.6076315816e-05,1793238088691343872
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,746,716,679,666,637,881,789,804,654,632,654,0.401006544702,-0.0154062069559,0.0498691860139,0.999999967067,-6.94137013969e-05,-0.00024280591567,-4.5756414577e-05,1793238088708010752
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.981094494,746,716,679,666,637,881,789,804.018905506,653.981094494,632,654,0.401019056242,-0.0154056908053,0.0498743747888,0.999999969357,-6.85134485792e-05,-0.000233535360613,-4.53214908528e-05,1793238088724677632
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.408499158,746,716,679,666,637,881,789,804.591500842,653.408499158,632,654,0.401052993659,-0.0154082323137,0.0498873206525,0.99999997513,-6.89438313537e-05,-0.000207541128991,-4.3735099641e-05,1793238088741345024
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804.830703224,653.169296776,632,653.830703224,0.401093729747,-0.0154107404997,0.0499019577315,0.999999980958,-6.95991974737e-05,-0.000177378402821,-4.215736952e-05,1793238088758011904
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804.239960856,653.760039144,632,653.239960856,0.401151390381,-0.015413165734,0.0499208049069,0.999999987306,-7.08146348568e-05,-0.000136838665322,-4.06011999112e-05,1793238088774677760
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804,653.655667756,632.344332244,653.344332244,0.401213819896,-0.0154170629224,0.0499351079162,0.999999990721,-7.16637439761e-05,-0.000109196977486,-3.87024352444e-05,1793238088791344128
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804,653.075786474,632.924213526,653.924213526,0.40127951168,-0.0154219670374,0.0499463023746,0.999999992636,-7.22622570946e-05,-9.03785239511e-05,-3.65693100175e-05,1793238088808010752
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,679.499476166,666,637,881,789,803.500523834,653.499476166,632.500523834,653.500523834,0.401349140412,-0.0154259150468,0.0499515486183,0.9999999933,-7.32378454398e-05,-8.22817142193e-05,-3.55698680912e-05,1793238088824677632
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715.924249968,679.924249968,666,637,881,789,803.075750032,654,632,653.075750032,0.401421419111,-0.0154299303693,0.0499552881682,0.999999993687,-7.42682361422e-05,-7.68253548331e-05,-3.47711028739e-05,1793238088841344256
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715.336446622,679.336446622,666,637,881,789,803.663553378,654,632,653.663553378,0.401507609965,-0.0154353723812,0.0499548878345,0.999999993515,-7.52858659058e-05,-7.83216971232e-05,-3.41767318593e-05,1793238088858010880
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.752419311,715.247580689,679,666,637.247580689,881,789,804,653.752419311,632.247580689,654,0.401604746954,-0.0154410314489,0.0499567194817,0.999999993606,-7.66271970046e-05,-7.61757835203e-05,-3.33697661025e-05,1793238088874677504
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.173446353,715.826553647,679,666,637.826553647,881,789,804,653.173446353,632.826553647,654,0.401716535584,-0.0154469810502,0.0499615386853,0.999999994014,-7.84018094683e-05,-6.91546291315e-05,-3.22782375931e-05,1793238088891344128
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,716,679.404821684,666,637.595178316,880.595178316,789,804,653,632.595178316,654,0.40183672961,-0.0154535727223,0.0499598545971,0.999999993737,-7.88682584105e-05,-7.28640583971e-05,-3.15830213026e-05,1793238088908010752
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,716,679.982788271,666,637.017211729,880.017211729,789,804,653,632.017211729,654,0.40196051869,-0.015460439013,0.0499553890084,0.999999993121,-7.87751973382e-05,-8.11630284368e-05,-3.10573102663e-05,1793238088924677376
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745.556956041,716,679.443043959,666,637,880.556956041,789,804,653.556956041,632,653.443043959,0.402113317262,-0.0154712868739,0.0499557113099,0.999999992902,-8.40437185903e-05,-7.90658302321e-05,-2.96998065002e-05,1793238088941344000
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745.865275018,716,679,666,637,881,789,803.865275018,653.865275018,632,653,0.402274764833,-0.0154819788284,0.049957112045,0.999999992828,-8.85993151223e-05,-7.54590407206e-05,-2.82696818764e-05,1793238088958010624
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.27493306,716,679,666,637,881,789,803.27493306,653.27493306,632,653,0.40246245066,-0.0154917302442,0.0499616628695,0.999999993277,-9.01873831646e-05,-6.78262063456e-05,-2.66803067522e-05,1793238088974677248
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,715.690570909,679,666,637,881,789,803.309429091,653,632,653,0.402667476583,-0.0155017036086,0.0499665492932,0.999999993897,-9.11383831672e-05,-5.72812612314e-05,-2.48821035266e-05,1793238088991343872
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,715.111421223,679,666,637,881,789,803.888578777,653,632,653,0.402887617367,-0.0155118704388,0.0499717282492,0.999999994572,-9.1534068858e-05,-4.41979119298e-05,-2.29018708389e-05,1793238089008010752
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,715.465156415,678.534843585,666,637,880.534843585,789,804,653,632,653.465156415,0.403133329468,-0.0155218113286,0.0499775116791,0.999999995407,-8.84681408511e-05,-3.05978982534e-05,-2.05465904777e-05,1793238089024677632
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.041873603,716,678.041873603,666,637,880,788.958126397,804,653,632,654,0.403386747698,-0.0155308284875,0.0499833899261,0.999999996206,-8.349781964e-05,-1.70908093656e-05,-1.80155208073e-05,1793238089041344512
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.628375086,716,678.628375086,666,637,880,788.371624914,804,653,632,654,0.403661166044,-0.0155285312148,0.0499886285232,0.999999997797,-6.44834291914e-05,-6.39316130207e-06,-1.4360089479e-05,1793238089058010880
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.212265523,788.212265523,804,653,632,654,0.403951571244,-0.0155206027258,0.0499928811853,0.999999999143,-3.9572168738e-05,1.23402016931e-06,-1.21264437657e-05,1793238089074676992
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.791640146,788.791640146,804,653,632,654,0.40426962537,-0.0155029351577,0.0499954286916,0.999999999907,-4.46238807628e-06,3.55088817066e-06,-1.23517490473e-05,1793238089091343872
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.628847354,789,804,653.371152646,632,654,0.404608844193,-0.0155023758997,0.0499996410503,0.999999999796,1.41265900413e-05,1.07227773294e-05,-9.62284216978e-06,1793238089108010752
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.04925737,789,804,653.95074263,632,654,0.404959949027,-0.0155114245755,0.0500047883815,0.999999999499,2.34375771618e-05,2.06212206034e-05,-5.23486558012e-06,1793238089124677376
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.474486505,716,679.525513495,666,637,880,788.474486505,804,653.474486505,632.525513495,653.474486505,0.405311479074,-0.0155165131808,0.0499942150152,0.999999999397,3.45283396703e-05,5.82642561941e-07,-3.55446941191e-06,1793238089141343744
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,716,679.897774247,666,637,880,788.102225753,804,653,633,653.102225753,0.405666324663,-0.0155203358873,0.0499813728653,0.999999998608,4.70262459523e-05,-2.38460908684e-05,-2.19504986053e-06,1793238089158010368
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,716,679.3097078,666,637,880,788.6902922,804,653,633,653.6902922,0.406036740208,-0.0155198903255,0.0499646875342,0.999999996295,6.5426146739e-05,-5.5924660368e-05,-1.16591901784e-06,1793238089174676992
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,716,679.274321787,666,637,880,788.725678213,804,653,632.725678213,654,0.406442570951,-0.0155187881271,0.0499523318163,0.999999993381,8.62124314169e-05,-7.61926150075e-05,1.73187204555e-07,1793238089191343872
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,716,679.853859842,666,637,880,788.146140158,804,653,632.146140158,654,0.406887805377,-0.0155169553411,0.0499447933192,0.999999990515,0.000109653856609,-8.33198259655e-05,1.85717857765e-06,1793238089208010752
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,716,680,666,637,880,788.431260339,803.568739661,652.568739661,632,653.568739661,0.407365130117,-0.015518635695,0.0499512587253,0.999999989157,0.000130025582671,-6.89080658603e-05,5.5835996035e-06,1793238089224677120
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.007911819,716,679.992088181,666,637,880.007911819,789,803.007911819,652.007911819,632,653,0.40785386768,-0.015521533648,0.0499625842199,0.999999987686,0.000149371294364,-4.70665888641e-05,1.00190123194e-05,1793238089241343744
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.582541138,716,679.417458862,666,637,880.582541138,789,803.582541138,652.582541138,632,653,0.408385016803,-0.0155267940435,0.0499837963162,0.999999985443,0.00016936719996,-1.32733184856e-05,1.59079325482e-05,1793238089258010624
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.838449535,788.838449535,804,653,632,653,0.408918199361,-0.0155310862596,0.0500012481742,0.999999981554,0.000190414953318,1.35024929239e-05,2.12568904678e-05,1793238089274677248
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.247806609,788.247806609,804,653,632,653,0.409456782817,-0.0155328069041,0.0500087124998,0.999999976496,0.00021425650562,2.16393011604e-05,2.51716593824e-05,1793238089291344128
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745.663729188,716,679,666,637,880.336270812,788,804,653,632,653.336270812,0.410003831828,-0.0155314520354,0.0500034709996,0.999999970883,0.00023953804174,9.53808756674e-06,2.76597175161e-05,1793238089308010496
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.08439734,716,679,666,637,880.91560266,788,804,653,632,653.91560266,0.410556999912,-0.0155278741447,0.0499890455596,0.999999964087,0.000265860419677,-1.7191437745e-05,2.91165304198e-05,1793238089324677120
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,881,788,803.509975114,653,632,653.509975114,0.41111579598,-0.0155257313587,0.0499680907902,0.999999955552,0.000290727987938,-5.88550966783e-05,3.01405410808e-05,1793238089341344256
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745.06530244,716,679.06530244,666,637,881,788.06530244,803.06530244,653,632,653.06530244,0.411684550464,-0.0155246918409,0.0499501698911,0.999999949059,0.000303448144687,-9.38528009306e-05,3.15092194319e-05,1793238089358010880
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745.654149682,716,679.654149682,666,637,881,788.654149682,803.654149682,653,632,653.654149682,0.412325450074,-0.0155305355248,0.0499654985751,0.999999973462,0.000220768596638,-5.499132689e-05,3.62328704948e-05,1793238089374677760
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,716,679.760715432,666,637,881,789,803.760715432,653,632,653.760715432,0.412987303709,-0.015537291276,0.0499832036055,0.999999992038,0.000121092388987,-1.87938474165e-05,3.01312641284e-05,1793238089391344384
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,679.180864271,666,637,881,789,803.180864271,653,632,653.180864271,0.413678980544,-0.0155453451452,0.0500042908179,0.999999999866,-2.77465270839e-06,1.36120455119e-05,8.62239108724e-06,1793238089408010496
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.397091681,653,632,653.397091681,0.414347723362,-0.0155517763039,0.0499963175917,0.999999999753,-2.16771574593e-05,-1.89745168926e-06,4.51093540153e-06,1793238089424677120
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.974188503,653,632,653.974188503,0.41500606997,-0.0155574718736,0.0499751710133,0.999999999176,7.00168558888e-06,-3.91274159813e-05,8.28588207463e-06,1793238089441343744
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.454738115,716,679,665.454738115,637,881,789,804,653,632,653.454738115,0.415670785847,-0.0155534923286,0.049952921238,0.999999996113,4.65179522013e-05,-7.42364494667e-05,9.93108233264e-06,1793238089458010368
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.12081873,716,679,665.241637461,637,881,788.87918127,804,653,632,653.12081873,0.416349694538,-0.0155503859697,0.0499397430341,0.999999991963,8.42508961162e-05,-9.39433863932e-05,1.22731368423e-05,1793238089474677248
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.715048303,716,679,666.430096605,637,881,788.284951697,804,653,632,653.715048303,0.417083047063,-0.0155524760603,0.0499623128775,0.999999992016,0.0001130079061,-5.36885174589e-05,1.77364370033e-05,1793238089491343872
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.69888179,715.69888179,679,666.69888179,637,881,788.30111821,804.30111821,653,632,654,0.41783266336,-0.0155548641834,0.0499848722425,0.999999991228,0.000129935548873,-1.38549414808e-05,2.16346587226e-05,1793238089508010496
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.120329683,715.120329683,679,666.120329683,637,881,788.879670317,804.879670317,653,632,654,0.418597264294,-0.0155575268977,0.0500074219558,0.999999990139,0.000135964261234,2.55904827354e-05,2.40909031615e-05,1793238089524677120
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745,715.455127969,679,666,637,881,788.544872031,804.544872031,653,632.455127969,654,0.419328533156,-0.0155578317392,0.0499937807117,0.999999990128,0.000138442876444,-4.04407066218e-06,2.37095272953e-05,1793238089541343744
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745,716,679,666,636.969509127,881,788.030490873,804,653,632.969509127,654,0.42005389813,-0.0155576008818,0.0499724131799,0.999999988772,0.000140227876541,-4.77053884016e-05,2.27038248709e-05,1793238089558010368
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,716,679,666,636.381008095,881,788.618991905,804,653,632.381008095,654,0.420831405882,-0.0155588977992,0.0499835753689,0.999999988871,0.000146380282029,-1.60822146395e-05,2.39095187311e-05,1793238089574676992
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745,716,679.204208154,666,636.204208154,881,789,804,653,632,654,0.421616774486,-0.0155608860174,0.0499972534774,0.99999998811,0.000151111587875,1.72664134554e-05,2.54368744413e-05,1793238089591343872
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,716,679.783392698,666,636.783392698,881,789,804,653,632,654,0.422416577503,-0.0155641436335,0.0500155514322,0.999999986434,0.000153233405011,5.37833981247e-05,2.75548803578e-05,1793238089608010496
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,716,679.638978913,666,637,881,789,804,653,632,654,0.423186397387,-0.0155644027499,0.0500081571957,0.999999987608,0.000149289499357,4.20037590103e-05,2.70534668548e-05,1793238089624677120
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,716,679.062280206,666,637,881,789,804,653,632,654,0.423938305017,-0.0155628705323,0.0499854141857,0.999999989644,0.000141721869871,1.37123110918e-06,2.49871858202e-05,1793238089641343744
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745,716,679.512903738,666,637,881,789,804.512903738,653,632.512903738,653.487096262,0.424743623293,-0.0155633148463,0.0499881140199,0.99999998913,0.000145007550752,4.01854712447e-06,2.64121262234e-05,1793238089658010368
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745.089710664,716,679.910289336,666.089710664,637,881.089710664,789,804.910289336,653,633,653,0.425551453734,-0.0155643831397,0.0499958660309,0.999999988253,0.000149937018802,1.43828659571e-05,2.83901270772e-05,1793238089674677248
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,745.676526869,716,679.323473131,666.676526869,637,881.676526869,789,804.323473131,653,633,653,0.426337372733,-0.015567583039,0.0500145443818,0.9999999865,0.000156693899287,3.8473583622e-05,3.10905970778e-05,1793238089691343872
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.739673826,637,881.739673826,789,804,653,633,653,0.427099832998,-0.0155669758671,0.0500133429172,0.999999985818,0.00016322300737,2.7029098284e-05,3.14963755928e-05,1793238089708010496
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.159580202,637,881.159580202,789,804,653,633,653,0.427833478212,-0.0155616923412,0.0499877224048,0.999999984823,0.000169472335543,-2.80644763901e-05,2.90835072037e-05,1793238089724677120
+180,3.000000000,POSE1_TO_POSE2_PRESS,767.417744971,746,716,679,666,637,881,789,804,653,632.582255029,653.417744971,0.428600092493,-0.0155622171626,0.0499696874615,0.999999984461,0.000165358320339,-5.43537891416e-05,2.79255509522e-05,1793238089741344000
+181,3.016666667,POSE1_TO_POSE2_PRESS,767.994019515,746,716,679,666,637,881,789,804,653,632.005980485,653.994019515,0.429379218123,-0.0155649461876,0.0499545311588,0.999999984826,0.000157311531263,-6.97122014835e-05,2.7243820062e-05,1793238089758010624
+182,3.033333333,POSE1_TO_POSE2_PRESS,767.432349711,745.432349711,716,679.567650289,666,637,881,789,804,653,632.567650289,653.432349711,0.430196925537,-0.0155646699986,0.049972755523,0.999999985587,0.000163823557505,-3.36714710546e-05,2.92107517166e-05,1793238089774677504
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745,716,680,666.145572472,637,881,789,804,653,632.854427528,653.145572472,0.430990232331,-0.0155637339663,0.0499820774865,0.999999984796,0.000170982004187,-1.59107658764e-05,3.03177563543e-05,1793238089791343872
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745,716,680,666.736714667,637,881,789,804,653,632.263285333,653.736714667,0.431707615022,-0.0155608747395,0.0499630794456,0.999999981896,0.000179651716692,-5.57515473038e-05,2.87076714799e-05,1793238089808010496
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.321246584,745.321246584,716,680,666.678753416,637,881.321246584,789,804.321246584,653,632.321246584,654,0.432441300028,-0.0155592623408,0.0499527834016,0.999999979831,0.000184650503003,-7.37481463024e-05,2.83439228731e-05,1793238089824677376
+186,3.100000000,POSE1_TO_POSE2_PRESS,767.900470092,745.900470092,716,680,666.099529908,637,881.900470092,789,804.900470092,653,632.900470092,654,0.433188076565,-0.015558651207,0.049949475493,0.999999979398,0.000186701353452,-7.4202782616e-05,2.89810441478e-05,1793238089841343744
+187,3.116666667,POSE1_TO_POSE2_PRESS,767.52263173,746,716.47736827,680,666.47736827,637,881.52263173,789,805,653,633,654,0.433949332379,-0.01556095437,0.0499717818707,0.999999982351,0.000180937106569,-3.94424210439e-05,3.16829508159e-05,1793238089858010624
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716.9452433,680,667,637,881.0547567,789,805,653,633,654,0.434706990892,-0.0155629502537,0.0499964276515,0.999999983974,0.000175640566485,-3.02007885826e-06,3.45302323238e-05,1793238089874677504
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716.358403066,680,667,637,881.641596934,789,805,653,633,654,0.43540050004,-0.0155560844439,0.0499921625753,0.999999980998,0.000190645598959,-2.14481699907e-05,3.46271459845e-05,1793238089891344128
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666.774675294,637,882,789.225324706,805,653,633,654,0.436085007879,-0.0155501736521,0.0499803090304,0.999999977732,0.000202281721721,-4.98997601941e-05,3.35914078966e-05,1793238089908010752
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666.195830687,637,882,789.804169313,805,653,633,654,0.436755393352,-0.0155457612206,0.0499565496679,0.999999973337,0.000208632245031,-9.40775754861e-05,3.07786124036e-05,1793238089924677376
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716,679.617898806,666,637,881.617898806,789.617898806,804.617898806,653,633,654,0.437456163331,-0.0155470827177,0.0499664033615,0.999999975683,0.000207584681566,-6.7771180689e-05,3.08142540527e-05,1793238089941344000
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716,679.040433628,666,637,881.040433628,789.040433628,804.040433628,653,633,654,0.438172468521,-0.0155513359074,0.0499934430291,0.999999978909,0.00020275455975,-5.42700992186e-06,3.23062692321e-05,1793238089958010624
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,745.463998808,716,679.536001192,666.536001192,636.463998808,881,789,804,652.463998808,633,654,0.438827232182,-0.0155526574246,0.0499985830241,0.999999980986,0.000192073188573,-1.98985584095e-06,3.36472890545e-05,1793238089974677504
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,745.114580132,716,680,666.885419868,636.114580132,881.114580132,789,804.114580132,652.114580132,633,654,0.439465778909,-0.0155528535911,0.049996128353,0.999999982448,0.000183940891344,-9.86604000902e-06,3.42349676834e-05,1793238089991344384
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,745.702333831,716,680,666.297666169,636.702333831,881.702333831,789,804.702333831,652.702333831,633,654,0.440056490403,-0.0155493140022,0.0499691196501,0.99999998073,0.000188154620212,-4.61465291365e-05,3.17585737627e-05,1793238090008011776
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,882,789,805,653,633,654,0.440652120441,-0.0155482359324,0.0499581326785,0.999999978564,0.000195234799778,-6.13457687189e-05,3.1498826654e-05,1793238090024678912
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,882,789,805,653,633,654,0.441252797486,-0.0155496836899,0.0499635860111,0.999999976866,0.00020525631662,-5.49130042293e-05,3.35136369308e-05,1793238090041345024
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.55710411,789,805,652.55710411,633,653.55710411,0.44184742857,-0.0155521201472,0.0499830130456,0.999999976341,0.000213526559151,-1.88328069423e-05,3.70027887151e-05,1793238090058011392
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679.980490108,666.019509892,637,881.019509892,789,805,652.019509892,633,653.019509892,0.442438193061,-0.0155547592183,0.0500060969634,0.999999974352,0.000221361818946,2.49988958915e-05,4.08664330244e-05,1793238090074677760
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679.408095356,666.591904644,637,881.591904644,789,805,652.591904644,633,653.591904644,0.442971168539,-0.0155546714078,0.0500131207029,0.999999971609,0.000231870729931,3.45536330506e-05,4.27142610488e-05,1793238090091344128
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679.170274785,666.829725215,637,881.829725215,789,804.829725215,652.829725215,633,654,0.443483774403,-0.0155541529295,0.0500096309897,0.999999969588,0.000241236029381,2.68601205744e-05,4.36780453112e-05,1793238090108010496
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679.76348703,666.23651297,637,881.23651297,789,804.23651297,652.23651297,633,654,0.443945785256,-0.0155525647355,0.049980027412,0.999999968126,0.000247760768302,-2.36754988558e-05,4.24459955494e-05,1793238090124677120
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881,789,804,652.348076824,633,654,0.444402996804,-0.0155509035552,0.0499577444913,0.999999964895,0.000254992088474,-5.89030910405e-05,4.14649493185e-05,1793238090141343744
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881,789,804,652.926949383,633,654,0.444857026096,-0.0155491939807,0.0499403156056,0.999999961144,0.000262691914005,-8.39805433978e-05,4.06503335293e-05,1793238090158010624
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,745.498067307,716,679.498067307,666,637,881,789,804.501932693,652.498067307,633,653.498067307,0.445318035715,-0.0155487280496,0.0499557915177,0.999999960985,0.000271716058184,-4.87889197738e-05,4.26560115286e-05,1793238090174677504
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,745.078277114,716,679.078277114,666,637,881.078277114,789,805,652,633,653.078277114,0.445776164324,-0.0155484032866,0.0499756845394,0.999999959633,0.00028046096459,-6.59225949316e-06,4.50815894651e-05,1793238090191344128
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,745.667164123,716,679.667164123,666,637,881.667164123,789,805,652,633,653.667164123,0.446208923881,-0.0155478277865,0.0499933923914,0.99999995763,0.000286136782675,2.45216373343e-05,4.75893208476e-05,1793238090208011008
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.748200486,789,805,652.251799514,632.748200486,653.748200486,0.446600626102,-0.0155480748297,0.0499964156978,0.999999962114,0.00026916405492,3.08984858661e-05,4.86576858599e-05,1793238090224677632
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.169091737,789,805,652.830908263,632.169091737,653.169091737,0.446938958666,-0.0155493910809,0.0499803508508,0.999999974033,0.000222750927142,5.12012935559e-06,4.78550465912e-05,1793238090241344000
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.407374607,789,805,653,632,653,0.447231290906,-0.0155510909671,0.0499447007114,0.999999975772,0.000209761988196,-4.9270043269e-05,4.50482761285e-05,1793238090258010368
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881.982751267,789,805,653,632,653,0.447504652555,-0.0155529490651,0.0499009735593,0.99999997031,0.00021055724289,-0.000115459784573,4.14149979977e-05,1793238090274676992
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,882,789,805,652.447131424,632,653.552868576,0.447760375204,-0.0155553688214,0.0498716217762,0.999999974746,0.000155337750934,-0.000160876455019,2.2290300009e-05,1793238090291343872
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746,716,680.128741448,666,636.871258552,882,788.871258552,805,652.128741448,632,653.871258552,0.448020353025,-0.0155589564605,0.0498500308334,0.999999974983,0.000110957724815,-0.000194081861891,7.33620342621e-06,1793238090308011008
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746,716,680.726158999,666,636.273841001,882,788.273841001,805,652.726158999,632,653.273841001,0.448297806138,-0.0155667325234,0.0498550754676,0.999999976503,0.000112340186571,-0.000185169963184,9.30783133261e-06,1793238090324677632
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746,716,680.68796399,666,636,882,788,805,652.68796399,632,653,0.448554715875,-0.0155727972336,0.0498603766536,0.999999977473,0.000114939409594,-0.000178063825201,1.16456227353e-05,1793238090341344256
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746,716,680.111853706,666,636,882,788,805,652.111853706,632,653,0.448794239855,-0.0155774136353,0.0498658949576,0.999999977993,0.00011856837057,-0.000172485892629,1.42932960729e-05,1793238090358011136
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,745.536355796,716,680,666.463644204,636,882,788,805,652.463644204,632,653.463644204,0.448999592344,-0.0155778602083,0.049865756279,0.999999976646,0.000125025437471,-0.000175579496178,1.57882013656e-05,1793238090374677504
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,745.038978715,716,680,666.961021285,636,882,788,805,652.961021285,632,653.961021285,0.449194375252,-0.015577422528,0.0498636164815,0.999999974698,0.000131820609129,-0.000181492334753,1.69434594268e-05,1793238090391343872
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,745.614095166,716,680,666.385904834,636,882,788,805,652.385904834,632,653.385904834,0.449357018887,-0.0155786407243,0.0498526987869,0.999999971395,0.000133894188659,-0.000197445983495,1.72471698342e-05,1793238090408010496
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788,804.804351066,652.195648934,632,653.195648934,0.449514466066,-0.0155793706306,0.049843269241,0.999999967918,0.000136903153339,-0.000212392478515,1.7650416105e-05,1793238090424677120
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788,804.209668202,652.790331798,632,653.790331798,0.449661314845,-0.0155791046497,0.0498368748358,0.9999999644,0.000141819873731,-0.000225284840804,1.82566697717e-05,1793238090441344000
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788,804.373645236,653,632,653.626354764,0.449793493712,-0.0155797571337,0.0498332685877,0.999999962241,0.000144627258495,-0.000232923322041,1.86569809899e-05,1793238090458010880
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788,804.950767257,653,632,653.049232743,0.449917683767,-0.015580909788,0.0498311806916,0.99999996087,0.000146285958317,-0.000237700687264,1.89451417465e-05,1793238090474677504
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788,805,653,632,653.525463159,0.45002778147,-0.0155841297437,0.0498336130332,0.999999962268,0.000143351818297,-0.000233482502022,2.00279830379e-05,1793238090491343872
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788,805,653,631.900195937,653.900195937,0.450131862891,-0.0155871221814,0.0498358848544,0.99999996356,0.000140477216897,-0.00022958270013,2.09193890807e-05,1793238090508010496
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788,805,653,631.32646612,653.32646612,0.450213616702,-0.015588118698,0.0498353925715,0.999999963278,0.000139919354194,-0.000231178591623,2.05498156802e-05,1793238090524677120
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,745.743833507,716,680,665.743833507,635.743833507,882,788,805,653,631,653.256166493,0.450288796646,-0.0155892709279,0.0498346338481,0.999999963051,0.000137814811574,-0.000233420085258,2.05120192644e-05,1793238090541343744
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,745.149446428,716,680,665.149446428,635.149446428,882,788,805,653,631,653.850553572,0.450355297007,-0.0155906287484,0.0498335233391,0.999999962878,0.000133668163545,-0.000236513977295,2.09122731596e-05,1793238090558010624
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,745.432215674,716,680,665.432215674,635.432215674,882,788,805,653,631.432215674,653.567784326,0.450405417632,-0.0155903950163,0.0498305932982,0.999999961105,0.000134418377888,-0.000243479766732,2.09615173968e-05,1793238090574677248
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882.009519337,787.990480663,805,653,631.990480663,653.009519337,0.45044992824,-0.0155896491409,0.0498271085654,0.99999995878,0.000136741748784,-0.000251606135874,2.08935146037e-05,1793238090591343872
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882.581834902,787.418165098,805,653,631.418165098,653.581834902,0.450488030129,-0.0155902291568,0.0498269613275,0.999999959076,0.000134832093713,-0.000251460777633,2.08639351576e-05,1793238090608011520
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665.840415649,636,882.840415649,787.159584351,805,653,631.159584351,654,0.450523479385,-0.0155902225927,0.0498271884314,0.999999959296,0.000134244776625,-0.000250898181141,2.089956697e-05,1793238090624678656
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.247925764,636,882.247925764,787.752074236,805,653,631.752074236,654,0.450551732819,-0.0155886248092,0.0498284310145,0.999999959308,0.000137244574923,-0.000249203739683,2.11120978035e-05,1793238090641345024
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636,881.662952104,788,804.662952104,652.662952104,631.662952104,654,0.450572661277,-0.015588315405,0.0498279237183,0.999999958872,0.000137605583491,-0.000250734726951,2.12887595927e-05,1793238090658011392
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636,881.083386566,788,804.083386566,652.083386566,631.083386566,654,0.450588319162,-0.0155889330342,0.0498261573235,0.999999958106,0.000136067891714,-0.000254586521781,2.14396123834e-05,1793238090674678016
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.508221104,746,716.491778896,680,665.491778896,636,881,788,804,652.491778896,631.491778896,654,0.450599993238,-0.0155875201301,0.049825383711,0.999999957792,0.000136521526154,-0.000255626368242,2.08269107829e-05,1793238090691344384
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.067779054,745.932220946,716.932220946,680,665.932220946,635.932220946,881.067779054,788,804.067779054,653,631.932220946,654,0.45061019734,-0.0155859995287,0.0498245431723,0.999999957511,0.000136880749553,-0.000256582290661,2.01961301458e-05,1793238090708010752
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.655863555,745.344136445,716.344136445,680,665.344136445,635.344136445,881.655863555,788,804.655863555,653,631.344136445,654,0.450614256679,-0.0155862717627,0.049821908094,0.999999956885,0.000133946234086,-0.000260521642473,2.04116207559e-05,1793238090724677376
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,745.24036157,716,680,665.24036157,635.24036157,882,787.75963843,805,653,631,653.75963843,0.450618708393,-0.0155860810705,0.0498209019408,0.999999956578,0.000132935197195,-0.000262203973208,2.05301159718e-05,1793238090741344256
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,745.819800111,716,680,665.819800111,635.819800111,882,787.180199889,805,653,631,653.180199889,0.450623713628,-0.0155852373304,0.0498221937049,0.999999956743,0.000134637602952,-0.000260702334359,2.05117802145e-05,1793238090758011136
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882.397426787,787.397426787,805,653,631,653.397426787,0.450625678634,-0.015585299486,0.0498216360485,0.999999956696,0.000133652862204,-0.000261380659348,2.0595670322e-05,1793238090774677760
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882.974235645,787.974235645,805,653,631,653.974235645,0.450626271406,-0.0155857705255,0.0498202436397,0.999999956549,0.000131455254228,-0.000263042930206,2.07257009721e-05,1793238090791344384
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.455026593,746,716,680,666,636,882.455026593,788,805,653,631,654,0.450626832576,-0.0155850004493,0.0498199537291,0.999999955912,0.000133288099123,-0.00026453610896,2.07434098072e-05,1793238090808010752
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.120474735,746,716,680,666,635.879525265,881.879525265,788,804.879525265,653,631,653.879525265,0.450627407057,-0.0155840172708,0.0498195681771,0.999999955375,0.000134640457289,-0.000265887341543,2.06178913031e-05,1793238090824677632
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+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680.302583084,666,635.302583084,881.302583084,787.697416916,804.302583084,652.697416916,631.302583084,653.302583084,0.450628724194,-0.015582312911,0.0498185268866,0.999999955405,0.000132374186102,-0.000266971229998,1.98335041283e-05,1793238090858010624
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+249,4.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680.5440966,665.5440966,636,882,787.4559034,805,652.4559034,631.5440966,654,0.450628726439,-0.0155831132982,0.0498185248497,0.999999955195,0.000132455704971,-0.000267690048433,2.02102182004e-05,1793238090891343872
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665.030064767,636,882,787.969935233,805,653,631.030064767,654,0.450627662627,-0.0155822938051,0.0498174492504,0.999999954734,0.000133418016241,-0.000268938303536,2.00922906459e-05,1793238090908010240
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665.617424431,636,882,787.382575569,805,653,631.617424431,654,0.450627376803,-0.0155826086138,0.0498171933497,0.999999954971,0.000130509493974,-0.000269492727939,1.99949496188e-05,1793238090924677120
+252,4.200000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,635.797549727,882,787.202450273,804.797549727,653,631.797549727,654,0.450627492178,-0.0155828674805,0.0498170209521,0.999999955148,0.000128401390927,-0.000269853040444,1.9908598377e-05,1793238090941343744
+253,4.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,635.216883941,882,787.783116059,804.216883941,653,631.216883941,654,0.450628357068,-0.0155830218367,0.0498170045543,0.999999955228,0.000127788622998,-0.000269850715069,1.98427781446e-05,1793238090958010368
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+255,4.250000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.059639731,635,882,788,804.940360269,652.059639731,631,654,0.45062768774,-0.0155812206297,0.0498164528927,0.999999955182,0.000128658981648,-0.000269660201429,1.91455012403e-05,1793238090991343616
+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,635.515107859,882,787.484892141,805,652,631,653.484892141,0.450627836392,-0.0155812204964,0.0498168038655,0.999999955027,0.000128216870718,-0.000270444151717,1.91563897582e-05,1793238091008010240
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636,881.908376199,787,804.908376199,652.091623801,631.091623801,653,0.450627691529,-0.0155811027953,0.0498168160659,0.999999954709,0.000128167280328,-0.000271637834379,1.91799800771e-05,1793238091024677120
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636,881.320153197,787,804.320153197,652.679846803,631.679846803,653,0.450625482781,-0.0155796354874,0.0498145642297,0.999999953574,0.00013094207983,-0.000274490847597,1.90077928212e-05,1793238091041344000
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+261,4.350000000,HOLD_POSE2,767,746,716,680,666,636,882,788,805,653,631,653,0.450630087127,-0.0155776370908,0.0498167110871,0.999999954834,0.000129623963791,-0.000270548079389,1.82842693758e-05,1793238091108235008
+262,4.366666667,HOLD_POSE2,766.422619188,746,716,680.577380812,665.422619188,636,882,788,804.422619188,652.422619188,631,653,0.450629543194,-0.0155805329027,0.0498163452045,0.999999954908,0.000127819247592,-0.000271078363782,1.9044655693e-05,1793238091124901376
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+272,4.533333333,HOLD_POSE2,767,746,716,680,665,635.605696097,881.605696097,787.394303903,804.605696097,653,632,653.605696097,0.450628233283,-0.0155800256549,0.049813457781,0.999999953371,0.000129978473669,-0.000275663432783,1.9308044091e-05,1793238091291566592
+273,4.550000000,HOLD_POSE2,767,746,716,680,665,635.030400429,881.030400429,787.969599571,804.030400429,653,632,653.030400429,0.450628919102,-0.0155795387563,0.0498134056279,0.999999953352,0.000130965883431,-0.000275275928599,1.91447446551e-05,1793238091308233472
+274,4.566666667,HOLD_POSE2,767,746,716,679.454977172,665,635,881.545022828,787.454977172,804.545022828,652.454977172,631.454977172,653,0.450628167891,-0.0155794261846,0.0498140268483,0.999999953541,0.000129191576083,-0.000275434652826,1.90397214905e-05,1793238091324900096
+275,4.583333333,HOLD_POSE2,767,746,716.122981506,679.122981506,665,635.122981506,882.122981506,787,805,652.122981506,631,653,0.450627965075,-0.0155792696561,0.0498147311828,0.999999953811,0.000127645264905,-0.000275185637408,1.89043439045e-05,1793238091341566720
+276,4.600000000,HOLD_POSE2,767,746,716.710490285,679.710490285,665,635.710490285,882.710490285,787,805,652.710490285,631,653,0.450630136499,-0.0155788682095,0.0498156075531,0.999999954351,0.00012754213552,-0.000273281392974,1.8642030302e-05,1793238091358233856
+277,4.616666667,HOLD_POSE2,767,746,717,680,665,636,882.705227277,787,805.294772723,653,631,653.294772723,0.45063113055,-0.015578915903,0.0498162430334,0.999999954759,0.000126632487124,-0.00027220944244,1.86376147891e-05,1793238091374900480
+278,4.633333333,HOLD_POSE2,767,746,717,680,665,636,882.124079305,787,805.875920695,653,631,653.875920695,0.450630980769,-0.0155793999414,0.0498166444861,0.999999955039,0.000124939295803,-0.000271946075568,1.88837503922e-05,1793238091391567104
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636,882,787,805,652,631,653,0.450630717428,-0.0155776786469,0.0498151702654,0.999999954043,0.000129484646006,-0.000273485114046,1.87867757071e-05,1793238091424073216
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,635.429260714,882,787,805,652.570739286,631,653,0.450629561678,-0.0155780664704,0.0498139574487,0.999999953882,0.000127770656163,-0.000274888839204,1.86249660276e-05,1793238091440739584
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,635.147325614,882,787,805,653,631,653.147325614,0.450628737263,-0.0155781447991,0.049813226517,0.999999953655,0.000127303263538,-0.000275932548905,1.85659698454e-05,1793238091457405952
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,635.741652618,882,787,805,653,631,653.741652618,0.450628918155,-0.0155772840885,0.049813957675,0.999999953236,0.00013061817741,-0.000275883934237,1.88189205752e-05,1793238091474072576
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,716.327148013,680,665,636,882,787,805,653,631.327148013,653.672851987,0.450629125453,-0.0155773794892,0.0498140252431,0.99999995329,0.000130287162292,-0.000275828880819,1.90798237636e-05,1793238091490739456
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,716.905852417,680,665,636,882,787,805,653,631.905852417,653.094147583,0.450629353057,-0.0155782100798,0.0498135825521,0.999999953705,0.000127152655279,-0.000275768876407,1.93468418807e-05,1793238091507406336
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.055806483,746,716.055806483,680,665.055806483,635.944193517,882,787,805,652.944193517,632,653.055806483,0.450630262493,-0.0155795568743,0.0498153748228,0.999999954204,0.000127473446525,-0.000273811074578,1.92488579605e-05,1793238091540739584
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.645262913,746,716.645262913,680,665.645262913,635.354737087,882,787,805,652.354737087,632,653.645262913,0.450628802516,-0.015578193083,0.0498142600182,0.999999953721,0.000128103115491,-0.000275284995007,1.91150810991e-05,1793238091557406208
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,745.769159478,716.769159478,680,665.769159478,635,882,787.230840522,805,652.230840522,632,653.769159478,0.450624963619,-0.0155772633006,0.0498119120817,0.999999952639,0.000129169429642,-0.000278713925396,1.88871117846e-05,1793238091574072832
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,745.189444078,716.189444078,680,665.189444078,635,882,787.810555922,805,652.810555922,632,653.189444078,0.450617529406,-0.0155769894464,0.0498077004833,0.999999950621,0.000130895656181,-0.000285097509581,1.85167871443e-05,1793238091590739456
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,745.388434427,716,680,665.388434427,635.388434427,881.611565573,787.611565573,805,653,631.611565573,653,0.450598875727,-0.0155767307093,0.0497987857893,0.999999946673,0.00012836448191,-0.00029978835184,1.73995672154e-05,1793238091607406080
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,745.965421326,716,680,665.965421326,635.965421326,881.034578674,787.034578674,805,653,631.034578674,653,0.450574775935,-0.0155764793104,0.049787588135,0.999999941489,0.000123766695247,-0.000318511674538,1.59197919676e-05,1793238091624072960
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.451322259,636,881.548677741,787.548677741,805,653,631,653.548677741,0.45053145318,-0.0155754710538,0.0497701583235,0.999999930673,0.000123959297236,-0.000350813041772,1.47476089434e-05,1793238091640739584
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.131833112,636,882,787.868166888,805,653,631,653.868166888,0.450483309746,-0.0155733500742,0.049752484983,0.999999918843,0.000125312751915,-0.000382662398508,1.33868500015e-05,1793238091657406464
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.713280918,636,882,787.286719082,805,653,631,653.286719082,0.450422904893,-0.015567598726,0.0497353360771,0.999999907483,0.000129583753487,-0.000410018061752,1.13160791995e-05,1793238091674072832
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,787.293375805,805,653,631,653.293375805,0.450359765443,-0.0155631532293,0.0497232701586,0.999999899854,0.000131004008347,-0.000427823026007,9.90839946766e-06,1793238091690739456
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,787.872154505,805,653,631,653.872154505,0.450293965715,-0.0155599780961,0.0497161490912,0.999999896359,0.000129650989438,-0.00043633684379,9.1457904848e-06,1793238091707406080
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.977400129,665,636,881.977400129,788,805,652.977400129,631,653.977400129,0.450137425458,-0.01554805472,0.0497073104329,0.999999888912,0.000139346689838,-0.000450226933825,7.37035654623e-06,1793238091740739328
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.388606093,665,636,881.388606093,788,805,652.388606093,631,653.388606093,0.450041116561,-0.0155452330934,0.0497046683485,0.999999886471,0.000138429378606,-0.000455908131912,6.63835196127e-06,1793238091757405952
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.197040558,636,881.197040558,788,805,652.197040558,631.197040558,653,0.449933206926,-0.0155408059596,0.0497003031819,0.999999882491,0.00013932052474,-0.000464299425414,5.84931376229e-06,1793238091774072832
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.776577418,636,881.776577418,788,805,652.776577418,631.776577418,653,0.449802777881,-0.0155332622064,0.0496925931583,0.999999875441,0.000143722259156,-0.000477951571536,4.94956165769e-06,1793238091790739968
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,881.645642046,788,804.645642046,652.645642046,632,653.354357954,0.449665700445,-0.0155243161808,0.0496898628257,0.999999872851,0.000147130556705,-0.000482323430335,3.8683531567e-06,1793238091807406336
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,881.068963354,788,804.068963354,652.068963354,632,653.931036646,0.449524451859,-0.0155144903824,0.0496902567022,0.99999987314,0.000149915582056,-0.000480872928382,2.6733005877e-06,1793238091824072704
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,881,787.494460008,804,652,631.494460008,653.494460008,0.449361951796,-0.015502559167,0.049691872858,0.999999874192,0.000157531023785,-0.000476234131371,1.36195748004e-06,1793238091840739328
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.917955294,665.917955294,636,881.082044706,787.082044706,804.082044706,652.082044706,631.082044706,653.082044706,0.449193446695,-0.0154905280063,0.0496941782551,0.999999875388,0.000165205543329,-0.000471096686189,1.29693067472e-07,1793238091857405952
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.327209199,665.327209199,636,881.672790801,787.672790801,804.672790801,652.672790801,631.672790801,653.672790801,0.449005606312,-0.0154796503122,0.0496997277609,0.99999987732,0.000169178234576,-0.000465552625748,-5.14321862386e-07,1793238091874072576
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746.25839755,716,679.25839755,665,636,882,788,805,652.74160245,632,654,0.448804648159,-0.0154679139308,0.0497062717866,0.999999881009,0.000173229228449,-0.000456038664141,-1.21920332905e-06,1793238091890739200
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746.837623218,716,679.837623218,665,636,882,788,805,652.162376782,632,654,0.448587402906,-0.0154551113983,0.0497140506146,0.999999886763,0.000177377443126,-0.000441595647119,-1.99965705385e-06,1793238091907406080
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746.586660809,716,680,665.413339191,636,882,788,805,652.413339191,632,653.586660809,0.4483491198,-0.0154444264793,0.0497196517295,0.999999890934,0.000180978725385,-0.000430544395488,-3.09667874205e-06,1793238091924072960
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746.012311994,716,680,665.987688006,636,882,788,805,652.987688006,632,653.012311994,0.448102641742,-0.0154345664429,0.0497244045512,0.999999894453,0.000184366958826,-0.000420814351752,-4.31701436272e-06,1793238091940740096
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.557051777,636,882,788,805,652.442948223,632,653,0.447825939203,-0.0154268577064,0.0497287957042,0.999999899472,0.000179178579432,-0.000410989924658,-6.16304281336e-06,1793238091957406464
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.133151408,666.866848592,636,882,788,805,652.133151408,632,653.133151408,0.447541992869,-0.0154213167086,0.0497339187493,0.999999905017,0.000172295589223,-0.000400272998081,-7.82981218712e-06,1793238091974072832
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.733256107,666.266743893,636,882,788,805,652.733256107,632,653.733256107,0.447234965015,-0.0154232125612,0.0497416362759,0.999999912475,0.000160128591923,-0.000386433387116,-8.81986368406e-06,1793238091990739456
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,745.104966938,716,680.104966938,666,636.895033062,882,788,805,653,632,653.104966938,0.446562497147,-0.0154204281634,0.0497624160278,0.999999928271,0.000138474009276,-0.000352346769247,-1.15824777802e-05,1793238092024072704
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,745.471008561,716,680,666,636.528991439,881.528991439,788.471008561,804.528991439,653,632,653.471008561,0.446204323156,-0.0154133821455,0.0497783724713,0.999999937513,0.000134722323942,-0.000326583462901,-1.29087741612e-05,1793238092040739328
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745.569798887,716,680,666,636.569798887,881.569798887,789,804,652.430201113,632.569798887,654,0.44024646954,-0.0153871191961,0.0498418065035,0.999999970523,-2.46244397382e-05,-0.000238703485616,-3.69978756796e-05,1793238092240739584
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767.006262317,745,716,680.006262317,666,636,881,789,804,652.993737683,632,653.993737683,0.439610267808,-0.0153842365329,0.0498368297686,0.999999968797,-2.9448930841e-05,-0.000244831763921,-3.99567329507e-05,1793238092257406208
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767.597889722,745,716,680.597889722,666,636,881,789,804,652.402110278,632,653.402110278,0.43894038796,-0.015378119289,0.0498028233499,0.999999952275,3.54006942719e-05,-0.000303543331786,-4.53646095427e-05,1793238092274072832
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767.814965853,745.185034147,716,680.814965853,666.185034147,636.185034147,881.185034147,789,804.185034147,652.185034147,632,653,0.438268139833,-0.015372653806,0.0497754881745,0.999999934748,7.19768917203e-05,-0.000350405434545,-5.0384426309e-05,1793238092290739200
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767.23733328,745.76266672,716,680.23733328,666.76266672,636.76266672,881.76266672,789,804.76266672,652.76266672,632,653,0.437590866823,-0.0153685712048,0.049762307792,0.999999928092,4.85636006525e-05,-0.000372125792667,-5.45808727389e-05,1793238092307405824
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.658747762,637,881.658747762,789,805,652.658747762,632,653,0.436925432731,-0.0153693673708,0.04977987198,0.999999936645,2.20948378055e-05,-0.000350889277431,-5.56614315997e-05,1793238092324072704
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.079497661,637,881.079497661,789,805,652.079497661,632,653,0.436268255425,-0.0153735661114,0.0498188782024,0.999999953582,-6.50488670235e-06,-0.000299693560497,-5.45688920845e-05,1793238092340739584
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745.499289377,716,680,666,637,881.500710623,789,805,652,632,653,0.435570387786,-0.015370300978,0.0498285844292,0.999999957307,-2.49594390212e-05,-0.000285571157383,-5.6676271076e-05,1793238092357406208
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745.0815438,716,679.9184562,666,636.9184562,881.9184562,789,804.9184562,652,632.0815438,653,0.434858701585,-0.0153661371049,0.0498291700957,0.999999956993,-4.19599829018e-05,-0.000284050332808,-5.97419506538e-05,1793238092374072832
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745.665286512,716,679.334713488,666,636.334713488,881.334713488,789,804.334713488,652,632.665286512,653,0.434101775648,-0.0153637504277,0.0498022901332,0.999999943624,-5.99448273805e-05,-0.000323818113066,-6.5574561206e-05,1793238092390739712
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.246691112,666.246691112,636,881,789,804.246691112,652.246691112,632.753308888,653.246691112,0.433360765986,-0.0153634031477,0.0497937045909,0.999999938059,-7.36126116088e-05,-0.000337115891425,-6.9394167705e-05,1793238092407406080
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.8249532,666.8249532,636,881,789,804.8249532,652.8249532,632.1750468,653.8249532,0.43264114886,-0.0153657969673,0.0498097080891,0.999999944634,-8.14779523768e-05,-0.00031483604899,-7.05081498184e-05,1793238092424072704
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745.598555542,716,680,666.598555542,636,881,789,804.598555542,652.598555542,632.401444458,653.598555542,0.431901921606,-0.0153672074635,0.0498205820362,0.999999949956,-8.10359141676e-05,-0.000297109221744,-7.24317878689e-05,1793238092440739328
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745.022833085,716,680,666.022833085,636,881,789,804.022833085,652.022833085,632.977166915,653.022833085,0.431154181103,-0.0153681910722,0.0498292291041,0.999999954664,-7.69874154462e-05,-0.000281358984021,-7.47069195959e-05,1793238092457405952
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,716,680,666,636.565119148,881.565119148,789,804,652,632.434880852,653.565119148,0.430349083052,-0.0153626879083,0.0498007460535,0.999999946051,1.00739373284e-05,-0.000324351134537,-5.09218115537e-05,1793238092474072576
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,716,679.848752842,666,637,881.848752842,789,804.151247158,652.151247158,632,653.848752842,0.42954858146,-0.015357622991,0.0497782309274,0.999999932791,7.13524520911e-05,-0.000358018357768,-3.39036646359e-05,1793238092490739200
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.269220672,666,637,881.269220672,789,804.730779328,652.730779328,632,653.269220672,0.428767803184,-0.0153545576312,0.049776957198,0.999999933761,4.99142444494e-05,-0.000358410811107,-3.9095001088e-05,1793238092507406080
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.308429916,666,637,881.308429916,789,805,653,632.308429916,653,0.427993767175,-0.0153526999438,0.0497884228209,0.999999938922,3.55927936673e-05,-0.000345030130501,-4.29453356346e-05,1793238092524072704
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,716,679.884448046,666,637,881.884448046,789,805,653,632.884448046,653,0.427225580675,-0.0153518900115,0.0498109408755,0.999999947478,2.74457134951e-05,-0.000319700127956,-4.56322409074e-05,1793238092540739584
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745.459594868,716,680,666,637,881.540405132,789,804.540405132,652.540405132,633,653.459594868,0.426427465093,-0.0153544548912,0.0497989142726,0.999999941863,1.73938007041e-05,-0.000336874669438,-4.9877434401e-05,1793238092557406208
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,804,652,632.964504656,653.964504656,0.425625389281,-0.0153579511411,0.0497810208274,0.99999993378,6.27840536038e-06,-0.000359814352943,-5.41758589131e-05,1793238092574072576
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,804,652,632.373384922,653.373384922,0.424878889469,-0.015362769728,0.0498069881504,0.999999951659,-1.40016498212e-05,-0.00030603357187,-5.31863175586e-05,1793238092590739200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.786997478,666,637,881,789,804,652.213002522,632.213002522,653.213002522,0.424125949866,-0.0153662261369,0.049830510701,0.999999964438,-2.66113133653e-05,-0.000260236246231,-5.18955318082e-05,1793238092607406080
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.208725158,666,637,881,789,804,652.791274842,632.791274842,653.791274842,0.423361966791,-0.0153673466001,0.0498498408101,0.999999972384,-2.60673219256e-05,-0.000228129432386,-5.00881537265e-05,1793238092624072704
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745.633487083,716,679,666,637,881,789,804.366512917,653,632.633487083,654,0.422573874818,-0.0153656109619,0.0498389302983,0.999999967551,-1.8600337731e-05,-0.000248873265936,-5.11268898933e-05,1793238092640739072
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745.059962824,716,679,666,637,881,789,804.940037176,653,632.059962824,654,0.421772165866,-0.0153622621597,0.0498109394828,0.999999953688,-7.2231557026e-06,-0.000299467845316,-5.37731490302e-05,1793238092657405952
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,666,637,881.515718875,789,804.484281125,653,632.515718875,653.484281125,0.42098876761,-0.0153584176471,0.0497990898541,0.999999947655,-1.35869384635e-05,-0.000318384037918,-5.60145407891e-05,1793238092674072832
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745.094070988,716,679.094070988,666,637,881.905929012,789,804,653,632.905929012,653,0.420214437745,-0.0153558054645,0.0497955108236,0.999999945204,-2.23288961853e-05,-0.00032527098854,-5.73795402683e-05,1793238092690739456
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745.685202238,716,679.685202238,666,637,881.314797762,789,804,653,632.314797762,653,0.419476727626,-0.0153600105958,0.0498256745358,0.999999956475,-3.26917432778e-05,-0.000288140477486,-5.43635627472e-05,1793238092707406080
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745.729321942,716,679.729321942,666,637,881,789,804.270678058,653,632.270678058,653.270678058,0.418720959474,-0.0153616424368,0.0498313477562,0.999999956358,-3.55690283973e-05,-0.000288328749248,-5.3714221609e-05,1793238092724072704
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.150288801,716,679.150288801,666,637,881,789,804.849711199,653,632.849711199,653.849711199,0.417944619754,-0.015360342798,0.0498091215293,0.999999943207,-2.99187982138e-05,-0.000331030393418,-5.57609409514e-05,1793238092740739584
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745.425090155,716,679,666,637,881,789,804.574909845,653,632.574909845,654,0.417226362608,-0.0153605334186,0.0498030943543,0.999999941611,-2.96867199756e-05,-0.0003355400361,-5.75316380608e-05,1793238092757405952
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745.999188248,716,679,666,637,881,789,804.000811752,653,632.000811752,654,0.416528465233,-0.0153612464235,0.0498027454726,0.999999944402,-3.13538799287e-05,-0.000326662142531,-5.92055805767e-05,1793238092774072320
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.412683925,716,679,666,637,880.412683925,789,804.587316075,653,632.587316075,654,0.415848741409,-0.0153648519557,0.049827103125,0.999999957131,-3.75102760192e-05,-0.000284884259195,-5.63214252065e-05,1793238092790739456
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.172985294,716,679,665.827014706,637,880.172985294,789,804.827014706,653,633,653.827014706,0.415162939274,-0.0153664609052,0.0498402568804,0.999999963186,-4.22619049384e-05,-0.000262362557148,-5.48378117013e-05,1793238092807406336
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745.752825355,716,679,665.247174645,637,880.752825355,789,804.247174645,653,633,653.247174645,0.414462780526,-0.0153633643363,0.0498269772254,0.999999956759,-4.3694626334e-05,-0.000285240212865,-5.66633982523e-05,1793238092824072960
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,665.331264607,637,881,789,804,653,632.668735393,653.331264607,0.41376492842,-0.0153599370688,0.0498058546648,0.999999945319,-4.08379805128e-05,-0.000322815795235,-5.90197125517e-05,1793238092840739584
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,665.908663006,637,881,789,804,653,632.091336994,653.908663006,0.413068790221,-0.0153562640883,0.0497789047272,0.999999928551,-3.4794280456e-05,-0.000371312121083,-6.17703640753e-05,1793238092857405952
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767.482549267,746,716,679,666,637,881,789,804,653,632.482549267,654,0.412453029341,-0.015358827965,0.04978814738,0.999999934954,-3.81029494813e-05,-0.000353407169693,-6.11920843132e-05,1793238092874072576
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768,746,716,679,666.057579431,637,881,789,804,653,633,654,0.411852679294,-0.0153620755696,0.0498050130405,0.999999945102,-4.27771306409e-05,-0.000323082134837,-5.98691248404e-05,1793238092890739200
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768,746,716,679,666.649344875,637,881,789,804,653,633,654,0.41125517675,-0.0153607934475,0.0498295044165,0.999999954381,-4.38153739012e-05,-0.000293290955285,-5.74409328166e-05,1793238092907405824
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767.764368904,745.764368904,716,679.235631096,666.764368904,637,881,789,804,653,632.764368904,654,0.410655745886,-0.0153593809364,0.0498366700613,0.999999955518,-4.64482676937e-05,-0.000289110596225,-5.67678120991e-05,1793238092924072448
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767.186051356,745.186051356,716,679.813948644,666.186051356,637,881,789,804,653,632.186051356,654,0.410053510651,-0.0153577787961,0.049818638294,0.99999994506,-5.14003168143e-05,-0.00032217694166,-5.86471524964e-05,1793238092940739328
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767.388464389,745.388464389,716,679.611535611,666,637,881,789,804,653.388464389,632.388464389,654,0.409491111565,-0.015357743704,0.0498060600355,0.999999938056,-5.38675359796e-05,-0.000342687663046,-5.95999899902e-05,1793238092957405952
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767.961176993,745.961176993,716,679.038823007,666,637,881,789,804,653.961176993,632.961176993,654,0.408947606665,-0.0153584518609,0.0497960683686,0.999999932861,-5.51562035817e-05,-0.000357243269263,-6.01133883912e-05,1793238092974072576
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767.449059132,746,716,679.550940868,666,637,881,789,804,653.449059132,632.449059132,654,0.408470083412,-0.0153596356734,0.0498127517014,0.999999944388,-5.65615501102e-05,-0.00032354629374,-5.78122797806e-05,1793238092990739200
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767.13913006,746,716,679.86086994,666,637,881,789,804,653,632.13913006,654,0.40799545687,-0.0153609002363,0.0498305579181,0.999999954589,-5.8631070775e-05,-0.000290344870264,-5.5534593733e-05,1793238093007405568
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767.718415051,746,716,679.281584949,666,637,881,789,804,653,632.718415051,654,0.407514815232,-0.0153623108384,0.0498457799346,0.999999960174,-6.27749459715e-05,-0.000269811686319,-5.3978484843e-05,1793238093024072448
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767.703911064,746,716,679,666,637,880.703911064,789,804,653,632.703911064,653.703911064,0.407038145461,-0.0153629367528,0.049844583171,0.999999957746,-6.9154809134e-05,-0.000277033410596,-5.45663058795e-05,1793238093040739328
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767.127761108,746,716,679,666,637,880.127761108,789,804,653,632.127761108,653.127761108,0.40656523258,-0.015362820456,0.0498278564095,0.999999947143,-7.76496212456e-05,-0.00031050761266,-5.71820014718e-05,1793238093057405696
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,880,788.555997354,804,653,632.444002646,653,0.40611295199,-0.015362639573,0.04980312016,0.999999931435,-8.78578710941e-05,-0.000354632627861,-6.03938357342e-05,1793238093074072320
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,715.984848889,679,666,637,880,788.015151111,804,653,633,653.015151111,0.405668270967,-0.0153624235432,0.0497768772565,0.999999912949,-9.838469912e-05,-0.000400456564471,-6.36976941273e-05,1793238093090739200
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,715.389398731,679,666,637,880,788.610601269,804,653,633,653.610601269,0.405289494944,-0.0153615662025,0.0497803373225,0.999999914648,-0.000102414274336,-0.000395116311544,-6.40203853044e-05,1793238093107406080
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767.199681818,745.800318182,715.199681818,679.199681818,666,637,880,789,803.800318182,653,632.800318182,654,0.404930170326,-0.0153620948524,0.0497897988604,0.999999920869,-0.000108187441384,-0.000377475662552,-6.37915121208e-05,1793238093124072960
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767.776724932,745.223275068,715.776724932,679.776724932,666,637,880,789,803.223275068,653,632.223275068,654,0.404607605268,-0.0153652427654,0.0498106020577,0.999999934525,-0.000117255670361,-0.000336589565422,-6.25202853335e-05,1793238093140739328
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767.643235703,745,716,679.643235703,666,637,880,789,803,653,632,653.643235703,0.404308404044,-0.0153682642883,0.0498312224863,0.99999994411,-0.000125808358947,-0.000303693503368,-6.10080852309e-05,1793238093157406208
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767.061305244,745,716,679.061305244,666,637,880,789,803,653,632,653.061305244,0.404023948504,-0.0153712060424,0.0498517275655,0.999999951212,-0.000134035673239,-0.000275840222027,-5.93437985009e-05,1793238093174072832
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,666,637,880,789,803,653,632,653.521294245,0.403739403394,-0.0153739923169,0.0498576790755,0.999999952667,-0.000139416961066,-0.000267792761679,-5.92967277411e-05,1793238093190739200
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767.103420646,745.103420646,716,679,666,637,880.103420646,789,803,653,632,654,0.403457657881,-0.0153759598193,0.0498595491887,0.999999953981,-0.00013235686554,-0.000266360695974,-5.97617867333e-05,1793238093207405824
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767.683006358,745.683006358,716,679,666,637,880.683006358,789,803,653,632,654,0.403188850623,-0.0153742418597,0.0498505181814,0.999999955164,-6.95576530633e-05,-0.000284649148209,-6.17079920728e-05,1793238093224072448
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767.739571297,745.739571297,716,679,666,637,881,789,803,653,632,654,0.402933716928,-0.0153747517729,0.04984300316,0.999999951972,-4.14570760268e-05,-0.000300569377495,-6.3213829094e-05,1793238093240739328
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767.164760542,745.164760542,716,679,666,637,881,789,803,653,632,654,0.402695089582,-0.0153779511103,0.0498373181937,0.999999947232,-5.52436993208e-05,-0.000313630756016,-6.41880662414e-05,1793238093257406464
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745.41015259,716,679,666,637,880.58984741,789,803.41015259,653.41015259,632,653.58984741,0.402489297151,-0.0153795791181,0.0498365276057,0.999999945235,-6.54747608341e-05,-0.000317914269899,-6.45973313059e-05,1793238093274073088
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.985106845,716,679,666,637,880.014893155,789,803.985106845,653.985106845,632,653.014893155,0.402296697984,-0.0153805757565,0.049837703607,0.999999944368,-7.42771768882e-05,-0.00031867078709,-6.47795873236e-05,1793238093290739712
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,880,789,804,654,632,653.575487763,0.402129174962,-0.0153794418269,0.0498345978969,0.999999941764,-7.74938406089e-05,-0.000325863079542,-6.54147592312e-05,1793238093307406336
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767.162996803,745.837003197,716,679,666,637,880.162996803,789,804,653.837003197,632,653.837003197,0.401971019527,-0.0153787970538,0.0498320893079,0.999999940374,-7.80870030696e-05,-0.000330003955356,-6.52019095838e-05,1793238093324072704
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767.7421265,745.2578735,716,679,666,637,880.7421265,789,804,653.2578735,632,653.2578735,0.401835077276,-0.0153795457476,0.0498313958615,0.999999942299,-7.23615486063e-05,-0.00032591760165,-6.27933017625e-05,1793238093340739328
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768,745.322156065,716,679,666,637,880.677843935,789,803.677843935,653,632,653,0.401713972646,-0.0153769491838,0.0498326988202,0.999999946187,-3.84982995627e-05,-0.000321064297,-5.53388329684e-05,1793238093357405952
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,768,745.521927239,716,679,666,637,881,789.478072761,803.478072761,654,632.478072761,653.521927239,0.401094159059,-0.0153951411252,0.049843897253,0.999999955022,-3.34148230092e-05,-0.000294605682128,-4.52335847014e-05,1793238093507406080
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,767.303907255,746,716,679,666,637,880.303907255,789,803.696092745,654,632,654,0.401044314938,-0.0153929669183,0.0498445470156,0.999999955751,-3.47582453374e-05,-0.00029189567335,-4.56873002579e-05,1793238093540739328
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,767.503271553,746,716,679,666,637,880,789,803.496728447,653,632,653.503271553,0.400991771385,-0.0153965042617,0.0498545533388,0.999999961154,-4.34289015641e-05,-0.000271502597536,-4.57509277411e-05,1793238093707406336
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767.907687212,745.907687212,716,679,666,637,880.092312788,789,803.092312788,653.092312788,632,653.907687212,0.400992190127,-0.0153972573012,0.0498557791199,0.999999961764,-4.35341025487e-05,-0.000269288274241,-4.53935701025e-05,1793238093724073216
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767.328019719,745.328019719,716,679,666,637,880.671980281,789,803.671980281,653.671980281,632,653.328019719,0.400990465622,-0.0153957572188,0.0498549067411,0.999999961412,-4.06785072103e-05,-0.000271012820651,-4.55260478492e-05,1793238093740739584
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,745.249546238,716,679,666,637,881,789,804,653.750453762,632,653.249546238,0.400990277818,-0.0153949628292,0.049855088656,0.999999961524,-3.98220803635e-05,-0.000270704361011,-4.56755996794e-05,1793238093757405952
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+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,678.846085282,666.846085282,636.846085282,881,789,804,653,632.153914718,654,0.400993547838,-0.0153958692869,0.0498586796093,0.999999963189,-4.19795657606e-05,-0.000264165009757,-4.55588668982e-05,1793238093840739584
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,678.268742806,666.268742806,636.268742806,881,789,804,653,632.731257194,654,0.400991262414,-0.0153965765491,0.0498569590304,0.999999962391,-4.27054347059e-05,-0.00026701796288,-4.57782252666e-05,1793238093857406208
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,678.307498169,666,636.307498169,880.692501831,789,804,653,632.692501831,654,0.400990293224,-0.0153971774429,0.049856581075,0.999999962179,-4.32222260867e-05,-0.000267747738749,-4.56562220158e-05,1793238093874072832
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,678.882779877,666,636.882779877,880.117220123,789,804,653,632.117220123,654,0.400990470271,-0.0153976857062,0.0498573723379,0.999999962483,-4.35569430763e-05,-0.000266628554124,-4.52369453655e-05,1793238093890739200
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.457124291,666,637,880.914248581,789,803.542875709,653,632.457124291,654,0.400990375103,-0.0153986711654,0.0498570099772,0.999999962412,-4.50877804939e-05,-0.000266618302015,-4.53671819425e-05,1793238093907406080
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+430,7.166666667,POSE2_TO_POSE3_RETREAT,767.626797861,745.373202139,716,680,666,637,881.373202139,789,803.626797861,653,632.373202139,654,0.400992043926,-0.0154002270346,0.049858129885,0.999999963039,-4.54981947871e-05,-0.000264245952711,-4.50173819826e-05,1793238093940739072
+431,7.183333333,POSE2_TO_POSE3_RETREAT,768,745,716,679.785992274,666,637,881,789,804,653.214007726,632.214007726,654,0.400992748188,-0.0154000909996,0.0498587758795,0.99999996339,-4.46422422118e-05,-0.000263092940743,-4.48247637804e-05,1793238093957405696
+432,7.200000000,POSE2_TO_POSE3_RETREAT,768,745,716,679.211013998,666,637,881,789,804,653.788986002,632.788986002,654,0.400991721391,-0.0153989119999,0.0498577252596,0.999999963085,-4.44646935288e-05,-0.000264203933822,-4.52765529886e-05,1793238093974072576
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767.636214136,745.363785864,716,679,666,637,881,789,803.636214136,653.636214136,632.636214136,653.636214136,0.40099144323,-0.015398584035,0.0498576944949,0.999999962975,-4.47180214841e-05,-0.000264549562257,-4.54187472663e-05,1793238093990739456
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767.061517745,745.938482255,716,679,666,637,881,789,803.061517745,653.061517745,632.061517745,653.061517745,0.400991599103,-0.0153987494709,0.0498582550072,0.99999996298,-4.52211568987e-05,-0.00026445145854,-4.53814490291e-05,1793238094007406336
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+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746,715.908964575,679,666,637,881,789,804,653.091035425,632,654,0.400991400931,-0.0153992561476,0.0498588876564,0.999999963424,-4.41646240676e-05,-0.000262966598114,-4.52771914715e-05,1793238094040739328
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6dba6925f6474514047f80504e5727a739664d66
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,439 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.578252175943,-0.00999880938518,1.04001184964,0.548823410714,-0.00132514411449,1.03966137611
+2,0.033333333,pose1_baseline,0.578252175943,-0.00999880938518,1.04001184964,0.548823410714,-0.00132514411449,1.03966137611
+3,0.050000000,pose1_baseline,0.578252175943,-0.00999880938518,1.04001184964,0.548823410714,-0.00132514411449,1.03966137611
+4,0.066666667,pose1_baseline,0.578252175943,-0.00999880938518,1.04001184964,0.548823410714,-0.00132514411449,1.03966137611
+5,0.083333333,pose1_baseline,0.578252175943,-0.00999880938518,1.04001184964,0.548823410714,-0.00132514411449,1.03966137611
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+8,0.133333333,pose1_baseline,0.578252175943,-0.00999880938518,1.04001184964,0.548823410714,-0.00132514411449,1.03966137611
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+378,6.300000000,pose2_to_pose3_retreat,0.582795540635,-0.0099986732143,1.04001177262,0.553366810789,-0.00132500378352,1.03966131373
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+391,6.516666667,pose2_to_pose3_retreat,0.579411403663,-0.00999876379187,1.04001172372,0.549982677738,-0.00132509076332,1.03966125848
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+402,6.700000000,pose2_to_pose3_retreat,0.578413528185,-0.0099987855139,1.0400119161,0.548984804299,-0.00132510831842,1.03966144546
+403,6.716666667,pose2_to_pose3_retreat,0.578376355387,-0.00999865294024,1.04001168719,0.548947629243,-0.00132498310067,1.03966122633
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+407,6.783333333,pose2_to_pose3_retreat,0.578288122934,-0.00999876412736,1.04001141673,0.548859398173,-0.00132508942232,1.03966096715
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+409,6.816666667,pose2_to_pose3_retreat,0.578271223766,-0.00999877582281,1.04001147858,0.54884249841,-0.0013251040784,1.03966100652
+410,6.833333333,pose2_to_pose3_retreat,0.578266356614,-0.00999875801678,1.04001151015,0.548837630352,-0.00132508917783,1.03966104267
+411,6.850000000,pose2_to_pose3_retreat,0.578263115337,-0.00999874189795,1.04001152907,0.548834388367,-0.00132507525337,1.03966106719
+412,6.866666667,pose2_to_pose3_retreat,0.57826066904,-0.00999872319257,1.04001153641,0.548831941812,-0.00132505731033,1.03966107749
+413,6.883333333,pose2_to_pose3_retreat,0.578258733435,-0.00999870145042,1.04001153484,0.548830006296,-0.00132503522266,1.03966107693
+414,6.900000000,pose2_to_pose3_retreat,0.578257410195,-0.00999868658682,1.04001153376,0.548828683117,-0.00132502012284,1.03966107655
+415,6.916666667,pose2_to_pose3_retreat,0.578256627947,-0.00999867780003,1.04001153313,0.548827900904,-0.00132501119641,1.03966107633
+416,6.933333333,pose2_to_pose3_retreat,0.578255993562,-0.00999865889176,1.04001152969,0.548827266404,-0.00132499264431,1.03966107391
+417,6.950000000,pose2_to_pose3_retreat,0.5782556062,-0.0099986468559,1.04001152747,0.548826878966,-0.00132498084547,1.03966107234
+418,6.966666667,pose2_to_pose3_retreat,0.578255505455,-0.0099986437256,1.04001152689,0.5488267782,-0.00132497777681,1.03966107193
+419,6.983333333,pose2_to_pose3_retreat,0.578255365413,-0.00999863937429,1.04001152609,0.54882663813,-0.00132497351119,1.03966107137
+420,7.000000000,pose2_to_pose3_retreat,0.578255248637,-0.00999863574591,1.04001152542,0.548826521332,-0.00132496995426,1.03966107089
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+423,7.050000000,pose2_to_pose3_retreat,0.578254268148,-0.00999860528075,1.04001151979,0.548825540648,-0.00132494008904,1.03966106692
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+425,7.083333333,pose2_to_pose3_retreat,0.578253622261,-0.00999863390707,1.04001155487,0.548824895445,-0.00132496649177,1.03966109972
+426,7.100000000,pose2_to_pose3_retreat,0.578253237524,-0.00999869581678,1.0400116115,0.548824511862,-0.00132502466451,1.03966115189
+427,7.116666667,pose2_to_pose3_retreat,0.578252862249,-0.00999875620399,1.04001166673,0.548824137713,-0.00132508140666,1.03966120277
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+429,7.150000000,pose2_to_pose3_retreat,0.5782525262,-0.00999878796156,1.04001173054,0.548823801894,-0.00132511250615,1.03966126348
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+432,7.200000000,pose2_to_pose3_retreat,0.57825223129,-0.00999876564872,1.04001181882,0.548823505441,-0.0013250954755,1.03966135081
+433,7.216666667,pose2_to_pose3_retreat,0.578252202895,-0.0099987689923,1.04001182895,0.548823477016,-0.00132509893836,1.03966136039
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d9aa7928efa174bdbe27dc6c82cc3cfd59a94b8b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8975c3c8b20c6a0b63bcb2b5f8be5f1377843340629e475eefc5d668ad4e80dd
+size 27892805
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..285be2dff4f31e6565b125a9a087c8da6040317c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_04/franka_data.csv
@@ -0,0 +1,440 @@
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+19,0.316666667,BASELINE,767,746,716,679,666,637,881,789,804,653.021817936,633,653.021817936,0.400992568193,-0.0154032253745,0.0498597187346,0.999999964022,-4.98304914568e-05,-0.000259734956206,-4.48494395573e-05,1793238094526736640
+20,0.333333333,BASELINE,767,746,716,679,666,637,881,789,804,653.611267862,633,653.611267862,0.400993599604,-0.015403487141,0.0498610609001,0.999999964491,-5.04190700153e-05,-0.00025780790954,-4.48393685011e-05,1793238094543403264
+21,0.350000000,BASELINE,767.197118779,746,716,679,666,637,881,789,803.802881221,654,633,653.802881221,0.400993909391,-0.0154028490287,0.0498617462203,0.999999964781,-4.9488524349e-05,-0.000256852710773,-4.49004045933e-05,1793238094560069888
+22,0.366666667,BASELINE,767.775999395,746,716,679,666,637,881,789,803.224000605,654,633,653.224000605,0.400992821601,-0.0154004681123,0.0498611594217,0.999999964717,-4.56158761117e-05,-0.000257779699403,-4.50991545847e-05,1793238094576737024
+23,0.383333333,BASELINE,767.646978649,746,716,679,666,637,881,789,803,654,633,653.353021351,0.400993579517,-0.0154011808904,0.0498617175945,0.999999964863,-4.69249269115e-05,-0.000257021543798,-4.48591712699e-05,1793238094593403392
+24,0.400000000,BASELINE,767.071129824,746,716,679,666,637,881,789,803,654,633,653.928870176,0.400995502445,-0.0154038464116,0.0498629984745,0.999999965127,-5.15046715938e-05,-0.000255199723344,-4.43422590175e-05,1793238094610070016
+25,0.416666667,BASELINE,767,746,716,679,666,637,880.49690424,789,803.50309576,653.49690424,632.49690424,653.49690424,0.400993603142,-0.015403708953,0.0498615777849,0.999999964545,-5.09075950268e-05,-0.000257561214251,-4.45062666719e-05,1793238094626736640
+26,0.433333333,BASELINE,767,746,716,679,666,637,880,789,804,653.079581757,632,653.079581757,0.4009917585,-0.0154032560759,0.0498601519326,0.99999996401,-4.96117084185e-05,-0.00025984728388,-4.47012561765e-05,1793238094643403264
+27,0.450000000,BASELINE,767,746,716,679,666,637,880,789,804,653.672112127,632,653.672112127,0.400993738177,-0.0154033162925,0.0498611468263,0.999999964591,-4.85140676538e-05,-0.000257847231459,-4.44774143291e-05,1793238094660069888
+28,0.466666667,BASELINE,767,746,716,679,666,637,880,789,804,653.741430692,632,653.741430692,0.400994685828,-0.0154032450896,0.0498617594092,0.999999964901,-4.8269204678e-05,-0.000256693594929,-4.44669078031e-05,1793238094676736512
+29,0.483333333,BASELINE,767,746,716,679,666,637,880,789,804,653.162498132,632,653.162498132,0.400994354817,-0.01540301106,0.049861898315,0.999999964877,-4.90809198587e-05,-0.00025658865432,-4.47207203542e-05,1793238094693403136
+30,0.500000000,BASELINE,767,746,716,678.58718954,666,637,880,789,803.58718954,653,632,653,0.40099361068,-0.0154019839614,0.0498616556739,0.999999964718,-4.88191013541e-05,-0.000257245036872,-4.47867872015e-05,1793238094710070016
+31,0.516666667,BASELINE,767,746,716,678.01329508,666,637,880,789,803.01329508,653,632,653,0.400992705335,-0.0154006473969,0.0498612641482,0.999999964506,-4.81383760534e-05,-0.000258198497606,-4.47795932326e-05,1793238094726736896
+32,0.533333333,BASELINE,767,746,716,678.576432339,666,637,880,789,803.576432339,653.576432339,632,653.576432339,0.400992143227,-0.0153990040385,0.0498607849829,0.99999996448,-4.41313116076e-05,-0.000258922019724,-4.52968837032e-05,1793238094743403520
+33,0.550000000,BASELINE,767,745.836548887,716,679,666,637,880,789.163451113,804,654,632.163451113,654,0.400991565108,-0.0153980999371,0.0498602756012,0.999999964384,-4.17258675601e-05,-0.000259631165082,-4.56357742721e-05,1793238094760069888
+34,0.566666667,BASELINE,767,745.257374431,716,679,666,637,880,789.742625569,804,654,632.742625569,654,0.400990925565,-0.0153990945759,0.0498596946534,0.999999964132,-4.35946447084e-05,-0.000260317614017,-4.5489284077e-05,1793238094776736512
+35,0.583333333,BASELINE,767,745.319143872,716,679,666,637,880.638287744,789.680856128,803.680856128,653.680856128,633,654,0.400990993357,-0.015400855205,0.0498597379136,0.999999964074,-4.57369852623e-05,-0.000260238099997,-4.51264585906e-05,1793238094793403136
+36,0.600000000,BASELINE,767,745.893537858,716,679,666,637,881.787075715,789.106462142,803.106462142,653.106462142,633,654,0.400991626872,-0.0154032284703,0.0498602804132,0.999999964167,-4.8098121039e-05,-0.000259545971653,-4.45906089059e-05,1793238094810069760
+37,0.616666667,BASELINE,767,746,716,679,666.467619759,637,881.532380241,789,803.467619759,653.467619759,632.532380241,654,0.400991770925,-0.0154042102368,0.0498604493046,0.999999964151,-4.97221080729e-05,-0.000259340010878,-4.43734098224e-05,1793238094826736640
+38,0.633333333,BASELINE,767,746,716,679,666.957195652,637,880.957195652,789,804,654,632,653.957195652,0.400991819527,-0.0154046818975,0.0498605667344,0.999999964138,-5.09128921368e-05,-0.000259175854075,-4.42745466619e-05,1793238094843403264
+39,0.650000000,BASELINE,767,746,716,679,666.367001199,637,880.367001199,789,804,654,632,653.367001199,0.400992071593,-0.0154026788253,0.0498611130845,0.999999964496,-4.87085463356e-05,-0.000258131779014,-4.47618646127e-05,1793238094860070144
+40,0.666666667,BASELINE,767,745.779607142,716,679,666,637,880,789,804,654,632,653.220392858,0.400992230951,-0.0154014153928,0.0498612637575,0.99999996468,-4.69460264738e-05,-0.000257698006337,-4.5025429687e-05,1793238094876737024
+41,0.683333333,BASELINE,767,745.196817866,716,679,666,637,880,789,804,654,632,653.803182134,0.400992237864,-0.015401368165,0.0498607638105,0.999999964586,-4.591001004e-05,-0.000258267766232,-4.49210733685e-05,1793238094893403136
+42,0.700000000,BASELINE,767.38180971,745.38180971,716,679,666,637,880.38180971,788.61819029,804.38180971,653.61819029,632,653.61819029,0.400992086028,-0.0154016710281,0.0498608578167,0.999999964563,-4.571061951e-05,-0.000258419320677,-4.47630306927e-05,1793238094910069504
+43,0.716666667,BASELINE,767.958315098,745.958315098,716,679,666,637,880.958315098,788.041684902,804.958315098,653.041684902,632,653.041684902,0.400991853242,-0.0154021524127,0.0498612546966,0.999999964577,-4.59378484587e-05,-0.000258357620199,-4.4577611813e-05,1793238094926736384
+44,0.733333333,BASELINE,767.468476704,746,716,679,666,637,880.468476704,788.531523296,804.468476704,653.531523296,632,653.531523296,0.400992042739,-0.015401317017,0.0498613621887,0.999999964686,-4.59152909328e-05,-0.000257938602488,-4.4591140302e-05,1793238094943403008
+45,0.750000000,BASELINE,767,746,716,679,666,637,880.108047649,789,803.891952351,654,632,654,0.400992299489,-0.0154005538257,0.0498614655298,0.999999964804,-4.54791269932e-05,-0.000257555550029,-4.46043175883e-05,1793238094960069632
+46,0.766666667,BASELINE,767,746,716,679,666,637,880.700594261,789,803.299405739,654,632,654,0.400992710222,-0.0154005746247,0.0498616513989,0.999999964929,-4.32756015703e-05,-0.000257458653015,-4.45463877502e-05,1793238094976736512
+47,0.783333333,BASELINE,767.286051998,745.713948002,716,679,666,637,881,789,803.286051998,654,632,653.713948002,0.400992589859,-0.0154005650906,0.049861600829,0.999999964854,-4.3028323795e-05,-0.000257770035808,-4.4664346831e-05,1793238094993402880
+48,0.800000000,BASELINE,767.864269428,745.135730572,716,679,666,637,881,789,803.864269428,654,632,653.135730572,0.40099192705,-0.0154005245749,0.049861308767,0.999999964576,-4.47791018573e-05,-0.000258498424053,-4.49619538795e-05,1793238095010069760
+49,0.816666667,BASELINE,767.560162826,745.439837174,716,679.439837174,666,637,880.560162826,789,804,653.560162826,632,653,0.400991635023,-0.0154010512425,0.0498609794547,0.999999964472,-4.53386573663e-05,-0.000258807364308,-4.49358303167e-05,1793238095026736640
+50,0.833333333,BASELINE,767.014628655,745.985371345,716,679.985371345,666,637,880.014628655,789,804,653,632.014628655,653,0.400991482409,-0.015401721274,0.0498606701989,0.999999964432,-4.55255050304e-05,-0.000258948092952,-4.48194471961e-05,1793238095043403264
+51,0.850000000,BASELINE,767.590823124,745.409176876,716,679.409176876,666,637,880.590823124,789,804,653,632.590823124,653,0.400992315478,-0.0154012159949,0.0498615695107,0.999999964782,-4.54318729214e-05,-0.000257570647057,-4.50502126438e-05,1793238095060069888
+52,0.866666667,BASELINE,767.828324463,745.171675537,716,679.171675537,666,637,880.828324463,789,804.171675537,653,632.828324463,653.171675537,0.400992774,-0.0154010886075,0.0498619904071,0.999999964957,-4.5654446008e-05,-0.000256831472444,-4.5151120024e-05,1793238095076736512
+53,0.883333333,BASELINE,767.236060571,745.763939429,716,679.763939429,666,637,880.236060571,789,804.763939429,653,632.236060571,653.763939429,0.400992314917,-0.0154018870177,0.049861239232,0.999999964709,-4.6651691047e-05,-0.000257656000418,-4.49338877673e-05,1793238095093403136
+54,0.900000000,BASELINE,767,745.652657838,716,679.652657838,666,637,880,789,804.652657838,653,632,653.652657838,0.400992209646,-0.0154027356929,0.0498611486914,0.999999964635,-4.72967241258e-05,-0.00025784449609,-4.48180539968e-05,1793238095110069760
+55,0.916666667,BASELINE,767,745.075127532,716,679.075127532,666,637,880,789,804.075127532,653,632,653.075127532,0.400992338851,-0.0154036176793,0.0498614959618,0.999999964678,-4.77083417432e-05,-0.000257611484895,-4.47694183237e-05,1793238095126736384
+56,0.933333333,BASELINE,767,745.499552977,716,679,666,637,880.499552977,789,804,653,632,653.499552977,0.400993645182,-0.0154023931746,0.0498624880468,0.999999965075,-4.66515673166e-05,-0.000256236126484,-4.49003346993e-05,1793238095143403264
+57,0.950000000,BASELINE,767.075345095,745.924654905,716,679,666,637,880.924654905,789,804,653,632,653.924654905,0.400994837709,-0.0154011072207,0.0498633329849,0.999999965418,-4.55916728579e-05,-0.000255067325597,-4.5010336953e-05,1793238095160069888
+58,0.966666667,BASELINE,767.661563623,745.338436377,716,679,666,637,880.338436377,789,804,653,632,653.338436377,0.400994065086,-0.0154015404362,0.0498625264079,0.999999965053,-4.59994617992e-05,-0.000256457331148,-4.47964798949e-05,1793238095176736512
+59,0.983333333,BASELINE,767.753800255,745,716,679,666,637,880,789,803.753800255,653,632,653,0.400993608556,-0.0154018428311,0.0498622189904,0.999999965062,-4.52017941947e-05,-0.000256613468636,-4.45297009761e-05,1793238095193403136
+60,1.000000000,BASELINE,767.171325399,745,716,679,666,637,880,789,803.171325399,653,632,653,0.400993583767,-0.0154019665433,0.0498625933564,0.999999965575,-4.27576382087e-05,-0.000255084311649,-4.41906380177e-05,1793238095210069760
+61,1.016666667,BASELINE,767,745.404258861,715.595741139,679,666,637,880,789,803.404258861,653.404258861,632,653,0.40099345609,-0.0154015443046,0.0498623788478,0.99999996548,-4.2786503892e-05,-0.000255415242117,-4.44151916211e-05,1793238095226736384
+62,1.033333333,BASELINE,767,745.976971785,715.023028215,679,666,637,880,789,803.976971785,653.976971785,632,653,0.400993285538,-0.015400894569,0.0498619189561,0.99999996513,-4.38458741592e-05,-0.000256521268343,-4.48746034247e-05,1793238095243403008
+63,1.050000000,BASELINE,767.562545961,745.437454039,715.562545961,679,666,637,880.562545961,789,803.437454039,653.437454039,632,653,0.400992610768,-0.0154011647967,0.0498616221727,0.999999964932,-4.37190203013e-05,-0.000257268061481,-4.51482353463e-05,1793238095260069632
+64,1.066666667,BASELINE,767.852868208,745.147131792,716,679,666,637,881,789,803.147131792,653.147131792,632,653.147131792,0.400992100441,-0.0154013737033,0.0498613454304,0.99999996478,-4.36941998039e-05,-0.000257848963565,-4.52092643281e-05,1793238095276736512
+65,1.083333333,BASELINE,767.272776295,745.727223705,716,679,666,637,881,789,803.727223705,653.727223705,632,653.727223705,0.400992136173,-0.0154012887505,0.0498611075544,0.999999964751,-4.41158658417e-05,-0.000257985988983,-4.46675759778e-05,1793238095293403136
+66,1.100000000,BASELINE,767,745.69311507,716,679,666,637,881.30688493,789,804,654,632,654,0.40099294016,-0.0154018529503,0.0498617974497,0.999999965096,-4.42735038048e-05,-0.000256681950587,-4.43031354277e-05,1793238095310069760
+67,1.116666667,BASELINE,767,745.113836159,716,679,666,637,881.886163841,789,804,654,632,654,0.400994426058,-0.015402993344,0.0498633108437,0.999999965768,-4.41967879168e-05,-0.000254098810247,-4.40960217387e-05,1793238095326736384
+68,1.133333333,BASELINE,767,745.456244068,716,679,666.456244068,637,881.543755932,789,803.543755932,654,632,654,0.400994683815,-0.0154031145903,0.0498637015843,0.999999965812,-4.49966811507e-05,-0.000253743888774,-4.432102814e-05,1793238095343403264
+69,1.150000000,BASELINE,767,745.974757112,716,679,666.974757112,637,880.974757112,789,803.025242888,653.974757112,632,654,0.400994638155,-0.0154029700937,0.0498637941163,0.999999965705,-4.60260854323e-05,-0.000253928243945,-4.46394749394e-05,1793238095360069632
+70,1.166666667,BASELINE,767,745.379370009,716,679,666.379370009,637,880.379370009,789,803.620629991,653.379370009,632,654,0.40099452376,-0.0154024532891,0.049863352832,0.999999965625,-4.73968450269e-05,-0.000253984029095,-4.46813327118e-05,1793238095376736256
+71,1.183333333,BASELINE,767,745.209946598,716,679,666,637,880.209946598,789,804,653.209946598,632,654,0.400994345947,-0.0154020876278,0.0498628884947,0.999999965418,-4.84676059556e-05,-0.000254577210801,-4.47919371748e-05,1793238095393402880
+72,1.200000000,BASELINE,767,745.788602273,716,679,666,637,880.788602273,789,804,653.788602273,632,654,0.400994056758,-0.015401987405,0.0498623836714,0.999999964988,-4.9011508222e-05,-0.000256114170557,-4.5023274865e-05,1793238095410069504
+73,1.216666667,BASELINE,767.365828426,745.634171574,716,679,666,637,880.634171574,788.634171574,804,653.634171574,632,654,0.40099427758,-0.0154021532655,0.049862343275,0.999999965071,-4.86317091115e-05,-0.000255877357172,-4.49511631874e-05,1793238095426736384
+74,1.233333333,BASELINE,767.942231698,745.057768302,716,679,666,637,880.057768302,788.057768302,804,653.057768302,632,654,0.400994791971,-0.0154024722866,0.0498625702079,0.999999965447,-4.77202173497e-05,-0.000254619540469,-4.47043827199e-05,1793238095443403264
+75,1.250000000,BASELINE,767.488136042,745,716,679,666,637,880.511863958,788.511863958,804,653.511863958,632,654,0.40099513312,-0.0154028252086,0.0498629708121,0.999999965646,-4.7211143316e-05,-0.000253915799106,-4.47910156817e-05,1793238095460070144
+76,1.266666667,BASELINE,767,745.081986732,716,679,666,637,880.918013268,789,804,654,632,653.918013268,0.400995191469,-0.0154030869158,0.0498631979586,0.999999965739,-4.68723992226e-05,-0.000253593394268,-4.48885623756e-05,1793238095476737024
+77,1.283333333,BASELINE,767,745.659634521,716,679,666,637,880.340365479,789,804,654,632,653.340365479,0.400993656777,-0.0154027743448,0.0498622594955,0.999999965313,-4.72924205683e-05,-0.000255203296328,-4.48275709081e-05,1793238095493403392
+78,1.300000000,BASELINE,767,746,716,679,666,637,880.245307782,789,804,653.754692218,632,653.245307782,0.400993447744,-0.0154031752755,0.0498621824196,0.999999965268,-4.77213288251e-05,-0.000255314912705,-4.47315760102e-05,1793238095510069760
+79,1.316666667,BASELINE,767,746,716,679,666,637,880.84249299,789,804,653.15750701,632,653.84249299,0.400995140279,-0.015404599676,0.0498633409453,0.999999965772,-4.8162984719e-05,-0.000253277339436,-4.45853710629e-05,1793238095526736384
+80,1.333333333,BASELINE,767,746,716,679.423046233,666,637.423046233,881.423046233,789,804,653,632,654,0.400994626395,-0.0154042610644,0.0498629219543,0.999999965602,-4.80768398397e-05,-0.000253976773322,-4.44929509589e-05,1793238095543403008
+81,1.350000000,BASELINE,767,746,716,679.997641413,666,637.997641413,881.997641413,789,804,653,632,654,0.400993322101,-0.0154032908846,0.0498619378455,0.999999965191,-4.78016195591e-05,-0.0002556566922,-4.44197983268e-05,1793238095560069632
+82,1.366666667,BASELINE,767,746,716,679.426987983,666,637.426987983,881.426987983,789,803.426987983,653,632,654,0.400992861517,-0.0154021938034,0.0498620663103,0.999999965191,-4.76789494056e-05,-0.000255637849159,-4.46605463317e-05,1793238095576736512
+83,1.383333333,BASELINE,767,746,716,679.153421908,666,637,881,789,803.153421908,653.153421908,632.153421908,654,0.400992785266,-0.0154014096567,0.0498624690682,0.999999965297,-4.73690308641e-05,-0.000255254234418,-4.48057763402e-05,1793238095593403392
+84,1.400000000,BASELINE,767,746,716,679.748323555,666,637,881,789,803.748323555,653.748323555,632.748323555,654,0.400993804946,-0.015401527501,0.0498636479235,0.999999965703,-4.65184857415e-05,-0.000253841117615,-4.46724252745e-05,1793238095610070272
+85,1.416666667,BASELINE,767,746,716,679.668481917,666,637,881,789,804,653.668481917,633,654,0.400994619106,-0.0154025071951,0.0498643534917,0.999999965909,-4.79740033963e-05,-0.000252777936311,-4.45459676937e-05,1793238095626736640
+86,1.433333333,BASELINE,767,746,716,679.093871894,666,637,881,789,804,653.093871894,633,654,0.400995282564,-0.015404118857,0.049864712013,0.999999965962,-5.11204854996e-05,-0.000251971351953,-4.44245648997e-05,1793238095643403264
+87,1.450000000,BASELINE,767,746,716,679,666,637.480607992,880.519392008,789,804,653.480607992,632.519392008,654,0.400994473977,-0.015402364487,0.0498635664279,0.999999965703,-4.93668461507e-05,-0.000253265099579,-4.48775116095e-05,1793238095660069888
+88,1.466666667,BASELINE,767,745.943148236,716,679,666,637.943148236,880,789,804,654,632,654,0.400993543129,-0.0154003227784,0.0498623043095,0.999999965429,-4.68520568964e-05,-0.000254739158409,-4.53281182997e-05,1793238095676736256
+89,1.483333333,BASELINE,767,745.350026381,716,679,666,637.350026381,880,789,804,654,632,654,0.400994170389,-0.0154017705715,0.049862713375,0.999999965665,-4.61830552135e-05,-0.000254045446186,-4.46987563347e-05,1793238095693402880
+90,1.500000000,BASELINE,767.236020343,745.236020343,716,679,666,637,880.236020343,789,804,654,632,654,0.400994016824,-0.0154025071887,0.0498627787986,0.99999996565,-4.63782558524e-05,-0.000254115498308,-4.44444090231e-05,1793238095710069760
+91,1.516666667,BASELINE,767.811879733,745.811879733,716,679,666,637,880.811879733,789,804,654,632,654,0.400992738968,-0.0154022198034,0.0498623494217,0.999999965271,-4.78177971428e-05,-0.000255285273272,-4.47300348079e-05,1793238095726736640
+92,1.533333333,BASELINE,768,746,716,679.387418829,666,637,881,789,804,653.612581171,632,654,0.400993889935,-0.0154027268744,0.049862728072,0.99999996542,-4.92033483998e-05,-0.000254429512405,-4.47842571089e-05,1793238095743403264
+93,1.550000000,BASELINE,768,746,716,679.96280258,666,637,881,789,804,653.03719742,632,654,0.400996219301,-0.0154036193935,0.0498634987547,0.99999996582,-5.05627053108e-05,-0.00025259101757,-4.47262088526e-05,1793238095760070144
+94,1.566666667,BASELINE,768,746,716,679.447246255,666,637,881,789,804,653,632,654,0.400994617133,-0.0154036780998,0.0498633701448,0.999999965634,-5.04989649308e-05,-0.000253343014702,-4.47142369112e-05,1793238095776736768
+95,1.583333333,BASELINE,767.859126247,746,716,679,666.140873753,637,881,789,804,653.140873753,632,654,0.400993128271,-0.0154034876585,0.049863198488,0.999999965472,-4.96829625472e-05,-0.000254145480805,-4.47010964501e-05,1793238095793403392
+96,1.600000000,BASELINE,767.279838255,746,716,679,666.720161745,637,881,789,804,653.720161745,632,654,0.400992837688,-0.0154027011942,0.0498630862999,0.999999965508,-4.68319442546e-05,-0.000254547804475,-4.46744085428e-05,1793238095810070016
+97,1.616666667,BASELINE,767,746,716,679,666.702894326,637,881,789,803.702894326,654,632,653.702894326,0.400992782441,-0.0154029132166,0.0498625474092,0.999999965403,-4.59778355938e-05,-0.000255130029272,-4.45884733606e-05,1793238095826736384
+98,1.633333333,BASELINE,767,746,716,679,666.128140977,637,881,789,803.128140977,654,632,653.128140977,0.400992947118,-0.0154040583329,0.0498616097616,0.999999965171,-4.69898554349e-05,-0.000255880373115,-4.44471711191e-05,1793238095843403008
+99,1.650000000,BASELINE,767,746,716,679,666,637,881,789,803.444279711,654,632,653.444279711,0.400993310231,-0.0154043165643,0.0498621164414,0.999999965307,-4.75744480649e-05,-0.000255246189917,-4.44169782817e-05,1793238095860069888
+100,1.666666667,BASELINE,767,745.983291744,716,679.016708256,666,637,881,789,804,654,632.016708256,653.983291744,0.400993700098,-0.0154042982451,0.0498629851274,0.999999965532,-4.80113953538e-05,-0.000254276786137,-4.44254285544e-05,1793238095876736512
+101,1.683333333,BASELINE,767,745.387389838,716,679.612610162,666,637,881,789,804,654,632.612610162,653.387389838,0.400993043778,-0.0154035142567,0.049862037471,0.999999965241,-4.75814055465e-05,-0.000255457474541,-4.46683488162e-05,1793238095893403392
+102,1.700000000,BASELINE,767.201816106,745.201816106,716,680,666,637,881,789,804,654,632.798183894,653,0.400993110846,-0.0154035643708,0.0498617036412,0.999999965168,-4.7629476117e-05,-0.000255721534512,-4.4751766125e-05,1793238095910070016
+103,1.716666667,BASELINE,767.778581708,745.778581708,716,680,666,637,881,789,804,654,632.221418292,653,0.400994521883,-0.0154051641449,0.0498625102257,0.999999965499,-4.85657241065e-05,-0.000254282611485,-4.45388465417e-05,1793238095926736640
+104,1.733333333,BASELINE,768,746,716,679.645590126,666,637,880.645590126,789,803.645590126,653.645590126,632.354409874,653.354409874,0.40099477672,-0.0154037557983,0.0498627775874,0.999999965675,-4.75932225205e-05,-0.00025372321114,-4.48247227854e-05,1793238095943403264
+105,1.750000000,BASELINE,768,746,716,679.070346025,666,637,880.070346025,789,803.070346025,653.070346025,632.929653975,653.929653975,0.400994311125,-0.0154004730797,0.0498627089572,0.999999965752,-4.54313714382e-05,-0.000253711844797,-4.5421400707e-05,1793238095960069632
+106,1.766666667,POSE1_TO_POSE2_PRESS,768,746,716,680,666,637,881,789,804,654,632,654,0.400994016881,-0.0154054518487,0.049862488461,0.999999965307,-5.13921085917e-05,-0.000254555275789,-4.41274950555e-05,1793238095991073024
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745.405707455,716,679.405707455,666,637.594292545,881,789,804,653.405707455,632,654,0.400994203795,-0.0154028292513,0.0498629377302,0.999999965569,-4.79135351034e-05,-0.000254090368331,-4.47720558196e-05,1793238096007739904
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,745,716,678.817710165,666,637.817710165,880.817710165,789,803.817710165,653,632.182289835,654,0.400994413342,-0.0154016866939,0.0498631975787,0.999999965759,-4.64193746845e-05,-0.000253564985179,-4.50820931083e-05,1793238096024406784
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,745,716,678.243255896,666,637.243255896,880.243255896,789,803.243255896,653,632.756744104,654,0.400994671584,-0.0154037281809,0.0498630499224,0.999999965811,-4.91943283956e-05,-0.000252909499155,-4.46724622526e-05,1793238096041073408
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.668002776,745,716,678.331997224,666,637,880,789,803.331997224,653.331997224,632.668002776,654,0.400993676618,-0.0154038794181,0.0498626680784,0.999999965568,-4.89333407395e-05,-0.000253914460235,-4.46852593992e-05,1793238096057740032
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.092162959,745,716,678.907837041,666,637,880,789,803.907837041,653.907837041,632.092162959,654,0.400991761206,-0.0154026423201,0.0498621142301,0.999999965105,-4.64425396413e-05,-0.000256138972905,-4.50083180192e-05,1793238096074406656
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745.481495847,716,679.481495847,666,637,880.481495847,789,804,654,632,654,0.400992813913,-0.015403689761,0.0498620086793,0.999999965174,-4.82171375543e-05,-0.000255580495808,-4.47812415533e-05,1793238096091073280
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.056946767,746,716,679.943053233,666,637,880.943053233,789,804,654,632.056946767,653.943053233,0.400994312807,-0.0154050837112,0.0498620555774,0.999999965345,-5.0519422089e-05,-0.00025451920387,-4.44776442633e-05,1793238096107739904
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.653309664,746,716,679.346690336,666,637,880.346690336,789,804,654,632.653309664,653.346690336,0.400994680937,-0.0154056365056,0.0498627373785,0.99999996557,-5.01214374239e-05,-0.000253718156096,-4.4442164986e-05,1793238096124406528
+115,1.916666667,POSE1_TO_POSE2_PRESS,768,745.761392674,716,679.238607326,666,637,880,789,804,654,632.761392674,653,0.400994995083,-0.01540498225,0.0498634446904,0.999999965843,-4.85624581099e-05,-0.000252939921417,-4.44695254427e-05,1793238096141073152
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,745.191460024,716,679.808539976,666,637,880,789,804,654,632.191460024,653,0.400995234267,-0.0154026519092,0.0498641874261,0.999999966175,-4.53913450577e-05,-0.000252193364609,-4.45841438903e-05,1793238096157739776
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.614233627,745.385766373,716,679.614233627,666,637,880.385766373,789,804,654,632,653.385766373,0.401002467925,-0.0154028781611,0.0498674869134,0.999999967655,-4.52436289818e-05,-0.000246344821692,-4.42373125874e-05,1793238096174406656
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.033317448,745.966682552,716,679.033317448,666,637,880.966682552,789,804,654,632,653.966682552,0.401013239916,-0.0154043977309,0.0498720797992,0.999999969658,-4.66253754531e-05,-0.000237915308281,-4.36570451113e-05,1793238096191073280
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,715.445726998,679,666,637,881,789,803.445726998,653.445726998,632,654,0.401040561984,-0.0154050318048,0.0498820949097,0.999999974371,-4.63447319228e-05,-0.000217477789023,-4.2590913032e-05,1793238096207739904
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715.140481798,679,666,637,881,789,803.280963595,653,632,653.859518202,0.401074988961,-0.0154064567029,0.0498942510783,0.999999979619,-4.64968466135e-05,-0.000192095059228,-4.12272532193e-05,1793238096224406272
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715.721089806,679,666,637,881,789,804.442179613,653,632,653.278910194,0.401128520698,-0.0154105280274,0.0499120815547,0.999999986289,-4.83216660088e-05,-0.000153508049955,-3.9024060748e-05,1793238096241073152
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.298498745,746,716,679,666,637,881,789,804.701501255,653.298498745,632.298498745,653,0.401188311197,-0.0154151468571,0.0499276679156,0.999999990711,-4.95090257267e-05,-0.000121471391192,-3.70477895669e-05,1793238096257739520
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.872950208,746,716,679,666,637,881,789,804.127049792,653.872950208,632.872950208,653,0.401253887721,-0.0154202718381,0.0499411796609,0.999999993563,-5.01070738995e-05,-9.54903282379e-05,-3.52813001474e-05,1793238096274406144
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746,716,679,666,637,881,789,804,653.542053033,633,653.457946967,0.401322515369,-0.015423323405,0.0499481559243,0.999999994433,-5.18080150496e-05,-8.52696377931e-05,-3.43328067185e-05,1793238096291072768
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,746,716,679,666,637,881,789,804,653,632.95478946,654,0.401393115655,-0.0154259826407,0.0499529218917,0.99999999481,-5.35710237166e-05,-7.98792283734e-05,-3.36045633992e-05,1793238096307739648
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,716,679,666,637,881,789,804,653,632.376113085,654,0.401476768678,-0.0154309600409,0.0499535061033,0.999999994998,-5.23708746271e-05,-7.86749337145e-05,-3.27342729895e-05,1793238096324406528
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,745.798205247,716,679,666,637,881,788.798205247,804,653.201794753,632.201794753,654,0.401568330497,-0.0154363985171,0.0499552278738,0.999999995256,-5.25438902878e-05,-7.55861048524e-05,-3.18273189432e-05,1793238096341073152
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,745.221724466,716,679,666,637,881,788.221724466,804,653.778275534,632.778275534,654,0.401674577106,-0.0154426931037,0.0499590618273,0.999999995617,-5.52665543694e-05,-6.89981334255e-05,-3.08522891275e-05,1793238096357739776
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,745.360826532,716,679.360826532,666,637,881.360826532,788.360826532,804,653.639173468,632.639173468,654,0.401791359012,-0.0154498179539,0.0499601977748,0.999999995559,-5.76592509367e-05,-6.82916971621e-05,-2.99091635635e-05,1793238096374406400
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,745.947171504,716,679.947171504,666,637,881.947171504,788.947171504,804,653.052828496,632.052828496,654,0.401914725544,-0.0154574617238,0.0499596474551,0.99999999525,-5.98457163765e-05,-7.1261249984e-05,-2.89859782261e-05,1793238096391073024
+131,2.183333333,POSE1_TO_POSE2_PRESS,768,746,716,680,666,637,881.473003231,789,804,653,632,653.473003231,0.402061498515,-0.0154666324064,0.0499590465053,0.999999994967,-6.38128583888e-05,-7.21840859268e-05,-2.79902366041e-05,1793238096407739648
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.893808794,746,716,679.893808794,666.106191206,637,880.893808794,789,804,653,632,653.106191206,0.402215427946,-0.0154760608067,0.0499587781908,0.99999999475,-6.73698840974e-05,-7.23647289274e-05,-2.69219037381e-05,1793238096424406528
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.314548466,746,716,679.314548466,666.685451534,637,880.314548466,789,804,653,632,653.685451534,0.402390913556,-0.0154859637601,0.0499600140612,0.99999999488,-6.83144005515e-05,-7.01418385395e-05,-2.55621912433e-05,1793238096441073152
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.736082669,637,880,789,803.736082669,653,632,653.736082669,0.402584286269,-0.0154964842444,0.0499638290962,0.999999995324,-6.97713939603e-05,-6.26175943911e-05,-2.37449466024e-05,1793238096457739776
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.158561023,637,880,789,803.158561023,653,632,653.158561023,0.402798913629,-0.0155077385196,0.049970708868,0.999999996001,-7.1837346873e-05,-4.8793925427e-05,-2.13840315844e-05,1793238096474406400
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.584196295,716,679.415803705,666,637,880,789,803.415803705,653,632,653,0.403036229373,-0.0155170421974,0.0499773953825,0.999999996817,-6.9418433671e-05,-3.43174520052e-05,-1.91941897863e-05,1793238096491073280
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.011026356,716,679.988973644,666,637,880,789,803.988973644,653,632,653,0.403282131821,-0.0155256076463,0.0499840087561,0.99999999753,-6.5302165431e-05,-1.95939166903e-05,-1.70690928884e-05,1793238096507740160
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.583905065,716,679.416094935,666,637,880,789,804,653,632,653.583905065,0.403559414066,-0.0155275526693,0.0499888248146,0.999999998567,-5.105244488e-05,-9.72614793565e-06,-1.28375892637e-05,1793238096524406528
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,679.173676881,666,637,880.173676881,789,804.173676881,653.173676881,632,654,0.403845790233,-0.0155234475236,0.0499933076037,0.999999999487,-3.04549465495e-05,-1.15811363586e-06,-9.85596516406e-06,1793238096541073152
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679.750481687,666,637,880.750481687,789,804.750481687,653.750481687,632,654,0.40415184592,-0.0155056005238,0.0499970986575,0.999999999931,4.4152515709e-06,4.61413380476e-06,-9.87138597764e-06,1793238096557739776
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679.673973404,666,637,881,789,804.347946808,653.673973404,632,654,0.404478234818,-0.0155002971376,0.0500021642299,0.999999999472,2.76181326824e-05,1.52188870271e-05,-7.8058682059e-06,1793238096574406400
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679.09938896,666,637,881,789,803.198777921,653.09938896,632,654,0.404820125488,-0.0155045568149,0.0500082014767,0.999999998677,4.19260278104e-05,2.95078716892e-05,-4.15387368491e-06,1793238096591073024
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,803.485064665,653,632,654,0.405168242392,-0.0155123210869,0.0499997658283,0.999999998766,4.8220046402e-05,1.17342042278e-05,-2.10906749638e-06,1793238096607740160
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716.070790179,679,666,637,881,789,804,653,632.070790179,654,0.405520549382,-0.0155196294978,0.0499877327206,0.999999998399,5.49039893969e-05,-1.36894050949e-05,-4.80769880462e-07,1793238096624407040
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716.650816576,679,666,637,881,789,804,653,632.650816576,654,0.405893630543,-0.0155183857252,0.0499715963943,0.999999996024,7.6450325433e-05,-4.59031733646e-05,5.69458368226e-07,1793238096641073664
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716.771123642,679,666,637,880.771123642,789,804,653,632.771123642,654,0.406285972227,-0.0155167182601,0.0499579922807,0.999999992839,9.78389027039e-05,-6.88937265336e-05,1.76277461647e-06,1793238096657740032
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716.196038684,679,666,637,880.196038684,789,804,653,632.196038684,654,0.406707448216,-0.015514409899,0.049948218506,0.999999989879,0.000118988845838,-7.79328307789e-05,3.17253210074e-06,1793238096674406656
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.38029813,789,803.61970187,653,632,654,0.407164045009,-0.0155154732199,0.0499490856391,0.999999987669,0.000139131100499,-7.25844551408e-05,6.04307241085e-06,1793238096691073280
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.957282372,789,803.042717628,653,632,654,0.407638805891,-0.0155182803386,0.0499554561359,0.999999985564,0.000158752188797,-5.97950290054e-05,9.66911387645e-06,1793238096707739904
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.456527062,716,679,666,637,881,788.456527062,803.543472938,653,632.543472938,653.456527062,0.408167131761,-0.0155221863028,0.0499757322239,0.999999983251,0.000180826943469,-2.39332595219e-05,1.50367167739e-05,1793238096724406528
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.129088916,716,679,666.129088916,637,881,788.129088916,804.129088916,653,633,653.129088916,0.408704355542,-0.0155258167353,0.0499955799468,0.999999979129,0.000203077718089,9.27538487115e-06,2.03823362734e-05,1793238096741073408
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745.710116074,716,679,666.710116074,637,881,788.710116074,804.710116074,653,633,653.710116074,0.409257736557,-0.0155281749421,0.0500100354646,0.999999973955,0.000225257892967,2.67369827126e-05,2.51634872527e-05,1793238096757740800
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.711882531,637,881,789,804.423765061,653,633,653.711882531,0.40980033195,-0.0155299760168,0.0500108471249,0.999999968544,0.00024802132864,2.39233318053e-05,2.87347309087e-05,1793238096774407424
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666.136893742,637,881,789,803.273787484,653,633,653.136893742,0.410332188436,-0.0155312223695,0.0499980739412,0.999999962696,0.000271365505021,9.22127650047e-07,3.11013008332e-05,1793238096791073280
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.551437769,716,679,666,637,881,789,803.448562231,653,632.551437769,653.448562231,0.410873351029,-0.0155292625297,0.0499777986436,0.999999954293,0.000298006421821,-3.92287292587e-05,3.2673144517e-05,1793238096807740160
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,715.963293618,679,666,637,881,789,804,653,632,653.963293618,0.411424701736,-0.0155266449577,0.049957160887,0.999999943441,0.000324817650485,-8.02765208934e-05,3.41552993237e-05,1793238096824406784
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,715.383763872,679,666,637,881,789,804,653,632,653.383763872,0.412083714216,-0.0155291163595,0.0499658299405,0.999999940316,0.000338913424849,-5.53405981403e-05,3.79835125287e-05,1793238096841073152
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745.194233609,715.194233609,679,666.194233609,637,881,789,804.194233609,653,632,653,0.412751313852,-0.0155324111155,0.0499797431657,0.999999952264,0.000305153344053,-2.43308637925e-05,4.19806932305e-05,1793238096857739520
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.769227322,715.769227322,679,666.769227322,637,881,789,804.769227322,653,632,653,0.413435747024,-0.0155373199095,0.0500039366473,0.999999982988,0.000177580449584,1.85854862448e-05,4.63091036973e-05,1793238096874406144
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.658298011,716,679,666.658298011,637,881,789,804.658298011,653,632,653.341701989,0.414093846239,-0.015544365979,0.0500045188979,0.999999996466,7.52169329637e-05,1.77389317535e-05,3.3106515234e-05,1793238096891073024
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.087512185,716,679,666.087512185,637,881,789,804.087512185,653,632,653.912487815,0.414734290615,-0.0155528449204,0.0499892717068,0.999999999837,-1.02457077477e-05,-1.24471493336e-05,8.15079502494e-06,1793238096907739904
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745.504903734,716,679,666,637,881,789,804,653,632,654,0.415384022453,-0.0155529616808,0.0499612311939,0.999999998202,5.69402100661e-06,-5.94866144019e-05,4.98867629759e-06,1793238096924406528
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.09850642,746,716,679,666.09850642,637,881,788.90149358,804,653,632,654,0.416053652159,-0.0155521727356,0.0499389632686,0.999999994595,4.00351689211e-05,-9.57176074827e-05,6.74897903615e-06,1793238096941073152
+164,2.733333333,POSE1_TO_POSE2_PRESS,767.678757592,746,716,679,666.678757592,637,881,788.321242408,804,653,632,654,0.416812367191,-0.0155543598273,0.0499562556538,0.999999995073,7.45683528085e-05,-6.41648270007e-05,1.32823581941e-05,1793238096957739776
+165,2.750000000,POSE1_TO_POSE2_PRESS,767.743621075,746,715.743621075,679,666.743621075,637,881,788.256378925,804,653,632,653.743621075,0.417574061506,-0.0155565244951,0.0499789298839,0.999999994174,0.000103759474237,-2.28904953763e-05,1.90510731281e-05,1793238096974406400
+166,2.766666667,POSE1_TO_POSE2_PRESS,767.169261394,746,715.169261394,679,666.169261394,637,881,788.830738606,804,653,632,653.169261394,0.418339451058,-0.0155586613516,0.0500082790921,0.999999991273,0.000126324965684,3.0441251938e-05,2.38713938567e-05,1793238096991072768
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,715.405731021,679,666,637,881,789,804.405731021,653,632,653.405731021,0.41906559475,-0.0155587654584,0.0500062980406,0.99999998979,0.000139478644972,1.83721131042e-05,2.50458979684e-05,1793238097007739648
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,715.980987775,679,666,637,881,789,804.980987775,653,632,653.980987775,0.419775340382,-0.0155580202255,0.0499912263313,0.999999988418,0.000148699805295,-2.10233426431e-05,2.46970779448e-05,1793238097024406528
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,881,789,804.427625244,653,632,654,0.42053478468,-0.0155595159878,0.0499866661232,0.999999988884,0.000146529306778,-1.34627851501e-05,2.40699286924e-05,1793238097041073152
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679.160131047,666,637,881.160131047,789,804,653,632,653.839868953,0.421317093263,-0.0155616850962,0.0499913108997,0.999999989146,0.000145100732491,7.4961237826e-06,2.44368848639e-05,1793238097057739520
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679.737003597,666,637,881.737003597,789,804,653,632,653.262996403,0.42215448535,-0.0155654072475,0.0500189766502,0.999999987127,0.000146616335149,5.91474228552e-05,2.7415761323e-05,1793238097074406400
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.312449573,746,716,680,666,637,881.687550427,789,804,653,632,653.312449573,0.422942479979,-0.0155659234112,0.050021573591,0.999999986843,0.000146457880353,6.37560245751e-05,2.82651334017e-05,1793238097091073280
+173,2.883333333,POSE1_TO_POSE2_PRESS,767.886700194,746,716,680,666,637,881.113299806,789,804,653,632,653.886700194,0.423689084508,-0.0155637532821,0.0500031654107,0.99999998871,0.000144896735248,2.89476152409e-05,2.733019669e-05,1793238097107739904
+174,2.900000000,POSE1_TO_POSE2_PRESS,767.525788995,746,716,680,666,637,881,789,804,653,632,654,0.424452613452,-0.0155641471551,0.0499938567516,0.999999988902,0.000145636021342,1.61394281202e-05,2.69501721937e-05,1793238097124406528
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.063752108,746,716,680,666.063752108,637,881,789,804,653,632,654,0.425226146824,-0.0155650317118,0.049990000479,0.999999988653,0.000147685754926,1.24913036714e-05,2.69779685415e-05,1793238097141073152
+176,2.933333333,POSE1_TO_POSE2_PRESS,767.643348463,746,716,680,666.643348463,637,881,789,804,653,632,654,0.426046969776,-0.0155647872148,0.0500121642478,0.999999986674,0.000155763674633,3.9206179198e-05,2.92019808709e-05,1793238097157739776
+177,2.950000000,POSE1_TO_POSE2_PRESS,767.778921454,745.778921454,716,680,666.778921454,637.221078546,881,789,804,653,632,654,0.426847480479,-0.0155637546083,0.0500197762315,0.999999985486,0.000162652178853,4.0680588963e-05,3.0288317809e-05,1793238097174406400
+178,2.966666667,POSE1_TO_POSE2_PRESS,767.204176812,745.204176812,716,680,666.204176812,637.795823188,881,789,804,653,632,654,0.427615497188,-0.015561461239,0.050004109284,0.99999998551,0.000167637940063,1.77705940278e-06,2.95546810433e-05,1793238097191073024
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745.369713032,716,679.630286968,666,637.630286968,881,789,804,653,632,654,0.428380472993,-0.0155612523301,0.0499841314042,0.99999998592,0.000162395584053,-3.12995337658e-05,2.84301052932e-05,1793238097207739648
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.943131862,716,679.056868138,666,637.056868138,881,789,804,653,632,654,0.429143773264,-0.0155621919248,0.0499617782727,0.999999986284,0.000151517703417,-6.11655785123e-05,2.70901286325e-05,1793238097224406528
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,679.534724084,666,637,882.069448167,789,804,653,632.534724084,654,0.429951962424,-0.0155648405109,0.0499823003382,0.999999986592,0.00016014937341,-1.67044298008e-05,2.98101586366e-05,1793238097241073152
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,745.875026978,716,680,666.124973022,637,882.875026978,789,804.124973022,653,633,654,0.43074846342,-0.0155667066659,0.0499973724557,0.999999984869,0.000170346626899,1.49015204639e-05,3.19682931115e-05,1793238097257739776
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745.296903469,716,680,666.703096531,637,882.296903469,789,804.703096531,653,633,654,0.431484663957,-0.0155650535203,0.0499755676828,0.999999983173,0.000178432601827,-2.97761563446e-05,3.04682783747e-05,1793238097274406400
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745.279637807,716,680,666.720362193,637,881.720362193,789,804.720362193,653,632.720362193,653.720362193,0.432235273956,-0.0155618824577,0.049959272955,0.999999980946,0.000183489687405,-5.98617518697e-05,2.92547475559e-05,1793238097291073024
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,745.854508571,716,680,666.145491429,637,881.145491429,789,804.145491429,653,632.145491429,653.145491429,0.433001096976,-0.0155571088254,0.0499487955641,0.999999979643,0.000185348964932,-7.45414759677e-05,2.83436777477e-05,1793238097307739904
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666.438618482,637,881.438618482,789,804,653,632.438618482,653.438618482,0.433755682337,-0.0155565667464,0.0499664217658,0.999999981935,0.000181829607797,-4.61308906212e-05,3.06575042903e-05,1793238097324406272
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,679.974431565,666.974431565,637,882.025568435,789,804,653,633,653.974431565,0.434505035723,-0.0155572985061,0.0499925494342,0.999999983697,0.000177281208846,-5.08634630654e-06,3.39403766876e-05,1793238097341073152
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716,679.393790525,666.393790525,637,882.606209475,789,804,653,633,653.393790525,0.435223469579,-0.0155545570806,0.0499965077536,0.999999981339,0.000189958311365,-6.74004237419e-06,3.4538194664e-05,1793238097357740032
+189,3.150000000,POSE1_TO_POSE2_PRESS,767.185096322,746,716,679.185096322,665.814903678,637,882.814903678,789,804,653,633,653,0.435926759398,-0.0155518371473,0.0499905596702,0.999999979089,0.000200032040512,-2.54315343618e-05,3.40817707093e-05,1793238097374406912
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.760286286,746,716,679.760286286,665.239713714,637,882.239713714,789,804,653,633,653,0.436598133034,-0.0155491625085,0.0499637336751,0.99999997537,0.000204619118104,-8.00304708191e-05,3.14035140374e-05,1793238097391073536
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.664073444,746,716,680,665.335926556,637,882,789,804.335926556,653,633,653.335926556,0.437313837554,-0.0155488636009,0.049966716099,0.999999975852,0.000206350414906,-6.88657193178e-05,3.11863991324e-05,1793238097407740160
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.088111442,746,716,680,665.911888558,637,882,789,804.911888558,653,633,653.911888558,0.43806121855,-0.0155502622659,0.0499909980525,0.999999978181,0.000206041120475,-1.07096926684e-05,3.27278867861e-05,1793238097424406272
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.497525602,746,716,680.497525602,666.497525602,637,882,789,805,653,633,654,0.438729211897,-0.015551093458,0.0500025793028,0.999999981431,0.000189512273044,7.14780444434e-06,3.42292985609e-05,1793238097441073152
+194,3.233333333,POSE1_TO_POSE2_PRESS,767.915814125,745.915814125,716,680.831628251,666.915814125,637,882,789,804.915814125,653,633,653.915814125,0.439376236039,-0.0155517790052,0.0500067766632,0.99999998413,0.00017425892631,1.12151548414e-05,3.53248625249e-05,1793238097457739776
+195,3.250000000,POSE1_TO_POSE2_PRESS,767.333439442,745.333439442,716,679.666878884,666.333439442,637,882,789,804.333439442,653,633,653.333439442,0.439984020463,-0.0155522091859,0.0499808528284,0.999999982242,0.000183889250917,-2.32523382556e-05,3.40615644429e-05,1793238097474406400
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,745.244400146,716,679.244400146,666,636.755599854,882,789,804.488800291,653,633,653,0.440587116182,-0.0155523371185,0.0499642541604,0.999999979562,0.00019383199354,-4.68348505753e-05,3.33388459627e-05,1793238097491073024
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,745.816165096,716,679.816165096,666,636.183834904,882,789,805.632330192,653,633,653,0.441183931508,-0.015552060201,0.0499601462048,0.999999977038,0.000204193207798,-5.58373377122e-05,3.3340213675e-05,1793238097507739904
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680.390942507,666.390942507,636.390942507,882,789,805.609057493,653,633,653.390942507,0.441802356945,-0.0155512906534,0.0499768708096,0.999999975521,0.000216779898923,-2.57096184214e-05,3.61142272862e-05,1793238097524406528
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716,680.967147533,666.967147533,636.967147533,882,789,805.032852467,653,633,653.967147533,0.442431023182,-0.0155502876549,0.0500034676909,0.999999972381,0.000230421214768,2.2961391055e-05,4.02021613001e-05,1793238097541073152
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680.442365801,667,637,882,789,805,653,633,654,0.442977835569,-0.015549426811,0.0500118754391,0.999999969616,0.000240107824226,3.71286881e-05,4.16750685357e-05,1793238097557740032
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666.854902887,637,881.854902887,789,804.854902887,653,633,653.854902887,0.443501076346,-0.0155491522015,0.0500098493498,0.999999967717,0.00024834371483,3.29456965412e-05,4.25065051048e-05,1793238097574406656
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666.278981909,637,881.278981909,789,804.278981909,653,633,653.278981909,0.443969023076,-0.0155505927246,0.0499801084245,0.999999966931,0.000252982090224,-1.95288486829e-05,4.19027457152e-05,1793238097591073536
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636.702748923,881,789,804.297251077,653,633,653.297251077,0.444440645244,-0.0155508986975,0.0499586880897,0.999999964393,0.000258030201394,-5.39897262227e-05,4.14736549588e-05,1793238097607740160
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636.126222829,881,789,804.873777171,653,633,653.873777171,0.444915720554,-0.0155501387313,0.0499450851651,0.999999961886,0.000263463269989,-7.1526297556e-05,4.12086699726e-05,1793238097624406784
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,881.460167373,789,805,652.539832627,633,654,0.445402487715,-0.0155500467992,0.0499604726383,0.999999961124,0.000272965363674,-3.67729215529e-05,4.34685938548e-05,1793238097641073408
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666.048531615,636,882.048531615,789,805,652.048531615,632.951468385,653.951468385,0.445888744861,-0.015550181642,0.049983286892,0.999999958881,0.000282792184043,1.07728116596e-05,4.63672362679e-05,1793238097657740544
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666.628239216,636,882.628239216,789,805,652.628239216,632.371760784,653.371760784,0.446333550107,-0.0155507490368,0.0499984461438,0.999999957865,0.000283689613975,3.79079413827e-05,4.85103583979e-05,1793238097674406656
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666.7925996,636.2074004,882.7925996,789,804.7925996,653,632,653,0.446739983829,-0.0155510865501,0.0499990560215,0.999999962161,0.000267755942132,3.94125789975e-05,4.93096349932e-05,1793238097691073280
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666.214415347,636.785584653,882.214415347,789,804.214415347,653,632,653,0.447077818108,-0.0155510130885,0.0499736549882,0.999999974267,0.000221732160086,-4.90416683097e-06,4.77064268723e-05,1793238097707739904
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,745.644148085,716,680.355851915,666,636.644148085,881.644148085,789,804.355851915,653,632,653.355851915,0.447379949995,-0.0155518838613,0.0499332612844,0.999999975995,0.000204011845051,-6.62689492402e-05,4.46890526132e-05,1793238097724406784
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,745.078547259,716,680.921452741,666,636.078547259,881.078547259,789,804.921452741,653,632,653.921452741,0.447661037943,-0.0155533111917,0.0498840304857,0.999999969089,0.000202974367374,-0.000137682317533,4.08381296562e-05,1793238097741073408
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,745.515976872,716,680.484023128,666,636,881.515976872,788.484023128,805,653,632,653.484023128,0.447952682843,-0.0155559079566,0.049860603999,0.999999969499,0.000174232067048,-0.000172658484104,2.88765068719e-05,1793238097757740032
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788,805,652.889057041,632,653,0.448245593163,-0.0155602456831,0.049846076046,0.999999970973,0.000141110421477,-0.000194554359145,1.7066222606e-05,1793238097774406400
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788,805,652.311837361,632,653,0.448536666503,-0.0155711077759,0.0498514572673,0.999999976734,0.000108361218357,-0.000186172677817,1.13893784733e-05,1793238097791073280
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788.263618867,805,652,632,653.263618867,0.448806920735,-0.0155791096915,0.0498571895203,0.999999979439,9.25380734196e-05,-0.000180197296718,9.31846055009e-06,1793238097807739904
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788.837002917,805,652,632,653.837002917,0.449052711471,-0.0155837507572,0.0498633342527,0.999999979595,9.66038846028e-05,-0.000177049437885,1.1484684308e-05,1793238097824406784
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788.585344545,805,652.414655455,632,653.585344545,0.44927307491,-0.0155828755309,0.0498604305517,0.999999977407,0.000105290213954,-0.000184213717655,1.28731617187e-05,1793238097841073152
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788.005996668,805,652.994003332,632,653.005996668,0.449483339157,-0.0155798093495,0.0498539330032,0.999999974091,0.000115811715796,-0.000195473761966,1.39527345886e-05,1793238097857739520
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+220,3.666666667,POSE1_TO_POSE2_PRESS,766.172601555,746,716.172601555,680.827398445,666,635.827398445,882,788,805,653,632,654,0.449839259618,-0.0155846939597,0.0498316553749,0.999999965791,0.000121521294966,-0.000231176688557,1.43956790532e-05,1793238097891072768
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+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746,716.098605698,680,665.098605698,635.901394302,882,788,805,653,631.098605698,654,0.450288274052,-0.0155914870692,0.0498323101876,0.999999964704,0.00012332380252,-0.000234629758301,1.82222766922e-05,1793238097941073152
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746,716,680.488016124,665.488016124,635.511983876,882,787.511983876,805,652.511983876,631.488016124,654,0.450405532055,-0.0155897230614,0.0498306570092,0.999999962637,0.000128915348726,-0.000240334603955,1.86215381901e-05,1793238097957739776
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746,716,680.92417427,665.92417427,635.07582573,882,787.07582573,805,652.07582573,632,654,0.450515658037,-0.0155877899239,0.049828410364,0.99999996024,0.000134593101037,-0.000247073998347,1.89257139219e-05,1793238097974406656
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746,716,680.344838092,665.344838092,635.655161908,882,787.655161908,805,652.655161908,632,654,0.450608337712,-0.0155890650838,0.049827655878,0.99999995979,0.000135024706694,-0.000248589698552,1.97985143063e-05,1793238097991073536
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+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.807357365,636,882,788,805,652.192642635,632,653.192642635,0.450758105895,-0.0155897139019,0.0498197389907,0.999999956351,0.000132773181328,-0.000263264719002,1.89731523331e-05,1793238098024406528
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+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746,716,680.442107685,665.557892315,636,881.557892315,787.442107685,805,653,631.442107685,654,0.450908412881,-0.0155922774458,0.0498064568519,0.999999950161,0.000130711519823,-0.00028679108747,1.85424317292e-05,1793238098074406400
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+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665.284009912,636,882,787,805,653,631,654,0.450981650438,-0.0155938790272,0.049804468289,0.999999949509,0.000128225537152,-0.000290153233871,1.87244097751e-05,1793238098107740160
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,635.707874902,882,787,805,653,631,654,0.451006544444,-0.0155939022605,0.0498031977128,0.999999948881,0.000126069279278,-0.000293243172645,1.87975342408e-05,1793238098124406784
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,635.134853056,882,787,805,653,631,654,0.451024018906,-0.0155938906342,0.0498004023494,0.999999947733,0.000122792390337,-0.00029848565624,1.9013516844e-05,1793238098141073408
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,635.451123161,882,787.451123161,805,653,631.451123161,654,0.451040177836,-0.0155936949181,0.0497992398366,0.999999947583,0.000121006710506,-0.000299713834249,1.90404661442e-05,1793238098157739776
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+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665.619875316,636,882,788,805,653,631.380124684,654,0.451062144592,-0.0155904513111,0.0497961337484,0.999999946254,0.000122984882295,-0.000303386278481,1.79896267206e-05,1793238098191073280
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665.801923265,636,882,788,805,653,631,653.801923265,0.451068016262,-0.0155889946362,0.0497943412116,0.999999945254,0.000124523440308,-0.000306074027985,1.74636681128e-05,1793238098207739904
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.226229146,636,882,788,805,653,631,653.226229146,0.451072053485,-0.0155901235207,0.0497935729598,0.999999945019,0.000123269484148,-0.000307328290061,1.77561371548e-05,1793238098224406784
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680.348640835,665.348640835,636,882,787.651359165,805,653,631,653.348640835,0.451073966095,-0.0155904354395,0.0497928581899,0.999999944452,0.000122838429554,-0.000309328473089,1.7960405427e-05,1793238098241073152
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680.92297728,665.92297728,636,882,787.07702272,805,653,631,653.92297728,0.45107450332,-0.0155902184885,0.0497921780419,0.999999943666,0.000122940087336,-0.00031181153434,1.81075761694e-05,1793238098257739776
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746,716.511351207,680.488648793,666,635.488648793,882,787,805,653,631,654,0.451076581578,-0.015589697712,0.0497920182333,0.999999943993,0.000120270822087,-0.000311822404084,1.77642955577e-05,1793238098274406656
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+261,4.350000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.050280475,635,882,787,804.050280475,653,631,653.949719525,0.451083402818,-0.0155847302964,0.0497898704714,0.99999994368,0.000115400692727,-0.000314685804993,1.72072380753e-05,1793238098574406656
+262,4.366666667,HOLD_POSE2,767,745,716,680,666,635,882,787,804,653,631,653,0.451082433594,-0.0155877942052,0.0497875184613,0.999999942363,0.000116956808569,-0.000318250920087,1.76667225896e-05,1793238098604157696
+263,4.383333333,HOLD_POSE2,767,745.575448614,716,680,666,635.575448614,882,787,804.575448614,653,631,653.575448614,0.451083237598,-0.0155872030631,0.0497896507265,0.999999943131,0.000116791508717,-0.000315875540939,1.78843952152e-05,1793238098620824320
+264,4.400000000,HOLD_POSE2,767,746,716,680,666,636,882.151331361,787.151331361,805,653,631,653.848668639,0.451083578693,-0.0155864622357,0.049790948265,0.999999943545,0.000116673850275,-0.000314603531835,1.79428875724e-05,1793238098637490944
+265,4.416666667,HOLD_POSE2,767,746,716,680,666,636,882.728435675,787.728435675,805,653,631,653.271564325,0.451082617387,-0.0155853002665,0.0497898972886,0.999999942972,0.000116690231591,-0.000316435869638,1.75535240106e-05,1793238098654157568
+266,4.433333333,HOLD_POSE2,766.687164162,746,716,680.312835838,666,636,882.374328324,787.687164162,805,653,631,653.312835838,0.451081754313,-0.0155842911419,0.0497889637427,0.99999994244,0.000117324106753,-0.000317900237223,1.71736835407e-05,1793238098670824192
+267,4.450000000,HOLD_POSE2,766.096279476,746,716,680.903720524,666,636,881.192558951,787.096279476,805,653,631,653.903720524,0.451080978548,-0.0155834178656,0.0497881345694,0.999999941944,0.000118506811146,-0.000319037552349,1.6802307229e-05,1793238098687490816
+268,4.466666667,HOLD_POSE2,766.484772472,746,716,680.515227528,665.515227528,635.515227528,881.484772472,787.484772472,805,652.515227528,631,653.515227528,0.451081517658,-0.0155853256162,0.0497883678348,0.999999942459,0.000116286708495,-0.000318223923791,1.71149831793e-05,1793238098704157696
+269,4.483333333,HOLD_POSE2,767,746,716,680,665.063566312,635,882,787.936433688,805,652.063566312,631,653.063566312,0.451082216348,-0.0155871653521,0.0497887230018,0.999999942995,0.000114101639163,-0.000317310939883,1.74696176291e-05,1793238098720824320
+270,4.500000000,HOLD_POSE2,767,746,716,680,665.63958634,635,882,787.36041366,805,652.63958634,631,653.63958634,0.451082138108,-0.0155840925409,0.0497883936333,0.999999942175,0.000117538982788,-0.000318658573624,1.70890346951e-05,1793238098737490944
+271,4.516666667,HOLD_POSE2,767,746,716,680.215754097,665.784245903,635.215754097,881.784245903,787,805,653,631,653.784245903,0.451082276415,-0.0155829897845,0.0497882579332,0.99999994199,0.000118239834927,-0.000318984666583,1.6961170733e-05,1793238098754157312
+272,4.533333333,HOLD_POSE2,767,746,716,680.792168745,665.207831255,635.792168745,881.207831255,787,805,653,631,653.207831255,0.451082776706,-0.0155851802271,0.0497884459746,0.999999942875,0.000114366291411,-0.000317603123417,1.72557588749e-05,1793238098770823936
+273,4.550000000,HOLD_POSE2,766.623003603,746,716,680.623003603,665,636,881.376996397,787,805,652.623003603,631,653,0.451081723577,-0.0155857367527,0.0497873702673,0.999999942486,0.000114398322468,-0.000318812701833,1.72831649655e-05,1793238098787490560
+274,4.566666667,HOLD_POSE2,766.0334321,746,716,680.0334321,665,636,881.9665679,787,805,652.0334321,631,653,0.451079794529,-0.0155853719698,0.0497855819761,0.999999941375,0.000116632570321,-0.000321483323122,1.71599164524e-05,1793238098804157440
+275,4.583333333,HOLD_POSE2,766.544580001,746,716,680,665,635.455419999,882.544580001,787,805.544580001,652.544580001,631,653.544580001,0.451081001687,-0.0155836314642,0.0497867749414,0.99999994171,0.000116890493746,-0.000320371237474,1.66870694538e-05,1793238098820824320
+276,4.600000000,HOLD_POSE2,767,746,716,680.121107878,665,635,882.757784244,787,805.878892122,653,631,654,0.451081798616,-0.0155827272239,0.0497875590606,0.999999941974,0.000116476810298,-0.000319711197406,1.64038942721e-05,1793238098837490688
+277,4.616666667,HOLD_POSE2,767,746,716,680.694686884,665,635,881.610626232,787,805.305313116,653,631,654,0.451080358516,-0.0155852563335,0.0497861461174,0.999999941649,0.000113997807452,-0.000321589618287,1.69078695813e-05,1793238098854157568
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,665,636,882,787,805,653,631,653,0.451082126412,-0.0155828677995,0.0497863636397,0.999999941861,0.00011419640675,-0.000320892811731,1.62861118539e-05,1793238098891918592
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.406526269,665,635.406526269,882,787.593473731,805,652.406526269,631,653,0.451080560769,-0.0155831493668,0.0497857628215,0.999999941234,0.000114319907245,-0.000322792233071,1.63960733242e-05,1793238098908585472
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.243316272,745.243316272,716,680,665,635,881.243316272,787.243316272,805,652,631,653,0.451082286071,-0.0155838267114,0.0497871737951,0.99999994176,0.000115692511786,-0.000320639533213,1.68968621498e-05,1793238098941918720
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,766.904492117,745,716,680,665,635.904492117,881.904492117,787,805,652,631,653.904492117,0.451080051189,-0.015585376997,0.0497854835468,0.999999940933,0.000112939198877,-0.000324177637171,1.69301516381e-05,1793238098975251712
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,745.49085294,716,680,665,635.50914706,882,787,805,652.49085294,631,654,0.451080190718,-0.0155850163234,0.0497858755544,0.999999941066,0.000114022152589,-0.000323375358336,1.71869604094e-05,1793238098991918592
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.07860497,665,635,882,787,805.07860497,653,631,653.92139503,0.451080771774,-0.0155843807331,0.0497865642873,0.999999941361,0.000115499186848,-0.000321923017333,1.7448136952e-05,1793238099008585472
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.658832412,665,635,882,787,805.658832412,653,631,653.341167588,0.451081458312,-0.0155835780831,0.0497868063776,0.99999994162,0.000115549309129,-0.000321103679397,1.73260307444e-05,1793238099025252096
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,745.762614597,716,680.762614597,665,635.237385403,882,787,805.762614597,653,631,653.237385403,0.451081157667,-0.0155838848542,0.0497867207266,0.999999941866,0.000114163136476,-0.000320845030037,1.70980350136e-05,1793238099041918464
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,745.186451301,716,680.186451301,665,635.813548699,882,787,805.186451301,653,631,653.813548699,0.45107944819,-0.0155857749047,0.0497861673488,0.999999942085,0.000110727195955,-0.000321386551653,1.67189220427e-05,1793238099058585088
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,745.387102818,716,680,665.387102818,635.612897182,882,787,805,653,631,653.612897182,0.451071867324,-0.0155844633161,0.0497824861367,0.999999940107,0.000110795764255,-0.000327495830952,1.60170460151e-05,1793238099075251712
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,745.95940867,716,680,665.95940867,635.04059133,882,787,805,653,631,653.04059133,0.451061477389,-0.0155816199557,0.0497773084632,0.999999937014,0.000112541007377,-0.000336268913206,1.51607492284e-05,1793238099091918336
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.44888282,635.55111718,881.44888282,787,805,653,631,653,0.451031520921,-0.01557944219,0.0497629707864,0.999999928142,0.000115505428091,-0.000360796675101,1.41271659257e-05,1793238099108585216
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.140769796,665.140769796,635.859230204,881,787.140769796,805,653,631,653,0.450994647792,-0.0155774934628,0.0497468803736,0.999999917296,0.000117568894883,-0.000389126167014,1.29350243918e-05,1793238099125251840
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.719420006,665.719420006,635.280579994,881,787.719420006,805,653,631,653,0.450940905977,-0.0155760991293,0.0497275130588,0.999999902603,0.000116540330403,-0.000425540182709,1.12917687125e-05,1793238099141918720
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.702626749,665.702626749,635.297373251,881.297373251,788,805,652.702626749,631.297373251,653.297373251,0.450883671006,-0.0155730232121,0.0497107168146,0.999999890167,0.000116085421312,-0.000453978394607,9.70320951056e-06,1793238099158585600
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.125329609,665.125329609,635.874670391,881.874670391,788,805,652.125329609,631.874670391,653.874670391,0.450823147854,-0.015568364384,0.0496963407761,0.99999988045,0.000116170506608,-0.000474908807495,8.16613739416e-06,1793238099175251968
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636,882,787.549828355,805,652.450171645,631.549828355,654,0.450757852854,-0.01556552983,0.0496913993506,0.999999877089,0.00011650417111,-0.000481868731837,7.20080078982e-06,1793238099191918592
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.025883541,636,882,787,805.025883541,653,631,654,0.450690440918,-0.0155630975957,0.0496890924199,0.999999875551,0.000116996701719,-0.000484940803335,6.4181529758e-06,1793238099208584960
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.617072475,636,882,787,805.617072475,653,631,654,0.450605693991,-0.0155584038464,0.0496871851072,0.999999873916,0.000119453457381,-0.000487710017699,6.16290070944e-06,1793238099225251840
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,787,805.796216119,653,631.203783881,654,0.450515310694,-0.015553132043,0.0496857694952,0.999999872553,0.000121758439331,-0.000489932969186,5.79255285159e-06,1793238099241918720
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,787,805.217737548,653,631.782262452,654,0.450414563889,-0.0155467973795,0.049685257967,0.99999987171,0.000123784356725,-0.000491151514154,5.2105803019e-06,1793238099258585344
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.642240387,636,882,787.357759613,805,653,631.642240387,653.642240387,0.450296349786,-0.0155394767919,0.0496825634235,0.99999986843,0.000128887806036,-0.000496494926197,4.44992326049e-06,1793238099275251712
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.068542702,636,882,787.931457298,805,653,631.068542702,653.068542702,0.450167592687,-0.0155315611155,0.0496785512461,0.999999863593,0.000135848805362,-0.000504328043156,3.58141501579e-06,1793238099291918592
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.480995031,665,636,881.480995031,788,805,652.480995031,631,653.519004969,0.450022378004,-0.0155228724678,0.0496793777801,0.999999864906,0.000139233133366,-0.000500795183884,2.39145921283e-06,1793238099308585472
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.106016681,665.106016681,636,881.106016681,787.893983319,805,652.106016681,631,654,0.449870457241,-0.0155136887078,0.0496812410954,0.999999866933,0.000142566406401,-0.000495788281586,1.34777033275e-06,1793238099325252096
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.682314892,665.682314892,636,881.682314892,787.317685108,805,652.682314892,631,654,0.449698694518,-0.0155027739139,0.0496847910971,0.999999868491,0.000147825983017,-0.000491083757853,1.14638691868e-06,1793238099341918464
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.740407923,636,882,787.259592077,805,653,631.259592077,654,0.44951418458,-0.0154916259237,0.0496887671874,0.999999870628,0.000152533494388,-0.000485260756787,5.61309364002e-07,1793238099358584832
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.161928183,636,882,787.838071817,805,653,631.838071817,654,0.449314015741,-0.0154801914712,0.0496932666925,0.999999873471,0.00015656283838,-0.000478063797951,-4.95105092022e-07,1793238099375251712
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,636,882,788,805,652.585701749,632,653.585701749,0.449091040864,-0.0154675280503,0.0496965481212,0.99999987489,0.000160326832661,-0.000473826062972,-2.14616178927e-06,1793238099391918336
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.168471874,665.336943747,636,881.168471874,788,805,652.168471874,632,653.168471874,0.448341856585,-0.0154329080493,0.0497162553947,0.999999891808,0.000169020387381,-0.00043333144074,-6.39120739959e-06,1793238099441918720
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.196092379,666,636.803907621,882,788.196092379,805,652.196092379,632.803907621,653,0.445559777932,-0.015401461833,0.0498067610213,0.999999954754,0.000106813636481,-0.000280713341336,-1.67993167962e-05,1793238099575251968
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,715.622560425,679.377439575,666,637,882,788.377439575,805,652,632.622560425,653.377439575,0.445122852585,-0.0154000021171,0.0498238580542,0.999999961689,9.38340146674e-05,-0.000259827863526,-1.74992079893e-05,1793238099591918848
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746,715.04962797,679.95037203,666,637,882,788.95037203,805,652,632.04962797,653.95037203,0.444668143491,-0.0153997216844,0.0498385404495,0.999999966103,7.87030981045e-05,-0.000247507560729,-1.84188619483e-05,1793238099608585472
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,715.540700328,680,666,636.459299672,882,789,804.459299672,652.540700328,632.540700328,653.459299672,0.444158616625,-0.0153970560751,0.0498285443333,0.999999962654,6.29568633795e-05,-0.000265073853167,-2.15688604629e-05,1793238099625251840
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.129601738,882,789,804.129601738,652.870398262,632.870398262,653.129601738,0.443627024326,-0.0153933072285,0.04981194915,0.999999955558,4.75017943385e-05,-0.000293218299871,-2.55056695027e-05,1793238099641918464
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.70785247,882,789,804.70785247,652.29214753,632.29214753,653.70785247,0.443037043655,-0.0153865915323,0.0497806115403,0.999999938342,3.32566796848e-05,-0.000348169979558,-3.14340030584e-05,1793238099658585088
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,715.715480877,680,666,637,881.715480877,789,805,652.284519123,632.284519123,654,0.442473643903,-0.0153835159237,0.0497688240234,0.99999993258,1.61989552525e-05,-0.000365145198295,-3.53012348233e-05,1793238099675251712
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,715.140431699,680,666,637,881.140431699,789,805,652.859568301,632.859568301,654,0.441937386564,-0.0153841573047,0.0497769996229,0.999999940364,-3.73080160229e-06,-0.000343341648607,-3.70638214322e-05,1793238099691918336
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,715.444716852,679.555283148,666,636.555283148,881.444716852,789,804.555283148,653,633,653.555283148,0.441394187137,-0.0153862826035,0.0498009509976,0.999999952591,-2.27144843141e-05,-0.000304782261467,-3.75579816398e-05,1793238099708585472
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745.967379605,716,679.032620395,666,636,881.967379605,789,804.032620395,653,633,653.032620395,0.440844757022,-0.0153886187755,0.0498289453201,0.999999964081,-4.10655921581e-05,-0.000262162450136,-3.77206368105e-05,1793238099725252352
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745.387994811,716,679.612005189,666,636,881.387994811,789,804.612005189,653,633,653.612005189,0.440228488594,-0.0153864527672,0.0498392655599,0.999999968439,-5.39376858167e-05,-0.000242231686456,-3.91964396659e-05,1793238099741918976
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745.190125633,716,680,666.190125633,636.190125633,881.380251267,789,805,653,632.809874367,654,0.439583416963,-0.0153828791944,0.0498350618512,0.999999967762,-3.17343067866e-05,-0.000248393022133,-4.20729998971e-05,1793238099758585344
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745.765682894,716,680,666.765682894,636.765682894,882.531365788,789,805,653,632.234317106,654,0.438879954162,-0.015376452141,0.0498014145106,0.9999999497,6.15757217432e-05,-0.00030744948862,-4.77892409991e-05,1793238099775251712
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,745.658948242,716,680,667,637,882.658948242,789,804.658948242,653,632.341051758,653.658948242,0.438181894227,-0.0153711574487,0.049776119464,0.999999933337,8.5472387175e-05,-0.00035100723304,-5.30499706047e-05,1793238099791918336
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,745.083708766,716,680,667,637,882.083708766,789,804.083708766,653,632.916291234,653.083708766,0.437487544269,-0.0153666403073,0.0497565596323,0.999999922716,6.1705442041e-05,-0.000383922573262,-5.79979171834e-05,1793238099808584960
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745.505585378,716,680,666.494414622,637,882,789,804,653,633,653.505585378,0.436833125125,-0.015368730955,0.0497834059049,0.999999936652,3.423382213e-05,-0.000349482590116,-5.81945195612e-05,1793238099825251584
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,804.095199218,653,633,653.904800782,0.436173127296,-0.0153713085031,0.0498140148582,0.999999950728,5.93727222352e-06,-0.000308464489642,-5.79557769151e-05,1793238099841918208
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882,789,804.674272012,653,633,653.325727988,0.435450210415,-0.0153706411182,0.0498235792868,0.999999955227,-2.33454000324e-05,-0.000292314478402,-5.96170646806e-05,1793238099858585344
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.749174487,789,804.749174487,653,632.749174487,653,0.434705345927,-0.0153684520634,0.0498162253667,0.999999950821,-4.86724897922e-05,-0.00030328154589,-6.33229519246e-05,1793238099875252224
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881.175859988,789,804.175859988,653,632.175859988,653,0.43393226307,-0.0153643065814,0.0497871193499,0.999999934259,-6.89138497103e-05,-0.000349113322868,-6.96576022983e-05,1793238099891918592
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.600883906,666,637,881,789,804.798232189,653,632.399116094,653.399116094,0.433191782533,-0.0153645868641,0.0497885332225,0.99999993305,-8.65062602299e-05,-0.00034808562446,-7.24779617498e-05,1793238099908585216
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.025172664,666,637,881,789,805.949654672,653,632.974827336,653.974827336,0.432465727448,-0.0153668253956,0.0498034510985,0.99999993874,-0.00010292660052,-0.000326324216882,-7.37433679443e-05,1793238099925251840
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767.567296935,745.432703065,716,679.567296935,666,637,881,789,805.432703065,653,633,653.432703065,0.431722528136,-0.015365739198,0.0498120859573,0.9999999442,-8.61483538551e-05,-0.000313689704666,-7.60084951159e-05,1793238099941918464
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767.844154122,745,716,680,666,637,881,789,805,653,632.844154122,653.155845878,0.430963463797,-0.0153637326374,0.0498119314514,0.999999947336,-4.77000824342e-05,-0.000313208671224,-7.03823410413e-05,1793238099958585088
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767.268238394,745,716,680,666,637,881,789,805,653,632.268238394,653.731761606,0.430163749543,-0.0153596550678,0.0497888602765,0.999999938752,4.5066428656e-05,-0.000344361507607,-4.33626713635e-05,1793238099975251968
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745.305984072,716,680,666,637,881.611968144,789,805,652.694015928,632,654,0.429363888416,-0.0153560075345,0.0497756467328,0.999999930654,7.53755395078e-05,-0.000363145091749,-3.37057413476e-05,1793238099991918336
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745.878730292,716,680,666,637,882.757460584,789,805,652.121269708,632,654,0.428563899285,-0.0153527349144,0.0497710272417,0.999999929046,5.12332159966e-05,-0.000371144950702,-3.91859464118e-05,1793238100008585216
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,882.064080012,789,804.532040006,652.467959994,632,653.532040006,0.427796006209,-0.0153527878087,0.0497914207832,0.999999938999,3.13420789051e-05,-0.000345338048455,-4.19797449913e-05,1793238100025252096
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,804,652.940322491,632,653,0.427031014668,-0.0153537976348,0.0498129602396,0.999999948287,1.46135486546e-05,-0.000318176951524,-4.44410558486e-05,1793238100041918976
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,804,652.365354431,632,653,0.426216636515,-0.0153553572739,0.0497863812194,0.999999934633,1.5333013931e-05,-0.000357731305556,-5.02620795504e-05,1793238100058585344
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,804,652.210604055,632.210604055,653.210604055,0.425427555179,-0.0153583212307,0.0497793891036,0.999999933091,7.68135448847e-06,-0.000361755464764,-5.37842426875e-05,1793238100075251968
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,881,789,804,652.788288939,632.788288939,653.788288939,0.424682565816,-0.0153637328999,0.0498065367682,0.999999952311,-1.45610941599e-05,-0.000303850844802,-5.32995150553e-05,1793238100091918592
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.627722289,666.372277711,637,881,789,804,653,632.627722289,654,0.423925899468,-0.0153662021147,0.0498309501727,0.999999964475,-2.47175347771e-05,-0.000260326735873,-5.16542250751e-05,1793238100108585216
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.040086835,666.959913165,637,881,789,804,653,632.040086835,654,0.423162478182,-0.0153669691581,0.0498537818423,0.999999973054,-2.78823779279e-05,-0.000225121566426,-4.93375651498e-05,1793238100125252096
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767.541041695,746,716,679,666.458958305,637,881,789,804,653,632.541041695,653.458958305,0.42234481986,-0.0153613914112,0.0498273529597,0.999999961408,-1.28963877329e-05,-0.000272559790372,-5.22391167098e-05,1793238100141918464
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767.879104829,746,716.120895171,679.120895171,666.120895171,637,881.120895171,789,804,653,633,653,0.421531708348,-0.0153564804329,0.0498011005506,0.999999947602,-2.46204842328e-06,-0.00031895744384,-5.52821517976e-05,1793238100158585344
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767.302263505,746,716.697736495,679.697736495,666.697736495,637,881.697736495,789,804,653,633,653,0.420750720229,-0.0153558359842,0.0497891150773,0.999999940922,-1.42055298256e-05,-0.000338611923303,-5.74179751802e-05,1793238100175251968
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716.727053252,680,666.727053252,636.727053252,881.727053252,789,804,653,632.727053252,653,0.419993689433,-0.0153568277914,0.0497974529856,0.999999943465,-2.48030189855e-05,-0.000330473659029,-5.69391081271e-05,1793238100191918848
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,716.153638571,680,666.153638571,636.153638571,881.153638571,789,804,653,632.153638571,653,0.419263031624,-0.0153596208379,0.0498281634801,0.999999955426,-3.4138964855e-05,-0.000291740310621,-5.35819115473e-05,1793238100208585216
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.566566161,666,636.433433839,881,789,804,653,632.433433839,653.433433839,0.418496949126,-0.0153588686092,0.0498199196361,0.999999949457,-3.3205268684e-05,-0.000311429991405,-5.47229102232e-05,1793238100225251840
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,653,633,654,0.417721144976,-0.0153569545324,0.0497985219396,0.99999993665,-2.86431926907e-05,-0.000350117292851,-5.74211661673e-05,1793238100241918464
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,789,804,653,633,654,0.41701740028,-0.0153580554801,0.0498016369377,0.999999941559,-2.69760786814e-05,-0.00033581819152,-5.81404339916e-05,1793238100258585088
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.818127665,716,679.181872335,666.181872335,637,881,789,804,653,633,654,0.416322718442,-0.0153592214334,0.0498099547796,0.99999994805,-2.76396298646e-05,-0.000315827375774,-5.82168278951e-05,1793238100275251712
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.244412186,716,679.755587814,666.755587814,637,881,789,804,653,633,654,0.41564756236,-0.0153605274409,0.0498294821261,0.999999957618,-3.33245885844e-05,-0.000283573783657,-5.69081528931e-05,1793238100291918848
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745.330448151,716,679.669551849,666.669551849,637,880.669551849,789,804,653,633,654,0.414958170821,-0.0153593172949,0.0498305575781,0.999999958052,-3.43023504382e-05,-0.00028191688492,-5.69442519881e-05,1793238100308585472
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745.906158179,716,679.093841821,666.093841821,637,880.093841821,789,804,653,633,654,0.414258213626,-0.0153562396347,0.0498179378509,0.999999951919,-3.17863840077e-05,-0.000302969155839,-5.79784557748e-05,1793238100325252096
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,715.504106593,679,666,637,880.495893407,789,804.495893407,653,633,653.504106593,0.413556424983,-0.0153564315896,0.0497937832499,0.999999937382,-3.772180639e-05,-0.000346708805727,-6.00463532699e-05,1793238100341918720
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745.914021844,715.085978156,679.085978156,666,637,881,789,804.914021844,653,632.914021844,653,0.412868309516,-0.0153573114622,0.0497736110763,0.999999923762,-4.42777055805e-05,-0.000382989094884,-6.19196024726e-05,1793238100358585344
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745.337525763,715.662474237,679.662474237,666,637,881,789,804.337525763,653,632.337525763,653,0.412260236341,-0.0153584832886,0.0497889750928,0.999999935317,-4.49835722316e-05,-0.000351505758788,-6.15338665811e-05,1793238100375251712
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.761582711,666,637,880.761582711,789,804,653,632.238417289,653,0.411661000123,-0.0153584574161,0.0498062991228,0.999999944864,-4.36103917516e-05,-0.000323645847584,-6.01983129401e-05,1793238100391918592
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.186420814,666,637,880.186420814,789,804,653,632.813579186,653,0.411074245423,-0.0153567398934,0.049826391508,0.999999952302,-3.93007299558e-05,-0.000300903725836,-5.7521220742e-05,1793238100408585216
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745.956958187,716,679,666.956958187,637,880,789,804,653,632.043041813,653.956958187,0.409888621466,-0.0153523711326,0.0498071022381,0.999999940029,-4.62372525331e-05,-0.000337997118824,-5.96782125546e-05,1793238100441918976
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745.450018587,716,679,666.450018587,637,880,789,804,653,632,654,0.409331494103,-0.0153544422171,0.0497972047288,0.999999934151,-5.14434594124e-05,-0.000354198602671,-5.99510111911e-05,1793238100458585344
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745.138032296,716,679,666,637,880,789,804,653,632.138032296,653.861967704,0.408798175528,-0.0153565715739,0.0497954555304,0.999999933627,-5.60657424753e-05,-0.000355040240001,-5.95766845149e-05,1793238100475251968
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745.705054488,716,679,666,637,880,789,804,653,632.705054488,653.294945512,0.408329514066,-0.0153577809832,0.0498176373543,0.999999948326,-5.8814047257e-05,-0.000310762466325,-5.75793209143e-05,1793238100491918592
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,767.868016067,745.131983933,716,679,666,637,880.868016067,789,804,653,632.131983933,653.868016067,0.40737969091,-0.0153613277819,0.0498455700487,0.999999959272,-6.62074091175e-05,-0.000272222101473,-5.44853896213e-05,1793238100525251840
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767.543370172,745,716,679,666,637,881,789,804,653,632.456629828,653.543370172,0.406900399321,-0.0153623103483,0.0498334555269,0.999999951526,-7.44490641285e-05,-0.000297014255716,-5.64678924606e-05,1793238100541918464
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745.624816968,716,679,666,637,881,789,804.624816968,653,632.375183032,653.624816968,0.405967723283,-0.0153610210182,0.0497873438574,0.999999921627,-8.8129700947e-05,-0.0003808798081,-6.25269445527e-05,1793238100575251968
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666.203035411,637,880.796964589,789,804.796964589,653.203035411,632,654,0.40554107365,-0.0153599828974,0.049772243684,0.999999910247,-9.34807195882e-05,-0.000408158238365,-6.46044538382e-05,1793238100591918848
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745.646975701,716,679,666.646975701,637,880.353024299,789,804,654,632,653.646975701,0.404828994056,-0.0153625115757,0.0497918540046,0.999999923184,-0.000107124077489,-0.00037155834393,-6.40382500412e-05,1793238100625252096
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745.073053001,716,679,666.073053001,637,880.926946999,789,804,654,632,653.073053001,0.404516033105,-0.0153658493637,0.0498100085748,0.999999935232,-0.000114134584788,-0.000335543244549,-6.26132044881e-05,1793238100641918720
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,666,637,880.483009625,789,804,653.483009625,632,653,0.4042168138,-0.0153702487081,0.0498313076403,0.999999944252,-0.000123686691909,-0.000304105758685,-6.09717506045e-05,1793238100658585344
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767.106477692,745.106477692,716,679.106477692,666,637,880.106477692,789,804,653,632,653.106477692,0.403922723813,-0.0153740096746,0.0498499578726,0.999999950878,-0.000132484463507,-0.000277723606244,-5.96842842422e-05,1793238100675251712
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767.683127492,745.683127492,716,679.683127492,666,637,880.683127492,789,804,653,632,653.683127492,0.403642433045,-0.0153742680829,0.0498548865205,0.99999995226,-0.000136314442507,-0.000270716055221,-6.00992906749e-05,1793238100691918592
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767.740248994,746,716,680,666,637,880.740248994,789,803.740248994,653,632,654,0.403370199348,-0.0153743426669,0.0498543906431,0.99999995342,-0.000120061308016,-0.000273951392821,-6.07923009387e-05,1793238100708585216
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767.16365758,746,716,680,666,637,880.16365758,789,803.16365758,653,632,654,0.403107793565,-0.0153741930249,0.0498472780101,0.999999952986,-7.93110904167e-05,-0.00028968085346,-6.18244160297e-05,1793238100725251840
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,637,880.4216478,789,803.4216478,653.4216478,632,654,0.402868556314,-0.0153757522542,0.0498414646489,0.999999949958,-6.14427981258e-05,-0.00030386913217,-6.30226569006e-05,1793238100741918720
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.989714561,666,637,880.989714561,789,804,653.989714561,632,654,0.402638972393,-0.0153779590202,0.0498362204351,0.999999946195,-5.29602111851e-05,-0.000317290771655,-6.42802124526e-05,1793238100758585856
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.407819449,666,637,880.407819449,789,804,653.407819449,632,654,0.402435562342,-0.0153785130916,0.0498339888332,0.99999994409,-6.20913777507e-05,-0.000322052536994,-6.51751022242e-05,1793238100775252224
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,880.172217363,789,804,653.172217363,632.172217363,654,0.402241610745,-0.0153784251576,0.0498306114789,0.999999941386,-6.94306825617e-05,-0.000328684020681,-6.61382407636e-05,1793238100791918336
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,880.747900521,789,804,653.747900521,632.747900521,654,0.402069818165,-0.0153768331522,0.0498245498902,0.999999937408,-7.25720648611e-05,-0.000339695825118,-6.72612703996e-05,1793238100808584960
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767.322250037,746,716,679,666,637,881,789,804,654,632.677749963,654,0.401918803727,-0.0153766057004,0.0498210944829,0.999999936136,-7.47075843655e-05,-0.000342942553609,-6.73571472969e-05,1793238100825251840
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767.895560592,746,716,679,666,637,881,789,804,654,632.104439408,654,0.40178397723,-0.0153774413532,0.0498196695146,0.999999937039,-7.60594505058e-05,-0.0003401396207,-6.66527839158e-05,1793238100841918720
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767.51720307,746,716,679.48279693,666,637,880.51720307,789,803.51720307,654,632,654,0.401670484222,-0.0153763866043,0.0498233226995,0.999999942551,-2.26338962052e-05,-0.000333936444685,-5.35972462122e-05,1793238100858585344
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745.928285356,716,679.928285356,666,637,880,789.071714644,803.071714644,654,632,654,0.401563875015,-0.0153741481942,0.0498279244182,0.999999945191,3.55374539765e-05,-0.000326744965047,-3.99033334714e-05,1793238100875251712
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745.349413265,716,679.349413265,666,637,880,789.650586735,803.650586735,654,632,654,0.401472341875,-0.0153665169028,0.049831234764,0.999999947777,4.09831307699e-05,-0.000317920513516,-4.11509266197e-05,1793238100891918336
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767.805903455,745,716,679.805903455,666,637,881.611806909,789.194096545,803.194096545,653.194096545,632,653.194096545,0.401320075994,-0.0153738679495,0.0498388639261,0.99999995308,1.90064284481e-05,-0.00030286751202,-4.18388584371e-05,1793238100925252096
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767.618542927,745.381457073,716,679.618542927,666,637.381457073,881.237085854,789,803,653.381457073,632.381457073,653,0.401260280141,-0.0153810088894,0.0498409162667,0.999999954409,5.13576770041e-06,-0.000298978848097,-4.20427203909e-05,1793238100941918720
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767.043789999,745.956210001,716,679.043789999,666,637.956210001,880.087579999,789,803,653.956210001,632.956210001,653,0.401205389497,-0.0153874291952,0.049841965178,0.99999995508,-6.59570661405e-06,-0.000296649280934,-4.23735195963e-05,1793238100958585088
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,767.866315328,745.866315328,716,679.133684672,666.133684672,637,880.866315328,789.133684672,804,654,632.133684672,653.866315328,0.401118055478,-0.0153940191242,0.0498409622843,0.999999954587,-1.84149852901e-05,-0.000297702703224,-4.31359956152e-05,1793238100991918592
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,767.288277071,745.288277071,716,679.711722929,666.711722929,637,880.288277071,789.711722929,804.288277071,653.711722929,632.711722929,653.288277071,0.401056843931,-0.0153937190145,0.0498392961598,0.999999954557,-2.01685154293e-05,-0.000297590394814,-4.38156686513e-05,1793238101025251840
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767.863695785,745.863695785,716,679.136304215,666.136304215,637,880.863695785,789.136304215,804.863695785,653.136304215,632.136304215,653.863695785,0.401036473418,-0.0153944626989,0.0498389621243,0.999999954715,-2.30903359485e-05,-0.000296802648321,-4.41030936399e-05,1793238101041918720
+408,6.800000000,POSE2_TO_POSE3_RETREAT,768,745.550990681,716,679,666.449009319,637,881.449009319,789,804.550990681,653,632,654,0.401022373865,-0.0153940436158,0.0498403869946,0.999999955353,-2.39711949411e-05,-0.000294594628586,-4.39741196346e-05,1793238101058585344
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767.96316475,745,716,679,666.96316475,637,882,789,804,653,632,653.96316475,0.401010699416,-0.0153932222377,0.0498424155253,0.999999956197,-2.4088146023e-05,-0.00029173933657,-4.37540687281e-05,1793238101075252224
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767.38357531,745,716,679,666.38357531,637,882,789,804,653,632,653.38357531,0.401006076277,-0.0153917913778,0.0498452940097,0.999999957926,-2.22840071985e-05,-0.000285842671832,-4.40965311093e-05,1793238101091918592
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+412,6.866666667,POSE2_TO_POSE3_RETREAT,767.771095858,745.771095858,716,679,666,637,881.228904142,789,804,653.771095858,632,653.771095858,0.400999803268,-0.0153922454254,0.0498490881194,0.999999960092,-2.39197274117e-05,-0.000278029001633,-4.40980452395e-05,1793238101125251840
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,767.076645519,746,716,679,666,637,880.076645519,789,804,653.076645519,632.923354481,654,0.400996568729,-0.0153961790934,0.0498524655756,0.999999961557,-2.80268287773e-05,-0.000272466891108,-4.3145868039e-05,1793238101158585344
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,767.900379754,745,716,679.900379754,666,637,881,789,804.900379754,654,632,654,0.40099242029,-0.0153944593486,0.0498525141027,0.999999961573,-2.49754037512e-05,-0.000272583275394,-4.39231616096e-05,1793238101191918592
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+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,745.255810702,716,679,666,637,880.744189298,789,804,654,632.255810702,654,0.400994172745,-0.0153970184327,0.0498545569191,0.99999996231,-3.02344835364e-05,-0.000269407994622,-4.34284918249e-05,1793238101225252096
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,745.829255214,716,679,666,637,880.170744786,789,804,654,632.829255214,654,0.40099404523,-0.0153961363132,0.0498542889517,0.999999962516,-2.93337366092e-05,-0.000268744316687,-4.33943843643e-05,1793238101241918464
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,768,746,716,679,666.996769693,637,881,789,804,654,632,654,0.400994479351,-0.0153971318974,0.0498549291799,0.999999962803,-2.98032316591e-05,-0.000267613525288,-4.34573208699e-05,1793238101275251712
+422,7.033333333,POSE2_TO_POSE3_RETREAT,768,746,716,679,666.417344574,637,881,789,804,654,632,654,0.400994047044,-0.0153970971232,0.0498554643283,0.999999962854,-2.96898984904e-05,-0.000267447718958,-4.33888352072e-05,1793238101291918336
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+424,7.066666667,POSE2_TO_POSE3_RETREAT,768,746,716,679,666,637,881,789,804,654,632,654,0.400994473081,-0.0153983099186,0.0498560541623,0.999999963069,-3.07401660089e-05,-0.000266546227619,-4.32484051721e-05,1793238101325251840
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..63a772789b4d6b4daa38984e691afcbb44aba771
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,440 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ed63b1e5a718e056521c34c11d21bb68862d85b5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76d21a65d6a5aa9627dc7c0eaffa94c76e7e059d97e204ba98b2d425f9a4fb9d
+size 28027191
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c3ccd8452212ff40e1bfa981b9c5a1f62ae0d0b0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_05/franka_data.csv
@@ -0,0 +1,442 @@
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+8,0.133333333,BASELINE,767,745,716,679,666,637,880.677953202,789,803.322046798,653,632,654,0.400996518586,-0.0154001311178,0.0498608387574,0.999999965621,-3.24728450397e-05,-0.000256660164877,-4.27774569341e-05,1793238101811834368
+9,0.150000000,BASELINE,767,745.257426268,716,679,666,637,881,789,803.257426268,653.257426268,632,654,0.400996757643,-0.0154000432057,0.0498608491598,0.999999965751,-3.18970828837e-05,-0.00025625249521,-4.26149797102e-05,1793238101828500992
+10,0.166666667,BASELINE,767,745.835454373,716,679,666,637,881,789,803.835454373,653.835454373,632,654,0.400995544615,-0.0153992076512,0.0498596819005,0.999999965262,-3.10318998046e-05,-0.000258240770932,-4.27126838412e-05,1793238101845167616
+11,0.183333333,BASELINE,767.41154297,746,716,679,666,637,881,789,803.58845703,653.58845703,632,653.58845703,0.400995078962,-0.0153999707642,0.0498591674703,0.999999964944,-3.25844928241e-05,-0.000259259926773,-4.28291880005e-05,1793238101861834240
+12,0.200000000,BASELINE,767.986859787,746,716,679,666,637,881,789,803.013140213,653.013140213,632,653.013140213,0.400994910728,-0.0154013700681,0.0498589128339,0.999999964689,-3.50992416628e-05,-0.000259893420763,-4.29531736536e-05,1793238101878500864
+13,0.216666667,BASELINE,767.423905351,746,716,679,666,637,881,789,803.576094649,653.576094649,632,653.576094649,0.40099250151,-0.0154011715021,0.0498578688149,0.999999964331,-3.35897289719e-05,-0.000261480693517,-4.28668795103e-05,1793238101895167488
+14,0.233333333,BASELINE,767,745.837539883,716,679,666,637,881,789,804,653.837539883,632,653.837539883,0.400991003543,-0.015401114846,0.0498573105288,0.999999964076,-3.29614652467e-05,-0.000262536097201,-4.28504943915e-05,1793238101911834368
+15,0.250000000,BASELINE,767,745.259349452,716,679,666,637,881,789,804,653.259349452,632,653.259349452,0.400991971481,-0.0154015169059,0.0498580424326,0.9999999641,-3.48289920582e-05,-0.000262173416832,-4.30255816769e-05,1793238101928500992
+16,0.266666667,BASELINE,767,745.317049446,716,679,666,637,880.682950554,789.317049446,804,653.317049446,632,653.317049446,0.4009928029,-0.0154014795592,0.0498586955709,0.999999964352,-3.55989487959e-05,-0.00026110028995,-4.30635286769e-05,1793238101945167616
+17,0.283333333,BASELINE,767,745.891991052,716,679,666,637,880.108008948,789.891991052,804,653.891991052,632,653.891991052,0.400993523274,-0.0154010847933,0.0498592846403,0.99999996479,-3.54761275864e-05,-0.000259449276619,-4.29899239668e-05,1793238101961834496
+18,0.300000000,BASELINE,767,746,716,679,666,637,880.478275624,789.521724376,803.521724376,654,632,654,0.400993831803,-0.0154015344772,0.0498597075385,0.999999964931,-3.51313336223e-05,-0.000258953889783,-4.29817736056e-05,1793238101978500864
+19,0.316666667,BASELINE,767,746,716,679,666,637,881,789,803.066148253,654,632,653.933851747,0.40099389597,-0.0154021001266,0.0498599311851,0.999999964951,-3.48785023884e-05,-0.000258907828873,-4.29940218873e-05,1793238101995167488
+20,0.333333333,BASELINE,767,746,716,679,666,637,881,789,803.645977668,654,632,653.354022332,0.400992802333,-0.0154020494269,0.0498589060161,0.999999964563,-3.57385487028e-05,-0.000260275194478,-4.30471018042e-05,1793238102011834112
+21,0.350000000,BASELINE,767,745.775239504,716,679,666,637,880.775239504,789,803.775239504,654,632,653,0.40099229622,-0.0154017813323,0.0498584540851,0.999999964437,-3.55778913169e-05,-0.000260761418595,-4.31736493027e-05,1793238102028500992
+22,0.366666667,BASELINE,767,745.198097579,716,679,666,637,880.198097579,789,803.198097579,654,632,653,0.400992711233,-0.015401172404,0.0498589008816,0.999999964721,-3.38169658556e-05,-0.00025986618142,-4.34153798987e-05,1793238102045167616
+23,0.383333333,BASELINE,767,745,715.621680991,679,666,637,880.378319009,789,803.378319009,654,632,653.378319009,0.400994056677,-0.0154004812252,0.0498597913819,0.999999965181,-3.28376670662e-05,-0.000258223103271,-4.33686376552e-05,1793238102061834240
+24,0.400000000,BASELINE,767,745,715.04564343,679,666,637,880.95435657,789,803.95435657,654,632,653.95435657,0.400995888385,-0.0153997470602,0.0498609137724,0.999999965731,-3.22668648889e-05,-0.000256189185478,-4.31711326357e-05,1793238102078501120
+25,0.416666667,BASELINE,767,745.541759696,715.541759696,679,666,637,881,789,804,653.458240304,632,654,0.400994605723,-0.0154004196161,0.0498600717114,0.999999965399,-3.34851623578e-05,-0.000257326525131,-4.31812420336e-05,1793238102095167744
+26,0.433333333,BASELINE,767.128294413,745.871705587,716,679.128294413,666,637,881,789,804,653,632,654,0.400993188304,-0.0154010756502,0.0498590627583,0.999999964975,-3.43646816778e-05,-0.000258845130289,-4.32223695605e-05,1793238102111834368
+27,0.450000000,BASELINE,767.708327633,745.291672367,716,679.708327633,666,637,881,789,804,653,632,654,0.40099224008,-0.0154012472569,0.0498580614112,0.999999964507,-3.35092081712e-05,-0.000260745286097,-4.33098057843e-05,1793238102128500736
+28,0.466666667,BASELINE,768,745.286142091,716,679.713857909,666,637,881,789,804,653,632,654,0.400992499272,-0.0154011076167,0.0498581729542,0.999999964564,-3.33706031838e-05,-0.00026054460881,-4.33041542081e-05,1793238102145167360
+29,0.483333333,BASELINE,768,745.861712271,716,679.138287729,666,637,881,789,804,653,632,654,0.400993979746,-0.0154006531553,0.0498594101677,0.999999965152,-3.39570991435e-05,-0.000258218972762,-4.32043458246e-05,1793238102161834240
+30,0.500000000,BASELINE,768,746,716,679,666,637,881,789,804,653,632,654,0.400994152846,-0.0153999165582,0.0498596128568,0.999999965163,-3.34851489747e-05,-0.000258227975281,-4.32644182643e-05,1793238102178500864
+31,0.516666667,BASELINE,767.968651541,745.968651541,716,679,666,637,881,789,804,653.031348459,632,654,0.400993883612,-0.0153992663659,0.0498594965008,0.99999996499,-3.28719146787e-05,-0.000258960027709,-4.33585787759e-05,1793238102195167744
+32,0.533333333,BASELINE,767.388308956,745.388308956,716,679,666,637,881,789,804,653.611691044,632,654,0.400993108545,-0.0154016918895,0.0498595222855,0.999999964782,-3.56463692805e-05,-0.000259424761553,-4.31642502189e-05,1793238102211834368
+33,0.550000000,BASELINE,767.191560655,745,716,679,666,637,881,789,804,653.808439345,632,654,0.400993203814,-0.0154028609717,0.0498598206618,0.99999996484,-3.6498035645e-05,-0.000259117014825,-4.29706443282e-05,1793238102228501248
+34,0.566666667,BASELINE,767.770473804,745,716,679,666,637,881,789,804,653.229526196,632,654,0.400995058977,-0.0154014894189,0.0498606702422,0.999999965437,-3.34616547347e-05,-0.000257247244382,-4.27784997563e-05,1793238102245167872
+35,0.583333333,BASELINE,768,745,716,679.345783131,666,637,881.345783131,789,804,653.345783131,632.345783131,654,0.400995412202,-0.0154013791399,0.0498607727196,0.9999999656,-3.25895328049e-05,-0.00025672835338,-4.27613136573e-05,1793238102261834496
+36,0.600000000,BASELINE,768,745,716,679.918725021,666,637,881.918725021,789,804,653.918725021,632.918725021,654,0.400994778745,-0.015402097442,0.0498603843954,0.999999965483,-3.31391987931e-05,-0.000257096908887,-4.28590647527e-05,1793238102278500864
+37,0.616666667,BASELINE,768,745.505714156,716,680,666,637,881.494285844,789.505714156,804,653.494285844,633,654,0.400994472208,-0.0154019661646,0.0498603126175,0.999999965281,-3.43998667156e-05,-0.000257705609011,-4.29264406705e-05,1793238102295167488
+38,0.633333333,BASELINE,768,745.906345264,716,680,666,637,881,789.906345264,804,653.093654736,633,654,0.400994232332,-0.0154015221316,0.0498603040385,0.999999965119,-3.51770744287e-05,-0.000258211183996,-4.30212458441e-05,1793238102311834112
+39,0.650000000,BASELINE,768,745.325533991,716,680,666,637,881,789.325533991,804,653.674466009,633,654,0.400994058095,-0.0154001817765,0.0498603520126,0.999999965249,-3.28281475634e-05,-0.000257973851939,-4.32848458782e-05,1793238102328500736
+40,0.666666667,BASELINE,767.748109196,745.251890804,716,679.748109196,666,637,881,789,804,654,632.748109196,654,0.400994094586,-0.0153993867244,0.0498600982831,0.999999965287,-3.11671204667e-05,-0.000257999087747,-4.34806876737e-05,1793238102345167872
+41,0.683333333,BASELINE,767.175002933,745.824997067,716,679.175002933,666,637,881,789,804,654,632.175002933,654,0.400994399799,-0.015399287052,0.0498594598161,0.999999965214,-3.03833150568e-05,-0.000258359154597,-4.35901229895e-05,1793238102361834496
+42,0.700000000,BASELINE,767,746,716,679,666,637,881,789,804,654,632.400496376,654,0.400994503259,-0.0153999463501,0.0498595840591,0.999999965237,-3.19374938776e-05,-0.000258100966984,-4.3481245301e-05,1793238102378501120
+43,0.716666667,BASELINE,767,746,716,679,666,637,881,789,804,654,632.977047633,654,0.40099451803,-0.0154009392852,0.0498600435831,0.999999965296,-3.45194311724e-05,-0.00025757099983,-4.32763990257e-05,1793238102395167744
+44,0.733333333,BASELINE,767.565008392,746,716,679,666,637,881,789,804,654,632.434991608,654,0.400993468157,-0.015401915711,0.0498596918773,0.999999965035,-3.38532147642e-05,-0.000258693961013,-4.31517986221e-05,1793238102411834368
+45,0.750000000,BASELINE,767.848548737,746,716,679,666,637,881,789,803.848548737,654,632,654,0.400992876792,-0.0154028543489,0.0498595007746,0.999999964924,-3.39734945134e-05,-0.000259127736088,-4.30168847202e-05,1793238102428501248
+46,0.766666667,BASELINE,767.267750033,746,716,679,666,637,881,789,803.267750033,654,632,654,0.400993710379,-0.0154036878022,0.0498598603121,0.999999965278,-3.67051759664e-05,-0.000257413467786,-4.28433015008e-05,1793238102445167616
+47,0.783333333,BASELINE,767,745.690845024,716,679,666,637,880.690845024,789,803,653.690845024,632,653.690845024,0.400994314098,-0.0154033765982,0.04985993105,0.999999965364,-3.63094761643e-05,-0.000257131545177,-4.28607841472e-05,1793238102461834240
+48,0.800000000,BASELINE,767,745.117270222,716,679,666,637,880.117270222,789,803,653.117270222,632,653.117270222,0.400994721213,-0.0154020863704,0.0498597547782,0.99999996522,-3.32389317902e-05,-0.000258074705674,-4.30416851458e-05,1793238102478500864
+49,0.816666667,BASELINE,767,745.456263361,716,679,666,637,880.456263361,789,803,653.456263361,632,653,0.400994153577,-0.0154024869417,0.0498601524265,0.999999965326,-3.4251325182e-05,-0.000257525398198,-4.30698056052e-05,1793238102495167744
+50,0.833333333,BASELINE,767,746,716,679,666,637,881,789,803.030897966,653.969102034,632,653.030897966,0.400993387449,-0.0154032538079,0.0498606438665,0.999999965476,-3.61827349312e-05,-0.000256678226816,-4.30599810584e-05,1793238102511834368
+51,0.850000000,BASELINE,767,746,716,679,666,637,881,789,803.625825288,653.374174712,632,653.625825288,0.400993570892,-0.0154027749791,0.0498601549301,0.999999965308,-3.57356090621e-05,-0.000257395475108,-4.30742447684e-05,1793238102528501248
+52,0.866666667,BASELINE,767,746,716,679,666,637,881,789,804,653.214814606,632.214814606,654,0.4009940184,-0.0154023624137,0.0498601985025,0.999999965293,-3.52220332007e-05,-0.000257536289239,-4.30007350414e-05,1793238102545167616
+53,0.883333333,BASELINE,767,746,716,679,666,637,881,789,804,653.793739002,632.793739002,654,0.400994913497,-0.0154020621647,0.049861144675,0.999999965539,-3.45958249286e-05,-0.000256700050026,-4.27784497337e-05,1793238102561834240
+54,0.900000000,BASELINE,767,746,715.631601005,679,666,637,881,789,803.631601005,653.631601005,632.631601005,653.631601005,0.400994824365,-0.0154018527615,0.0498611028824,0.999999965489,-3.40352364968e-05,-0.000256964258946,-4.28100592602e-05,1793238102578500608
+55,0.916666667,BASELINE,767,746,715.059301284,679,666,637,881,789,803.059301284,653.059301284,632.059301284,653.059301284,0.400994190485,-0.0154016936396,0.0498605142728,0.999999965275,-3.35109672214e-05,-0.000257837541686,-4.29821939903e-05,1793238102595167232
+56,0.933333333,BASELINE,767,746,715.528924528,679.528924528,666,637,881,789,803.528924528,653,632,653.528924528,0.400994830842,-0.0154016528917,0.0498607377214,0.999999965526,-3.46657207764e-05,-0.000256684022594,-4.312328348e-05,1793238102611833856
+57,0.950000000,BASELINE,767,746,716,679.883200076,666,637,881,789,804,653,632,654,0.40099523292,-0.0154016071451,0.0498609592784,0.9999999657,-3.56766659758e-05,-0.000255854937015,-4.31944227747e-05,1793238102628500736
+58,0.966666667,BASELINE,767,746,716,679.304000501,666,637,881,789,804,653,632,654,0.400994108527,-0.0154014874362,0.0498608017168,0.999999965365,-3.53499011288e-05,-0.000257237796313,-4.30028434605e-05,1793238102645167360
+59,0.983333333,BASELINE,767,746,716,679,666,637.272151068,880.727848932,789,804,653.272151068,632,654,0.4009938809,-0.0154016088828,0.049860612845,0.999999965348,-3.50512810012e-05,-0.000257387104293,-4.27573315285e-05,1793238102661834240
+60,1.000000000,BASELINE,767,746,716,679,666,637.84493571,880.15506429,789,804,653.84493571,632,654,0.40099464389,-0.0154019967234,0.0498603893864,0.999999965681,-3.47837510929e-05,-0.000256173761384,-4.24522425297e-05,1793238102678500864
+61,1.016666667,BASELINE,767.43161313,746,716,679.43161313,666,637.56838687,880.43161313,789,804,654,632,654,0.400995595562,-0.0154026180131,0.0498610756594,0.99999996594,-3.48105592232e-05,-0.00025513930674,-4.25708141662e-05,1793238102695167488
+62,1.033333333,BASELINE,767.977044671,746,716,679.977044671,666,637,881,789,803.977044671,654,632.022955329,654,0.400996500988,-0.0154032788225,0.0498620154487,0.999999966136,-3.49942053561e-05,-0.000254298583234,-4.28482267871e-05,1793238102711834112
+63,1.050000000,BASELINE,767.397638526,746,716,679.397638526,666,637,881,789,803.397638526,654,632.602361474,654,0.400994587527,-0.015402796925,0.0498609144178,0.999999965501,-3.63311014944e-05,-0.000256544292705,-4.31637356086e-05,1793238102728500992
+64,1.066666667,BASELINE,767,746,716,679,666.180923918,636.819076082,881,789,803.180923918,653.819076082,632.819076082,654,0.40099374519,-0.0154025361177,0.0498603609877,0.999999965237,-3.71000475199e-05,-0.000257432450647,-4.33259849241e-05,1793238102745167616
+65,1.083333333,BASELINE,767,746,716,679,666.757640629,636.242359371,881,789,803.757640629,653.242359371,632.242359371,654,0.400995246066,-0.0154027589719,0.0498610055001,0.999999965796,-3.66265343979e-05,-0.000255350801479,-4.31529606494e-05,1793238102761834240
+66,1.100000000,BASELINE,767,745.667492967,716,679.332507033,666.667492967,636.332507033,881,789,804,653.332507033,632,654,0.400995940304,-0.0154025840613,0.0498616430026,0.999999966102,-3.56965945684e-05,-0.000254301252821,-4.30393738301e-05,1793238102778501120
+67,1.116666667,BASELINE,767,745.093967786,716,679.906032214,666.093967786,636.906032214,881,789,804,653.906032214,632,654,0.400996049849,-0.0154021208306,0.0498622754239,0.999999966226,-3.44358132763e-05,-0.000253999823631,-4.29688703342e-05,1793238102795167744
+68,1.133333333,BASELINE,767,745.493196375,716,679.506803625,666,637,881,789,804,653.506803625,632,654,0.400994646573,-0.0154030583373,0.0498615589431,0.99999996585,-3.60411973246e-05,-0.000255265615342,-4.28897709682e-05,1793238102811834368
+69,1.150000000,BASELINE,767,745.918241043,716,679,666,637,881,789,804,653.081758957,632,654,0.400993171978,-0.0154038667162,0.0498606592414,0.999999965433,-3.75915740874e-05,-0.000256672592531,-4.28892105313e-05,1793238102828500992
+70,1.166666667,BASELINE,767,745.337455332,716,679,666,637,881,789,804,653.662544668,632,654,0.400993071397,-0.0154022116801,0.049860254497,0.999999965392,-3.53783056656e-05,-0.000257066935842,-4.33783035721e-05,1793238102845167616
+71,1.183333333,BASELINE,767,745.240644664,716,679,666,637,880.759355336,789,804,654,632.240644664,653.759355336,0.400993443406,-0.0154013933975,0.0498603224474,0.999999965418,-3.41202347054e-05,-0.000257123134967,-4.34362910876e-05,1793238102861834240
+72,1.200000000,BASELINE,767,745.815020141,716,679,666,637,880.184979859,789,804,654,632.815020141,653.184979859,0.400994470813,-0.0154017355412,0.04986104594,0.999999965545,-3.41868502897e-05,-0.000256710389056,-4.28964129463e-05,1793238102878500864
+73,1.216666667,BASELINE,767,746,716,679.389962869,666,637,880.389962869,789,804,653.610037131,632.610037131,653.389962869,0.400993923887,-0.0154023177884,0.0498605323203,0.999999965414,-3.5225888116e-05,-0.000257104313974,-4.27696319138e-05,1793238102895167488
+74,1.233333333,BASELINE,767,746,716,679.965175032,666,637,880.965175032,789,804,653.034824968,632.034824968,653.965175032,0.400992629084,-0.0154030140953,0.0498594310186,0.999999965157,-3.67268687208e-05,-0.00025788144258,-4.28390899749e-05,1793238102911834112
+75,1.250000000,BASELINE,767,746,716,679.44405565,666,637,880.44405565,789,804,653.55594435,632,653.44405565,0.400995069012,-0.0154027853703,0.0498616587737,0.999999966029,-3.60341048995e-05,-0.00025456924085,-4.2871792038e-05,1793238102928500736
+76,1.266666667,BASELINE,767,745.855673427,716,679,666,637,880,789,803.855673427,653.855673427,632.144326573,653.144326573,0.40099645663,-0.0154024396447,0.0498630017571,0.999999966541,-3.5156826766e-05,-0.000252673877658,-4.28794511855e-05,1793238102945167616
+77,1.283333333,BASELINE,767,745.277481046,716,679,666,637,880,789,803.277481046,653.277481046,632.722518954,653.722518954,0.40099395733,-0.0154019214046,0.0498610400582,0.999999965776,-3.41498649903e-05,-0.0002558299511,-4.28189485398e-05,1793238102961834240
+78,1.300000000,BASELINE,767,745.298398188,715.701601812,679.298398188,666,637,880.298398188,789,803,653,632.701601812,654,0.400992839624,-0.0154014508307,0.0498603962919,0.999999965401,-3.40837003893e-05,-0.000257272775892,-4.29723118795e-05,1793238102978501120
+79,1.316666667,BASELINE,767,745.872142936,715.127857064,679.872142936,666,637,880.872142936,789,803,653,632.127857064,654,0.400992996783,-0.0154010242408,0.0498609686466,0.999999965394,-3.48856552734e-05,-0.000257134702436,-4.3323019796e-05,1793238102995167744
+80,1.333333333,BASELINE,767,746,715,680,666,637,881,789,803.458414378,653.458414378,632,653.541585622,0.400993735738,-0.0154011589844,0.0498606927013,0.999999965436,-3.57022049095e-05,-0.000256864345397,-4.32945583522e-05,1793238103011834368
+81,1.350000000,BASELINE,767,745.952506075,715,679.952506075,666,637,881,789,803.952506075,653.952506075,632,653,0.400994489562,-0.0154015189075,0.0498602061009,0.999999965479,-3.64158841118e-05,-0.000256615697313,-4.316815262e-05,1793238103028500736
+82,1.366666667,BASELINE,767,745.37222078,715,679.37222078,666,637,881,789,803.37222078,653.37222078,632,653,0.400993538705,-0.0154025992428,0.0498600851276,0.999999965389,-3.59286045013e-05,-0.000257036106866,-4.3162694675e-05,1793238103045167360
+83,1.383333333,BASELINE,767.206596306,745.206596306,715,678.793403694,666,637,880.793403694,789,803,653,632,653.206596306,0.400993548312,-0.0154031817297,0.0498604301657,0.999999965512,-3.55276673346e-05,-0.00025662571628,-4.30905737707e-05,1793238103061834240
+84,1.400000000,BASELINE,767.78278691,745.78278691,715,678.21721309,666,637,880.21721309,789,803,653,632,653.78278691,0.400995276158,-0.0154028735815,0.0498616088836,0.999999966014,-3.52811940045e-05,-0.000254729050426,-4.28991949264e-05,1793238103078501120
+85,1.416666667,BASELINE,768,745.64248997,715.35751003,678.715020059,666.35751003,637,880.35751003,789,803.35751003,653,632.35751003,654,0.400995552943,-0.0154030028978,0.0498618333236,0.999999966096,-3.60979116198e-05,-0.000254291928049,-4.289455762e-05,1793238103095167744
+86,1.433333333,BASELINE,768,745.068654842,715.931345158,679.862690315,666.931345158,637,880.931345158,789,803.931345158,653,632.931345158,654,0.400994951707,-0.0154033969187,0.0498614803412,0.999999965924,-3.7557953539e-05,-0.000254737958311,-4.30029154248e-05,1793238103111834368
+87,1.450000000,BASELINE,768,745.517923011,716,679.482076989,666.482076989,637,880.482076989,789,804,653,632.482076989,654,0.400995317226,-0.0154025803444,0.0498621899616,0.999999966166,-3.58822557831e-05,-0.000254053896774,-4.28713106857e-05,1793238103128500992
+88,1.466666667,BASELINE,767.895204398,746,716,679,666,637,880.104795602,789,804,653,632,653.895204398,0.400995601724,-0.0154018652065,0.0498627375446,0.999999966349,-3.41888396342e-05,-0.000253589880125,-4.27261667528e-05,1793238103145167616
+89,1.483333333,BASELINE,767.314852922,746,716,679,666,637,880.685147078,789,804,653,632,653.314852922,0.400994922341,-0.0154023569713,0.0498618944911,0.999999966033,-3.43488707567e-05,-0.00025482135598,-4.26675708899e-05,1793238103161833984
+90,1.500000000,BASELINE,767,746,716,679,666,637,880.737439663,789,803.737439663,653.262560337,632,653.262560337,0.400994261476,-0.0154023738115,0.0498614472801,0.999999965874,-3.40761687825e-05,-0.000255489328731,-4.26239960802e-05,1793238103178500864
+91,1.516666667,BASELINE,767,746,716,679,666,637,880.163510856,789,803.163510856,653.836489144,632,653.836489144,0.40099362257,-0.0154018274418,0.0498614694957,0.999999965901,-3.32902916398e-05,-0.000255489046999,-4.2598234637e-05,1793238103195167488
+92,1.533333333,BASELINE,767.411757508,746,716,679,666,637,880.411757508,789,803.411757508,654,632,653.588242492,0.400995595893,-0.0154015807705,0.0498621261046,0.999999966306,-3.35408106345e-05,-0.00025385032739,-4.27037237836e-05,1793238103211834112
+93,1.550000000,BASELINE,767.9875596,746,716,679,666,637,880.9875596,789,803.9875596,654,632,653.0124404,0.400998609931,-0.0154014534993,0.0498630354563,0.999999966856,-3.42042307754e-05,-0.000251558852561,-4.28615032883e-05,1793238103228500736
+94,1.566666667,BASELINE,767.421294945,746,716,679,666,637,881.578705055,789,803.421294945,654,632,653.578705055,0.400996364813,-0.015401495841,0.0498621317439,0.999999966352,-3.40040508562e-05,-0.000253565090789,-4.29523784412e-05,1793238103245167360
+95,1.583333333,BASELINE,767,746,716,679,666.166638451,637,881.833361549,789,803.166638451,653.833361549,632,653.833361549,0.400994274862,-0.0154017471977,0.0498610930402,0.999999965828,-3.40807308914e-05,-0.000255604101094,-4.29892822934e-05,1793238103261834496
+96,1.600000000,BASELINE,767,746,716,679,666.745781953,637,881.254218047,789,803.745781953,653.254218047,632,653.254218047,0.400992856504,-0.0154025066886,0.0498598192813,0.999999965321,-3.48899714841e-05,-0.000257489307449,-4.28962401975e-05,1793238103278501120
+97,1.616666667,BASELINE,767.32318199,745.67681801,716,679.32318199,666.67681801,637,881.32318199,789,803.67681801,653,632.32318199,653.32318199,0.400992645372,-0.0154022507482,0.0498597269024,0.999999965269,-3.46651510556e-05,-0.00025771101777,-4.29545292004e-05,1793238103295167488
+98,1.633333333,BASELINE,767.899217924,745.100782076,716,679.899217924,666.100782076,637,881.899217924,789,803.100782076,653,632.899217924,653.899217924,0.400993378761,-0.0154012003458,0.049860558822,0.999999965575,-3.36312928971e-05,-0.000256631227441,-4.31312179541e-05,1793238103311834112
+99,1.650000000,BASELINE,767.515612527,745.484387473,716,679.515612527,666.484387473,637,881.515612527,789,803.484387473,653,633,654,0.400995512379,-0.0154018480102,0.0498619635856,0.999999966176,-3.461676816e-05,-0.000254172788122,-4.29622599233e-05,1793238103328500736
+100,1.666666667,BASELINE,767.070535584,746,716,679,666.929464416,637,880.929464416,789,803.929464416,653,632.929464416,654,0.400997232374,-0.0154026420041,0.0498630214349,0.999999966639,-3.5668733547e-05,-0.000252232690578,-4.27690674771e-05,1793238103345167360
+101,1.683333333,BASELINE,767.649772424,746,716,679,666.350227576,637,880.350227576,789,803.350227576,653,632.350227576,654,0.400993827858,-0.0154018943545,0.0498607012556,0.999999965693,-3.41119191808e-05,-0.000256139326283,-4.2929718259e-05,1793238103361834240
+102,1.700000000,BASELINE,767.772289263,745.772289263,716,679,666,637,880,789,803.227710737,653,632.227710737,654,0.400991677589,-0.0154012294786,0.0498594351191,0.999999965094,-3.24596358752e-05,-0.000258677208594,-4.29435881118e-05,1793238103378501120
+103,1.716666667,BASELINE,767.19633686,745.19633686,716,679,666,637,880,789,803.80366314,653,632.80366314,654,0.400991445463,-0.0154006911901,0.0498597809473,0.999999965045,-3.06613505406e-05,-0.000259121834141,-4.2732983533e-05,1793238103395167744
+104,1.733333333,BASELINE,767,745,716,679,666,637,880,789,804,653,632.620237364,653.620237364,0.400992468856,-0.0154021608595,0.0498602421625,0.999999965269,-3.36105345337e-05,-0.00025789467916,-4.26823106069e-05,1793238103411834368
+105,1.750000000,BASELINE,767,745,716,679,666,637,880,789,804,653,632.044061739,653.044061739,0.400994141603,-0.0154046690434,0.0498607630558,0.999999965609,-3.90151064165e-05,-0.00025580288041,-4.27143542074e-05,1793238103428501248
+106,1.766666667,BASELINE,767,745.54550412,716,679,666,637,880.54550412,789,803.45449588,653,632,653,0.400993136733,-0.0154044797126,0.0498603833292,0.999999965384,-3.87138632449e-05,-0.000256734252728,-4.26644661599e-05,1793238103445167616
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,716,680,666,637,880,789,803,653,632,653,0.400995573205,-0.0154034386972,0.0498625000851,0.999999966394,-3.62240995674e-05,-0.00025315804796,-4.25612089812e-05,1793238103487153920
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.417409781,746,716,679.417409781,666,637,880,788.417409781,803.582590219,653,632,653,0.400994953406,-0.0154020067566,0.0498614965981,0.999999966122,-3.41302352867e-05,-0.000254436651573,-4.30588384983e-05,1793238103503820800
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.166482667,745.833517333,716,679,666,637,880.166482667,788.166482667,803.833517333,653,632,653.166482667,0.400995151046,-0.0154014764073,0.0498613582643,0.999999966117,-3.33805464167e-05,-0.000254521871415,-4.32436454967e-05,1793238103520487680
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.753665961,745.246334039,716,679,666,637,880.753665961,788.753665961,803.246334039,653,632,653.753665961,0.400997414346,-0.0154032243729,0.0498634061665,0.999999966793,-3.60275797137e-05,-0.000251591418417,-4.26379521094e-05,1793238103537154304
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,745,716,679,666,637,881,789,803.336947004,653.336947004,632,653.663052996,0.400997077891,-0.0154036505606,0.0498630904251,0.999999966617,-3.62962750641e-05,-0.000252282107243,-4.24531622375e-05,1793238103553820928
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,745,716,679,666,637,881,789,803.917407828,653.917407828,632,653.082592172,0.400994862576,-0.0154031214904,0.0498610664626,0.999999965824,-3.48461297483e-05,-0.000255589819301,-4.25725621461e-05,1793238103570487552
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.506707386,745.493292614,716,679,666,637,880.506707386,789,804,653.506707386,632,653.493292614,0.400993501493,-0.015403170895,0.0498603364036,0.999999965438,-3.53902832784e-05,-0.00025697522598,-4.28488139207e-05,1793238103587154176
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745.93151349,716,679,666.06848651,637,880.06848651,789,804,653.06848651,632,653.93151349,0.400992509894,-0.0154033130116,0.049859968742,0.999999965195,-3.61172546814e-05,-0.000257779853512,-4.30613407115e-05,1793238103603820800
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.35581424,716,679,666.64418576,637,880.64418576,789,804,653.64418576,632,653.35581424,0.400993205189,-0.0154034310444,0.0498606953186,0.99999996552,-3.5747991362e-05,-0.000256644954122,-4.26092111113e-05,1793238103620487424
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.226078083,745,716,679,666.773921917,637,880.773921917,788.773921917,804,653.773921917,632,653,0.400994175506,-0.015403679701,0.049861457842,0.999999965844,-3.58974056135e-05,-0.000255387488263,-4.24371770219e-05,1793238103637154048
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.817991875,745,716,679,666.182008125,637,880.182008125,788.182008125,804,653.182008125,632,653,0.40099559086,-0.0154041397311,0.0498622785335,0.999999966167,-3.68861351279e-05,-0.000253931687541,-4.27183887699e-05,1793238103653820672
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,745,716,679,666,636.600414832,880.399585168,788.399585168,804.399585168,653.399585168,632.399585168,653.399585168,0.401003738634,-0.0154034219629,0.0498657144274,0.999999967713,-3.54255629648e-05,-0.000247984965769,-4.26829186976e-05,1793238103670487040
+119,1.983333333,POSE1_TO_POSE2_PRESS,768,745,716,679,666,636.023404042,880.976595958,788.976595958,804.976595958,653.976595958,632.976595958,653.976595958,0.401014875769,-0.0154021812235,0.0498703115354,0.999999969746,-3.28774408317e-05,-0.000240044164701,-4.2506834147e-05,1793238103687153920
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.449788148,745,716,679.550211852,666,636.550211852,881,789,804.449788148,653.449788148,632.449788148,653.449788148,0.401048628754,-0.0154049760757,0.0498842208911,0.999999975948,-3.49645733287e-05,-0.000212664614377,-4.06896648266e-05,1793238103703820800
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.124214862,716,679.875785138,666,637,881,789,804,653,632,653,0.40108837511,-0.0154081016406,0.0498995565487,0.999999982035,-3.68440454048e-05,-0.000181850166124,-3.8756661062e-05,1793238103720487424
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.700147741,716,679.299852259,666,637,881,789,804,653,632,653,0.401146439953,-0.0154118094446,0.0499186474261,0.999999988618,-3.72557249691e-05,-0.000141532897998,-3.66547132492e-05,1793238103737154048
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.71606183,789,804,653,632,653.28393817,0.401207058642,-0.015415487762,0.0499345695931,0.999999992601,-3.82840851462e-05,-0.000110155352275,-3.46139639807e-05,1793238103753820416
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.123737318,789,804,653,632,653.876262682,0.401270451071,-0.0154191340537,0.0499470502101,0.999999994753,-3.99822245275e-05,-8.84872760905e-05,-3.26396828495e-05,1793238103770487040
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.456686865,746,716,679,666,637,880.456686865,789,804,653,632,653.543313135,0.40134000153,-0.0154232302835,0.0499521521509,0.999999995409,-4.07052157359e-05,-8.07768078009e-05,-3.16249960112e-05,1793238103787153920
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,716,679,666,637,880.966253776,788.966253776,803.966253776,653.033746224,632,653.033746224,0.401412143394,-0.0154274688862,0.0499552633278,0.99999999573,-4.11605089621e-05,-7.6774314586e-05,-3.08526514152e-05,1793238103803820544
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,716,679,666,637,880.392750989,788.392750989,803.392750989,653.607249011,632,653.607249011,0.401499724607,-0.0154320843249,0.0499576976731,0.99999999602,-4.14527245577e-05,-7.31279251751e-05,-2.99035234084e-05,1793238103820487424
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.8133743,745.8133743,716,679,666,637,880,788.1866257,803.1866257,654,632,653.8133743,0.401593983201,-0.0154374180068,0.0499603859138,0.99999999628,-4.29251479757e-05,-6.89676625073e-05,-2.9009949368e-05,1793238103837154048
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.221234438,745.221234438,716,679,666,637,880,788.778765562,803.778765562,654,632,653.221234438,0.401702750891,-0.0154443123405,0.049963625837,0.99999999647,-4.69620144511e-05,-6.36908183867e-05,-2.82370872304e-05,1793238103853820672
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.363091337,745.363091337,716,679,666,637,880.363091337,789,803.636908663,653.636908663,632,653.363091337,0.401821520778,-0.01545187057,0.0499640287466,0.999999996413,-4.88383947743e-05,-6.35748434769e-05,-2.73361676354e-05,1793238103870487296
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.94275629,745.94275629,716,679,666,637,880.94275629,789,803.05724371,653.05724371,632,653.94275629,0.4019462567,-0.0154598247952,0.049962739459,0.999999996218,-4.94261071831e-05,-6.6537179188e-05,-2.63588653496e-05,1793238103887153920
+132,2.200000000,POSE1_TO_POSE2_PRESS,768,746,716,679,666,637,881,789,803.517208209,653.517208209,632,654,0.402092146916,-0.0154682200352,0.0499610295847,0.999999995859,-5.21135172357e-05,-7.00993292432e-05,-2.55408733846e-05,1793238103903820544
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.909080927,746,716,679,666,637,880.909080927,789,804,653.909080927,632,653.909080927,0.402246238317,-0.015477142455,0.0499600819243,0.999999995579,-5.50323562287e-05,-7.21798066531e-05,-2.45552648933e-05,1793238103920487424
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.336270043,746,716,679,666,637,880.336270043,789,804,653.336270043,632,653.336270043,0.402431512215,-0.0154886029241,0.0499634184332,0.999999995883,-5.79583885976e-05,-6.60587307177e-05,-2.25887282291e-05,1793238103937154048
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.24472871,789,803.75527129,653.24472871,632,653.24472871,0.402629846332,-0.0154989866662,0.0499686253194,0.999999996505,-5.86606697304e-05,-5.59042948905e-05,-2.05885527654e-05,1793238103953820672
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.837367425,789,803.162632575,653.837367425,632,653.837367425,0.402846747041,-0.0155078397166,0.0499764911618,0.999999997448,-5.62016325509e-05,-4.00159744713e-05,-1.8540555995e-05,1793238103970487296
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.58107115,716,679,666,637,880.58107115,789,803.41892885,653.58107115,632,654,0.403083727789,-0.0155161237195,0.049982666938,0.999999998082,-5.29418800013e-05,-2.7628846644e-05,-1.64529630616e-05,1793238103987154432
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.003699279,716,679,666,637,880.003699279,789,803.996300721,653.003699279,632,654,0.403328303002,-0.0155241925029,0.0499882035142,0.999999998541,-4.93792890587e-05,-1.65659047274e-05,-1.43503945148e-05,1793238104003821056
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,880.571711722,789,804,653,632,654,0.403608663396,-0.0155251659646,0.0499936281664,0.999999999266,-3.64898564418e-05,-5.10282948179e-06,-1.05372910853e-05,1793238104020487424
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745.150934703,716,679.150934703,666,637,881,789,803.849065297,653,632,654,0.403896487297,-0.0155208871627,0.0499984367423,0.999999999824,-1.65133251398e-05,4.46516381985e-06,-7.66868587202e-06,1793238104037154048
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.741292387,716,679.741292387,666,637,881,789,803.258707613,653,632,654,0.404205368177,-0.0155014504145,0.0500014538077,0.999999999649,2.39210945408e-05,8.5084059987e-06,-7.58195423808e-06,1793238104053820672
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679.674641582,666,637,881,789,803.325358418,653,632,653.674641582,0.4045366935,-0.0154969147608,0.0500056947008,0.999999998749,4.67802683614e-05,1.68769734951e-05,-5.39640858724e-06,1793238104070487296
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,716,679.095483369,666,637,881,789,803.904516631,653,632,653.095483369,0.404885526917,-0.0155040028854,0.0500108902558,0.999999998025,5.59296619418e-05,2.86195641214e-05,-1.5736574977e-06,1793238104087154176
+144,2.400000000,POSE1_TO_POSE2_PRESS,767.478230698,745.521769302,716,679,666,637,881.478230698,789,803.521769302,653,632,653.478230698,0.405230399845,-0.0155122584861,0.0500015758756,0.999999997869,6.43654756795e-05,1.08972771315e-05,5.78151523167e-07,1793238104103820800
+145,2.416666667,POSE1_TO_POSE2_PRESS,768,745,716,678.948734527,666,637,881.948734527,789,803,653,632,653.948734527,0.405577780739,-0.0155199504529,0.0499891292545,0.9999999972,7.3615581144e-05,-1.32473299303e-05,2.34342255312e-06,1793238104120487424
+146,2.433333333,POSE1_TO_POSE2_PRESS,768,745,716,678.371643281,666,637,881.371643281,789,803,653,632,653.371643281,0.405958905246,-0.0155194973236,0.0499739358099,0.99999999475,9.26627027576e-05,-4.3603445209e-05,3.52739979707e-06,1793238104137154304
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.788577997,745.211422003,716,678.211422003,666,637,881,789,803.211422003,653,632,653.211422003,0.406358142231,-0.0155182161415,0.0499612468658,0.999999991399,0.000113151647985,-6.61515123122e-05,4.83125340982e-06,1793238104153820672
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.194706064,745.805293936,716,678.805293936,666,637,881,789,803.805293936,653,632,653.805293936,0.406790143599,-0.0155154370607,0.0499530884161,0.999999987917,0.00013624876605,-7.45752792257e-05,6.35195623444e-06,1793238104170487296
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.611988072,788.611988072,804,653,632,654,0.407256123641,-0.0155159728881,0.0499544602709,0.999999985251,0.000157491070733,-6.78804091921e-05,9.33620616269e-06,1793238104187153920
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666,637,880.034710793,788.034710793,804,653,632,654,0.407738677867,-0.0155181256693,0.0499604808396,0.999999982656,0.000177828629544,-5.38109353544e-05,1.30343484186e-05,1793238104203820800
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.461033279,716,679,666,637,880.538966721,788.538966721,804,653,632,653.461033279,0.408258960752,-0.0155218874753,0.0499790989831,0.999999979797,0.000199067097051,-2.12259153845e-05,1.81304503252e-05,1793238104220487680
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,880.888397634,789,804,653,632,653.111602366,0.408785279713,-0.015525622885,0.0499965773935,0.999999975483,0.000220085893014,7.8171284341e-06,2.31226770718e-05,1793238104237154048
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,880.319090569,789,804,653,632,653.680909431,0.409326454669,-0.0155288278679,0.0500060762171,0.999999970682,0.000239967388913,1.74757479899e-05,2.73220981688e-05,1793238104253820928
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,880.263559951,789,804,653.263559951,632.263559951,653.736440049,0.40987452519,-0.0155297226175,0.0500072549184,0.999999964536,0.00026409079192,1.55127365775e-05,3.06997317234e-05,1793238104270487552
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,880.863226898,789,804,653.863226898,632.863226898,653.136773102,0.410431389408,-0.0155276712233,0.0499978233166,0.999999956346,0.000293623724508,-1.27085409243e-06,3.30293745111e-05,1793238104287154176
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,881,789,804,653.557079638,632.557079638,653.442920362,0.410984429024,-0.0155255865558,0.0499764211174,0.999999947325,0.000319721705299,-4.41890923991e-05,3.42976396384e-05,1793238104303820800
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,881,789,803.983239729,653,632,653.983239729,0.411539048039,-0.0155236748492,0.0499525655155,0.999999935719,0.000344636998536,-9.2397736036e-05,3.53518666e-05,1793238104320487168
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,716,679,666,637,881,789,803.407795565,653,632,653.407795565,0.412183985195,-0.0155278563102,0.0499648303137,0.999999931204,0.000363960670083,-5.95485046414e-05,3.97251920934e-05,1793238104337153792
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.172867474,716,679,666,637,881,789,803.172867474,653,632,653.172867474,0.412845296324,-0.0155328223304,0.049979838787,0.999999944766,0.00032854016065,-2.54484344932e-05,4.33839934215e-05,1793238104353820416
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.766225089,716,679,666,637,881,789,803.766225089,653,632,653.766225089,0.413546436158,-0.0155396967455,0.0500015210907,0.999999986112,0.000159957586279,1.16942272752e-05,4.53047550396e-05,1793238104370487040
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.650598306,716,679.349401694,666,636.650598306,881.349401694,789,804,653,632,654,0.414210976348,-0.0155463300804,0.0499988101033,0.999999998433,4.61756722816e-05,5.42293545454e-06,3.11970608231e-05,1793238104387154176
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745.074040686,716,679.925959314,666,636.074040686,881.925959314,789,804,653,632,654,0.414851722046,-0.015552806682,0.0499802403463,0.999999999044,-3.19787744241e-05,-2.90729969485e-05,6.66881436284e-06,1793238104403821056
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.502216825,745,716,679.497783175,666,637.00443365,881.497783175,788.497783175,804.502216825,653,632,654,0.415519969782,-0.0155558592414,0.0499561270558,0.999999997579,-1.66595368825e-05,-6.740027069e-05,4.62243203526e-06,1793238104420487680
+164,2.733333333,POSE1_TO_POSE2_PRESS,768,745.078110043,716,679,666.078110043,637.921889957,881,788.078110043,804.921889957,653,632,653.921889957,0.416200924835,-0.0155581281926,0.0499375592325,0.999999995288,1.35731487323e-05,-9.58929770223e-05,6.6256063041e-06,1793238104437154304
+165,2.750000000,POSE1_TO_POSE2_PRESS,768,745.651971543,716,679,666.651971543,637.348028457,881,788.651971543,804.348028457,653,632,653.348028457,0.416936812559,-0.0155586256716,0.0499593715614,0.999999996904,5.10479713209e-05,-5.83844603403e-05,1.33069413497e-05,1793238104453820928
+166,2.766666667,POSE1_TO_POSE2_PRESS,767.765486692,746,716,679.234513308,667,637,881,789,804,653.234513308,632.234513308,653,0.417691531571,-0.0155590002404,0.0499829094929,0.999999995995,8.5664976432e-05,-1.72728728406e-05,1.93262374216e-05,1793238104470487552
+167,2.783333333,POSE1_TO_POSE2_PRESS,767.169567791,746,716,679.830432209,667,637,881,789,804,653.830432209,632.830432209,653,0.418475271366,-0.0155591853937,0.0500091067328,0.999999992558,0.000115877839673,2.93913686917e-05,2.43252743461e-05,1793238104487154176
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679.588898247,666.588898247,637,881,789,804,653.588898247,632.588898247,653.411101753,0.419202566495,-0.015557776219,0.0500015408396,0.999999990584,0.000134724731616,8.6824313748e-06,2.46094821284e-05,1793238104503820800
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679.014293691,666.014293691,637,881,789,804,653.014293691,632.014293691,653.985706309,0.419907412484,-0.0155557329503,0.0499805467197,0.999999987873,0.000149051163702,-3.88220731388e-05,2.30185144707e-05,1793238104520487424
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745.440741871,716,679,666,637,881,789,804,653,632,654,0.420692298472,-0.0155584222815,0.0499863731689,0.999999988374,0.000149903929166,-1.44278049183e-05,2.39310574229e-05,1793238104537154048
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745,716,679.13318168,666,637,881,789,804,653,632,654,0.42148223069,-0.0155615015648,0.0499958974316,0.999999988423,0.000149379972246,1.43193554561e-05,2.51793235471e-05,1793238104553820928
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,716,679.708428209,666,637,881,789,804,653,632,654,0.422282135211,-0.0155654744667,0.0500154246643,0.99999998773,0.000145427200593,5.14268510209e-05,2.73299571469e-05,1793238104570487552
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,716,680,666,637,881.293612314,789,804,653,632,653.706387686,0.423069128426,-0.0155653748598,0.0500142209854,0.999999988215,0.000142228787904,5.08601938938e-05,2.74459659036e-05,1793238104587154176
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,716,680,666,637,881.889010604,789,804,653,632,653.110989396,0.423842850857,-0.0155610893722,0.0499917092805,0.999999989836,0.000139805734476,1.15705979809e-05,2.54707092162e-05,1793238104603820544
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.469329194,716,679.530670806,666,637,881.530670806,789,804,653,632,653.469329194,0.424633376301,-0.0155601158099,0.0499895978302,0.999999988909,0.000146481892367,5.90309024304e-06,2.62563683228e-05,1793238104620487168
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,679,666.043732949,637,881,789,804,653,632,654,0.425428491945,-0.0155601312026,0.0499936262994,0.999999987542,0.000155070373145,9.97646383245e-06,2.77573561413e-05,1793238104637153792
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679,666.589878447,637,881,789,804,653,632,654,0.426232110898,-0.0155627902068,0.0500144935214,0.999999985773,0.000161676914402,3.7454447547e-05,3.02088573371e-05,1793238104653820672
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,679.15534517,666.84465483,637,881,789,804,653,632,653.84465483,0.427018894216,-0.0155646828009,0.0500233857002,0.999999984661,0.000166637523364,4.36550609127e-05,3.16992414293e-05,1793238104670487296
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,679.779066865,666.220933135,637,881,789,804,653,632,653.220933135,0.427754917112,-0.0155642646159,0.0499961722935,0.999999985555,0.000166635533217,-1.42970750854e-05,3.02917909925e-05,1793238104687154176
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881,789,804.373674996,653,632,653,0.428535945205,-0.0155630498258,0.0499755635825,0.999999985263,0.000162736177249,-4.6540293602e-05,2.87326327725e-05,1793238104703821056
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881,789,804.952314042,653,632,653,0.429341659003,-0.0155613980907,0.0499585776072,0.999999985264,0.00015669908172,-6.46819393992e-05,2.70902616009e-05,1793238104720487680
+182,3.033333333,POSE1_TO_POSE2_PRESS,767.527328164,746,716,680,666.527328164,637,881,789,804.472671836,653,632.527328164,653.527328164,0.430151193734,-0.0155634616907,0.049973624434,0.999999985278,0.000166166357398,-3.14622671061e-05,2.90300353677e-05,1793238104737154048
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,746,716,679.895351485,667,637,881,789,804,653,632.895351485,653.895351485,0.430945335508,-0.0155649984875,0.0499847725061,0.999999983895,0.000176656684905,-7.95362253382e-06,3.06412641226e-05,1793238104753820672
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,746,716,679.305837343,667,637,881,789,804,653,632.305837343,653.305837343,0.431666567431,-0.0155625484188,0.0499645269496,0.999999981088,0.000185435356192,-5.08115408063e-05,2.92396364513e-05,1793238104770487296
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.721319691,745.721319691,716,679.278680309,666.721319691,637,881,789,804,652.721319691,632,653,0.432412498447,-0.0155597697666,0.0499530635848,0.999999979812,0.000185237365391,-7.23443332614e-05,2.8791119143e-05,1793238104787154176
+186,3.100000000,POSE1_TO_POSE2_PRESS,767.142188887,745.142188887,716,679.857811113,666.142188887,637,881,789,804,652.142188887,632,653,0.433185057976,-0.0155566368627,0.0499510684678,0.99999998168,0.000175361465647,-7.08861027956e-05,2.93701682223e-05,1793238104803820800
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,745.432475323,716,679.567524677,666,637,881.432475323,789,804,652.432475323,632,653.432475323,0.433971071849,-0.0155556532641,0.0499720517982,0.999999982836,0.000178262353878,-3.91887832022e-05,3.18700683295e-05,1793238104820487424
+188,3.133333333,POSE1_TO_POSE2_PRESS,767.005725007,745.994274993,716,679,666,637,881.994274993,789,804.005725007,653,632,654,0.434760538066,-0.015555342693,0.050000135215,0.999999982207,0.000185369578722,1.67037298848e-06,3.49572345652e-05,1793238104837154304
+189,3.150000000,POSE1_TO_POSE2_PRESS,767.582861296,745.417138704,716,679,666,637,881.417138704,789,804.582861296,653,632,654,0.43545757978,-0.0155523975839,0.0499905381993,0.999999979628,0.000197321163209,-2.51932666263e-05,3.42701857278e-05,1793238104853820928
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.843458378,745,716,679.156541622,665.843458378,637,881,789,805,653,632.156541622,654,0.43614955747,-0.0155499414799,0.0499782457763,0.999999976672,0.00020663787333,-5.34574099232e-05,3.31422669515e-05,1793238104870487552
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.278788169,745,716,679.721211831,665.278788169,637,881,789,805,653,632.721211831,654,0.436828332603,-0.0155487602884,0.0499589260011,0.999999974021,0.000209085055093,-8.53728920624e-05,3.08649309158e-05,1793238104887154176
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.305071516,745.305071516,716,680,665.305071516,637,881,789,804.694928484,653,632.694928484,653.694928484,0.437543084688,-0.015549851533,0.0499659260232,0.999999976666,0.000203726333966,-6.48273768874e-05,3.1002289546e-05,1793238104903820544
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.907644471,745.907644471,716,680,665.907644471,637,881,789,804.092355529,653,632.092355529,653.092355529,0.43829292095,-0.0155531588254,0.0499985927416,0.999999981222,0.000190755405615,6.87736513791e-06,3.34944243955e-05,1793238104920487168
+194,3.233333333,POSE1_TO_POSE2_PRESS,767.514773207,746,716,679.514773207,666.485226793,637,881,789,804.485226793,653,632,653,0.438974358146,-0.0155544252676,0.0500017096808,0.999999982417,0.000184029409412,8.25004775744e-06,3.50934018345e-05,1793238104937153792
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679.121135932,666.939432034,637,881.060567966,789,804.939432034,653,632.060567966,653,0.439636515603,-0.0155549989859,0.0499967773103,0.999999983052,0.000180416139228,-6.04070098237e-06,3.61945092505e-05,1793238104953820672
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,680.312135306,666.343932347,637,881.656067653,789,804.343932347,653,632.656067653,653,0.440237744459,-0.0155527172956,0.0499679948373,0.999999979464,0.000194310549089,-4.62308704514e-05,3.43263435477e-05,1793238104970487296
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680.510831331,666.244584334,637,882,789,804.244584334,653,633,653,0.440847998922,-0.0155515707594,0.0499557571457,0.999999976233,0.000206169122153,-6.21734958922e-05,3.40933301663e-05,1793238104987154176
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,679.352891811,666.823554094,637,882,789,804.823554094,653,633,653,0.441470592767,-0.0155519761583,0.0499661387862,0.999999975173,0.000215244383869,-4.49658946929e-05,3.60958285477e-05,1793238105003821056
+199,3.316666667,POSE1_TO_POSE2_PRESS,767.385053303,745.614946697,716,679.385053303,666.614946697,636.614946697,882,789,804.614946697,652.614946697,633,653,0.442088560067,-0.0155521451755,0.0499846141726,0.999999974072,0.000224177917019,-1.05522364859e-05,3.85902763461e-05,1793238105020487680
+200,3.333333333,POSE1_TO_POSE2_PRESS,767.938894363,745.061105637,716,679.938894363,666.061105637,636.061105637,882,789,804.061105637,652.061105637,633,653,0.442704499379,-0.0155522105749,0.0500066374459,0.999999971498,0.000233049324041,3.14036822522e-05,4.13003698289e-05,1793238105037154048
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,745.873669182,716,680,667,637,881.873669182,789,805,653,632.126330818,653.126330818,0.443799681302,-0.0155530586534,0.0499979040113,0.999999967594,0.000250551973253,1.11052130502e-05,4.37279842852e-05,1793238105070487296
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,745.283804677,716,680,667,637,881.283804677,789,805,653,632.716195323,653.716195323,0.444268572815,-0.0155510460347,0.0499638937834,0.999999964366,0.000259298005863,-4.74002193279e-05,4.2249967392e-05,1793238105087154176
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,745.299770718,716,680,666.700229282,637,881.299770718,789,804.700229282,652.700229282,632.700229282,653.700229282,0.444751660785,-0.0155488562744,0.0499480619706,0.999999961143,0.000266886750776,-6.90245499013e-05,4.14902705519e-05,1793238105103820800
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,745.877514281,716,680,666.122485719,637,881.877514281,789,804.122485719,652.122485719,632.122485719,653.122485719,0.445247912887,-0.0155465022534,0.0499490867287,0.999999960175,0.000273402360403,-5.64495901336e-05,4.13966611981e-05,1793238105120487680
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,745.546225061,716,680,666,636.546225061,882,789,804.453774939,652.453774939,632.453774939,653,0.445743971078,-0.0155474881564,0.0499664143391,0.999999960127,0.000278344617409,-1.96329819199e-05,4.34215974117e-05,1793238105137154304
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+208,3.466666667,POSE1_TO_POSE2_PRESS,767,745.605182978,716,680.605182978,666,636.605182978,881.394817022,789,805.605182978,653,633,653,0.446665973769,-0.0155503418582,0.049987694234,0.999999958906,0.000281824315218,2.40382151942e-05,4.67474375495e-05,1793238105170487552
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+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788,805,652,632,653,0.448620389042,-0.0155714334757,0.0498446767838,0.999999977071,6.91617801562e-05,-0.000202589791225,5.62291696501e-06,1793238105270487808
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+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,882,788,805,652,632,653,0.449198692135,-0.0155805499542,0.0498609518501,0.999999980336,8.32276750893e-05,-0.00017964901306,1.1329318545e-05,1793238105303820800
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+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,635.211818216,882,787.788181784,805,653,631,653.211818216,0.45111272355,-0.0155947167021,0.0498019444686,0.999999948132,0.000125353990407,-0.000296112216176,1.84102044166e-05,1793238105503821056
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+247,4.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680.2292211,665,635.7707789,882,787,804,652.7707789,631,653.2292211,0.451552072751,-0.0155930317039,0.049783388212,0.999999936304,0.000118883167802,-0.00033605823327,1.79701728854e-05,1793238105820487680
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680.828673443,665,635.171326557,882,787,804,652.171326557,631,653.828673443,0.451552198134,-0.0155920881302,0.0497825386286,0.999999935805,0.000119463955855,-0.000337329498836,1.80775630491e-05,1793238105837154048
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680.587066998,665.412933002,635,882,787,804.412933002,652.412933002,631,653.587066998,0.451551176826,-0.0155930245975,0.0497808910494,0.9999999354,0.000117166444879,-0.000339326761835,1.81210503809e-05,1793238105853820672
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746,716,680.008887293,665.991112707,635,882,787,804.991112707,652.991112707,631,653.008887293,0.451549696637,-0.015594713416,0.0497789241299,0.999999935019,0.000113717101912,-0.000341614552954,1.81389651987e-05,1793238105870487296
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665.434082706,635,882,787,804.434082706,652.434082706,631,653,0.451550145814,-0.0155934005877,0.049778257447,0.99999993484,0.000114819140304,-0.000341784550966,1.7908438445e-05,1793238105887153664
+252,4.200000000,POSE1_TO_POSE2_PRESS,766.85577921,746,716,680,665,635,882,787,804.14422079,652.14422079,631,653,0.451550205102,-0.0155920135289,0.049777701391,0.999999934511,0.000115991441304,-0.000342356838957,1.77430303879e-05,1793238105903820544
+253,4.216666667,POSE1_TO_POSE2_PRESS,766.266516077,746,716,680,665,635,882,787,804.733483923,652.733483923,631,653,0.451548968311,-0.0155905420058,0.0497774240749,0.999999933717,0.000117161305783,-0.000344272550969,1.77905365315e-05,1793238105920487168
+254,4.233333333,POSE1_TO_POSE2_PRESS,766.31721413,746,716,680,665,635,882,787,804.68278587,653,631,653,0.451549120346,-0.015590482459,0.0497778219674,0.999999933723,0.000117093675282,-0.00034427999255,1.77219487113e-05,1793238105937153792
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+256,4.266666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,635.47213553,882,787,804,652.52786447,631,653,0.451551677412,-0.0155911205369,0.049779298204,0.999999934456,0.000115749125971,-0.000342610647864,1.75597916732e-05,1793238105970487296
+257,4.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636,881.951760478,787,804.048239522,652,630.951760478,653,0.451552704376,-0.0155903576641,0.0497796062147,0.999999934362,0.000115776447288,-0.000342873416544,1.75728213882e-05,1793238105987153920
+258,4.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665,636,881.363511628,787,804.636488372,652,630.363511628,653,0.451551242381,-0.0155901392438,0.0497785928398,0.999999933974,0.00011692884286,-0.000343628722854,1.72992112899e-05,1793238106003820800
+259,4.316666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665,635.778633663,881,787,805,652.221366337,630.221366337,653.221366337,0.451550753731,-0.0155901074664,0.0497781350731,0.999999933845,0.000117072365861,-0.000343954372526,1.72773324089e-05,1793238106020487424
+260,4.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680,665,635.199207999,881,787,805,652.800792001,630.800792001,653.800792001,0.451551839461,-0.0155903775832,0.0497785760006,0.999999934139,0.000115584040958,-0.000343585054105,1.76626279059e-05,1793238106037154048
+261,4.350000000,POSE1_TO_POSE2_PRESS,766.620954822,745.620954822,716,680,665,635.379045178,881.379045178,787,805,652.620954822,630.620954822,653.620954822,0.451551672985,-0.0155909984807,0.0497779990747,0.999999934164,0.000114193900174,-0.000343974149235,1.77273114715e-05,1793238106053820672
+262,4.366666667,POSE1_TO_POSE2_PRESS,766.043315983,745.043315983,716,680,665,635.956684017,881.956684017,787,805,652.043315983,630.043315983,653.043315983,0.451550850438,-0.0155918031632,0.0497768888635,0.999999934047,0.000112855201221,-0.000344760601042,1.7624016363e-05,1793238106070487552
+263,4.383333333,POSE1_TO_POSE2_PRESS,766,745,716,680,665,635.46181385,881.46181385,787,805,652.53818615,630.53818615,653,0.451551266607,-0.0155916518369,0.0497769396133,0.999999934083,0.000113030657948,-0.000344598275809,1.75956347999e-05,1793238106087154176
+264,4.400000000,HOLD_POSE2,767,746,716,680,665,636,882,787,805,653,631,653,0.451550823566,-0.0155905817949,0.0497766849286,0.999999933484,0.000113611046561,-0.00034617183233,1.70425437629e-05,1793238106129754624
+265,4.416666667,HOLD_POSE2,767,746,716,680,665,635.405337717,882,787,804.405337717,652.405337717,631,653,0.451552456101,-0.0155886019291,0.0497779826135,0.999999933904,0.000115685515984,-0.000344271452933,1.69219864707e-05,1793238106146421248
+266,4.433333333,HOLD_POSE2,767,746,716,680,665,635,882,787,804.182954493,652.182954493,631,653,0.451553189668,-0.0155876541148,0.0497783993613,0.999999934005,0.00011679954652,-0.0003435995809,1.69265898834e-05,1793238106163087872
+267,4.450000000,HOLD_POSE2,767,746,716,680,665,635,882,787,804.757608692,652.757608692,631,653,0.451551998575,-0.0155889158896,0.0497769300515,0.999999933436,0.000115857308562,-0.000345557903417,1.71991583324e-05,1793238106179754752
+268,4.466666667,HOLD_POSE2,767,746,716,680,665.332297664,635,882,787,805,652.667702336,631,653,0.451551732604,-0.0155900327899,0.0497770093939,0.999999933653,0.000113733655162,-0.000345629115263,1.72716618511e-05,1793238106196421120
+269,4.483333333,HOLD_POSE2,767,746,716,680,665.907011969,635,882,787,805,652.092988031,631,653,0.451552141526,-0.015591044002,0.0497782185037,0.99999993444,0.000110748139712,-0.000344323648545,1.71982146776e-05,1793238106213087744
+270,4.500000000,HOLD_POSE2,767,746,716,680,666,635,882.495580384,787,805,652.495580384,631,653,0.451552466674,-0.0155882770588,0.049777805498,0.999999933905,0.000113129757183,-0.00034512153535,1.67951430576e-05,1793238106229754624
+271,4.516666667,HOLD_POSE2,767,746,716,680,666,635.084890835,882.915109165,787,804.915109165,653,631,653,0.451552741359,-0.0155856255471,0.0497772615973,0.999999933316,0.000115697182674,-0.000345992721456,1.64807735952e-05,1793238106246421248
+272,4.533333333,HOLD_POSE2,767,746,716,680,666,635.662975503,882.337024497,787,804.337024497,653,631,653,0.451552816822,-0.0155878817102,0.0497777763673,0.999999933945,0.000113325083233,-0.000344930932043,1.70514011933e-05,1793238106263088128
+273,4.550000000,HOLD_POSE2,767,746,716,680,665.759398809,635.759398809,882,787.240601191,804.240601191,652.759398809,631,653,0.451552930692,-0.0155893267581,0.0497779227291,0.999999934321,0.000111803452896,-0.000344312363629,1.75386959534e-05,1793238106279754496
+274,4.566666667,HOLD_POSE2,767,746,716,680,665.182414866,635.182414866,882,787.817585134,804.817585134,652.182414866,631,653,0.451553098261,-0.0155896377918,0.0497775540219,0.999999934351,0.000111470857343,-0.000344313459319,1.79094836395e-05,1793238106296421376
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+276,4.600000000,HOLD_POSE2,767,746,716,680,665,635,882,787.012083303,805,652.987916697,631,653,0.45155175892,-0.0155912232394,0.0497764101498,0.999999933969,0.000109107126899,-0.000346179499755,1.78243372405e-05,1793238106329754368
+277,4.616666667,HOLD_POSE2,766.431949825,746,716,680,665,635,882,787,804.431949825,652.431949825,631,653,0.451551309456,-0.0155885453264,0.0497765137724,0.99999993328,0.000113388967146,-0.000346806295419,1.75472636141e-05,1793238106346421248
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.590820605,635.409179395,882,787,805,653,631,653,0.451552435141,-0.0155879974358,0.0497770503823,0.999999933268,0.000112515458786,-0.000347126179699,1.75159955802e-05,1793238106433422592
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.822240055,635,882,787,805,653,631,653,0.451553146325,-0.0155877725658,0.0497772048104,0.999999933627,0.000111211607216,-0.000346528038057,1.7215277283e-05,1793238106450089216
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.244043848,635,882,787,805,653,631,653,0.451554268595,-0.0155877659739,0.0497771676854,0.999999933912,0.000112172609444,-0.00034538450261,1.74007383835e-05,1793238106466756096
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746.517698188,716,680,665.517698188,635,881.517698188,787,804.517698188,652.482301812,631,653.517698188,0.451554476954,-0.0155896142996,0.0497778740525,0.999999934256,0.000109382544457,-0.000345272039017,1.76260684851e-05,1793238106516754688
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,635.057269064,881,787,804.057269064,652.942730936,631,653,0.451553024099,-0.015586947573,0.0497769917196,0.999999933378,0.000113260096644,-0.000346582956275,1.71997371912e-05,1793238106533421312
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,635.648775133,881,787,804.648775133,652.351224867,631,653,0.451551884686,-0.0155879060434,0.0497761496144,0.999999933059,0.000111551043392,-0.000348037250375,1.75513207094e-05,1793238106550087936
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,635.764987788,881.235012212,787,804.764987788,652.235012212,631,653.235012212,0.45154927989,-0.0155880612272,0.0497746067004,0.999999932296,0.000111163830529,-0.000350348190843,1.75092359721e-05,1793238106566754816
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,635.186452571,881.813547429,787,804.186452571,652.813547429,631,653.813547429,0.451544533108,-0.0155870422275,0.0497720393976,0.999999930879,0.000112708783711,-0.000353911311785,1.68917168444e-05,1793238106583421696
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,635,882,787,804.390186694,652.609813306,631,653.609813306,0.451533020723,-0.0155866753424,0.0497667279476,0.999999927793,0.000112812984744,-0.000362515664284,1.64374537236e-05,1793238106600088576
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,635,882,787,804.9659244,652.0340756,631,653.0340756,0.451518290994,-0.0155866185665,0.049760111534,0.999999923815,0.000112232044598,-0.000373517345407,1.60608259912e-05,1793238106616755200
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.552830641,665.552830641,635,881.447169359,787,805,652,631,653,0.451479258129,-0.0155840926953,0.0497420093006,0.999999911235,0.000112928109536,-0.0004056824789,1.40887799114e-05,1793238106633421568
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.861459108,666,635.138540892,881.138540892,787,805,652.138540892,631,653,0.451434446674,-0.0155809548989,0.0497226515382,0.999999896672,0.000113794169521,-0.000439956591727,1.20118621588e-05,1793238106650087936
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.281793974,666,635.718206026,881.718206026,787,805,652.718206026,631,653,0.451376103865,-0.015576363267,0.0497015967759,0.99999987972,0.000114945712342,-0.000476706650992,9.92059975074e-06,1793238106666754816
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.70353438,635.70353438,881.70353438,787,805,652.70353438,630.70353438,653,0.451316895459,-0.0155730716448,0.0496852529884,0.999999867073,0.00011556791241,-0.000502423247358,8.26132314323e-06,1793238106683421440
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.126604498,635.126604498,881.126604498,787,805,652.126604498,630.126604498,653,0.451256868177,-0.0155710098664,0.0496733659081,0.999999859276,0.000115689340357,-0.00051770189626,7.01071657944e-06,1793238106700088064
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,665,635,881.931649955,787,804,653,631,653,0.450581273892,-0.0155333355953,0.0496504763326,0.999999839311,0.000130411635109,-0.000551694260025,2.2523477779e-06,1793238106816754944
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746.505722971,716,680,665,635.505722971,881.494277029,787,804,652.494277029,631.505722971,653,0.450438610651,-0.0155255221359,0.049655909403,0.999999844519,0.000132784103354,-0.000541596586243,1.74331514201e-06,1793238106833421568
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746.917399972,716,680,665.082600028,635.917399972,881,787.082600028,804.082600028,652,631.917399972,653,0.450291022993,-0.0155171710992,0.0496631885849,0.999999851056,0.000135626064255,-0.000528668993101,1.30709349648e-06,1793238106850088192
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746.322590128,716,680,665.677409872,635.322590128,881,787.677409872,804.677409872,652,631.322590128,653,0.450121282128,-0.015504708423,0.0496720416834,0.999999857376,0.000142658276601,-0.000514680497049,9.08022697921e-07,1793238106866754816
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.736675398,635,881.263324602,788,805,652.263324602,631,653.263324602,0.449937528008,-0.0154926677064,0.0496794733171,0.99999986232,0.000148520643316,-0.000503291254566,2.07460746927e-07,1793238106883421696
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,665.161301733,635,881.838698267,788,805,652.838698267,631,653.838698267,0.449737167691,-0.015481127028,0.0496852204636,0.999999865792,0.000152996700753,-0.000494982221376,-8.50378970438e-07,1793238106900088576
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,745.585123622,716,680,665,635.414876378,882,787.585123622,805,652.585123622,631.414876378,653.585123622,0.44951263674,-0.01546978766,0.0496898397014,0.999999869808,0.000156438537559,-0.000485703751382,-1.85149059185e-06,1793238106916755200
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,745.008632152,716,680,665,635.991367848,882,787.008632152,805,652.008632152,631.991367848,653.008632152,0.449278690125,-0.0154585267128,0.0496940195621,0.999999873969,0.000159477493609,-0.000476047637446,-2.83050375891e-06,1793238106933421312
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,745.577277422,716,680,665.577277422,636,882,787,805,652.577277422,632,653,0.449007502787,-0.0154474329331,0.0496978204656,0.999999875327,0.000160930085319,-0.000472677588476,-4.80999059366e-06,1793238106950087936
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,787.162174079,805,653,632,653.162174079,0.448731427176,-0.0154382927724,0.0497031891273,0.999999879474,0.000159796273928,-0.000464187533087,-6.82846879793e-06,1793238106966754560
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,787.744078532,805,653,632,653.744078532,0.448444165198,-0.01543420229,0.0497126302861,0.999999890634,0.000152030882873,-0.000442198835731,-8.90850046558e-06,1793238106983421440
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,788,805,652.678418687,632,653.678418687,0.448137197783,-0.0154322396965,0.0497209852011,0.999999899717,0.000143012585138,-0.000424268163615,-1.05224635016e-05,1793238107000088064
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,788,805,652.104371491,632,653.104371491,0.447814760064,-0.0154319476578,0.0497284873326,0.99999990723,0.000133010659181,-0.000409523348808,-1.17705273017e-05,1793238107016754944
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,882,788,805,652,632,653,0.447464253545,-0.0154304830901,0.0497335924384,0.999999912819,0.0001222051581,-0.000399069609271,-1.31165281235e-05,1793238107033421824
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,745.955311612,716,680,666,636,881.955311612,788,805,652,632,653,0.447104775038,-0.0154279090347,0.0497386386269,0.999999917959,0.000112093195491,-0.000388978821375,-1.45760857364e-05,1793238107050088704
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,745.362255211,716,680,666,636,881.362255211,788,805,652,632,653,0.446711741033,-0.015414917846,0.0497494981787,0.999999924446,0.000112682813913,-0.000371640662476,-1.71620321672e-05,1793238107066754816
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767.22419523,745.22419523,716,680,666.22419523,636,881,788,805,652.22419523,632.22419523,653,0.446313962526,-0.0154045538181,0.0497642153628,0.999999933231,0.000110728244566,-0.000347736025445,-1.88987013965e-05,1793238107083421440
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767.800277218,745.800277218,716,680,666.800277218,636,881,788,805,652.800277218,632.800277218,653,0.445908737285,-0.0153983132647,0.0497849873124,0.999999945175,0.000104780432355,-0.000313524940337,-1.9302383135e-05,1793238107100088064
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.623974778,746,716,680,666.623974778,636,881.376025222,788,805,652.623974778,633,653.376025222,0.445475257576,-0.0153971402675,0.0498083371711,0.999999955669,9.40579260265e-05,-0.000281875783606,-1.90144102e-05,1793238107116754944
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767.048404026,746,716,680,666.048404026,636,881.951595974,788,805,652.048404026,633,653.951595974,0.445026784064,-0.0153986564737,0.0498330550497,0.999999964919,8.08016300672e-05,-0.0002515861679,-1.83593964446e-05,1793238107133421824
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,745.460094077,716,680,666,636,882,788,805,652,632.460094077,653.460094077,0.444525809276,-0.0153977130866,0.0498346069749,0.999999964956,6.28181101627e-05,-0.000256374834678,-2.03236729136e-05,1793238107150088448
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,745.126682886,716,680,666.126682886,636.126682886,882,788,805,652.126682886,632,653,0.444001122012,-0.0153958052401,0.0498279101606,0.9999999615,4.494747537e-05,-0.000272838273879,-2.32145158597e-05,1793238107166755072
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745.703848975,716,680,666.703848975,636.703848975,882,788,805,652.703848975,632,653,0.443409255613,-0.0153912708622,0.0497994447774,0.999999948175,2.90217408577e-05,-0.000319363748375,-2.85450004857e-05,1793238107183421952
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.719421462,637,882,788,804.719421462,653,632.280578538,653,0.442829615288,-0.0153864231265,0.0497797686329,0.999999938634,1.28632243483e-05,-0.000348497786994,-3.33903662983e-05,1793238107200088576
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.143151865,637,882,788,804.143151865,653,632.856848135,653,0.442262859482,-0.0153812451543,0.0497693551293,0.999999934733,-3.54061417916e-06,-0.000359303658562,-3.77244845352e-05,1793238107216754944
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745.57162782,716,680,666.42837218,636.57162782,882,788,804,653,632.57162782,653,0.441708859449,-0.0153827889682,0.0497892890079,0.99999994666,-2.57390899276e-05,-0.000323275638337,-3.88679874768e-05,1793238107233421568
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745.001672284,716,680,666.998327716,636.001672284,882,788,804,653,632.001672284,653,0.441159075422,-0.0153865544323,0.0498192531468,0.99999996107,-4.98527781204e-05,-0.000271768321084,-3.89569443993e-05,1793238107250088192
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745.593811771,716,680,667,636,882,788.593811771,804.593811771,652.406188229,632.593811771,653.593811771,0.440557247377,-0.015387619408,0.0498416483313,0.999999967963,-6.75296352266e-05,-0.000240789249982,-3.91768650367e-05,1793238107266754816
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,716.18456018,680,666.81543982,636.18456018,882,789,804.81543982,652.18456018,633,653.81543982,0.439921935988,-0.0153865083697,0.0498483903349,0.999999969807,-6.24470846585e-05,-0.000234116775386,-4.09335172754e-05,1793238107283421440
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746,716.764989772,680,666.235010228,636.764989772,882,789,804.235010228,652.764989772,633,653.235010228,0.439215133563,-0.0153807469704,0.0498216050708,0.999999959859,-8.58773321327e-06,-0.000279450776773,-4.59855307557e-05,1793238107300088320
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,716.657387651,679.657387651,666,636.657387651,882,788.657387651,804,652.657387651,632.657387651,653,0.438503673284,-0.0153729596468,0.0497911125409,0.99999994407,3.83227819311e-05,-0.000328173821016,-5.19042564221e-05,1793238107316754944
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,716.081674883,679.081674883,666,636.081674883,882,788.081674883,804,652.081674883,632.081674883,653,0.437789044006,-0.0153637939616,0.0497580977291,0.999999923156,8.05055707152e-05,-0.000379202638902,-5.84126598402e-05,1793238107333421824
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.489775847,666,636,882,788.489775847,804.489775847,652,632,653,0.437115106496,-0.0153656391925,0.0497751210595,0.999999931644,6.06192180189e-05,-0.000359906138488,-5.91946937468e-05,1793238107350088448
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,715.93683383,680,666,636.06316617,882,789,805,652,632.06316617,653,0.436444898797,-0.0153691599087,0.0498004519945,0.999999944082,3.0464845973e-05,-0.000327743749055,-5.90952763918e-05,1793238107366754816
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,715.341152238,680,666,636.658847762,882,789,805,652,632.658847762,653,0.43574942228,-0.01537145947,0.0498260800374,0.999999957577,2.54168716249e-07,-0.000285130812961,-5.95458448445e-05,1793238107383421440
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,715.247442219,680,666,637,881.505115561,789,805,652,633,653,0.435013366259,-0.0153709232667,0.0498290771812,0.99999995784,-2.83722926329e-05,-0.000282200040055,-6.22770156832e-05,1793238107400088064
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,715.826537689,680,666,637,880.346924623,789,805,652,633,653,0.434222920376,-0.0153665862144,0.0498017415454,0.999999940914,-5.48753923509e-05,-0.000332456297997,-6.80649373809e-05,1793238107416754944
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745.599027844,716,680,666,636.599027844,880.400972156,788.599027844,804.599027844,652.400972156,632.599027844,653.400972156,0.433474390621,-0.0153645255522,0.0497969154246,0.999999937417,-7.77698709074e-05,-0.000337530202448,-7.20532009635e-05,1793238107433421568
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745.026586611,716,680,666,636.026586611,880.973413389,788.026586611,804.026586611,652.973413389,632.026586611,653.973413389,0.432743785649,-0.0153634383505,0.0498017151253,0.999999939999,-9.91211810418e-05,-0.000323282621674,-7.5271870347e-05,1793238107450087936
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745.562819104,716,680,666,636,881.562819104,788.562819104,804,652.437180896,632,653.437180896,0.432016055199,-0.0153650294088,0.0498203429396,0.999999948801,-9.51172128248e-05,-0.00029589923067,-7.61201533207e-05,1793238107466755072
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.150372072,882,789,804,652.150372072,632,653,0.431265016273,-0.0153659980568,0.0498281034732,0.999999955198,-6.17676941687e-05,-0.00028468852171,-6.88605923315e-05,1793238107483421696
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.730272542,882,789,804,652.730272542,632,653,0.430446998263,-0.0153648162113,0.0498028984391,0.999999946221,5.18779529958e-05,-0.000321501607638,-3.87712667066e-05,1793238107500088576
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745.690441695,716,680,666,637,881.690441695,789,804.309558305,653,632,653.309558305,0.429624469203,-0.0153597940827,0.0497819245232,0.999999932859,8.98569882562e-05,-0.000354046372898,-2.93094326264e-05,1793238107516755200
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745.111690514,716,680,666,637,881.111690514,789,804.888309486,653,632,653.888309486,0.428798017362,-0.015351432432,0.049764630002,0.999999924064,6.20360943726e-05,-0.000382879393901,-3.77853319535e-05,1793238107533421568
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745.463836814,716,680,666,637,880.536163186,789,804.536163186,653,632,653.536163186,0.428020892009,-0.0153511985142,0.049785044569,0.999999935565,4.15564218336e-05,-0.000354221148307,-4.08595809768e-05,1793238107550088192
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767.039499797,746,716,679.960500203,666,637,880.078999595,788.960500203,804,653,632.039499797,653,0.427253358559,-0.0153528451922,0.049811235413,0.999999948614,2.40932642086e-05,-0.000316781224792,-4.29191399185e-05,1793238107566755072
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767.627757139,746,716,679.372242861,666,637,881.255514277,788.372242861,804,653,632.627757139,653,0.426455209479,-0.0153536162283,0.0497923961638,0.999999937846,2.41483989854e-05,-0.000348339166023,-4.88274269375e-05,1793238107583421696
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767.786956681,745.786956681,716,679.213043319,666,637,881.786956681,788.213043319,804.213043319,653,633,653.213043319,0.425668950454,-0.0153556269796,0.0497860903841,0.999999935541,1.57814733683e-05,-0.000354807227098,-5.27277160775e-05,1793238107600088576
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767.206790403,745.206790403,716,679.793209597,666,637,881.206790403,788.793209597,804.793209597,653,633,653.793209597,0.424903180615,-0.0153597740472,0.0498013826705,0.999999947987,-7.09861205406e-06,-0.000318039621395,-5.3167760977e-05,1793238107616755200
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.63012655,666.36987345,637,881,788.63012655,805,653,633,653.63012655,0.424133857922,-0.0153624262792,0.0498257371784,0.999999961634,-2.10661851928e-05,-0.000271208850259,-5.22823446001e-05,1793238107633421824
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.055402514,666.944597486,637,881,788.055402514,805,653,633,653.055402514,0.423362567563,-0.0153642506118,0.0498551107029,0.999999974326,-3.00976541434e-05,-0.000218804700772,-5.06628350887e-05,1793238107650088192
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745.530168171,716,679,666.469831829,637,881,788,804.469831829,653,632.469831829,653,0.422570629589,-0.0153588554371,0.0498366012895,0.999999966601,-1.37336335061e-05,-0.000252679587325,-5.25493643727e-05,1793238107666754816
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,788.115474267,804,652.884525733,632,653,0.421776146734,-0.0153537635642,0.0498136837555,0.999999955286,8.11089999908e-08,-0.000293976253717,-5.48229173927e-05,1793238107683421696
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881,788.695066051,804,652.304933949,632,653,0.420980288766,-0.0153529863213,0.0497935802883,0.999999944513,-7.23939438749e-06,-0.000328107910075,-5.71486835801e-05,1793238107700088320
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.726231008,716,679,666,637,881,788.726231008,804,652.273768992,632,653,0.42020995892,-0.0153542570876,0.0497974364079,0.999999944568,-1.64797012696e-05,-0.00032763493993,-5.69976652908e-05,1793238107716754944
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745.148514926,716,679,666,637,881,788.148514926,804,652.851485074,632,653,0.419467971264,-0.0153578016193,0.0498278932283,0.999999956463,-2.78514348811e-05,-0.00028874280464,-5.40968415162e-05,1793238107733421824
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,666,637,881,788.426655921,804,653,632,653.426655921,0.418690850486,-0.0153582279827,0.0498243603291,0.999999951913,-3.14708607577e-05,-0.000303673666676,-5.44633200427e-05,1793238107750088448
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.000972681,716,679,666,637,881,789,804.000972681,653,632.000972681,653.999027319,0.417901714152,-0.0153575744288,0.049809079892,0.999999941066,-3.23911290999e-05,-0.000337175444321,-5.59607092188e-05,1793238107766754816
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.591399484,716,679,666,637,881,789,804.591399484,653,632.591399484,653.408600516,0.417198326114,-0.0153563459067,0.0498021642694,0.999999940811,-2.32185833285e-05,-0.000338398534598,-5.76627761663e-05,1793238107783421440
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745.821639598,716,679.178360402,666,637,880.821639598,789,804.821639598,653,632.821639598,653,0.416502903653,-0.015356542812,0.0498041482086,0.999999944556,-1.88820463709e-05,-0.000327316535537,-5.82747624052e-05,1793238107800087808
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745.242467115,716,679.757532885,666,637,880.242467115,789,804.242467115,653,632.242467115,653,0.415825381325,-0.0153599429421,0.0498261312707,0.999999956445,-2.54130024887e-05,-0.000288582499286,-5.64371159803e-05,1793238107816754432
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745.334306126,715.665693874,679.665693874,666,637,880,789,804,653,632.334306126,653.334306126,0.415138921733,-0.0153609233913,0.0498317220971,0.999999959735,-3.0886921417e-05,-0.000276443349176,-5.61757395239e-05,1793238107833421312
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745.909351599,715.090648401,679.090648401,666,637,880,789,804,653,632.909351599,653.909351599,0.414446026311,-0.0153601613884,0.0498255086033,0.999999957565,-3.55996500871e-05,-0.000283455617043,-5.70494611795e-05,1793238107850088448
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767.494685405,746,715.494685405,679.494685405,666,637,880.494685405,789,803.505314595,653,633,654,0.413747461959,-0.0153598562555,0.0498037827984,0.999999944113,-4.19700337648e-05,-0.000326411229464,-5.88891963033e-05,1793238107866754816
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767.919115317,746,716,680,666,637,880.919115317,789,803.080884683,653,632.919115317,654,0.413058108415,-0.0153594417767,0.0497835502445,0.999999929797,-4.74378098056e-05,-0.000366707384959,-6.0673409611e-05,1793238107883421696
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767.339451649,746,716,680,666,637,880.339451649,789,803.660548351,653,632.339451649,654,0.41243209559,-0.0153578257906,0.0497904268775,0.999999936163,-4.54267059675e-05,-0.000349125773927,-6.10004800576e-05,1793238107900088576
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.76077058,666,637,880.23922942,789,804,653,632,654,0.411823671165,-0.0153571486076,0.0498054305139,0.999999944556,-4.37714640916e-05,-0.000324606534698,-6.00166845537e-05,1793238107916755200
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.183478104,666,637,880.816521896,789,804,653,632,654,0.411240101546,-0.0153577980788,0.0498319186887,0.999999955325,-4.26191027483e-05,-0.000290283503478,-5.71804606866e-05,1793238107933421568
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745.608838587,716,679,666,637,880.608838587,789,804,653,632,653.608838587,0.410645495496,-0.0153564535325,0.0498327754515,0.999999954335,-4.38151785463e-05,-0.000293504804202,-5.71476599657e-05,1793238107950088192
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745.035435032,716,679,666,637,880.035435032,789,804,653,632,653.035435032,0.41004574752,-0.0153541799734,0.0498216905393,0.999999947864,-4.61053913426e-05,-0.000314218009933,-5.84209741208e-05,1793238107966754560
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745,716,679,666,637,880,789,804.554662041,653,632,653,0.409474705456,-0.0153523974854,0.0498025287514,0.999999937311,-4.74425433162e-05,-0.000345747119724,-5.98770271788e-05,1793238107983421440
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745.142844587,715.857155413,679,666,637,880,789,804.857155413,653,632,653,0.408925977264,-0.0153516999229,0.0497928397072,0.999999932201,-4.95476889408e-05,-0.000359839828513,-6.0477302835e-05,1793238108000088064
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745.721824585,715.278175415,679,666,637,880,789,804.278175415,653,632,653,0.408439604968,-0.0153542161126,0.0498136973327,0.999999946097,-5.41893556154e-05,-0.000318520257648,-5.84279548929e-05,1793238108016754944
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,715.298540832,679,666,637,880.597081663,789,804,653,632.298540832,653,0.40796438909,-0.0153572108841,0.0498317745641,0.999999955023,-6.08308468981e-05,-0.00028814402906,-5.67959687536e-05,1793238108033421824
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,715.873163593,679,666,637,881.746327186,789,804,653,632.873163593,653,0.407499490373,-0.0153606482339,0.049847280566,0.999999960172,-6.93217179268e-05,-0.000267887889764,-5.55499469136e-05,1793238108050088448
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,881.55189597,789,804,653,633,653,0.40702599477,-0.0153613525739,0.0498383139268,0.999999954222,-7.38821922637e-05,-0.000287904274823,-5.66461650473e-05,1793238108066755584
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,665.976154874,637,881,789,804,653,632.976154874,653.023845126,0.406550806307,-0.0153612529589,0.0498221239887,0.999999944167,-7.74306648908e-05,-0.000319773467877,-5.84494725436e-05,1793238108083422464
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,665.383459634,637,881,789,804,653,632.383459634,653.616540366,0.406093324206,-0.0153604418526,0.0497989830428,0.999999929024,-8.3395547279e-05,-0.000362271316583,-6.12939798518e-05,1793238108100088576
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745.796129331,716,679,665.407741339,637,881,789,804,653,632.203870669,654,0.405659656042,-0.0153598766897,0.0497836485173,0.99999991804,-8.87887528327e-05,-0.000389888783985,-6.34284020484e-05,1793238108116754688
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745.218631243,716,679,666.562737514,637,881,789,804,653,632.781368757,654,0.405269630991,-0.0153597622594,0.0497826205778,0.999999917456,-9.31342636544e-05,-0.000390235436914,-6.42614732612e-05,1793238108133421312
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,666.642231346,637,880.642231346,788.642231346,804,653,632.642231346,654,0.40492312072,-0.0153620660174,0.0497936919504,0.999999925146,-9.96130132198e-05,-0.0003683735457,-6.39158085456e-05,1793238108150088192
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,666.066500442,637,880.066500442,788.066500442,804,653,632.066500442,654,0.404603120782,-0.0153658430005,0.049812134548,0.99999993682,-0.000107391389309,-0.000332981613896,-6.28520263277e-05,1793238108166754816
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.520118548,666,637,880.520118548,788.520118548,804,653,632.520118548,654,0.404299861677,-0.0153707659507,0.0498306667337,0.999999944626,-0.000118617617958,-0.000304889016594,-6.09950870007e-05,1793238108183421952
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767.106711396,745,716,679.893288604,666,637,880.893288604,789,804,653,632.893288604,654,0.404001539365,-0.0153746898291,0.0498473839344,0.999999950531,-0.000128496521902,-0.000280895374608,-5.93630756631e-05,1793238108200089088
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767.686879875,745,716,679.313120125,666,637,880.313120125,789,804,653,632.313120125,654,0.403715420843,-0.0153735170529,0.0498559965094,0.999999953064,-0.000130399927625,-0.000270858719308,-5.91885810793e-05,1793238108216755968
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767.735148589,745,716,679,666,637,880,789,804,653,632,654,0.403440395105,-0.0153725564136,0.0498585098579,0.999999952959,-0.000133269189788,-0.000269724455331,-5.97518845027e-05,1793238108233422336
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767.159753053,745,716,679,666,637,880,789,804,653,632,654,0.403178375918,-0.0153718445097,0.0498538717283,0.999999949778,-0.00013727093983,-0.000279028442265,-6.11802723844e-05,1793238108250088704
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.414950717,716,679,666,637,880.829901435,789,804,653,632,653.585049283,0.40293825707,-0.0153729322698,0.0498500764375,0.999999946367,-0.000142941260827,-0.000288027898597,-6.22363783444e-05,1793238108266755072
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.989388593,716,679,666,637,881.978777186,789,804,653,632,653.010611407,0.40270655567,-0.0153747117343,0.0498466050936,0.99999994279,-0.000149252900385,-0.000296910307732,-6.31493969471e-05,1793238108283421440
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745.419297802,716,679,666,637,881.419297802,789,804,653,632,653,0.402495086042,-0.0153758949399,0.049839473405,0.999999938211,-0.000149745573885,-0.000311558784015,-6.39207391379e-05,1793238108300088064
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745.167878299,716,679,666,637,881,789,804,653,632,653,0.402293799306,-0.0153768853764,0.0498323507769,0.999999936056,-0.000132450744239,-0.000325813913318,-6.47313740384e-05,1793238108316754688
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745.744214752,716,679,666,637,881,789,804,653,632,653,0.402116361765,-0.0153774340974,0.0498254178054,0.999999937834,-7.21442891429e-05,-0.000338847968336,-6.56440977682e-05,1793238108333421824
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,880.679620417,789,803.679620417,653.320379583,632,653.320379583,0.401961179786,-0.0153774640287,0.0498228678227,0.99999993875,-4.44292244962e-05,-0.000340993354886,-6.51859563974e-05,1793238108350088704
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,880.103592472,789,803.103592472,653.896407528,632,653.896407528,0.401823756716,-0.0153770799895,0.0498238152655,0.999999941134,-4.27206035124e-05,-0.000334450080449,-6.36339271491e-05,1793238108366755328
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,716,679,666,637,880.470927774,789,803.470927774,653.529072226,632,654,0.401707973325,-0.015371370394,0.0498261594347,0.999999944658,9.46391374332e-06,-0.000328367460137,-5.26182056304e-05,1793238108383422208
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.046743048,666,637,880.953256952,789,804,653,632,654,0.401598032795,-0.0153649715307,0.0498288682658,0.999999944936,6.73658747661e-05,-0.000322399160382,-4.06109620236e-05,1793238108400088832
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.641621785,666,637,880.358378215,789,804,653,632,654,0.401500966306,-0.0153641836438,0.0498322618952,0.999999947078,6.25240298724e-05,-0.000316586967462,-4.13107721171e-05,1793238108416755456
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767.229042582,745.770957418,716,679.770957418,666,636.770957418,880.229042582,789,804,653,632,653.770957418,0.401413825883,-0.0153658423776,0.0498355589558,0.999999949423,5.499124769e-05,-0.000310481817217,-4.15976954409e-05,1793238108433421824
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767.805162047,745.194837953,716,679.194837953,666,636.194837953,880.805162047,789,804,653,632,653.194837953,0.401341726809,-0.0153712085684,0.0498387096818,0.99999995202,4.33807868012e-05,-0.000303932737996,-4.12589557907e-05,1793238108450088448
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767.618452458,745.381547542,716,679,666,636.381547542,880.618452458,788.618452458,803.618452458,653,632,653,0.401280151773,-0.0153772845467,0.0498416306389,0.999999954207,3.24334742202e-05,-0.000297998209346,-4.16093668344e-05,1793238108466755328
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767.041931036,745.958068964,716,679,666,636.958068964,880.041931036,788.041931036,803.041931036,653,632,653,0.401223954607,-0.015383723232,0.0498444341821,0.999999956124,2.18250361414e-05,-0.000292377721191,-4.23119394634e-05,1793238108483422464
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,745.453240808,716,679,666,637,880.546759192,788.546759192,803.546759192,653,632,653.546759192,0.401177167913,-0.0153901895882,0.0498450395737,0.999999956702,9.66100445104e-06,-0.000291067531758,-4.22233803939e-05,1793238108500088832
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,666,637,880.865887016,789,804,653,632,654,0.401133474292,-0.015394925046,0.0498452424215,0.999999956897,9.19464223185e-08,-0.00029055386776,-4.22499472365e-05,1793238108516754944
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,745,716,679,666,637,880.286145544,789,804,653,632,654,0.401097605683,-0.0153939018892,0.0498446805974,0.999999956577,-4.49144689393e-07,-0.000291563513233,-4.2865241616e-05,1793238108533421568
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,745.291244507,716,679,666,637,880.291244507,789,804,653.291244507,632.291244507,654,0.401068246159,-0.0153920794916,0.0498441573388,0.999999956509,1.18313033171e-07,-0.000291697735191,-4.35207316226e-05,1793238108550088192
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,745.866342875,716,679,666,637,880.866342875,789,804,653.866342875,632.866342875,654,0.40104523054,-0.0153894781347,0.049843671667,0.999999956687,1.76618889221e-06,-0.000290978748575,-4.42153973213e-05,1793238108566754816
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,745.559677881,716,679,666,637,881,789,804,654,632.559677881,653.559677881,0.401030528532,-0.0153910057658,0.0498456470334,0.999999957714,-1.57237171024e-06,-0.000287447270052,-4.40900559085e-05,1793238108583421696
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,666,637,880.985577018,789,804,653.985577018,632.014422982,653.014422982,0.401018406069,-0.01539369862,0.0498483008874,0.999999958934,-6.29656617614e-06,-0.000283161750794,-4.37292207862e-05,1793238108600088576
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,666,637,880.39301747,789,804,653.39301747,632.60698253,653.60698253,0.401008784726,-0.0153929871524,0.0498482830515,0.999999959035,-6.04503017567e-06,-0.000282784848101,-4.38808031194e-05,1793238108616755200
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767.194284241,745,716,679,666,637,880,789,804,653,632.805715759,653.805715759,0.401001682303,-0.0153921412888,0.0498488172986,0.999999959465,-5.63754892607e-06,-0.000281251917753,-4.3989945108e-05,1793238108633422080
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767.7712301,745,716,679,666,637,880,789,804,653,632.2287699,653.2287699,0.400999541136,-0.0153910307193,0.0498504389266,0.999999960532,-4.92291842914e-06,-0.000277442079062,-4.40154967203e-05,1793238108650088448
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,768,745.920347494,715.079652506,679.920347494,666,637,880,789,804,653.920347494,632,653,0.400997601087,-0.0153944482392,0.0498535408951,0.999999962104,-6.64977072197e-06,-0.00027178721849,-4.33564400981e-05,1793238108683421440
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767.4935415,746,715.5064585,679.4935415,666,637,880,789,803.4935415,654,632,653.5064585,0.400995815184,-0.0153951870664,0.0498542298879,0.999999962342,-9.3056330449e-06,-0.000270825647744,-4.34011741535e-05,1793238108700088064
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,745.906350805,716,679,666,637,880,789,803,653.906350805,632,653.906350805,0.400994270014,-0.0153957189311,0.0498547671829,0.999999962501,-1.14928709476e-05,-0.000270145964952,-4.34381872618e-05,1793238108716754944
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,745.323738999,716,679,666,637,880,789,803,653.323738999,632,653.323738999,0.400994911846,-0.0153965727933,0.0498552229525,0.999999962688,-1.00536017621e-05,-0.00026957266561,-4.30461351994e-05,1793238108733421568
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d335bfe9d5e86b882e37155abbfccdeeaa7b3f8a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,442 @@
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+432,7.200000000,pose2_to_pose3_retreat,0.578252970556,-0.00999881902538,1.04001182811,0.54882424722,-0.00132514051294,1.03966135565
+433,7.216666667,pose2_to_pose3_retreat,0.578252868228,-0.00999882166645,1.04001180725,0.548824144596,-0.00132514412783,1.03966133568
+434,7.233333333,pose2_to_pose3_retreat,0.578252811197,-0.00999882313842,1.04001179563,0.5488240874,-0.00132514614254,1.03966132456
+435,7.250000000,pose2_to_pose3_retreat,0.578252787382,-0.00999882375307,1.04001179077,0.548824063516,-0.00132514698383,1.03966131991
+436,7.266666667,pose2_to_pose3_retreat,0.578252633766,-0.00999882771786,1.04001175946,0.548823909456,-0.00132515241052,1.03966128994
+437,7.283333333,pose2_to_pose3_retreat,0.578252615763,-0.00999882818252,1.04001175579,0.548823891401,-0.00132515304651,1.03966128642
+438,7.300000000,pose2_to_pose3_retreat,0.578252376246,-0.00999883436439,1.04001170697,0.548823651192,-0.00132516150776,1.03966123969
+439,7.316666667,pose2_to_pose3_retreat,0.578252185177,-0.00999879647921,1.04001178559,0.548823459819,-0.00132512466418,1.03966131746
+440,7.333333333,pose2_to_pose3_retreat,0.578252175943,-0.00999880938518,1.04001184964,0.548823450853,-0.00132513680502,1.03966137741
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f2bdaf353058fa0829dc611da7dec2124ff1e038
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1ae9a97289ff69e775e6de8e96b14b309255db79194bd69fc6a2f0818f2c8e0
+size 27684508
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..49434b7e305f6b4503c5250ad758bba95c13578b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_01/franka_data.csv
@@ -0,0 +1,438 @@
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+51,0.850000000,BASELINE,767,746,716,680,663.583002643,637,881,789.583002643,804,653,632.583002643,654,0.401025131078,-0.0154952596379,0.0698556568876,0.99999998771,5.33848954825e-05,-0.000147121199529,9.24828567088e-06,1793238111574594048
+52,0.866666667,BASELINE,767,745.839235824,716,679.839235824,663.839235824,637,880.839235824,789.839235824,804,653,632.839235824,654.160764176,0.40102551727,-0.0154953333543,0.0698558765862,0.999999987799,5.41765676792e-05,-0.000146218111609,9.29306044559e-06,1793238111591260416
+53,0.883333333,BASELINE,767,745.248994503,716,679.248994503,663.248994503,637,880.248994503,789.248994503,804,653,632.248994503,654.751005497,0.401027040791,-0.0154966562504,0.0698571605246,0.999999988201,5.27026235888e-05,-0.000143966133001,9.68218510101e-06,1793238111607927040
+54,0.900000000,BASELINE,767,745,716.336377915,679.336377915,663.336377915,637,880,789.336377915,804.336377915,653,632,654.663622085,0.401026270644,-0.0154969577511,0.0698567283113,0.999999988067,5.22318079772e-05,-0.000145071703683,9.57894313116e-06,1793238111624593664
+55,0.916666667,BASELINE,767,745,716.918197658,679.918197658,663.918197658,637,880,789.918197658,804.918197658,653,632,654.081802342,0.401023826898,-0.0154965139792,0.0698550438891,0.999999987536,5.24929361105e-05,-0.000148627147073,9.11644044373e-06,1793238111641260288
+56,0.933333333,BASELINE,767,745,716.506962869,679.506962869,663.506962869,637,880,790,804.506962869,653,632,654,0.401025043562,-0.0154968317249,0.0698555866523,0.999999987637,5.31464040038e-05,-0.000147688797626,9.46799986747e-06,1793238111657926912
+57,0.950000000,BASELINE,767,745.066958849,716.066958849,679.066958849,663.066958849,637,880.066958849,790,804,653,632.066958849,654,0.401026513161,-0.0154972651921,0.0698562486392,0.999999987811,5.36795642532e-05,-0.000146285537552,9.8724255005e-06,1793238111674593536
+58,0.966666667,BASELINE,767,745.642583532,716.642583532,679.642583532,663.642583532,637,880.642583532,790,804,653,632.642583532,654,0.401025355036,-0.0154976313364,0.0698550483599,0.999999987764,5.28111795655e-05,-0.000146935431613,9.66673363494e-06,1793238111691260416
+59,0.983333333,BASELINE,767,745.775983939,716.775983939,680,663.775983939,637,881,789.775983939,803.775983939,653,632.775983939,654,0.401024687446,-0.0154969782051,0.0698548304408,0.999999987733,5.27980359028e-05,-0.000147165470916,9.43248719285e-06,1793238111707927296
+60,1.000000000,BASELINE,767,745.185038292,716.185038292,680,663.185038292,637,881,789.185038292,803.185038292,653,632.185038292,654,0.401024823332,-0.01549465554,0.0698562215893,0.999999987728,5.41857435994e-05,-0.000146707804576,9.15146943373e-06,1793238111724593664
+61,1.016666667,BASELINE,767.397303015,745.397303015,716,680,663.397303015,637,881.397303015,789,803.397303015,653,632.397303015,654.397303015,0.401025068619,-0.0154944802106,0.0698562942043,0.999999987647,5.48730797418e-05,-0.000146996392626,9.28740481939e-06,1793238111741260032
+62,1.033333333,BASELINE,767.975721885,745.975721885,716,680,663.975721885,637,881.975721885,789,803.975721885,653,632.975721885,654.975721885,0.401025363778,-0.0154952837727,0.0698557657483,0.999999987531,5.52411421301e-05,-0.000147625170674,9.61341384824e-06,1793238111757926656
+63,1.050000000,BASELINE,767.449342128,745.449342128,716.550657872,679.449342128,663.449342128,637,880.898684255,789,804,653,632.449342128,654.449342128,0.401024734219,-0.0154958000392,0.0698554010872,0.999999987686,5.28112205577e-05,-0.00014749140341,9.25530472253e-06,1793238111774593280
+64,1.066666667,BASELINE,767,745,716.871524587,679.128475413,663,637,880.128475413,789,804.128475413,653,632,654,0.401024270274,-0.0154964359036,0.0698550894901,0.999999987788,5.07334814806e-05,-0.000147544845637,8.99777085562e-06,1793238111791260160
+65,1.083333333,BASELINE,767,745,716.282838487,679.717161513,663,637,880.717161513,789,804.717161513,653,632,654,0.401024544693,-0.0154975452666,0.069854942267,0.99999998768,5.03564059437e-05,-0.000148388562689,9.20787177434e-06,1793238111807927040
+66,1.100000000,BASELINE,767,745.3011901,716,680,663.3011901,637,881,789.3011901,804.6988099,653,632.3011901,654,0.401024111593,-0.0154975461523,0.0698550648369,0.999999987675,5.03195281045e-05,-0.00014843384851,9.2466746664e-06,1793238111824593664
+67,1.116666667,BASELINE,767,745.880911528,716,680,663.880911528,637,881,789.880911528,804.119088472,653,632.880911528,654,0.4010230242,-0.0154965219522,0.0698554369033,0.999999987765,5.05972546406e-05,-0.000147740769669,9.12706640704e-06,1793238111841260288
+68,1.133333333,BASELINE,767.458880141,746,716,679.541119859,663.541119859,637,880.541119859,790,804.458880141,653,632.541119859,654,0.401023887857,-0.0154958891939,0.0698555363441,0.999999987768,5.22065088034e-05,-0.000147155935261,9.18960902558e-06,1793238111857926912
+69,1.150000000,BASELINE,767.963906885,746,716,679.036093115,663,637,880,790,804.963906885,653,632,654.036093115,0.401025119562,-0.0154953818338,0.0698555472927,0.999999987744,5.40578836427e-05,-0.000146642395884,9.28495259628e-06,1793238111874593536
+70,1.166666667,BASELINE,767.391191742,746,716,679.608808258,663,637,880,790,804.391191742,653,632,654.608808258,0.401024323889,-0.0154952342424,0.0698552904764,0.999999987708,5.4390933605e-05,-0.000146772783046,9.16782271798e-06,1793238111891260160
+71,1.183333333,BASELINE,767,745.812245567,716,680,663.187754433,637,880.187754433,789.812245567,804,653.187754433,632.187754433,654.812245567,0.401023992919,-0.0154954983526,0.0698551897633,0.99999998769,5.43492727486e-05,-0.000146909607396,9.16658275325e-06,1793238111907926784
+72,1.200000000,BASELINE,767,745.219871104,716,680,663.780128896,637,880.780128896,789.219871104,804,653.780128896,632.780128896,654.219871104,0.401024663406,-0.0154966497001,0.0698554254604,0.999999987711,5.35000917254e-05,-0.000147060304228,9.41509122553e-06,1793238111924593664
+73,1.216666667,BASELINE,767,745,716,680,663.635905834,637,881,789,804,653.635905834,633,654,0.401025042078,-0.0154968417737,0.0698558521977,0.999999987739,5.3236763243e-05,-0.00014695441901,9.58904241506e-06,1793238111941260032
+74,1.233333333,BASELINE,767,745,716,680,663.056904149,637,881,789,804,653.056904149,633,654,0.401025248507,-0.0154964676332,0.0698563916969,0.999999987771,5.33192357842e-05,-0.000146697085565,9.71898596134e-06,1793238111957926656
+75,1.250000000,BASELINE,767.516851609,745,716,679.483148391,663,637,881,789,803.483148391,653,632.483148391,654,0.40102561574,-0.0154970117401,0.0698565281351,0.999999987883,5.14330293422e-05,-0.000146626384398,9.47268988782e-06,1793238111974593536
+76,1.266666667,BASELINE,767.907319688,745,716,679,663,637,881,789,803.092680312,653,632,654,0.401025803471,-0.0154972715766,0.0698565274263,0.999999987938,5.0142155697e-05,-0.000146714280221,9.20438054664e-06,1793238111991260160
+77,1.283333333,BASELINE,767.317299001,745,716,679,663,637,881,789,803.682700999,653,632,654,0.401024933913,-0.0154954689091,0.0698560264986,0.99999998766,5.31973714711e-05,-0.000147544082591,9.03799463384e-06,1793238112007926784
+78,1.300000000,BASELINE,767,745.267859203,716,679,663,637,881,789.267859203,804,653,632,654,0.401024246433,-0.0154946122147,0.0698557422059,0.999999987499,5.53214895473e-05,-0.000147849905607,9.08485777318e-06,1793238112024593408
+79,1.316666667,BASELINE,767,745.847360094,716,679,663,637,881,789.847360094,804,653,632,654,0.401023770791,-0.0154948561159,0.069855709958,0.999999987483,5.63623186711e-05,-0.000147546103029,9.37982624924e-06,1793238112041260288
+80,1.333333333,BASELINE,767,746,716,679,663.423801603,637,881,789.576198397,804,653,632,654,0.401024191344,-0.0154952131913,0.0698557471223,0.999999987603,5.45927216066e-05,-0.000147408141216,9.22468863564e-06,1793238112057926912
+81,1.350000000,BASELINE,767,746,716,679,663.999149165,637,881,789.000850835,804,653,632,654,0.401024932363,-0.0154956107364,0.0698558091075,0.999999987765,5.1818152666e-05,-0.000147329481884,8.90859894511e-06,1793238112074593536
+82,1.366666667,BASELINE,767,746,716,679,663.425532684,636.425532684,881,789.574467316,804,653,632,654,0.401025433894,-0.0154950718641,0.0698560450869,0.999999987756,5.28397500695e-05,-0.000147028413273,8.88522520329e-06,1793238112091260416
+83,1.383333333,BASELINE,767,745.846858537,716,679,663,636.153141463,881,789.846858537,804,653,632,654,0.401025610505,-0.0154947792221,0.069856213268,0.999999987737,5.36242157728e-05,-0.000146873285911,8.88421235901e-06,1793238112107926784
+84,1.400000000,BASELINE,767,745.258649922,716,679,663,636.741350078,881,789.258649922,804,653,632,654,0.401024865045,-0.0154951900478,0.0698561881053,0.999999987693,5.37190302686e-05,-0.000147133705976,8.94549409372e-06,1793238112124593408
+85,1.416666667,BASELINE,767,745,716,679.325153099,663,637,880.674846901,789,804,653,632.325153099,654,0.401024280272,-0.0154958728178,0.0698560541692,0.99999998772,5.30743085566e-05,-0.000147184612377,8.95434457877e-06,1793238112141260032
+86,1.433333333,BASELINE,767,745,716,679.905498411,663,637,880.094501589,789,804,653,632.905498411,654,0.401023821612,-0.0154967690195,0.0698558348638,0.999999987801,5.18491713906e-05,-0.000147071084669,8.92204507053e-06,1793238112157926656
+87,1.450000000,BASELINE,767,745,716,680,663,637,880.482488461,789,804,653,633,654,0.401024663372,-0.015497123563,0.0698559582906,0.999999987965,5.08642061821e-05,-0.000146293772514,9.05193102343e-06,1793238112174593536
+88,1.466666667,BASELINE,767.058373235,745,716,680,663.058373235,637,880.941626765,789,804,653,633,654,0.401025708312,-0.0154973118445,0.0698562214813,0.999999988115,5.02849170404e-05,-0.000145450128144,9.2125844358e-06,1793238112191260160
+89,1.483333333,BASELINE,767.630275979,745,716,680,663.630275979,637,880.369724021,789,804,653,633,654,0.401026315447,-0.0154969643331,0.0698571277492,0.999999988023,5.28635243541e-05,-0.000145158786993,9.36638228847e-06,1793238112207926784
+90,1.500000000,BASELINE,767.790334371,745,716,680,663.790334371,637,880.209665629,789,803.790334371,653,633,654,0.401026496639,-0.0154968673044,0.0698573991054,0.999999987934,5.39755682439e-05,-0.000145361429387,9.4254212311e-06,1793238112224593408
+91,1.516666667,BASELINE,767.19725349,745,716,680,663.19725349,637,880.80274651,789,803.19725349,653,633,654,0.401025898911,-0.015497228333,0.069856509399,0.999999987857,5.24057092945e-05,-0.000146467418854,9.31117466586e-06,1793238112241260032
+92,1.533333333,BASELINE,767.386782,745.386782,716,680,663.386782,636.613218,880.613218,789,803.386782,653,632.613218,654,0.401025589557,-0.0154963682293,0.0698563686967,0.999999987792,5.29791640467e-05,-0.000146710829441,9.21545344342e-06,1793238112257926912
+93,1.550000000,BASELINE,767.966309932,745.966309932,716,680,663.966309932,636.033690068,880.033690068,789,803.966309932,653,632.033690068,654,0.401025423909,-0.015494899596,0.0698566012473,0.999999987732,5.4620700936e-05,-0.000146524389277,9.12896398592e-06,1793238112274593536
+94,1.566666667,BASELINE,767.458990505,746,716,679.458990505,663.458990505,636.541009495,880,789,804,653,632,654,0.401024285347,-0.0154950847271,0.0698563280408,0.999999987543,5.54918640165e-05,-0.000147465305313,9.38590475592e-06,1793238112291260160
+95,1.583333333,BASELINE,767,745.881863357,716.118136643,679,663,636.881863357,880.118136643,789.118136643,804,653,632.118136643,654,0.401023346422,-0.0154952290834,0.0698560377774,0.999999987395,5.58713275479e-05,-0.000148314014329,9.50950258723e-06,1793238112307926784
+96,1.600000000,BASELINE,767,745.293896302,716.706103698,679,663,636.293896302,880.706103698,789.706103698,804,653,632.706103698,654,0.40102344027,-0.0154948053325,0.069855803825,0.999999987446,5.44844001794e-05,-0.000148519285793,9.01849342669e-06,1793238112324593408
+97,1.616666667,BASELINE,767,745.289936409,716.710063591,679.289936409,663,636.289936409,881,790,803.710063591,653,633,654,0.401024078682,-0.0154953147079,0.0698561057871,0.999999987563,5.39398878413e-05,-0.000147934049445,8.96291445467e-06,1793238112341260288
+98,1.633333333,BASELINE,767,745.869637195,716.130362805,679.869637195,663,636.869637195,881,790,803.130362805,653,633,654,0.401025261334,-0.0154967566561,0.0698569433457,0.999999987746,5.42372907752e-05,-0.000146558774318,9.34250734077e-06,1793238112357926912
+99,1.650000000,BASELINE,767,746,716,679.554319605,663.445680395,637,881,789.554319605,803.445680395,653,632.554319605,654,0.401025668695,-0.0154952420029,0.0698571753131,0.999999987691,5.65002315255e-05,-0.000146079322748,9.32875356764e-06,1793238112374594304
+100,1.666666667,BASELINE,767.020620077,745.979379923,716,679,663.958759846,637,881,789,804,652.979379923,632,654,0.401025828295,-0.0154929940992,0.0698572231679,0.999999987568,5.91095427441e-05,-0.000145895105523,9.20251910648e-06,1793238112391261952
+101,1.683333333,BASELINE,767.594423259,745.405576741,716,679,662.811153481,637,881,789,804,652.405576741,632,654,0.401025375349,-0.0154940868625,0.0698570452104,0.999999987652,5.57128659462e-05,-0.000146658868792,9.12022268051e-06,1793238112407928320
+102,1.700000000,BASELINE,767.826060162,745.173939838,716,679.173939838,662.173939838,636.826060162,880.826060162,789,804,652.173939838,632,654,0.40102459701,-0.0154950685258,0.0698566197786,0.999999987649,5.3238332485e-05,-0.000147599574645,9.05798376612e-06,1793238112424594944
+103,1.716666667,BASELINE,767.232769257,745.767230743,716,679.767230743,662.767230743,636.232769257,880.232769257,789,804,652.767230743,632,654,0.401023034187,-0.0154957823383,0.0698555977112,0.99999998746,5.2986992307e-05,-0.000148966870772,9.04410146236e-06,1793238112441261312
+104,1.733333333,BASELINE,767,745.648092829,716,679.648092829,663,636,880,789,804,653,632,654,0.401023779009,-0.0154958125535,0.0698556331784,0.999999987581,5.30234904991e-05,-0.000148141298947,9.02470909101e-06,1793238112457927424
+105,1.750000000,BASELINE,767,745.068978244,716,679.068978244,663,636,880,789,804,653,632,654,0.401026013753,-0.0154954014068,0.0698563514384,0.999999987899,5.32458303233e-05,-0.0001458999111,9.00175916583e-06,1793238112474593792
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664,636,881,789,803,653,632,654,0.401022364143,-0.015494426216,0.0698545642599,0.999999987465,5.43211419803e-05,-0.000148468687919,8.68622001349e-06,1793238112505754880
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.408213467,636.591786533,881,789,803.591786533,653,632.591786533,654,0.401023583272,-0.0154946921264,0.0698554733384,0.999999987709,5.21727779788e-05,-0.00014760099917,8.60919084215e-06,1793238112522421760
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.820930768,716,679.820930768,663.179069232,637,881,789,804,653,632.820930768,654,0.401023892705,-0.0154949949005,0.0698558525877,0.999999987768,5.11366870039e-05,-0.000147565553589,8.62101155725e-06,1793238112539088640
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.243663187,716,679.243663187,663.756336813,637,881,789,804,653,632.243663187,654,0.401022179236,-0.0154953796489,0.06985505365,0.999999987422,5.25739701874e-05,-0.000149380776732,8.83040879204e-06,1793238112555755008
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.333091772,745,716,679,663.666908228,637,880.666908228,789,804,653,632.333091772,654,0.401023285302,-0.0154954481048,0.0698555934676,0.999999987463,5.3446022813e-05,-0.000148778052852,9.04024231631e-06,1793238112572421632
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.909472279,745,716,679,663.090527721,637,880.090527721,789,804,653,632.909472279,654,0.401026450746,-0.015495285542,0.069857111106,0.999999987786,5.39052334909e-05,-0.000146409271215,9.25039449188e-06,1793238112589088512
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.516306864,745,716,679.483693136,663.483693136,636.516306864,880.483693136,789,804,653,632.516306864,654,0.401026085109,-0.0154954115355,0.0698570450798,0.999999987874,5.29579101769e-05,-0.000146174320526,8.96346007247e-06,1793238112605755136
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,716,679.94044048,663.94044048,636.05955952,881,789,804,653,632,654,0.401025014419,-0.0154955778759,0.0698566124031,0.999999987876,5.19018603426e-05,-0.000146555047087,8.66481073181e-06,1793238112622421504
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,716,679.346188909,663.346188909,636.653811091,881,789,804,653,632,654,0.401023520753,-0.0154956237485,0.0698555372102,0.99999998751,5.22224956005e-05,-0.000148893627096,9.09248988782e-06,1793238112639088128
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,716,679.240498164,663.240498164,637,880.759501836,789,804,653,632.240498164,654,0.401023401182,-0.0154952591746,0.0698552616851,0.999999987156,5.36662002105e-05,-0.000150738591872,9.29536525171e-06,1793238112655754752
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,716,679.816628397,663.816628397,637,880.183371603,789,804,653,632.816628397,654,0.401025199256,-0.0154943217939,0.0698561021527,0.999999986816,5.66772269112e-05,-0.000151894681746,9.1845111071e-06,1793238112672421376
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,716,680,663.608172975,637,880.391827025,789,803.608172975,653,632.608172975,654,0.401032475288,-0.0154948990445,0.0698608024921,0.999999987053,5.74684998498e-05,-0.00014999497068,9.62693550779e-06,1793238112689088000
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,716,680,663.033409245,637,880.966590755,789,803.033409245,653,632.033409245,654,0.401042308878,-0.0154961834481,0.0698673049336,0.999999987554,5.72234115684e-05,-0.000146668563452,1.03276752958e-05,1793238112705754368
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,716,680,663.537287984,637,881,789,803,653,632,654,0.401068173107,-0.0154981809299,0.0698786826959,0.99999998905,5.64049987499e-05,-0.000136343094272,1.13658382585e-05,1793238112722421504
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,716,679.88641243,663.88641243,636.88641243,880.88641243,789,803.11358757,653,632,654,0.401098829082,-0.0155004460676,0.0698911865512,0.999999990733,5.53305587624e-05,-0.00012376716801,1.23863695124e-05,1793238112739088384
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,716,679.28497301,663.28497301,636.28497301,880.28497301,789,803.71502699,653,632,654,0.40114581627,-0.0155036717648,0.0699072346659,0.999999993148,5.33084617238e-05,-0.00010338082145,1.32417370162e-05,1793238112755755008
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.301358031,880,789.301358031,804,653,632,654,0.401198489051,-0.0155065277789,0.0699208194534,0.999999994774,5.22434143866e-05,-8.67682070864e-05,1.39167496938e-05,1793238112772421376
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.874084181,880,789.874084181,804,653,632,654,0.401256281614,-0.0155090508991,0.069932186053,0.999999995837,5.20401752274e-05,-7.35537798439e-05,1.44293556669e-05,1793238112789088000
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663.449555394,636.550444606,880,790,804,653,632,654,0.401324668051,-0.0155109048208,0.0699370015577,0.999999996115,5.33811663902e-05,-6.88088227282e-05,1.36503876982e-05,1793238112805754880
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663.97359567,636.02640433,880.052808661,789.97359567,803.97359567,653,632,654,0.401396604833,-0.0155126326024,0.0699399106286,0.99999999619,5.5070793872e-05,-6.65736583124e-05,1.24884714307e-05,1793238112822421504
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663.383857371,636.616142629,881.232285257,789.383857371,803.383857371,653,632,654,0.401480593309,-0.0155156926862,0.0699415339146,0.999999996191,5.4914015273e-05,-6.6962847598e-05,1.09218472162e-05,1793238112839088384
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,716,679.202348531,663,637,881.797651469,789,803,653,632,654,0.401572121255,-0.0155181058574,0.0699429745691,0.999999996233,5.48831314413e-05,-6.66324647173e-05,9.06495314329e-06,1793238112855755264
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,716,679.781968348,663,637,881.218031652,789,803,653,632,654,0.401677706249,-0.0155193128841,0.0699440747136,0.999999996351,5.50869737226e-05,-6.49604663434e-05,6.6668619273e-06,1793238112872421888
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.359607731,716,680,663,637,880.640392269,789,803.359607731,653,632,654,0.40179864964,-0.0155203422948,0.0699454345031,0.999999996377,5.60189488276e-05,-6.39660478138e-05,3.91266563025e-06,1793238112889088256
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.936053002,716,680,663,637,880.063946998,789,803.936053002,653,632,654,0.401928853902,-0.0155212646061,0.0699469508542,0.999999996344,5.73899760527e-05,-6.338019861e-05,9.43743603483e-07,1793238112905754880
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.480322706,716,679.480322706,663,637,880,789,804,653,632,654,0.402082237632,-0.0155258847161,0.0699487521167,0.999999996605,5.5641567732e-05,-6.07419138258e-05,-1.87060423949e-06,1793238112922421504
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,716,679.103651568,663.103651568,637,880.103651568,789,804,653,632,654,0.402242542874,-0.0155298775204,0.0699500447608,0.999999996812,5.34461577473e-05,-5.91171636745e-05,-4.99784301907e-06,1793238112939087872
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,716,679.685110125,663.685110125,637,880.685110125,789,804,653,632,654,0.402421422169,-0.0155288517064,0.0699488289303,0.999999996647,5.09844241055e-05,-6.3345067284e-05,-9.65633734438e-06,1793238112955754496
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,716,680,664,637,881,789.264778636,804,653.264778636,632,654,0.402616439876,-0.0155285950273,0.0699499569817,0.999999997156,4.03251482569e-05,-6.22252217593e-05,-1.37493050755e-05,1793238112972421120
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,716,680,664,637,881,789.842332583,804,653.842332583,632,654,0.402830521408,-0.0155292469052,0.0699538537928,0.999999998152,1.99823540515e-05,-5.47882352479e-05,-1.71742323845e-05,1793238112989088000
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,716,680,663.581723037,637,881,790,804,653.581723037,632,654,0.403068109203,-0.0155262453441,0.0699573121299,0.999999998485,1.37584856721e-05,-4.88854017905e-05,-2.12160165529e-05,1793238113005754880
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,716,680,663.006383063,637,881,790,804,653.006383063,632,654,0.403314523594,-0.0155218719166,0.0699606058199,0.999999998644,1.28362748037e-05,-4.35586430203e-05,-2.54894304137e-05,1793238113022421504
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,716,680,663,637,880.417645775,789.417645775,804,653,632,654,0.403595516484,-0.015523269765,0.0699687038492,0.999999999104,1.08688280236e-05,-3.0447658209e-05,-2.73153113366e-05,1793238113039088128
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.168501961,745,716,680,663,637,880.337003922,789,804.168501961,653.168501961,632,654,0.403883019228,-0.0155252735675,0.0699744493961,0.999999999314,7.18303190852e-06,-2.23686097047e-05,-2.86331154858e-05,1793238113055754752
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.747967311,745,716,680,663,637,881.495934622,789,804.747967311,653.747967311,632,654,0.404185452828,-0.0155285973319,0.0699743259604,0.999999999227,-6.6508670195e-07,-2.67750628274e-05,-2.87787284152e-05,1793238113072421376
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.674677818,745,716,680,663,637,881.674677818,789.325322182,804.674677818,653.674677818,632,654,0.404508320601,-0.0155304588526,0.0699756433939,0.999999999249,-5.91115746141e-06,-2.42974710529e-05,-2.95995850321e-05,1793238113089088000
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.09894737,745,716,680,663,637,881.09894737,789.90105263,804.09894737,653.09894737,632,654,0.404846917077,-0.0155311948498,0.0699780698988,0.999999999343,-9.15437058796e-06,-1.65210657379e-05,-3.09401928809e-05,1793238113105754624
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,716,680,663,637,881,789.523692987,804,653.476307013,632,654,0.405215616828,-0.0155309015109,0.0699821320197,0.999999999372,-1.05636498571e-05,-1.03056035188e-05,-3.2208897559e-05,1793238113122421248
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.052877515,716,679.947122485,663.052877515,636.947122485,881,789.052877515,804,653.947122485,632,654,0.405592103769,-0.0155303597897,0.0699855226477,0.999999999364,-1.08786933274e-05,-5.87105582876e-06,-3.34636755585e-05,1793238113139088128
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.643846881,716,679.356153119,663.643846881,636.356153119,881,789.643846881,804,653.356153119,632,654,0.40598426048,-0.0155294643136,0.069978625815,0.999999999257,-3.93162603847e-06,-1.62629147905e-05,-3.47285845367e-05,1793238113155755008
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,679.22944362,664,636,880.77055638,790,804,652.77055638,632,654,0.406388457655,-0.0155288353056,0.0699692059596,0.999999998871,-2.96688456277e-06,-3.02284329556e-05,-3.65480591583e-05,1793238113172421632
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,679.806891492,664,636,880.193108508,790,804,652.193108508,632,654,0.406810916951,-0.0155286104579,0.0699559593575,0.999999997939,-1.10757225284e-05,-4.96142301971e-05,-3.92086606036e-05,1793238113189088256
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745.616356401,716,679.616356401,663.616356401,636.383643599,880.383643599,789.616356401,804,652,632.383643599,654,0.407270676197,-0.0155292502304,0.0699520739747,0.999999997793,-1.07516696432e-05,-5.15435325444e-05,-4.05235451318e-05,1793238113205755136
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.039953892,716,679.039953892,663.039953892,636.960046108,880.960046108,789.039953892,804,652,632.960046108,654,0.407749176516,-0.0155303244251,0.0699528920682,0.999999998135,-6.19057243624e-06,-4.47019466504e-05,-4.11622840013e-05,1793238113222421760
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.452282466,745.547717534,716,679,663.547717534,637,880.452282466,789,804,652.547717534,632.452282466,654,0.408281836442,-0.0155299169651,0.0699678856658,0.999999998957,-6.73724551698e-06,-1.81146896977e-05,-4.13928577546e-05,1793238113239088128
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.133716898,745.866283102,716,679.133716898,664,637,880.133716898,789.133716898,804,652.866283102,632,654,0.408818894614,-0.0155300273294,0.069980583016,0.999999999088,-7.39795431848e-06,6.05005566064e-06,-4.16134757816e-05,1793238113255754752
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.711378356,745.288621644,716,679.711378356,664,637,880.711378356,789.711378356,804,652.288621644,632,654,0.409357162884,-0.0155322232586,0.0699821515517,0.999999998947,-7.17426120728e-06,1.72894413654e-05,-4.19019679596e-05,1793238113272421632
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,716,680,663.71238867,637,881.28761133,790,804,652.28761133,632,654.28761133,0.409896091066,-0.0155325215577,0.069977254622,0.999999998964,-9.92968024349e-06,1.09320242463e-05,-4.30556442581e-05,1793238113289088256
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,716,680,663.137582044,637,881.862417956,790,804,652.862417956,632,654.862417956,0.410435678268,-0.015530924972,0.0699659015793,0.999999998777,-1.56599020726e-05,-1.299674035e-05,-4.50732531962e-05,1793238113305754880
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,716,680,663,637,881.56113028,789.56113028,804,653,632,655,0.411016900406,-0.0155277532616,0.0699665444712,0.999999998782,-1.1074504768e-05,-1.50668798961e-05,-4.56804174349e-05,1793238113322421760
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.016260448,716,679.983739552,663,637,881,789,803.983739552,653,632.016260448,654.983739552,0.411613350888,-0.0155242746272,0.0699715862289,0.999999998904,-3.63489145202e-06,-9.02332872447e-06,-4.57862614839e-05,1793238113339088384
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745.608577312,716,679.391422688,663,637,881,789,803.391422688,653,632.608577312,654.391422688,0.412285156377,-0.0155274818295,0.0699987375022,0.999999998156,-1.00759837155e-05,4.07868418584e-05,-4.38552862741e-05,1793238113355754752
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745.803689047,716.196310953,679.196310953,663,637,881,789,803.392621906,652.803689047,633,654,0.412954773111,-0.0155309868437,0.0700220247915,0.999999995744,-1.35615466512e-05,8.0808636232e-05,-4.23926702185e-05,1793238113372421376
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.224885402,716.775114598,679.775114598,663,637,881,789,804.550229196,652.224885402,633,654,0.413620125231,-0.0155350721148,0.0700377834839,0.999999993883,-1.12885494141e-05,0.000101758734096,-4.18426064482e-05,1793238113389088000
+160,2.666666667,POSE1_TO_POSE2_PRESS,767.34961735,745,716.65038265,680,663,637,881,789,804.65038265,652.34961735,632.65038265,654,0.414258425878,-0.0155345371056,0.0700272890819,0.99999999581,-1.7355726681e-05,7.85538153686e-05,-4.36828455348e-05,1793238113405754624
+161,2.683333333,POSE1_TO_POSE2_PRESS,767.921387224,745,716.078612776,680,663,637,881,789,804.078612776,652.921387224,632.078612776,654,0.414879537555,-0.0155310662952,0.070000113038,0.999999998109,-2.87223858773e-05,2.72920834267e-05,-4.70419216799e-05,1793238113422420992
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,745.495985718,716,680,663,637,881,789,804,652.504014282,632,654,0.415528692347,-0.0155292237718,0.0699622251694,0.999999997923,-2.45625470065e-05,-3.00083777089e-05,-5.14707057537e-05,1793238113439088128
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.926724777,746,716,680.073275223,663.073275223,637,881,789.073275223,804,652,632,654,0.416196028618,-0.0155284624573,0.0699301484516,0.9999999953,-1.98633460458e-05,-7.70773959295e-05,-5.53661297799e-05,1793238113455754752
+164,2.733333333,POSE1_TO_POSE2_PRESS,767.333541351,746,716,680.666458649,663.666458649,637,881,789.666458649,804,652,632,654,0.416960649399,-0.0155335309677,0.0699514189779,0.99999999711,-2.88982898663e-05,-4.47214024144e-05,-5.42673330424e-05,1793238113472421376
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,680.747529747,664,637,881,789.747529747,804,652,632,654.252470253,0.417716293276,-0.0155362108522,0.0699739367036,0.999999997968,-3.41402452056e-05,-1.02071673512e-05,-5.28529504026e-05,1793238113489088000
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,680.17073113,664,637,881,789.17073113,804,652,632,654.82926887,0.418460405347,-0.0155358222606,0.0699980566097,0.999999997736,-3.45096524808e-05,2.70795926302e-05,-5.10331596215e-05,1793238113505754624
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679.593991077,663.593991077,637,881.406008923,789,804,652,632.406008923,654.593991077,0.419210333102,-0.0155357913091,0.0700087600494,0.999999997204,-3.87681512375e-05,3.91656808229e-05,-5.05523014803e-05,1793238113522421248
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679.017275683,663.017275683,637,881.982724317,789,804,652,632.982724317,654.017275683,0.419962706018,-0.0155359107276,0.0700138225336,0.999999996894,-4.46618186906e-05,4.06561430869e-05,-5.06343977608e-05,1793238113539087872
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745.429298961,716,680.141402079,663.570701039,637,882,789,804,652,631.858597921,653.429298961,0.420719225672,-0.015537278271,0.0700225789082,0.999999995714,-5.21346586714e-05,5.64988278872e-05,-5.15843162521e-05,1793238113555754752
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745.156699758,716,681,664,637,881.843300242,789.156699758,804,652.156699758,631.156699758,653.156699758,0.421479612564,-0.0155395134108,0.0700245866965,0.999999995093,-5.78829132234e-05,6.08482136509e-05,-5.25405569924e-05,1793238113572421376
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.736419921,716,681,664,637,881.263580079,789.736419921,804,652.736419921,631.736419921,653.736419921,0.42225009357,-0.0155439866316,0.0700080683356,0.999999996297,-5.88439004042e-05,3.29742988839e-05,-5.34415204525e-05,1793238113589088000
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680.686355833,664,636.686355833,881,789.686355833,804,652.686355833,632,654,0.422978379381,-0.015544067363,0.0699673764237,0.999999995928,-6.08303268211e-05,-3.37079261211e-05,-5.75044148833e-05,1793238113605754624
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680.111212574,664,636.111212574,881,789.111212574,804,652.111212574,632,654,0.423671485141,-0.0155404858805,0.0699065299479,0.999999987101,-6.36717070581e-05,-0.000132746363939,-6.42035513499e-05,1793238113622421504
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,636,881,789,804,652,632,654,0.424445857498,-0.0155427047653,0.0698971059065,0.999999985605,-7.56725674028e-05,-0.000136275707228,-6.70292538295e-05,1793238113639088128
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.958204307,716,680,664,636,881.041795693,789,804,652,632,654,0.425241556204,-0.0155463907638,0.0699037951759,0.999999987443,-8.82188229596e-05,-0.00011259200342,-6.82199171642e-05,1793238113655754496
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745.366922592,716,680,664,636,881.633077408,789,804,652,632,654,0.426061513912,-0.0155510846166,0.0699602643741,0.99999999455,-7.90686757908e-05,-3.21425308073e-05,-6.01221634122e-05,1793238113672421120
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.780167456,745,716,680,664,636.219832544,881.780167456,789,804,652.219832544,632,654,0.426877772105,-0.015553421127,0.0700018477211,0.999999995525,-7.33491927388e-05,2.34468922259e-05,-5.49530481725e-05,1793238113689088000
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.200815107,745,716,680,664,636.799184893,881.200815107,789,804,652.799184893,632,654,0.427687980144,-0.0155519023796,0.0700190863728,0.999999995092,-7.32403053554e-05,3.83795624994e-05,-5.45735030039e-05,1793238113705754624
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.374513273,745.374513273,716,680,664.374513273,636.625486727,881,789,803.625486727,652.625486727,632,654,0.428479574047,-0.0155533487038,0.0700313084035,0.999999993508,-8.09219897728e-05,5.87596325501e-05,-5.46182253322e-05,1793238113722421504
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.947706891,745.947706891,716,680,664.947706891,636.052293109,881,789,803.052293109,652.052293109,632,654,0.42926129305,-0.015556368007,0.0700408691016,0.999999990829,-9.27365944302e-05,8.2029562594e-05,-5.48880227587e-05,1793238113739088128
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680.52165277,665,636,881.52165277,789,803.52165277,652,632,654,0.430010041802,-0.015556845709,0.0700300154635,0.999999992516,-8.65058395983e-05,6.62801845553e-05,-5.56083231069e-05,1793238113755755008
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,745.900750425,716,680.900750425,664.900750425,636.099249575,881.900750425,789.099249575,804,652,632,654,0.43074172811,-0.0155557623344,0.0700093114012,0.999999994685,-7.90806747862e-05,3.31599326051e-05,-5.72472843473e-05,1793238113772421632
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745.305277482,716,680.305277482,664.305277482,636.694722518,881.305277482,789.694722518,804,652,632,654,0.431404654966,-0.0155481496538,0.0699496041036,0.999999992947,-7.47411597038e-05,-6.72256593577e-05,-6.32532045699e-05,1793238113789088256
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745,716,680.280575314,664,636.719424686,881.280575314,789.719424686,804,652,632.280575314,654,0.432119043298,-0.0155451760053,0.0699215239668,0.999999988817,-7.53756966841e-05,-0.000111039800547,-6.5992531671e-05,1793238113805754880
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,745,716,680.856307949,664,636.143692051,881.856307949,789.143692051,804,652,632.856307949,654,0.432887567611,-0.0155470824882,0.0699267147153,0.999999990023,-8.12427970584e-05,-9.53423647344e-05,-6.52954950272e-05,1793238113822421504
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,745,716,680.569147706,664,636.430852294,882,789,804,652,632.569147706,654,0.433670200987,-0.0155495954819,0.0699732331431,0.999999994282,-8.60902655919e-05,-1.41425357286e-05,-6.1847775261e-05,1793238113839088128
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,745.005129265,716,680,664,636.994870735,881.994870735,789.005129265,804.005129265,652,632,654,0.434456621307,-0.0155522934187,0.07003303568,0.999999990374,-9.05225770776e-05,8.80314748608e-05,-5.75078870201e-05,1793238113855754752
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,745.593948735,716,680,664,636.406051265,881.406051265,789.593948735,804.593948735,652,632,654,0.435139983134,-0.0155530823174,0.0700403739963,0.999999989931,-8.63020593451e-05,9.78920573728e-05,-5.57489002562e-05,1793238113872421376
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,636.180217218,881,789.819782782,804.819782782,652,632,654,0.435820701272,-0.0155537280158,0.0700391430925,0.999999990187,-8.60557690097e-05,9.56730740586e-05,-5.53838018333e-05,1793238113889088000
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664,636.760818349,881,789.239181651,804.239181651,652,632,654,0.436495546127,-0.0155540555698,0.0700188741762,0.999999991614,-9.46389156795e-05,6.66172347527e-05,-5.81154685965e-05,1793238113905755136
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664,636.663330272,881.336669728,789.336669728,804,652,632,654,0.437157863444,-0.0155535823827,0.0699992681747,0.999999992529,-9.65372821413e-05,4.44573928502e-05,-6.03800503128e-05,1793238113922421760
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,636.090806371,881.909193629,789.909193629,804,652,632,654,0.437811404546,-0.015552548236,0.0699801265798,0.999999993296,-9.37526214535e-05,2.71285476895e-05,-6.23174151766e-05,1793238113939088384
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680.481093369,664,636,882,789.518906631,804.481093369,652,632,654,0.438414276219,-0.0155513687228,0.0699583613109,0.99999999335,-9.53396018941e-05,-3.49982909121e-06,-6.47987434479e-05,1793238113955755008
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.944490651,746,716,680.944490651,664,636,881.944490651,789,804.944490651,652,632,653.944490651,0.439005131504,-0.0155501506077,0.0699362096239,0.999999992339,-9.71019804771e-05,-3.71114849586e-05,-6.71977038346e-05,1793238113972421632
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.344226201,746,716,680.344226201,664,636,881.344226201,789,804.344226201,652,632,653.344226201,0.439571796642,-0.0155488225842,0.0699151193786,0.999999990582,-9.24983744582e-05,-7.5396895273e-05,-6.77820238356e-05,1793238113989088000
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.754127344,716,680.245872656,664,636,881,789,804.245872656,652,632,653,0.44015797717,-0.0155489818169,0.0699130629508,0.999999990323,-9.20849196804e-05,-7.95640701927e-05,-6.74103172871e-05,1793238114005754624
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.177695491,716,680.822304509,664,636,881,789,804.822304509,652,632,653,0.440770394774,-0.0155511405653,0.0699365962081,0.999999992387,-9.73048409522e-05,-3.78615763926e-05,-6.57532975168e-05,1793238114022421248
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.397160187,745.397160187,716,681,664.397160187,636.397160187,881.397160187,789,804.602839813,652,632,653.397160187,0.441383419073,-0.0155534944141,0.0699794398097,0.999999992393,-0.000102856892605,2.52446710767e-05,-6.32209385209e-05,1793238114039088384
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.971313498,745.971313498,716,681,664.971313498,636.971313498,881.971313498,789,804.028686502,652,632,653.971313498,0.441996713796,-0.0155559352089,0.0700308890044,0.999999987499,-0.000108556957106,9.78894340832e-05,-6.02984870991e-05,1793238114055755776
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716,680.440970823,665,637,882,789,804.559029177,652,632,654,0.442500974486,-0.0155587050942,0.070038107474,0.999999986335,-0.000112345375918,0.00010566588571,-5.95322544066e-05,1793238114072422144
+201,3.350000000,POSE1_TO_POSE2_PRESS,766.85474936,745.85474936,716,680,664.85474936,636.85474936,881.85474936,789,804.85474936,652,632,654,0.442985357282,-0.0155616926037,0.0700352177681,0.999999986775,-0.000116024786025,9.75237989652e-05,-5.89703418307e-05,1793238114089088512
+202,3.366666667,POSE1_TO_POSE2_PRESS,766.275129161,745.275129161,716,680,664.275129161,636.275129161,881.275129161,789,804.275129161,652,632,654,0.443427443663,-0.0155652791585,0.0700090559784,0.999999989766,-0.000119678855928,5.19795454379e-05,-5.86803326329e-05,1793238114105755136
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.301493754,745.301493754,716,680.301493754,663.698506246,636.301493754,881.301493754,788.698506246,804.301493754,652,632,653.698506246,0.443850268756,-0.0155676848317,0.0699792798398,0.999999990866,-0.000121317654473,1.80102733269e-06,-5.95585538637e-05,1793238114122421760
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.875408376,745.875408376,716,680.875408376,663.124591624,636.875408376,881.875408376,788.124591624,804.875408376,652,632,653.124591624,0.444255689891,-0.0155690234951,0.0699462378835,0.999999989391,-0.000121135512902,-5.25648728674e-05,-6.14923536356e-05,1793238114139088128
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.551444384,746,715.551444384,681.448555616,663.448555616,636.551444384,882,788.448555616,805,652,632,653.448555616,0.444638438277,-0.0155707972067,0.0699204793765,0.999999985845,-0.000124749082108,-9.31929326422e-05,-6.37437977877e-05,1793238114155754752
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.02230241,746,715.02230241,681.97769759,664,636,882,788.97769759,805,652,632,654,0.445014906978,-0.0155727324947,0.0698970299238,0.999999981063,-0.000129529498356,-0.000129331791876,-6.60973340707e-05,1793238114172421376
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.616894436,746,715.616894436,681.383105564,664,636,882,788.383105564,805,652,632,654,0.445391560149,-0.0155757183974,0.0698810077587,0.999999977259,-0.000137244038723,-0.000148024906192,-6.88104606549e-05,1793238114189088000
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,745.794392932,716,681,664,636,882,788,805,651.794392932,632,653.794392932,0.445750516255,-0.0155785119396,0.069867494168,0.999999973502,-0.000143471834201,-0.000165669900232,-7.04636203668e-05,1793238114205755136
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,745.216330825,716,681,664,636,882,788,805,651.216330825,632,653.216330825,0.446077414275,-0.0155809570226,0.0698585248349,0.999999970275,-0.000147006406192,-0.000181416233466,-7.01966609901e-05,1793238114222421760
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.640787394,745.359212606,716,681.359212606,663.640787394,636,882,788,804.640787394,651.359212606,632,653.359212606,0.446379655639,-0.0155834178971,0.0698478196887,0.999999965496,-0.000150601924928,-0.000203518546903,-7.00475777252e-05,1793238114239088384
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.066750182,745.933249818,716,681.933249818,663.066750182,636,882,788,804.066750182,651.933249818,632,653.933249818,0.446667151293,-0.015585888216,0.0698360764505,0.999999959341,-0.000154233892714,-0.000229422011583,-6.99689893934e-05,1793238114255754752
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,716,682,663,636,882.505846834,788,804,652,632,654,0.446923605049,-0.0155858621222,0.0698158051273,0.999999950303,-0.000154012073426,-0.000265644497289,-7.14644941319e-05,1793238114272421376
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.076194946,746,716,681.923805054,663.076194946,636,882.923805054,787.923805054,804,652,632,654,0.447173498719,-0.01558600967,0.0697954655714,0.99999994021,-0.000154120102379,-0.000300825164756,-7.30156515605e-05,1793238114289088000
+214,3.566666667,POSE1_TO_POSE2_PRESS,766.633538806,746,716,681.366461194,663.633538806,636,882.366461194,787.366461194,804,652,632,654,0.447407760372,-0.0155893279989,0.0697817811758,0.999999933095,-0.000159513163701,-0.000320852932147,-7.36103169787e-05,1793238114305754624
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746,716,681.21247106,663.78752894,636,882,787,804,652,632,654,0.447633601699,-0.0155920303166,0.0697723028818,0.999999927911,-0.000163275664097,-0.000334742139257,-7.39416772172e-05,1793238114322421248
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746,716,681.832849203,663.167150797,636,882,787,804,652,632,654,0.447843277464,-0.0155935500006,0.0697708995644,0.999999927114,-0.000163907773964,-0.00033684638884,-7.37675378162e-05,1793238114339088128
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746,716,681.58065336,663,636,882,786.58065336,804.41934664,652,632,654,0.448039766969,-0.0155951656249,0.0697713801986,0.999999926812,-0.000166313783619,-0.000336640108597,-7.34091641648e-05,1793238114355754752
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746,716,681.006651181,663,636,882,786.006651181,804.993348819,652,632,654,0.448231393361,-0.015596816632,0.0697725556364,0.999999926685,-0.00016937400961,-0.000335581702159,-7.29828447064e-05,1793238114372421376
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+221,3.683333333,POSE1_TO_POSE2_PRESS,767,745,715,681,663,635.250620995,882.498758011,786.250620995,804,652,631.749379005,654,0.448667336223,-0.0156077770284,0.0697539091307,0.999999915366,-0.000176111668743,-0.000364593644068,-7.2969013547e-05,1793238114422421248
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,766.580402531,745.580402531,715.580402531,681,663.419597469,636,881.580402531,789,804,652,632.419597469,654,0.429889156817,-0.0153765145857,0.0697602760146,0.999999911254,0.00015906677675,-0.000389965760245,1.08114104982e-05,1793238116456891648
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745.83231572,716,681,663,636,882,789,804,652,632,654,0.429114101786,-0.015373151147,0.0697362582634,0.999999895172,0.000164064358998,-0.000427389833243,8.70869208424e-06,1793238116473558272
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745.252852238,716,681,663,636,882,789,804,652,632,654,0.428374316981,-0.0153783570412,0.0697677166752,0.999999914403,0.00016034898236,-0.000381227023103,1.21491448094e-05,1793238116490224896
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745.323462132,716,680.676537868,663,636,882.323462132,789,804,652,632.323462132,654,0.427635681685,-0.0153822924071,0.069811588215,0.999999937362,0.000160789015235,-0.000314865351609,1.68154585367e-05,1793238116506891776
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745.527565885,716,680.472434115,663.472434115,636,882.055131769,789,804,652,632.527565885,654,0.42612027276,-0.0153831827642,0.0698654041315,0.99999995754,0.000168057997123,-0.000236927294329,2.32880114976e-05,1793238116540225280
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745.049289456,716,680.950710544,663.950710544,636.049289456,881,789,804,652,632,653.950710544,0.425334102869,-0.0153803478457,0.0698530255209,0.999999951004,0.00017131609706,-0.000260990370813,2.29357940749e-05,1793238116556891904
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.770405789,881.229594211,789,804.229594211,652,632,653.229594211,0.423757770918,-0.0153801095134,0.0698055008397,0.999999929235,0.000171948419688,-0.000334079083958,1.88308998157e-05,1793238116590225408
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.19312423,881.80687577,789,804.80687577,652,632,653.80687577,0.42295308975,-0.0153767598159,0.0697863162588,0.999999917721,0.000175711687313,-0.000365203113008,1.76131067393e-05,1793238116606891776
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745.618301302,716,680,663,636.381698698,881.618301302,789,805,652,632,654,0.422126281593,-0.0153732622004,0.0697517574098,0.999999894024,0.000176803138267,-0.000424814314797,1.50261099283e-05,1793238116623558144
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745.044714415,716,680,663,636.955285585,881.044714415,789,805,652,632,654,0.421288349769,-0.0153696902234,0.0697094695849,0.999999859972,0.00017655140823,-0.000498746630685,1.17507848007e-05,1793238116640225024
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,716,680,662.458134431,636.458134431,881,789,804.458134431,652,632.541865569,653.458134431,0.420589489914,-0.0153707550339,0.0697421413882,0.999999888052,0.000177703447267,-0.000438374671638,1.2012427285e-05,1793238116656891904
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,716,680,662.128332574,636,881,789,804,652.128332574,632.871667426,653,0.419902696903,-0.0153725815424,0.0697850533703,0.999999917973,0.000179526980066,-0.000362798650792,1.41587020608e-05,1793238116673558528
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,716,680,662.710515058,636,881,789,804,652.710515058,632.289484942,653,0.419216995888,-0.0153757154044,0.069841766916,0.999999945528,0.000183305533759,-0.000273610311625,2.19124497556e-05,1793238116690225152
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.711807475,745,716,680,663,636,881,789,804,653,632.288192525,653.288192525,0.418506544456,-0.0153755986062,0.0698698605869,0.999999955126,0.000189301708645,-0.000230731231704,2.59952391078e-05,1793238116706892032
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,663,636,880.563250849,789,804.436749151,653,632.563250849,654,0.417007560974,-0.0153680282636,0.0698387838886,0.99999993926,0.000203835838028,-0.000281739926774,2.35074988236e-05,1793238116740225536
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.013131653,745.013131653,716,679.986868347,663,636.013131653,880,789,804.986868347,652.986868347,632.013131653,654,0.416236029959,-0.0153636520216,0.0697989109054,0.999999919151,0.000209303140114,-0.000342795278493,1.95489249605e-05,1793238116756891648
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.806311171,716,679,662.806311171,637,880.193688829,789,804,652,632.806311171,654,0.414847054208,-0.0153671031943,0.0697843667919,0.999999918703,0.000198936640974,-0.000350304421465,1.7474824296e-05,1793238116790224896
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.229007777,716,679,662.229007777,637,880.770992223,789,804,652,632.229007777,654,0.414138680092,-0.0153659274069,0.0697711978981,0.999999905442,0.000204249064595,-0.000383541630942,1.71679786796e-05,1793238116806892032
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745.346872555,716,679,662.346872555,636.653127445,881,789,804,652.346872555,632,653.653127445,0.413477990983,-0.0153662946901,0.0697755651893,0.999999905852,0.000208923097018,-0.000379884030996,1.83261594194e-05,1793238116823558912
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745.921817176,716,679,662.921817176,636.078182824,881,789,804,652.921817176,632,653.078182824,0.412848655272,-0.0153676765571,0.0697914626926,0.999999915128,0.000213177380699,-0.000351967734392,2.04476091967e-05,1793238116840226048
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745.531935029,716,679.468064971,662.531935029,636.468064971,881,789,804,652.531935029,632.468064971,653.468064971,0.412283949162,-0.0153689450507,0.0698274408952,0.999999937346,0.000209086582808,-0.000284700663724,2.3148099016e-05,1793238116856892416
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745,716,680,662.011407623,636.988592377,880.988592377,789,804.011407623,652,632.988592377,654,0.411728456549,-0.015370169194,0.0698660814573,0.999999956306,0.000204034620673,-0.000212335130856,2.59072381067e-05,1793238116873558528
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,716,680,662.642243659,636.357756341,880.357756341,789,804.642243659,652,632.357756341,654,0.411120932261,-0.0153699540174,0.0698776787005,0.999999955969,0.000218108407654,-0.000199414410664,2.69025784207e-05,1793238116890225152
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.75102682,663,636.24897318,880.24897318,789,804.75102682,652.24897318,632,654,0.410513112997,-0.0153686817718,0.0698704659106,0.999999951436,0.000223046323298,-0.00021608103864,2.6231133079e-05,1793238116906892032
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.022257591,745.977742409,716,679.977742409,663,636.022257591,881,789,804,653,632,654,0.408753624331,-0.0153615471873,0.0697852552745,0.999999909218,0.000222015337223,-0.000363306882937,1.6788814055e-05,1793238116956892160
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.310833237,745,716,680,663,636.310833237,881,789,804,652.689166763,632,654,0.406854342649,-0.0153633094221,0.0698215108888,0.999999933414,0.000217080990283,-0.00029276376529,1.83581031792e-05,1793238117023558400
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.886818567,745,716,680,663,636.886818567,881,789,804,652.113181433,632,654,0.406412766896,-0.0153666604939,0.0698247748335,0.999999933963,0.000211245956779,-0.000295118924394,1.88293532371e-05,1793238117040224768
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,716,680,663,637,880.537621759,789,804,652.462378241,632,654,0.40597163783,-0.0153632732392,0.069812023766,0.999999924074,0.000218199608285,-0.000322379154406,1.76710197444e-05,1793238117056891392
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745,716,679.370889203,662.370889203,637,880.629110797,789,804,653,632,654,0.405180428268,-0.0153589609049,0.0698064764206,0.999999919558,0.000223870564237,-0.000332401617542,1.65996722245e-05,1793238117090224896
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745.215335398,716,679.215335398,662.215335398,637,880.784664602,789,804,652.784664602,632.215335398,654,0.404839256302,-0.0153593285118,0.0698182644526,0.999999927471,0.000222285893994,-0.000308787348902,1.72322097015e-05,1793238117106891776
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745.79466934,716,679.79466934,662.79466934,637,880.20533066,789,804,652.20533066,632.79466934,654,0.40452279955,-0.0153596961157,0.0698340789343,0.999999935893,0.000223966355578,-0.000278779443727,1.83262559898e-05,1793238117123558656
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745.629737529,716,679.629737529,662.629737529,636.629737529,880,789,804,652.370262471,633,654,0.40421826075,-0.0153599584409,0.0698446703291,0.99999994066,0.000223896294235,-0.00026113009783,1.90150491996e-05,1793238117140225024
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745.056198078,716,679.056198078,662.056198078,636.056198078,880,789,804,652.943801922,633,654,0.403920264969,-0.0153601629673,0.0698523942099,0.999999943659,0.000222865182386,-0.000250265694479,1.94813554199e-05,1793238117156891392
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,662.531090673,636,880.531090673,789,804,652.468909327,632.468909327,654,0.403624514896,-0.0153582791182,0.0698438910149,0.999999940273,0.000222777011666,-0.000263618387522,1.81392925166e-05,1793238117173558272
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,716,679.117982807,663,636.117982807,880.882017193,789,804.117982807,652.117982807,632,654,0.403337121471,-0.0153568343941,0.0698341285012,0.999999936112,0.000223069631755,-0.000278808938964,1.67762078614e-05,1793238117190225152
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.69748124,663,636.69748124,880.30251876,789,804.69748124,652.69748124,632,654,0.403081462562,-0.0153579948055,0.0698263351676,0.99999993237,0.000224451119833,-0.000290898239964,1.60993122155e-05,1793238117206891776
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.725275019,663,637,880,789,804.450550038,653,632,654,0.402846289873,-0.0153580647407,0.0698238583715,0.999999930933,0.000225574900412,-0.00029496893087,1.55706458064e-05,1793238117223558656
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,716,679.1504939,663,637,880,789,803.3009878,653,632,654,0.402633492362,-0.0153569436516,0.0698271883273,0.99999993212,0.000226417211383,-0.000290281650963,1.52038762284e-05,1793238117240225792
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745.420906766,716,679,663,637,880,789,803.420906766,652.579093234,632,654,0.402436931508,-0.0153562159053,0.0698239792503,0.999999929929,0.000228273559943,-0.000296348958961,1.45101284792e-05,1793238117256892160
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745.991108379,716,679,663,637,880,789,803.991108379,652.008891621,632,654,0.402246129771,-0.0153556276771,0.0698184507905,0.999999926455,0.000230489585715,-0.000306230899381,1.37004021867e-05,1793238117273558528
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.411476974,716,679,663,637,880.588523026,789,804,652.588523026,632.588523026,654,0.402073357893,-0.015353248572,0.0698132993255,0.999999923485,0.000230630452197,-0.000315694956187,1.32555816337e-05,1793238117290225152
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.180285804,663,637,880.819714196,788.819714196,804,653,633,654,0.401912829506,-0.0153519017151,0.0698100963675,0.999999921714,0.000230160086295,-0.000321601843926,1.30661300888e-05,1793238117306891776
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.758618182,663,637,880.241381818,788.241381818,804,653,633,654,0.401778702521,-0.0153528965571,0.069811182264,0.999999922729,0.000228412779814,-0.000319669599417,1.34277363307e-05,1793238117323558400
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,716,679.66512719,663,636.66512719,880,788.33487281,804,653,632.66512719,654,0.401660400991,-0.015352871992,0.0698130245773,0.999999923862,0.000227991851157,-0.000316409496841,1.34504553608e-05,1793238117340224768
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.090360943,663,636.090360943,880,788.909639057,804,653,632.090360943,654,0.401553436358,-0.0153521171526,0.0698154087665,0.999999925068,0.000228521101983,-0.000312198153991,1.3230405187e-05,1793238117356891392
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10c7d34fc3db87ece230aaa6a5477fa94803024e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,438 @@
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+398,6.633333333,pose2_to_pose3_retreat,0.57854040771,-0.00999877448889,1.060011621,0.549111640786,-0.00132511446004,1.05966116026
+399,6.650000000,pose2_to_pose3_retreat,0.57848309669,-0.00999873498066,1.06001154834,0.549054329921,-0.00132507454939,1.0596610845
+400,6.666666667,pose2_to_pose3_retreat,0.578434419331,-0.0099987958094,1.06001157511,0.549005654185,-0.00132513016875,1.05966110387
+401,6.683333333,pose2_to_pose3_retreat,0.578394469674,-0.00999886085494,1.0600116526,0.548965704749,-0.0013251945009,1.05966118041
+402,6.700000000,pose2_to_pose3_retreat,0.578361944151,-0.00999885751501,1.06001169356,0.548933179117,-0.00132519146826,1.05966122291
+403,6.716666667,pose2_to_pose3_retreat,0.578335614778,-0.00999879002699,1.06001168408,0.548906849469,-0.00132512483093,1.05966121552
+404,6.733333333,pose2_to_pose3_retreat,0.578314400906,-0.00999874637265,1.06001167654,0.548885633738,-0.00132508741368,1.05966120974
+405,6.750000000,pose2_to_pose3_retreat,0.578298075855,-0.00999869058771,1.06001153351,0.548869309134,-0.00132503003876,1.05966106858
+406,6.766666667,pose2_to_pose3_retreat,0.578285307745,-0.00999866604614,1.06001144759,0.548856541511,-0.00132500374566,1.0596609853
+407,6.783333333,pose2_to_pose3_retreat,0.578275727865,-0.00999869643698,1.06001150992,0.548846961193,-0.00132503546585,1.0596610516
+408,6.800000000,pose2_to_pose3_retreat,0.578268559667,-0.00999874174478,1.06001150746,0.548839794508,-0.00132507553331,1.05966105156
+409,6.816666667,pose2_to_pose3_retreat,0.578263377669,-0.00999878420086,1.06001146628,0.548834613873,-0.00132511326463,1.05966101245
+410,6.833333333,pose2_to_pose3_retreat,0.578260090815,-0.00999882983352,1.06001133037,0.548831327444,-0.00132515732294,1.05966087943
+411,6.850000000,pose2_to_pose3_retreat,0.578258065288,-0.00999885795468,1.06001124661,0.548829302179,-0.00132518447391,1.05966079746
+412,6.866666667,pose2_to_pose3_retreat,0.578257220033,-0.00999884504855,1.0600113331,0.548828456784,-0.00132517212414,1.05966088196
+413,6.883333333,pose2_to_pose3_retreat,0.578256770317,-0.00999883729537,1.06001138348,0.548828006986,-0.00132516470155,1.05966093119
+414,6.900000000,pose2_to_pose3_retreat,0.578256512263,-0.00999883284647,1.06001141239,0.548827748884,-0.00132516044235,1.05966095943
+415,6.916666667,pose2_to_pose3_retreat,0.578256016039,-0.00999882429147,1.06001146799,0.548827252568,-0.00132515225214,1.05966101375
+416,6.933333333,pose2_to_pose3_retreat,0.578255407899,-0.00999881380702,1.06001153612,0.548826644316,-0.00132514221474,1.05966108032
+417,6.950000000,pose2_to_pose3_retreat,0.578254891285,-0.0099988049005,1.060011594,0.548826127607,-0.00132513368799,1.05966113687
+418,6.966666667,pose2_to_pose3_retreat,0.578254497804,-0.00999879811681,1.06001163809,0.548825734053,-0.00132512719356,1.05966117994
+419,6.983333333,pose2_to_pose3_retreat,0.57825427991,-0.00999877708235,1.06001160355,0.548825515969,-0.00132510676624,1.05966114639
+420,7.000000000,pose2_to_pose3_retreat,0.57825410302,-0.00999875993887,1.06001157528,0.548825338924,-0.0013250901174,1.05966111893
+421,7.016666667,pose2_to_pose3_retreat,0.578253776425,-0.00999872828665,1.06001152308,0.548825012043,-0.00132505937843,1.05966106822
+422,7.033333333,pose2_to_pose3_retreat,0.578253659205,-0.00999871692612,1.06001150435,0.54882489472,-0.00132504834568,1.05966105002
+423,7.050000000,pose2_to_pose3_retreat,0.578253613832,-0.00999871252872,1.06001149709,0.548824849307,-0.00132504407516,1.05966104298
+424,7.066666667,pose2_to_pose3_retreat,0.578253576735,-0.00999870893344,1.06001149117,0.548824812177,-0.00132504058362,1.05966103722
+425,7.083333333,pose2_to_pose3_retreat,0.578253448305,-0.00999869648653,1.06001147064,0.548824683635,-0.00132502849583,1.05966101728
+426,7.100000000,pose2_to_pose3_retreat,0.578253221151,-0.00999867447169,1.06001143434,0.548824456282,-0.00132500711618,1.05966098202
+427,7.116666667,pose2_to_pose3_retreat,0.578253167427,-0.00999866926495,1.06001142575,0.548824402511,-0.00132500205968,1.05966097367
+428,7.133333333,pose2_to_pose3_retreat,0.578253163445,-0.00999866887899,1.06001142511,0.548824398525,-0.00132500168485,1.05966097306
+429,7.150000000,pose2_to_pose3_retreat,0.57825307077,-0.00999865989734,1.0600114103,0.548824305769,-0.00132499296234,1.05966095867
+430,7.166666667,pose2_to_pose3_retreat,0.578252915535,-0.00999864485255,1.06001138549,0.548824150397,-0.00132497835164,1.05966093457
+431,7.183333333,pose2_to_pose3_retreat,0.578252737757,-0.00999868302584,1.06001144508,0.548823973174,-0.00132501481191,1.05966099001
+432,7.200000000,pose2_to_pose3_retreat,0.578252470945,-0.00999877890924,1.06001159582,0.548823707689,-0.00132510658486,1.05966113105
+433,7.216666667,pose2_to_pose3_retreat,0.578252239867,-0.00999881825149,1.06001169826,0.54882347703,-0.00132514476196,1.05966122717
+434,7.233333333,pose2_to_pose3_retreat,0.57825223432,-0.0099988154905,1.06001169833,0.548823471431,-0.00132514217606,1.05966122727
+435,7.250000000,pose2_to_pose3_retreat,0.578252190059,-0.0099987934598,1.06001169893,0.548823426756,-0.00132512154248,1.05966122808
+436,7.266666667,pose2_to_pose3_retreat,0.578251963781,-0.00999879710479,1.06001152158,0.548823199971,-0.00132512635741,1.05966106439
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..711efac9cb35d2b10af72055ff78aff4bacbe0af
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e9bff64e4cf0839e3afd9186398b0911b8c5bb900cf26bab07ae619448da882
+size 27761472
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a810cde488a402e1dc86fb554264d26700b104c8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_02/franka_data.csv
@@ -0,0 +1,439 @@
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+37,0.616666667,BASELINE,767,746,716,679.472093051,663,637,880,789,804,653,632,654,0.400965055191,-0.0153702503892,0.0698266239119,0.999999935962,0.000212925478983,-0.000287474118725,9.89145437922e-06,1793238118780166144
+38,0.633333333,BASELINE,767,745.952980105,716,679.952980105,663,637,880,789,803.952980105,652.952980105,632,654,0.400963814149,-0.0153695921488,0.069825753424,0.999999935816,0.000211912114385,-0.000288740215311,9.46622467852e-06,1793238118796832768
+39,0.650000000,BASELINE,767,745.377249916,716,679.377249916,663,637,880,789,803.377249916,652.377249916,632,654,0.400965441061,-0.0153696505946,0.0698271350428,0.999999936488,0.000212028257769,-0.000286309973413,9.68821429294e-06,1793238118813499392
+40,0.666666667,BASELINE,767,745,716,679,663,637,880.204228245,789,803.204228245,652.204228245,632,654,0.400966662046,-0.0153695770858,0.0698280251329,0.999999936736,0.000212776669439,-0.000284880025773,9.82151792612e-06,1793238118830166016
+41,0.683333333,BASELINE,767,745,716,679,663,637,880.796631498,789,803.796631498,652.796631498,632,654,0.400967111491,-0.015369252772,0.0698279809782,0.999999936186,0.000214726828426,-0.000285351329651,9.78625680423e-06,1793238118846832640
+42,0.700000000,BASELINE,767,745,716,679.379793795,663,637,880.620206205,789,804,653,632,654,0.400967571728,-0.0153698186586,0.0698277184643,0.999999936381,0.000214032004486,-0.000285187840612,9.85860986439e-06,1793238118863499264
+43,0.716666667,BASELINE,767,745,716,679.958125349,663,637,880.041874651,789,804,653,632,654,0.400968037607,-0.015370849899,0.0698273418027,0.999999936963,0.0002119545118,-0.000284692512632,9.98721839635e-06,1793238118880166144
+44,0.733333333,BASELINE,767,745,716.531688002,679.468311998,663,637,880,789,804,652.468311998,632,654,0.400967499299,-0.015370858659,0.0698273039267,0.99999993659,0.000212832107155,-0.000285344462169,1.00054319474e-05,1793238118896832768
+45,0.750000000,BASELINE,767,745.108028187,716.891971813,679,663,636.891971813,880,789,804,652.108028187,632,654,0.400967091582,-0.015370643988,0.0698274959429,0.999999936342,0.000213624789758,-0.000285622932817,9.99981784506e-06,1793238118913499392
+46,0.766666667,BASELINE,767,745.698432883,716.301567117,679,663,636.301567117,880,789,804,652.698432883,632,654,0.400967617001,-0.0153697880199,0.0698285964086,0.999999936984,0.000213008315787,-0.000283833830155,9.92628470636e-06,1793238118930166272
+47,0.783333333,BASELINE,767,746,716,679,663,636.283283794,880.283283794,789,804,653,632,654,0.400967405107,-0.0153695619963,0.0698288236992,0.999999937178,0.000212452360754,-0.000283567663765,9.85397263482e-06,1793238118946832896
+48,0.800000000,BASELINE,767,746,716,679,663,636.862336228,880.862336228,789,804,653,632,654,0.400966423407,-0.01536999368,0.0698281393325,0.999999936907,0.000211959591766,-0.000284891552072,9.78293543612e-06,1793238118963499520
+49,0.816666667,BASELINE,767,746,716,679.439073851,663,637,881,789,804,653,632,654,0.400966294951,-0.0153698388377,0.0698276114196,0.999999936513,0.000213071929012,-0.000285445268945,9.71424939485e-06,1793238118980165888
+50,0.833333333,BASELINE,767,745.984716485,716,679.984716485,662.984716485,637,881,789,804,652.984716485,632,654,0.400966438362,-0.0153695348972,0.0698271630426,0.999999936097,0.000214631846412,-0.000285735867626,9.65617903637e-06,1793238118996832768
+51,0.850000000,BASELINE,767,745.401293833,716,679.401293833,662.401293833,637,881,789,804,652.401293833,632,654,0.40096679551,-0.0153704886044,0.0698278573645,0.999999936343,0.000214220353528,-0.000285174786688,9.9654696984e-06,1793238119013499648
+52,0.866666667,BASELINE,767,745,716,679,662.180837436,636.819162564,880.819162564,788.819162564,803.819162564,652.180837436,632,654,0.400967115848,-0.0153710902082,0.0698283690557,0.999999936631,0.000213665084847,-0.000284574814136,1.01571639525e-05,1793238119030166272
+53,0.883333333,BASELINE,767,745,716,679,662.760123299,636.239876701,880.239876701,788.239876701,803.239876701,652.760123299,632,654,0.400967355082,-0.0153709160041,0.0698284783472,0.999999937012,0.000212793027584,-0.000283889149725,1.00897519723e-05,1793238119046832896
+54,0.900000000,BASELINE,767,745,716,679.340069749,663,636.340069749,880,788.340069749,803.340069749,653,632.340069749,654,0.400967098176,-0.0153706001602,0.0698278488833,0.999999937056,0.000212214167756,-0.000284176199228,9.86018474491e-06,1793238119063499520
+55,0.916666667,BASELINE,767,745,716,679.920483044,663,636.920483044,880,788.920483044,803.920483044,653,632.920483044,654,0.400966490624,-0.0153701842127,0.0698266973058,0.999999936861,0.000211842524608,-0.000285150712176,9.51601465719e-06,1793238119080166144
+56,0.933333333,BASELINE,767,745.497406854,716,679.502593146,663.497406854,637,879.502593146,789,804,653,632.502593146,654,0.400966777117,-0.0153698365617,0.0698272502583,0.99999993654,0.00021371756222,-0.000284868703774,9.68123269004e-06,1793238119096832768
+57,0.950000000,BASELINE,767,745.925091582,716,679,663.925091582,637,879.074908418,789,804,653,632,654,0.400967155827,-0.0153694932635,0.0698280406712,0.999999936342,0.000215350209193,-0.000284329834053,9.85614966971e-06,1793238119113499648
+58,0.966666667,BASELINE,767,745.339880708,716,679,663.339880708,637,879.660119292,789,804,653,632,654,0.400967195872,-0.0153691057578,0.0698286053733,0.999999937133,0.000212901918176,-0.000283400007796,9.54625823883e-06,1793238119130166272
+59,0.983333333,BASELINE,767,745,716,679,663,637,880,789,804,652.757106846,632,654,0.400967723144,-0.015369276786,0.0698290967672,0.999999937702,0.000211535846862,-0.000282417823084,9.43937200269e-06,1793238119146832896
+60,1.000000000,BASELINE,767,745,716,679,663,637,880,789,804,652.177709141,632,654,0.40096892542,-0.015370221608,0.0698294866001,0.999999937969,0.000211669084043,-0.000281363100756,9.61372943234e-06,1793238119163499520
+61,1.016666667,BASELINE,767,745,716,679,663.400870101,637,880,789,804,652.400870101,632.400870101,654,0.400969035483,-0.0153712456441,0.0698293254275,0.999999938094,0.000210879433929,-0.000281509858429,9.69345984974e-06,1793238119180166144
+62,1.033333333,BASELINE,767,745,716,679,663.979087216,637,880,789,804,652.979087216,632.979087216,654,0.400968662344,-0.0153723047247,0.0698289204872,0.999999938154,0.000209681493676,-0.000282188157152,9.73132677524e-06,1793238119196832768
+63,1.050000000,BASELINE,767,745.552735419,716,679.552735419,663.447264581,636.447264581,880,789,803.447264581,653,632.447264581,653.447264581,0.400969580344,-0.0153721254088,0.0698299194477,0.999999938448,0.000209668740386,-0.000281138779864,1.01943673118e-05,1793238119213500416
+64,1.066666667,BASELINE,767,745.870094608,716,679.870094608,663,636,879.870094608,789,803.129905392,652.870094608,632,653.129905392,0.400969847557,-0.0153717835706,0.0698303445201,0.999999938466,0.000209984690145,-0.000280826586728,1.04888204468e-05,1793238119230167552
+65,1.083333333,BASELINE,767,745.279836815,716,679.279836815,663,636,879.279836815,789,803.720163185,652.279836815,632,653.720163185,0.400967636847,-0.0153710304749,0.0698285491866,0.999999937478,0.000211307876916,-0.000283356535355,1.01293026256e-05,1793238119246833408
+66,1.100000000,BASELINE,767,745,716,679,663,636.304702156,879.304702156,789,804,652.304702156,632.304702156,654,0.400967094281,-0.015370548892,0.0698281637862,0.999999937218,0.000212009479432,-0.000283758829182,9.85846966468e-06,1793238119263499776
+67,1.116666667,BASELINE,767,745,716,679,663,636.884085722,879.884085722,789,804,652.884085722,632.884085722,654,0.400968055503,-0.0153703120714,0.0698290494054,0.999999937619,0.000212150739145,-0.000282243095034,9.66758391721e-06,1793238119280166400
+68,1.133333333,BASELINE,767,745,716,679,663,637,880.459756957,788.540243043,804,653,632.540243043,654,0.400967383971,-0.0153710810305,0.0698285845764,0.999999937607,0.000211039094137,-0.000283112812102,9.80012302867e-06,1793238119296833280
+69,1.150000000,BASELINE,767,745,716,679,663,636.964702484,880.964702484,788.035297516,804,653,632,654,0.400966480182,-0.0153720587418,0.0698279202548,0.999999937516,0.000209783870633,-0.000284356036493,1.00090353485e-05,1793238119313500160
+70,1.166666667,BASELINE,767,745,716,679,663,636.376669855,880.376669855,788.623330145,804,653,632,654,0.400968333975,-0.0153723663153,0.0698294209338,0.999999937857,0.000211187203956,-0.000282105709281,1.01472334677e-05,1793238119330166528
+71,1.183333333,BASELINE,767,745,716,679,663,636.208175395,880,789,804,652.791824605,632.208175395,654,0.400969360989,-0.0153722511229,0.0698299604648,0.999999937963,0.000212101280739,-0.00028104017112,1.01440457517e-05,1793238119346832896
+72,1.200000000,BASELINE,767,745,716,679,663,636.787340512,880,789,804,652.212659488,632.787340512,654,0.400968914602,-0.0153713825184,0.0698287871328,0.999999937662,0.000212143452854,-0.000282086047147,9.88889412384e-06,1793238119363499264
+73,1.216666667,BASELINE,767,745,716,679,663,637,880,789,804,652.365629591,633,654,0.400969517455,-0.0153709601471,0.0698293142584,0.999999937802,0.000212500817432,-0.000281322609181,9.81997199114e-06,1793238119380166144
+74,1.233333333,BASELINE,767,745,716,679,663,637,880,789,804,652.943410327,633,654,0.400970729114,-0.0153707966961,0.0698308280494,0.999999938195,0.000213041067756,-0.00027950934355,9.85910677533e-06,1793238119396832768
+75,1.250000000,BASELINE,767,745,716,679,663,637,880,789,804,653,633,654,0.400969305114,-0.0153712567991,0.069829978126,0.999999937626,0.000213671169425,-0.000281060673504,9.85972829869e-06,1793238119413499648
+76,1.266666667,BASELINE,767,745,716,679,663,637,880,789,803.901562105,652.901562105,632.901562105,654,0.400967922077,-0.0153716663593,0.0698290223581,0.999999937049,0.000214208372331,-0.00028269946561,9.84789005537e-06,1793238119430166528
+77,1.283333333,BASELINE,767,745,716,679,663,637,880,789,803.313737883,652.313737883,632.313737883,654,0.400968165405,-0.0153714880528,0.0698288163051,0.999999936971,0.000214235225427,-0.000282956882254,9.79489709486e-06,1793238119446833152
+78,1.300000000,BASELINE,767,745,716,679,663,637,880.270202842,789,803.270202842,652.270202842,632,654,0.400968517977,-0.0153713919769,0.0698289761102,0.999999937018,0.000214395475829,-0.000282665214153,9.92311593874e-06,1793238119463499776
+79,1.316666667,BASELINE,767,745,716,679,663,637,880.849698213,789,803.849698213,652.849698213,632,654,0.400968995596,-0.0153713900278,0.0698295547012,0.999999937207,0.000214708421849,-0.000281745026335,1.02587621271e-05,1793238119480166400
+80,1.333333333,BASELINE,767,745,716,679,663,637,881,789,803.573118033,653,632,654,0.400968290326,-0.0153717747693,0.0698290809856,0.999999937145,0.000213884736494,-0.000282585511556,1.04426031742e-05,1793238119496833024
+81,1.350000000,BASELINE,767,745,716,679,663,637,881,789,803.003239832,653,632,654,0.40096717842,-0.0153722882723,0.0698282473447,0.999999936994,0.000212668550667,-0.000284028411778,1.05697835626e-05,1793238119513499648
+82,1.366666667,BASELINE,767,745,716,679,663,637,881,789,803.576708081,653,632,654,0.400967405379,-0.015371630295,0.0698289252754,0.999999937348,0.000212427990658,-0.000282978121544,1.00810945425e-05,1793238119530166016
+83,1.383333333,BASELINE,767,745,716,679,663,637,880.84497685,789,803.84497685,652.84497685,632,654,0.400967717366,-0.0153712918756,0.0698294920298,0.999999937732,0.000211834656269,-0.000282074765333,9.773699908e-06,1793238119546832640
+84,1.400000000,BASELINE,767,745,716,679,663,637,880.253000238,789,803.253000238,652.253000238,632,654,0.400968269021,-0.0153718541727,0.0698297454187,0.999999938203,0.0002102469801,-0.000281585562062,9.97730761142e-06,1793238119563499264
+85,1.416666667,BASELINE,767,745.331680462,716,679,663,637,880,789,803.331680462,652.331680462,632,654,0.40096832889,-0.0153715173964,0.0698296130011,0.999999938162,0.000210303959549,-0.000281691348723,9.94622612122e-06,1793238119580166400
+86,1.433333333,BASELINE,767,745.910915712,716,679,663,637,880,789,803.910915712,652.910915712,632,654,0.400968021707,-0.0153705095827,0.0698291926309,0.999999937738,0.000211588452976,-0.00028224121525,9.73998074871e-06,1793238119596833280
+87,1.450000000,BASELINE,767,745.514022119,716,679,663,637,880,789,803.514022119,653,632,654,0.400968444104,-0.015370842393,0.0698293724197,0.99999993773,0.000211757575566,-0.000282138339549,9.82214181777e-06,1793238119613499904
+88,1.466666667,BASELINE,767,745,716,679,663,637,880,789,803.061748401,653,632.061748401,654,0.400968943453,-0.0153714806672,0.0698296669342,0.999999937889,0.000211422997015,-0.000281821451068,9.93166494088e-06,1793238119630166272
+89,1.483333333,BASELINE,767,745,716,679,663,637,880,789,803.650026388,653,632.650026388,654,0.400968968293,-0.0153726459729,0.0698300096065,0.999999938817,0.00020852192344,-0.000280691275054,9.82753998356e-06,1793238119646832896
+90,1.500000000,BASELINE,767,745,716,679,663,637,880.234600464,789,804,653,632.765399536,654,0.400968996307,-0.0153731651341,0.0698300391427,0.999999939191,0.000207165086659,-0.000280366955377,9.76118819667e-06,1793238119663499520
+91,1.516666667,BASELINE,767,745,716,679,663,637,880.813734931,789,804,653,632.186265069,654,0.400969028981,-0.0153727353678,0.0698296088076,0.999999938761,0.000208076114712,-0.000281226115593,9.75031005851e-06,1793238119680165888
+92,1.533333333,BASELINE,767,745,716,679,663,637,881,789,804,653,632.39212837,654,0.400969896061,-0.0153732368954,0.0698299938745,0.999999938898,0.000208357776478,-0.000280524859178,9.87338826411e-06,1793238119696832768
+93,1.550000000,BASELINE,767,745,716,679,663,637,881,789,804,653,632.970170528,654,0.400971158745,-0.0153741799631,0.0698307655353,0.999999939303,0.000208341046573,-0.000279083786519,1.0059977128e-05,1793238119713499392
+94,1.566666667,BASELINE,767,745.543816336,716,679.543816336,663,637,880.456183664,789,804,653,632.456183664,654,0.400967623184,-0.0153717359723,0.0698287324949,0.999999937809,0.000210233425144,-0.000283008592742,9.48170886504e-06,1793238119730166528
+95,1.583333333,BASELINE,767,745.879201272,716,680,663,637.120798728,880,789.120798728,804,653,632,654,0.400964733645,-0.0153700499624,0.0698270599878,0.999999936665,0.000211366649164,-0.000286204383202,9.0590714775e-06,1793238119746833408
+96,1.600000000,BASELINE,767,745.288303164,716,680,663,637.711696836,880,789.711696836,804,653,632,654,0.400965374189,-0.0153720309142,0.0698273844245,0.999999937351,0.000209141299813,-0.000285426917045,9.40404444049e-06,1793238119763499776
+97,1.616666667,BASELINE,767,745,716,680,663,637.704087508,880,789.408175017,804,652.704087508,632,654,0.40096690369,-0.0153726821836,0.0698284039279,0.999999937887,0.000209437247394,-0.000283319424107,9.61769374949e-06,1793238119780166144
+98,1.633333333,BASELINE,767,745,716,680,663,637.126238723,880,788.252477446,804,652.126238723,632,654,0.400969280162,-0.0153720665725,0.0698300856694,0.999999938268,0.000212135409044,-0.000279944722725,9.70622191126e-06,1793238119796832768
+99,1.650000000,BASELINE,767,745.449852959,716,679.550147041,663,637,880,788.449852959,804,652.449852959,632,654,0.40096847956,-0.0153723746145,0.0698295499116,0.999999938135,0.000211376900187,-0.000280991908964,9.64912307064e-06,1793238119813499392
+100,1.666666667,BASELINE,767,745.974563835,716,679,663,637,880,789,804,653,632.025436165,654,0.400966853337,-0.015372894534,0.0698284304004,0.99999993784,0.00020982586585,-0.000283200571243,9.56360461983e-06,1793238119830166016
+101,1.683333333,BASELINE,767,745.39935465,716,679,663,637,880,789,804,653,632.60064535,654,0.400966577318,-0.0153724134809,0.0698280912572,0.999999937204,0.000212029561554,-0.000283797365452,9.74366736416e-06,1793238119846832640
+102,1.700000000,BASELINE,767,745,716,679,663,637,880,789,804,652.818894174,632.818894174,654,0.400966438559,-0.0153725321481,0.0698279876503,0.999999937013,0.000212577175709,-0.000284055405964,9.85088855491e-06,1793238119863499264
+103,1.716666667,BASELINE,767,745,716,679,663,637,880,789,804,652.226508425,632.226508425,654,0.400966611509,-0.0153740127425,0.0698284189318,0.999999937837,0.000209363932695,-0.000283544158088,9.79269114161e-06,1793238119880166400
+104,1.733333333,BASELINE,767,745.356616864,716,679,663,637,880,789,804,652,632,653.643383136,0.400967410893,-0.0153734586628,0.0698291057794,0.99999993813,0.00020943709453,-0.000282455296976,9.76279062321e-06,1793238119896833024
+105,1.750000000,BASELINE,767,745.934009217,716,679,663,637,880,789,804,652,632,653.065990783,0.400968598093,-0.0153716449508,0.0698299508436,0.999999938094,0.000211544813889,-0.000281008845199,9.75040822975e-06,1793238119913499648
+106,1.766666667,BASELINE,767,746,716,679,663,637,880,789,804,652.508841586,632,653.508841586,0.400968420086,-0.0153714565721,0.0698299270259,0.999999937738,0.00021276641282,-0.000281347606765,9.87754580594e-06,1793238119930166528
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804,653,632,654,0.400965431762,-0.0153736828766,0.069828770921,0.999999937562,0.000210384968719,-0.000283736813415,1.04008257314e-05,1793238119972809472
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.579661566,716,679,663,637,880,789,804,653,632,654,0.400965070661,-0.0153725319097,0.069828397242,0.999999937493,0.000210015474199,-0.000284270435784,9.86074943586e-06,1793238119989476096
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,636.841090035,880,789,804,653,632,654,0.400964948284,-0.0153719160234,0.0698281198815,0.999999937533,0.000209397924775,-0.000284598170998,9.52964604451e-06,1793238120006142464
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,636.262931555,880,789,804,653,632,654,0.400965455728,-0.0153727118279,0.0698280966362,0.999999937857,0.000208125937713,-0.000284382718976,9.74987095159e-06,1793238120022809344
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679.312820444,663,636.312820444,880,789,804.312820444,653,632,654,0.400966140511,-0.0153723207619,0.0698282896972,0.999999937786,0.000209112838838,-0.000283903314768,9.91006902893e-06,1793238120039475968
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679.886565158,663,636.886565158,880,789,804.886565158,653,632,654,0.400966973212,-0.0153709397244,0.0698286631799,0.999999937379,0.000211983883995,-0.000283203747434,1.0020198573e-05,1793238120056142592
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.473188304,745.526811696,716,679.526811696,663,637,880,789,804.526811696,653,632,654,0.400967057605,-0.0153714342914,0.0698290398676,0.999999937566,0.000211652400344,-0.000282795846917,9.87067947462e-06,1793238120072809472
+114,1.900000000,POSE1_TO_POSE2_PRESS,768,745,716,679,662.938149867,637,880,789,804,652.938149867,632.061850133,654,0.400967222905,-0.0153722600547,0.0698295175235,0.999999937888,0.000210808690801,-0.000282296007892,9.67115018581e-06,1793238120089476096
+115,1.916666667,POSE1_TO_POSE2_PRESS,768,745,716,679,662.358980961,637,880,789,804,652.358980961,632.641019039,654,0.40096960731,-0.0153719900264,0.0698308330786,0.999999938103,0.000212281644413,-0.000280426013986,9.58851216249e-06,1793238120106142720
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.781238616,745,716,679,662.218761384,637,880,789,804,652.218761384,632.781238616,654,0.400973537123,-0.0153720732184,0.0698324728143,0.999999938768,0.000212538268805,-0.00027784094364,9.7710416023e-06,1793238120122809344
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.205822108,745,716,679,662.794177892,637,880,789,804,652.794177892,632.205822108,654,0.400979986477,-0.0153727322792,0.069834641074,0.999999940163,0.000210811864595,-0.000274090056759,1.03858837975e-05,1793238120139475968
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804,653,632.37740138,654,0.400998038946,-0.0153739800601,0.0698433428488,0.999999944041,0.000210860365131,-0.00025948552199,1.11141386591e-05,1793238120156142592
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804,653,632.964972523,654,0.401022553035,-0.0153755556915,0.0698556830507,0.999999948957,0.000211897286067,-0.000238836735934,1.1905551566e-05,1793238120172809216
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745.545027929,716,679,663,637,880,789,804,653,633,654,0.401066780605,-0.0153772659646,0.0698738619476,0.999999955733,0.000214135592275,-0.000206134905769,1.36901562466e-05,1793238120189476096
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.875871921,716,679,663,637,880,789,804,652.875871921,632.875871921,654,0.401115154839,-0.0153793629847,0.0698919885401,0.99999996147,0.000215071879361,-0.000174845609146,1.5278805918e-05,1793238120206142720
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.298519871,716,679,663,637,880,789,804,652.298519871,632.298519871,654,0.401174106661,-0.0153828409539,0.0699085727075,0.999999966141,0.000210976078061,-0.000151503688336,1.59220843213e-05,1793238120222809344
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.277482591,745,716,679,663,637,880.277482591,789,804,652.277482591,632,654,0.401234963709,-0.0153857146384,0.0699199534793,0.999999968787,0.000209332371512,-0.000135451550109,1.60761873568e-05,1793238120239475968
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.852040141,745,716,679,663,637,880.852040141,789,804,652.852040141,632,654,0.401297860504,-0.0153879413709,0.0699257634553,0.99999996967,0.00021031389646,-0.000127203909651,1.57065755159e-05,1793238120256142592
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.561730547,745,716,679,663,637,880.561730547,789,804,653,632,654,0.401370967108,-0.0153904983308,0.0699299026514,0.999999970667,0.000209218449883,-0.000121192378692,1.43705675067e-05,1793238120272809216
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804,653,632.028003725,654,0.401448650955,-0.0153933568756,0.069933364256,0.999999971698,0.000207313474903,-0.00011603655745,1.27019248942e-05,1793238120289476096
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804,653,632.60704864,654,0.401546722656,-0.0153998960788,0.0699348954452,0.999999972878,0.000203654102487,-0.000112457766407,1.10834067057e-05,1793238120306142720
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.185094973,716,679.185094973,663,637,880,789,804,653,632.814905027,654,0.401651696766,-0.0154057455535,0.0699360953858,0.999999973735,0.000200992139536,-0.000109763887781,9.13698010022e-06,1793238120322809344
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.761032647,716,679.761032647,663,637,880,789,804,653,632.238967353,654,0.401771245849,-0.0154101386113,0.0699365958687,0.999999973958,0.000200436286174,-0.000108938572299,6.49814909475e-06,1793238120339475968
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.656161138,716,680,663,637,880.343838862,789,804,653,632.343838862,654,0.401903316518,-0.0154147357114,0.0699377019327,0.999999974802,0.000197564748688,-0.000106538349032,3.70745323206e-06,1793238120356142592
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.068483938,716,680,663,637,880.931516062,789,804,653,632.931516062,654,0.402044267063,-0.0154194775114,0.0699392374536,0.999999976059,0.000193051010017,-0.000103021256884,8.09059923378e-07,1793238120372809472
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745.511927793,716,680,663,637,881,789,804,653,632.488072207,654,0.40220909951,-0.0154268179489,0.0699409735185,0.999999978137,0.000183966620955,-9.93721661209e-05,-2.86217735504e-06,1793238120389476096
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745.909012863,716,679.909012863,663,637,880.909012863,789,804,653,632,654,0.402382019977,-0.0154344747314,0.069942901987,0.999999980305,0.000173966482495,-9.52942729452e-05,-6.71025301167e-06,1793238120406142720
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.332057882,716,679.332057882,663,637,880.332057882,789,804,653,632,654,0.402581314075,-0.0154419903677,0.0699457168096,0.999999982808,0.000162295336383,-8.90191129576e-05,-1.09583582871e-05,1793238120422809344
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.755383377,880.244616623,789,804,652.755383377,632,654,0.402795633748,-0.0154511108562,0.0699484979497,0.999999987762,0.000132049452397,-8.24875849552e-05,-1.53329626357e-05,1793238120439475968
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.179089207,880.820910793,789,804,652.179089207,632,654,0.403030326701,-0.0154624073754,0.0699512334193,0.999999994009,7.66179397936e-05,-7.56084458079e-05,-1.98790877608e-05,1793238120456142848
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.404122237,880.595877763,789.404122237,804,652.404122237,632,654,0.403286592622,-0.015472023796,0.0699601268503,0.999999996378,5.73357119826e-05,-5.84591875859e-05,-2.32393961451e-05,1793238120472809472
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.99045248,880.00954752,789.99045248,804,652.99045248,632,654,0.403552585216,-0.0154808827044,0.0699717967427,0.999999997511,5.43522401424e-05,-3.66794050919e-05,-2.60650510766e-05,1793238120489476096
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.569884801,716,679,662.430115199,637,880,789.430115199,804,652.430115199,632,654,0.403836087379,-0.0154889799644,0.069971963962,0.999999997838,4.4170677804e-05,-3.91903115878e-05,-2.89306305082e-05,1793238120506142720
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679,662.149098563,636.850901437,880,789,804,652,632,654,0.404131041281,-0.0154965606456,0.0699730204787,0.999999998123,3.60180930714e-05,-3.96178898093e-05,-2.97971391178e-05,1793238120522809088
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679,662.72801133,636.27198867,880,789,804,652,632,654,0.404458172129,-0.0155026885011,0.0699771895082,0.999999998569,3.4058030889e-05,-3.2880636279e-05,-2.48989163929e-05,1793238120539475712
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745.690318269,716,679,663,636,880.309681731,789,804,652.309681731,632,654,0.40480260648,-0.0155062457978,0.0699822825524,0.999999998979,2.99300890822e-05,-2.39740995722e-05,-2.38842407088e-05,1793238120556142592
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745.106204053,716,679,663,636,880.893795947,789,804,652.893795947,632,654,0.405162374814,-0.015507525128,0.0699881944366,0.999999999282,2.38810243981e-05,-1.31451956536e-05,-2.631107022e-05,1793238120572809216
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.474468287,716,679,662.525531713,636.474468287,880.525531713,789,804.474468287,653,632,654,0.405541538657,-0.0154984812477,0.069987692377,0.999999998966,3.31527266709e-05,-1.19860798138e-05,-2.87257008249e-05,1793238120589475840
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.94583122,716,679,662.05416878,637,880,788.94583122,804.94583122,652.94583122,632.05416878,654,0.405925976303,-0.015488378428,0.0699845723798,0.999999998403,4.46946418647e-05,-1.52819570878e-05,-3.10439419213e-05,1793238120606142720
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.368130718,716,679,662.631869282,637,880,788.368130718,804.368130718,652.368130718,632.631869282,654,0.406319727401,-0.0154902130703,0.0699699261838,0.999999997613,4.52722137191e-05,-4.0866030565e-05,-3.24567974562e-05,1793238120622809344
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.209040004,788.209040004,804,652.209040004,632.790959996,654,0.406736974191,-0.0154944060596,0.0699584727666,0.999999996945,4.02931619664e-05,-5.76244458665e-05,-3.41313855393e-05,1793238120639475968
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.785280078,788.785280078,804,652.785280078,632.214719922,654,0.407195493537,-0.0155027417258,0.0699526277917,0.999999997283,2.55533345727e-05,-5.88796916543e-05,-3.62657334576e-05,1793238120656142592
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,716,679.366236478,663,637,880.633763522,789,803.633763522,653,632,654,0.407679941419,-0.0155080471462,0.0699546652431,0.999999997806,2.05612707752e-05,-5.0819299242e-05,-3.71807002928e-05,1793238120672809216
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,716,679.949994054,663,637,880.050005946,789,803.050005946,653,632,654,0.408179789181,-0.0155115527937,0.0699613843528,0.999999998381,2.13587570601e-05,-3.72260121347e-05,-3.73714324968e-05,1793238120689476096
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.531046743,716,679.468953257,663,637,880,789,803.531046743,652.468953257,632,654,0.408722218682,-0.0155103658788,0.0699720217343,0.999999999043,1.68721412672e-05,-1.33280450439e-05,-3.81125839766e-05,1793238120706142720
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.888415117,745.888415117,716,679,663,637,880.111584883,789,804,652,632.111584883,654,0.409264107625,-0.0155082365616,0.0699783984221,0.99999999912,1.50470991116e-05,2.6259380412e-06,-3.90717593976e-05,1793238120722809344
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.308972028,745.308972028,716,679,663,637,880.691027972,789,804,652,632.691027972,654,0.409787003066,-0.0155039992205,0.0699653715081,0.999999998644,2.645731625e-05,-1.87758487177e-05,-4.0728860867e-05,1793238120739475968
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.268386544,745.268386544,716,679,663,637,881,789,804.268386544,652.268386544,632.731613456,654,0.410332747526,-0.0155020000253,0.0699567035975,0.999999998085,3.08329218971e-05,-3.33267903712e-05,-4.20515981485e-05,1793238120756142592
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.843363946,745.843363946,716,679,663,637,881,789,804.843363946,652.843363946,632.156636054,654,0.410904593585,-0.0155025575714,0.0699530151846,0.999999997905,2.71725539347e-05,-4.00516848789e-05,-4.29923753667e-05,1793238120772809216
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.572067363,716,679,663,636.572067363,881,789,804.572067363,652.572067363,632,654,0.411525666023,-0.0155072411825,0.0699663467138,0.999999998794,1.908193805e-05,-1.63975776264e-05,-4.21790515188e-05,1793238120789476096
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,716.01582886,679,663,636.01582886,880.98417114,789,804,652,632,654,0.412166118706,-0.0155134900631,0.0699863518983,0.999999998948,9.42656050155e-06,1.89216499557e-05,-4.07136495775e-05,1793238120806142720
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,716.594353855,679,663,636.594353855,880.405646145,789,804,652,632,654,0.412840302237,-0.0155204634942,0.0700170580344,0.999999997134,3.1134209317e-06,6.4570163551e-05,-3.94151582207e-05,1793238120822809600
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.171743287,716.828256713,679.171743287,663,637,880.171743287,789,804,652,632,654,0.413504350981,-0.0155248307931,0.0700366125578,0.999999994896,-2.79625737729e-06,9.3230634131e-05,-3.88232317345e-05,1793238120839476736
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.746468175,716.253531825,679.746468175,663,637,880.746468175,789,804,652,632,654,0.414144619233,-0.0155230830152,0.0700300007306,0.99999999581,-7.75924638287e-06,8.20300461234e-05,-3.98892022783e-05,1793238120856143104
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,789,804,652,632,654,0.414779212526,-0.0155199135582,0.0699996462334,0.999999998612,-8.9805380407e-06,2.84306825209e-05,-4.34496235385e-05,1793238120872809472
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,881,789,804,652,632,654,0.415409326294,-0.0155156219074,0.0699505506037,0.999999997055,-7.24834327637e-06,-5.8635897436e-05,-4.89790240591e-05,1793238120889476096
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,679.500471259,663,637,880.500471259,789,804,652.499528741,632,654,0.416109088999,-0.0155180186739,0.069933831037,0.999999995365,-1.01888761376e-05,-8.08722389441e-05,-5.12370490756e-05,1793238120906142720
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,679.078743733,663,637,880.157487466,788.921256267,804,652.921256267,632,654,0.41682708369,-0.015521408083,0.0699284383342,0.999999994995,-1.40557424759e-05,-8.40826349354e-05,-5.23742659972e-05,1793238120922809344
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,679.656938175,663,637,881.313876351,788.343061825,804,652.343061825,632,654,0.417590104898,-0.015524312483,0.0699620643469,0.999999998059,-1.90606329296e-05,-3.23448626739e-05,-4.97191886959e-05,1793238120939476224
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679.766306053,663,637,881.766306053,788.233693947,804,652,632,653.766306053,0.418342306771,-0.015526775297,0.0699864972732,0.999999998492,-2.59506190117e-05,3.00237845537e-06,-4.82971853001e-05,1793238120956142592
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679.191649239,663,637,881.191649239,788.808350761,804,652,632,653.191649239,0.41907872319,-0.0155285938311,0.0699975173577,0.999999998078,-3.55909878368e-05,1.44356037677e-05,-4.86742544271e-05,1793238120972809216
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745.60692492,716,679.39307508,663,636.60692492,881,789,804,652,632,653.39307508,0.41984514838,-0.0155316022113,0.0700073017227,0.99999999742,-4.33639579125e-05,3.02951453242e-05,-4.85900082419e-05,1793238120989475840
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745.017163062,716,679.982836938,663,636.017163062,881,789,804,652,632,653.982836938,0.420626589305,-0.0155352059664,0.070016467758,0.999999996405,-5.02025190273e-05,4.83695248533e-05,-4.82749292185e-05,1793238121006142720
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,715.438451865,679.438451865,663,636.561548135,880.438451865,788.438451865,804,652,632,654,0.421395970237,-0.0155380929652,0.0700195630178,0.999999996198,-5.27470755719e-05,4.93912308783e-05,-4.88056891653e-05,1793238121022809344
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745,715.139524507,679.139524507,663.139524507,637,880.139524507,788.139524507,804,652,632,653.860475493,0.422151735277,-0.0155391691681,0.0700110778645,0.999999996748,-5.39253881775e-05,3.21818362884e-05,-5.05948787161e-05,1793238121039476224
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,715.716236229,679.716236229,663.716236229,637,880.716236229,788.716236229,804,652,632,653.283763771,0.422865968817,-0.0155346387267,0.0699668767223,0.999999996284,-5.12259965741e-05,-4.05514373557e-05,-5.62477997673e-05,1793238121056142848
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,716,680,663.709420222,637,881,789,804,652,632,653.290579778,0.423586251785,-0.0155329739482,0.0699222876255,0.99999999058,-5.65769720273e-05,-0.000108849558578,-6.15704879258e-05,1793238121072809728
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,716,680,663.137370635,637,881,789,804,652,632,653.862629365,0.424312394481,-0.0155340849912,0.0698773227395,0.999999980414,-6.97259275764e-05,-0.00017285156958,-6.65732960241e-05,1793238121089477376
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.449394356,716,680,663.449394356,637,881,789,804,652,632,654,0.425137948284,-0.0155399478957,0.0699057370704,0.999999987546,-7.47677685426e-05,-0.000122958123951,-6.48053764259e-05,1793238121106143488
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881,789,804,652,632,654,0.425991562198,-0.0155467248483,0.0699563515164,0.999999994443,-7.64991148343e-05,-3.94917667882e-05,-6.08437303064e-05,1793238121122809088
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881,789,804,652,632,654,0.426799888542,-0.0155455729369,0.0699936121249,0.999999996038,-6.81327875243e-05,1.13074621907e-05,-5.61536841505e-05,1793238121139475712
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.809613937,637,881,789,804,652,632,653.809613937,0.427602228537,-0.0155446361248,0.0700211642203,0.999999995347,-6.45474629021e-05,4.79331329936e-05,-5.33065998894e-05,1793238121156142592
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.230635508,637,881,789,804,652,632,653.230635508,0.428392350091,-0.0155441383463,0.0700289005125,0.999999994482,-7.07205254019e-05,5.56295081412e-05,-5.42211397388e-05,1793238121172809472
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.645624756,746,716,680,663,637,881,789,804,652,632,653.354375244,0.429167916993,-0.0155466369923,0.0700328594169,0.999999993476,-7.67938482728e-05,6.43187839345e-05,-5.48965566296e-05,1793238121189476096
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.056620079,746,716,680,663,637,881,789,804,652,632,653.943379921,0.429933847312,-0.0155511195504,0.070034317338,0.999999992323,-8.28011338408e-05,7.36654520128e-05,-5.54136517813e-05,1793238121206142976
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.524196235,746,716,680,663.524196235,637,881,789,804,652,632,654,0.430663005708,-0.0155477981231,0.0699971792028,0.99999999526,-7.76310316202e-05,9.49310590927e-06,-5.79903635976e-05,1793238121222809600
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.896591559,637,881.103408441,789,804,652,632,654,0.431383505546,-0.0155437265217,0.0699557822268,0.999999993653,-7.19970926857e-05,-6.15212254372e-05,-6.10378420112e-05,1793238121239475968
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.320729497,637,881.679270503,789,804,652,632,654,0.432082313577,-0.0155400194841,0.069913681293,0.999999987244,-6.96750818475e-05,-0.000128072297028,-6.52353942755e-05,1793238121256142848
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.255106199,637,882,789,804,652,632,654,0.4328314417,-0.0155394002239,0.0699149273329,0.99999998806,-7.10317347113e-05,-0.000120329217501,-6.59909030565e-05,1793238121272809728
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.83090871,637,882,789,804,652,632,654,0.43364382761,-0.0155426626367,0.0699706652488,0.999999994902,-7.70128689584e-05,-1.91902829468e-05,-6.24193873084e-05,1793238121289476096
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.582980542,746,716,680,664,637,881.582980542,789,804,652,632,654,0.434399642893,-0.0155465894039,0.0700116178335,0.99999999383,-8.27285319956e-05,4.55080565034e-05,-5.85256214587e-05,1793238121306142720
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.00725397,745.99274603,716,680,664,637,881.00725397,789,804,652,632,654,0.435131609008,-0.015550730926,0.070045818681,0.999999990183,-8.82044315446e-05,9.42206614858e-05,-5.45646819307e-05,1793238121322809600
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.58475612,745.41524388,716,680,664,637,881.58475612,789,804,652,632,654,0.435837645969,-0.0155500415346,0.070032483029,0.999999991969,-8.35084544427e-05,7.72559812571e-05,-5.58552494331e-05,1793238121339476224
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,745,715.838438575,680.161561425,664.161561425,637,881.838438575,789,804,652,632,654,0.436530590815,-0.0155494879378,0.0700174740533,0.999999993262,-8.19074538387e-05,5.88585645186e-05,-5.74695871989e-05,1793238121356143104
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,745,715.263416479,680.736583521,664.736583521,637,881.263416479,789,804,652,632,654,0.437190031066,-0.01554928186,0.0699981827809,0.999999993636,-8.82269757397e-05,3.67945498941e-05,-5.99125034321e-05,1793238121372809472
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,745.311461473,715.311461473,680.688538527,664.688538527,637,881.311461473,789,804.311461473,652,632.311461473,654,0.437833217664,-0.0155506707265,0.0699765492327,0.999999993571,-9.40643097369e-05,1.20516079747e-05,-6.21621828441e-05,1793238121389475840
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,745.886217538,715.886217538,680.113782462,664.113782462,637,881.886217538,789,804.886217538,652,632.886217538,654,0.438462664166,-0.0155534078826,0.0699529356381,0.999999992875,-9.94940248025e-05,-1.49559692686e-05,-6.42485089524e-05,1793238121406142464
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680.473713608,664.473713608,637,881.526286392,789,804.526286392,652,632.526286392,654,0.439039206025,-0.015550358449,0.0699249995956,0.999999990772,-9.83444466813e-05,-6.6169834514e-05,-6.63731649643e-05,1793238121422809344
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,681,664.936869807,637,881,789,804.063130193,652,632,654,0.43961046122,-0.0155464988745,0.0699001740069,0.999999986514,-9.58392026526e-05,-0.000114603033253,-6.82161750745e-05,1793238121439476224
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664.357463899,637,881,789,804.642536101,652,632,654,0.440245274091,-0.015547694643,0.0699095107239,0.999999988967,-9.55281542795e-05,-9.14339874541e-05,-6.76785283557e-05,1793238121456146432
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664.219602494,637,881.219602494,789,805,652,632,654,0.440874061605,-0.0155500268654,0.0699334982204,0.999999991831,-9.7166088396e-05,-5.05081798909e-05,-6.59229287168e-05,1793238121472813824
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,681,664.792900763,637,881.792900763,789,805,652,632,654,0.441493144508,-0.0155541894809,0.0699810825283,0.999999992688,-0.000101943088974,1.90169894574e-05,-6.22056718e-05,1793238121489477376
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.622992712,746,716,681,664.622992712,636.622992712,882,789,805,652,632.377007288,654,0.44206645222,-0.0155567991025,0.0700133052344,0.999999990301,-0.000107301619325,6.51730535827e-05,-6.03123858088e-05,1793238121506142720
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.032773659,746,716,681,664.032773659,636.032773659,882,789,805,652,632.967226341,654,0.442613872401,-0.0155585304482,0.0700368403829,0.999999987036,-0.000112989027123,9.81130185357e-05,-5.94506235145e-05,1793238121522809344
+201,3.350000000,POSE1_TO_POSE2_PRESS,766.546949058,745.453050942,716,680.453050942,664,636,881.453050942,789,805,652,633,654,0.443101472129,-0.0155611128898,0.0700217582768,0.999999988997,-0.000117249576419,6.88266420772e-05,-5.93450289152e-05,1793238121539475968
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,745.12491435,716,680.12491435,664,636,881.12491435,789,805,652,632.87508565,654,0.443575776981,-0.0155637187548,0.070001004917,0.999999990532,-0.000120201872152,3.10085023409e-05,-5.93773778688e-05,1793238121556142592
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,745.698781403,716,680.698781403,664,636,881.698781403,789,805,652,632.301218597,654,0.444014939458,-0.0155662289647,0.069968028628,0.999999990868,-0.00011875369873,-2.43247526213e-05,-5.97457252307e-05,1793238121572809216
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,715.727021586,681,664,636,882,789,804.727021586,652,632,654,0.44443684836,-0.0155680552416,0.0699375719017,0.999999987931,-0.000121560707304,-7.45572246363e-05,-6.16641158076e-05,1793238121589475840
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,715.152460075,681,664,636,882,789,804.152460075,652,632,654,0.444839695703,-0.0155691259176,0.0699098987583,0.99999998244,-0.000129068787319,-0.000119154412868,-6.52949745568e-05,1793238121606142720
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,715.436268575,681,664,636,882,788.563731425,804.436268575,652,632,654,0.44522782505,-0.0155727880322,0.0698883028536,0.999999977853,-0.000134151258484,-0.000147441360237,-6.75108367447e-05,1793238121622809344
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,745.970768778,716,681.029231222,664,636,882,788,804.970768778,652,632,654,0.445609314778,-0.0155773590383,0.0698694056067,0.999999973648,-0.000138510303427,-0.000169534658423,-6.91220527988e-05,1793238121639475968
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,745.39433684,716,681.60566316,664,636,882,788,804.39433684,652,632,654,0.445966027512,-0.0155814224067,0.0698599356449,0.999999969711,-0.000145727603571,-0.000185965157016,-6.89818639744e-05,1793238121656142592
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.817789636,745.182210364,716,681.817789636,663.817789636,636,881.817789636,788,804.182210364,652,632,654,0.446310622222,-0.0155848613731,0.0698486319596,0.999999964886,-0.000150426064315,-0.00020700049156,-6.89208183186e-05,1793238121672809216
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.240992895,745.759007105,716,681.240992895,663.240992895,636,881.240992895,788,804.759007105,652,632,654,0.446628974649,-0.015586948163,0.069833357248,0.999999958093,-0.000149669841433,-0.000238007844751,-6.90311614808e-05,1793238121689476096
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+212,3.533333333,POSE1_TO_POSE2_PRESS,766.932169645,746,716,681.932169645,663,636,881.932169645,788,805,652,632,654,0.447190644059,-0.015591991571,0.069799988523,0.999999939363,-0.000159724049961,-0.000301063703219,-7.157525961e-05,1793238121722809600
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745.390310655,716,680.390310655,663,637,881,789,804.390310655,652,633,654,0.43161045639,-0.0153873618974,0.0698208560409,0.999999945347,0.000151314312175,-0.000293482468366,1.66905621006e-05,1793238123890361344
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745.982884557,716,680.982884557,663,637,881,789,804.982884557,652,633,654,0.43085387783,-0.0153885716003,0.0698182114539,0.999999944614,0.000150549811581,-0.000296309254503,1.75565982012e-05,1793238123907027712
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,637,881.560100843,789,804.439899157,652,633,654,0.43001768618,-0.015383634139,0.0697686102902,0.999999917624,0.000154515323949,-0.000375089964886,1.35916224473e-05,1793238123923694592
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,636.863283402,881.863283402,789,804.136716598,652.136716598,632.863283402,654,0.42920297503,-0.0153806141136,0.069736097524,0.999999896183,0.000157724707021,-0.000427358211358,1.10330936085e-05,1793238123940361216
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,636.287129762,881.287129762,789,804.712870238,652.712870238,632.287129762,654,0.428464917819,-0.0153843448044,0.0697629995698,0.999999912477,0.000158051547054,-0.000387148546507,1.34570290983e-05,1793238123957027840
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.705957523,663,636,881.294042477,789,804.705957523,653,632.294042477,654,0.427747140347,-0.0153884078408,0.0698067482062,0.99999993545,0.000157915181938,-0.000322235988413,1.80643744713e-05,1793238123973694720
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.119799609,663,636,881.880200391,789,804.119799609,653,632.880200391,654,0.427049509752,-0.0153928010447,0.0698672330254,0.999999960223,0.000157318646556,-0.000232782431106,2.48408202728e-05,1793238123990361344
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,636.460853187,882,789,804.460853187,652.539146813,633,654,0.426275345385,-0.0153919922915,0.0698746154498,0.999999961908,0.00015929756574,-0.000223874119969,2.62460338944e-05,1793238124007027968
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745.959945691,716,680,663,636.959945691,881.959945691,789,804.959945691,652.040054309,633,654,0.425478931777,-0.0153897653098,0.0698666881413,0.999999958173,0.000162114850316,-0.000238107300416,2.60300991973e-05,1793238124023694592
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745.381249451,716,680,663,636.381249451,881.381249451,789,804.381249451,652.618750549,633,654,0.424647702645,-0.0153864365105,0.0698363215844,0.999999945052,0.000167309354781,-0.000285297931655,2.25682834861e-05,1793238124040361216
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745.196453708,716,680.196453708,663,636.196453708,881,789,804,653,633,653.803546292,0.42382749499,-0.0153840625761,0.0698099997165,0.999999931721,0.000171035891085,-0.000326941176536,2.03457546585e-05,1793238124057027840
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745.772239429,716,680.772239429,663,636.772239429,881,789,804,653,633,653.227760571,0.423028568532,-0.0153835323875,0.069791487724,0.999999920973,0.000171927932454,-0.000357872995009,2.05161614819e-05,1793238124073694720
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745.644786871,716,681,663,637,881.355213129,789,804,652.644786871,633,653.355213129,0.422224728236,-0.0153788929421,0.0697597666726,0.999999898504,0.000174732173066,-0.000414884792956,1.82022535327e-05,1793238124090361344
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745.057109127,716,681,663,637,881.942890873,789,804,652.057109127,633,653.942890873,0.421417672191,-0.0153715642469,0.0697194011255,0.999999864373,0.000178787826867,-0.000488964290973,1.4262517989e-05,1793238124107028224
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,716,680.476805166,663,636.476805166,881.476805166,789,804.523194834,652,633,654,0.420690931464,-0.0153732561843,0.0697448540244,0.999999889118,0.0001777142042,-0.00043587441529,1.39491428216e-05,1793238124123694592
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745.102111204,716,680,663,636.102111204,881,789,805,652,633,654,0.419975882361,-0.0153758509717,0.0697821581509,0.999999917822,0.000176577949337,-0.00036461570931,1.52377702418e-05,1793238124140361216
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745.678270422,716,680,663,636.678270422,881,789,805,652,633,654,0.419274977374,-0.0153781295644,0.0698415914776,0.99999994682,0.000177714048941,-0.000272555848995,2.21515367527e-05,1793238124157028096
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,789.253789243,804.746210757,652.253789243,633,654,0.418560562308,-0.0153779924817,0.0698750618686,0.999999958261,0.000183447524162,-0.000221634660689,2.65185592896e-05,1793238124173694976
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,789.828498232,804.171501768,652.828498232,633,654,0.417829063628,-0.0153748007461,0.0698757017907,0.999999955801,0.000194994441078,-0.000222733858749,2.76651911473e-05,1793238124190361344
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,789.584882289,804.830235422,653,632.584882289,654.415117711,0.41709179432,-0.0153733939265,0.0698517282374,0.999999945043,0.000200544212497,-0.000262725311879,2.59307428492e-05,1793238124207027968
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,789,805.993361459,653,632.006638541,654.993361459,0.416352377193,-0.0153727446675,0.0698175326316,0.999999928254,0.000203506509339,-0.000318666665051,2.29855823484e-05,1793238124223694848
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,663,637,881,789,805.416004649,653,632.583995351,654.416004649,0.415639331266,-0.015371954185,0.0698045841231,0.999999926727,0.000203320181429,-0.000323654110741,2.1307475457e-05,1793238124240361472
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.839053012,663,637,881.160946988,789.160946988,804.839053012,653,632.839053012,654,0.414921139785,-0.0153709496742,0.069791168883,0.999999922322,0.000202987350127,-0.000337283533498,1.97902282553e-05,1793238124257028096
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.263145886,663,637,881.736854114,789.736854114,804.263145886,653,632.263145886,654,0.414189681672,-0.0153693933466,0.0697765502939,0.999999909731,0.000202276797567,-0.000373194057562,1.86877157416e-05,1793238124273694720
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.317966312,663,637,881.682033688,789.682033688,804,653,632,654,0.413521715411,-0.0153692107762,0.0697771788184,0.999999908109,0.000204428739553,-0.000376330667123,1.91567587964e-05,1793238124290361344
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.903457831,663,637,881.096542169,789.096542169,804,653,632,654,0.412907168914,-0.0153701840349,0.0697906357066,0.999999916028,0.000208989079708,-0.000351892503428,2.09480512155e-05,1793238124307028224
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745.513077443,716,679.513077443,663,637,881,789,804.486922557,652.513077443,632,654,0.412334084455,-0.0153729025185,0.0698316399355,0.999999939831,0.000206072128296,-0.000278004515593,2.42051915808e-05,1793238124323694592
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,663.069032847,637,880.930967153,789,804.930967153,652.069032847,632,654,0.411766112682,-0.0153755378849,0.0698738835055,0.999999958445,0.000203174664016,-0.000202680529496,2.73940739654e-05,1793238124340361216
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745,716,679,663.644147533,637,880.355852467,789,804.355852467,652.644147533,632,654,0.411175605902,-0.0153750377058,0.0698853379875,0.999999959548,0.000211243438168,-0.000188407757351,2.79607434264e-05,1793238124357027840
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.218988944,663.781011056,637,880,789,804,653,632,654,0.410571076563,-0.0153728739065,0.0698793083091,0.999999955664,0.000216923821846,-0.000202148247538,2.7440981797e-05,1793238124373694720
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745,716,679.79338679,663.20661321,637,880,789,804,653,632,654,0.409943789321,-0.0153680101286,0.0698449026478,0.99999994161,0.00021872795731,-0.000261352964364,2.51579927782e-05,1793238124390361856
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745.377331689,716,679.622668311,662.622668311,636.622668311,880,789,804,653,632.377331689,654,0.409360297737,-0.0153655486683,0.0698146838286,0.999999926998,0.000219029531726,-0.000312337890958,2.18125572111e-05,1793238124407028736
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745.966639966,716,679.033360034,662.033360034,636.033360034,880,789,804,653,632.966639966,654,0.408801409525,-0.0153644367763,0.0697868170813,0.999999911637,0.000218487000692,-0.000358705126802,1.78702624803e-05,1793238124423695616
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745.452576576,716,679.547423424,662.547423424,636.547423424,880.547423424,789,804,653,632.452576576,654,0.408297991748,-0.0153631998293,0.0697865852249,0.999999913356,0.000217624765947,-0.000354427832667,1.7558557811e-05,1793238124440361728
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745.126635404,716,680,663,637,881,789,804,653,632.126635404,654,0.407807605637,-0.0153625051667,0.0697919193211,0.999999917978,0.000217564283598,-0.000341166282507,1.77492361698e-05,1793238124457028096
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745.702090913,716,680,663,637,881,789,804,653,632.702090913,654,0.407351609131,-0.0153637590595,0.0698111030656,0.999999928456,0.000220413356614,-0.000306833455371,1.89483330633e-05,1793238124473694464
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745.724406286,716,679.724406286,663,637,881,789,804,652.724406286,633,654,0.406897147812,-0.0153649363768,0.0698226860284,0.999999933701,0.000219343284763,-0.000290005066667,1.95820811701e-05,1793238124490361088
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745.15299949,716,679.15299949,663,637,881,789,804,652.15299949,633,654,0.406444334339,-0.0153660315005,0.0698261105651,0.999999934274,0.000214066533838,-0.000291965359464,1.9609002731e-05,1793238124507027712
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.435172424,663,637,881,789,804,652,633,654,0.406008942727,-0.0153641684343,0.0698181142848,0.999999927755,0.000217086071592,-0.000311469242015,1.87315619199e-05,1793238124523694848
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745.028668482,716,679.971331518,663,637,880.971331518,789,804,652,632.971331518,654,0.405583467289,-0.0153613952621,0.0698068179655,0.999999918777,0.000222742908227,-0.000335443871564,1.75767827405e-05,1793238124540361984
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745.60671217,716,679.39328783,663,637,880.39328783,789,804,652,632.39328783,654,0.405225934279,-0.0153619108256,0.0698123127675,0.999999923578,0.0002208032393,-0.000322157175236,1.74445598819e-05,1793238124557028352
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745.816857878,716,679.183142122,663,637,880,789,804,652,632,653.816857878,0.404881027441,-0.0153625111023,0.0698207142445,0.999999929068,0.000220653533983,-0.000304728660663,1.78086789343e-05,1793238124573694976
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745.243863141,716,679.756136859,663,637,880,789,804,652,632,653.243863141,0.404562997841,-0.0153632917067,0.0698353031277,0.99999993588,0.000224314104702,-0.000278483504879,1.92293555595e-05,1793238124590361600
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745.339923062,716,680,663,637,880,788.660076938,804,652.339923062,632,653.339923062,0.404252939199,-0.015363259911,0.0698461507622,0.99999994039,0.000225540957553,-0.000260676479366,2.00008022207e-05,1793238124607027968
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745.931705036,716,680,663,637,880,788.068294964,804,652.931705036,632,653.931705036,0.403948786437,-0.0153626261844,0.069854226398,0.999999943459,0.00022496459829,-0.000249121508018,2.02912156192e-05,1793238124623694592
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745.486930781,716,679.486930781,663,636.486930781,880,788.513069219,803.486930781,652.486930781,632,654,0.403659377266,-0.0153614965269,0.0698514557754,0.99999994298,0.000223300005557,-0.000252582860932,1.94604460632e-05,1793238124640361216
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745.092473563,716,678.907526437,663,636.092473563,880,789,803.092473563,652,632.092473563,654,0.403376347755,-0.0153598136067,0.0698458881462,0.999999941094,0.000222520960812,-0.000260687840519,1.83985205995e-05,1793238124657028096
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745.668735389,716,678.331264611,663,636.668735389,880,789,803.668735389,652,632.668735389,654,0.403116631301,-0.0153555747033,0.0698330904638,0.999999934068,0.000227117532264,-0.000282837536028,1.6892509419e-05,1793238124673694976
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,678.498172617,663,637,880.249086309,789,804,652,633,654,0.402874463216,-0.0153526033267,0.0698259934142,0.999999929698,0.000231497004699,-0.000294548432327,1.59233835357e-05,1793238124690361600
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.669932244,663,637,880.834966122,789,804,652,633,654,0.402656022571,-0.0153513457931,0.0698266042805,0.999999929453,0.000235582933996,-0.000292144863321,1.56801887824e-05,1793238124707028224
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.583720263,663,637,880.583720263,788.583720263,804,652.416279737,633,654,0.40245414682,-0.0153512102677,0.0698237070059,0.999999927022,0.00023898964972,-0.000297663104876,1.53634273781e-05,1793238124723694848
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.004197288,663,637,880.004197288,788.004197288,804,652.995802712,633,654,0.402258766963,-0.0153515147355,0.0698194340212,0.999999923668,0.000242130013131,-0.00030628786812,1.50178169684e-05,1793238124740361472
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.439762221,716,679,663,637,880.560237779,788.560237779,804,653,632.439762221,654,0.402094907643,-0.0153551855597,0.0698157884378,0.999999922676,0.000237532842935,-0.000313030350348,1.54590810474e-05,1793238124757028096
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.126560285,663,637,881,789,804,653,632,653.873439715,0.401937751941,-0.0153593436714,0.069812782632,0.999999922444,0.000230964752061,-0.000318616401334,1.58431960796e-05,1793238124773694464
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,716,679.699934783,663,637,881,789,804,653,632,653.300065217,0.401803451177,-0.0153651354191,0.0698120193673,0.999999924935,0.000217637724519,-0.000320168213938,1.60052823878e-05,1793238124790361088
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,716,680,663,637,880.711316259,789,804,653,632.288683741,653.288683741,0.401679513512,-0.0153686738417,0.069812899134,0.999999927609,0.000207859320737,-0.000318329929523,1.5585074393e-05,1793238124807027712
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745,716,680,663,637,880.105687663,789,804,653,632.894312337,653.894312337,0.401566953442,-0.0153697383475,0.0698155827789,0.999999930585,0.000201976936723,-0.000312769669861,1.45255675734e-05,1793238124823694592
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745,716,679.521665338,663,636.521665338,880,788.521665338,804,653,632.521665338,654,0.40146933065,-0.0153670493337,0.0698141103917,0.999999930624,0.000199257562487,-0.000314540624242,1.0594144031e-05,1793238124840361472
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745.057344612,716,679,663,636.057344612,880.057344612,788.057344612,804,653,632,654,0.401377262176,-0.0153637797614,0.0698120751872,0.999999929942,0.000198566163549,-0.000317245407379,6.55556654605e-06,1793238124857028352
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3bc3729939c57fff6c3b8d46cf6cd32efb32936c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,439 @@
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+396,6.600000000,pose2_to_pose3_retreat,0.578782138739,-0.00999874321709,1.06001169027,0.549353414575,-0.00132506963104,1.0596612217
+397,6.616666667,pose2_to_pose3_retreat,0.5786947158,-0.0099987003505,1.06001177731,0.549265990455,-0.00132503145307,1.05966130714
+398,6.633333333,pose2_to_pose3_retreat,0.578617624888,-0.00999872867582,1.06001167679,0.549188899698,-0.00132505952478,1.05966121422
+399,6.650000000,pose2_to_pose3_retreat,0.57855047523,-0.00999877068417,1.06001152686,0.549121750469,-0.00132510024154,1.05966107025
+400,6.666666667,pose2_to_pose3_retreat,0.578492422381,-0.00999873385139,1.06001155833,0.549063696569,-0.00132506744754,1.05966109452
+401,6.683333333,pose2_to_pose3_retreat,0.578443436492,-0.00999868840058,1.06001164575,0.549014710679,-0.00132502163294,1.0596611837
+402,6.700000000,pose2_to_pose3_retreat,0.578401262028,-0.00999875295104,1.06001152049,0.548972536597,-0.00132508508481,1.05966105685
+403,6.716666667,pose2_to_pose3_retreat,0.578365717642,-0.00999873752297,1.06001161217,0.548936992756,-0.00132506809229,1.05966114705
+404,6.733333333,pose2_to_pose3_retreat,0.578337093422,-0.00999868628217,1.06001178012,0.548908369255,-0.00132501467288,1.05966131333
+405,6.750000000,pose2_to_pose3_retreat,0.578314239394,-0.00999871666711,1.06001172034,0.548885516094,-0.00132504240231,1.05966125045
+406,6.766666667,pose2_to_pose3_retreat,0.578296993641,-0.00999872669654,1.06001178165,0.548868268476,-0.00132505867569,1.05966131581
+407,6.783333333,pose2_to_pose3_retreat,0.578283926373,-0.00999870145392,1.06001159051,0.54885520072,-0.00132503484021,1.0596611287
+408,6.800000000,pose2_to_pose3_retreat,0.578274387099,-0.0099986841687,1.06001144344,0.54884566164,-0.00132501671552,1.05966098445
+409,6.816666667,pose2_to_pose3_retreat,0.578267358941,-0.00999870210636,1.06001152131,0.548838634079,-0.00132503266257,1.05966106332
+410,6.833333333,pose2_to_pose3_retreat,0.578262288728,-0.00999874376631,1.0600116727,0.54883356546,-0.00132506905302,1.05966121207
+411,6.850000000,pose2_to_pose3_retreat,0.57825861061,-0.00999876339209,1.06001174953,0.548829888267,-0.00132508561147,1.05966128758
+412,6.866666667,pose2_to_pose3_retreat,0.578256444441,-0.00999868984784,1.06001152249,0.548827720112,-0.00132501857664,1.05966106682
+413,6.883333333,pose2_to_pose3_retreat,0.578255605791,-0.00999866137457,1.06001143459,0.548826880692,-0.00132499262354,1.05966098135
+414,6.900000000,pose2_to_pose3_retreat,0.578254952659,-0.00999865205067,1.06001139421,0.548826227305,-0.00132498414305,1.05966094164
+415,6.916666667,pose2_to_pose3_retreat,0.578254459447,-0.00999867941588,1.0600114389,0.548825734821,-0.00132500914844,1.05966098358
+416,6.933333333,pose2_to_pose3_retreat,0.578254299022,-0.00999868831682,1.06001145343,0.548825574634,-0.00132501728181,1.05966099723
+417,6.950000000,pose2_to_pose3_retreat,0.57825417927,-0.00999869496111,1.06001146428,0.548825455058,-0.00132502335313,1.05966100741
+418,6.966666667,pose2_to_pose3_retreat,0.578253811642,-0.0099987153584,1.06001149759,0.548825087974,-0.00132504199147,1.05966103867
+419,6.983333333,pose2_to_pose3_retreat,0.578253669049,-0.00999872327,1.06001151051,0.548824945591,-0.00132504922082,1.05966105079
+420,7.000000000,pose2_to_pose3_retreat,0.578253523766,-0.0099987313308,1.06001152368,0.548824800523,-0.0013250565865,1.05966106315
+421,7.016666667,pose2_to_pose3_retreat,0.578253483505,-0.00999873356462,1.06001152733,0.548824760322,-0.00132505862769,1.05966106657
+422,7.033333333,pose2_to_pose3_retreat,0.57825335701,-0.00999874058303,1.06001153879,0.548824634013,-0.00132506504087,1.05966107733
+423,7.050000000,pose2_to_pose3_retreat,0.578253339774,-0.00999874153935,1.06001154035,0.548824616803,-0.00132506591472,1.05966107879
+424,7.066666667,pose2_to_pose3_retreat,0.578253308675,-0.00999874326486,1.06001154317,0.548824585749,-0.00132506749143,1.05966108144
+425,7.083333333,pose2_to_pose3_retreat,0.578253191515,-0.00999874976527,1.06001155378,0.548824468763,-0.00132507343129,1.0596610914
+426,7.100000000,pose2_to_pose3_retreat,0.578253113135,-0.00999874545192,1.06001156827,0.548824390341,-0.00132506925609,1.05966110597
+427,7.116666667,pose2_to_pose3_retreat,0.578253052427,-0.00999873673437,1.06001158409,0.548824329503,-0.00132506096407,1.05966112216
+428,7.133333333,pose2_to_pose3_retreat,0.578253040576,-0.00999873503254,1.06001158718,0.548824317626,-0.00132505934532,1.05966112532
+429,7.150000000,pose2_to_pose3_retreat,0.578252992833,-0.0099987281767,1.06001159961,0.548824269781,-0.00132505282413,1.05966113806
+430,7.166666667,pose2_to_pose3_retreat,0.578252878728,-0.00999871179145,1.06001162934,0.548824155432,-0.00132503723871,1.05966116849
+431,7.183333333,pose2_to_pose3_retreat,0.578252672697,-0.00999868220564,1.060011683,0.54882394896,-0.0013250090971,1.05966122344
+432,7.200000000,pose2_to_pose3_retreat,0.57825237184,-0.00999863900293,1.06001176137,0.548823647458,-0.00132496800327,1.05966130369
+433,7.216666667,pose2_to_pose3_retreat,0.578252282502,-0.00999866720222,1.06001174471,0.548823558037,-0.00132499660049,1.05966128419
+434,7.233333333,pose2_to_pose3_retreat,0.57825226764,-0.00999867970826,1.06001173433,0.548823543181,-0.00132500912926,1.05966127269
+435,7.250000000,pose2_to_pose3_retreat,0.578252250344,-0.00999869426245,1.06001172225,0.548823525892,-0.00132502370989,1.05966125931
+436,7.266666667,pose2_to_pose3_retreat,0.57825221363,-0.00999872515567,1.0600116966,0.548823489195,-0.00132505465923,1.05966123091
+437,7.283333333,pose2_to_pose3_retreat,0.578251963781,-0.00999879710479,1.06001152158,0.548823241046,-0.00132512036637,1.05966106672
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ad50a223698dca6795ccf97380a0dc34d78f95f0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5651460b050eb21e679e5e9e6a1475bf8d642cec71e7a7a93855bd23e942873
+size 27815766
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5cfad913ca4b0762d6651832c0640e4031355d84
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_03/franka_data.csv
@@ -0,0 +1,440 @@
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+36,0.600000000,BASELINE,767,745.898204832,716,679,663,637,880,788.101795168,804,653,632,654,0.400968537347,-0.0153713275513,0.0698290278342,0.999999937185,0.000211213081143,-0.000284443259368,1.05087745917e-05,1793238126231321344
+37,0.616666667,BASELINE,767,746,716,679.472372835,663,637,880,788,803.527627165,653,632,654,0.400969232566,-0.0153716526926,0.0698289217918,0.999999937093,0.000211890582796,-0.000284262841918,1.04968298771e-05,1793238126247988224
+38,0.633333333,BASELINE,767,745.952244158,716,679.952244158,663,637,880.047755842,788.047755842,803.047755842,653,632.047755842,654,0.400969968516,-0.0153718879062,0.0698287437088,0.999999936969,0.000212758545253,-0.000284054227519,1.04247043838e-05,1793238126264654848
+39,0.650000000,BASELINE,767,745.361811686,716,679.361811686,663,637,880.638188314,788.638188314,803.638188314,653,632.638188314,654,0.400969539513,-0.0153712859764,0.0698287397057,0.999999937208,0.000211750882367,-0.000283974029504,1.02340073661e-05,1793238126281321472
+40,0.666666667,BASELINE,766.776291305,745,716,679.223708695,663,637,881,789,804,653,632.776291305,654,0.400969780715,-0.0153715659608,0.0698290329619,0.999999937644,0.0002103555279,-0.000283476004409,1.02332010346e-05,1793238126297988352
+41,0.683333333,BASELINE,766.198544758,745,716,679.801455242,663,637,881,789,804,653,632.198544758,654,0.400971082574,-0.0153732416486,0.0698297966562,0.999999938389,0.000208346618911,-0.00028231673277,1.05329127199e-05,1793238126314654976
+42,0.700000000,BASELINE,766.361412719,745.361412719,716,679.277174563,663,637,880.638587281,789,804,653,632,654,0.400970461155,-0.0153732344767,0.0698295393407,0.999999938289,0.00020869403005,-0.000282415303562,1.05373711634e-05,1793238126331321600
+43,0.716666667,BASELINE,766.912056069,745.912056069,716,678.175887861,663,637,880.087943931,789,804,653,632,654,0.400968832734,-0.015372346183,0.0698287474388,0.999999937745,0.000210275177435,-0.000283172463049,1.03872391399e-05,1793238126347988224
+44,0.733333333,BASELINE,767,746,716,678.518205252,663,637,881.036410504,789,804,652.481794748,632.518205252,654,0.400969491472,-0.0153720816924,0.0698287652454,0.999999937772,0.000210025612755,-0.000283270936206,1.01545931896e-05,1793238126364654848
+45,0.750000000,BASELINE,767,746,716,679,663,637,881.745289799,789,804,652.1273551,632.8726449,654,0.400970700545,-0.0153718589394,0.0698291258602,0.999999937954,0.000209814203342,-0.000282788978503,1.00152412308e-05,1793238126381321728
+46,0.766666667,BASELINE,767,746,716,679,663,637,880.580912316,789,804,652.709543842,632.290456158,654,0.400972322542,-0.0153713618084,0.0698301611421,0.9999999383,0.000210981752221,-0.000280681198449,1.02650883877e-05,1793238126397988352
+47,0.783333333,BASELINE,767,746,716.288300289,679,663,637,880,789,804,653,632,654,0.400972147221,-0.0153713578981,0.069830246184,0.999999938264,0.000210984105299,-0.000280806660636,1.02910731385e-05,1793238126414654976
+48,0.800000000,BASELINE,767,746,716.863639529,679,663,637,880,789,804,653,632,654,0.400970182446,-0.0153718450506,0.0698293851434,0.999999937847,0.00020982636055,-0.000283155594181,1.00941749307e-05,1793238126431321600
+49,0.816666667,BASELINE,767,745.563918585,716.563918585,679.436081415,663,637,880.436081415,789,804,652.563918585,632,654,0.400970284036,-0.0153725366832,0.0698294343755,0.999999938171,0.000209047879476,-0.000282580640321,1.02078245651e-05,1793238126447988224
+50,0.833333333,BASELINE,767,745.007915358,716,679.992084642,663,637,880.992084642,789,804,652,632,654,0.400971016717,-0.0153732546586,0.0698297613628,0.999999938711,0.000208418647064,-0.000281124593405,1.04073082537e-05,1793238126464654848
+51,0.850000000,BASELINE,767,745.601356821,716,679.398643179,663,637,880.398643179,789,804,652,632,654,0.400970951473,-0.0153712226641,0.0698297181936,0.999999938207,0.000210114955447,-0.000281677465499,9.82032421177e-06,1793238126481321472
+52,0.866666667,BASELINE,767,746,716,679,663,637,880,789,804,652.18839665,632,654,0.400971214123,-0.015370251044,0.0698298830062,0.999999938088,0.000210630499278,-0.000281724966898,9.47349032568e-06,1793238126497988352
+53,0.883333333,BASELINE,767,746,716,679,663,637,880,789,804,652.762335877,632,654,0.400972147792,-0.0153714494175,0.0698304734414,0.999999938763,0.000208729678325,-0.000280738257086,9.6181095366e-06,1793238126514654976
+54,0.900000000,BASELINE,767,746,716,679,663,637,880,789,804,653,632,654,0.400971612063,-0.0153724331061,0.0698301949568,0.999999938896,0.000207931190552,-0.000280846772677,9.85442875821e-06,1793238126531321344
+55,0.916666667,BASELINE,767,746,716,679,663,637,880,789,804,653,632,654,0.400970037829,-0.0153732650649,0.0698293023586,0.999999938649,0.000207911782301,-0.000281729344296,1.01555574111e-05,1793238126547987968
+56,0.933333333,BASELINE,767,745.493027196,716,679,663,637,880,789,803.493027196,653,632,654,0.400970060566,-0.0153724850567,0.0698290317325,0.999999938257,0.000208423286178,-0.000282739254919,1.02543316618e-05,1793238126564654592
+57,0.950000000,BASELINE,767,745,716,679,663,637,880,789,803.093507355,652.906492645,632,654,0.400970205179,-0.0153716100074,0.0698288521448,0.999999937811,0.000209281673823,-0.00028367669983,1.03242887537e-05,1793238126581321472
+58,0.966666667,BASELINE,767,745,716,679,663,637,880,789,803.673411532,652.326588468,632,654,0.400969659218,-0.0153715775588,0.0698286302445,0.999999937213,0.000211504103534,-0.000284131584068,1.0412181634e-05,1793238126597988096
+59,0.983333333,BASELINE,767,745,716,679,663,637,880,789,804,652.251661308,632,654,0.400969818309,-0.0153713401832,0.0698289530121,0.999999937217,0.000212433655197,-0.000283426823693,1.03564614877e-05,1793238126614654976
+60,1.000000000,BASELINE,767,745,716,679,663,637,880,789,804,652.827778218,632,654,0.400970886392,-0.0153708386044,0.0698299779957,0.999999937997,0.000211696357665,-0.000281226985752,1.01155875393e-05,1793238126631321344
+61,1.016666667,BASELINE,767,745,716,679,663,636.596613502,880.806772996,789,804,653,632,654,0.400970978806,-0.015371545099,0.0698301887471,0.99999993849,0.000210448307364,-0.000280410970621,1.00534981901e-05,1793238126647988224
+62,1.033333333,BASELINE,767,745,716,679,663,636.021222138,881.957555725,789,804,653,632,654,0.400970655193,-0.0153727667187,0.069830052308,0.999999938861,0.000208982471034,-0.00028018502063,1.00676429911e-05,1793238126664655104
+63,1.050000000,BASELINE,767,745.56870703,716,679,663,636.56870703,880.862585939,789,804.56870703,653,632,654,0.400968498437,-0.0153720186747,0.0698281913914,0.999999937871,0.000208648985978,-0.000283956169334,9.65168466013e-06,1793238126681321472
+64,1.066666667,BASELINE,767,745.84423949,716,679,663,637,880,789,804.688478979,653,632,654,0.40096722075,-0.0153711131685,0.0698271046569,0.999999937073,0.000209552337094,-0.000286098662549,9.44672690029e-06,1793238126697988096
+65,1.083333333,BASELINE,767,745.266485312,716,679,663,637,880,789,803.532970624,653,632,654,0.400968514869,-0.0153699854144,0.0698282942907,0.999999936958,0.000213689099307,-0.000283414020003,9.85804572808e-06,1793238126714654976
+66,1.100000000,BASELINE,767,745,716,679,662.690383926,637,880,789,803.309616074,653,632.309616074,654,0.400968800465,-0.015370160109,0.0698284447953,0.99999993691,0.000214176042865,-0.00028320604736,1.01035201359e-05,1793238126731321856
+67,1.116666667,BASELINE,767,745,716,679,662.115697568,637,880,789,803.884302432,653,632.884302432,654,0.400968222639,-0.0153714498635,0.0698277056746,0.999999936927,0.000211538282584,-0.000285118415663,1.02070108489e-05,1793238126747988480
+68,1.133333333,BASELINE,767,745.461164941,716.461164941,679,662.461164941,637,880.461164941,789,804,652.538835059,632.538835059,654,0.400967958307,-0.0153721858767,0.0698278787416,0.999999937029,0.00021084765729,-0.000285275616304,1.01398626434e-05,1793238126764655104
+69,1.150000000,BASELINE,767,746,716.961768028,679.038231972,663,637,881,789,804,652.038231972,632,654,0.400967892089,-0.0153726758626,0.0698283266239,0.999999937188,0.00021062903152,-0.000284885408586,1.00291209912e-05,1793238126781321728
+70,1.166666667,BASELINE,767,746,716.389506959,679.610493041,663,637,881,789,804,652.610493041,632,654,0.40096948936,-0.0153716790066,0.0698294013896,0.999999937817,0.000210147582894,-0.00028302879574,9.91027239897e-06,1793238126797988352
+71,1.183333333,BASELINE,767,746,716,679.809493817,663,637,880.809493817,788.809493817,804,653,632,654,0.400970320937,-0.0153712842907,0.0698299896846,0.99999993826,0.000209725577502,-0.00028177450187,9.91301799395e-06,1793238126814654720
+72,1.200000000,BASELINE,767,746,716,679.212958438,663,637,880.212958438,788.212958438,804,653,632,654,0.400969520577,-0.0153721729263,0.0698295411558,0.999999938311,0.000209430264433,-0.000281803940742,1.0174919409e-05,1793238126831321344
+73,1.216666667,BASELINE,767,746,716,679.36920668,663,637,880,788.36920668,804,653,632,654,0.400969686284,-0.015372955966,0.0698295994537,0.999999938474,0.000208967828127,-0.000281565517505,1.03081526357e-05,1793238126847988224
+74,1.233333333,BASELINE,767,746,716,679.943393524,663,637,880,788.943393524,804,653,632,654,0.400970388342,-0.0153736803797,0.069829939137,0.999999938698,0.000208412606549,-0.000281178379678,1.0369950448e-05,1793238126864655104
+75,1.250000000,BASELINE,767,746,716,679.481518534,663,637,880,789,804,652.481518534,632.518481466,654,0.40096964466,-0.0153734725639,0.0698297082937,0.999999938382,0.00020890883276,-0.0002819288886,1.04474644815e-05,1793238126881322240
+76,1.266666667,BASELINE,767,745.903512876,716,679,663,637,880,789,804,652.096487124,633,654,0.400968941524,-0.0153730030077,0.0698294783181,0.99999993801,0.000209616508075,-0.000282720646365,1.04664568329e-05,1793238126897988864
+77,1.283333333,BASELINE,767,745.31101477,716,679,663,637,880,789,804,652.68898523,633,654,0.40096925966,-0.0153717120468,0.0698295735678,0.999999937657,0.000210820028584,-0.00028308483827,1.01757709429e-05,1793238126914655232
+78,1.300000000,BASELINE,767,745,716,679,663,637,880,789,804,653,632.726094116,654,0.400969446406,-0.0153713024291,0.0698293214453,0.999999937664,0.000210279320242,-0.000283469473054,1.00183953795e-05,1793238126931321600
+79,1.316666667,BASELINE,767,745,716,679,663,637,880,789,804,653,632.14954593,654,0.400969487976,-0.0153718666193,0.0698286855067,0.999999938064,0.000207811389861,-0.000283876695426,1.00083162112e-05,1793238126947988224
+80,1.333333333,BASELINE,767,745,716,679,663,637,880,789,804,652.574233133,632,654,0.400969415996,-0.0153720457546,0.0698290286985,0.999999938113,0.000208653085383,-0.000283088484044,9.93262269682e-06,1793238126964655104
+81,1.350000000,BASELINE,767,745.000664805,716,679.000664805,663,637,880,789,804,652,632.000664805,654,0.400969304994,-0.0153720901903,0.0698297143431,0.999999938036,0.000210650815632,-0.000281882593253,9.83417663309e-06,1793238126981321728
+82,1.366666667,BASELINE,767,745.591319265,716,679.591319265,663,637,880,789,804,652,632.591319265,654,0.40096985717,-0.0153722725993,0.0698299907265,0.999999938281,0.000209922331729,-0.000281554279425,9.9372727958e-06,1793238126997988352
+83,1.383333333,BASELINE,767,745.821439126,716,679.821439126,663.178560874,637,880,789,804,652.178560874,632.821439126,654,0.400969955217,-0.0153726469099,0.0698299551357,0.999999938443,0.000209049064394,-0.000281623781907,1.00121844791e-05,1793238127014655232
+84,1.400000000,BASELINE,767,745.24186206,716,679.24186206,663.75813794,637,880,789,804,652.75813794,632.24186206,654,0.40096903337,-0.0153734521979,0.0698292189059,0.999999938421,0.000207850638897,-0.000282586709508,1.0023798819e-05,1793238127031321856
+85,1.416666667,BASELINE,767,745,716,679,663.66504257,637,880,789,804,653,632,654,0.400969020345,-0.0153734089931,0.0698292815284,0.999999938495,0.000207875148557,-0.000282302417449,1.01703203862e-05,1793238127047988224
+86,1.433333333,BASELINE,767,745,716,679,663.090198012,637,880,789,804,653,632,654,0.400969658195,-0.0153727581214,0.0698299162665,0.999999938637,0.000208775490186,-0.000281124901553,1.04134587293e-05,1793238127064654848
+87,1.450000000,BASELINE,766.504181292,745,716,679,663,637,880,788.504181292,804,652.504181292,632,654,0.400969607341,-0.0153730911546,0.0698298324496,0.999999938483,0.000208943754171,-0.000281555912991,1.01792669023e-05,1793238127081321728
+88,1.466666667,BASELINE,766.082699217,745.082699217,716,679.082699217,663,637,880,788.082699217,803.917300783,652.082699217,632,654,0.40096944368,-0.0153735622503,0.0698296544563,0.999999938304,0.000209032470661,-0.000282134889355,9.91278358131e-06,1793238127097988096
+89,1.483333333,BASELINE,766.662276853,745.662276853,716,679.662276853,663,637,880,788.662276853,803.337723147,652.662276853,632,654,0.400969372359,-0.0153737626572,0.0698297141175,0.999999938306,0.000209461856384,-0.00028180421772,9.98603649819e-06,1793238127114654464
+90,1.500000000,BASELINE,767,745.75944201,716.24055799,679.75944201,662.75944201,637,880,789,803.24055799,652.75944201,632,654,0.400969806506,-0.0153736551431,0.0698300043213,0.99999993825,0.000210198149454,-0.000281454144887,9.99210073058e-06,1793238127131321344
+91,1.516666667,BASELINE,767,745.182971338,716.817028662,679.182971338,662.182971338,637,880,789,803.817028662,652.182971338,632,654,0.400970946485,-0.0153731176515,0.0698306164524,0.999999938112,0.000211363004728,-0.000281076980452,9.90434337463e-06,1793238127147988224
+92,1.533333333,BASELINE,767,745,716.607410695,679,662.392589305,637,880,789,803.607410695,652,632.392589305,654,0.400970225,-0.0153716898412,0.0698297499756,0.999999937534,0.000212146665301,-0.000282547872823,9.63343726721e-06,1793238127164654848
+93,1.550000000,BASELINE,767,745,716.032273152,679,662.967726848,637,880,789,803.032273152,652,632.967726848,654,0.40096863796,-0.0153698480458,0.0698281959679,0.999999936747,0.000212753076059,-0.000284878084328,9.27736968288e-06,1793238127181321472
+94,1.566666667,BASELINE,767,745,716,679,663,637,880,789,803.557421718,652,632.442578282,654,0.40096998742,-0.0153714735638,0.0698294443816,0.999999938043,0.000209745101903,-0.000282541944722,9.53921876688e-06,1793238127197988352
+95,1.583333333,BASELINE,767,745,716,679.145041486,663,637,880,789,804,652.145041486,632,654,0.400971008636,-0.0153726329065,0.0698303737809,0.999999938975,0.000207831765164,-0.000280643495862,9.74884364604e-06,1793238127214654976
+96,1.600000000,BASELINE,767,745,716,679.723866976,663,637,880,789,804,652.723866976,632,654,0.400970526046,-0.0153717815441,0.0698298508155,0.99999993849,0.000209834860414,-0.000280883749943,9.69241315782e-06,1793238127231321344
+97,1.616666667,BASELINE,767,745.300834505,716.300834505,680,663,637,880,789,804,652.699165495,632,654,0.400970493268,-0.0153727032419,0.069829914195,0.999999938601,0.000209211477857,-0.000280947043093,9.88579075343e-06,1793238127247987968
+98,1.633333333,BASELINE,767,745.876107065,716.876107065,680,663,637,880,789,804,652.123892935,632,654,0.400970870832,-0.0153752424245,0.0698305124711,0.999999939251,0.000206192075289,-0.000280848902573,1.03070572519e-05,1793238127264654592
+99,1.650000000,BASELINE,767,745.548477958,716.548477958,679.548477958,663,637,880,789,804,652.451522042,632,654,0.400970144787,-0.0153745242151,0.0698300131281,0.999999938565,0.000207844577188,-0.000282076497539,1.01667561904e-05,1793238127281321472
+100,1.666666667,BASELINE,766.972209497,745,716,679,663,637,880,789,804,653,632.027790503,654,0.400969201363,-0.0153729524546,0.069829281171,0.999999937574,0.000210649247566,-0.00028351503685,9.88432400149e-06,1793238127297988352
+101,1.683333333,BASELINE,766.379382643,745,716,679,663,637,880,789,804,653,632.620617357,654,0.400969997027,-0.0153722046532,0.0698299451297,0.999999938014,0.000210807550872,-0.000281844033726,9.84599291906e-06,1793238127314655232
+102,1.700000000,BASELINE,766.207374329,745.207374329,716,679,663,637,880,789,804,652.792625671,632.792625671,654,0.400970577601,-0.015371970392,0.0698306100356,0.999999938472,0.000210190911943,-0.000280672824861,9.87758425834e-06,1793238127331321856
+103,1.716666667,BASELINE,766.783342436,745.783342436,716,679,663,637,880,789,804,652.216657564,632.216657564,654,0.400970775866,-0.0153726489139,0.069831276625,0.999999938967,0.000208196865838,-0.000280389966508,1.00334579546e-05,1793238127347988480
+104,1.733333333,BASELINE,767,746,716,679,663,637,880.358743757,789,804.358743757,652.358743757,632,654,0.400971381731,-0.0153735464741,0.0698316196932,0.99999993939,0.000206752900887,-0.000279953606871,9.95779513381e-06,1793238127364655104
+105,1.750000000,BASELINE,767,746,716,679,663,637,880.933803371,789,804.933803371,652.933803371,632,654,0.400972233372,-0.0153745761103,0.0698317676843,0.999999939769,0.000205640624517,-0.000279424688768,9.74252008549e-06,1793238127381321472
+106,1.766666667,BASELINE,767,746,716,679,663,637,880.479716632,789,804.479716632,653,632,654,0.400970143016,-0.0153742224403,0.0698301757676,0.999999939095,0.000206156590144,-0.000281448981627,9.78856088765e-06,1793238127397988096
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,716,679,662,637,880,789,804,652,632,654,0.400969857448,-0.0153732091162,0.0698295455442,0.999999938632,0.000208488654939,-0.000281370281397,9.9711889211e-06,1793238127440371200
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,716,679.576789874,662.576789874,637,880.576789874,789,804,652,632.576789874,654,0.400970324186,-0.0153740729121,0.0698298401034,0.999999938668,0.000208283600112,-0.000281389259742,1.0052443216e-05,1793238127457038080
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,716,679.846771355,663,637,880.846771355,789,804,652.153228645,633,654,0.400970375204,-0.0153744747138,0.0698299322376,0.99999993869,0.00020801177395,-0.000281513597625,1.00917547593e-05,1793238127473704960
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,716,679.271299971,663,637,880.271299971,789,804,652.728700029,633,654,0.400969280652,-0.0153736034264,0.0698294665617,0.999999938668,0.000207555950086,-0.000281928268302,1.00154872631e-05,1793238127490371072
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745.311962438,716,679,663.311962438,637,880,789,804,653,633,654,0.400969561335,-0.0153734332205,0.0698298623868,0.999999938916,0.000207426841367,-0.000281141435967,1.00307699128e-05,1793238127507037440
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745.902173868,716,679,663.902173868,637,880,789,804,653,633,654,0.400971068633,-0.0153738883313,0.0698310266113,0.999999939403,0.000207589140064,-0.000279282945731,1.01277089873e-05,1793238127523704064
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745.519592701,716.480407299,679,663.519592701,637,880.480407299,789,804.480407299,653,633,653.519592701,0.400970447731,-0.0153745605663,0.0698303277885,0.999999939232,0.000206773823237,-0.000280492694363,1.01810530513e-05,1793238127540370432
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,716.943720825,679,663,637,880.943720825,789,804.943720825,653,633,653.056279175,0.400969611268,-0.0153751198612,0.0698294973251,0.999999938977,0.000205943365145,-0.000282010422527,1.02117002373e-05,1793238127557037312
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,716.36768075,679,663,637,880.36768075,789,804.36768075,653,633,653.63231925,0.400970688972,-0.0153742377131,0.0698308695599,0.999999939164,0.000206766870322,-0.000280742641641,1.01127238451e-05,1793238127573703936
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.207686445,789,804,653,632.792313555,654,0.400971882269,-0.015373401395,0.0698316696078,0.999999939188,0.000207684055066,-0.00027998478623,9.96539339818e-06,1793238127590370816
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.781866182,789,804,653,632.218133818,654,0.400973279546,-0.0153726459509,0.0698314599473,0.999999938925,0.000208766551101,-0.000280126769484,9.73273511757e-06,1793238127607037440
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.630212178,789,804,652.630212178,632,654,0.400985714819,-0.0153736597659,0.0698374824895,0.999999941715,0.000207986398004,-0.000270564838347,1.03230809385e-05,1793238127623704064
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.033871415,789,804,652.033871415,632,654,0.401004912593,-0.015375757529,0.0698473232315,0.999999946176,0.000206065080735,-0.000255057740228,1.14176456077e-05,1793238127640370688
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.544077034,789,804,652.544077034,632.544077034,654,0.401043752748,-0.0153771251883,0.069864182645,0.999999952913,0.00020745754024,-0.000225769561207,1.27778575565e-05,1793238127657037312
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.879694765,789,804,652.879694765,632.879694765,654,0.401087893405,-0.015378577509,0.069882268813,0.99999995915,0.000208914500953,-0.000194563172184,1.41482771584e-05,1793238127673703936
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.305776511,789,804,652.305776511,632.305776511,654,0.401147559757,-0.0153805148233,0.0699033868446,0.999999965178,0.000209862248324,-0.000159253225304,1.54968681649e-05,1793238127690370560
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.274719618,789,804,652.274719618,632,654,0.401206208158,-0.0153829000236,0.0699177647862,0.999999968132,0.000211233181065,-0.000137310985761,1.62099043702e-05,1793238127707037184
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.862716819,789,804,652.862716819,632,654,0.40126369573,-0.0153857959724,0.0699244566386,0.999999968636,0.000213086695049,-0.000130612665462,1.61981831258e-05,1793238127723703808
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745.446270901,716,679,663,637,880.553729099,789,804,653,632.446270901,654,0.401335755138,-0.0153888417742,0.069928602853,0.99999996992,0.000211229249353,-0.000123767173064,1.4950876252e-05,1793238127740370688
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745.971920206,716,679,663,637,880,789,804,652.971920206,633,654,0.401412864304,-0.0153920039658,0.0699318202951,0.999999971358,0.000208226781669,-0.00011725142345,1.3308060325e-05,1793238127757037312
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.397732175,716,679,663,637,880,789,804,652.397732175,633,654,0.401501862635,-0.0153965420581,0.0699320544377,0.999999971972,0.000204938437701,-0.000118020474679,1.12925829307e-05,1793238127773703936
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.174933483,745.174933483,716,679.174933483,663,637,880,789,804,652.174933483,633,654,0.401598010914,-0.0154010950319,0.0699331278267,0.999999972687,0.000202232338582,-0.000116788326394,9.36490967329e-06,1793238127790370304
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.744167633,745.744167633,716,679.744167633,663,637,880,789,804,652.744167633,633,654,0.401710275186,-0.0154056815483,0.0699360928803,0.999999973637,0.000200838621778,-0.000111045467497,7.63514751198e-06,1793238127807036928
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.671895001,746,716,679.671895001,663,637,880,789,804,653,632.671895001,654,0.401836079904,-0.0154113156365,0.0699388657128,0.999999975077,0.000196879972644,-0.000105151144854,5.24959688105e-06,1793238127823703552
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.075955218,746,716,679.075955218,663,637,880,789,804,653,632.075955218,654,0.401972937813,-0.0154178048666,0.0699414816341,0.999999976876,0.000190827548181,-9.91331804881e-05,2.32872058831e-06,1793238127840370432
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,789,804,653,632,654,0.402135015668,-0.0154254623946,0.0699447588552,0.999999978721,0.000183660859362,-9.39458349088e-05,-9.00643985117e-07,1793238127857037056
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,789,804,653,632,654,0.402303578387,-0.0154334232152,0.069947462479,0.999999980581,0.000175550367265,-8.94518514123e-05,-4.32405428044e-06,1793238127873703936
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,789,804,653,632,654,0.402489495654,-0.0154422058524,0.0699460136061,0.999999982827,0.000162600578385,-8.8502151472e-05,-8.67056590018e-06,1793238127890371584
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.763348943,716,679,663,637,880,789,804,653,632,654,0.402688055633,-0.0154511787817,0.0699472664251,0.999999986499,0.000140908424158,-8.35649122285e-05,-1.27981826579e-05,1793238127907038720
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.173154462,716,679,663,637,880,789,804,653,632,654,0.402905503104,-0.0154604359963,0.0699525554207,0.999999991587,0.000106155666516,-7.26705126413e-05,-1.65987824845e-05,1793238127923704320
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.409456291,716,679,663,637,879.590543709,789,804,653,632.409456291,654,0.403154808639,-0.0154717804942,0.0699609212786,0.999999995591,7.24415226214e-05,-5.6247649142e-05,-2.01423343461e-05,1793238127940370432
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.988918276,716,679,663,637,879.011081724,789,804,653,632.988918276,654,0.403417341593,-0.0154839916289,0.0699705646456,0.999999998251,3.91586105478e-05,-3.75293751775e-05,-2.35791601292e-05,1793238127957037056
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.434422773,716,679.565577227,663,637,879.565577227,789,804,653,632.434422773,654,0.403699751219,-0.0154949820172,0.0699714280429,0.999999998543,2.5351118391e-05,-3.85427082756e-05,-2.804891626e-05,1793238127973703680
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745.144490629,716,679.855509371,663,637,880.144490629,789,804,653,632,654,0.403987664598,-0.0155052927175,0.0699726573339,0.999999998666,1.36306934161e-05,-3.91870323706e-05,-3.07640128989e-05,1793238127990370304
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.730459174,716,679.269540826,663,637,880.730459174,789,804,653,632,654,0.40429121006,-0.0155135994129,0.0699755276143,0.999999998877,7.12693652289e-06,-3.75284439613e-05,-2.80563738554e-05,1793238128007036928
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745.687184424,716,679,663,637,880.687184424,789,804.312815576,653,632,654,0.404620448572,-0.0155177406061,0.069980447062,0.999999999219,7.28040301098e-06,-2.93200943282e-05,-2.54951500754e-05,1793238128023703808
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745.107904868,716,679,663,637,880.107904868,789,804.892095132,653,632,654,0.404971573089,-0.0155183335233,0.0699871120409,0.999999999528,1.31046549071e-05,-1.5532497276e-05,-2.30586461028e-05,1793238128040370688
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.471985269,716,679,663,637,880,789,804.528014731,653,632,654,0.405344919077,-0.0155060561809,0.0699888234511,0.999999999257,2.63370492066e-05,-1.18739274925e-05,-2.55335131943e-05,1793238128057037312
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,679.051419282,663,637,880.051419282,789,804,653,632,654,0.405725358127,-0.0154918365959,0.0699883515326,0.999999998687,4.04717321831e-05,-1.2218125118e-05,-2.89642370175e-05,1793238128073703936
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,679.624804629,663,637,880.624804629,789,804,653,632,654,0.406126162994,-0.0154878083387,0.0699772271643,0.999999998006,4.65509783503e-05,-2.96576933354e-05,-3.06851894212e-05,1793238128090370560
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.20383118,746,716.20383118,679.79616882,663,637,881.20383118,789,804,653,632.20383118,654,0.406535482116,-0.0154889822776,0.0699659200649,0.999999997478,4.42917975075e-05,-4.48328009524e-05,-3.27385229e-05,1793238128107036928
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.793537115,746,716.793537115,679.206462885,663,637,881.793537115,789,804,653,632.793537115,654,0.406960919632,-0.0155000045442,0.0699542670363,0.999999997476,2.62470605044e-05,-5.57210355388e-05,-3.54210900701e-05,1793238128123703808
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.623245333,745.623245333,716.623245333,679.376754667,663,637,881.246490667,789,804,653,632.623245333,653.623245333,0.407428921754,-0.0155078676062,0.0699541303883,0.999999997827,1.88198495427e-05,-5.20091875349e-05,-3.58769791113e-05,1793238128140370432
+150,2.500000000,POSE1_TO_POSE2_PRESS,767.04352326,745.04352326,716.04352326,679.95647674,663,637,880.08704652,789,804,653,632.04352326,653.04352326,0.407919854507,-0.0155140287233,0.0699601979105,0.999999998419,1.71125729099e-05,-4.04319000255e-05,-3.51332994188e-05,1793238128157037056
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.532185279,716,679.467814721,663,637,880.532185279,789,804,652.467814721,632,653.532185279,0.408451712093,-0.015515040641,0.0699722711485,0.999999999122,1.0922150748e-05,-1.84757387799e-05,-3.59796513717e-05,1793238128173704192
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.892890038,789,804,652.107109962,632.107109962,654,0.408987225931,-0.0155144460459,0.0699811094711,0.999999999285,7.43677819934e-06,-1.28399039953e-06,-3.70666363781e-05,1793238128190370816
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.319957701,789,804,652.680042299,632.680042299,654,0.409524193853,-0.0155086824243,0.0699737590353,0.999999999068,1.7298289073e-05,-8.47656937751e-06,-3.86388410868e-05,1793238128207037952
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745.738968707,716.261031293,679,663,637,880.261031293,789,804,653,632.738968707,654,0.410065363833,-0.0155047007273,0.06996594032,0.999999998751,2.23061653083e-05,-1.96935932558e-05,-4.01580927284e-05,1793238128223704576
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.147789719,716.852210281,679,663,637,880.852210281,789,804,653,632.147789719,654,0.410611848574,-0.015502972776,0.069957529332,0.999999998262,2.11752529097e-05,-3.60006637852e-05,-4.16103704934e-05,1793238128240370688
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,716.565205949,679,663,637,881,789,804,653,632.434794051,654.434794051,0.411207560616,-0.0155061998099,0.0699633723395,0.999999998634,1.72266981046e-05,-2.68424997103e-05,-4.14091831315e-05,1793238128257037568
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,716.014383132,679,663,637,881,789,804,653,632.985616868,654.985616868,0.411821125251,-0.015511158551,0.0699745193548,0.999999999066,1.21799854238e-05,-8.32391702691e-06,-4.06236617767e-05,1793238128273704960
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,716.588920613,679,663,637,881,789,804,653,632.411079387,654.411079387,0.4124909375,-0.0155192376046,0.0700071988835,0.999999998281,9.415018051e-07,4.41702171137e-05,-3.85450034984e-05,1793238128290371840
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,716.835753492,679.164246508,663,637,881,789,804,653,632,654,0.41316142426,-0.0155249988849,0.0700316894641,0.99999999586,-7.97133570728e-06,8.2622991401e-05,-3.72739868085e-05,1793238128307038720
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,716.258444854,679.741555146,663,637,881,789,804,653,632,654,0.413833607304,-0.0155249312168,0.0700355857281,0.999999995538,-1.10354251482e-05,8.5763267676e-05,-3.80341013676e-05,1793238128323704320
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.325356779,716,679.674643221,663,637,881,789,804.325356779,652.674643221,632,654,0.414472311666,-0.0155233462389,0.0700172050377,0.999999997823,-1.23626530075e-05,5.02357051568e-05,-4.09635143242e-05,1793238128340370176
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745.914421071,716,679.085578929,663,637,881,789,804.914421071,652.085578929,632,654,0.415083880924,-0.0155205314542,0.0699807684754,0.999999998744,-1.22821231603e-05,-1.66328357305e-05,-4.56511824262e-05,1793238128357037056
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,789,804.503668583,652,632.496331417,654,0.415754185099,-0.0155207510101,0.0699487288388,0.999999996797,-1.34336851155e-05,-6.16027449273e-05,-4.92990459919e-05,1793238128373703936
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881.076059596,789,804.076059596,652,632.923940404,654,0.416444917547,-0.015522046746,0.0699253311743,0.999999994333,-1.51822803515e-05,-9.16313013156e-05,-5.20279122099e-05,1793238128390370560
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881.649469641,789,804.649469641,652,632.350530359,654,0.417203948572,-0.0155270070697,0.0699535560637,0.999999997399,-1.94654462713e-05,-4.82981245694e-05,-4.99031796136e-05,1793238128407037184
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.77216249,716,679.22783751,663.22783751,636.77216249,881.77216249,789,804.77216249,652,632,654,0.417959048568,-0.0155299946078,0.0699788593947,0.99999999848,-2.44871118444e-05,-9.89023388916e-06,-4.83992615744e-05,1793238128423704064
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.185997196,716,679.814002804,663.814002804,636.185997196,881.185997196,789,804.185997196,652,632,654,0.418707966219,-0.0155298794798,0.0699995678959,0.999999998168,-3.06702415811e-05,2.07714988317e-05,-4.78717194178e-05,1793238128440370688
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745.395899356,716,680,663.604100644,636.395899356,881,789,804,652.395899356,632.395899356,654,0.41946980407,-0.0155298063538,0.0700125790002,0.999999997583,-3.54490097353e-05,3.61263036273e-05,-4.76761854742e-05,1793238128457037056
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745.975811771,716,680,663.024188229,636.975811771,881,789,804,652.975811771,632.975811771,654,0.420237647153,-0.0155297527501,0.0700220123719,0.999999997098,-3.95750336704e-05,4.43664836377e-05,-4.76349681848e-05,1793238128473703680
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745.445060824,716,680,663,636.445060824,881,789,804.554939176,652.445060824,632.445060824,654,0.421010399557,-0.0155332381616,0.0700270450825,0.999999996276,-4.65486008134e-05,5.44854807889e-05,-4.80928337683e-05,1793238128490370304
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.13223638,716,679.86776362,663,636.13223638,881,789,805,652,632,654,0.421774234152,-0.0155359665944,0.0700240475954,0.999999996145,-5.16745034554e-05,5.11411077823e-05,-4.9241838332e-05,1793238128507037184
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745.703569741,716,679.296430259,663,636.703569741,881,789,805,652,632,654,0.422507747171,-0.0155356699548,0.0699950214893,0.999999997349,-5.02535988514e-05,2.81945132611e-06,-5.26136697619e-05,1793238128523703808
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679.285072662,663,637,881,789,804.714927338,652,632,654,0.423232998863,-0.0155345915046,0.0699501421113,0.999999994522,-5.33137667215e-05,-6.92314210862e-05,-5.76223643823e-05,1793238128540370432
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679.877541464,663,637,881,789,804.122458536,652,632,654,0.423949342254,-0.0155326700218,0.0698881680246,0.999999982131,-6.12059108252e-05,-0.000166869694059,-6.4396101202e-05,1793238128557037056
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663.459686849,637,881,789,804.459686849,652,632,654,0.424761254736,-0.0155372554716,0.06989946169,0.999999985588,-6.91736782741e-05,-0.000140729098454,-6.50761016127e-05,1793238128573703680
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.961122716,746,716,680.038877284,664,637,881,789,805,652,632,654,0.425597168082,-0.0155433316907,0.0699312099414,0.999999991746,-7.62392091482e-05,-8.14406102077e-05,-6.37477956186e-05,1793238128590370304
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.385594199,746,716,680.614405801,664,637,881,789,805,652,632,654,0.426420669268,-0.0155465839999,0.0699818014118,0.999999995859,-7.05785319173e-05,-9.75639242567e-06,-5.66134031022e-05,1793238128607036928
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.193815356,746,716,680.806184644,664,637,881,789,805,652,632,654,0.427235761996,-0.0155478898081,0.0700186772501,0.999999995607,-6.72996009292e-05,3.92970047619e-05,-5.20905792277e-05,1793238128623703296
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.781104091,746,716,680.218895909,664,637,881,789,805,652,632,654,0.428033784479,-0.0155452439367,0.0700277083685,0.999999995333,-6.88559610055e-05,4.2406555819e-05,-5.28696189402e-05,1793238128640370176
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,716,680.363409231,664,636.636590769,881.363409231,789,804.636590769,652,632,654,0.428831624284,-0.0155470797441,0.0700361200985,0.999999994125,-7.48121432502e-05,5.75463869891e-05,-5.33043052225e-05,1793238128657037056
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,680.942753127,664,636.057246873,881.942753127,789,804.057246873,652,632,654,0.429629355496,-0.0155515785268,0.0700441637926,0.999999991904,-8.33826621584e-05,7.9834507742e-05,-5.35343795638e-05,1793238128673703680
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,745.479424,716,681,664,636.520576,882,789,804.520576,652,632.520576,653.479424,0.43036724118,-0.0155500845787,0.0700164332501,0.999999994619,-8.0239807673e-05,3.46537541433e-05,-5.58786817208e-05,1793238128690370304
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745.097482082,716,680.902517918,664.097482082,637,881.902517918,789,805,652,632.902517918,653.097482082,0.431090242582,-0.0155473968614,0.0699812377228,0.999999995156,-7.53707150178e-05,-2.34242871691e-05,-5.88148432567e-05,1793238128707036928
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745.670727688,716,680.329272312,664.670727688,637,881.329272312,789,805,652,632.329272312,653.670727688,0.431772626584,-0.0155420898729,0.0699287533697,0.999999989779,-6.83449654984e-05,-0.000108342583165,-6.3508181807e-05,1793238128723703552
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680.251867569,664.748132431,636.748132431,881.251867569,789,804.748132431,652,632,653.748132431,0.432510117605,-0.0155408581297,0.0699136433305,0.999999987244,-6.79373197197e-05,-0.000129100472596,-6.5029646951e-05,1793238128740370432
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680.843661709,664.156338291,636.156338291,881.843661709,789,804.156338291,652,632,653.156338291,0.433321982338,-0.0155451264368,0.0699489745747,0.999999993137,-7.64616279054e-05,-6.32659171295e-05,-6.22702748414e-05,1793238128757037056
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680.573564711,664,636.426435289,881.573564711,789,804,652,632,653.426435289,0.434113660038,-0.0155482825293,0.0699958112959,0.999999994815,-8.21098434584e-05,1.50067923403e-05,-5.83399524053e-05,1793238128773703680
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881.005913532,789,804.005913532,652,632,653.994086468,0.434897227577,-0.0155510156766,0.070046173138,0.999999990104,-8.66348807592e-05,9.67827269933e-05,-5.4040181967e-05,1793238128790370304
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881.579934769,789,804.579934769,652,632,653.420065231,0.43559792273,-0.0155514781765,0.0700383551242,0.999999991401,-8.24563182457e-05,8.61061708003e-05,-5.46351061168e-05,1793238128807036928
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881.845800341,789,805,652,632,653.154199659,0.436290399817,-0.0155515927646,0.0700273462112,0.999999992502,-8.22114921445e-05,7.158938109e-05,-5.57954367396e-05,1793238128823703296
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881.270870521,789,805,652,632,653.729129479,0.436960454262,-0.0155507580842,0.0700076310022,0.999999992907,-9.26997728689e-05,4.65946016693e-05,-5.84984658207e-05,1793238128840370176
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881,789,804.687850608,652,632.312149392,654,0.437625756811,-0.015549675242,0.0699872380964,0.999999993359,-9.49632569817e-05,2.37221094321e-05,-6.08303876145e-05,1793238128857036800
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881,789,804.09762369,652,632.90237631,654,0.438286826107,-0.0155483713257,0.0699662414672,0.999999993981,-8.9899700422e-05,2.74025307929e-06,-6.28317092289e-05,1793238128873703680
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680.483559023,664,637,881.483559023,789,804.483559023,652,632.516440977,654,0.438890669821,-0.0155496205665,0.0699366165124,0.999999992391,-9.28367469986e-05,-4.90916463247e-05,-6.47211124326e-05,1793238128890370304
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,716,680.93747751,664,637,882,789,805,652,632.06252249,654,0.439486309426,-0.0155507930939,0.0699088366641,0.999999988165,-9.6356018686e-05,-9.98598956393e-05,-6.64363687032e-05,1793238128907036672
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,680.362016114,664,637,882,789,805,652,632.637983886,654,0.440107683651,-0.0155471851426,0.0699102227823,0.999999989354,-9.1643922379e-05,-9.17435535264e-05,-6.69048783086e-05,1793238128923703552
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680.218043267,664,636.781956733,882,789,805,652,632.781956733,654,0.440731728945,-0.0155465716964,0.0699270190875,0.999999991736,-9.08435612071e-05,-6.26112967518e-05,-6.60010495866e-05,1793238128940370176
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680.80590105,664,636.19409895,882,789,805,652,632.19409895,654,0.441360304471,-0.0155510371116,0.0699699519982,0.999999993354,-9.66777387278e-05,2.16521684734e-06,-6.27696521473e-05,1793238128957036800
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636,881.611879069,789,805,652,632,654,0.441975909869,-0.0155552809165,0.0700087897538,0.999999991336,-0.000101358095507,5.87333518517e-05,-6.00338881029e-05,1793238128973703424
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636,881.032438277,789,805,652,632,654,0.442585121843,-0.0155594154814,0.0700456088524,0.999999986594,-0.000105469689716,0.00011125526437,-5.75424406398e-05,1793238128990370048
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636.879451989,882,789.879451989,804.120548011,652,632.879451989,654,0.44357394089,-0.0155612488354,0.0700112019399,0.999999990999,-0.000112407459128,4.51433142954e-05,-5.769092031e-05,1793238129023703552
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636.305681208,882,789.305681208,804.694318792,652,632.305681208,654,0.444019306368,-0.0155627435979,0.0699759587154,0.999999991837,-0.000112571189595,-1.22959208053e-05,-5.91767959494e-05,1793238129040370176
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636,882,788.724932104,804.724932104,652,632,654,0.444449254396,-0.0155652274859,0.0699424080738,0.999999989146,-0.00011601854399,-6.68894474795e-05,-6.14236508213e-05,1793238129057037568
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,716,681,664,636,882,788.136226208,804.136226208,652,632,654,0.444861623107,-0.0155688391948,0.0699107873516,0.999999983337,-0.000123209953154,-0.000118238236137,-6.45381896285e-05,1793238129073705984
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,716,681.446579573,663.553420427,636,882,788,804.446579573,652,632,654,0.445282631806,-0.0155726655378,0.0698884620367,0.999999978184,-0.000131942717325,-0.00014708489145,-6.77492304264e-05,1793238129090371840
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,716,682,663.027304346,636,882,788,805,652,632,654,0.445703577358,-0.0155765832308,0.0698692984359,0.99999997325,-0.00014099135699,-0.000169140185378,-7.08069777453e-05,1793238129107037440
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,716,682,663.601921937,636,882,788,805,652,632,654,0.446071116342,-0.0155810367428,0.0698574148201,0.999999968507,-0.00014706986553,-0.000190860011073,-7.02095975584e-05,1793238129123704064
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,716,682,663.819580358,636,882,787.819580358,804.819580358,652,632,654,0.44642383723,-0.0155847398467,0.0698446178557,0.99999996309,-0.000150643748124,-0.000215165237303,-6.94962444935e-05,1793238129140370432
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,716,682,663.232333486,636,882,787.232333486,804.232333486,652,632,654,0.446743144829,-0.015586750859,0.0698297613884,0.99999995653,-0.000148569963044,-0.000245300265722,-6.85213849488e-05,1793238129157037312
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746,716,682.350277087,663,635.649722913,881.649722913,787,804,652,632,653.649722913,0.447049337894,-0.0155900461893,0.0698110066982,0.999999946507,-0.000152326621273,-0.000280936941558,-6.96977904648e-05,1793238129173704192
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746,716,682.929852701,663,635.070147299,881.070147299,787,804,652,632,653.070147299,0.447346945949,-0.0155941822605,0.0697897001503,0.999999933348,-0.000159900006307,-0.000320175110775,-7.22824578214e-05,1793238129190371072
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,681.834198051,663,637,881.834198051,789,804,652,632.165801949,653.165801949,0.433298929126,-0.0153841496028,0.0698272836635,0.999999946738,0.000147519398734,-0.000290676026501,1.64370662848e-05,1793238131370446080
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,681.589659496,663,636.589659496,882,789,804.410340504,652,632,653.410340504,0.432555971474,-0.0153862525197,0.0698256834892,0.999999947488,0.000145338314092,-0.000289168724142,1.67713699684e-05,1793238131387112960
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,681.015029225,663,636.015029225,882,789,804.984970775,652,632,653.984970775,0.431817807695,-0.0153905584718,0.0698285069682,0.999999951438,0.000140382856833,-0.000277697468352,1.73588108376e-05,1793238131403779584
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,636.559903191,882,789,804.440096809,652,632.559903191,654,0.431028085731,-0.0153841123373,0.0698060934262,0.999999938063,0.000154487190072,-0.000315855724614,1.55836340046e-05,1793238131420446208
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,637,882,789,804.138881204,652,633,654,0.430229968798,-0.0153782849437,0.0697799803437,0.999999921773,0.000166092053851,-0.000358716348525,1.37550262155e-05,1793238131437112576
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,663,637,882,789,804.731036536,652,633,654,0.429408972109,-0.0153754194398,0.0697440050163,0.99999990073,0.000167868581564,-0.000412574080641,1.19591277714e-05,1793238131453779200
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,716,681,663.316232022,636.683767978,881.683767978,789,804.683767978,652,633,654,0.428634539825,-0.0153782050337,0.0697509978179,0.999999905095,0.000164520726716,-0.0004031994716,1.31874635859e-05,1793238131470446080
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,663.895635427,636.104364573,881.104364573,789,804.104364573,652,633,654,0.427898858934,-0.0153856935266,0.0697937491188,0.999999929337,0.000156908310262,-0.000341202286282,1.69325968165e-05,1793238131487112704
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,716,681,663.529501053,636.470498947,881,789,804,652,633,654,0.427160303764,-0.0153870819764,0.0698367810637,0.999999949665,0.000158037960942,-0.000274322271693,2.10294499959e-05,1793238131503779584
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745.954497351,716,680.954497351,663,637,881,789,804,652,632.954497351,654,0.426417451622,-0.0153868564279,0.0698752053316,0.999999963675,0.000161650707808,-0.000214240798128,2.48821700269e-05,1793238131520446208
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745.365917033,716,680.365917033,663,637,881,789,804,652,632.365917033,654,0.425630852078,-0.0153833626068,0.0698579006994,0.999999954124,0.000171976831199,-0.000248103779705,2.48988942305e-05,1793238131537113088
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,716,680.219214632,663,636.780785368,881.219214632,789,804,652,632,654,0.424830160813,-0.0153812249626,0.0698391907828,0.999999944498,0.00017718474868,-0.000281160220689,2.3648209862e-05,1793238131553779712
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,716,680.798678995,663,636.201321005,881.798678995,789,804,652,632,654,0.424006311578,-0.0153813160118,0.0698181714677,0.999999935708,0.000173981585719,-0.000312891226406,2.031471019e-05,1793238131570446336
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.624460813,745,716,680.624460813,663,636.375539187,881.624460813,788.624460813,804,652,632.375539187,653.624460813,0.423184140895,-0.0153789960078,0.0697901483656,0.999999920229,0.000174465109826,-0.000358839132633,1.84164006235e-05,1793238131587112704
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.048987098,745,716,680.048987098,663,636.951012902,881.048987098,788.048987098,804,652,632.951012902,653.048987098,0.422362863912,-0.0153753923753,0.0697583964958,0.999999899183,0.000176911401072,-0.000412356018057,1.72821767401e-05,1793238131603779072
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.524791955,745,716,680,663,637,881.524791955,789.049583911,804.524791955,652.524791955,633,653.524791955,0.421566414494,-0.015370744149,0.0697323604162,0.999999880186,0.000181882955859,-0.000454235468262,1.47475255879e-05,1793238131620445696
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745.101621687,716,680.101621687,663,637,881.898378313,789.898378313,804.898378313,652.898378313,633,654,0.420792135505,-0.0153674083591,0.0697207152008,0.99999987137,0.000185843908509,-0.000471753846527,1.30156233238e-05,1793238131637112832
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745.693943589,716,680.693943589,663,637,881.306056411,789.306056411,804.306056411,652.306056411,633,654,0.420113756087,-0.0153708792479,0.0697759910595,0.999999911971,0.000183790401826,-0.00037686857097,1.57891456637e-05,1793238131653779968
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.720060301,716,681,663,637,881.279939699,789,804,652.279939699,633,654,0.419414789112,-0.0153740286403,0.0698269930279,0.999999940265,0.000182676287377,-0.000292743218038,2.00056322342e-05,1793238131670446592
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745.140827352,716,681,663,637,881.859172648,789,804,652.859172648,633,654,0.418693811309,-0.0153768343095,0.0698734256285,0.999999958776,0.000182566510529,-0.000220121679405,2.5764841822e-05,1793238131687113216
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745.435091473,716,681,663,637,881.564908527,789,804,652.564908527,632.564908527,653.564908527,0.417952338259,-0.0153747028144,0.069871576394,0.999999955648,0.000190260773706,-0.000227540446272,2.70098055541e-05,1793238131703780096
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.989815304,716,680.989815304,662.989815304,637,880.989815304,789,804.010184696,652,632,653.010184696,0.417204656719,-0.0153710162999,0.0698539013153,0.999999945551,0.000200294424133,-0.0002608945453,2.67201233154e-05,1793238131720446720
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.401150834,716,680.401150834,662.401150834,637,880.401150834,789,804.598849166,652,632,653.598849166,0.416478284898,-0.0153690864301,0.0698182519964,0.999999932482,0.000200815648356,-0.000306987998385,2.16279759134e-05,1793238131737113344
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745.184665777,716,680,662.184665777,637,880.184665777,789,804.815334223,652.184665777,632,654,0.41575717978,-0.0153674802681,0.0697930856674,0.999999921883,0.000201738699798,-0.000339412390927,1.82764209032e-05,1793238131753779712
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745.764390028,716,680,662.764390028,637,880.764390028,789,804.235609972,652.764390028,632,654,0.415047341668,-0.0153665666189,0.0697903457615,0.99999992043,0.000203521387561,-0.000342594351657,1.86485423952e-05,1793238131770446080
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745.659550538,716,680,662.659550538,636.659550538,881,789,804,652.659550538,632.340449462,654,0.414332931691,-0.0153656082625,0.0697807412107,0.999999912568,0.000207418076397,-0.000362649370311,1.81037293872e-05,1793238131787112960
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745.086000385,716,680,662.086000385,636.086000385,881,789,804,652.086000385,632.913999615,654,0.413615391468,-0.0153646192958,0.0697664365397,0.999999899503,0.000212762190101,-0.000394257120678,1.69311049065e-05,1793238131803779584
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,716,680,662.490046091,636.490046091,881,789,804.490046091,652.490046091,633,654,0.413000718506,-0.0153666841068,0.0697884609926,0.999999915138,0.00021423389552,-0.000351368208856,1.91824573281e-05,1793238131820446464
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767.067908701,745.067908701,716.067908701,679.932091299,663,637,881,789,804.932091299,653,633,654,0.412408986431,-0.0153689868708,0.0698180496345,0.999999933379,0.000214599616853,-0.00029445115945,2.20662074385e-05,1793238131837113600
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767.65631641,745.65631641,716.65631641,679.34368359,663,637,881,789,804.34368359,653,633,654,0.411854012794,-0.0153689847709,0.069856498537,0.999999950651,0.000211723805769,-0.000230732125728,2.51678803788e-05,1793238131853780480
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767.758507006,746,716.758507006,679,662.758507006,637,881,789,804.241492994,652.758507006,632.758507006,654,0.411277948979,-0.0153688856064,0.0698775672987,0.999999957564,0.000212450704142,-0.000197530507828,2.68073632406e-05,1793238131870447104
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767.177868171,746,716.177868171,679,662.177868171,637,881,789,804.822131829,652.177868171,632.177868171,654,0.410672266771,-0.0153686501274,0.0698742278853,0.999999954375,0.000218237145639,-0.000207186680719,2.63933881016e-05,1793238131887113216
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,679,662.395720457,637,881,789,804.604279543,652.395720457,632,654,0.410063436098,-0.015367663838,0.0698508896301,0.999999945628,0.000217148379134,-0.000247009827139,2.40049825678e-05,1793238131903779584
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,679,662.966195681,637,881,789,804.033804319,652.966195681,632,654,0.409453214973,-0.015366345982,0.0698187196528,0.999999932049,0.000213023440605,-0.00030015506102,2.07446454595e-05,1793238131920446208
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745.453320671,716,679,663,637,881,789,804,652.453320671,632,654,0.408895194908,-0.0153622265199,0.0697962400722,0.999999917944,0.000219126578956,-0.000340220135181,1.86097493936e-05,1793238131937113088
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.869807635,745,716,679,663,636.869807635,881,789,804,652.130192365,632,654,0.408358764061,-0.0153589918598,0.069781125782,0.999999907799,0.000224233606293,-0.000365829148367,1.70596513987e-05,1793238131953779968
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.277784594,745,716,679,663,636.277784594,881,789,804,652.722215406,632,654,0.407887252558,-0.015359521844,0.0697899731165,0.999999916017,0.000223521773131,-0.000343080900208,1.73325351585e-05,1793238131970446848
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.306762298,745.306762298,716,679,663,636,880.693237702,788.693237702,804,652.693237702,632,654,0.407425685723,-0.0153592871107,0.0698033433083,0.99999992432,0.000223274001478,-0.000318107875532,1.77880330184e-05,1793238131987113472
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.884700291,745.884700291,716,679,663,636,880.115299709,788.115299709,804,652.115299709,632,654,0.406972909931,-0.0153583763724,0.0698207116733,0.999999932479,0.0002234364569,-0.000291168165497,1.8404960427e-05,1793238132003779840
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745.540787871,716,679,662.540787871,636.459212129,880.459212129,788.459212129,804,652,632,654,0.406518011045,-0.015360814222,0.0698220263249,0.999999931199,0.000222338483899,-0.000296345127704,1.86246068863e-05,1793238132020446208
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745,716,679,662,637,880.966371431,788.966371431,804,652,632,654,0.406065476973,-0.0153638340903,0.0698188695977,0.999999927389,0.000220917478946,-0.000309950653292,1.86720198663e-05,1793238132037112576
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,662,637,880.379476222,788.379476222,804,652,632,654,0.40566055467,-0.0153626993678,0.0698079730963,0.999999921162,0.000219349961867,-0.000330538153847,1.75147596262e-05,1793238132053779200
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,715.794235432,679,662,637,880.205764568,788.205764568,804,652.205764568,632,654,0.405277014143,-0.0153618772438,0.0698038930088,0.999999919062,0.000218977595372,-0.000337109628164,1.67734311376e-05,1793238132070446080
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,715.212021493,679,662,637,880.787978507,788.787978507,804,652.787978507,632,654,0.404932591941,-0.0153616270234,0.0698122836546,0.99999992491,0.000220791775114,-0.000318038569489,1.67930561797e-05,1793238132087112960
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,715.365501511,679,662.365501511,637,880.634498489,789,804,653,632.365501511,654,0.404610863366,-0.0153616293495,0.0698261739975,0.999999932279,0.000224042522268,-0.000291414980553,1.801431908e-05,1793238132103779584
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,715.940337915,679,662.940337915,637,880.059662085,789,804,653,632.940337915,654,0.404302132155,-0.0153617763172,0.0698432142011,0.999999939862,0.000228116039466,-0.000260465803932,1.99238000048e-05,1793238132120446464
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880,789,804.516032897,652.483967103,632.483967103,654,0.403992452952,-0.0153607718193,0.0698479117476,0.999999940882,0.000227220304342,-0.000257311120757,1.9947686108e-05,1793238132137113088
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880,789,804.811080781,652.09445961,632,654,0.403691549827,-0.015359324806,0.0698495559583,0.999999940854,0.000226129017666,-0.00025841039486,1.954706635e-05,1793238132153779712
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880,789,803.626480354,652.686759823,632,654,0.403437478711,-0.0153562483688,0.0698426413524,0.99999993896,0.000227040143136,-0.000264965017936,1.80600255993e-05,1793238132170446080
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.27178102,663,637,880,789,803.27178102,652.72821898,632,654,0.403181685422,-0.0153525584878,0.069835555008,0.999999936122,0.000228941106492,-0.000273981662495,1.65855584674e-05,1793238132187112704
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.848631608,663,637,880,789,803.848631608,652.151368392,632,654,0.402923959039,-0.0153481800268,0.0698282758908,0.999999932155,0.000231953145957,-0.000285761883853,1.51252050965e-05,1793238132203779328
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745,716,679.576463872,663,637,880.423536128,789,804.423536128,652,632,654,0.402698749506,-0.0153464688236,0.0698249524734,0.999999928045,0.000239484944015,-0.000293829454426,1.48696049229e-05,1793238132220445952
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.002251693,663,637,880.997748307,789,804.997748307,652,632,654,0.402485108085,-0.0153457065168,0.0698230363252,0.999999923807,0.000248624678921,-0.000300576222256,1.50426044756e-05,1793238132237112576
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,662.427436354,637,880.427436354,789,803.854872708,652,632,654,0.402298449987,-0.0153458947181,0.0698207205433,0.999999922611,0.000249939220392,-0.000303433223364,1.54080349144e-05,1793238132253779712
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745.152725056,716,679.152725056,662.152725056,637,880,789,803.152725056,652,632.152725056,654,0.402119556178,-0.0153476000586,0.0698180297634,0.999999921758,0.000248491035059,-0.000307382954057,1.58806310097e-05,1793238132270446848
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745.748384188,716,679.748384188,662.748384188,637,880,789,803.748384188,652,632.748384188,654,0.401962872355,-0.015353694562,0.0698142559752,0.999999921802,0.000239119717859,-0.000314546236273,1.66618324013e-05,1793238132287113472
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745.667918641,716,680,663,637,880,788.667918641,804,652,633,654,0.401823277186,-0.0153605816671,0.0698125577993,0.999999923085,0.000229205681264,-0.000317794583528,1.73710069695e-05,1793238132303779584
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06a41e66a3a0eb7a9ad549c00a865de94585f46c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,440 @@
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+397,6.616666667,pose2_to_pose3_retreat,0.578904441508,-0.00999868359587,1.06001162423,0.549475728376,-0.00132501332041,1.05966117209
+398,6.633333333,pose2_to_pose3_retreat,0.578803177175,-0.00999880722468,1.06001157266,0.549374464068,-0.00132513771476,1.05966111006
+399,6.650000000,pose2_to_pose3_retreat,0.578713042877,-0.00999877213137,1.06001171366,0.549284330364,-0.00132510100715,1.05966124918
+400,6.666666667,pose2_to_pose3_retreat,0.578634122885,-0.00999873437209,1.06001173977,0.549205410782,-0.00132506201141,1.05966127567
+401,6.683333333,pose2_to_pose3_retreat,0.578564867215,-0.00999874961715,1.06001170663,0.549136155384,-0.00132507645267,1.05966124173
+402,6.700000000,pose2_to_pose3_retreat,0.578505214658,-0.00999881773242,1.06001181567,0.549076503272,-0.00132514333688,1.05966134699
+403,6.716666667,pose2_to_pose3_retreat,0.578454565741,-0.00999877625346,1.06001175605,0.54902585261,-0.00132510839525,1.05966127914
+404,6.733333333,pose2_to_pose3_retreat,0.578411748768,-0.00999867430736,1.06001162765,0.548983034592,-0.00132500989869,1.05966115799
+405,6.750000000,pose2_to_pose3_retreat,0.578375529899,-0.00999863336507,1.06001171586,0.548946815531,-0.00132496969285,1.05966124802
+406,6.766666667,pose2_to_pose3_retreat,0.578345246504,-0.00999868921539,1.06001187644,0.548916532829,-0.00132502351937,1.05966140376
+407,6.783333333,pose2_to_pose3_retreat,0.578321101845,-0.00999881497974,1.06001159777,0.548892389648,-0.00132514423106,1.05966112755
+408,6.800000000,pose2_to_pose3_retreat,0.578301818819,-0.00999866817076,1.06001154615,0.548873104608,-0.00132500403685,1.05966108374
+409,6.816666667,pose2_to_pose3_retreat,0.57828710643,-0.00999871162931,1.06001160669,0.548858392646,-0.00132504607436,1.05966114525
+410,6.833333333,pose2_to_pose3_retreat,0.578276195005,-0.00999874324532,1.06001159788,0.548847481814,-0.00132507569321,1.0596611371
+411,6.850000000,pose2_to_pose3_retreat,0.578268568067,-0.00999863537725,1.06001142505,0.548839854156,-0.00132497012014,1.05966096871
+412,6.866666667,pose2_to_pose3_retreat,0.578263866357,-0.00999864999566,1.06001162325,0.548835152498,-0.00132498489352,1.05966115862
+413,6.883333333,pose2_to_pose3_retreat,0.578260724988,-0.00999867146383,1.06001179964,0.548832011235,-0.00132500628351,1.05966132787
+414,6.900000000,pose2_to_pose3_retreat,0.578258797783,-0.00999871654008,1.06001185597,0.548830084757,-0.00132504882355,1.05966138606
+415,6.916666667,pose2_to_pose3_retreat,0.578257482906,-0.00999875433968,1.06001188295,0.548828770522,-0.00132508434331,1.05966141569
+416,6.933333333,pose2_to_pose3_retreat,0.578256450197,-0.00999878402763,1.06001190413,0.548827738317,-0.00132511224066,1.05966143896
+417,6.950000000,pose2_to_pose3_retreat,0.578255478562,-0.00999880125393,1.0600118677,0.548826767211,-0.00132512758539,1.05966140481
+418,6.966666667,pose2_to_pose3_retreat,0.578254709447,-0.00999879604087,1.06001173963,0.548825998611,-0.0013251205363,1.0596612791
+419,6.983333333,pose2_to_pose3_retreat,0.578254163499,-0.00999879234043,1.06001164872,0.548825453027,-0.00132511553258,1.05966118987
+420,7.000000000,pose2_to_pose3_retreat,0.578253986271,-0.00999879113918,1.0600116192,0.548825275918,-0.00132511390825,1.0596611609
+421,7.016666667,pose2_to_pose3_retreat,0.578253853179,-0.00999879023708,1.06001159704,0.548825142915,-0.00132511268844,1.05966113915
+422,7.033333333,pose2_to_pose3_retreat,0.578253657665,-0.00999878891188,1.06001156448,0.548824947531,-0.00132511089651,1.0596611072
+423,7.050000000,pose2_to_pose3_retreat,0.57825345062,-0.00999878750853,1.06001153001,0.548824740624,-0.0013251089989,1.05966107336
+424,7.066666667,pose2_to_pose3_retreat,0.578253366723,-0.00999878077851,1.06001153353,0.548824656571,-0.00132510280565,1.05966107671
+425,7.083333333,pose2_to_pose3_retreat,0.578253241689,-0.00999876613085,1.06001155189,0.548824531145,-0.00132508951034,1.05966109449
+426,7.100000000,pose2_to_pose3_retreat,0.578252987053,-0.00999873630049,1.06001158927,0.548824275713,-0.00132506243407,1.05966113071
+427,7.116666667,pose2_to_pose3_retreat,0.578252986604,-0.00999873624784,1.06001158934,0.548824275262,-0.00132506238628,1.05966113078
+428,7.133333333,pose2_to_pose3_retreat,0.578252727162,-0.00999870585443,1.06001162743,0.548824015008,-0.00132503479896,1.05966116768
+429,7.150000000,pose2_to_pose3_retreat,0.578252653604,-0.00999869723708,1.06001163823,0.548823941219,-0.0013250269772,1.05966117814
+430,7.166666667,pose2_to_pose3_retreat,0.57825263515,-0.00999869507521,1.06001164094,0.548823922707,-0.00132502501493,1.05966118077
+431,7.183333333,pose2_to_pose3_retreat,0.578252522018,-0.00999868182194,1.06001165755,0.548823809222,-0.00132501298527,1.05966119686
+432,7.200000000,pose2_to_pose3_retreat,0.578252472259,-0.00999867655379,1.06001166523,0.548823759314,-0.00132500822952,1.0596612043
+433,7.216666667,pose2_to_pose3_retreat,0.578252310747,-0.00999873507937,1.06001174073,0.548823598363,-0.00132506494288,1.05966127736
+434,7.233333333,pose2_to_pose3_retreat,0.578252307819,-0.00999873614004,1.0600117421,0.548823595446,-0.00132506597071,1.05966127868
+435,7.250000000,pose2_to_pose3_retreat,0.578252196426,-0.00999877650452,1.06001179417,0.54882348444,-0.00132510508532,1.05966132907
+436,7.266666667,pose2_to_pose3_retreat,0.57825208937,-0.00999878957193,1.06001169021,0.54882337777,-0.00132511668151,1.059661229
+437,7.283333333,pose2_to_pose3_retreat,0.57825198083,-0.00999879608217,1.06001154448,0.548823269626,-0.00132512162941,1.05966108865
+438,7.300000000,pose2_to_pose3_retreat,0.578251963781,-0.00999879710479,1.06001152158,0.548823252641,-0.00132512241977,1.05966106662
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1fe57d9e4fb8a61073938ff994d7e83480df4d47
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77744b8264684492597d914db57f3659428eb9626e349efde99980ba0fb97994
+size 28019160
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0516c079d6b6e43ddbd157dcf4cf242ee6037c30
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_04/franka_data.csv
@@ -0,0 +1,443 @@
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+21,0.350000000,BASELINE,767,745.194234254,716,679,663,636,880,789,803,652,632,653.194234254,0.40097424309,-0.0153649561852,0.0698310013629,0.99999993755,0.000216711866531,-0.00027903373979,8.69456708257e-06,1793238133506097152
+22,0.366666667,BASELINE,767,745.773591436,716,679,663,636,880,789,803,652,632,653.773591436,0.400973373705,-0.0153653871108,0.0698300203895,0.999999937106,0.000216497730913,-0.000280786737132,8.70281371997e-06,1793238133522764544
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+27,0.450000000,BASELINE,767,745.671366776,716,679,662.328633224,636.671366776,880,788.671366776,803,652,632,653.671366776,0.40097505445,-0.0153644489062,0.0698321411978,0.999999937615,0.000217790888898,-0.000277953102452,8.94128538961e-06,1793238133606097920
+28,0.466666667,BASELINE,766.742938389,745.742938389,715.742938389,678.742938389,662,637,880,788.742938389,803.257061611,652,632,654,0.40097416682,-0.0153650241796,0.0698314720777,0.999999937515,0.000216939819567,-0.000278975201397,8.98741199483e-06,1793238133622764544
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+33,0.550000000,BASELINE,767,745,716,679,663,637,880.141337534,789,803.282675067,652.858662466,632,654,0.400973576915,-0.0153634339067,0.0698313248505,0.999999937119,0.000218319508135,-0.000279325114636,8.6916403914e-06,1793238133706097408
+34,0.566666667,BASELINE,767,745,716,679,663,637,880.733710502,789,804.467421004,652.266289498,632,654,0.400972617129,-0.0153635343712,0.0698307253724,0.999999936856,0.000218030871071,-0.000280495102333,8.53640978892e-06,1793238133722764288
+35,0.583333333,BASELINE,767,745,716,679,663,637,880.686494084,789,804.686494084,652,632,654,0.400972216031,-0.0153638492737,0.0698301458326,0.999999936644,0.000217948522657,-0.0002813168789,8.49024724153e-06,1793238133739431168
+36,0.600000000,BASELINE,767,745,716,679,663,637,880.116969815,789,804.116969815,652,632,654,0.400972271174,-0.015364339293,0.0698295825748,0.999999936473,0.000218034635723,-0.000281854295919,8.53315292916e-06,1793238133756097792
+37,0.616666667,BASELINE,767,745,716,679,663,637,880,789,804,652,632,654,0.400973602434,-0.015363624793,0.0698304427077,0.999999937011,0.000218255271215,-0.000279770702704,8.454156073e-06,1793238133772764416
+38,0.633333333,BASELINE,767,745,715.954246429,679,663,636.954246429,880,788.954246429,803.954246429,652,632,654,0.400975012545,-0.0153628709902,0.0698315571181,0.999999937671,0.000218306606333,-0.000277362719801,8.37505929062e-06,1793238133789430528
+39,0.650000000,BASELINE,767,745,715.381772345,679,663,636.381772345,880,788.381772345,803.381772345,652,632,654,0.40097353333,-0.0153652487607,0.0698313635185,0.999999937707,0.000216008665891,-0.000279019106818,8.65753161641e-06,1793238133806097152
+40,0.666666667,BASELINE,767,745,715.197701849,679.197701849,663,636.197701849,880,788.197701849,803.197701849,652.197701849,632,654,0.400973348734,-0.015366652051,0.0698318166388,0.999999937884,0.000214918375745,-0.000279219348111,8.88222480869e-06,1793238133822763520
+41,0.683333333,BASELINE,767,745,715.791189766,679.791189766,663,636.791189766,880,788.791189766,803.791189766,652.791189766,632,654,0.400975755878,-0.0153661044959,0.06983356445,0.999999938351,0.000216245722033,-0.00027650448155,8.99124796725e-06,1793238133839430400
+42,0.700000000,BASELINE,767,745,716,679.624481851,663,636.624481851,880.375518149,789,804,653,632,654,0.400976313111,-0.0153658703889,0.0698333380747,0.999999938448,0.000216441350382,-0.000276003848234,8.94229617791e-06,1793238133856097536
+43,0.716666667,BASELINE,767,745,716,679.045125455,663,636.045125455,880.954874545,789,804,653,632,654,0.400975866177,-0.0153658064275,0.0698320400741,0.999999938345,0.000216022661106,-0.000276705142066,8.80759264002e-06,1793238133872764672
+44,0.733333333,BASELINE,767,745,716,679,663,636.530439812,879.939120377,789,804,652.469560188,632,654,0.400974174514,-0.0153655544103,0.0698311976274,0.999999937474,0.000216918154879,-0.000279149215648,8.59023202903e-06,1793238133889431808
+45,0.750000000,BASELINE,767,745,716,679,663,637,879.107917366,789,804,652.107917366,632,654,0.400972981173,-0.0153653979482,0.069830758689,0.99999993683,0.000217770963751,-0.00028079027047,8.47329435167e-06,1793238133906098688
+46,0.766666667,BASELINE,767,745,716,679,663,637,879.695313876,789,804,652.695313876,632,654,0.40097446903,-0.0153657366161,0.069831941581,0.999999937512,0.000217940918185,-0.00027820944141,8.83355861764e-06,1793238133922764544
+47,0.783333333,BASELINE,767,745,716.278784574,679,663,636.721215426,880,789.278784574,803.721215426,652.721215426,632,653.721215426,0.400974693433,-0.0153662650947,0.0698319742449,0.999999937587,0.000217810183041,-0.000278036708527,8.93434271596e-06,1793238133939430912
+48,0.800000000,BASELINE,767,745,716.858024367,679,663,636.141975633,880,789.858024367,803.141975633,652.141975633,632,653.141975633,0.400973556172,-0.0153669981386,0.0698307672707,0.999999937011,0.000217355384962,-0.000280459259047,8.75547662682e-06,1793238133956097280
+49,0.816666667,BASELINE,766.565046343,745,716.130092686,679,662.565046343,636.434953657,880,789.130092686,803,652.434953657,632,653.434953657,0.400973991254,-0.015366268994,0.0698307835741,0.999999937054,0.000217658132389,-0.000280076319397,8.5812150727e-06,1793238133972763904
+50,0.833333333,BASELINE,766.011328983,745,715,679,662,637,880.022657966,788.011328983,803.011328983,652.988671017,632,654,0.400974915261,-0.0153650762282,0.0698311978331,0.999999937287,0.000218227029688,-0.000278804571647,8.41380633241e-06,1793238133989430528
+51,0.850000000,BASELINE,766.597666116,745,715,679,662,637,881.195332231,788.597666116,803.597666116,652.402333884,632,654,0.400974742927,-0.0153644487656,0.0698316511116,0.999999936979,0.000219820268233,-0.0002786549546,8.51833301629e-06,1793238134006097664
+52,0.866666667,BASELINE,766.818087471,745,715.181912529,679,662.181912529,637,881.636174943,789,804,652,632,654,0.400974381701,-0.0153644613354,0.0698318004367,0.999999936783,0.000220521556772,-0.000278799923671,8.70799601518e-06,1793238134022764800
+53,0.883333333,BASELINE,766.238412574,745,715.761587426,679,662.761587426,637,880.476825147,789,804,652,632,654,0.400973607449,-0.0153658733735,0.0698312851498,0.999999936834,0.000219272544431,-0.00027958902251,9.08381453321e-06,1793238134039431168
+54,0.900000000,BASELINE,766,745,716,679,663,636.658862923,880,789,803.658862923,652.341137077,632,654,0.400973848296,-0.0153659418864,0.0698315354427,0.999999937166,0.00021822392296,-0.000279225564474,8.88191929131e-06,1793238134056097536
+55,0.916666667,BASELINE,766,745,716,679,663,636.079400796,880,789,803.079400796,652.920599204,632,654,0.40097479831,-0.0153650717862,0.0698323205847,0.999999937695,0.000217315298531,-0.000278056907579,8.2764218759e-06,1793238134072763904
+56,0.933333333,BASELINE,766.495641223,745,716,679,663,636.495641223,880,789,803.495641223,653,632,654,0.400975065474,-0.01536465296,0.0698324329907,0.9999999378,0.000217436303853,-0.00027758134723,8.39068430555e-06,1793238134089430528
+57,0.950000000,BASELINE,767,745,716,679,663,637,880,789,803.928337503,653,632.071662497,654,0.400975008641,-0.0153644497709,0.0698322244571,0.999999937783,0.000217494877794,-0.00027758966034,8.56414835724e-06,1793238134106097152
+58,0.966666667,BASELINE,767,745,716,679,663,637,880,789,803.340200852,653,632.659799148,654,0.400973398165,-0.0153652842718,0.0698304727442,0.999999937372,0.00021592525131,-0.000280292122917,8.34062449941e-06,1793238134122763776
+59,0.983333333,BASELINE,767,745,716,679,663,636.755820851,879.755820851,788.755820851,803.244179149,652.755820851,632.755820851,654,0.400972839516,-0.0153661341081,0.0698298029589,0.999999937319,0.000214885504009,-0.000281276483957,8.40496267171e-06,1793238134139430656
+60,1.000000000,BASELINE,767,745,716,679,663,636.17659539,879.17659539,788.17659539,803.82340461,652.17659539,632.17659539,654,0.400973724112,-0.0153670049869,0.0698306177221,0.999999937767,0.00021457282129,-0.000279903381266,8.86428585399e-06,1793238134156097280
+61,1.016666667,BASELINE,766.598612799,745.401387201,716,679.401387201,662.598612799,636.401387201,879.401387201,788.401387201,804,652.401387201,632,654,0.400974952038,-0.0153670948361,0.0698319441242,0.999999938423,0.00021465391916,-0.000277484815412,8.93060243557e-06,1793238134172763904
+62,1.033333333,BASELINE,766.02117537,745.97882463,716,679.97882463,662.02117537,636.97882463,879.97882463,788.97882463,804,652.97882463,632,654,0.400976330549,-0.0153668421221,0.0698334949333,0.999999939164,0.000214907730982,-0.000274607704805,8.82454453109e-06,1793238134189430528
+63,1.050000000,BASELINE,766.552620975,745.447379025,716,679.447379025,662.552620975,637,880,789,803.447379025,652.447379025,632,654,0.40097538068,-0.0153663723108,0.0698325339756,0.999999938426,0.000215705409145,-0.000276658148342,8.92553704756e-06,1793238134206097408
+64,1.066666667,BASELINE,767,745,716,679,663,637,879.86993106,788.86993106,803.13006894,652,632,654,0.400974305485,-0.0153658445118,0.0698315194465,0.999999937693,0.000216484550718,-0.000278688939514,8.95375771556e-06,1793238134222763776
+65,1.083333333,BASELINE,767,745,716,679,663,637,879.279055151,788.279055151,803.720944849,652,632,654,0.4009731003,-0.0153651405534,0.0698306538731,0.999999937195,0.00021712467284,-0.000279985555206,8.69623927373e-06,1793238134239430656
+66,1.100000000,BASELINE,767,745,715.707239913,679,663.292760087,636.707239913,879.292760087,788.292760087,804,652,632.292760087,653.707239913,0.400973460929,-0.0153654045397,0.0698308232285,0.999999937225,0.00021737242657,-0.000279681983623,8.74095652834e-06,1793238134256097280
+67,1.116666667,BASELINE,767,745,715.152482513,679,663.847517487,636.152482513,879.847517487,788.847517487,804,652,632.847517487,653.152482513,0.400975222838,-0.0153665347606,0.0698319187639,0.999999937729,0.000217269041331,-0.000277946369873,9.05615103804e-06,1793238134272763904
+68,1.133333333,BASELINE,767,745,715.436512012,679,663.126975975,636.436512012,880,789,803.563487988,652,632.563487988,653.436512012,0.400975144178,-0.0153667704459,0.0698322307313,0.999999938251,0.000215452544723,-0.000277482953271,9.05795880033e-06,1793238134289430528
+69,1.150000000,BASELINE,767,745,716,679.037503606,662.075007213,637,880,788.962496394,803.037503606,652.037503606,632,654,0.400974332916,-0.0153666404804,0.0698321820302,0.999999938677,0.000213280487348,-0.0002776292139,8.9409027923e-06,1793238134306097664
+70,1.166666667,BASELINE,767,745,716,679.62413745,663.248274901,637,880,788.37586255,803.62413745,652.62413745,632,654,0.400973010158,-0.0153661213779,0.0698312012637,0.999999937661,0.000215410198729,-0.000279641608855,8.82275822462e-06,1793238134322764288
+71,1.183333333,BASELINE,766.791811267,745,716,679.791811267,663.791811267,636.791811267,880,788.208188733,804,652.791811267,632,654,0.400973293243,-0.015365549631,0.069831305014,0.999999937339,0.000217284064655,-0.000279342674489,8.79485081145e-06,1793238134339430912
+72,1.200000000,BASELINE,766.212365298,745,716,679.212365298,663.212365298,636.212365298,880,788.787634702,804,652.212365298,632,654,0.400976439985,-0.0153648840047,0.0698333427532,0.999999938254,0.000218701688778,-0.000274922010491,8.92786081262e-06,1793238134356097792
+73,1.216666667,BASELINE,766.363450151,745,716,679,663,636.363450151,880,789,803.636549849,652.363450151,632.363450151,654,0.40097696912,-0.0153652047402,0.069833680325,0.999999938374,0.000218494316163,-0.000274653892271,8.8345754372e-06,1793238134372764160
+74,1.233333333,BASELINE,766.93716522,745,716,679,663,636.93716522,880,789,803.06283478,652.93716522,632.93716522,654,0.400975983902,-0.0153660961106,0.0698330343077,0.999999938037,0.00021734684259,-0.000276788124929,8.61037257186e-06,1793238134389430528
+75,1.250000000,BASELINE,767,745,716,679.514864126,662.485135874,637,880,789,803.514864126,652.485135874,632.485135874,654,0.400975445053,-0.0153655852696,0.0698326158086,0.999999937485,0.00021936201295,-0.000277191805698,8.70511942183e-06,1793238134406097152
+76,1.266666667,BASELINE,767,745,716,679.905047846,662.094952154,637,880,788.905047846,804.094952154,652,632,654,0.400975158124,-0.0153651313763,0.0698323642045,0.99999993717,0.000220761308484,-0.000277215354489,8.77661442187e-06,1793238134422763776
+77,1.283333333,BASELINE,767,745,716,679.315058592,662.684941408,637,880,788.315058592,804.684941408,652,632,654,0.400975898361,-0.0153658735225,0.0698328368231,0.999999938247,0.000216921731981,-0.000276366750944,8.52236476353e-06,1793238134439430656
+78,1.300000000,BASELINE,767,745,716,679,663,637,880,788.267646574,804.732353426,652,632,654,0.400975412392,-0.0153661782316,0.0698327337214,0.999999938464,0.000215340028842,-0.000276816774564,8.51419083198e-06,1793238134456097280
+79,1.316666667,BASELINE,767,745,716,679,663,637,880,788.842004454,804.157995546,652,632,654,0.400973521244,-0.0153659816569,0.0698319708692,0.999999937706,0.000216345750415,-0.000278754968366,8.78800897364e-06,1793238134472763904
+80,1.333333333,BASELINE,766.57962727,745,716,679,663,637,880,788.57962727,804,652.42037273,632,654,0.400973604104,-0.0153649756665,0.0698323634369,0.999999937559,0.000217939619115,-0.000278046645054,8.65907521325e-06,1793238134489430784
+81,1.350000000,BASELINE,766.000259839,745,716,679,663,637,880,788.000259839,804.000259839,653,632,654,0.400974435694,-0.01536366381,0.0698331940227,0.999999937638,0.000219754646302,-0.000276335101018,8.37746478305e-06,1793238134506097664
+82,1.366666667,BASELINE,766.573477188,745,716,679,663,637,880,788.573477188,804.573477188,653,632,654,0.400974519418,-0.0153651746229,0.0698330874097,0.999999938053,0.000217107155296,-0.000276925463988,8.43586446054e-06,1793238134522764032
+83,1.383333333,BASELINE,767,745,716,679,663,637,880,789,804.848005231,653,632,654,0.400974818897,-0.0153661140348,0.0698330729107,0.999999938344,0.000215624920657,-0.000277028548105,8.51082871326e-06,1793238134539430656
+84,1.400000000,BASELINE,767,745,716,679,663,637,880,789,804.254076778,653,632,654,0.400975745694,-0.0153653920651,0.069833326239,0.999999938294,0.00021753073646,-0.000275714840601,8.63395545138e-06,1793238134556097280
+85,1.416666667,BASELINE,767,745,716,679,663,637,880,789,803.669985088,652.669985088,632,654.330014912,0.400976273497,-0.0153652275401,0.0698336463807,0.999999938303,0.00021788206206,-0.000275399232954,8.71181090928e-06,1793238134572764160
+86,1.433333333,BASELINE,767,745,716,679,663,637,880,789,803.093247502,652.093247502,632,654.906752498,0.400976503007,-0.0153654797666,0.0698340164727,0.999999938361,0.000217071234064,-0.000275829815503,8.75582106704e-06,1793238134589431040
+87,1.450000000,BASELINE,767,745,716,679,663,637,880,789,803.47847697,652,632.47847697,654.52152303,0.400976313857,-0.015366148479,0.069833584684,0.999999938532,0.000216290371068,-0.000275819781474,8.82458155084e-06,1793238134606097664
+88,1.466666667,BASELINE,767.051032312,745,716,679,662.948967688,637,880,789,804,652,633,654,0.400975974122,-0.0153666985996,0.0698330214604,0.99999993866,0.00021575321496,-0.00027577598176,8.87034119066e-06,1793238134622764288
+89,1.483333333,BASELINE,767.642630197,745,716,679,662.357369803,637,880,789,804,652,633,654,0.400974894588,-0.0153651416731,0.0698327041812,0.999999938094,0.000217736335456,-0.000276274662515,8.62189867911e-06,1793238134639430912
+90,1.500000000,BASELINE,767.7705558,745,716,679,662.2294442,637,880.2294442,788.7705558,803.7705558,652.2294442,632.7705558,654,0.400974668714,-0.0153644719507,0.069832677137,0.999999937792,0.000219156467024,-0.000276246028728,8.5819800411e-06,1793238134656097280
+91,1.516666667,BASELINE,767.191040784,745,716,679,662.808959216,637,880.808959216,788.191040784,803.191040784,652.808959216,632.191040784,654,0.400975745299,-0.015365155866,0.069833092914,0.999999937897,0.000219717627064,-0.000275412853174,8.86021338876e-06,1793238134672763904
+92,1.533333333,BASELINE,767,745,716,679,663,637,880.613640245,788.386359755,803.386359755,653,632,654,0.400975968185,-0.0153659696258,0.0698330839887,0.999999937996,0.000218613506704,-0.000275927196981,8.94267486362e-06,1793238134689430528
+93,1.550000000,BASELINE,767,745,716,679,663,637,880.037279497,788.962720503,803.962720503,653,632,654,0.400975771246,-0.0153668472395,0.0698328662065,0.999999938089,0.000216690447754,-0.0002771042133,8.92886119484e-06,1793238134706097152
+94,1.566666667,BASELINE,767,745,716,679,663,637,879.460875233,788.460875233,804,653,632,654,0.400975658731,-0.015367508659,0.0698334872778,0.999999938385,0.000216747687863,-0.000275986325468,9.02572250378e-06,1793238134722763776
+95,1.583333333,BASELINE,766.881998541,745,716,679,663,636.881998541,879.118001459,788,803.881998541,653,632.118001459,654,0.400975380129,-0.0153677355722,0.0698338379476,0.999999938582,0.000216734818064,-0.000275282304901,9.01274212481e-06,1793238134739430656
+96,1.600000000,BASELINE,766.293270775,745,716,679,663,636.293270775,879.706729225,788,803.293270775,653,632.706729225,654,0.400974415685,-0.0153662888125,0.0698328785332,0.999999938332,0.000215895973346,-0.000276862349477,8.53105470162e-06,1793238134756097280
+97,1.616666667,BASELINE,766.290933842,745,716,679,663,636.290933842,879.709066158,788.290933842,803,652.709066158,633,654,0.400974580994,-0.015365902582,0.0698324923068,0.999999938201,0.000216081974385,-0.000277192997031,8.40004140241e-06,1793238134772763648
+98,1.633333333,BASELINE,766.870648742,745,716,679,663,636.870648742,879.129351258,788.870648742,803,652.129351258,633,654,0.400975867697,-0.0153665690335,0.069832675027,0.99999993819,0.000217285237824,-0.000276283492461,8.61710742122e-06,1793238134789430272
+99,1.650000000,BASELINE,767,745,716,679,662.55245824,637,879,789,803.44754176,652,632.55245824,654,0.400974897589,-0.0153662549867,0.0698318261161,0.999999937525,0.000218427332619,-0.000277788406008,8.6073098756e-06,1793238134806096896
+100,1.666666667,BASELINE,766.975962549,745,716,679,662.024037451,637,879.048074903,789,804,652.024037451,632,654,0.400973374223,-0.015365687053,0.0698307796168,0.999999936743,0.000219418121232,-0.000279814981568,8.54420197461e-06,1793238134822763776
+101,1.683333333,BASELINE,766.389804794,745,716,679,662.610195206,637,880.220390413,789,804,652.610195206,632,654,0.400974070859,-0.0153657675186,0.0698320415091,0.999999937763,0.000217281430879,-0.000277824089578,8.75816865921e-06,1793238134839430400
+102,1.700000000,BASELINE,766.194035645,745,716,679,663,637,880.805964355,789,803.805964355,652.805964355,632,654,0.40097428239,-0.0153660479731,0.0698325282187,0.999999938338,0.000215768715385,-0.000276927157392,8.85778991027e-06,1793238134856097024
+103,1.716666667,BASELINE,766.77327562,745,716,679,663,637,880.22672438,789,803.22672438,652.22672438,632,654,0.400973530879,-0.0153667254507,0.0698314760162,0.999999938045,0.000215494730372,-0.00027820198133,8.73040977162e-06,1793238134872763648
+104,1.733333333,BASELINE,767,745,716,679,663,637,880.351731511,789,803.351731511,652.351731511,632.351731511,654,0.400973938963,-0.015367041564,0.0698318626339,0.999999937936,0.000216390080528,-0.000277894501858,8.7941249917e-06,1793238134889430272
+105,1.750000000,BASELINE,767,745,716,679,663,637,880.929683166,789,803.929683166,652.929683166,632.929683166,654,0.400975092854,-0.0153671252619,0.0698331746451,0.999999937944,0.000218037501949,-0.000276569345971,8.98074536528e-06,1793238134906096896
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,788,803,653,632,654,0.400973636065,-0.015367168845,0.0698313163179,0.999999937301,0.000217576936798,-0.000279262484251,8.37775848404e-06,1793238134938460416
+107,1.783333333,POSE1_TO_POSE2_PRESS,766.381188237,745,716,679.618811763,663,637,879.381188237,788.618811763,803,652.381188237,632,654,0.400975657064,-0.0153667073606,0.0698328474145,0.999999938523,0.000216225680208,-0.000275917650396,8.40151345749e-06,1793238134955127040
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.222354925,745,716,679.777645075,663,637,879,788.777645075,803.222354925,652,632,654,0.400976308293,-0.0153655884599,0.0698334073327,0.999999938692,0.000216998223609,-0.000274692004838,8.43043491924e-06,1793238134971793920
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.801404763,745,716,679.198595237,663,637,879,788.198595237,803.801404763,652,632,654,0.400974762179,-0.0153634149518,0.0698324093168,0.999999937177,0.000221177701247,-0.000276865895271,8.46764430591e-06,1793238134988460544
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.621434335,745.378565665,716,679,662.621434335,636.621434335,879.378565665,788,804.378565665,652,632.378565665,654,0.400974158182,-0.0153638962855,0.0698318781445,0.99999993715,0.000220248896445,-0.000277707813691,8.342690631e-06,1793238135005127168
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.045259481,745.954740519,716,679,662.045259481,636.045259481,879.954740519,788,804.954740519,652,632.954740519,654,0.400974045965,-0.015365763432,0.069831590662,0.999999937896,0.000216653596157,-0.000277854449941,8.1330887308e-06,1793238135021793792
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.540401843,745.459598157,716,679,662,636.540401843,880,788.540401843,803.919196314,652,632.459598157,654,0.400974665039,-0.0153654199904,0.0698327478392,0.999999937825,0.000218014180972,-0.000277033430458,8.55451579079e-06,1793238135038460416
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,716,679,662,636.874636825,880,789,803,652.125363175,632,654,0.400974987787,-0.0153651725868,0.0698333940776,0.999999937709,0.000218947576954,-0.000276706699256,8.83397713255e-06,1793238135055127040
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,716,679,662,636.295140825,880,789,803,652.704859175,632,654,0.400974011249,-0.015365955746,0.0698317432889,0.99999993769,0.000216803017779,-0.000278469371812,8.4042916178e-06,1793238135071793664
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,716,679,662.284347172,636.284347172,880,789,803.284347172,652.715652828,632,654,0.400973352132,-0.0153662164698,0.0698311406841,0.999999937402,0.000216658524891,-0.000279622000019,8.17156462859e-06,1793238135088460544
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,716,679,662.863826827,636.863826827,880,789,803.863826827,652.136173173,632,654,0.400973022474,-0.0153659349422,0.069831626021,0.999999936836,0.00021858996109,-0.000280141444739,8.14326684359e-06,1793238135105127168
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,716,679.439891721,663,636.560108279,880,788.560108279,804,652,632,654,0.400980079354,-0.0153660051839,0.0698349019131,0.999999938216,0.000219036818242,-0.000274807668127,8.49237138043e-06,1793238135121793536
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,716,679.984775251,663,636.015224749,880,788.015224749,804,652.015224749,632,654,0.400989977133,-0.0153662403824,0.0698393176298,0.999999940282,0.000219005630279,-0.000267191429425,8.98575569544e-06,1793238135138460416
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,716,679.397531151,663,636.602468849,880,788.602468849,804,652.602468849,632,654,0.401021363301,-0.0153686134743,0.0698543523141,0.99999994702,0.000218147194858,-0.000241372029276,1.05443253705e-05,1793238135155127040
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,716,679,662.81336021,637,880,789,804,652.81336021,632,654,0.401060048257,-0.0153711286343,0.0698713981031,0.999999953859,0.000217168434559,-0.000212071837611,1.20388370653e-05,1793238135171793664
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,716,679,662.235628769,637,880,789,804,652.235628769,632,654,0.401114027361,-0.0153739414893,0.0698926580352,0.999999961199,0.000215937541134,-0.000175477866925,1.33991196828e-05,1793238135188460288
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,716,679,662,637,880,789,804,652,632,654,0.401170654655,-0.0153770636078,0.069908634751,0.999999965577,0.000213872330813,-0.000151329210449,1.42769289371e-05,1793238135205127168
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,716,679,662,637,880,789,804,652,632,654,0.401229105928,-0.0153803987363,0.0699209725651,0.999999968366,0.000211232471444,-0.000135752467166,1.48224268041e-05,1793238135221793792
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,716,679,662.495667966,636.504332034,880,789,803.504332034,652,632,654,0.401294044477,-0.0153827409543,0.0699258344062,0.999999969198,0.000211663864395,-0.000128860251357,1.40226682706e-05,1793238135238460416
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.07186605,880,789,803.07186605,652,632,654,0.40136223023,-0.0153852290156,0.0699292667426,0.999999969761,0.000212152257629,-0.00012370062305,1.29437335345e-05,1793238135255127040
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.66273668,880,789,803.66273668,652,632,654,0.40144644716,-0.0153899059392,0.0699309258113,0.999999970647,0.00020953966254,-0.000121120834415,1.13872238058e-05,1793238135271793920
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.751429927,880,789,804,652.248570073,632,654,0.401540093993,-0.0153939075279,0.0699332447563,0.999999971242,0.000208810970981,-0.000117573390166,9.54826755953e-06,1793238135288460544
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.17229542,880,789,804,652.82770458,632,654,0.401646281309,-0.0153970110128,0.069936441247,0.999999971444,0.000210587615427,-0.000112739095599,7.33369593487e-06,1793238135305127168
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.40447569,716,679,663,636.40447569,880,789,804,652.59552431,632,654,0.401766490066,-0.015403157496,0.0699380219102,0.99999997295,0.000205697045054,-0.000108463836888,4.94581830716e-06,1793238135321793792
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.980245956,716,679,663,636.980245956,880,789,804,652.019754044,632,654,0.401892636882,-0.0154105926825,0.0699389182742,0.999999974946,0.000197982923839,-0.000104425328227,2.48454577445e-06,1793238135338460672
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,716,679,662.433939479,637,880,789,804,652.566060521,632,654,0.402039804722,-0.0154155717796,0.0699422463297,0.999999976664,0.000192034805585,-9.89703439821e-05,-4.76954751451e-07,1793238135355127040
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,679.150529464,662.150529464,637,880,789,804,652.849470536,632,654,0.402196177434,-0.0154215711081,0.0699448205847,0.999999978383,0.000185159180492,-9.45287130099e-05,-3.72922889624e-06,1793238135371793664
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,679.730145612,662.730145612,637,880,789,804,652.269854388,632,654,0.402376659961,-0.0154307273586,0.0699449998563,0.999999980241,0.000175460832969,-9.31191109623e-05,-7.75969925504e-06,1793238135388460288
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.691983772,716,679.691983772,663,637,880,789,804,652,632,654,0.402572957788,-0.0154396169053,0.0699478160274,0.999999982749,0.000163999489749,-8.64190355888e-05,-1.1749823357e-05,1793238135405127424
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.115633841,716,679.115633841,663,637,880,789,804,652,632,654,0.402783033377,-0.0154482741078,0.0699529293796,0.999999985655,0.000151002282663,-7.51100722701e-05,-1.57047988704e-05,1793238135421795328
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804,652,632,654,0.403019924222,-0.0154593868955,0.0699591701054,0.999999993128,9.7401148734e-05,-6.22526827695e-05,-1.95245543382e-05,1793238135438461184
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.037567229,716,679,663,637,880,789,804,652,632,654,0.403264777826,-0.0154710867744,0.069965568852,0.999999997808,3.73471406566e-05,-4.94536863031e-05,-2.33092430951e-05,1793238135455127296
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.626804383,716,679,663,637,880,789,804,652,632,654,0.403527730209,-0.0154823574293,0.0699701329362,0.999999998181,3.21879917005e-05,-4.32192424353e-05,-2.70773658827e-05,1793238135471794176
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,789,804,652.212470303,632,654,0.403805617898,-0.0154938028288,0.0699728292805,0.999999998464,2.1114552128e-05,-4.06430474508e-05,-3.1216212186e-05,1793238135488460800
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,789,804,652.791967124,632,654,0.404109305182,-0.0155055500851,0.0699722992438,0.999999998367,-1.75380512144e-07,-4.43862037611e-05,-3.59954551691e-05,1793238135505127424
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,716,679.369142735,663,637,880,789,804,652.630857265,632,654,0.40443454337,-0.0155140217357,0.0699763179783,0.999999998894,7.50187672603e-06,-3.66295275604e-05,-2.85475046666e-05,1793238135521793792
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,716,679.945018441,663,637,880,789,804,652.054981559,632,654,0.404771850854,-0.0155206589325,0.0699828841854,0.999999999154,3.14017814678e-05,-2.24325392885e-05,-1.42518943573e-05,1793238135538460416
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745.482431007,716,679.482431007,663,637,880,789,804,652.517568993,632,654,0.40513617924,-0.0155149169317,0.0699888676904,0.99999999925,3.21621853526e-05,-1.15615990605e-05,-1.82309450915e-05,1793238135555127040
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.09306277,716,679,663,637,880,789,804,652.90693723,632,654,0.405504828555,-0.015506379147,0.0699926480666,0.99999999916,3.29443730035e-05,-4.60041314004e-06,-2.39422725994e-05,1793238135571793920
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.686260362,716,679,663,637,880,789,804,652.313739638,632,654,0.405881371642,-0.0154898385183,0.0699849190049,0.999999998348,4.69696379992e-05,-1.67641748745e-05,-2.8596744764e-05,1793238135588460544
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,789,804,652.272680121,632.272680121,654,0.406279583269,-0.0154859671029,0.0699740119923,0.999999997773,4.76495182408e-05,-3.42642721113e-05,-3.17811206542e-05,1793238135605127168
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,789,804,652.85149056,632.85149056,654,0.406702121535,-0.0154963190588,0.0699595371841,0.999999997221,3.33469087298e-05,-5.77553227017e-05,-3.33150604312e-05,1793238135621794048
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.426473322,789,804,652.573526678,632.573526678,654,0.407156850369,-0.0155064403471,0.0699537314547,0.999999997274,2.13666022032e-05,-6.17184312503e-05,-3.44427439272e-05,1793238135638460928
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.999861123,716,679,663,637,880.999861123,789,804,652,632,654,0.407622699166,-0.0155164797015,0.0699509214638,0.999999997584,1.01902587156e-05,-5.89369664281e-05,-3.54300666504e-05,1793238135655127296
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.409847809,716,679,663,637,880.409847809,789,804,652,632,654,0.408131309862,-0.0155166492546,0.0699641930659,0.999999998692,9.49759420233e-06,-3.52989350649e-05,-3.57809180942e-05,1793238135671793920
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.176759166,716,679,663,637,880.176759166,789,804,652.176759166,632.176759166,654,0.408649623458,-0.0155157926992,0.0699742517982,0.999999999168,1.0074225186e-05,-1.55928909567e-05,-3.63185308628e-05,1793238135688460544
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745.755617183,716,679,663,637,880.755617183,789,804,652.755617183,632.755617183,654,0.409190009528,-0.0155126019113,0.0699770017631,0.999999999202,1.35383006573e-05,-4.83149266618e-06,-3.72809957826e-05,1793238135705127168
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745.666864627,716,679,663,637,881,788.666864627,803.666864627,652.666864627,632.666864627,654,0.409734798537,-0.0155083983216,0.0699709937619,0.999999999006,1.71738394222e-05,-1.26303625962e-05,-3.91481443618e-05,1793238135721794048
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745.090325317,716,679,663,637,881,788.090325317,803.090325317,652.090325317,632.090325317,654,0.410282804588,-0.0155034547321,0.0699585867904,0.999999998335,2.09346574648e-05,-3.39902121388e-05,-4.16762962821e-05,1793238135738460672
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,881,788.494223865,803.494223865,652.494223865,632,654,0.410851135562,-0.0155061312818,0.0699579377685,0.999999998281,1.61733169674e-05,-3.6977437697e-05,-4.25235694996e-05,1793238135755127808
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.920616656,745,716,679,663,636.920616656,880.920616656,789,803.920616656,652.920616656,632,654,0.411434323599,-0.0155105096431,0.0699626660513,0.999999998581,9.85578766423e-06,-3.03505377879e-05,-4.26586849249e-05,1793238135771795200
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.34098799,745,716,679,663,636.34098799,880.34098799,789,803.34098799,652.34098799,632,654,0.412087341917,-0.0155166915186,0.0699875154606,0.999999999064,3.70837543792e-06,1.53527892099e-05,-4.02737975837e-05,1793238135788461568
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.237120161,745.237120161,716,679.237120161,663,636,880.237120161,789,803.237120161,652,632,654,0.412747746509,-0.0155214967006,0.0700116209818,0.99999999771,-6.28463571947e-07,5.56165892125e-05,-3.85571965597e-05,1793238135805127680
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.813055652,745.813055652,716,679.813055652,663,636,880.813055652,789,803.813055652,652,632,654,0.413418705133,-0.0155243347579,0.0700346635776,0.999999995401,-2.37821742254e-06,8.81079764112e-05,-3.77954940883e-05,1793238135821794048
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.390818454,880.609181546,789,803.609181546,652,632,654,0.414080983885,-0.0155250087714,0.0700314605312,0.999999996306,-8.10719407977e-06,7.62710787754e-05,-3.88062692174e-05,1793238135838460416
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.969459423,880.030540577,789,803.030540577,652,632,654,0.414739091179,-0.0155246427723,0.0700156441533,0.999999998119,-1.5748535942e-05,4.3130554766e-05,-4.06688751546e-05,1793238135855127040
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745.443923925,715.443923925,679.443923925,663,637,880,789,803.556076075,652,632,654,0.415367583798,-0.015521195228,0.0699691495973,0.999999998372,-1.47130012292e-05,-2.95077921658e-05,-4.65785768198e-05,1793238135871793664
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,715.141211644,679,663,637,880.141211644,789,804,652.141211644,632,654,0.416020876818,-0.0155193763282,0.0699344920669,0.999999995192,-1.43956653589e-05,-8.24279435268e-05,-5.11343085288e-05,1793238135888460544
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745,715.720375393,679,663,637,880.720375393,789,804,652.720375393,632,654,0.416756203148,-0.0155231410144,0.0699418473045,0.999999996282,-1.78052094059e-05,-6.73686174778e-05,-5.07914678553e-05,1793238135905127168
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,881.298635503,789,804,652.701364497,632,654,0.417505200224,-0.0155261427533,0.0699617639668,0.999999997905,-2.23504596478e-05,-3.48566528072e-05,-4.97469556227e-05,1793238135921794304
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,881.876052121,789,804,652.123947879,632,654,0.41826695925,-0.0155284322688,0.0699934069249,0.999999998358,-2.79559105098e-05,1.39476365511e-05,-4.80474214198e-05,1793238135938461184
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,716,679.449328913,663,637,881.550671087,789,804,652,632,653.550671087,0.419032451593,-0.0155287393568,0.0700051139931,0.999999998042,-3.15144123652e-05,2.55684510071e-05,-4.76356398303e-05,1793238135955127552
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.977749439,745,715.977749439,680,663,637,880.977749439,789,804,652,632,653,0.419799022983,-0.0155286560284,0.0700115207945,0.999999997878,-3.47773220287e-05,2.77077991549e-05,-4.76056506863e-05,1793238135971794176
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.38491713,745,715.38491713,680,663,637,880.38491713,789,804,652,632,653,0.420567098579,-0.0155324563051,0.0700217450433,0.999999996707,-4.48077062933e-05,4.73359215502e-05,-4.83400268545e-05,1793238135988460544
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.203173811,745.203173811,715.203173811,679.796826189,663,637,880.203173811,789,804,652,631.796826189,653.203173811,0.421333786171,-0.0155358084974,0.0700264979178,0.999999995946,-5.11537478346e-05,5.55948021089e-05,-4.89989473377e-05,1793238136005127168
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.782486937,745.782486937,715.782486937,679.217513063,663,637,880.782486937,789,804,652,631.217513063,653.782486937,0.42209790408,-0.0155383311426,0.0700211215386,0.999999996574,-5.06788991408e-05,4.280560051e-05,-4.95181753465e-05,1793238136021793792
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679.35860693,663,636.64139307,881,789,804,652,631.35860693,654,0.422821666581,-0.0155370240991,0.0699789403311,0.99999999667,-5.39559735804e-05,-2.7916458617e-05,-5.44908261343e-05,1793238136038460672
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679.932807201,663,636.067192799,881,789,804,652,631.932807201,654,0.423521167513,-0.015533414659,0.0699146321786,0.999999987393,-5.94886917547e-05,-0.000133467565984,-6.21408599635e-05,1793238136055127552
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.495216656,716,680,663,636.504783344,881,789,804.504783344,652,632,653.495216656,0.424309451233,-0.0155343576385,0.0698949125854,0.999999984348,-6.71642292027e-05,-0.000149937385463,-6.56655696512e-05,1793238136071794176
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745,716,680,663,637,881,789,804.92058597,652,632,653.07941403,0.425114831545,-0.0155363890193,0.0698909223475,0.99999998488,-7.35819855963e-05,-0.000142453407367,-6.73223706023e-05,1793238136088460800
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745,716,680,663,637,881,789,804.326854668,652,632,653.673145332,0.42595473311,-0.0155415619546,0.0699505311245,0.999999994139,-7.00146456399e-05,-5.62939977505e-05,-6.04226309283e-05,1793238136105127168
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.740157085,745,716,679.740157085,663,637,881,789,804,652,632.259842915,654,0.426778188166,-0.0155441660746,0.0699947790628,0.999999996265,-6.62699029768e-05,3.02646085989e-06,-5.53983584006e-05,1793238136121793792
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.162073906,745,716,679.162073906,663,637,881,789,804,652,632.837926094,654,0.42758150062,-0.0155436240618,0.0700202139606,0.999999996237,-6.23078879335e-05,2.94761677637e-05,-5.26710467974e-05,1793238136138460672
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.414214788,745.414214788,716,679.414214788,663.414214788,637,881,789,804,652,632.585785212,654,0.428388071423,-0.0155458842457,0.0700344854476,0.999999994721,-7.11038424589e-05,5.26609550306e-05,-5.22452604093e-05,1793238136155127296
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.989804329,745.989804329,716,679.989804329,663.989804329,637,881,789,804,652,632.010195671,654,0.429195911606,-0.0155492361429,0.0700444077579,0.999999992228,-8.48701996497e-05,7.45737542247e-05,-5.27161298995e-05,1793238136171793920
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.434472857,716,680,663.434472857,637,881,789,804,652,632,654,0.429981298691,-0.0155499397485,0.0700305165454,0.999999993804,-7.98379158556e-05,5.52515693497e-05,-5.44586336301e-05,1793238136188460800
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,745.145182303,716,680.145182303,663,636.854817697,881,789,804,652,632,653.854817697,0.430739687945,-0.0155484504338,0.0700055064546,0.999999995507,-7.39303908649e-05,1.57574660147e-05,-5.71994559665e-05,1793238136205127424
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745.736925392,716,680.736925392,663,636.263074608,881,789,804,652,632,653.263074608,0.431416280935,-0.0155403628898,0.0699476170807,0.999999992331,-6.63734412067e-05,-8.34955171977e-05,-6.29404353477e-05,1793238136221794048
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745.679044479,715.679044479,680.679044479,663,636.320955521,881.320955521,789,804,651.679044479,632,653.320955521,0.432140241636,-0.015537215798,0.0699215103796,0.9999999879,-6.60341058253e-05,-0.00012483184634,-6.5237869394e-05,1793238136238460672
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,745.101188025,715.101188025,680.101188025,663,636.898811975,881.898811975,789,804,651.101188025,632,653.898811975,0.432902116621,-0.0155380231697,0.0699208433381,0.99999998817,-7.14719325344e-05,-0.000119810213824,-6.47790025871e-05,1793238136255127040
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,745,715.473023686,680,663.473023686,637,881.526976314,789,804,651.473023686,632,654,0.433710643668,-0.015542731643,0.0699712495961,0.999999994654,-7.7214577424e-05,-3.15811625982e-05,-6.1100621258e-05,1793238136271793920
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,745.047838099,716,680,664,637,881.047838099,789,804.047838099,652,632,653.952161901,0.434522136819,-0.0155478986655,0.0700281916593,0.999999992769,-8.23350463333e-05,6.66622783109e-05,-5.69045017192e-05,1793238136288460544
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,745.638263543,716,680,664,637,881.638263543,789,804.638263543,652,632,653.361736457,0.435254945582,-0.0155488738087,0.0700362929035,0.999999992283,-7.96647788033e-05,7.81491124887e-05,-5.45878574146e-05,1793238136305127168
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.776006183,746,716,680.223993817,664,636.776006183,881.776006183,789,804.776006183,652,632,653.223993817,0.43597468896,-0.0155494468366,0.0700343897375,0.999999992348,-8.17472245264e-05,7.52297149471e-05,-5.44291785256e-05,1793238136321793792
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.197702562,746,716,680.802297438,664,636.197702562,881.197702562,789,804.197702562,652,632,653.802297438,0.436673765835,-0.0155493838055,0.0700166617579,0.999999992938,-9.13474349373e-05,4.95227742964e-05,-5.76839341308e-05,1793238136338460672
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.379199151,745.620800849,716,680.620800849,664.379199151,636.379199151,881,789,804,652,632,653.620800849,0.437351156436,-0.0155511496289,0.0699979656246,0.999999993315,-9.42758208668e-05,2.99859093947e-05,-5.98505280183e-05,1793238136355127808
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.95537261,745.04462739,716,680.04462739,664.95537261,636.95537261,881,789,804,652,632,653.04462739,0.438017282099,-0.0155538654475,0.0699787665867,0.999999993625,-9.37385391554e-05,1.36540806434e-05,-6.14518780915e-05,1793238136371794688
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,745,716,680,664.458077791,637,881,789,804,652,632,653.541922209,0.438648417762,-0.0155507191368,0.0699490155717,0.999999992906,-9.49685668407e-05,-3.19416403082e-05,-6.44052003535e-05,1793238136388461312
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,745,716,680.12692118,663.87307882,637,881.12692118,789,804,652,632,654,0.439272529505,-0.0155475475737,0.0699217875381,0.999999990542,-9.40364390256e-05,-7.49251053789e-05,-6.67820478962e-05,1793238136405127680
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,745,716,680.70334319,663.29665681,637,881.70334319,789,804,652,632,654,0.4398821695,-0.015546029638,0.0699066323843,0.999999989173,-8.49213805436e-05,-9.99556708498e-05,-6.67152687127e-05,1793238136421794304
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,745,716,681,663.28209815,637,881.71790185,789,804.28209815,652,632,654,0.440518626867,-0.0155470940895,0.0699170539053,0.999999990575,-8.63281439588e-05,-8.40289170839e-05,-6.58541910355e-05,1793238136438460672
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,745,716,681,663.86332688,637,881.13667312,789,804.86332688,652,632,654,0.441183520737,-0.015550896847,0.0699545963624,0.999999992748,-9.8892012835e-05,-2.46719344843e-05,-6.41508568276e-05,1793238136455127296
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.561297769,745.438702231,716,681,664,637,881,789,805,652,632,654,0.441813271028,-0.0155557652935,0.0699977801465,0.999999991695,-0.000106346192203,3.91515302986e-05,-6.13785900544e-05,1793238136471793664
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.987364316,716,681,664,636.987364316,881.012635684,789,804.987364316,652,632,654,0.442430440843,-0.0155608424422,0.0700415467648,0.999999986756,-0.000112139098956,0.000102513331363,-5.83389738157e-05,1793238136488460800
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.397082803,716,681,664,636.397082803,881.602917197,789,804.397082803,652,632,654,0.442966417004,-0.0155604825983,0.0700326708944,0.999999988475,-0.000113801069249,8.1994921002e-05,-5.81008476418e-05,1793238136505127424
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715.810325468,681,663.810325468,636,881.810325468,789,804.189674532,652,632,653.810325468,0.443482165756,-0.0155608224429,0.0700157253445,0.999999990527,-0.000114275570125,5.00923813701e-05,-5.81168177874e-05,1793238136521794048
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715.230811298,681,663.230811298,636,881.230811298,789,804.769188702,652,632,653.230811298,0.443956341044,-0.0155626003629,0.0699821941142,0.99999999196,-0.000112309455417,-5.20805736902e-06,-5.86550340859e-05,1793238136538460672
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745.346977066,715.346977066,681,663.346977066,636.346977066,881,788.653022934,804.653022934,652,632,653,0.444411260865,-0.0155661828578,0.069947024621,0.999999989302,-0.000117620253414,-6.16383992881e-05,-6.13350814159e-05,1793238136555127296
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745.923623062,715.923623062,681,663.923623062,636.923623062,881,788.076376938,804.076376938,652,632,653,0.444853435197,-0.0155709598258,0.069910770741,0.999999982641,-0.000127747740739,-0.000118816636349,-6.5432836275e-05,1793238136571794176
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,716,681,663.501717039,636.501717039,881.498282961,788,804.498282961,652,632,653.498282961,0.445278679514,-0.015574745185,0.0698872522285,0.999999977202,-0.000134307920937,-0.000151390238891,-6.81068970202e-05,1793238136588460800
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.074736383,746,715.925263617,681,663,636,881.925263617,787.925263617,805,652,632.074736383,653.925263617,0.445698457433,-0.0155781243455,0.0698667985487,0.999999971582,-0.000140359325717,-0.000179441974575,-7.02535715388e-05,1793238136605127424
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.665671874,746,715.334328126,681,663,636,881.334328126,787.334328126,805,652,632.665671874,653.334328126,0.446098331909,-0.0155797435648,0.0698540841021,0.999999966334,-0.0001466583548,-0.000202206903682,-7.02589012393e-05,1793238136621794048
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.749205677,745.749205677,715.250794323,681.250794323,663,636,881.250794323,787,804.749205677,652,632.749205677,653.250794323,0.446476386932,-0.0155822144774,0.0698395126306,0.999999960331,-0.000148048602881,-0.000229221735978,-6.98324624129e-05,1793238136638460672
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.171656959,745.171656959,715.828343041,681.828343041,663,636,881.828343041,787,804.171656959,652,632.171656959,653.828343041,0.44682601384,-0.0155857950421,0.0698225216833,0.999999953137,-0.000143043307875,-0.000261773671624,-6.88434818754e-05,1793238136655127552
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+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.981011743,715.018988257,681.018988257,663,636,882,787,804,652,632,654,0.447466847345,-0.0155915772471,0.0697768299158,0.999999925926,-0.00015663131971,-0.000343732989995,-7.39098941675e-05,1793238136688460288
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.569117773,746,715,681,663,636,881.430882227,787,804.569117773,652,632,654,0.447766498433,-0.0155960262964,0.0697650045833,0.999999918922,-0.000170126527058,-0.000356884192454,-7.64656416483e-05,1793238136705127424
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746,715.834405336,682,663.165594664,636,881,788.165594664,805,652,632,653,0.439624071249,-0.0153902920756,0.0698335929158,0.999999961288,0.000125348592636,-0.00024818976961,1.06202485062e-05,1793238138761814272
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,715.244407332,682,663.755592668,636,881,788.755592668,805,652,632,653,0.438928910232,-0.0153878488445,0.06980605681,0.999999946245,0.000125810989064,-0.000302611617746,1.03736976478e-05,1793238138778481152
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745.443991,715.443991,681,663,636,881,788.443991,804.556009,652,632,654,0.431787710236,-0.0153822303648,0.0698248812289,0.999999948006,0.000159442466616,-0.00027980306351,1.66029595775e-05,1793238138945147648
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745.462773894,715.537226106,680.537226106,663,636.462773894,881,788,804,652,632,653,0.427848666227,-0.0153802357287,0.0697925988105,0.999999928535,0.000170744743561,-0.000336895678713,1.66351536515e-05,1793238139028481024
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745.958353612,715,680,663,636.958353612,881,788.041646388,804,652,632,653.041646388,0.427112962923,-0.0153855878696,0.0698509592993,0.999999953754,0.000168155146066,-0.000252320111393,2.34724713072e-05,1793238139045147392
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,716,680,662.251858365,636.748141635,880.251858365,788.251858365,803.251858365,652,632,654,0.415672294037,-0.0153639826078,0.0697996365827,0.999999926011,0.000209683606168,-0.000321920479943,1.94419112451e-05,1793238139295147776
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,715.088573072,679.088573072,662,636.088573072,880,788.911426928,803.911426928,652,632,654,0.414214482213,-0.0153576822329,0.0697771075257,0.999999906563,0.000218379663592,-0.000372667939638,1.7387307137e-05,1793238139328481024
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745.490632477,715.490632477,679,662,636.490632477,880,789,804,652,632,654,0.413566094586,-0.015359318799,0.0697767004347,0.999999904811,0.000223415326799,-0.000374336428087,1.83206583406e-05,1793238139345147648
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745.190660976,715.809339024,680,662.809339024,637,880,789,804,653,632,654,0.411198917974,-0.0153672785403,0.0698850227669,0.999999957481,0.000222503796334,-0.000186582221966,2.67746692264e-05,1793238139411814656
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,716,678.91443365,662.91443365,636,880,789,804,652,632,653,0.403965789434,-0.0153548418383,0.069860852171,0.999999945503,0.000231947124966,-0.00023409562023,1.98404428359e-05,1793238139678480640
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,716,678.337946727,662.337946727,636,880,789,804,652,632,653,0.403674239525,-0.0153511851745,0.0698550458628,0.999999942635,0.000235092855379,-0.000243132425474,1.86759102113e-05,1793238139695147520
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,716,678.243350215,662,636.243350215,880,789,804,652,632.243350215,653.243350215,0.403396789028,-0.0153480884186,0.0698462671852,0.999999939077,0.000236172881141,-0.000256463700253,1.7153597709e-05,1793238139711814656
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745,716,678.831461616,662,636.831461616,880,789,804,652,632.831461616,653.831461616,0.403139313587,-0.0153457849007,0.0698332774676,0.999999934377,0.000234326364021,-0.000275879071821,1.51244083247e-05,1793238139728481536
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745,716,679,662.415164639,636.584835361,879.584835361,788.584835361,804,652,632.584835361,654,0.402900890081,-0.0153428911358,0.0698281232695,0.999999929994,0.000242402497986,-0.000284688233827,1.43732198919e-05,1793238139745148160
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,716.569904545,679,662.430095455,636,879.569904545,788,804,652.569904545,632,654,0.402465403389,-0.0153382294519,0.0698224114369,0.999999920826,0.000261918472676,-0.000299200444422,1.50451080616e-05,1793238139778480896
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,716.858345282,679.141654718,662.141654718,636,880,788.141654718,803.858345282,652.858345282,632,653.858345282,0.402270366521,-0.0153378014679,0.0698187607998,0.999999917152,0.000265770248109,-0.000307915344722,1.58279370378e-05,1793238139795147520
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,662.9521792,637,880,789,804,652.0478208,632.9521792,654,0.401583681024,-0.015360246715,0.0698181715647,0.999999926373,0.000231810698236,-0.00030522118194,1.89023361391e-05,1793238139878480896
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,662.204042821,637,880,789,804.204042821,653,632.204042821,654,0.401393783163,-0.0153550714379,0.0698166205192,0.999999927049,0.000225039032548,-0.000308499900475,9.38276774301e-06,1793238139911814400
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.533619563,745.533619563,716,679,662.466380437,637,880,788.466380437,804,652,632,654,0.401152512516,-0.0153557040867,0.0698167242901,0.999999928642,0.000223635834206,-0.000304435253769,4.78925031704e-06,1793238139978480896
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,745.89131073,716,679,662,637,879.89131073,788.10868927,804,652.10868927,632,653.89131073,0.401110263251,-0.0153536156781,0.0698168480231,0.999999928513,0.0002244652889,-0.000304239785091,5.26649328925e-06,1793238139995147520
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,745.314101925,716,679,662,637,879.314101925,788.685898075,804,652.685898075,632,653.314101925,0.401078212171,-0.0153546566792,0.0698170443354,0.999999928757,0.000224845731294,-0.00030313736573,6.23398249462e-06,1793238140011814144
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,662.270249123,637,879.270249123,789,803.729750877,653,632.270249123,653.270249123,0.401051124559,-0.0153541261926,0.069817178799,0.999999928619,0.000226672000624,-0.000302221653786,6.66934791498e-06,1793238140028480768
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+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,745,716,679,662.49894007,636.50105993,880,788,803.50105993,652,632,654,0.400977751769,-0.0153552797909,0.069824784225,0.999999933111,0.000224789226342,-0.000288433518856,7.38872283223e-06,1793238140178480640
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766.074051495,745,716,679.074051495,662.925948505,636.074051495,880.074051495,788,803.074051495,652,632,654,0.400978415037,-0.0153554827839,0.0698264986718,0.99999993362,0.000226196249855,-0.000285548338465,7.57569083486e-06,1793238140195147520
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,745.232745596,716,680,662.232745596,637,880.767254404,788,804,652,632,654,0.400975660105,-0.0153562380602,0.0698259134257,0.999999933978,0.000223461929255,-0.000286457781751,7.18322311437e-06,1793238140228480768
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+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,662,637,880,788,803.724563726,652.724563726,632,653.275436274,0.400977460478,-0.0153563103192,0.0698282685204,0.999999934504,0.000225808032846,-0.000282757471654,7.07117020546e-06,1793238140328481024
+428,7.133333333,POSE2_TO_POSE3_RETREAT,766.691991383,745,716,679,662.308008617,637,880,788.308008617,804,653,632,653.308008617,0.400976795216,-0.0153554653801,0.0698279064138,0.999999934102,0.000226785036116,-0.000283403632142,6.87795444274e-06,1793238140345147392
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+430,7.166666667,POSE2_TO_POSE3_RETREAT,766.462209438,745,716,679,662.537790562,636.537790562,880,788.537790562,803.537790562,652.537790562,632,654,0.400976080632,-0.0153565327683,0.0698284626354,0.999999934219,0.000226727342774,-0.00028303339868,7.03054683931e-06,1793238140378480640
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,745,716,679,662.036970402,636.036970402,880.036970402,788.036970402,803.036970402,652,632,654,0.400978804008,-0.015356701778,0.0698307248418,0.999999935477,0.000225491968077,-0.000279545003666,7.38637987368e-06,1793238140395147264
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+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,636.808406412,881,788.808406412,804,652.191593588,632,654,0.400976245314,-0.0153568349165,0.0698292851324,0.999999934934,0.000224293948711,-0.000282432470553,7.47137815715e-06,1793238140428480512
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+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,636,879.116580357,788.941709821,803.058290179,653,632,654,0.400975052973,-0.0153559270493,0.0698281231097,0.99999993461,0.000225395230442,-0.00028270676768,7.28393381563e-06,1793238140478481152
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,745.517703798,716,679,663,636,879.517703798,789,803.517703798,652.482296202,632,654,0.400975182465,-0.0153568386182,0.0698291888686,0.999999935166,0.000224494245033,-0.000281452004826,7.39497115613e-06,1793238140495147776
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+439,7.316666667,POSE2_TO_POSE3_RETREAT,767,745.312638819,716,679,663,636.687361181,880,788.312638819,804,652,632,654,0.400976324722,-0.0153574924806,0.0698300594733,0.999999935947,0.000223074324306,-0.00027980321775,7.30527420938e-06,1793238140528480768
+440,7.333333333,POSE2_TO_POSE3_RETREAT,767,745,716,679,662.727211398,637,880,788,804,652.272788602,632,654,0.4009767622,-0.0153565777435,0.0698302333089,0.999999935831,0.000224150654085,-0.000279359625416,7.23969317765e-06,1793238140545147392
+441,7.350000000,POSE2_TO_POSE3_RETREAT,767,745,716,679,662.148145284,637,880,788,804,652.851854716,632,654,0.400976755092,-0.0153547824495,0.069830713705,0.999999935285,0.00022712263965,-0.000278913713366,7.27100551605e-06,1793238140561814016
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b227614f731c248037fe60d1c3e1087cf7e1f4cd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,443 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578251963781,-0.00999879710479,1.06001152158,0.548823199972,-0.00132512635561,1.05966106439
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+371,6.183333333,pose2_to_pose3_retreat,0.58811719134,-0.00999879417333,1.06001152956,0.5586884669,-0.00132512638539,1.0596610717
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+382,6.366666667,pose2_to_pose3_retreat,0.582871812127,-0.00999881680031,1.06001179648,0.553443095986,-0.00132514255531,1.05966133166
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+384,6.400000000,pose2_to_pose3_retreat,0.582156921408,-0.00999869104105,1.06001189553,0.552728203341,-0.00132502598582,1.05966142509
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+395,6.583333333,pose2_to_pose3_retreat,0.579439366702,-0.0099988182223,1.0600117903,0.55001065236,-0.00132515111973,1.05966132465
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+405,6.750000000,pose2_to_pose3_retreat,0.578455552312,-0.00999882853847,1.06001165939,0.549026842129,-0.00132515049842,1.05966119709
+406,6.766666667,pose2_to_pose3_retreat,0.578412614976,-0.00999870490954,1.06001162909,0.548983902744,-0.00132503347734,1.05966117563
+407,6.783333333,pose2_to_pose3_retreat,0.578376317175,-0.00999868963834,1.06001158237,0.54894760364,-0.00132502301456,1.05966112448
+408,6.800000000,pose2_to_pose3_retreat,0.578346595974,-0.00999873334193,1.0600116222,0.54891788311,-0.00132506473636,1.05966116085
+409,6.816666667,pose2_to_pose3_retreat,0.578322177935,-0.00999878351119,1.06001173489,0.54889346713,-0.00132510770006,1.05966127907
+410,6.833333333,pose2_to_pose3_retreat,0.578302785739,-0.00999883463176,1.06001153393,0.548874073286,-0.00132516447731,1.05966108217
+411,6.850000000,pose2_to_pose3_retreat,0.578288036537,-0.00999885723893,1.06001167586,0.548859325047,-0.00132518390507,1.05966122054
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+413,6.883333333,pose2_to_pose3_retreat,0.578268885953,-0.00999864222676,1.06001141109,0.548840172925,-0.00132497406537,1.05966095995
+414,6.900000000,pose2_to_pose3_retreat,0.578263192909,-0.00999865460425,1.06001173675,0.548834480131,-0.0013249861993,1.05966126994
+415,6.916666667,pose2_to_pose3_retreat,0.578259729768,-0.00999868633564,1.06001176668,0.548831017666,-0.00132501558548,1.059661302
+416,6.933333333,pose2_to_pose3_retreat,0.57825751959,-0.00999872287763,1.06001167258,0.548828808273,-0.00132504915184,1.05966121712
+417,6.950000000,pose2_to_pose3_retreat,0.578256367081,-0.00999874553702,1.06001162405,0.548827656148,-0.00132507036724,1.05966117278
+418,6.966666667,pose2_to_pose3_retreat,0.578255600865,-0.00999878682368,1.06001159571,0.548826889999,-0.00132511147708,1.05966114275
+419,6.983333333,pose2_to_pose3_retreat,0.578255188133,-0.00999880906322,1.06001158044,0.548826477304,-0.00132513362137,1.05966112657
+420,7.000000000,pose2_to_pose3_retreat,0.578254981201,-0.0099988202135,1.06001157279,0.548826270391,-0.0013251447239,1.05966111846
+421,7.016666667,pose2_to_pose3_retreat,0.578254906663,-0.00999882422993,1.06001157003,0.548826195859,-0.00132514872313,1.05966111554
+422,7.033333333,pose2_to_pose3_retreat,0.578254684182,-0.00999883621806,1.0600115618,0.548825973397,-0.00132516065992,1.05966110682
+423,7.050000000,pose2_to_pose3_retreat,0.578254670703,-0.00999883694434,1.0600115613,0.54882595992,-0.00132516138308,1.05966110629
+424,7.066666667,pose2_to_pose3_retreat,0.578254636153,-0.00999883880602,1.06001156002,0.548825925373,-0.0013251632368,1.05966110493
+425,7.083333333,pose2_to_pose3_retreat,0.578254498585,-0.00999884621873,1.06001155493,0.548825787817,-0.00132517061775,1.05966109954
+426,7.100000000,pose2_to_pose3_retreat,0.578254284575,-0.00999885775039,1.06001154702,0.548825573826,-0.00132518210003,1.05966109115
+427,7.116666667,pose2_to_pose3_retreat,0.578253888351,-0.00999887910046,1.06001153236,0.548825177637,-0.00132520335866,1.05966107562
+428,7.133333333,pose2_to_pose3_retreat,0.578253882847,-0.00999887939701,1.06001153216,0.548825172133,-0.00132520365394,1.0596610754
+429,7.150000000,pose2_to_pose3_retreat,0.578253518901,-0.00999885768294,1.06001150196,0.548824807729,-0.00132518346968,1.05966104576
+430,7.166666667,pose2_to_pose3_retreat,0.578253503524,-0.00999885483795,1.06001149991,0.54882479231,-0.0013251807646,1.05966104379
+431,7.183333333,pose2_to_pose3_retreat,0.578253443969,-0.0099988438192,1.06001149194,0.548824732592,-0.00132517028772,1.05966103616
+432,7.200000000,pose2_to_pose3_retreat,0.578253241908,-0.0099988064341,1.06001146493,0.548824529976,-0.00132513474111,1.05966101027
+433,7.216666667,pose2_to_pose3_retreat,0.57825319072,-0.00999879696332,1.06001145808,0.548824478648,-0.00132512573607,1.05966100372
+434,7.233333333,pose2_to_pose3_retreat,0.578252784481,-0.00999872180132,1.06001140377,0.548824071293,-0.00132505427034,1.05966095168
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+436,7.266666667,pose2_to_pose3_retreat,0.578252500745,-0.00999872436214,1.06001147599,0.548823787715,-0.00132505639462,1.05966102182
+437,7.283333333,pose2_to_pose3_retreat,0.578252477142,-0.00999873412678,1.06001150111,0.548823764287,-0.00132506559934,1.05966104613
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+440,7.333333333,pose2_to_pose3_retreat,0.578252061037,-0.00999881770911,1.06001163223,0.548823350104,-0.001325142839,1.05966117343
+441,7.350000000,pose2_to_pose3_retreat,0.578251963781,-0.00999879710479,1.06001152158,0.548823252765,-0.00132512235003,1.05966106662
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6e0dba11889e80487fc43020e91380ea4acdd5e7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80609e2c1fe1cea2a65b00dc6140356aad947477f335081315aa7a7fa1b723e7
+size 28138002
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..13ad5567945b838cbf904df89ee9edf5c1cfc33d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_05/franka_data.csv
@@ -0,0 +1,445 @@
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+14,0.233333333,BASELINE,767,745,716,679,663,637,880,788.121603476,804,652.878396524,632,653.121603476,0.400977878623,-0.015357837315,0.0698322952284,0.999999936452,0.00022505073671,-0.000276393960094,7.43898482329e-06,1793238140943388416
+15,0.250000000,BASELINE,767,745,716,679,663,637,880,788.711046057,804,652.288953943,632,653.711046057,0.400977057086,-0.0153564591443,0.0698320546729,0.999999936288,0.000225499012543,-0.00027663246398,7.00939603471e-06,1793238140960055040
+16,0.266666667,BASELINE,767,745,716,679,662.704724765,637,880,788.704724765,804,652,632,654,0.400976097992,-0.0153560596416,0.0698314450771,0.999999935978,0.000226124905056,-0.000277240160865,7.02360062298e-06,1793238140976721664
+17,0.283333333,BASELINE,767,745,716,679,662.125508901,637,880,788.125508901,804,652,632,654,0.400975006621,-0.0153566012393,0.0698304806073,0.999999935527,0.000226921596127,-0.000278202878679,7.46456290426e-06,1793238140993388288
+18,0.300000000,BASELINE,766.548014642,745,716,679,662.451985358,636.548014642,879.548014642,788.451985358,804,652,632,654,0.400974570119,-0.0153574320957,0.0698302090666,0.999999935613,0.000225327479066,-0.000279190626114,7.38791248405e-06,1793238141010055424
+19,0.316666667,BASELINE,766,745.029450921,716,679,663,636.029450921,879.029450921,789,804,652,632,654,0.400974388465,-0.0153582952125,0.0698301751999,0.999999935862,0.000223164369834,-0.000280040869409,7.16928553304e-06,1793238141026722048
+20,0.333333333,BASELINE,766,745.61537306,716,679,663,636.61537306,879.61537306,789,804,652,632,654,0.400975599205,-0.0153582559633,0.0698310102891,0.999999936481,0.000222746707091,-0.000278162163641,6.97353276504e-06,1793238141043388928
+21,0.350000000,BASELINE,766,745.800931027,716,679.199068973,662.800931027,636.800931027,880,789,804,652.199068973,632.199068973,654,0.400976177774,-0.0153584325374,0.0698313204841,0.999999936691,0.000222793743204,-0.000277364734659,7.0224676866e-06,1793238141060055552
+22,0.366666667,BASELINE,766,745.221488965,716,679.778511035,662.221488965,636.221488965,880,789,804,652.778511035,632.778511035,654,0.400975548415,-0.0153590214981,0.069830627732,0.999999936126,0.000223728707482,-0.000278633366631,7.53894214955e-06,1793238141076721920
+23,0.383333333,BASELINE,766.357072252,745,716,679.642927748,662.357072252,636.357072252,880,789,804,652.642927748,632.642927748,653.642927748,0.400977327637,-0.0153589862129,0.0698317618025,0.999999936238,0.00022576709182,-0.000276574065734,7.78610814688e-06,1793238141093388544
+24,0.400000000,BASELINE,766.935088489,745,716,679.064911511,662.935088489,636.935088489,880,789,804,652.064911511,632.064911511,653.064911511,0.400980597205,-0.0153585646661,0.0698340262476,0.99999993675,0.000228488234495,-0.000272455554951,7.8666354104e-06,1793238141110055168
+25,0.416666667,BASELINE,767,745,716,679,663,636.490623666,880,788.490623666,804,652,632,653.509376334,0.400978551742,-0.0153580764841,0.0698331240616,0.999999936373,0.000228219295263,-0.000274072612091,7.36237127965e-06,1793238141126721536
+26,0.433333333,BASELINE,767,745,716,678.914414873,663,636.085585127,880,788.085585127,803.914414873,652,632,653.914414873,0.400976151796,-0.0153578631688,0.0698318916074,0.99999993596,0.000227342861423,-0.000276308984697,6.90264175009e-06,1793238141143388416
+27,0.450000000,BASELINE,767,745,716,678.324095496,663,636.675904504,880,788.675904504,803.324095496,652,632,653.324095496,0.400975626692,-0.0153593205811,0.0698310739437,0.999999936017,0.000225114570034,-0.000277918600917,7.14184861114e-06,1793238141160055296
+28,0.466666667,BASELINE,767,745.26124788,716,678.26124788,662.73875212,637,880,789,803.26124788,652,632,653.26124788,0.400975635707,-0.0153601673659,0.0698308870587,0.999999936284,0.000223548753944,-0.000278215700481,7.3467521159e-06,1793238141176722176
+29,0.483333333,BASELINE,767,745.840533542,716,678.840533542,662.159466458,637,880,789,803.840533542,652,632,653.840533542,0.40097629495,-0.0153602707851,0.069831468071,0.999999936813,0.000222789421756,-0.000276914969244,7.50989540783e-06,1793238141193388544
+30,0.500000000,BASELINE,767,745.583452386,716,679,662.416547614,637,880.416547614,788.583452386,804,652,632,654,0.400976935032,-0.0153599792609,0.0698320857285,0.999999937112,0.000223069867122,-0.000275612478706,7.38850602609e-06,1793238141210055168
+31,0.516666667,BASELINE,767,745.008681025,716,679,662.991318975,637,880.991318975,788.008681025,804,652,632,654,0.400977567836,-0.0153595377194,0.0698327173055,0.999999937321,0.000223745267353,-0.000274309319935,7.15903817807e-06,1793238141226721536
+32,0.533333333,BASELINE,767,745,716,679,662.42026797,637,879.840535939,788.57973203,803.42026797,652.57973203,632.57973203,654,0.400977315696,-0.0153594082373,0.0698322758383,0.999999937173,0.000223206353595,-0.000275289352016,7.00363724222e-06,1793238141243388416
+33,0.550000000,BASELINE,767,745,716,679.165612635,662,637,879.33122527,788.834387365,803,653,632.834387365,654,0.400976667508,-0.0153594829941,0.06983183489,0.999999936993,0.00022269303609,-0.000276358761848,6.93773417319e-06,1793238141260055040
+34,0.566666667,BASELINE,767,745,716,679.744649095,662,637,880.48929819,788.255350905,803,653,632.255350905,654,0.400975064528,-0.0153600556522,0.0698314363147,0.999999936748,0.000222290100955,-0.000277563884278,7.09241197535e-06,1793238141276721920
+35,0.583333333,BASELINE,767,745,716,679.678293319,662.321706681,637,880.678293319,788.321706681,803.321706681,653,632,654,0.400975435585,-0.0153610393989,0.0698316910604,0.99999993722,0.000221000558955,-0.000276883431083,7.33028637195e-06,1793238141293388544
+36,0.600000000,BASELINE,767,745,716,679.102796778,662.897203222,637,880.102796778,788.897203222,803.897203222,653,632,654,0.400977363932,-0.0153623474478,0.0698324612017,0.999999938254,0.000219011585267,-0.000274715474019,7.63379340445e-06,1793238141310055168
+37,0.616666667,BASELINE,766.526032298,745.473967702,716,679,663,637,880,789,804,652.526032298,632.473967702,654,0.400977658987,-0.0153606815508,0.069832907147,0.999999937541,0.000222603574123,-0.000274423951343,7.51355339474e-06,1793238141326722048
+38,0.633333333,BASELINE,766.052175319,745.947824681,716,679,663,637,880,789,804,652,632.947824681,654,0.400977513737,-0.0153586106881,0.0698331592069,0.999999936518,0.000226897311843,-0.000274642876495,7.33683201466e-06,1793238141343388928
+39,0.650000000,BASELINE,766.642422444,745.357577556,716,679,663,637,880,789,804,652,632.357577556,654,0.40097649068,-0.0153590331463,0.0698321388445,0.999999936388,0.000225911655145,-0.000275917669698,7.52796464144e-06,1793238141360055296
+40,0.666666667,BASELINE,767,745.228384863,716,679,663,637,880.228384863,788.771615137,804,652.228384863,632,654,0.400975032454,-0.0153594571532,0.069831284546,0.999999936206,0.000224803838304,-0.00027747764197,7.54041955177e-06,1793238141376721920
+41,0.683333333,BASELINE,767,745.807762312,716,679,663,637,880.807762312,788.192237688,804,652.807762312,632,654,0.40097290544,-0.0153598835402,0.0698306854625,0.999999935942,0.000223508280079,-0.000279475890755,7.27827414385e-06,1793238141393388800
+42,0.700000000,BASELINE,767,745.615653423,716,679,663,637,880.615653423,788.384346577,804,652.615653423,632.384346577,654,0.400974656011,-0.0153601742638,0.0698316274043,0.999999936479,0.000223508203265,-0.000277546223914,7.41730194859e-06,1793238141410055168
+43,0.716666667,BASELINE,767,745.040456154,716,679,663,637,880.040456154,788.959543846,804,652.040456154,632.959543846,654,0.40097833203,-0.0153603976225,0.0698333345559,0.999999937401,0.000224151409237,-0.000273666115774,7.7555358672e-06,1793238141426721536
+44,0.733333333,BASELINE,767,745,716,679.533523731,663,636.466476269,880,789,804,652.533523731,632.466476269,654,0.400978650509,-0.0153592587607,0.0698337801851,0.999999937169,0.000225418711722,-0.000273479235332,7.54935122482e-06,1793238141443388416
+45,0.750000000,BASELINE,767,745,716.110374552,679.889625448,663,636.110374552,880,789,804,653,632,654,0.400978710759,-0.0153583208994,0.069834126139,0.999999936901,0.000226527233438,-0.000273547583706,7.39108193808e-06,1793238141460055040
+46,0.766666667,BASELINE,767,745,716.700093355,679.299906645,663,636.700093355,880,789,804,653,632,654,0.400978752719,-0.0153587035365,0.0698344537045,0.999999936861,0.000226741132333,-0.000273510901496,7.61977989191e-06,1793238141476721920
+47,0.783333333,BASELINE,767,744.715341009,716.715341009,679,662.715341009,637,880,788.715341009,804,653,632,654,0.400978020343,-0.0153593410093,0.0698339657828,0.999999936881,0.000225877554323,-0.000274149652531,7.70445908031e-06,1793238141493388800
+48,0.800000000,BASELINE,767,744.136107959,716.136107959,679,662.136107959,637,880,788.136107959,804,653,632,654,0.400976486659,-0.0153602421943,0.0698326339694,0.999999936959,0.000223898969416,-0.000275487363085,7.64010315767e-06,1793238141510055424
+49,0.816666667,BASELINE,767,744.440150242,716,679,662.440150242,637,880,788.440150242,803.559849758,652.559849758,632,654,0.400976963121,-0.015361637504,0.0698327297153,0.999999937525,0.000222098649063,-0.000274893725724,7.50121135029e-06,1793238141526722048
+50,0.833333333,BASELINE,767,745,716,679,663,637,880,788.984178041,803.015821959,652.015821959,632,654,0.400978011189,-0.0153630916407,0.0698332606218,0.999999938202,0.000220471266522,-0.000273740804432,7.34386646219e-06,1793238141543388416
+51,0.850000000,BASELINE,767,745,716,679,663,637,880,788.396680777,803.603319223,652.603319223,632,654,0.400977403702,-0.015361187483,0.0698336715412,0.999999937596,0.000223114041094,-0.000273814144935,7.34698120635e-06,1793238141560055040
+52,0.866666667,BASELINE,767,745,716,679,663,637,879.811993054,788.188006946,804,653,632,654,0.400977135924,-0.0153599463773,0.0698335915758,0.999999937103,0.00022500068705,-0.000274069914739,7.35539993828e-06,1793238141576721920
+53,0.883333333,BASELINE,767,745,716,679,663,637,879.233146008,788.766853992,804,653,632,654,0.400977574351,-0.0153600836642,0.0698324911292,0.999999936858,0.0002253154474,-0.000274704929496,7.3748449175e-06,1793238141593388544
+54,0.900000000,BASELINE,767,745.344400841,716,679,663,637,879.344400841,789,804,653,632,654,0.400977409113,-0.0153605059563,0.0698322471842,0.999999936888,0.00022496931785,-0.000274878640393,7.38900534228e-06,1793238141610055168
+55,0.916666667,BASELINE,767,745.921070793,716,679,663,637,879.921070793,789,804,653,632,654,0.400976836754,-0.0153611204602,0.0698325808768,0.999999937103,0.000224177474186,-0.000274741240996,7.39960178318e-06,1793238141626722048
+56,0.933333333,BASELINE,767,745.505174424,716,679,663,637,880,789,804,653,632,654,0.400976800375,-0.0153600977448,0.0698326271879,0.9999999371,0.000224225377913,-0.000274717011241,7.26299964934e-06,1793238141643388672
+57,0.950000000,BASELINE,767,745,716,679,663,637,880,789,804,653,632,654,0.400976904376,-0.0153591527942,0.0698327133671,0.999999937117,0.000224256195816,-0.000274633942879,7.13920872283e-06,1793238141660055296
+58,0.966666667,BASELINE,767,745,716,679,663,637,880,789,804,653,632,654,0.400977419127,-0.0153607099559,0.06983343318,0.999999937538,0.00022317274623,-0.000273981429125,7.28353561707e-06,1793238141676721664
+59,0.983333333,BASELINE,767,745.249197337,716,679,663.249197337,637,880,789,804,652.750802663,632,654,0.400977484951,-0.0153611421597,0.0698336819012,0.999999937644,0.000222752623555,-0.000273934524097,7.30945199377e-06,1793238141693388288
+60,1.000000000,BASELINE,767,745.828237841,716,679,663.828237841,637,880,789,804,652.171762159,632,654,0.400976956562,-0.0153600853443,0.0698333070749,0.999999937336,0.000223210495061,-0.000274689216232,7.17863758215e-06,1793238141710055168
+61,1.016666667,BASELINE,767,745.593705235,716,679,663.593705235,637,880,789,803.593705235,652,632,654,0.400977445351,-0.015359602241,0.0698332725925,0.999999937193,0.000224183381911,-0.000274418836082,7.02499398011e-06,1793238141726722304
+62,1.033333333,BASELINE,767,745.016063153,716,679,663.016063153,637,880,789,803.016063153,652,632,654,0.400978363116,-0.0153593610904,0.0698333816438,0.99999993712,0.000225373466949,-0.000273716150571,6.86172259622e-06,1793238141743389440
+63,1.050000000,BASELINE,767,745,716,679,663,637,880,789,803.568456691,652,632,654,0.400977889547,-0.0153590483959,0.0698334568089,0.99999993695,0.000225876095897,-0.000273911864075,7.25506190817e-06,1793238141760056320
+64,1.066666667,BASELINE,767,745,716.151671939,679.151671939,663,637,880,789,803.848328061,652,632.151671939,654,0.400977922437,-0.0153593279578,0.0698337778189,0.999999937146,0.000225588017019,-0.000273423086753,7.59875933412e-06,1793238141776722688
+65,1.083333333,BASELINE,767,745,716.730657392,679.730657392,663,637,880,789,803.269342608,652,632.730657392,654,0.400979494326,-0.0153612818809,0.0698347941917,0.999999938374,0.000223127633964,-0.000270933457898,7.75774276822e-06,1793238141793389056
+66,1.100000000,BASELINE,767,745,716.690393215,679.690393215,663,637,880,789,803.309606785,652.309606785,632.690393215,654,0.40097904438,-0.0153615165762,0.0698343945706,0.999999938196,0.000223124483576,-0.000271596449451,7.70701256416e-06,1793238141810055680
+67,1.116666667,BASELINE,767,745,716.11147522,679.11147522,663,637,880,789,803.88852478,652.88852478,632.11147522,654,0.400976835744,-0.0153602558026,0.0698327632482,0.999999936788,0.000225258755154,-0.000275001745432,7.47386311407e-06,1793238141826722048
+68,1.133333333,BASELINE,767,745,716,679,663,637,880,788.535158445,803.535158445,652.535158445,632,654,0.400978485344,-0.0153603368325,0.0698340078265,0.999999937238,0.000225530744898,-0.000273136928526,7.5215556682e-06,1793238141843388672
+69,1.150000000,BASELINE,767,745,716,679.041350419,663,637,880.041350419,788,803.041350419,652.041350419,632,654,0.400980712415,-0.0153607618964,0.0698356575155,0.999999938035,0.000225230285832,-0.000270449677369,7.62704873577e-06,1793238141860055040
+70,1.166666667,BASELINE,767,745,716,679.628583884,663,637,880.628583884,788,803.628583884,652.628583884,632,654,0.400978416201,-0.0153615043501,0.069833601164,0.999999937654,0.000223235640151,-0.0002734968,7.61142728473e-06,1793238141876721920
+71,1.183333333,BASELINE,766.787027451,745.212972549,716,679.787027451,663,637,881,788.212972549,804,653,632,654,0.400977410098,-0.0153618936468,0.0698325939855,0.999999937643,0.000221863808394,-0.000274651113344,7.5869375496e-06,1793238141893388544
+72,1.200000000,BASELINE,766.207534518,745.792465482,716,679.207534518,663,637,881,788.792465482,804,653,632,654,0.400978624244,-0.0153616751696,0.0698333924071,0.999999938285,0.000221563823355,-0.000272547950174,7.54718571893e-06,1793238141910055168
+73,1.216666667,BASELINE,766.370224725,746,716,679,663,637,880.629775275,789,804,652.629775275,632,654,0.400977967089,-0.0153615319256,0.0698333800681,0.999999937902,0.000222869104646,-0.000272892955937,7.43612694124e-06,1793238141926722048
+74,1.233333333,BASELINE,766.947016621,746,716,679,663,637,880.052983379,789,804,652.052983379,632,654,0.40097626584,-0.0153614306581,0.0698329153644,0.999999936942,0.000225070045537,-0.000274603919568,7.28528239991e-06,1793238141943388928
+75,1.250000000,BASELINE,767,746,716,679,663,637,880,789,804,652,632,654,0.400977512555,-0.0153609190799,0.0698332339552,0.999999937232,0.000224716872519,-0.000273829503082,7.43193878121e-06,1793238141960055296
+76,1.266666667,BASELINE,767,745.883940634,716,679,663,637,880,789,804,652,632.116059366,654,0.400978543677,-0.0153603876937,0.0698335405065,0.99999993756,0.000224288507292,-0.000272976985223,7.57717316637e-06,1793238141976721920
+77,1.283333333,BASELINE,767,745.304319321,716,679,663,637,880,789,804,652,632.695680679,654,0.400977522665,-0.0153599429616,0.0698334825093,0.999999937536,0.000224591704572,-0.00027281664085,7.59653377871e-06,1793238141993388544
+78,1.300000000,BASELINE,767,745,716,679,663,637,880,789,804,652,632.725223112,654,0.400977479717,-0.0153608193931,0.0698335498512,0.999999937727,0.000223700350528,-0.000272850661644,7.57813006558e-06,1793238142010054912
+79,1.316666667,BASELINE,767,745,716,679,663,637,880,789,804,652,632.146707395,654,0.400978517921,-0.0153631562411,0.0698337557431,0.999999938151,0.000221488537437,-0.000273099534028,7.51798160276e-06,1793238142026721536
+80,1.333333333,BASELINE,767,745,716,679,663,637,880,789,804,652,632,654,0.400977630982,-0.0153629777099,0.0698330474966,0.999999937787,0.000222080159189,-0.000273959049814,7.29597149288e-06,1793238142043388416
+81,1.350000000,BASELINE,767,745,716,679,663,637,880,789,804,652,632,654,0.400976089973,-0.0153619445756,0.0698320286703,0.999999937152,0.00022362425141,-0.000275026032515,7.01896867237e-06,1793238142060055552
+82,1.366666667,BASELINE,767,745,716,679,663,637,880.590116871,789,803.409883129,652,632,654,0.400977660138,-0.0153615756081,0.0698329324855,0.999999937335,0.000224298080746,-0.000273802499056,7.30464815803e-06,1793238142076722432
+83,1.383333333,BASELINE,766.822422404,745.177577596,716,679,663,637,880.822422404,789,803.177577596,652.177577596,632,654,0.400978826821,-0.0153607125341,0.0698338392773,0.99999993741,0.000225343718473,-0.000272661775834,7.52317522212e-06,1793238142093388800
+84,1.400000000,BASELINE,766.24259017,745.75740983,716,679,663,637,880.24259017,789,803.75740983,652.75740983,632,654,0.400979071025,-0.0153587283795,0.0698347475602,0.999999937239,0.000227233965985,-0.00027171489307,7.58804957282e-06,1793238142110055168
+85,1.416666667,BASELINE,766.33571412,745.66428588,716,679,663,637,880,789,804,652.66428588,632,654,0.400979060659,-0.0153587925088,0.0698351725933,0.999999937528,0.000226254971235,-0.000271470878183,7.52048161236e-06,1793238142126721792
+86,1.433333333,BASELINE,766.912919272,745.087080728,716,679,663,637,880,789,804,652.087080728,632,654,0.400978867171,-0.0153603300411,0.0698352500076,0.999999938142,0.000223212029004,-0.000271732461057,7.35764321259e-06,1793238142143388672
+87,1.450000000,BASELINE,766.511910641,745,716,679.488089359,663,637,880,788.511910641,804,652.488089359,632,654,0.400977638936,-0.0153598819384,0.0698342648359,0.999999937413,0.000224947967383,-0.000272980129634,7.37139669757e-06,1793238142160055296
+88,1.466666667,BASELINE,766.064443993,745.064443993,716,679.935556007,663,637,879.935556007,788.064443993,804,653,632,654,0.400976417103,-0.0153593074459,0.0698332254737,0.999999936632,0.000226849935335,-0.000274261884552,7.39778124723e-06,1793238142176721664
+89,1.483333333,BASELINE,766.65338213,745.65338213,716,679.34661787,663,637,879.34661787,788.65338213,804,653,632,654,0.400976743634,-0.0153605755633,0.0698332815868,0.99999993742,0.00022319282733,-0.000274395161673,7.27161182452e-06,1793238142193388544
+90,1.500000000,BASELINE,766.761503245,745.761503245,716,679,663,636.761503245,879.238496755,788.761503245,804,653,632,654,0.400977420933,-0.0153609968148,0.0698337247031,0.999999937936,0.000222023972237,-0.000273458620979,7.31209722767e-06,1793238142210055168
+91,1.516666667,BASELINE,766.181857868,745.181857868,716,679,663,636.181857868,879.818142132,788.181857868,804,653,632,654,0.400978599975,-0.015360206699,0.0698347213934,0.999999938072,0.000224414344303,-0.000270991800027,7.59096770567e-06,1793238142226722048
+92,1.533333333,BASELINE,766,745,716,679,662.606651936,636,880,788.393348064,804,652.606651936,632,654,0.400977982563,-0.0153606303634,0.0698343684017,0.999999937878,0.000224003395603,-0.000272053931338,7.33324276456e-06,1793238142243388672
+93,1.550000000,BASELINE,766,745,716,679,662.033475552,636,880,788.966524448,804,652.033475552,632,654,0.400976543858,-0.0153616089359,0.0698333983712,0.999999937527,0.000222311757421,-0.000274729405978,6.83020062842e-06,1793238142260055296
+94,1.566666667,BASELINE,766,745,716,679,662.542555329,636.542555329,880,789,804,652,632,654,0.400977035698,-0.0153612899143,0.0698341873108,0.999999937476,0.000223786828931,-0.000273706739219,7.24353228859e-06,1793238142276721920
+95,1.583333333,BASELINE,766.122097059,745.122097059,716,679,663,637,880.122097059,789,804,652.122097059,632.122097059,654,0.4009775186,-0.0153609299723,0.0698348423905,0.999999937485,0.0002248432664,-0.000272797737157,7.51232032426e-06,1793238142293388544
+96,1.600000000,BASELINE,766.71447986,745.71447986,716,679,663,637,880.71447986,789,804,652.71447986,632.71447986,654,0.400977505859,-0.0153607224215,0.0698345616448,0.999999937671,0.000223530682916,-0.00027321005797,7.0054351712e-06,1793238142310054912
+97,1.616666667,BASELINE,767,745.700435376,716,679.299564624,663,637,881,788.700435376,804,652.700435376,633,654,0.400977749128,-0.0153606391813,0.0698343756847,0.999999937759,0.000223108542387,-0.000273238890343,6.7596240971e-06,1793238142326721792
+98,1.633333333,BASELINE,767,745.122141099,716,679.877858901,663,637,881,788.122141099,804,652.122141099,633,654,0.400978230602,-0.0153606716056,0.0698342779179,0.999999937758,0.000223514913834,-0.000272910906198,6.75672921017e-06,1793238142343388672
+99,1.650000000,BASELINE,767,745,716,680,662.551182535,637,880.551182535,788,804,652,632.551182535,654,0.400978462436,-0.0153604055344,0.0698349753312,0.999999937936,0.000223946531397,-0.00027189097238,7.13022909077e-06,1793238142360055552
+100,1.666666667,BASELINE,767,745,716,679.981354196,662.018645804,637,880,788,804,652.018645804,632,654,0.40097857341,-0.015360095166,0.0698358052464,0.999999938142,0.000224327890778,-0.00027080534932,7.58705727433e-06,1793238142376722176
+101,1.683333333,BASELINE,767,745,716,679.385717367,662.614282633,637,880,788,804,652.614282633,632,654,0.400977012895,-0.015360887327,0.0698341466386,0.99999993774,0.000222944833598,-0.000273420401541,7.50369997153e-06,1793238142393388544
+102,1.700000000,BASELINE,767,745,716,679.204312325,663,637,880,788,803.795687675,652.795687675,632,654,0.400976291414,-0.0153615247863,0.0698333804099,0.99999993757,0.000222206438323,-0.000274641367112,7.48978396099e-06,1793238142410054912
+103,1.716666667,BASELINE,767,745,716,679.784039097,663,637,880,788,803.215960903,652.215960903,632,654,0.400977111616,-0.0153618779883,0.0698342538866,0.999999937837,0.000222652579632,-0.000273300762667,7.60346312206e-06,1793238142426721536
+104,1.733333333,BASELINE,767,745.360675491,716,679.639324509,663,637,880,788.360675491,803.360675491,652.360675491,632,654,0.400978552783,-0.0153612656785,0.0698350243799,0.999999937996,0.000224168371151,-0.000271479364363,7.42008556481e-06,1793238142443388416
+105,1.750000000,BASELINE,767,745.93547724,716,679.06452276,663,637,880,788.93547724,803.93547724,652.93547724,632,654,0.400980362606,-0.0153600801624,0.069835733734,0.999999938084,0.000226319193932,-0.000269372527652,7.06035102916e-06,1793238142460055040
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,746,716,679,663,636,880,789,804,653,632,654,0.400979506483,-0.0153618141799,0.0698358608707,0.999999938307,0.000223162466281,-0.000271152787377,7.83068338169e-06,1793238142492140288
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,636.619146976,880,789,803.380853024,653,632,654,0.400979137589,-0.0153616959407,0.0698353820728,0.999999938406,0.000222517708395,-0.000271321060808,7.61181959289e-06,1793238142508807424
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.778505797,716,678.778505797,663,637,880,789,803.221494203,653,632,654,0.400978497941,-0.015361428931,0.0698347132717,0.999999938288,0.000222141626516,-0.00027207079899,7.33888935305e-06,1793238142525474304
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.20300866,716,678.20300866,663,637,880,789,803.79699134,653,632,654,0.400977425559,-0.015360924149,0.069833740798,0.999999937821,0.000222194955751,-0.000273749862774,6.97954741661e-06,1793238142542140672
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,716,678.3733326,662.6266674,637,880,789,803.6266674,652.6266674,632,654,0.400977273329,-0.0153610873682,0.0698338156335,0.999999937941,0.00022154006848,-0.000273840519677,6.95809759915e-06,1793238142558807040
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,716,678.950133878,662.049866122,637,880,789,803.049866122,652.049866122,632,654,0.400977622588,-0.0153616146524,0.0698344612593,0.999999938382,0.000220499198637,-0.000273065484472,7.12080118987e-06,1793238142575473408
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745.538749289,716,679,662.538749289,637,880,788.461250711,803.538749289,652,632,654,0.400978517579,-0.0153611826761,0.0698348901356,0.999999938231,0.000222312276942,-0.000272142893818,7.27506131118e-06,1793238142592139776
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.873776787,746,716,679,663,637,880,788,804,652,632,654,0.400978990131,-0.0153607222571,0.0698349757365,0.99999993799,0.000223830626839,-0.00027178243699,7.3852937793e-06,1793238142608806656
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.294414484,746,716,679,663,637,880,788,804,652,632,654,0.400977760729,-0.0153604856243,0.0698339026223,0.999999937638,0.000223321319897,-0.000273490160432,7.34033629507e-06,1793238142625473536
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.282587644,746,716,679,663,637,880,788.282587644,803.717412356,652.282587644,632,654,0.400976222108,-0.0153603807698,0.0698333797171,0.999999937153,0.000223162869354,-0.000275389099626,7.28033377803e-06,1793238142642140160
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.857151151,746,716,679,663,637,880,788.857151151,803.142848849,652.857151151,632,654,0.400974363997,-0.0153604120717,0.0698334253003,0.999999936529,0.000223366931506,-0.000277485607097,7.20478639997e-06,1793238142658807040
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,789,803.433161769,652.566838231,632,654,0.400981514211,-0.0153604165796,0.0698368170589,0.999999937891,0.000224519186556,-0.000271573315839,7.51449168397e-06,1793238142675473664
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.990093211,716,679,663,637,880,789,804,652.009906789,632,654,0.400991924544,-0.0153604541854,0.0698414481036,0.999999939913,0.00022592582907,-0.000262809398707,7.96521524711e-06,1793238142692140032
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.398340674,716,679,663,637,880,789,804,652.601659326,632,654,0.401018743399,-0.0153629564022,0.069853836433,0.999999945573,0.000223846284416,-0.00024220415064,9.21135090485e-06,1793238142708806656
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804.188942129,653,632.188942129,654,0.401053629529,-0.0153651000534,0.0698688006182,0.999999951806,0.000222198537626,-0.000216576771306,1.04731487197e-05,1793238142725473280
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804.767019413,653,632.767019413,654,0.401105130597,-0.0153665052221,0.0698890699012,0.999999959104,0.000221440098335,-0.000180606073812,1.17672037072e-05,1793238142742140160
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.342038764,716,679.342038764,663,637,880.342038764,789,804.657961236,652.657961236,632.657961236,654,0.401158852635,-0.0153695186838,0.069904324112,0.999999962945,0.00022139795164,-0.000157899577034,1.26765769877e-05,1793238142758806784
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745.914993618,716,679.914993618,663,637,880.914993618,789,804.085006382,652.085006382,632.085006382,654,0.401214074083,-0.015373617931,0.0699161925624,0.999999964916,0.000221839386204,-0.000144147966257,1.33262451413e-05,1793238142775473152
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745.499411433,716,679.499411433,663,637,880.499411433,789,804,652.500588567,632.500588567,654,0.401280187372,-0.0153771949183,0.0699226083645,0.999999966485,0.000220118658298,-0.000135699878386,1.28130901461e-05,1793238142792139520
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,803.912468239,652.912468239,633,654,0.401350271989,-0.015380626558,0.0699275795029,0.999999967906,0.000217916727827,-0.000128681710783,1.19162666315e-05,1793238142808806400
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,803.33034938,652.33034938,633,654,0.401432074579,-0.0153837510221,0.0699297551311,0.999999969058,0.000215124173236,-0.000124522541534,9.99621139279e-06,1793238142825473024
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.249132227,716,679.249132227,663,637,880,789,803.249132227,652.249132227,632.750867773,654,0.401522439619,-0.0153867359516,0.0699319250005,0.999999969767,0.00021410389423,-0.00012066835716,8.05785569267e-06,1793238142842139392
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.825153424,716,679.825153424,663,637,880,789,803.825153424,652.825153424,632.174846576,654,0.401624039533,-0.0153895377959,0.0699340873137,0.999999969911,0.000215409036556,-0.000117214346921,6.09548791939e-06,1793238142858806016
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,789,804,652.600795435,632,654,0.401739422249,-0.0153947555023,0.0699352425265,0.999999970845,0.000212680226484,-0.000114294113143,3.60761360742e-06,1793238142875472640
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880,789,804,652.027602867,632,654,0.401860812024,-0.0154010261304,0.0699359588082,0.999999972099,0.000208193271982,-0.000111606518441,8.90704085996e-07,1793238142892139264
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.438342043,716,680,663,637,880,789,804,652.561657957,632,654,0.402011917,-0.0154081183866,0.0699394889279,0.999999974008,0.000202077866164,-0.00010556610393,-1.90019824463e-06,1793238142908806144
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,716,679.850923282,663,637,880.149076718,788.850923282,803.850923282,652.850923282,632,654,0.402170279441,-0.0154152413582,0.0699426667388,0.999999975936,0.000195254769684,-9.98991291598e-05,-4.94373507855e-06,1793238142925472768
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,716,679.271174489,663,637,880.728825511,788.271174489,803.271174489,652.271174489,632,654,0.402345265079,-0.0154223329781,0.0699444154878,0.999999977959,0.000186625216069,-9.58010379819e-05,-8.70630104715e-06,1793238142942139392
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.69347754,788.30652246,803,652.30652246,632,654,0.402535978342,-0.0154309106561,0.0699469129867,0.999999980294,0.000176473432118,-9.00606118428e-05,-1.25825508699e-05,1793238142958806016
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.117583781,788.882416219,803,652.882416219,632,654,0.402740512999,-0.0154407942785,0.0699500684851,0.999999982819,0.000164983915825,-8.28769054024e-05,-1.65587055998e-05,1793238142975472896
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.533591073,880,789,803.466408927,653,632,654,0.402965426237,-0.0154492964535,0.0699545300353,0.999999991388,0.000107182626986,-7.27844728512e-05,-2.09232459642e-05,1793238142992139520
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.051851985,880,789,804,652.948148015,632,654,0.403200024844,-0.0154578610622,0.069959629871,0.999999996848,4.32901936506e-05,-6.15489650814e-05,-2.53318455924e-05,1793238143008806400
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.630914806,880,789,804,652.369085194,632,654,0.403479941024,-0.0154706641128,0.0699678125823,0.999999997771,3.82741344756e-05,-4.62788099943e-05,-2.91752822899e-05,1793238143025473024
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804.209675286,652,632,654,0.403763147104,-0.0154823788434,0.0699728381325,0.99999999827,2.93060482808e-05,-3.86578576815e-05,-3.3253008071e-05,1793238143042139904
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880,789,804.787904271,652,632,654,0.404052135929,-0.0154921805941,0.0699723142277,0.999999998209,1.33913443113e-05,-4.44821824874e-05,-3.77425516988e-05,1793238143058806272
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.634838894,880,788.634838894,804.269677788,652,632,654,0.404366984033,-0.015504003182,0.0699744347351,0.999999998388,-6.3555100901e-06,-4.23912516352e-05,-3.72240571837e-05,1793238143075472896
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663,636.058145156,880,788.058145156,803.116290313,652,632,654,0.404696812078,-0.0155169964132,0.0699780871127,0.99999999839,-2.83222761958e-05,-3.57151263838e-05,-3.38044778698e-05,1793238143092139776
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,716,679.527846187,663,636.527846187,880,788.527846187,803,652.527846187,632,654,0.405053539949,-0.0155160861287,0.0699845560719,0.999999999419,4.19617496176e-06,-2.25043462728e-05,-2.52476622751e-05,1793238143108806400
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.113382854,716,679.886617146,663,637,880,789,803.113382854,652.886617146,632,654,0.405419783546,-0.0155107256804,0.0699890771946,0.99999999906,3.68131976526e-05,-1.24301869274e-05,-1.92461658286e-05,1793238143125473024
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.692766157,716,679.307233843,663,637,880,789,803.692766157,652.307233843,632,654,0.405812739743,-0.0154934826653,0.0699842947329,0.999999998492,4.47256464565e-05,-1.82589692654e-05,-2.61144732187e-05,1793238143142139648
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.729877624,716,679.270122376,663,637,880,788.729877624,804,652,632,654,0.406209466454,-0.015489702334,0.0699747143454,0.999999998102,4.17451906927e-05,-3.35852054212e-05,-3.04341419211e-05,1793238143158806272
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745.15480985,716,679.84519015,663,637,880,788.15480985,804,652,632,654,0.406610449734,-0.0155011202392,0.0699597175043,0.999999997364,2.64675631081e-05,-5.96332662298e-05,-3.18766118877e-05,1793238143175473152
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745.42905829,716,680,663,636.57094171,880,788,804.42905829,652,632,654,0.407047696964,-0.0155096480947,0.0699534536657,0.999999997182,1.63215619819e-05,-6.50845743661e-05,-3.36618192584e-05,1793238143192139776
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679.984042621,663,636.015957379,880,788.015957379,804.984042621,652,632,654,0.40750018863,-0.0155169427107,0.0699507942574,0.999999997387,8.35534793243e-06,-6.24095917939e-05,-3.55265473892e-05,1793238143208806400
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679.404588084,663,636.595411916,880,788.595411916,804.404588084,652,632,654,0.408019277896,-0.0155182823557,0.0699618172839,0.999999998477,1.06106077179e-05,-4.06978296988e-05,-3.57410126069e-05,1793238143225473024
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.825067895,745.825067895,716,679,663,637,880.174932105,789,804,652,632,654,0.408548977628,-0.015518004746,0.0699713812594,0.999999999062,1.20184331584e-05,-2.05803840687e-05,-3.61771890196e-05,1793238143242139648
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.245395886,745.245395886,716,679,663,637,880.754604114,789,804,652,632,654,0.40910322669,-0.0155139852983,0.069977569431,0.999999999236,1.14655519127e-05,-4.15170685705e-06,-3.71263379771e-05,1793238143258806528
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,716,679.330778056,663,637,880.669221944,788.669221944,804,652,632,653.669221944,0.409640647115,-0.0155099446993,0.0699733608131,0.999999999104,1.37915580056e-05,-9.95047826068e-06,-3.87598895868e-05,1793238143275473152
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,716,679.904384087,663,637,880.095615913,788.095615913,804,652,632,653.095615913,0.4101657135,-0.0155058885723,0.0699615197931,0.999999998483,1.82309883353e-05,-3.20666735634e-05,-4.08958691419e-05,1793238143292139776
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.489939323,745,716,679.510060677,663,637,880,788,804,652,632,653.489939323,0.410723989077,-0.0155084309088,0.0699584255379,0.999999998328,1.56803190108e-05,-3.73313623955e-05,-4.12828098534e-05,1793238143308806144
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663.07686575,637,880.07686575,788.07686575,804,652,632,654,0.411300816632,-0.0155125362885,0.0699602297556,0.99999999853,1.12861142738e-05,-3.35069287688e-05,-4.11103370843e-05,1793238143325472768
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,716,679,663.657118458,637,880.657118458,788.657118458,804,652,632,654,0.411955634755,-0.0155182337333,0.0699826551347,0.999999999179,3.97597976814e-06,7.76542483492e-06,-3.95656038116e-05,1793238143342139392
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745.236058128,716,679.236058128,664,637,881,788.763941872,804,652,632,654,0.412623827626,-0.0155236613211,0.0700065969102,0.999999998152,-2.77891903755e-06,4.70731302201e-05,-3.83845467661e-05,1793238143358806272
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.813101087,716,679.813101087,664,637,881,788.186898913,804,652,632,654,0.413311340215,-0.0155286991013,0.0700327291116,0.99999999576,-8.73178209865e-06,8.35429082159e-05,-3.77288184177e-05,1793238143375472896
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.611779302,716,679.611779302,663.611779302,637,881,788,803.611779302,652,632,654,0.413966394153,-0.0155290031673,0.0700332887677,0.999999995986,-1.46335922335e-05,7.95239255882e-05,-3.85894531929e-05,1793238143392139520
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.037581089,716,679.037581089,663.037581089,637,881,788,803.037581089,652,632,654,0.414605898722,-0.0155270395426,0.0700215978696,0.999999997408,-2.05109452396e-05,5.61087605271e-05,-4.01765032598e-05,1793238143408806144
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,716,679,663,637,880.448034451,788,803.551965549,652,632,654,0.415228666811,-0.0155240134295,0.069977990846,0.999999998702,-1.72750033349e-05,-1.67253707768e-05,-4.49265337412e-05,1793238143425472768
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.860707135,745.139292865,716,679,663,636.860707135,880,788.139292865,804,652,632,654,0.415876117721,-0.0155227570663,0.0699423216221,0.999999995833,-1.65155214931e-05,-7.52824280775e-05,-4.89167544906e-05,1793238143442139392
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.283730983,745.716269017,716,679,663,636.283730983,880,788.716269017,804,652,632,654,0.416604809365,-0.0155272953857,0.0699386177835,0.999999995383,-2.5542972333e-05,-7.81033224201e-05,-4.98234786385e-05,1793238143458806272
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,716,679.291761754,663,636.291761754,880.291761754,789,804,652,632,654,0.417358641363,-0.0155306073199,0.0699542447772,0.999999996946,-3.15928089628e-05,-5.17106974432e-05,-4.93464398959e-05,1793238143475472896
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,716,679.865819271,663,636.865819271,880.865819271,789,804,652,632,654,0.418136798141,-0.0155327326585,0.0699885754286,0.999999998262,-3.47616388284e-05,2.94763605153e-06,-4.75305334044e-05,1793238143492139520
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.547397089,716,679.547397089,663,637,880.547397089,788.547397089,804,652,632,654,0.418881806143,-0.0155308373723,0.0700015875251,0.999999998172,-3.43582316164e-05,1.64782600143e-05,-4.69520521625e-05,1793238143508806400
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.042457389,745.042457389,716,679,663,637,880.042457389,788.042457389,804,652,632,654,0.419620226585,-0.015528280317,0.0700085322293,0.999999998152,-3.36671262953e-05,1.92579100275e-05,-4.6806225666e-05,1793238143525473280
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.622050236,745.622050236,716,679,663,637,880.622050236,788.622050236,804,652,632,654,0.420403232836,-0.0155328672305,0.0700209884732,0.999999996948,-4.31220377367e-05,4.47424725187e-05,-4.7358597982e-05,1793238143542139904
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,789,804,652,632,654,0.421181178746,-0.0155364946234,0.0700268198899,0.999999996067,-4.9817159423e-05,5.53840363409e-05,-4.81241016936e-05,1793238143558806272
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,881,789,804,652,632,654,0.421949639759,-0.0155383235387,0.0700202340606,0.999999996738,-5.13394684322e-05,3.82046229224e-05,-4.92890882651e-05,1793238143575473152
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745.649962523,715.649962523,679.350037477,663,637,881,789,804.350037477,652,632,654,0.42269094263,-0.0155365447065,0.0699812619521,0.999999996809,-5.14612426698e-05,-2.86521442341e-05,-5.39753522549e-05,1793238143592139776
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745.07387849,715.07387849,679.92612151,663,637,881,789,804.92612151,652,632,654,0.423414707338,-0.0155324360697,0.0699213754923,0.99999998872,-5.06785816874e-05,-0.000127589460412,-6.0935579819e-05,1793238143608806400
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.484310764,745,715.515689236,680,663,637,881,789,804.484310764,652,632,654,0.424174505416,-0.0155326458127,0.0698937016432,0.9999999832,-6.15423609097e-05,-0.000160025642936,-6.48474713004e-05,1793238143625472768
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.104243234,745,716,679.895756766,663,636.895756766,881,789,804,652,632,654,0.424955037575,-0.0155346102815,0.0698855125252,0.999999982109,-7.14502213481e-05,-0.00016199922712,-6.65833080511e-05,1793238143642139648
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.679260946,745,716,679.320739054,663,636.320739054,881,789,804,652,632,654,0.425805267978,-0.0155416303488,0.0699439180352,0.999999993277,-6.93036433747e-05,-7.05806884806e-05,-6.05170124729e-05,1793238143658806272
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.744979692,745,715.744979692,679.255020308,663.255020308,636.255020308,881,789,804,652,632,653.744979692,0.426642833099,-0.0155452009212,0.0699904318218,0.999999996158,-6.74844596039e-05,-3.38358561042e-06,-5.58499181443e-05,1793238143675472896
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.168284757,745,715.168284757,679.831715243,663.831715243,636.831715243,881,789,804,652,632,653.168284757,0.427464422746,-0.0155444204099,0.0700219457691,0.999999995862,-6.60782408338e-05,3.32613690359e-05,-5.29477320454e-05,1793238143692139776
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.406410841,745.406410841,715.406410841,679.593589159,663.593589159,637,881,789,804,652,632,653.406410841,0.428283763846,-0.0155464878938,0.0700358721717,0.999999994592,-7.22473425403e-05,5.37081284374e-05,-5.20670072673e-05,1793238143708806400
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.980282581,745.980282581,715.980282581,679.019717419,663.019717419,637,881,789,804,652,632,653.980282581,0.429102178388,-0.0155497288895,0.0700425516545,0.999999993046,-8.15378423252e-05,6.74804466972e-05,-5.20192223871e-05,1793238143725473024
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,716,679.571641969,663.571641969,636.428358031,881,788.428358031,804,652,632,654,0.429871267445,-0.0155519295915,0.0700324784075,0.999999993815,-7.94768746279e-05,5.66251625006e-05,-5.33548304892e-05,1793238143742139648
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.839992271,636,881,788.160007729,804,652,632,654,0.430618925514,-0.0155522851667,0.0700097559429,0.999999995308,-7.63098910196e-05,2.15021604105e-05,-5.5664589615e-05,1793238143758806272
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.261092669,636,881,788.738907331,804,652,632,654,0.431315072976,-0.0155479071991,0.0699554789961,0.999999992832,-7.1304798239e-05,-7.48584109669e-05,-6.03957625359e-05,1793238143775472896
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745.683352344,716,680,663,636,881,789,804.316647656,652,632,653.683352344,0.432051833345,-0.0155434645767,0.0699255847606,0.999999988031,-7.03690901944e-05,-0.000122247025228,-6.35744114691e-05,1793238143792139776
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,745.106564446,716,680,663,636,881,789,804.893435554,652,632,653.106564446,0.432821959005,-0.0155389688375,0.069915722018,0.999999986836,-7.27765647476e-05,-0.000129402977424,-6.54775924639e-05,1793238143808806912
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,745.477926097,715.522073903,680,663.477926097,636.477926097,881,789,804.522073903,652,632,653.477926097,0.43364041832,-0.0155445163834,0.0699654176509,0.999999994425,-7.56445220428e-05,-4.14718724358e-05,-6.08939699602e-05,1793238143825473792
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,715.063468588,680,664,637,881,789,804,652,632,654,0.434460725754,-0.0155516160376,0.0700231068889,0.999999993715,-7.84536474084e-05,5.78935719518e-05,-5.53471358849e-05,1793238143842140416
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,715.64336653,680,664,637,881,789,804,652,632,654,0.435206943314,-0.0155528250541,0.0700360127761,0.999999992542,-7.99349467173e-05,7.49573301696e-05,-5.39245227024e-05,1793238143858806784
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881,789,804,652,632,653.777548003,0.435936669207,-0.0155533364728,0.0700372776811,0.999999992054,-8.46022522133e-05,7.61065099366e-05,-5.42441029932e-05,1793238143875473152
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,716,680,664,637,881,789,804,652,632,653.199760262,0.436640052101,-0.0155527335773,0.0700199477583,0.99999999256,-9.43587542342e-05,5.18343940068e-05,-5.73465918343e-05,1793238143892139776
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,745.622633215,716,680,664,637,881,789,804,652,632,653.377366785,0.437329457381,-0.0155509979423,0.0700005575549,0.999999993296,-9.46338662294e-05,3.01087991926e-05,-5.95504298324e-05,1793238143908806400
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,745.045855332,716,680,664,637,881,789,804,652,632,653.954144668,0.43801147646,-0.0155486637361,0.0699800786431,0.999999994034,-8.9898747602e-05,9.72885837219e-06,-6.12793955537e-05,1793238143925473024
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.459795048,745,716,680.540204952,664,637,881.540204952,789,804.540204952,652,632,653.459795048,0.43864705343,-0.0155473398503,0.0699493717382,0.999999992882,-9.30696116959e-05,-3.8168250818e-05,-6.41638333554e-05,1793238143942140160
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.125443038,745.125443038,716,681,664,636.874556962,882,789,804.874556962,652,632,653.125443038,0.439277079976,-0.0155464495622,0.0699206439984,0.999999989804,-9.46207121636e-05,-8.36533452869e-05,-6.66346426642e-05,1793238143958807296
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.704804938,745.704804938,716,681,664,636.295195062,882,789,804.295195062,652,632,653.704804938,0.439901536649,-0.0155468125048,0.0699022744642,0.99999998763,-8.78398078472e-05,-0.000111810587291,-6.72476084265e-05,1793238143975474176
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,716,681,663.717570864,636,882,789,804,652,632.282429136,654,0.440548198718,-0.0155486417362,0.0699123830723,0.999999989284,-8.93644315369e-05,-9.51049370063e-05,-6.63425598427e-05,1793238143992140544
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,716,681,663.141751842,636,882,789,804,652,632.858248158,654,0.441217927911,-0.0155519941615,0.0699520750275,0.999999992504,-9.9516911419e-05,-3.17953152486e-05,-6.38605843255e-05,1793238144008807168
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.566839364,745.566839364,715.566839364,681,663.433160636,636,882,789,804.433160636,652,633,653.566839364,0.441865834527,-0.015556450121,0.0699974204896,0.999999991934,-0.000105797790556,3.52741370528e-05,-6.0782651079e-05,1793238144025473536
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.163580262,746,716,681.836419738,663,635,882.163580262,785.163580262,804.672839476,652,631.836419738,654,0.448687837765,-0.015511053291,0.0695715969438,0.999999756112,-0.000112868367722,-0.000688344497337,-3.49089928757e-05,1793238146027888640
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746.897549076,716,681.897549076,663,635,882.102450924,786,804.795098152,652,631.897549076,654,0.447764858216,-0.0154912617533,0.0695994677596,0.999999791463,-1.35501307952e-05,-0.000645388726621,-1.90610284772e-05,1793238146077888256
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746.518378275,715.518378275,682,663,635,882.481621725,786,805,652,632,654,0.447425066428,-0.0154913343857,0.0696079514055,0.999999798249,-1.29427992055e-05,-0.000634935322737,-1.3834352051e-05,1793238146094555136
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,715,682,663,635,882.352794353,786,804.352794353,652,632,653.352794353,0.446695252539,-0.0154892383243,0.069622287461,0.999999815445,-4.80313168797e-06,-0.000607512793279,-3.96772777386e-06,1793238146127888128
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,715,681.772743911,663.227256089,635.227256089,882,786.227256089,804.227256089,652,632,653.227256089,0.446307854746,-0.015483269003,0.0696351503513,0.999999831042,1.1589578544e-05,-0.000581189703271,-1.23698460909e-07,1793238146144555008
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.048383356,746,715.951616644,681.951616644,664,636,882,787,805,652,632,654,0.445090409631,-0.0154638587411,0.0697290915598,0.999999910401,3.42563398037e-06,-0.000423292228101,-3.17908924202e-06,1793238146194555648
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,746,716,681.458523885,663.458523885,636,882,787.541476115,805,651.458523885,632,654,0.444629111859,-0.0154578896804,0.069751365422,0.999999924046,1.72661066253e-05,-0.000389370557773,-8.06371524307e-07,1793238146211222272
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.130263066,746,715.869736934,681,663,636.130263066,882,788,805,651,632,654,0.44415279519,-0.0154511403974,0.0697710086192,0.999999934975,3.27743046936e-05,-0.000359124013061,2.21874944957e-06,1793238146227888896
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.709325075,746,715.290674925,681,663,636.709325075,882,788,805,651,632,654,0.443639561122,-0.015442670115,0.0697864408188,0.999999943725,4.18892068285e-05,-0.000332813944468,5.49099446202e-06,1793238146244555264
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,715.863683022,681.863683022,663.863683022,636.136316978,882,788.863683022,805,651.863683022,632,654,0.44256092031,-0.0154252492555,0.0698208502282,0.999999955418,8.53979767756e-05,-0.000285767569142,1.44347365051e-05,1793238146277888512
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,715.884460629,681,663.115539371,636.115539371,882,788.115539371,804,652,632,654,0.438101110922,-0.015381108023,0.0697599967007,0.99999992142,0.000135748564783,-0.000372397378416,7.24420959902e-06,1793238146394555648
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,716,682,663,636,881,788,804,652,632,654,0.43462104156,-0.0153842727508,0.06983944701,0.999999955998,0.000150956521332,-0.000254805198859,1.70703204884e-05,1793238146477888512
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,716,681.596410472,663,636,881,788,804.403589528,652,632,654,0.433869947571,-0.0153808672447,0.0698396899402,0.999999953478,0.000156909361446,-0.000260979232136,1.77151548839e-05,1793238146494555392
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,716,681.019140685,663,636,881,788,804.980859315,652,632,654,0.433101120419,-0.0153765222433,0.069829321968,0.999999947544,0.000159694760662,-0.000281284972096,1.69918218586e-05,1793238146511222016
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745.569941437,716,681,663,636,881,788,804.430058563,652,632,653.430058563,0.432344210054,-0.0153790274605,0.0698343287063,0.999999951936,0.000156317018007,-0.000267159068983,1.7858328262e-05,1793238146527888384
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.073302679,663,636.073302679,880,789,803.926697321,652.926697321,632,654,0.401649985155,-0.0153577745892,0.0698165297065,0.99999992369,0.000238262709809,-0.000308894886744,2.08714981058e-05,1793238147461221376
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,745,716,679.76995551,663,637,880,788.76995551,803.23004449,652,632.23004449,654,0.401450269379,-0.0153529976759,0.0698172303529,0.999999921997,0.000243777129643,-0.00031035177668,1.61564377645e-05,1793238147494554624
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,745,716,679.195702273,663,637,880,788.195702273,803.804297727,652,632.804297727,654,0.401365394084,-0.0153524072015,0.0698141155644,0.999999923704,0.000235398603364,-0.000311707590851,4.22201413032e-06,1793238147511221248
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880,788,803.619775673,652.380224327,632.619775673,653.619775673,0.401292330428,-0.0153550909733,0.0698131313685,0.999999925765,0.000225688281265,-0.000312306764456,4.77532946179e-07,1793238147527887872
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,745,716,679,663,637,880,788,803.042984003,652.957015997,632.042984003,653.042984003,0.401225373126,-0.0153594674562,0.0698132486405,0.999999927992,0.000215289451222,-0.000312514772021,9.67066439167e-07,1793238147544554496
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9a93ae0a22e45e3af9bcdf0912783efbe5a5e3c3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,445 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..897dc95b5c72bec21667dffbc22d30199bec057d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6767fea4a375343a88f706f0fb3e0599cb6a7e572aaf0a3c93c99339d382979b
+size 27778261
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32a54e6aed603936693a1ef45471685cd4e0f768
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_01/franka_data.csv
@@ -0,0 +1,439 @@
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+57,0.950000000,BASELINE,767,745.094019785,716,679,663,637,880.905980215,789,804,652,632.094019785,654,0.401054532351,-0.0154938379403,0.0798786923472,0.999999986029,0.000112182789975,-0.000117461281512,3.9492682141e-05,1793238150448823040
+58,0.966666667,BASELINE,767,745.674549023,716,679,663,637,880.325450977,789,804,652,632.674549023,654,0.401055366195,-0.0154927598306,0.0798788398866,0.999999985693,0.000114942768116,-0.000117659849928,3.94695108269e-05,1793238150465489664
+59,0.983333333,BASELINE,766.747489272,746,716,679,663,637,880,789,803.747489272,652,632.747489272,654,0.401055813298,-0.0154920285921,0.0798787957536,0.999999985519,0.000116578908056,-0.000117551193284,3.94042051036e-05,1793238150482156288
+60,1.000000000,BASELINE,766.172803369,746,716,679,663,637,880,789,803.172803369,652,632.172803369,654,0.401055766961,-0.0154917399216,0.0798785070685,0.999999985559,0.000116781157736,-0.000117050552184,3.92851406295e-05,1793238150498822912
+61,1.016666667,BASELINE,766.403026979,746,716,679,663,637,880,789,803,652,632,654,0.401055754705,-0.0154913521948,0.0798789900441,0.99999998558,0.000117089056639,-0.000116543210645,3.93358339443e-05,1793238150515489536
+62,1.033333333,BASELINE,766.979349388,746,716,679,663,637,880,789,803,652,632,654,0.401055757102,-0.0154909218754,0.0798798048221,0.999999985593,0.000117442383079,-0.000116032988049,3.9459520516e-05,1793238150532156160
+63,1.050000000,BASELINE,767,746,716,679,663,636.429577665,880,788.429577665,803,652,632,654,0.401054933587,-0.0154909172308,0.0798791092411,0.999999985616,0.000116462215458,-0.000116918936517,3.91669697845e-05,1793238150548823040
+64,1.066666667,BASELINE,766.84181328,746,716,679,662.84181328,636.15818672,880,788.15818672,803.15818672,652,632,654,0.401054163048,-0.0154908132768,0.0798784861586,0.999999985564,0.000116169949232,-0.000117738077853,3.89204465861e-05,1793238150565489664
+65,1.083333333,BASELINE,766.264273162,746,716,679,662.264273162,636.735726838,880,788.735726838,803.735726838,652,632,654,0.401053614316,-0.0154904041157,0.0798782040705,0.999999985313,0.000117832687349,-0.000118242562388,3.88369502421e-05,1793238150582156288
+66,1.100000000,BASELINE,766.312957232,746,716,679,662,637,880,789,804,652.312957232,632,654,0.401053476367,-0.0154914661514,0.079878328764,0.999999985432,0.000116643980349,-0.000118322504018,3.9110295224e-05,1793238150598822912
+67,1.116666667,BASELINE,766.889926314,746,716,679,662,637,880,789,804,652.889926314,632,654,0.401053684956,-0.0154937692938,0.0798787966198,0.999999985855,0.000113049783877,-0.000118044299694,3.96846728393e-05,1793238150615489536
+68,1.133333333,BASELINE,766.538231167,746,716,679,662.461768833,636.538231167,880.461768833,789,804,652.538231167,632,654,0.401055061037,-0.0154927047903,0.0798795272142,0.999999985786,0.00011493616646,-0.000116814083245,3.96561883693e-05,1793238150632156672
+69,1.150000000,BASELINE,766,746,716,679,662.966311925,636.033688075,880.966311925,789,804,652,632,654,0.401056476226,-0.0154910428548,0.0798801567878,0.999999985601,0.000117743829232,-0.000115646339589,3.94889723053e-05,1793238150648824320
+70,1.166666667,BASELINE,766,746,716,679,662.373043005,636.626956995,880.373043005,789,804,652,632,654,0.401053969041,-0.0154926451271,0.0798780794359,0.999999985572,0.000114392214413,-0.000119244458593,3.9378185174e-05,1793238150665490176
+71,1.183333333,BASELINE,766.214568181,745.785431819,716,679,662.214568181,636.785431819,880,789,804,652,632,654,0.401053041743,-0.0154934166272,0.0798775259743,0.999999985667,0.000112610944288,-0.000120153028313,3.93463882348e-05,1793238150682156288
+72,1.200000000,BASELINE,766.792595765,745.207404235,716,679,662.792595765,636.207404235,880,789,804,652,632,654,0.401054790637,-0.0154927808732,0.0798795538469,0.999999985995,0.000113489697768,-0.00011650574151,3.94483936339e-05,1793238150698823168
+73,1.216666667,BASELINE,766.630167834,745.369832166,715.630167834,679.369832166,662.630167834,636.369832166,880,789,803.630167834,652,632,654,0.401056328746,-0.0154916433043,0.079880751133,0.999999985963,0.000115758599815,-0.000114521769693,3.94773844228e-05,1793238150715489792
+74,1.233333333,BASELINE,766.053374222,745.946625778,715.053374222,679.946625778,662.053374222,636.946625778,880,789,803.053374222,652,632,654,0.401057748898,-0.0154902249154,0.0798814836153,0.999999985726,0.000118805441602,-0.000113468604306,3.94655155649e-05,1793238150732156416
+75,1.250000000,BASELINE,766.533340802,745.466659198,715.533340802,679.466659198,662.533340802,637,880,789,803.533340802,652,632,654,0.401055912422,-0.0154922444582,0.0798799969946,0.99999998568,0.000116223324587,-0.000116470542108,3.95721730121e-05,1793238150748823296
+76,1.266666667,BASELINE,766.880709415,745,716,679,663,637,880,789,804,652,632,654,0.401054393926,-0.015493656913,0.0798787982469,0.999999985635,0.000114236560524,-0.000118780655849,3.96434403235e-05,1793238150765489920
+77,1.283333333,BASELINE,766.30160897,745,716,679,663,637,880,789,804,652,632,654,0.401055381133,-0.0154913780273,0.0798795813469,0.999999985578,0.000116757099148,-0.000116830228125,3.95317076638e-05,1793238150782156288
+78,1.300000000,BASELINE,766.274440122,745,716,679,663,637,880,789,804.274440122,652,632,654,0.401057197032,-0.0154907491667,0.0798809233648,0.999999985785,0.000117618918514,-0.000114143395813,3.95855067711e-05,1793238150798822912
+79,1.316666667,BASELINE,766.847172624,745,716,679,663,637,880,789,804.847172624,652,632,654,0.401059913647,-0.015491913739,0.0798828728775,0.999999986278,0.000116677855133,-0.000110656156327,3.98192244209e-05,1793238150815489536
+80,1.333333333,BASELINE,766.579927445,745.420072555,716,679,662.579927445,637,879.579927445,789,804.579927445,652,632,654,0.401058281901,-0.0154917371253,0.0798813131301,0.999999986064,0.00011641575222,-0.000112927353638,3.95715156836e-05,1793238150832156416
+81,1.350000000,BASELINE,766.006966529,745.993033471,716,679,662.006966529,637,879.006966529,789,804.006966529,652,632,654,0.401055067538,-0.0154910723777,0.079878476163,0.99999998558,0.000116400761665,-0.000117294374229,3.91485884457e-05,1793238150848823040
+82,1.366666667,BASELINE,766.590544929,745.409455071,716,679.590544929,662.590544929,637,879.590544929,789,804,652,632,654,0.401054976537,-0.015491185896,0.0798784207066,0.999999985566,0.000116321267215,-0.000117460200256,3.92552320685e-05,1793238150865489664
+83,1.383333333,BASELINE,767,745.18130402,716,679.81869598,662.81869598,637,880,789,804,652,632,654,0.401055267068,-0.0154915300896,0.0798786992833,0.99999998564,0.000115966347231,-0.000117153522337,3.93401286824e-05,1793238150882156544
+84,1.400000000,BASELINE,767,745.756727998,716,679.243272002,662.243272002,637,880,789,804,652,632,654,0.401056303404,-0.0154923549034,0.0798796295605,0.999999985891,0.000115014431144,-0.000115932120248,3.93635821846e-05,1793238150898822912
+85,1.416666667,BASELINE,767,745.669012929,716,679.330987071,662.330987071,637,880,789,804,652,632,654,0.401056774753,-0.0154920455436,0.0798799576162,0.999999985927,0.000115314920853,-0.000115306577552,3.94040336369e-05,1793238150915489536
+86,1.433333333,BASELINE,767,745.09560708,716,679.90439292,662.90439292,637,880,789,804,652,632,654,0.401056832299,-0.0154909055018,0.079879844598,0.999999985806,0.00011653268718,-0.000115117449275,3.94569345839e-05,1793238150932156160
+87,1.450000000,BASELINE,767,745.479247505,716,679.520752495,663,637,880,789,804,652,632,654.479247505,0.401056250177,-0.0154907047242,0.0798796191026,0.999999985736,0.000116709346724,-0.000115645043935,3.91672056847e-05,1793238150948822784
+88,1.466666667,BASELINE,767,746,716,679,662.943681906,637,880,789,804,652,632,654.943681906,0.401055511643,-0.0154907918087,0.0798793101221,0.999999985681,0.000116561164575,-0.000116360929799,3.88739471997e-05,1793238150965489408
+89,1.483333333,BASELINE,767,746,716,679,662.348170559,637,880,789,804,652,632,654.348170559,0.401054501064,-0.0154918354995,0.0798784173294,0.999999985681,0.000115297438685,-0.000117506457973,3.9203293405e-05,1793238150982156544
+90,1.500000000,BASELINE,766.760434107,746,716,679,662.239565893,637,880,789.239565893,804,652.239565893,632,654,0.401054585974,-0.0154926981614,0.0798786845195,0.999999985871,0.000113980844147,-0.0001171234092,3.93497824642e-05,1793238150998823168
+91,1.516666667,BASELINE,766.183642077,746,716,679,662.816357923,637,880,789.816357923,804,652.816357923,632,654,0.401056212955,-0.0154933059967,0.0798805845653,0.999999986327,0.000112589828894,-0.000114588651285,3.92388717115e-05,1793238151015490048
+92,1.533333333,BASELINE,766.391306117,746,716,679,662.608693883,637,880,789.608693883,804,652.608693883,632,654,0.401056385727,-0.0154924746581,0.0798807140827,0.999999986166,0.000114068773445,-0.000114582468388,3.9082411817e-05,1793238151032156672
+93,1.550000000,BASELINE,766.965393096,746,716,679,662.034606904,637,880,789.034606904,804,652.034606904,632,654,0.40105587923,-0.0154909710749,0.0798800165782,0.999999985712,0.000116888289123,-0.000115757394135,3.89046757019e-05,1793238151048823552
+94,1.566666667,BASELINE,767,746,716,679,662.555289142,637,879.444710858,789,803.444710858,652,632.555289142,654,0.401055489561,-0.0154913608393,0.0798793354174,0.999999985592,0.000117105103787,-0.000116468995052,3.9211236602e-05,1793238151065489664
+95,1.583333333,BASELINE,766.856617185,746,716,679,663,636.856617185,879.143382815,789,803,652.143382815,632.856617185,654,0.40105533853,-0.0154915635356,0.0798790070615,0.999999985471,0.000117761556725,-0.000116747905811,3.9493245265e-05,1793238151082156288
+96,1.600000000,BASELINE,766.277090643,746,716,679,663,636.277090643,879.722909357,789,803,652.722909357,632.277090643,654,0.401055890593,-0.0154908277605,0.079879748683,0.999999985279,0.000120263167305,-0.000115801061837,3.9606070725e-05,1793238151098822912
+97,1.616666667,BASELINE,766.299802218,746,716,679,663,636.299802218,880,789,803.299802218,652.700197782,632,653.700197782,0.401056839548,-0.0154905210058,0.0798804947325,0.999999985402,0.000120402994248,-0.000114605578229,3.95539882787e-05,1793238151115489536
+98,1.633333333,BASELINE,766.874282075,746,716,679,663,636.874282075,880,789,803.874282075,652.125717925,632,653.125717925,0.401058152133,-0.0154906073181,0.0798812448387,0.999999985814,0.000118378963957,-0.000113182292001,3.93508178362e-05,1793238151132156416
+99,1.650000000,BASELINE,767,746,716,679,663,637,880,789,804,652,632,653.459733906,0.40105757774,-0.0154907576094,0.0798805101339,0.999999985878,0.000117038419146,-0.00011398189074,3.94308611568e-05,1793238151148823296
+100,1.666666667,BASELINE,767,746,716,679,663,637,880,789,804,652,632,654,0.40105650862,-0.0154908957403,0.0798794510025,0.999999985825,0.000116092469915,-0.000115361849663,3.95584453719e-05,1793238151165489920
+101,1.683333333,BASELINE,767,746,716,679,663,637,880,789,804,652,632,654,0.401055818998,-0.0154906970828,0.0798794165998,0.999999985574,0.000117420469209,-0.000116267503223,3.93300308373e-05,1793238151182156288
+102,1.700000000,BASELINE,766.801748555,745.801748555,716,679,663,636.801748555,880,789,803.801748555,652,632,654,0.401055921422,-0.015490847346,0.0798797795269,0.999999985489,0.00011822938819,-0.000116198633255,3.92757275568e-05,1793238151198822912
+103,1.716666667,BASELINE,766.246575484,745.246575484,716,679,663,636.246575484,880,789,803.246575484,652,632,654,0.401057449804,-0.0154916257877,0.0798808577861,0.999999985703,0.000118103781735,-0.00011437528154,3.95348851791e-05,1793238151215489536
+104,1.733333333,BASELINE,766.333273209,745,716,679,663,636.333273209,880,789,803,652.333273209,632,654,0.401056797446,-0.0154918398916,0.0798803901831,0.99999998568,0.00011718803091,-0.000115506454607,3.95699733037e-05,1793238151232156416
+105,1.750000000,BASELINE,766.93283827,745,716,679,663,636.93283827,880,789,803,652.93283827,632,654,0.401054402635,-0.0154916030786,0.0798786874059,0.999999985456,0.00011564093917,-0.000118998350913,3.94260255179e-05,1793238151248823040
+106,1.766666667,BASELINE,766.496419952,745.503580048,716,679,663,636.496419952,880,789,803.503580048,652.496419952,632,654,0.401055004565,-0.0154910023729,0.0798790130095,0.999999985423,0.000117201590711,-0.000117822564617,3.91970408357e-05,1793238151265489920
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,789,804,652,632,654,0.401055102157,-0.0154914098807,0.079879406414,0.999999985271,0.000118780493532,-0.00011741116057,3.95397451956e-05,1793238151307818752
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.422927456,746,716,679,663,637,880,789,803.422927456,652,632,654,0.401056201218,-0.0154916801761,0.0798802093021,0.999999985404,0.000119229902217,-0.00011575874285,3.969638939e-05,1793238151324485120
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.153348138,746,716,679,663,637,880,789,803.153348138,652,632,654,0.401056796819,-0.0154915973205,0.0798806171848,0.999999985486,0.000119444118395,-0.000114819315577,3.97187559118e-05,1793238151341151488
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.727437273,746,716,679,663,637,880,789,803.727437273,652,632,654,0.401056011081,-0.0154905455252,0.0798799412922,0.999999985434,0.000119013037435,-0.000115836118485,3.93727050714e-05,1793238151357817856
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.689049592,746,716,679.310950408,663,636.689049592,880,789,804,652.310950408,632,654,0.40105530333,-0.0154905543715,0.0798796326129,0.999999985378,0.00011846135948,-0.000116905405553,3.92897681283e-05,1793238151374484480
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.097017733,746,716,679.902982267,663,636.097017733,880,789,804,652.902982267,632,654,0.401054666076,-0.0154915219775,0.0798796558736,0.999999985319,0.000117800668738,-0.000118022135255,3.94446711784e-05,1793238151391151104
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.482473761,745.517526239,716,679.517526239,663,636.482473761,880,788.517526239,804,652.517526239,632,654,0.40105441807,-0.0154909547297,0.0798795677409,0.999999985143,0.000118464137376,-0.000118872739457,3.93512754021e-05,1793238151407817472
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745.059321781,716,679,662.940678219,636.940678219,880,788.059321781,804,652,632,654,0.401054373117,-0.015490199936,0.0798796048977,0.999999984975,0.000119287941823,-0.000119508733913,3.92287393085e-05,1793238151424484096
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.634554909,716,679,662.365445091,636.365445091,880,788.634554909,804,652,632,654,0.401055430621,-0.0154904302288,0.0798809215446,0.99999998507,0.000119249143064,-0.00011873191251,3.92759977082e-05,1793238151441150976
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.78602782,716,679,662,636.21397218,880,789,803.78602782,652,632,654,0.401057404025,-0.0154909036711,0.0798824400211,0.999999985099,0.000118315316473,-0.000119402785981,3.93303510101e-05,1793238151457817856
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.199321946,716,679,662,636.800678054,880,789,803.199321946,652,632,654,0.4010609729,-0.0154918006732,0.0798843100793,0.999999985002,0.000115822375838,-0.000122595504478,3.93970634333e-05,1793238151474484480
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.61742064,745.38257936,716,679,662.38257936,636.61742064,880,789,803.38257936,652.38257936,632.38257936,654,0.401076839319,-0.0154926182496,0.0798909018038,0.999999985371,0.000116573496613,-0.000118663704682,3.98399623078e-05,1793238151491151104
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.03799139,745.96200861,716,679,662.96200861,636.03799139,880,789,803.96200861,652.96200861,632.96200861,654,0.401099033236,-0.0154933949588,0.0798999229839,0.999999985933,0.000118993795358,-0.000111066101996,4.04764217097e-05,1793238151507817728
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.541118011,746,716,679,662.458881989,636.541118011,880,789,803.458881989,652.458881989,632.458881989,654,0.401142887693,-0.0154957061391,0.0799144218879,0.999999987928,0.000116800063038,-9.4006924913e-05,4.08028686044e-05,1793238151524484352
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715.880787241,679.119212759,662.119212759,636.880787241,880,789,803.119212759,652,632,654,0.401191350305,-0.0154981270959,0.0799288276528,0.999999989653,0.000114753724302,-7.64502529287e-05,4.10060139339e-05,1793238151541150720
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715.306480087,679.693519913,662.693519913,636.306480087,880,789,803.693519913,652,632,654,0.401251602455,-0.0155005560946,0.0799414105755,0.999999990839,0.000114505995149,-5.95288112313e-05,4.08214973581e-05,1793238151557817344
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.725357305,746,715.274642695,679.725357305,662.725357305,636,880,789,804,652,632,654,0.40132018271,-0.0155029560351,0.0799525855139,0.999999991702,0.000114419196994,-4.34905331295e-05,4.01707124239e-05,1793238151574484224
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.136435296,746,715.863564704,679.136435296,662.136435296,636,880,789,804,652,632,654,0.401398292982,-0.0155053227237,0.0799621492658,0.999999992278,0.000114516555534,-2.84628784143e-05,3.89863669799e-05,1793238151591151104
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.445331184,746,716,679.445331184,662,636.445331184,879.554668816,789,804,652,632,654,0.401480484626,-0.0155070808605,0.0799648640699,0.999999992464,0.00011425832987,-2.60569135546e-05,3.65926348333e-05,1793238151607817472
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,679.975267141,662,636.975267141,879.024732859,789,804,652,632,654,0.401564813066,-0.0155086897388,0.0799655797759,0.999999992557,0.000113999458043,-2.72981784551e-05,3.38287073719e-05,1793238151624484096
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,679.400474445,662,636.400474445,879.599525555,789,804,652,632,654,0.401669294706,-0.0155110599834,0.0799677637561,0.999999992468,0.000116110724361,-2.50143063036e-05,3.09416353871e-05,1793238151641150720
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.821815734,745.821815734,716,679,662.178184266,636.178184266,880,789,804,652,632,654,0.401782651095,-0.0155134872463,0.0799711982812,0.999999992522,0.000117253812724,-2.0977117438e-05,2.77117072723e-05,1793238151657817344
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.234275412,745.234275412,716,679,662.765724588,636.765724588,880,789,804,652,632,654,0.401916396098,-0.0155160455013,0.0799775057764,0.999999992888,0.000116172633094,-1.29119031328e-05,2.36941104985e-05,1793238151674483968
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.3482804,745,716,679,663,637,880,789,803.6517196,652,632,654,0.402061810358,-0.0155182619356,0.0799808663733,0.999999993553,0.000111722840315,-7.28850363826e-06,1.89514790966e-05,1793238151691150848
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.927530682,745,716,679,663,637,880,789,803.072469318,652,632,654,0.402214963358,-0.0155202516843,0.0799822726698,0.999999994384,0.000105039076803,-3.28444706041e-06,1.37280244776e-05,1793238151707817472
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.493692212,745,716,679,663,637,880,789,803,652,632,654,0.40237812622,-0.01552153066,0.0799777403002,0.999999995672,9.14060793094e-05,-1.55244397124e-05,7.77937269249e-06,1793238151724484608
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,716,679,662.915771466,636.915771466,880,789,803.084228534,652,632,654,0.402546343203,-0.0155224893968,0.079972200826,0.999999996706,7.54546465068e-05,-2.98788892325e-05,1.48591781369e-06,1793238151741151232
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,716,679,662.342430421,636.342430421,880,789,803.657569579,652,632,654,0.402735597265,-0.0155221787373,0.0799657445482,0.999999997713,5.18107168668e-05,-4.3022994448e-05,-6.20760223272e-06,1793238151757818112
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.237584136,716,679,662.237584136,636,880,789,803.762415864,652,632,654,0.402945890372,-0.015521315883,0.0799626462965,0.999999998177,3.25753424465e-05,-4.89423911478e-05,-1.37569222873e-05,1793238151774484736
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.827495184,716,679,662.827495184,636,880,789,803.172504816,652,632,654,0.403187383451,-0.0155196341479,0.0799645278515,0.999999998605,1.98776646211e-05,-4.4147859428e-05,-2.1092399586e-05,1793238151791151104
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.591275157,716,679,663,636.408724843,880,789,803.408724843,652,632,654,0.4034529352,-0.0155152879399,0.079968601464,0.999999998881,1.60429776521e-05,-3.74494298697e-05,-2.40515983049e-05,1793238151807817472
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.01363334,716,679,663,636.98636666,880,789,803.98636666,652,632,654,0.403728429861,-0.0155098405639,0.0799735810055,0.999999999108,1.58711698886e-05,-2.99641613927e-05,-2.52021773043e-05,1793238151824484096
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,716,679,662.4388339,636.4388339,880,789,803.4388339,652.5611661,632,654,0.404025514984,-0.0155098177744,0.0799738798846,0.999999999052,1.39178362876e-05,-3.13051429925e-05,-2.68717595394e-05,1793238151841150976
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,880,789,803,653,632,654,0.404332570332,-0.0155103494788,0.0799742040627,0.999999999038,1.15655989572e-05,-3.11340071199e-05,-2.86456703444e-05,1793238151857817856
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,880,789,803,653,632,654,0.404670135887,-0.0155122483143,0.07997497529,0.999999999173,8.06429375752e-06,-2.53910452503e-05,-3.07159639394e-05,1793238151874484480
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.294614538,716,678.705385462,662.294614538,636.294614538,880,789,803.294614538,652.705385462,632,654,0.405024309182,-0.0155141953156,0.0799731965455,0.999999999139,4.74973303232e-06,-2.54599218251e-05,-3.242545274e-05,1793238151891151104
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.889991006,716,678.110008994,662.889991006,636.889991006,880,789,803.889991006,652.110008994,632,654,0.405395436791,-0.0155161914877,0.0799688146219,0.999999998934,1.62581294574e-06,-3.1461905297e-05,-3.37666084864e-05,1793238151907817984
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.528810692,716,678.471189308,662.528810692,637,880,788.528810692,803.528810692,652,632,654,0.405786115709,-0.0155176172721,0.0799619908861,0.999999998297,-4.58612027582e-06,-4.51117546274e-05,-3.67465144244e-05,1793238151924484352
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.048982844,716,678.951017156,662.097965687,637,880,788.048982844,803,652,632.048982844,654,0.406183929837,-0.0155188567828,0.0799551725044,0.999999997405,-9.16923288838e-06,-5.95479444285e-05,-3.94909767184e-05,1793238151941150976
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.624719894,716,678.375280106,663.249439788,637,880,788.624719894,803,652,632.624719894,654,0.406610821437,-0.0155194833823,0.0799543632958,0.999999997263,1.12903758577e-05,-6.37996512814e-05,-3.57092742882e-05,1793238151957817600
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.204781922,746,716,678.409563845,663.795218078,637,880.204781922,789,803.204781922,652,632.795218078,654,0.407047213228,-0.0155189737321,0.0799545203888,0.999999997055,2.11898630244e-05,-6.51437903695e-05,-3.46119440701e-05,1793238151974484224
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.792940809,746,716,679.585881617,663.207059191,637,880.792940809,789,803.792940809,652,632.207059191,654,0.407501390521,-0.0155163368827,0.0799564865173,0.99999999733,1.13195016305e-05,-6.10446045215e-05,-3.85400892753e-05,1793238151991150848
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679.62449706,663,637,880.62449706,789,804,652,632,654,0.40798629959,-0.0155169628316,0.0799526742142,0.999999996833,5.29806063504e-06,-6.83477506608e-05,-4.04379171098e-05,1793238152007817728
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679.044975777,663,637,880.044975777,789,804,652,632,654,0.408487905841,-0.015519361525,0.0799457223725,0.9999999958,1.36781626245e-06,-8.18460145204e-05,-4.12326323184e-05,1793238152024484864
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.470779038,746,716,679,663,636.470779038,880,789,803.470779038,652,632,654,0.409034609586,-0.0155274027016,0.0799598404204,0.999999997414,-7.18308019167e-06,-5.92122239356e-05,-4.01779265033e-05,1793238152041151488
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,716,679,663,636,880.103317484,789,803.103317484,652,632,654,0.409594909924,-0.0155364426411,0.079978262,0.999999998691,-1.69617299922e-05,-2.8652515886e-05,-3.88519475524e-05,1793238152057818112
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,716,679,663,636,880.679003903,789,803.679003903,652,632,654,0.410200025726,-0.0155478783754,0.0800082541794,0.999999998554,-3.0576201888e-05,2.42452472708e-05,-3.6997142932e-05,1793238152074484480
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.261930469,745.738069531,716,679.261930469,662.738069531,636.261930469,880.738069531,789,804,652,632,654,0.410785892857,-0.0155535464156,0.0800207368777,0.999999997575,-3.94375436179e-05,4.41407746867e-05,-3.67033757408e-05,1793238152091151104
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.853982154,745.146017846,716,679.853982154,662.146017846,636.853982154,880.146017846,789,804,652,632,654,0.411347500216,-0.015551945207,0.0800111516961,0.999999998117,-4.23083313936e-05,2.2442300651e-05,-3.83770449312e-05,1793238152107817984
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.563603056,745.436396944,716,679.563603056,662.436396944,637,880.436396944,789,804,652,632,654,0.411939147813,-0.0155470138118,0.0799830239452,0.999999998,-4.28921756811e-05,-1.97930994627e-05,-4.20617363255e-05,1793238152124484608
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.01549554,746,716,679,663,636.98450446,881,789,804,652,632,654,0.412541657688,-0.0155411637142,0.0799494082897,0.999999995723,-4.27873626801e-05,-6.76101087075e-05,-4.64006634442e-05,1793238152141150976
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.588786572,746,716,679,663,636.411213428,881,789,804,652,632,654,0.41318117481,-0.0155414870782,0.0799367560799,0.999999994952,-4.48430341192e-05,-7.43345667176e-05,-5.0591601589e-05,1793238152157817856
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.836979812,745.836979812,716,679.163020188,663,636,880.836979812,789,803.836979812,652,632,654,0.413838215522,-0.0155426013349,0.0799352051417,0.999999995288,-4.61103365192e-05,-6.71235941335e-05,-5.28413028749e-05,1793238152174484736
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.260354765,745.260354765,716,679.739645235,663,636,880.260354765,789,803.260354765,652,632,654,0.414539715975,-0.0155457221966,0.079961819672,0.999999997411,-4.53774369924e-05,-2.45564980241e-05,-5.01658163072e-05,1793238152191151360
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.323691206,745.323691206,716,680,663,636.323691206,880,788.676308794,803.323691206,652,631.676308794,654,0.415230741334,-0.015546771733,0.0799813821604,0.999999997706,-4.68464663603e-05,3.84327742045e-06,-4.87629610788e-05,1793238152207818240
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.913846078,745.913846078,716,680,663,636.913846078,880,788.086153922,803.913846078,652,631.086153922,654,0.415913143526,-0.0155461161474,0.0799951393833,0.99999999736,-5.01281309089e-05,2.05804657966e-05,-4.84077403279e-05,1793238152224484864
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,679.50518306,663,637,880.49481694,788.49481694,804,652,631.49481694,653.50518306,0.416607870244,-0.0155444658815,0.0799779439325,0.999999997204,-5.35123142037e-05,-1.1091768036e-05,-5.10500247986e-05,1793238152241151232
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.92627929,746,716,679.07372071,663,636.92627929,880.92627929,789,804,652,632,653.07372071,0.417314244154,-0.0155431392641,0.0799615636874,0.999999996201,-5.64166828209e-05,-3.92140359607e-05,-5.36464838328e-05,1793238152257817600
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.350759955,746,716,679.649240045,663,636.350759955,880.350759955,789,804,652,632,653.649240045,0.418085557129,-0.015545172999,0.0799867472243,0.999999996974,-5.59357851922e-05,1.31540566559e-05,-5.24432833479e-05,1793238152274484224
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,716,680,663,636,880.229507022,789,804,652,632.229507022,654,0.418843355704,-0.0155474441081,0.0800061683959,0.999999995716,-5.65009941042e-05,5.19763242886e-05,-5.17035138063e-05,1793238152291150848
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663,636,880.817183268,789,804,652,632.817183268,654,0.419580063789,-0.0155500856645,0.0800165968101,0.999999994515,-5.86987595727e-05,6.9658952114e-05,-5.16869757231e-05,1793238152307817216
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,716,680.398927635,663,636.398927635,881.398927635,789,804,652,632.601072365,654,0.420312356314,-0.0155500922136,0.0800016618899,0.999999995719,-6.04424163397e-05,4.61027627279e-05,-5.27480458811e-05,1793238152324484096
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,716,680.977993393,663,636.977993393,881.977993393,789,804,652,632.022006607,654,0.421042654923,-0.0155489089096,0.0799752740062,0.999999996597,-6.19810174314e-05,3.92494149085e-06,-5.42957163119e-05,1793238152341150720
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.554210034,746,716,681,663,637,881.445789966,789,804,652,632,654,0.421841397649,-0.0155498390794,0.0799871192717,0.999999996472,-6.05703894287e-05,2.17720418806e-05,-5.39761983271e-05,1793238152357817600
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.867238046,746,716,681,663,637,881,789,804,652,632,654,0.422637252877,-0.015550749619,0.0800025222228,0.999999995918,-5.80146992787e-05,4.45227325846e-05,-5.30734985814e-05,1793238152374484224
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.280312393,746,716,681,663,637,881,789,804,652,632,654,0.423413980578,-0.0155513073868,0.0800249287083,0.999999994496,-5.19404454646e-05,7.5936160513e-05,-5.04281354388e-05,1793238152391150848
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.302729792,746,716,680.697270208,663,636.697270208,881,789,804,652,632,654,0.424161600173,-0.0155504924975,0.0800172178256,0.999999996079,-4.84139757823e-05,5.37638661232e-05,-5.10617006016e-05,1793238152407817728
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.882221596,746,716,680.117778404,663,636.117778404,881,789,804,652,632,654,0.424882608477,-0.0155484226959,0.0799819730033,0.999999997238,-4.72167446959e-05,-1.73976366981e-05,-5.46929317122e-05,1793238152424484096
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680.461555806,663,636.461555806,881,789,804,652,632,654,0.425647937629,-0.0155471032829,0.0799541218293,0.999999995726,-5.01151403108e-05,-5.21230116126e-05,-5.76156846222e-05,1793238152441150720
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.959634842,746,716,681,663,637,881,789,804,652,632,654,0.426426444909,-0.0155460228074,0.0799305761383,0.999999993966,-5.36756021981e-05,-7.46246844424e-05,-6.01547563105e-05,1793238152457817344
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.387214336,746,716,681,663,637,881,789,804,652,632,654,0.427229630678,-0.0155455687088,0.0799389212219,0.999999995125,-5.21918479459e-05,-5.85161825247e-05,-6.00186560528e-05,1793238152474484224
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.191173987,746,715.808826013,680.808826013,663,637,881,789,803.808826013,652,632,654,0.428015042426,-0.0155465337688,0.0799465041481,0.999999995605,-5.33406225361e-05,-4.89448030765e-05,-5.95712033108e-05,1793238152491150848
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.046986794,716,679,662.046986794,636.046986794,880,788.046986794,804,652.046986794,632.953013206,654,0.401414262681,-0.0153451990198,0.0798503072048,0.999999923175,0.000283957963282,-0.000267384999649,3.90356102597e-05,1793238156192013824
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da265ef61360ca4ef2bf2219c79ee58d83fa3f79
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,439 @@
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+421,7.016666667,pose2_to_pose3_retreat,0.578252980876,-0.00999871960856,1.07001162826,0.548824213803,-0.00132506045252,1.06966115805
+422,7.033333333,pose2_to_pose3_retreat,0.578252962453,-0.00999872388599,1.07001163117,0.548824195503,-0.00132506431954,1.06966116086
+423,7.050000000,pose2_to_pose3_retreat,0.578252825767,-0.00999875562213,1.07001165274,0.548824059723,-0.00132509301074,1.06966118173
+424,7.066666667,pose2_to_pose3_retreat,0.578252764893,-0.00999876975623,1.07001166235,0.548823999252,-0.00132510578874,1.06966119102
+425,7.083333333,pose2_to_pose3_retreat,0.578252671314,-0.00999879148359,1.07001167712,0.548823906294,-0.00132512543146,1.06966120531
+426,7.100000000,pose2_to_pose3_retreat,0.578252643719,-0.00999879789081,1.07001168148,0.548823878881,-0.00132513122393,1.06966120952
+427,7.116666667,pose2_to_pose3_retreat,0.578252488457,-0.00999881143838,1.0700117028,0.548823724101,-0.00132514308258,1.06966123213
+428,7.133333333,pose2_to_pose3_retreat,0.578252464332,-0.00999880456392,1.07001170485,0.548823699833,-0.00132513665197,1.06966123521
+429,7.150000000,pose2_to_pose3_retreat,0.578252414594,-0.00999879039123,1.07001170906,0.5488236498,-0.00132512339432,1.06966124155
+430,7.166666667,pose2_to_pose3_retreat,0.578252401338,-0.00999878661417,1.07001171018,0.548823636466,-0.00132511986113,1.06966124324
+431,7.183333333,pose2_to_pose3_retreat,0.578252353009,-0.00999877284297,1.07001171427,0.548823587851,-0.00132510697906,1.0696612494
+432,7.200000000,pose2_to_pose3_retreat,0.57825227159,-0.00999874964287,1.07001172117,0.548823505949,-0.00132508527686,1.06966125978
+433,7.216666667,pose2_to_pose3_retreat,0.578252212002,-0.00999873266334,1.07001172621,0.548823446007,-0.0013250693936,1.06966126738
+434,7.233333333,pose2_to_pose3_retreat,0.578252116149,-0.009998705981,1.07001168034,0.548823349607,-0.00132504439797,1.06966122572
+435,7.250000000,pose2_to_pose3_retreat,0.578252116133,-0.00999870774712,1.07001152879,0.548823349652,-0.00132504594897,1.06966107447
+436,7.266666667,pose2_to_pose3_retreat,0.578252116129,-0.009998708101,1.07001149842,0.548823349661,-0.00132504625951,1.06966104416
+437,7.283333333,pose2_to_pose3_retreat,0.578252116129,-0.009998708101,1.07001149842,0.548823349661,-0.00132504625943,1.06966104416
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca0ea4d1d38c326d951fd6f3701e4aefae6f05b3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11157f518b7c42d32f4380a52e85bde7491a889194185572af772e84969fc5dc
+size 27910577
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..63671b6227a76da276c123fcd953224b9307aa46
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_02/franka_data.csv
@@ -0,0 +1,441 @@
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+47,0.783333333,BASELINE,766,745,716,679,662,637,879.262718084,788.737281916,803.737281916,652,632,654,0.400994453264,-0.0153559430043,0.0798477819488,0.999999926394,0.000274913418221,-0.000265494327438,3.38677260074e-05,1793238157749090816
+48,0.800000000,BASELINE,766,745,716,679,662,637,879.847271351,788.152728649,803.152728649,652,632,654,0.400994316289,-0.0153565672611,0.0798477153257,0.999999926264,0.000275181693601,-0.000265711203222,3.3843215776e-05,1793238157765757696
+49,0.816666667,BASELINE,766,745.429184704,716,679,662.429184704,637,880,788.429184704,803.429184704,652,632,654,0.400994617587,-0.0153559939326,0.0798477081767,0.999999925786,0.000276866219354,-0.000265744831582,3.3961413286e-05,1793238157782424576
+50,0.833333333,BASELINE,766,745.989866602,716,679,663,637,879.989866602,788.989866602,804.010133398,652,632,654,0.400995074067,-0.0153550115869,0.0798477353792,0.999999925201,0.000278992910183,-0.000265698544133,3.41240180608e-05,1793238157799091200
+51,0.850000000,BASELINE,766,745.410655091,716,679,663,637,879.410655091,788.410655091,804.589344909,652,632,654,0.400995540226,-0.0153548461972,0.0798485104232,0.999999925771,0.00027782099625,-0.000264804009754,3.39459698547e-05,1793238157815757568
+52,0.866666667,BASELINE,766,745,716,679,663,637,879.161075724,788,804.838924276,652.161075724,632,654,0.400996094869,-0.0153548479058,0.0798490461047,0.999999926243,0.000276813185256,-0.000264089753021,3.38295984389e-05,1793238157832423936
+53,0.883333333,BASELINE,766,745,716,679,663,637,879.714581239,788,804.285418761,652.714581239,632,654,0.400996865086,-0.0153552567171,0.0798489986261,0.999999926483,0.000276205179353,-0.000263814707893,3.38634905833e-05,1793238157849090304
+54,0.900000000,BASELINE,766.296344794,745,716,679,663,636.703655206,880,788,804,652.703655206,632,654,0.400996657361,-0.0153549231095,0.0798490462761,0.999999926376,0.000276541280866,-0.000263857726552,3.39514001347e-05,1793238157865757184
+55,0.916666667,BASELINE,766.908193254,745,716,679,663,636.091806746,880,788,804,652.091806746,632,654,0.400995408471,-0.015353799085,0.0798491952049,0.999999925898,0.000277882526956,-0.000264239372032,3.40968193491e-05,1793238157882423552
+56,0.933333333,BASELINE,766.507272188,745.492727812,716,679,663,636,880,788,803.507272188,652,632,654,0.400995967473,-0.0153535409477,0.0798497095815,0.999999925989,0.000278345107503,-0.000263427124472,3.39386975927e-05,1793238157899090176
+57,0.950000000,BASELINE,766,745.928002141,716,679,663,636.071997859,880,788.071997859,803.071997859,652,632,654,0.400996726611,-0.0153535393667,0.0798501915106,0.999999926148,0.000278628179924,-0.000262538205514,3.38182283673e-05,1793238157915757056
+58,0.966666667,BASELINE,766,745.351831655,716,679,663,636.648168345,880,788.648168345,803.648168345,652,632,654,0.400996652261,-0.0153542639202,0.0798499944486,0.999999926086,0.000278740452274,-0.000262588303046,3.43366687815e-05,1793238157932424704
+59,0.983333333,BASELINE,766,745.222544423,716,679,663,637,880,789,804,652,632,654,0.400995498074,-0.0153553177843,0.0798490014171,0.999999926129,0.00027726185115,-0.000263968106507,3.4463194246e-05,1793238157949091584
+60,1.000000000,BASELINE,766,745.794106412,716,679,663,637,880,789,804,652,632,654,0.400992650372,-0.015356888108,0.0798467600625,0.999999926319,0.000273288274973,-0.000267433294636,3.39750775547e-05,1793238157965757440
+61,1.016666667,BASELINE,766,746,716,679,662.619731663,637,880,789,803.619731663,652,632,654,0.40099331442,-0.0153565145465,0.079847272415,0.999999926563,0.000273018507503,-0.000266816844393,3.38281392594e-05,1793238157982423808
+62,1.033333333,BASELINE,766,746,716,679,662.025349121,637,880,789,803.025349121,652,632,654,0.400995955796,-0.0153550464594,0.0798493352723,0.999999926837,0.000274834209884,-0.000263902183243,3.3873305185e-05,1793238157999090688
+63,1.050000000,BASELINE,766,746,716,679,662.554312912,637,880,789,803,652,632,654,0.400995924765,-0.0153552197045,0.0798496168855,0.999999926894,0.000275181838166,-0.000263318719021,3.39087405106e-05,1793238158015757568
+64,1.066666667,BASELINE,766,745.867832006,716,678.867832006,662.867832006,636.867832006,880,789,803,652,632,654,0.400995800846,-0.015355605556,0.0798496990165,0.999999927032,0.000274864670674,-0.000263125659979,3.39115702136e-05,1793238158032424192
+65,1.083333333,BASELINE,766,745.293825374,716,678.293825374,662.293825374,636.293825374,880,789,803,652,632,654,0.400995764385,-0.0153564577196,0.0798493795458,0.999999927469,0.000272543716071,-0.000263890559106,3.38068481762e-05,1793238158049090816
+66,1.100000000,BASELINE,766,745,716,678.575538066,662.287769033,636.287769033,879.712230967,788.712230967,803,652,632,654,0.400995648332,-0.0153563030525,0.0798496125438,0.999999927326,0.000273142958125,-0.000263799293559,3.39122011423e-05,1793238158065757184
+67,1.116666667,BASELINE,766,745,716,679.754641366,662.877320683,636.877320683,879.122679317,788.122679317,803,652,632,654,0.40099544881,-0.0153550925247,0.0798504249145,0.999999926569,0.000276804602759,-0.000262810170356,3.42378592102e-05,1793238158082423808
+68,1.133333333,BASELINE,766.458600142,745,716,679.082799716,662.541399858,637,879.458600142,788.458600142,803.458600142,652,632,654,0.400996221967,-0.0153554365217,0.0798505582846,0.999999926635,0.00027672029634,-0.000262639104872,3.42872352156e-05,1793238158099090688
+69,1.150000000,BASELINE,766.962691933,745,716,678.037308067,662.037308067,637,880,789,803.962691933,652,632,654,0.400997171246,-0.0153561962709,0.0798505117813,0.999999926929,0.000275600648957,-0.000262701117584,3.42648027579e-05,1793238158115757568
+70,1.166666667,BASELINE,766.389697333,745,716,678.610302667,662.610302667,637,880,789,803.389697333,652,632,654,0.400996979502,-0.0153570604356,0.0798504444077,0.999999927354,0.000273748387511,-0.000263023283215,3.4253709845e-05,1793238158132423936
+71,1.183333333,BASELINE,766.185018191,745,716,679,663,637,879.814981809,788.814981809,803,652,632,654,0.400996728901,-0.0153572603743,0.0798502351241,0.999999927504,0.000272987300528,-0.000263256605718,3.41441773509e-05,1793238158149090560
+72,1.200000000,BASELINE,766.763392574,745,716,679,663,637,879.236607426,788.236607426,803,652,632,654,0.400996353168,-0.0153560481416,0.0798497241341,0.999999927076,0.000274546094458,-0.000263301044183,3.38253583047e-05,1793238158165757440
+73,1.216666667,BASELINE,766.650751129,745,716,679,662.650751129,636.650751129,879.349248871,788.349248871,803,652,632.349248871,654,0.4009958131,-0.0153557435572,0.0798493265891,0.999999926794,0.00027525177468,-0.00026365904614,3.36502520423e-05,1793238158182424320
+74,1.233333333,BASELINE,766.059715092,745,716,679,662.059715092,636.059715092,879.940284908,788.940284908,803,652,632.940284908,654,0.400995159262,-0.0153560673437,0.0798490075828,0.999999926613,0.000275366838877,-0.000264234130055,3.35746390538e-05,1793238158199090944
+75,1.250000000,BASELINE,766.520168224,745.520168224,716,679,662.520168224,636.520168224,880,788.479831776,803,652,632.479831776,654,0.400995376795,-0.0153569552714,0.0798491009034,0.99999992683,0.000275231270613,-0.000263507751872,3.39213358967e-05,1793238158215757568
+76,1.266666667,BASELINE,766.901707121,745.901707121,716,678.901707121,663,637,879.901707121,788,803.098292879,652,632,654,0.400995578776,-0.0153577350357,0.079849291821,0.999999926993,0.00027524920561,-0.000262827633804,3.42675282692e-05,1793238158232423936
+77,1.283333333,BASELINE,766.326036128,745.326036128,716,678.326036128,663,637,879.326036128,788,803.673963872,652,632,654,0.400995229595,-0.0153576815511,0.0798497316714,0.999999926673,0.000276149464414,-0.000263082580608,3.43807557761e-05,1793238158249090560
+78,1.300000000,BASELINE,766,745.249373853,716,678.249373853,663,637,879.249373853,788,803.750626147,652,632,653.750626147,0.400995693026,-0.015357240814,0.0798501685799,0.999999926621,0.000276616977004,-0.000262795629992,3.43565598604e-05,1793238158265757184
+79,1.316666667,BASELINE,766,745.824442893,716,678.824442893,663,637,879.824442893,788,803.175557107,652,632,653.175557107,0.400997217768,-0.0153562943051,0.079850601646,0.999999926915,0.000276519300522,-0.000261800933222,3.41528818186e-05,1793238158282424064
+80,1.333333333,BASELINE,766,746,716,679.411397588,662.588602412,637,880,788.411397588,803.411397588,652,632,653.411397588,0.400996605049,-0.015355826607,0.079850502152,0.999999926755,0.000276683087239,-0.000262260459068,3.40000338278e-05,1793238158299090944
+81,1.350000000,BASELINE,766,746,716,679.996519606,662.003480394,637,880,789,804,652,632,654,0.400995067517,-0.0153555752738,0.079850170577,0.999999926401,0.000276945416104,-0.000263348334173,3.38689555657e-05,1793238158315757824
+82,1.366666667,BASELINE,766,746,716,679.420051027,662.579948973,637,880,789,804,652,632,654,0.40099590905,-0.0153563054226,0.0798501586319,0.999999927255,0.000274515602766,-0.000262678199438,3.36446199301e-05,1793238158332424192
+83,1.383333333,BASELINE,766,746,716,679,663,636.843886355,879.843886355,789,804,652,632,654,0.40099637546,-0.0153565082351,0.0798500747217,0.999999927549,0.000273737954785,-0.00026238466327,3.35261488797e-05,1793238158349090560
+84,1.400000000,BASELINE,766,746,716,679,663,636.268537682,879.268537682,789,804,652,632,654,0.400995834498,-0.0153552949141,0.0798497975531,0.999999926346,0.000277397109937,-0.00026310246271,3.36919715877e-05,1793238158365757184
+85,1.416666667,BASELINE,766,745.686819898,716,679,663,636,879.313180102,789,804,652,632.313180102,654,0.40099558661,-0.0153557393751,0.0798493928606,0.999999926338,0.000276773083892,-0.000263761450502,3.39117842292e-05,1793238158382423552
+86,1.433333333,BASELINE,766,745.099527556,716,679,663,636,879.900472444,789,804,652,632.900472444,654,0.400995595238,-0.015357634817,0.0798488765524,0.999999927369,0.00027240018475,-0.000264368963102,3.41788517834e-05,1793238158399090432
+87,1.450000000,BASELINE,766,745,716,679,663,636,880.962956063,789,804,652,632.518521969,654,0.40099511631,-0.0153578644628,0.079848728392,0.999999927075,0.000273030757935,-0.000264844867177,3.40930655951e-05,1793238158415757056
+88,1.466666667,BASELINE,766,745.060675478,716,679,663,636.060675478,881.878649043,789,804,652,632,654,0.400994585117,-0.0153577223717,0.0798486568627,0.999999926577,0.000274567322599,-0.000265150831938,3.39541596744e-05,1793238158432423936
+89,1.483333333,BASELINE,766,745.635422029,716,679,663,636.635422029,880.729155942,789,804,652,632,654,0.400994454002,-0.0153573105679,0.0798485981349,0.999999926662,0.000275129906363,-0.000264244515069,3.39752093754e-05,1793238158449091072
+90,1.500000000,BASELINE,766.211113812,746,716,679,663,637,880,789,803.788886188,652,632,654,0.400994629634,-0.0153569090806,0.0798488015533,0.999999926681,0.000275671080762,-0.000263607221938,3.39854158208e-05,1793238158465757696
+91,1.516666667,BASELINE,766.788445222,746,716,679,663,637,880,789,803.211554778,652,632,654,0.400995337376,-0.0153565254892,0.0798494597149,0.999999926587,0.000276175116432,-0.000263436602433,3.39768125472e-05,1793238158482424320
+92,1.533333333,BASELINE,766.626078378,746,716,679,663,636.626078378,880,788.626078378,803.373921622,652,632,654,0.400995261588,-0.0153558909467,0.079849173837,0.999999925991,0.000277775204978,-0.000264035687095,3.3822051659e-05,1793238158499090688
+93,1.550000000,BASELINE,766.035891094,746,716,679,663,636.035891094,880,788.035891094,803.964108906,652,632,654,0.400994732629,-0.0153551112611,0.0798483419534,0.9999999251,0.000280009219474,-0.000265079946803,3.35827573502e-05,1793238158515757312
+94,1.566666667,BASELINE,766.542905124,746,716,679,663,636.542905124,880,788.542905124,804,652,632,654,0.400996039619,-0.015355864174,0.0798492615677,0.999999926361,0.00027751464976,-0.000262912510125,3.37634564778e-05,1793238158532423936
+95,1.583333333,BASELINE,766.880392381,745.880392381,716,679,663,636.880392381,880,789,804,652,632,654,0.400996741316,-0.0153564188376,0.0798498276313,0.999999927229,0.000275566346336,-0.000261634461008,3.39539073542e-05,1793238158549090560
+96,1.600000000,BASELINE,766.308814279,745.308814279,716,679,663,636.308814279,880,789,804,652,632,654,0.400994706527,-0.0153558493675,0.079848629152,0.999999926118,0.000276839243912,-0.00026450304163,3.40784445563e-05,1793238158565757184
+97,1.616666667,BASELINE,766,745.272245011,716,679,663,636.272245011,880,788.727754989,804,652,632,654,0.400994639354,-0.0153560055076,0.079848762624,0.999999926171,0.000276557936531,-0.000264594568239,3.40984306719e-05,1793238158582423808
+98,1.633333333,BASELINE,766,745.864447074,716,679,663,636.864447074,880,788.135552926,804,652,632,654,0.400996884631,-0.0153570144241,0.0798504614773,0.99999992759,0.000274450043407,-0.000261422350703,3.39955426925e-05,1793238158599090688
+99,1.650000000,BASELINE,766,746,716,679,662.553883153,636.553883153,880.446116847,788.446116847,803.553883153,652,632.446116847,654,0.400996979517,-0.0153576556751,0.0798506499182,0.999999927715,0.000274465358152,-0.000260906492459,3.41572963989e-05,1793238158615757312
+100,1.666666667,BASELINE,766.024603526,746,716,679,662.024603526,636.024603526,881,789,803.024603526,652,633,654,0.400996439143,-0.015358084291,0.0798503619988,0.999999927432,0.000275150779481,-0.000261240484977,3.43684608769e-05,1793238158632423936
+101,1.683333333,BASELINE,766.601817733,746,716,679,662.601817733,636.601817733,881,789,803.601817733,652,633,654,0.400995967676,-0.0153561883171,0.0798494450576,0.999999926563,0.000276731212204,-0.000262951990572,3.39249843393e-05,1793238158649090816
+102,1.700000000,BASELINE,767,746,716,679,663,637,880.822234808,789,804,652,632.822234808,654,0.400995656766,-0.0153550390899,0.0798489775661,0.999999926026,0.000277766647006,-0.000263932317103,3.3666857424e-05,1793238158665757440
+103,1.716666667,BASELINE,767,746,716,679,663,637,880.249104782,789,804,652,632.249104782,654,0.400995702951,-0.0153555506912,0.0798495096889,0.99999992624,0.000277589960093,-0.000263286439277,3.38209638173e-05,1793238158682423808
+104,1.733333333,BASELINE,766.665136517,745.665136517,716,678.665136517,663,637,880,789,804,652,632,654,0.400996133559,-0.0153552728078,0.079850108749,0.99999992634,0.000278300798793,-0.000262141944959,3.39198408349e-05,1793238158699090432
+105,1.750000000,BASELINE,766.072835946,745.072835946,716,678.072835946,663,637,880,789,804,652,632,654,0.400996859707,-0.0153543879828,0.0798507592695,0.999999926349,0.000279693951378,-0.000260614123082,3.3976258507e-05,1793238158715757312
+106,1.766666667,BASELINE,766.506101076,745,716,678.506101076,663,637,880,789,803.493898924,652.506101076,632,654,0.400996273794,-0.0153553155414,0.079850266014,0.99999992649,0.000278076560132,-0.000261828389698,3.37535920058e-05,1793238158732424192
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,789,804,652,633,654,0.400995771755,-0.015359739585,0.0798501318323,0.999999928227,0.000271611113008,-0.00026191434812,3.4275281725e-05,1793238158775609344
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.411277474,716,679,663,637,880,788.411277474,804,652,632.411277474,654,0.400996394361,-0.015358719821,0.0798502441385,0.999999927441,0.000274518760893,-0.000261894024246,3.41767367034e-05,1793238158792275968
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.825271471,745,716,679,662.825271471,637,879.825271471,788,803.825271471,652,632,654,0.400996389969,-0.0153575792515,0.0798499309876,0.999999926723,0.000276725040144,-0.000262331750562,3.40529229103e-05,1793238158808942336
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.245561637,745,716,679,662.245561637,637,879.245561637,788,803.245561637,652,632,654,0.400994932337,-0.0153561586817,0.0798486317228,0.999999926174,0.000277305705737,-0.000263831133866,3.38705417868e-05,1793238158825608704
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,716,679,662.332266207,636.667733793,879.332266207,788.332266207,803.332266207,652,632,654,0.400995626791,-0.0153558882924,0.0798490327303,0.999999926376,0.000277582850676,-0.000262777159938,3.38143470138e-05,1793238158842275328
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,716,679,662.908710965,636.091289035,879.908710965,788.908710965,803.908710965,652,632,654,0.400997902788,-0.0153564631574,0.0798506832482,0.999999927126,0.0002776369418,-0.000259846753548,3.3850885125e-05,1793238158858942208
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.485203853,716,679.485203853,663,636.485203853,880,788.514796147,804,652,632,654,0.400997100379,-0.015355850064,0.0798503819442,0.999999926687,0.000278114558953,-0.000261031570716,3.37656464786e-05,1793238158875608832
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.936909084,716,679.936909084,663,636.936909084,880,788.063090916,804,652,632,654,0.400995956963,-0.0153551331769,0.0798499000063,0.999999926147,0.000278536128287,-0.000262656465607,3.36809293814e-05,1793238158892275968
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.347466309,716,679.347466309,663,636.347466309,880,788.652533691,804,652,632,654,0.400996801128,-0.0153554152333,0.0798509750737,0.999999926646,0.000277825249658,-0.000261492705229,3.37917296745e-05,1793238158908942848
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.237473257,745.237473257,716,679,662.762526743,636.237473257,880,789,803.762526743,652,632,654,0.400998519961,-0.015355699605,0.0798520738829,0.999999927266,0.000276930658356,-0.000260051412046,3.39090696071e-05,1793238158925609472
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.815946387,745.815946387,716,679,662.184053613,636.815946387,880,789,803.184053613,652,632,654,0.401001494778,-0.0153559873015,0.0798532067844,0.999999928059,0.000275772264786,-0.000258211595556,3.403580013e-05,1793238158942275584
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.608352631,716,679,662.391647369,637,880,789,803.391647369,652,632,654,0.401017922025,-0.0153573527158,0.0798607462424,0.999999931248,0.000275806103259,-0.000245427655508,3.46430669695e-05,1793238158958942208
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.033945204,716,679,662.966054796,637,880,789,803.966054796,652,632,654,0.401040626775,-0.0153592210412,0.0798712752843,0.999999935287,0.000276396289979,-0.000227536701101,3.54745733995e-05,1793238158975609088
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.459995718,745.540004282,716,679,663,637,880,789,804,652,632,654,0.401083759069,-0.0153609273711,0.0798876862707,0.999999941954,0.000275715979306,-0.00019688918313,3.61670835878e-05,1793238158992275712
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.882698421,716,679,663,636.882698421,880,789,803.882698421,652.117301579,632,654,0.401131817078,-0.0153629009539,0.0799047328734,0.999999947939,0.000274734976653,-0.000165184213599,3.68450979354e-05,1793238159008942336
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.291767336,716,679,663,636.291767336,880,789,803.291767336,652.708232664,632,654,0.401194583286,-0.0153659947084,0.0799228542568,0.999999953299,0.00027286206537,-0.000132444609624,3.74998319634e-05,1793238159025609216
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.293342644,745,716,679,663,636.293342644,880,789,803.293342644,652.706657356,632,654,0.40126154266,-0.0153684138637,0.0799371740058,0.999999956311,0.000272605531178,-0.000107986695656,3.74690315568e-05,1793238159042275840
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.872775404,745,716,679,663,636.872775404,880,789,803.872775404,652.127224596,632,654,0.401332591524,-0.015370175098,0.07994778611,0.999999957611,0.000273925411454,-9.16057193534e-05,3.67696456757e-05,1793238159058942464
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.551775985,745.448224015,716,679,662.551775985,637,879.551775985,789,803.551775985,652,632,654,0.401413895625,-0.0153727111213,0.0799543754324,0.999999959048,0.000272720828244,-7.94270863121e-05,3.49157630034e-05,1793238159075608832
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.023092434,745.976907566,716,678.976907566,662.023092434,636.976907566,879.023092434,789,803.023092434,652,632,654,0.401498496792,-0.0153754863877,0.0799595804824,0.999999960407,0.00027085555419,-6.8944435842e-05,3.27039678205e-05,1793238159092275456
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.61119074,745.38880926,716,678.38880926,662.61119074,636.38880926,879.61119074,789,803.61119074,652,632,654,0.401593174767,-0.0153787819072,0.0799586075866,0.999999960532,0.000270202472058,-7.10303584669e-05,2.96821752472e-05,1793238159108942336
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.803786289,745.196213711,716,678.196213711,663,636,880,789,804,652,632,654,0.401697780049,-0.0153831110426,0.0799593550159,0.99999996129,0.00026812533814,-6.94776686548e-05,2.64966192693e-05,1793238159125608960
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.224763307,745.775236693,716,678.775236693,663,636,880,789,804,652,632,654,0.401821753311,-0.0153894567429,0.0799634587676,0.99999996323,0.000263269905944,-6.08261139487e-05,2.29915643114e-05,1793238159142275584
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,716,679,663,636.353513757,879.646486243,788.646486243,804,652,632,654,0.4019593373,-0.015394025664,0.0799683892079,0.999999964937,0.000258820023356,-5.27470806356e-05,1.88927712965e-05,1793238159158942464
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,716,679,663,636.931317623,879.068682377,788.068682377,804,652,632,654,0.402105556754,-0.0153974672914,0.0799738441489,0.999999966465,0.000254627445025,-4.50312880244e-05,1.44172752746e-05,1793238159175609088
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.493020298,716,679,663,636.493020298,879.506979702,788.506979702,803.493020298,652.506979702,632,654,0.40226458923,-0.0154021636741,0.0799726738528,0.999999968985,0.000244426899558,-4.70301126381e-05,8.62382416682e-06,1793238159192276224
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.084301476,745,716,679,663,636,880,789,803,652.915698524,632,654,0.402428762171,-0.0154074113503,0.0799702310718,0.999999972692,0.000228021249961,-5.11545490069e-05,2.51122667491e-06,1793238159208942592
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.673289328,745,716,679,663,636,880,789,803,652.326710672,632,654,0.402613361393,-0.0154149460766,0.0799655210384,0.999999982103,0.000179319782733,-6.01585771396e-05,-4.44758737473e-06,1793238159225608960
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.25810006,716,679,663,636.25810006,880,789,803.25810006,652,632.25810006,654,0.402814517971,-0.0154224891336,0.0799626372491,0.999999987418,0.000144231570792,-6.50357901157e-05,-1.14771281129e-05,1793238159242275584
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.837707445,716,679,663,636.837707445,880,789,803.837707445,652,632.837707445,654,0.403036299526,-0.0154300425673,0.0799620283564,0.999999989779,0.000126100976552,-6.47723556675e-05,-1.85947705101e-05,1793238159258942208
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.585749698,745.585749698,716,679,663,637,880,788.585749698,804,652,632.585749698,653.585749698,0.403285628543,-0.015438949994,0.0799643219422,0.999999992086,0.000109349427897,-5.76045816694e-05,-2.35024324769e-05,1793238159275608576
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.010398642,745.010398642,716,679,663,637,880,788.010398642,804,652,632.010398642,653.010398642,0.403545670683,-0.0154483839844,0.0799677442936,0.999999994143,9.31341865148e-05,-4.77517297996e-05,-2.75506392159e-05,1793238159292275200
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.561789425,716,679.561789425,663,636.438210575,880,788.561789425,804,652,632.561789425,653.561789425,0.403826684102,-0.0154534101913,0.0799678947845,0.999999994377,9.05912476412e-05,-4.97071048959e-05,-2.38284029227e-05,1793238159308942336
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.139320016,745.860679984,716,680,663,636.139320016,880.139320016,789,804,652,632.860679984,654,0.404120600515,-0.0154593818298,0.0799679367733,0.999999994827,8.52653939906e-05,-5.09266925178e-05,-2.19658631172e-05,1793238159325609216
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.734522794,745.265477206,716,680,663,636.734522794,880.734522794,789,804,652,632.265477206,654,0.404455474954,-0.0154687125833,0.0799678207819,0.999999995992,7.00098242268e-05,-4.90274413117e-05,-2.66566249867e-05,1793238159342275840
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.679774721,745,716,679.679774721,663,637,881,788.679774721,804,652.320225279,632,654,0.404804434526,-0.0154782252833,0.0799676696805,0.999999996975,5.56478757776e-05,-4.57785280399e-05,-2.92720034986e-05,1793238159358942464
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.101721296,745,716,679.101721296,663,637,881,788.101721296,804,652.898278704,632,654,0.405164734726,-0.0154878844778,0.0799674903105,0.999999997802,4.20054214284e-05,-4.14429393605e-05,-3.021639562e-05,1793238159375608832
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,716,679,663,637,880.52620309,788.47379691,804,652.52620309,632,654.47379691,0.405542394792,-0.0154936086964,0.0799641798212,0.999999997783,3.62069843782e-05,-4.55700250745e-05,-3.23432055372e-05,1793238159392275456
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,716,679,663,637,880,789,804,652,632,654.94999965,0.405926955754,-0.0154978391356,0.0799598788977,0.999999997483,3.32293914614e-05,-5.24175845288e-05,-3.43942194426e-05,1793238159408942336
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,716,679,663,637,880,789,804,652,632,654.360562072,0.406345972503,-0.0154950196094,0.0799521063953,0.999999996162,4.26128576081e-05,-6.9118002605e-05,-3.29032853564e-05,1793238159425608704
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.224865463,745,716,679,663,637,880,789,804,652,632,654,0.406779001396,-0.0154924367325,0.0799495707714,0.999999995451,4.81971425021e-05,-7.57692713065e-05,-3.21711140956e-05,1793238159442275584
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.803975687,745,716,679,663,637,880,789,804,652,632,654,0.407234104478,-0.0154902266642,0.0799552851333,0.999999996108,4.7796336751e-05,-6.65894795437e-05,-3.2634269923e-05,1793238159458942208
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.619572756,745.380427244,716,679,663,637,880,789,804,652,632,654,0.40769985711,-0.0154978500581,0.0799538925282,0.999999996219,3.67411123267e-05,-7.14452278318e-05,-3.32931673807e-05,1793238159475609344
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.044481651,745.955518349,716,679,663,637,880,789,804,652,632,654,0.40817105908,-0.015510505215,0.0799488633021,0.999999995731,2.02340431482e-05,-8.34829341894e-05,-3.40522254148e-05,1793238159492276992
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.457286582,716,679,663,637,880,789,804,652,632,654,0.40868112062,-0.0155177082006,0.0799501200863,0.999999996197,1.18826621599e-05,-7.89968167603e-05,-3.49863379446e-05,1793238159508943104
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,716,679.128826189,663,637,880.128826189,789,804,652,632,654,0.409214696903,-0.0155229217499,0.0799576197783,0.999999997271,5.12040769734e-06,-6.4506404292e-05,-3.56428309565e-05,1793238159525608960
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,716,679.707614491,663,637,880.707614491,789,804,652,632,654,0.409819026745,-0.015522783046,0.0799850840297,0.999999999178,1.52060947168e-06,-1.99113959746e-05,-3.52784018288e-05,1793238159542275840
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,716,679.714789999,663,637,881,789,804.285210001,652,632,654,0.410418158187,-0.0155212169044,0.0800051748596,0.99999999931,1.2282085985e-07,1.29993038826e-05,-3.48136654722e-05,1793238159558942720
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,716,679.138412128,663,637,881,789,804.861587872,652,632,654,0.411011982709,-0.015518193507,0.0800177382449,0.999999998836,9.73040103667e-07,3.39816223825e-05,-3.42465265262e-05,1793238159575609600
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.437941162,716,679,663,637,881,789,804.562058838,652,632,654,0.411587839438,-0.0155157103861,0.0799966406627,0.999999999292,1.46315469873e-06,-1.78578122981e-06,-3.75484679084e-05,1793238159592275968
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.014543216,746,716,679.014543216,663,637,880.985456784,789,804,652,632,654,0.412158884527,-0.0155135137774,0.0799651222685,0.999999997613,1.68206602247e-06,-5.47842109538e-05,-4.20712185558e-05,1793238159608942336
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.601239073,746,716,679.601239073,663,637,880.398760927,789,804,652,632,654,0.412764032155,-0.0155158715858,0.0799421489012,0.999999995701,-4.29129899409e-06,-8.00932556517e-05,-4.65171802383e-05,1793238159625608960
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.814340541,746,716,679.814340541,663,637,880,789,803.814340541,652,632,654,0.413400168903,-0.0155186625202,0.079930876828,0.9999999948,-9.06335806829e-06,-8.89244530273e-05,-4.9087736049e-05,1793238159642275840
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.234748293,746,716,679.234748293,663,637,880,789,803.234748293,652,632,654,0.414102058418,-0.0155223724623,0.0799444325964,0.999999996828,-1.12864822892e-05,-6.2792903821e-05,-4.76790499102e-05,1793238159658942464
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.343682269,746,716,679,663.343682269,637,880,789,803.687364538,652.343682269,632,654,0.414809294309,-0.0155228697076,0.0799663501313,0.999999998512,-1.32764990053e-05,-2.46882015254e-05,-4.67942954148e-05,1793238159675608832
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.921322004,746,716,679,663.921322004,637,880,789,804.842644008,652.921322004,632,654,0.415520169651,-0.015521179949,0.079993959835,0.999999998583,-1.51078305535e-05,2.15670760464e-05,-4.62662009174e-05,1793238159692275456
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.504614959,746,716,679,663.504614959,637,880.495385041,788.504614959,804.504614959,652.504614959,632,654,0.416189804363,-0.0155200184041,0.0799833647224,0.999999998669,-1.69473225296e-05,-9.2522902635e-06,-4.78505831009e-05,1793238159708941824
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,716,679.070970439,663,637,880.929029561,788,804,652,632,654,0.416861407566,-0.0155192604685,0.0799692927856,0.999999997628,-1.88789728763e-05,-4.3778359259e-05,-4.97195647234e-05,1793238159725608448
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,716,679.661839198,663,637,880.338160802,788,804,652,632,654,0.417595068588,-0.0155208490475,0.0799738823004,0.999999998322,-2.14763080055e-05,-1.64276500787e-05,-5.12332332555e-05,1793238159742275072
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.247643079,746,716,680,663,636.752356921,880.247643079,788.247643079,804,652,632,654,0.418357792535,-0.0155257818286,0.0799876945907,0.999999998146,-2.68864685539e-05,1.83950893274e-05,-5.14492802531e-05,1793238159758941952
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.826669481,746,716,680,663,636.173330519,880.826669481,788.826669481,804,652,632,654,0.419159407108,-0.0155351896505,0.0800138483287,0.999999996105,-3.60606087951e-05,6.3216521864e-05,-4.9928916548e-05,1793238159775608576
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.595325997,746,716,679.595325997,663,636.404674003,880.595325997,789,804,652,632,654,0.419907311839,-0.0155344134902,0.0800070818599,0.999999996719,-3.50871139716e-05,5.28928369818e-05,-5.03262617979e-05,1793238159792275200
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.0177581,746,716,679.0177581,663,636.9822419,880.0177581,789,804,652,632,654,0.420632269401,-0.0155292863003,0.0799862504812,0.999999998048,-2.97781185766e-05,1.9008816822e-05,-5.15429337033e-05,1793238159808941824
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715.44457066,679.55542934,663,636.44457066,880.55542934,789,804,652,632,654,0.42138840858,-0.015529732334,0.0799831165368,0.999999998019,-3.20895051057e-05,1.18784708851e-05,-5.28387980458e-05,1793238159825609472
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.132789424,746,715.132789424,680,663,636.132789424,881,788.867210576,804,652,632.132789424,654,0.422152997082,-0.0155307062746,0.0799868194604,0.999999997941,-3.26830104416e-05,1.55948891903e-05,-5.2978816403e-05,1793238159842276608
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.725068869,746,715.725068869,680,663,636.725068869,881,788.274931131,804,652,632.725068869,654,0.422943399971,-0.0155328951747,0.0800122373556,0.99999999699,-2.64956868538e-05,5.39076173304e-05,-4.91105787768e-05,1793238159858942464
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.690605115,746,716,680,663,636.690605115,881,788.309394885,804,652,632.690605115,654,0.423723523234,-0.0155339306764,0.0800167035294,0.999999997061,-2.31582050657e-05,5.4940384321e-05,-4.82066661828e-05,1793238159875608576
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.113169492,746,716,680,663,636.113169492,881,788.886830508,804,652,632.113169492,654,0.42449474082,-0.0155339669444,0.0800030184168,0.999999998228,-2.22896516078e-05,2.36760793654e-05,-4.98708630481e-05,1793238159892275200
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.463013309,746,716,680,663,636,881,789,804,652,632,654,0.425242166224,-0.0155326447468,0.0799675151649,0.99999999772,-2.25913295373e-05,-3.42841297222e-05,-5.36117528968e-05,1793238159908942080
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680.039812631,663,636.039812631,880.960187369,789,804,652,632,654,0.425987133674,-0.015531253591,0.0799300793647,0.999999993795,-2.3569379356e-05,-9.23800047993e-05,-5.76316398063e-05,1793238159925608960
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680.629340653,663,636.629340653,880.370659347,789,804,652,632,654,0.426778240094,-0.0155334825211,0.0799393938114,0.999999995887,-2.99477929891e-05,-6.24978026589e-05,-5.85142045868e-05,1793238159942275328
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.785154327,746,716,681,663.214845673,636.785154327,880.214845673,789,804,652,632,654,0.427561429378,-0.0155355109701,0.0799460084977,0.999999996525,-3.45260047541e-05,-4.82483648603e-05,-5.8567934746e-05,1793238159958941952
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.206462266,746,716,681,663.793537734,636.206462266,880.793537734,789,804,652,632,654,0.428331210928,-0.0155371999002,0.0799480510754,0.999999995885,-3.60555318141e-05,-6.04733900081e-05,-5.72180134706e-05,1793238159975608576
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,716,680.629948786,663.629948786,636,881,788.629948786,804,651.629948786,632,653.629948786,0.429127095453,-0.0155394245894,0.0799608622112,0.99999999658,-4.01309797861e-05,-4.49568464004e-05,-5.66365991897e-05,1793238159992275200
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,716,680.05464372,663.05464372,636,881,788.05464372,804,651.05464372,632,653.05464372,0.429937458297,-0.0155419464444,0.0799796462717,0.999999997266,-4.56185566972e-05,-1.40530701394e-05,-5.6481447623e-05,1793238160008941824
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.520322355,746,716,680,663,636.520322355,880.479677645,788.520322355,804,651.520322355,632,653.520322355,0.430731486248,-0.015544832335,0.0800121356277,0.999999997025,-4.5735944572e-05,3.17411349106e-05,-5.33931152209e-05,1793238160025608448
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.09821169,789,804,652,632,654,0.431510305852,-0.0155467080163,0.0800386173597,0.999999995498,-4.37843160138e-05,6.72419725385e-05,-5.06566157104e-05,1793238160042275072
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,637,880.691001223,789,804,652,632,654,0.432221171926,-0.0155433040522,0.0800276022501,0.999999997174,-3.42516824336e-05,4.30373135412e-05,-5.12421158527e-05,1793238160058941952
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.723767697,746,715.723767697,680,663,637,881,788.723767697,804,652,632,654,0.432918656141,-0.0155397045247,0.0799930003405,0.999999997932,-3.27169840879e-05,-8.59716418426e-06,-5.47004442586e-05,1793238160075609088
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.146766496,746,715.146766496,680,663,637,881,788.146766496,804,652,632,654,0.433601569793,-0.0155358920632,0.0799327165117,0.999999993268,-3.98906456016e-05,-9.00979386047e-05,-6.12867823336e-05,1793238160092275712
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715.42795826,680.42795826,663,637,881,788.42795826,804,652,632,654,0.434341981909,-0.0155396255503,0.0799277274882,0.999999992706,-5.01901546326e-05,-9.08000316589e-05,-6.1845883637e-05,1793238160108942336
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.001903657,746,716,681,663.001903657,636.998096343,881,789,804,652,632,654,0.435101852324,-0.0155459299314,0.0799416693259,0.999999994246,-6.15202250206e-05,-6.38805582096e-05,-6.03460974062e-05,1793238160125608704
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.574997322,746,716,681,663.574997322,636.425002678,881,789,804,652,632,654,0.435814829779,-0.0155512545628,0.0799760369506,0.999999996201,-6.21194073851e-05,-1.93750332893e-05,-5.80035499288e-05,1793238160142275328
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.84634891,746,716,681,663.84634891,636,881,789,804,651.84634891,632,654,0.436517001517,-0.015554687233,0.080003394422,0.999999996295,-6.33287465325e-05,1.45140593237e-05,-5.64774138769e-05,1793238160158941952
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.251738202,746,716,681,663.251738202,636,881,789,804,651.251738202,632,654,0.437188162353,-0.0155526902103,0.0800106336288,0.999999996001,-6.62891605951e-05,1.79353150817e-05,-5.72942773396e-05,1793238160175608832
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,716,681,663.333090514,636,881.333090514,789,804,651.333090514,632,654,0.437855658814,-0.0155529177387,0.08001413694,0.999999995696,-6.83718495862e-05,2.57429576203e-05,-5.71959232088e-05,1793238160192275968
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.348590664,746,715.651409336,680.348590664,664,636,881.651409336,789,804.348590664,651.348590664,632,654,0.440319234162,-0.0155568149793,0.079955895637,0.999999994544,-6.93585227953e-05,-4.78331176952e-05,-6.17599552603e-05,1793238160258942720
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.237987813,746,716,680.237987813,664,636,881.762012187,789,804.237987813,651.237987813,632,654,0.440857228239,-0.0155546199503,0.0799190063482,0.999999989738,-7.38982012347e-05,-0.000103542453331,-6.58987420055e-05,1793238160275609088
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.816378454,746,716,680.816378454,664,636,881.183621546,789,804.816378454,651.816378454,632,654,0.441387296758,-0.0155509719989,0.0798827785174,0.999999982513,-7.2579406526e-05,-0.000157547148557,-6.98918060347e-05,1793238160292275456
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,716,681,664,636.392907116,881,789,805,652,632,654,0.441944216047,-0.0155535263256,0.0798893962586,0.999999984354,-7.82989750082e-05,-0.000142555915541,-6.95639135852e-05,1793238160308942336
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,716,681,664,636.968569753,881,789,805,652,632,654,0.442513624661,-0.0155589655593,0.079915943045,0.999999989373,-8.72923443623e-05,-9.54721483296e-05,-6.72261859506e-05,1793238160325609472
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766.385280717,746,715.385280717,682.385280717,663.385280717,636,881,787,804,651.614719283,632,653.385280717,0.445884441737,-0.0156098595716,0.0798062325512,0.999999943104,-0.000156117759061,-0.000289848008962,-7.35410524829e-05,1793238160458942208
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+263,4.383333333,HOLD_POSE2,766,746,715,682,662,634,881,784,804,651,631,654,0.449893101818,-0.0156631772857,0.0796411677671,0.999999823824,-0.000247166321006,-0.000533993533542,-7.81727836859e-05,1793238161389601792
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.193993457,746,716,681,663,636.193993457,881,788.806006543,804,652,632,654,0.423851914837,-0.0153764261212,0.0797691480822,0.999999897745,0.000240746670892,-0.000381066543652,3.65871128385e-05,1793238162888142080
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745.265029332,716,680,663,637,881,789,804,652.734970668,632.734970668,654,0.414296682233,-0.0153643848189,0.0798045634064,0.99999991731,0.000246057277151,-0.000321689200664,3.67802316349e-05,1793238163104808704
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..89ce2932568a49ba34974f1c2125d6a4265a4796
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,441 @@
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+399,6.650000000,pose2_to_pose3_retreat,0.578725632202,-0.00999876020846,1.07001170416,0.549296909911,-0.00132509194699,1.06966123265
+400,6.666666667,pose2_to_pose3_retreat,0.578646653909,-0.00999872010901,1.07001173789,0.549217931385,-0.00132505303707,1.06966126818
+401,6.683333333,pose2_to_pose3_retreat,0.578577258418,-0.00999870194731,1.0700117899,0.549148535496,-0.00132503647876,1.06966132079
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+403,6.716666667,pose2_to_pose3_retreat,0.578464328103,-0.00999869243589,1.07001182648,0.54903560433,-0.00132503019752,1.0696613488
+404,6.733333333,pose2_to_pose3_retreat,0.578420677821,-0.00999876959292,1.07001174782,0.548991955161,-0.00132510375864,1.06966127015
+405,6.750000000,pose2_to_pose3_retreat,0.578384316922,-0.00999877478845,1.0700117526,0.548955595225,-0.00132510575875,1.06966127695
+406,6.766666667,pose2_to_pose3_retreat,0.578353862512,-0.00999876196639,1.07001177049,0.548925141209,-0.0013250914738,1.06966130032
+407,6.783333333,pose2_to_pose3_retreat,0.578328210645,-0.00999888139298,1.07001160598,0.54889948878,-0.00132521224931,1.06966115063
+408,6.800000000,pose2_to_pose3_retreat,0.578306905297,-0.00999887375359,1.07001166434,0.548878183654,-0.00132520453814,1.06966119553
+409,6.816666667,pose2_to_pose3_retreat,0.578289924839,-0.00999882082845,1.0700115883,0.548861203644,-0.001325150134,1.06966112065
+410,6.833333333,pose2_to_pose3_retreat,0.578277255943,-0.00999878938538,1.0700116372,0.548848535195,-0.00132511712586,1.06966117127
+411,6.850000000,pose2_to_pose3_retreat,0.578268023279,-0.00999876774344,1.0700117876,0.548839301852,-0.00132509790145,1.06966131888
+412,6.866666667,pose2_to_pose3_retreat,0.578261876062,-0.00999870145805,1.07001180149,0.548833151551,-0.00132504218682,1.06966133112
+413,6.883333333,pose2_to_pose3_retreat,0.578258469045,-0.00999873702531,1.07001162554,0.548829744709,-0.00132507694261,1.06966116077
+414,6.900000000,pose2_to_pose3_retreat,0.578256443126,-0.00999876388218,1.07001152766,0.548827719116,-0.00132510256793,1.06966106613
+415,6.916666667,pose2_to_pose3_retreat,0.578255475799,-0.00999879210908,1.07001167329,0.548826753139,-0.00132512636024,1.06966120811
+416,6.933333333,pose2_to_pose3_retreat,0.578254949355,-0.00999880747088,1.07001175254,0.54882622743,-0.00132513930862,1.06966128539
+417,6.950000000,pose2_to_pose3_retreat,0.57825476576,-0.00999881282825,1.07001178018,0.54882604409,-0.00132514382433,1.06966131234
+418,6.966666667,pose2_to_pose3_retreat,0.578254562918,-0.00999881874723,1.07001181071,0.548825841532,-0.0013251488134,1.06966134211
+419,6.983333333,pose2_to_pose3_retreat,0.578254379912,-0.00999882408743,1.07001183826,0.54882565878,-0.00132515331463,1.06966136897
+420,7.000000000,pose2_to_pose3_retreat,0.578254328798,-0.00999882557894,1.07001184596,0.548825607738,-0.00132515457182,1.06966137647
+421,7.016666667,pose2_to_pose3_retreat,0.57825431888,-0.00999882586834,1.07001184745,0.548825597834,-0.00132515481575,1.06966137793
+422,7.033333333,pose2_to_pose3_retreat,0.578254244059,-0.00999882805166,1.07001185872,0.548825523117,-0.00132515665606,1.06966138891
+423,7.050000000,pose2_to_pose3_retreat,0.578254038531,-0.00999883404901,1.07001188966,0.548825317877,-0.0013251617112,1.06966141908
+424,7.066666667,pose2_to_pose3_retreat,0.578253834953,-0.00999883997363,1.07001191783,0.548825114572,-0.00132516673814,1.06966144652
+425,7.083333333,pose2_to_pose3_retreat,0.578253833664,-0.00999884000828,1.07001191756,0.548825113283,-0.00132516677352,1.06966144625
+426,7.100000000,pose2_to_pose3_retreat,0.578253738262,-0.00999884257319,1.07001189779,0.548825017864,-0.00132516939253,1.06966142654
+427,7.116666667,pose2_to_pose3_retreat,0.578253613759,-0.00999884592045,1.07001187199,0.54882489334,-0.0013251728104,1.06966140081
+428,7.133333333,pose2_to_pose3_retreat,0.578253526918,-0.00999884825519,1.07001185399,0.548824806484,-0.00132517519438,1.06966138287
+429,7.150000000,pose2_to_pose3_retreat,0.578253199444,-0.00999885705938,1.07001178613,0.548824478953,-0.00132518418428,1.0696613152
+430,7.166666667,pose2_to_pose3_retreat,0.578252973123,-0.00999886314407,1.07001173923,0.548824252592,-0.00132519039731,1.06966126843
+431,7.183333333,pose2_to_pose3_retreat,0.578252848942,-0.00999886648268,1.07001171349,0.548824128391,-0.00132519380634,1.06966124277
+432,7.200000000,pose2_to_pose3_retreat,0.578252779622,-0.00999886834636,1.07001169913,0.548824059059,-0.00132519570932,1.06966122844
+433,7.216666667,pose2_to_pose3_retreat,0.578252705527,-0.00999887033843,1.07001168377,0.54882398495,-0.00132519774341,1.06966121313
+434,7.233333333,pose2_to_pose3_retreat,0.578252529096,-0.00999882922514,1.07001169525,0.548823807975,-0.00132515838626,1.06966122689
+435,7.250000000,pose2_to_pose3_retreat,0.578252357929,-0.00999876880011,1.0700117279,0.548823636049,-0.00132510040671,1.06966126274
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+437,7.283333333,pose2_to_pose3_retreat,0.578252162902,-0.00999870512213,1.07001170733,0.548823440059,-0.00132503981324,1.06966124681
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ca7a1cc110147ef86dd238fb19e12713b80d129
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:822b4ade9a055915bdb09d70455a2e6dcce01d75e3ff772229bc4b2f16566c69
+size 27952050
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..528735d25542bd6a26d3060363609fcde3d7a0ac
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_03/franka_data.csv
@@ -0,0 +1,442 @@
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+33,0.550000000,BASELINE,766,745,715.841924713,678.158075287,662.158075287,636.841924713,880.158075287,789,803.158075287,652,632.158075287,654,0.400993656234,-0.0153544527173,0.0798500333301,0.999999926955,0.000272584174233,-0.000265901984837,3.29186800569e-05,1793238165012332288
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+35,0.583333333,BASELINE,766,745.316327882,715,679,663,636,880.367344237,788.683672118,803.683672118,652,632.683672118,654,0.400992031774,-0.0153561364514,0.079848645992,0.999999926675,0.000271639957186,-0.000267936383136,3.27470157932e-05,1793238165045666560
+36,0.600000000,BASELINE,766,745.892644784,715,679,663,636,879.214710431,788.107355216,803.107355216,652,632.107355216,654,0.400991709001,-0.0153564164458,0.0798490446936,0.999999926479,0.000271787737581,-0.000268481835907,3.30344149073e-05,1793238165062332672
+37,0.616666667,BASELINE,766,745.532079979,715.467920021,679,663,636,879.467920021,788.467920021,803,652.467920021,632,654,0.400992047553,-0.0153560968404,0.079849308182,0.999999926332,0.000273344898347,-0.000267450424727,3.29970312243e-05,1793238165078999296
+38,0.633333333,BASELINE,766,745.043935708,716,679,662.956064292,636.043935708,879.956064292,788.956064292,803.043935708,652.956064292,632,654,0.400992524172,-0.0153557196582,0.0798494971919,0.999999926245,0.000274894549795,-0.000266200508175,3.28821292684e-05,1793238165095665920
+39,0.650000000,BASELINE,766,745.632077029,716,679,662.367922971,636.632077029,879.367922971,788.367922971,803.632077029,652.367922971,632,654,0.400992835746,-0.0153563294775,0.0798491470792,0.999999926807,0.000272354877292,-0.000266715307169,3.27279791034e-05,1793238165112332288
+40,0.666666667,BASELINE,766,745.782103735,716,679,662.217896265,637,879.217896265,788,804,652,631.782103735,654,0.400992886767,-0.0153566269443,0.0798489596346,0.999999927368,0.000269916449761,-0.000267119586904,3.25072727921e-05,1793238165128998656
+41,0.683333333,BASELINE,766,745.200164086,716,679,662.799835914,637,879.799835914,788,804,652,631.200164086,654,0.400992502475,-0.0153564025579,0.0798490439625,0.99999992793,0.000267647174261,-0.00026733922001,3.21753698866e-05,1793238165145665280
+42,0.700000000,BASELINE,766,745.376414153,716,679,663,637,880,788.376414153,804,652,631.376414153,654,0.400993212377,-0.0153564589779,0.0798492992431,0.999999928033,0.000268142533284,-0.000266443157346,3.22776246425e-05,1793238165162332160
+43,0.716666667,BASELINE,766,745.950181398,716,679,663,637,880,788.950181398,804,652,631.950181398,654,0.400994495963,-0.015356662624,0.0798496441536,0.999999927892,0.000270087384031,-0.000264962137894,3.26075072926e-05,1793238165178998784
+44,0.733333333,BASELINE,766,746,716,679,663,637,879.463869126,789,804,652,632,654,0.400993436763,-0.0153560915477,0.0798494188589,0.999999927457,0.000270648015381,-0.000266017854743,3.27126427235e-05,1793238165195665408
+45,0.750000000,BASELINE,766,745.878312843,716,678.878312843,663,637,879.121687157,788.878312843,804,652,632,654,0.400992711892,-0.0153557846732,0.0798493285314,0.99999992709,0.000271249732054,-0.000266764841926,3.2855983892e-05,1793238165212332032
+46,0.766666667,BASELINE,766,745.298596597,716,678.298596597,663,637,879.701403403,788.298596597,804,652,632,654,0.40099408389,-0.0153567495185,0.0798499502905,0.99999992709,0.000272501493384,-0.000265441897942,3.3223566081e-05,1793238165228998656
+47,0.783333333,BASELINE,766,745,716,678.280727811,663,637,880,788.280727811,804,652,632,654,0.400994288884,-0.0153568606148,0.0798500280976,0.999999926962,0.000272950861083,-0.000265449386658,3.33150731849e-05,1793238165245665536
+48,0.800000000,BASELINE,766,745,716,678.859636094,663,637,880,788.859636094,804,652,632,654,0.400993254322,-0.0153560648851,0.0798495281356,0.999999926701,0.000272547951031,-0.000266870020021,3.31133418459e-05,1793238165262332160
+49,0.816666667,BASELINE,766,745.434642804,715.565357196,679,662.565357196,636.565357196,879.565357196,788.565357196,804,652,632,654,0.400993819851,-0.0153557004552,0.0798497895439,0.999999926829,0.000272815433555,-0.000266123551062,3.30380165281e-05,1793238165278998784
+50,0.833333333,BASELINE,766,746,715.008628655,679,662,636.008628655,879.008628655,788,803.991371345,652,632,654,0.400994866315,-0.0153554835361,0.0798502791604,0.999999927084,0.000273261675432,-0.000264708027619,3.30018475677e-05,1793238165295665408
+51,0.850000000,BASELINE,766,746,715.597954873,679,662,636.597954873,879.597954873,788,803.402045127,652,632,654,0.40099381285,-0.0153559036368,0.0798497268726,0.99999992756,0.000271297838479,-0.000264945694969,3.28780466553e-05,1793238165312333056
+52,0.866666667,BASELINE,766,746,716,679,662.183893218,636.816106782,879.816106782,788.183893218,803.183893218,652,632,654,0.400993276094,-0.0153561023435,0.0798495598819,0.999999927834,0.000270138541439,-0.000265105065646,3.28191567393e-05,1793238165328999936
+53,0.883333333,BASELINE,766,746,716,679,662.762558622,636.237441378,879.237441378,788.762558622,803.762558622,652,632,654,0.400993848583,-0.0153558257733,0.0798502200267,0.99999992768,0.000270706388037,-0.000265096353175,3.28996143076e-05,1793238165345666304
+54,0.900000000,BASELINE,766,745.659912912,716,679,663,636.340087088,879,789,803.659912912,652,632,654,0.400994123144,-0.0153558664398,0.0798501523248,0.999999927527,0.000270966135036,-0.00026540438133,3.29280827372e-05,1793238165362332672
+55,0.916666667,BASELINE,766,745.08317561,716,679,663,636.91682439,879,789,803.08317561,652,632,654,0.400994190392,-0.0153561278558,0.0798495781496,0.999999927374,0.000271011490351,-0.000265932814018,3.29203744275e-05,1793238165378999296
+56,0.933333333,BASELINE,766,745.492540857,716,679,663,637,879.492540857,789,803.492540857,652,632.492540857,654,0.400994069873,-0.0153556834237,0.0798493979456,0.999999927248,0.000271947210907,-0.000265483004297,3.26843674661e-05,1793238165395665920
+57,0.950000000,BASELINE,766.069542511,746,716,679,663.069542511,637,880,789,804,652,632.930457489,654.069542511,0.400993839399,-0.0153552202922,0.0798493241084,0.999999927101,0.00027294822745,-0.000265033408277,3.24830834412e-05,1793238165412332288
+58,0.966666667,BASELINE,766.657404918,746,716,679,663.657404918,637,880,789,804,652,632.342595082,654.657404918,0.400993025245,-0.0153555043602,0.0798495482107,0.999999926781,0.000273317582059,-0.00026581411298,3.28273506881e-05,1793238165428998656
+59,0.983333333,BASELINE,766.756934244,745.756934244,716,679,663.756934244,637,879.756934244,789,803.756934244,652,632,654.756934244,0.400993146794,-0.0153554107656,0.0798499583985,0.999999926667,0.00027404949884,-0.000265472342728,3.29656768933e-05,1793238165445665536
+60,1.000000000,BASELINE,766.174348525,745.174348525,716,679,663.174348525,637,879.174348525,789,803.174348525,652,632,654.174348525,0.400994575356,-0.0153547896429,0.079850628515,0.999999926837,0.000275287851036,-0.000263562673181,3.28163398591e-05,1793238165462332160
+61,1.016666667,BASELINE,766.400510247,745,716,679,663,637,879.400510247,789,803.400510247,652,632,654,0.400994935197,-0.0153560656405,0.0798512535327,0.999999927902,0.000271769950867,-0.000263170383216,3.28396209367e-05,1793238165478999040
+62,1.033333333,BASELINE,766.972068986,745,716,679,663,637,879.972068986,789,803.972068986,652,632,654,0.400994838611,-0.0153581518536,0.0798518592897,0.999999929324,0.000266220767251,-0.00026342613044,3.29366231523e-05,1793238165495666176
+63,1.050000000,BASELINE,766.440253748,745,716,679,663,637,880,789,803.440253748,652,632,654,0.400993912562,-0.0153560960339,0.0798505245888,0.999999927931,0.000270302480966,-0.000264577705957,3.27484512592e-05,1793238165512332800
+64,1.066666667,BASELINE,766.145936316,745.145936316,716,679,663,637,880,789,803.291872632,652,632,654,0.400993033081,-0.0153548361277,0.0798493190828,0.99999992685,0.000273181300576,-0.000265719126165,3.26286553872e-05,1793238165528999168
+65,1.083333333,BASELINE,766.72525059,745.72525059,716,679,663,637,880,789,804.450501179,652,632,654,0.400992418446,-0.0153565717742,0.0798487933081,0.999999927175,0.0002710185089,-0.000266693706112,3.27554224813e-05,1793238165545665792
+66,1.100000000,BASELINE,766.695536887,746,716,679,663,637,880,789,804.695536887,652,632,654,0.400992944336,-0.0153569449828,0.079848908631,0.999999927417,0.000270661157735,-0.000266147626557,3.27636586055e-05,1793238165562332160
+67,1.116666667,BASELINE,766.116416185,746,716,679,663,637,880,789,804.116416185,652,632,654,0.4009944991,-0.0153560891297,0.0798496022912,0.999999927584,0.000271932502968,-0.000264229752948,3.26649673842e-05,1793238165578998784
+68,1.133333333,BASELINE,766,746,716,679,663,637,879.54045095,789,803.54045095,652,632,654,0.400994633907,-0.015356041067,0.0798503653837,0.999999927941,0.000270854483859,-0.000263992841315,3.26059207193e-05,1793238165595665408
+69,1.150000000,BASELINE,766,745.964518364,716,679,663,636.964518364,879,788.964518364,803,652,632,654,0.400994413433,-0.0153562438202,0.0798510635247,0.999999928319,0.000269270969665,-0.000264186822271,3.25791952339e-05,1793238165612332032
+70,1.166666667,BASELINE,766,745.376736749,716,679,663,636.376736749,879,788.376736749,803,652,632,654,0.400994223765,-0.0153571871371,0.0798504787236,0.999999928292,0.0002690199458,-0.000264504761903,3.2900312969e-05,1793238165628999168
+71,1.183333333,BASELINE,766,745.207733477,716,679,662.792266523,636.207733477,879.207733477,788.207733477,803.207733477,652,632,654,0.400993987212,-0.0153577150745,0.0798501512753,0.999999928095,0.000269684959854,-0.000264546331369,3.30799780488e-05,1793238165645666304
+72,1.200000000,BASELINE,766,745.786292633,716,679,662.213707367,636.786292633,879.786292633,788.786292633,803.786292633,652,632,654,0.400993666964,-0.0153575015166,0.0798502832282,0.999999927594,0.000271985196015,-0.000264094551646,3.30071356059e-05,1793238165662332928
+73,1.216666667,BASELINE,766,746,716,679,662.363838235,637,879.636161765,789,804,652,632.363838235,654,0.400993831915,-0.0153578259339,0.0798504483181,0.999999927995,0.000270605796242,-0.000264007005676,3.29104338435e-05,1793238165678999296
+74,1.233333333,BASELINE,766,746,716,679,662.940790125,637,879.059209875,789,804,652,632.940790125,654,0.400994281066,-0.0153584654633,0.0798506328176,0.999999928916,0.000267071096006,-0.000264132805055,3.27997567898e-05,1793238165695665664
+75,1.250000000,BASELINE,766.526838246,746,716,679,663,637,879.526838246,789,803.473161754,652,632.473161754,654,0.400994919068,-0.0153580526832,0.0798512216352,0.999999928759,0.000268288214114,-0.000263476476019,3.29220995737e-05,1793238165712332288
+76,1.266666667,BASELINE,766.887506791,745.887506791,716,679,663,637,880,788.887506791,803.112493209,652,632,654,0.400995110957,-0.0153573522919,0.0798514355809,0.999999928288,0.000270195933262,-0.000263307716577,3.29627720487e-05,1793238165728999168
+77,1.283333333,BASELINE,766.307805138,745.307805138,716,679,663,637,880,788.307805138,803.692194862,652,632,654,0.400993360343,-0.0153559572034,0.0798499005643,0.999999927029,0.000272714901115,-0.000265535424977,3.25535730345e-05,1793238165745665536
+78,1.300000000,BASELINE,766,745.269930732,716,679,662.730069268,637,880,788,803.730069268,652,632,654,0.400992312977,-0.0153551869512,0.0798489092851,0.99999992639,0.000273845330619,-0.000266797219478,3.23591858007e-05,1793238165762331904
+79,1.316666667,BASELINE,766,745.845441163,716,679,662.154558837,637,880,788,803.154558837,652,632,654,0.400992061737,-0.0153551240556,0.0798485335532,0.999999926465,0.000273403841371,-0.000266965534489,3.2407979944e-05,1793238165778998528
+80,1.333333333,BASELINE,766.422243451,745.577756549,716,679,662.422243451,637,880,788.422243451,803,652,632,654,0.400993225901,-0.0153558773531,0.0798496954609,0.999999927276,0.000272312087956,-0.000264990891084,3.2765608648e-05,1793238165795665408
+81,1.350000000,BASELINE,766.99952011,745.00047989,716,679,662.99952011,637,880,788.99952011,803,652,632,654,0.400994909754,-0.0153569303285,0.0798514219367,0.99999992835,0.000270981579965,-0.000262229427388,3.32366307377e-05,1793238165812332032
+82,1.366666667,BASELINE,766.414262903,745,716,679,663,637,880,788.414262903,803,652,632,654,0.400993430131,-0.0153564571982,0.0798505126863,0.99999992776,0.00027161099145,-0.0002638517778,3.29977132221e-05,1793238165828998656
+83,1.383333333,BASELINE,766,745.170897165,716,679,663,637,880,788,803,652,632,654,0.400992321733,-0.0153562172464,0.0798496942077,0.999999927276,0.000272153801597,-0.000265153097015,3.27628257286e-05,1793238165845665024
+84,1.400000000,BASELINE,766,745.753493269,716,679,663,637,880,788,803,652,632,654,0.400992113972,-0.015356542091,0.0798490996852,0.999999927056,0.000272484057086,-0.000265672251504,3.25390696257e-05,1793238165862331904
+85,1.416666667,BASELINE,766,746,716,679,662.668489873,636.668489873,879.668489873,788,803.331510127,652.331510127,632,654,0.400992344848,-0.0153565544787,0.0798488838288,0.999999927145,0.000271824818321,-0.000266011750401,3.25575474136e-05,1793238165878998784
+86,1.433333333,BASELINE,766,746,716,679,662.093831726,636.093831726,879.093831726,788,803.906168274,652.906168274,632,654,0.400992897444,-0.0153563376929,0.0798489457073,0.999999927458,0.000270439829253,-0.000266219479836,3.27536930631e-05,1793238165895665408
+87,1.450000000,BASELINE,766,745.520545415,716,679,662.479454585,636.479454585,879,788.479454585,804,652.520545415,632,654,0.400993918121,-0.0153565902426,0.0798501402635,0.999999927777,0.000271128168013,-0.000264294394552,3.29362350394e-05,1793238165912332032
+88,1.466666667,BASELINE,766.054206347,745.054206347,716,679,663,637,879.054206347,789,803.945793653,652,632,654,0.400994858754,-0.0153567628005,0.0798514002446,0.999999927977,0.000272379026152,-0.000262223482757,3.30888141367e-05,1793238165928998912
+89,1.483333333,BASELINE,766.64615147,745.64615147,716,679,663,637,879.64615147,789,803.35384853,652,632,654,0.400994099183,-0.0153552332363,0.0798511165072,0.999999927049,0.000275196446861,-0.000262834853027,3.29704902874e-05,1793238165945665280
+90,1.500000000,BASELINE,767,745.766914528,716,679,663,637,879.766914528,788.766914528,803.233085472,652,632.233085472,654,0.400993730295,-0.0153549510213,0.0798510145675,0.999999926844,0.000275718375816,-0.000263087716707,3.27969055334e-05,1793238165962331904
+91,1.516666667,BASELINE,767,745.187427882,716,679,663,637,879.187427882,788.187427882,803.812572118,652,632.812572118,654,0.400993942022,-0.015356522561,0.0798511828074,0.999999927719,0.000272828847634,-0.000262807783918,3.25411945117e-05,1793238165978998528
+92,1.533333333,BASELINE,767,745,716,679,663,637,879,788.388317507,804,652,632.611682493,654,0.400994461595,-0.0153565968756,0.0798514058513,0.999999928065,0.000271401006906,-0.000262987360714,3.2389178256e-05,1793238165995665152
+93,1.550000000,BASELINE,767,745,716,679,663,637,879,788.9622744,804,652,632.0377256,654,0.400995128336,-0.0153559554257,0.079851655095,0.999999928161,0.000270671941424,-0.000263386611014,3.22867343824e-05,1793238166012332032
+94,1.566666667,BASELINE,766.449495416,745,716,679,663,636.449495416,879.550504584,788.449495416,804,652.550504584,632,654.550504584,0.400994351342,-0.0153564236414,0.0798510313832,0.999999928432,0.000269685167345,-0.000263357666983,3.23863295049e-05,1793238166028998656
+95,1.583333333,BASELINE,766.137164268,745.137164268,716,679,663,636,880,788.137164268,803.862835732,652.862835732,632,654.862835732,0.40099362599,-0.0153566362127,0.0798504496057,0.999999928437,0.000269565569194,-0.000263450342361,3.24750508759e-05,1793238166045665536
+96,1.600000000,BASELINE,766.715542204,745.715542204,716,679,663,636,880,788.715542204,803.284457796,652.284457796,632,654.284457796,0.400993393477,-0.0153557753364,0.0798502002699,0.999999927544,0.000272293719393,-0.000264031130577,3.24830726816e-05,1793238166062333184
+97,1.616666667,BASELINE,766.707152603,746,715.707152603,679,662.707152603,636.292847397,880,789,803.292847397,652.292847397,632,654,0.400993395851,-0.0153561657824,0.0798502075103,0.99999992752,0.000272408169382,-0.000263992983727,3.25855167668e-05,1793238166079000576
+98,1.633333333,BASELINE,766.130885651,746,715.130885651,679,662.130885651,636.869114349,880,789,803.869114349,652.869114349,632,654,0.400993625551,-0.0153577672661,0.079850463067,0.999999928336,0.000269993063694,-0.000263355827589,3.27793433282e-05,1793238166095667456
+99,1.650000000,BASELINE,766.444402573,745.555597427,715.444402573,679,662,636.555597427,880,789,804.444402573,652.555597427,632,654,0.400993493752,-0.0153562850209,0.0798506945034,0.999999927817,0.000271947166403,-0.000263330597748,3.26865169535e-05,1793238166112333312
+100,1.666666667,BASELINE,766.98004075,745,716,678.98004075,662.01995925,636.01995925,880,788.98004075,804.960081501,652,632,654,0.400993285641,-0.015354004709,0.0798509017009,0.99999992694,0.000275032132724,-0.000263478228269,3.251599475e-05,1793238166128999424
+101,1.683333333,BASELINE,766.388560963,745,716,678.388560963,662.611439037,636.611439037,880,788.388560963,803.777121925,652,632,654,0.400993934321,-0.0153548214529,0.0798506177982,0.999999927309,0.000273732323416,-0.000263426322969,3.25328501069e-05,1793238166145665792
+102,1.700000000,BASELINE,766,745.198009423,716,678.198009423,663,637,880,788.198009423,803.198009423,652,632,654,0.400994216853,-0.0153556468037,0.0798504447528,0.999999927714,0.000272324150205,-0.000263351448634,3.25259090434e-05,1793238166162332160
+103,1.716666667,BASELINE,766,745.77517893,716,678.77517893,663,637,880,788.77517893,803.77517893,652,632,654,0.400993798263,-0.0153564886356,0.0798504839832,0.999999928185,0.000270708475571,-0.000263232591844,3.24734011933e-05,1793238166178999040
+104,1.733333333,BASELINE,766,746,716,679,663,637,880,789,804,652.351157595,632,654,0.400993025169,-0.0153571245062,0.0798500408774,0.999999928163,0.000269934599026,-0.000264115792558,3.24499171813e-05,1793238166195665664
+105,1.750000000,BASELINE,766,746,716,679,663,637,880,789,804,652.926376482,632,654,0.400992025878,-0.0153576289603,0.0798492900098,0.999999927823,0.000269697844033,-0.000265638370862,3.24449522529e-05,1793238166212332544
+106,1.766666667,BASELINE,766,745.50091656,716,679,663,637,880.49908344,788.50091656,804,652.50091656,632,654,0.400993271913,-0.0153574482386,0.0798501008198,0.99999992823,0.000269546293417,-0.000264257474714,3.24385230721e-05,1793238166228999680
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880,789,804,652,632,654,0.400995567625,-0.0153563057707,0.0798514540008,0.999999928639,0.000270371430934,-0.000261872513937,3.23012768234e-05,1793238166271577088
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663,637,880.577451988,789,803.422548012,652,632,654,0.400995439303,-0.0153572452652,0.0798519959715,0.999999928788,0.000270183543868,-0.000261455578623,3.26580429064e-05,1793238166288243712
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.845572118,716,679,662.845572118,637,880.845572118,789,803.154427882,652,632,654,0.400995424862,-0.0153577773851,0.0798523413239,0.999999928719,0.000270774684396,-0.000261070631176,3.29439250212e-05,1793238166304910080
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.269894786,716,679,662.269894786,637,880.269894786,789,803.730105214,652,632,654,0.400995721062,-0.0153571982658,0.0798521503397,0.999999928054,0.000273490861764,-0.000260772940368,3.30364494344e-05,1793238166321576192
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.687227518,745.312772482,716,679,662.312772482,637,879.687227518,788.687227518,803.687227518,652.312772482,632,654,0.400995556685,-0.0153576565491,0.0798519483873,0.999999928189,0.000272831761438,-0.000260945192047,3.30646540863e-05,1793238166338242560
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.098390712,745.901609288,716,679,662.901609288,637,879.098390712,788.098390712,803.098390712,652.901609288,632,654,0.400994985784,-0.0153590304817,0.0798517367541,0.999999929022,0.000269193518579,-0.000261532232003,3.3036087781e-05,1793238166354909440
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.517887705,716,679,663,637,879,788,803.482112295,652.517887705,632.482112295,654,0.400993806466,-0.0153573804596,0.0798504541368,0.999999928405,0.000269692474803,-0.000263439140592,3.25052698499e-05,1793238166371576064
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,716,679,663,637,879,788,804,652,632.939365538,654,0.400992631928,-0.0153554818033,0.0798491554845,0.999999927608,0.000270831984376,-0.000265352041083,3.19783136191e-05,1793238166388242688
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,716,679,663,637,879,788,804,652,632.363468834,654,0.400992535237,-0.0153566255082,0.0798495463764,0.999999927799,0.000270361749464,-0.000265065757316,3.23404084815e-05,1793238166404909312
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.217070122,745,716,679,663,637,879,788.217070122,804,652,632,654,0.400993280375,-0.0153573073564,0.079850547596,0.999999928134,0.000270125224598,-0.0002640095379,3.25982333469e-05,1793238166421575936
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.805552016,745,716,679,663,637,879,788.805552016,804,652,632,654,0.400995465903,-0.0153571989575,0.0798525930997,0.999999928711,0.000270288582829,-0.000261635941618,3.26776499085e-05,1793238166438242560
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.387997064,716,679,663,636.612002936,879.387997064,789,804,652,632,654,0.401006065874,-0.015357852467,0.0798576398579,0.999999931007,0.000269742356634,-0.000253244980673,3.30526855438e-05,1793238166454909440
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.967463099,716,679,663,636.032536901,879.967463099,789,804,652,632,654,0.40102081821,-0.0153588819634,0.0798641676767,0.999999934043,0.00026884596437,-0.000241884567576,3.35736034205e-05,1793238166471576064
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745.453480536,716,679,663,636,880,789,803.453480536,652,632,654,0.401056077482,-0.0153605784895,0.0798783504676,0.999999939691,0.000269426724223,-0.000216420116015,3.4490663962e-05,1793238166488242688
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.87573397,745.12426603,716,679,662.87573397,636,880,789,803.12426603,652,632,654,0.401097816696,-0.0153623376034,0.0798940353588,0.99999994544,0.000269646355636,-0.000187505467337,3.53841486533e-05,1793238166504909568
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.302630096,745.697369904,716,679,662.302630096,636,880,789,803.697369904,652,632,654,0.401158554509,-0.0153641794529,0.0799135008582,0.999999952246,0.000268244223434,-0.000149159586022,3.6107359348e-05,1793238166521576192
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.722905675,716,679,662.277094325,636.277094325,880,788.722905675,804,652,632,654,0.401222475008,-0.0153662615701,0.079929653812,0.999999956193,0.000268537251898,-0.0001190893853,3.63271246963e-05,1793238166538242816
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.135773633,716,679,662.864226367,636.864226367,880,788.135773633,804,652,632,654,0.401289956575,-0.0153686125201,0.0799421003944,0.999999957877,0.000270726976866,-9.82787527872e-05,3.59835907093e-05,1793238166554909440
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.447360819,716,679,663,637,880,788.447360819,804,652,632,653.552639181,0.401364091071,-0.0153708261543,0.0799498960797,0.999999958848,0.0002711263616,-8.71303955898e-05,3.46806495351e-05,1793238166571576064
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.028951304,745.971048696,716,679,663,637,880,788.971048696,803.971048696,652,632,653.028951304,0.401440845204,-0.0153730244672,0.0799559375748,0.999999959626,0.000270865500454,-7.93151493946e-05,3.30012918177e-05,1793238166588242688
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.604100165,745.395899835,716,679,663,637,880,788.395899835,803.395899835,652,632,653.604100165,0.401529265442,-0.0153757130089,0.0799552788089,0.999999960401,0.000268308795737,-7.95480010512e-05,2.96651866582e-05,1793238166604909568
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.820994158,745,716,679,663.179005842,637,880,788.179005842,803,652,632,654,0.401626514397,-0.0153790698378,0.0799555702385,0.999999961372,0.000265589646785,-7.76136865633e-05,2.63405112907e-05,1793238166621576192
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.246625668,745,716,679,663.753374332,637,880,788.753374332,803,652,632,654,0.401743262954,-0.0153839026841,0.0799579603249,0.999999962765,0.000262511714449,-7.08928436507e-05,2.30410808642e-05,1793238166638242816
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,716,679,663.663102479,637,880,789,803.336897521,652,632,654,0.401870098356,-0.0153888366608,0.0799623325727,0.999999964351,0.000258648029622,-6.34316732373e-05,1.9392419864e-05,1793238166654909184
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,716,679,663.072690337,637,880,789,803.927309663,652,632,654,0.402004524098,-0.0153938467384,0.0799681963927,0.999999966038,0.000254193067495,-5.5413407351e-05,1.54809633023e-05,1793238166671576064
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.507521244,745,716,679,663,636.492478756,880.507521244,788.492478756,804,652,632,654,0.402159827635,-0.0154001837863,0.0799702972961,0.999999968853,0.000244309483586,-4.99779025658e-05,1.04512755863e-05,1793238166688242688
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745.085878464,716,679,663,636.085878464,880.914121536,788,804,652,632,654,0.402320076386,-0.0154063928847,0.0799707446415,0.999999971722,0.000232970848762,-4.74853982956e-05,5.00114157701e-06,1793238166704909568
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.661826846,716,679,663,636.661826846,880.338173154,788,804,652,632,654,0.402491817525,-0.0154108086345,0.0799647708118,0.999999974523,0.000217678428684,-5.97179070617e-05,-1.95233939862e-06,1793238166721576192
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.757344507,745.757344507,716,679,662.757344507,637,880.242655493,788,804,652,632.242655493,654,0.402677103596,-0.0154168796358,0.0799607495168,0.999999980089,0.000187304738776,-6.82811498474e-05,-8.77980927784e-06,1793238166738242816
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.169574991,745.169574991,716,679,662.169574991,637,880.830425009,788,804,652,632.830425009,654,0.402881653781,-0.0154253047995,0.0799595051927,0.999999988138,0.000135481884632,-7.16258198989e-05,-1.54280608761e-05,1793238166754909440
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.412220314,716,679.412220314,662,637,880.175559373,788.412220314,804,652,632.587779686,654,0.403119400635,-0.0154338630113,0.0799619394977,0.999999991403,0.000112615123204,-6.37413857417e-05,-2.12028591542e-05,1793238166771576064
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.991593104,716,679.991593104,662,637,879.016813792,788.991593104,804,652,632.008406896,654,0.403370608504,-0.0154424751728,0.0799658654612,0.999999993179,0.000101489857739,-5.13036277085e-05,-2.66234780181e-05,1793238166788242688
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.569730294,746,716,679.430269706,662.569730294,637,880.139460588,789,804,652,632,654,0.403651450316,-0.0154494956609,0.0799696143045,0.99999999294,0.000109023734844,-4.30777375367e-05,-1.94322090074e-05,1793238166804909568
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.853366729,746,716,679,663,637,880.706733459,789,804,652.146633271,632,654,0.403939853343,-0.0154563913158,0.0799722147203,0.999999993216,0.000109183261605,-3.74743321137e-05,-1.55745193903e-05,1793238166821576192
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.280002705,746,716,679,663,637,879.560005411,789,804,652.719997295,632,654,0.404248991092,-0.0154629918838,0.0799714805821,0.999999995194,8.70824855106e-05,-3.93223814596e-05,-2.19585967505e-05,1793238166838242816
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,716,679,663,637,879.300028193,788.699971807,804,652.699971807,632,654,0.404574296307,-0.015471400505,0.0799686377124,0.999999996373,6.89629358701e-05,-4.22141455726e-05,-2.67748117092e-05,1793238166854909440
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,716,679,663,637,879.886422448,788.113577552,804,652.113577552,632,654,0.404915032821,-0.0154815348484,0.0799637821345,0.999999996992,5.46433203719e-05,-4.61020979218e-05,-3.00945594417e-05,1793238166871576064
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.529958205,716,679,663,637,880,788.470041795,804,652,632,654,0.405284882264,-0.0154892689671,0.0799620977443,0.999999997296,4.58186618381e-05,-4.84997018505e-05,-3.09102887611e-05,1793238166888242688
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,716,679,663,637,880,789,804,652,632,654,0.405664180447,-0.0154960400033,0.0799606978247,0.999999997445,3.86197480695e-05,-5.138860256e-05,-3.12721489434e-05,1793238166904909312
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,716,679,663,637,880,789,804,652,632,654,0.406068033304,-0.0154989458181,0.0799545248325,0.999999996887,3.44786537042e-05,-6.27707161777e-05,-3.31103757128e-05,1793238166921575936
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.206780928,716,679,663,637,880,789,803.793219072,652,632,654,0.406482215425,-0.0154984516976,0.0799497376761,0.999999996152,3.74231721507e-05,-7.18767554565e-05,-3.35892868419e-05,1793238166938242560
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.788707939,716,679,663,637,880,789,803.211292061,652,632,654,0.406915137079,-0.0154917893464,0.0799474647312,0.999999995131,5.32225508883e-05,-7.68534946061e-05,-3.16021003239e-05,1793238166954909184
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,716,679.371003948,663,636.628996052,880,789,803.371003948,652,632.371003948,654,0.407371137717,-0.0154918978147,0.0799471384161,0.99999999498,5.23493201983e-05,-7.95167453407e-05,-3.12595569722e-05,1793238166971576064
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,716,679.953510297,663,636.046489703,880,789,803.953510297,652,632.953510297,654,0.407840295237,-0.0154958662006,0.0799479218384,0.999999995343,4.19713466666e-05,-8.08611195e-05,-3.18545939486e-05,1793238166988242688
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+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,716,679,663,637,880.685233749,789,803.314766251,652.685233749,632,654,0.409421979186,-0.0155227606692,0.0799665644609,0.999999998135,2.08536516218e-06,-5.01680516521e-05,-3.47693040115e-05,1793238167038242816
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.266993801,746,715.733006199,679,663,637,880.733006199,789,803,652.733006199,632,654,0.4100069643,-0.0155228133257,0.0799885343682,0.999999999325,3.2765219359e-06,-1.33670992074e-05,-3.40615905208e-05,1793238167054909952
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.856175354,746,715.143824646,679,663,637,880.143824646,789,803,652.143824646,632,654,0.410617831715,-0.0155186560636,0.0800120566532,0.999999998972,1.46525340422e-05,2.75267796439e-05,-3.29171082835e-05,1793238167071577856
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.561839835,746,715.438160165,679.438160165,663,637,880,789,803.438160165,652,632,654,0.411196831838,-0.0155142150298,0.080002334598,0.999999999221,1.46199644369e-05,7.8412530001e-06,-3.58080460281e-05,1793238167088244480
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,880,789,804,652,632,654,0.411766397104,-0.0155099381909,0.0799816265383,0.999999998652,1.07822061694e-05,-3.13380972224e-05,-3.99742768957e-05,1793238167104910848
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,880,789,804,652,632,654,0.412362964766,-0.0155137271609,0.0799530367687,0.999999996726,3.13364238199e-06,-6.83157447874e-05,-4.32604277662e-05,1793238167121577472
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,880,789,804,652,632,654,0.412976956463,-0.0155171488303,0.0799327833609,0.999999994754,-3.58415122383e-06,-9.13422330789e-05,-4.62192571577e-05,1793238167138244352
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,880,789,804,652,632,654,0.413633347747,-0.0155196767107,0.0799328156487,0.999999995564,-8.03700920264e-06,-8.04199833713e-05,-4.83815827427e-05,1793238167154910464
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,880.322574465,789,804,652,632,653.677425535,0.414323793065,-0.0155221536459,0.0799483602544,0.99999999755,-8.74530485889e-06,-5.04140405029e-05,-4.77592494378e-05,1793238167171576832
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,880.914553116,789,804,652,632,653.085446884,0.415042679222,-0.0155245880332,0.0799768602667,0.999999998966,-6.32625798459e-06,-4.46998955436e-06,-4.48112552266e-05,1793238167188243200
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.496474905,746,716,679.503525095,663,637,880.503525095,789,804,652,632,653.496474905,0.415730152003,-0.0155204883373,0.0799798903048,0.999999998873,-7.67904883659e-06,-9.9224231253e-06,-4.5791852881e-05,1793238167204909824
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.924338375,746,716,679,663,637,880.075661625,788.924338375,804,652,632,654,0.416415027525,-0.0155161767046,0.0799770034529,0.999999998538,-9.98435474051e-06,-2.38104206535e-05,-4.75046587814e-05,1793238167221576192
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.351970002,746,716,679,663,637,880.648029998,788.351970002,804,652,632,654,0.417117640062,-0.0155177097432,0.079963479204,0.999999998009,-1.43657485635e-05,-3.61588702919e-05,-4.96736797008e-05,1793238167238242816
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,716,679,663,636.777589875,881,788,804,652,632,654,0.417852911844,-0.0155212461028,0.0799678934542,0.999999998329,-1.98999235177e-05,-1.9745228115e-05,-5.05621769406e-05,1793238167254909440
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,716,679,663,636.199996943,881,788,804,652,632,654,0.418640339642,-0.0155279817107,0.0800009549882,0.9999999975,-2.72750586382e-05,4.2600675987e-05,-4.94057135527e-05,1793238167271576320
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.612822727,716,679.387177273,663.387177273,636.387177273,880.612822727,788.387177273,804.387177273,652,632,654,0.419405188386,-0.0155295644797,0.0800087011963,0.999999996674,-2.99576649373e-05,5.7368987949e-05,-4.96370308465e-05,1793238167288242944
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.020573736,716,679.979426264,663.979426264,636.979426264,880.020573736,788.979426264,804.979426264,652,632,654,0.420158077896,-0.0155284180036,0.0800030389262,0.999999997163,-3.01548332574e-05,4.6937422207e-05,-5.06033980489e-05,1793238167304909568
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.557645476,715.442354524,680,663.442354524,636.442354524,880,789,804.442354524,652,632,654,0.42089637458,-0.0155255534042,0.0799821943275,0.999999998054,-3.12431472406e-05,1.02225464804e-05,-5.30311286501e-05,1793238167321576448
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715.134256459,680,663,636.134256459,880.134256459,789,804,652,632,654,0.421647506921,-0.0155242366921,0.0799711323632,0.999999998012,-3.05865028513e-05,-1.00407661078e-05,-5.42204967305e-05,1793238167338242816
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715.70726178,680,663,636.70726178,880.70726178,789,804,652,632,654,0.422442302291,-0.0155281805301,0.0799938255538,0.999999998046,-2.4122542985e-05,2.6550661699e-05,-5.11910365218e-05,1793238167354909440
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.710741111,716,680,663,637,881,789,804,652,632,654,0.423226908676,-0.0155314596689,0.080010587779,0.999999997265,-2.14900170884e-05,5.07385180978e-05,-4.9342198391e-05,1793238167371576320
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.119352144,716,680,663,637,881,789,804,652,632,654,0.424000872645,-0.0155340445312,0.0800211551266,0.999999996631,-2.28594134035e-05,6.19708775026e-05,-4.87265168721e-05,1793238167388242944
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.462387859,716,680,663,636.537612141,881,789,804,652,632,654,0.424751639908,-0.0155318971238,0.0799858731925,0.999999998336,-2.39548651418e-05,-6.16555954636e-06,-5.21235995577e-05,1793238167404909568
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663,636.041358547,881,789,804,652,632,654,0.425500988439,-0.0155288444735,0.0799421413836,0.999999994353,-2.5045303073e-05,-8.65708553356e-05,-5.63140662022e-05,1793238167421576192
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,716,680,663,636.616077841,881,789,804,652,632,654,0.426307677627,-0.0155295482802,0.0799389403492,0.99999999577,-2.69643335153e-05,-6.63981371942e-05,-5.76516318121e-05,1793238167438244096
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715.809934712,680,663,637,880.809934712,789,804,652,632,654,0.427103101918,-0.0155308471392,0.0799387498246,0.999999996367,-3.00543707156e-05,-5.43111745648e-05,-5.84260792723e-05,1793238167454910976
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715.237419783,680,663,637,880.237419783,789,804,652,632,654,0.427875859111,-0.0155333433632,0.0799446170512,0.999999995973,-3.55007097226e-05,-5.84943769224e-05,-5.80674198816e-05,1793238167471576832
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715.347011893,680.347011893,663.347011893,637,880.347011893,789,804,652,631.652988107,654,0.4286480037,-0.015536014581,0.0799514051186,0.999999996081,-3.91772028065e-05,-5.47332256312e-05,-5.75143440357e-05,1793238167488242944
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715.939886723,680.939886723,663.939886723,637,880.939886723,789,804,652,631.060113277,654,0.429419714204,-0.0155388097842,0.0799588456147,0.999999996492,-4.15997341684e-05,-4.53433848086e-05,-5.68235213427e-05,1793238167504909568
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,716,680.480065556,663.480065556,636.480065556,881,789,804,652,631.519934444,654,0.430245305017,-0.0155419704233,0.079990870226,0.999999997505,-4.503300297e-05,-1.83524889787e-06,-5.43874715762e-05,1793238167521576192
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,716,680,663.097857223,636,881,789,804.097857223,652,632,654,0.431064447678,-0.0155441959184,0.0800212304269,0.999999996741,-4.73861142367e-05,3.944496089e-05,-5.21191272523e-05,1793238167538243072
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,716,680,663.672478618,636,881,789,804.672478618,652,632,654,0.431822555123,-0.0155416644649,0.0800299669668,0.999999996396,-4.39210254057e-05,5.11148280786e-05,-5.16272519682e-05,1793238167554910208
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,716,680.253370379,663.746629621,636.253370379,881.253370379,789,804.746629621,652,632,654,0.432541448624,-0.0155383661335,0.0800126792696,0.999999997384,-4.30110282802e-05,2.29757968078e-05,-5.34217190085e-05,1793238167571577344
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,716,680.842573218,663.157426782,636.842573218,881.842573218,789,804.157426782,652,632,654,0.433208365525,-0.0155340513359,0.0799608974702,0.999999995591,-4.54877046892e-05,-5.79283630679e-05,-5.82466425798e-05,1793238167588243712
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,716,681,663.42439772,637,881.57560228,789,804.42439772,652,632,654,0.43392708678,-0.0155356116156,0.07993256529,0.999999992838,-4.89578909191e-05,-9.02571892934e-05,-6.14837790936e-05,1793238167604909824
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.003528709,746,716,681.003528709,664,637,881,789,805,652,632,654,0.434664894447,-0.015539330308,0.079913159068,0.9999999911,-5.27917823272e-05,-0.000104417079781,-6.41065888066e-05,1793238167621576192
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.582106162,746,716,681.582106162,664,637,881,789,805,652,632,654,0.435435023608,-0.015545712228,0.0799550532705,0.999999995562,-5.68649503547e-05,-4.39021675584e-05,-6.09580000759e-05,1793238167638242816
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.840978659,746,716,681.840978659,664,637,881.159021341,789,805,652,632,654,0.436183387992,-0.0155505619734,0.079989141972,0.99999999651,-6.00333092706e-05,2.12875198942e-06,-5.80655944682e-05,1793238167654909696
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.26838647,746,716,681.26838647,664,637,881.73161353,789,805,652,632,654,0.436875148331,-0.0155514269547,0.0800029307173,0.999999996535,-6.08485094667e-05,1.04907961619e-05,-5.58394506437e-05,1793238167671576320
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,716,681,664,636.687270021,881.687270021,789,805,652,632,654,0.437551789599,-0.0155517760603,0.0800110797069,0.999999996366,-6.11186959749e-05,2.08055538969e-05,-5.56691000434e-05,1793238167688243200
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,716,681,664,636.098633051,881.098633051,789,805,652,632,654,0.438215091979,-0.0155516700331,0.0800142530038,0.999999995963,-6.09080424183e-05,3.28430987092e-05,-5.73124795044e-05,1793238167704910336
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.483815646,746,716,681,664,636,881,789,804.516184354,651.516184354,632,654,0.438866818084,-0.0155536379105,0.0800097287136,0.999999996048,-6.0955776737e-05,3.02310429255e-05,-5.72261362658e-05,1793238167721577728
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.935539168,746,716,681,664,636.064460832,881,789,804.064460832,651.064460832,632.064460832,654,0.439510065624,-0.0155556233133,0.0800008279284,0.999999996269,-6.15865675736e-05,1.98305572688e-05,-5.72383872518e-05,1793238167738244608
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.359322901,746,716,681,664,636.640677099,881,789,804.640677099,651.640677099,632.640677099,654,0.440104501161,-0.0155544336542,0.0799694831921,0.999999995525,-6.64333361637e-05,-2.89916346744e-05,-6.07975567081e-05,1793238167754910976
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,716,681,664,636.779769796,881.220230204,789,804.779769796,651.779769796,633,654,0.440673773242,-0.0155529768471,0.0799336381751,0.99999999192,-7.07170976759e-05,-8.36193819608e-05,-6.4553516081e-05,1793238167771577344
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,716,681,664,636.194688676,881.805311324,789,804.194688676,651.194688676,633,654,0.441201357476,-0.0155510774617,0.0798903376377,0.99999998397,-7.40681363115e-05,-0.000147865070184,-6.86354929847e-05,1793238167788243712
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,716,681.386641739,663.613358261,636,882,789,804,651.386641739,632.613358261,653.613358261,0.441760821384,-0.0155523790397,0.0798837524542,0.999999982949,-7.71934391409e-05,-0.000152729141855,-6.93984455449e-05,1793238167804910592
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,716,681.96610173,663.03389827,636,882,789,804,651.96610173,632.03389827,653.03389827,0.442336183734,-0.0155552769382,0.0798954772155,0.999999986248,-8.02061678796e-05,-0.000127979604755,-6.85062009515e-05,1793238167821577472
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,746,715.456864264,682,663,636,881.456864264,788.456864264,804.543135736,652,632,653.543135736,0.442901317015,-0.0155670997203,0.0799323727818,0.999999991111,-8.85953972287e-05,-7.53538492112e-05,-6.52040809684e-05,1793238167838244352
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,715.11960942,682,663.11960942,636,881.11960942,788,804.88039058,652,632,654,0.443444941723,-0.0155779678385,0.0799587185666,0.999999992312,-9.92237191926e-05,-3.96227757842e-05,-6.29381012976e-05,1793238167854911232
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715.694524148,682,663.694524148,636,881.694524148,788,804.305475852,652,632,654,0.443909111438,-0.0155830910076,0.0799389521152,0.999999988221,-0.000117103717101,-7.47963272724e-05,-6.51862815061e-05,1793238167871577600
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.276795301,746,716,682,664,636,882,788,804,651.723204699,632,654,0.444342226688,-0.0155882529934,0.0799094652885,0.999999982205,-0.000126054460213,-0.000123358926717,-6.69542222005e-05,1793238167888244224
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.867406755,746,716,682,664,636,882,788,804,651.132593245,632,654,0.444740133969,-0.0155934589872,0.0798689580057,0.999999972375,-0.000124881676231,-0.000187101331744,-6.81776920051e-05,1793238167904910848
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.551716052,746,716,681.551716052,663.551716052,636,882,788,804,651.448283948,631.551716052,654,0.445134020553,-0.0155972781872,0.0798380115824,0.999999960737,-0.000132226515763,-0.000236725447988,-7.07323911177e-05,1793238167921576960
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,716,681.052593305,663,636,881.973703348,787.973703348,804,652,631.026296652,654,0.44552657917,-0.015600776079,0.0798108429061,0.999999947834,-0.000142018047115,-0.000280625777521,-7.35682982188e-05,1793238167938243328
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,716,682.206671951,663,636,881.396664025,787.396664025,804,652,631.603335975,654,0.445915703118,-0.0156059527855,0.07980482588,0.999999943661,-0.000151409482897,-0.000290249332756,-7.42224427116e-05,1793238167954909952
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,715.820398724,682.820398724,663,636,881,787,804,652,632,654,0.446295922596,-0.0156124557091,0.0797974042891,0.999999939392,-0.000161428320544,-0.000299234269233,-7.49400640587e-05,1793238167971576320
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,715.245835653,682.245835653,663,636,881,787,804,652,632,654,0.446656560174,-0.0156218751207,0.0797868939155,0.999999935125,-0.000172826878618,-0.000306814815759,-7.57972775073e-05,1793238167988242944
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,715.339281943,681.660718057,663,636,881.339281943,787,804.339281943,652,632,654,0.446986266608,-0.0156293513476,0.0797728048719,0.999999928394,-0.000182184121781,-0.000322710889173,-7.6676038713e-05,1793238168004909568
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,715.932292701,681.067707299,663,636,881.932292701,787,804.932292701,652,632,654,0.447292841515,-0.0156353743831,0.0797560395523,0.999999919486,-0.000190014787883,-0.000344825651997,-7.75709142707e-05,1793238168021576192
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746,716,681.512514686,663,635.487485314,881.487485314,786.487485314,805,651.487485314,632,654,0.447565739544,-0.015639644859,0.0797393238253,0.999999908164,-0.000199584601708,-0.000370996229011,-7.87398575797e-05,1793238168038242816
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745.03432734,715.03432734,681.03432734,663,636,881.03432734,788,804,652,632,654,0.439849430321,-0.0153930465725,0.079758563576,0.999999919794,0.000135034023385,-0.00037694159889,9.59520175141e-06,1793238170063708416
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745.807559055,716,681.807559055,663,636,881.807559055,788,804,651.807559055,632,654,0.438542080152,-0.0153870161097,0.0797279710912,0.999999900455,0.000152675622028,-0.000419140715689,1.00829489298e-05,1793238170097041664
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,746,715.595847553,681.595847553,663,636.404152447,882,788.595847553,804,652,632.404152447,654,0.432177904623,-0.0153861724502,0.0797687840252,0.999999907484,0.000193041075981,-0.000383663495755,2.38524865376e-05,1793238170247040512
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,746,715.845770929,681,663,636.845770929,880.154229071,788.154229071,804,652,632,654,0.42994553461,-0.0153801193447,0.0797916201612,0.999999915676,0.000202293284938,-0.000356148462648,2.97243754745e-05,1793238170297040384
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,715.361265226,680.638734774,663,636.638734774,881,789,804.638734774,652,632,654,0.425233557932,-0.0153792494158,0.0797714518855,0.999999903232,0.000230890804766,-0.000372934134644,3.38420313811e-05,1793238170397040128
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,715.215873447,681,663,636.784126553,881,789,804.784126553,652,632.215873447,654,0.424435949164,-0.0153772387417,0.0797650744505,0.999999897699,0.000234952045525,-0.000384998503399,3.42789221303e-05,1793238170413706496
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.572295737,745.427704263,715.427704263,680.572295737,663,636,880.572295737,788.572295737,803.572295737,652,632,654,0.417596347485,-0.0153654196051,0.0798005035609,0.999999919474,0.000243445314433,-0.000316961308559,3.63618949168e-05,1793238170563706624
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.893742259,716,679,662.106257741,636.106257741,879.106257741,788.106257741,803.893742259,652,632,654,0.403551300938,-0.015335301505,0.079831907459,0.999999914848,0.000283653191693,-0.000297426948472,3.71776982674e-05,1793238171013706752
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.315105871,716,679,662.684894129,636.684894129,879.684894129,788.684894129,803.315105871,652,632,654,0.403295623166,-0.0153324371945,0.0798356350056,0.999999916037,0.000286059928225,-0.000291141977251,3.65067941135e-05,1793238171030373632
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.262397856,716,679,663,637,879.737602144,789,803,652,632,654,0.403053663019,-0.0153314915405,0.0798409946895,0.999999917482,0.000287443836828,-0.000284691611551,3.69134448567e-05,1793238171047040256
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.838547214,716,679,663,637,879.161452786,789,803,652,632,654,0.402828105178,-0.0153328400419,0.0798483059348,0.999999919242,0.000287604740636,-0.000278043482551,3.86085378286e-05,1793238171063707136
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,716,679,663,637,879.988582877,788.011417123,803.988582877,652,632,653.011417123,0.402413841395,-0.0153416682257,0.079843059338,0.999999919432,0.000274949371817,-0.00029008717192,3.72500165626e-05,1793238171097040384
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.581247232,745.418752768,716,679,663,637,880,788.581247232,804,652.581247232,632,653.581247232,0.4022386175,-0.0153577006328,0.0798388547813,0.999999921994,0.000260379171034,-0.000294649789567,3.73740204182e-05,1793238171113707008
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.955762047,716,678.955762047,663.044237953,636,880,788,804,652,632.955762047,654,0.401165379906,-0.0153528602919,0.0798433616156,0.999999923354,0.00027033149781,-0.000281357782948,3.24004485887e-05,1793238171297040128
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,766,745.677623439,716,679.322376561,663,637,879.322376561,788.322376561,804,652,632.677623439,653.322376561,0.40099294365,-0.0153536448519,0.0798462543962,0.999999924708,0.000271537551598,-0.000275208310765,3.33325714014e-05,1793238171547040256
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..33bc6fe03d9aaf639af06715522ca5ab0bd04574
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,442 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+4,0.066666667,pose1_baseline,0.578252116129,-0.009998708101,1.07001149842,0.548823349661,-0.00132504625827,1.06966104416
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+251,4.183333333,pose1_to_pose2_press,0.62329754545,-0.00999864883895,1.07001180476,0.59386876776,-0.00132498935614,1.06966133549
+252,4.200000000,pose1_to_pose2_press,0.623297744581,-0.00999863199974,1.07001180508,0.593868966811,-0.00132497314145,1.06966133547
+253,4.216666667,pose1_to_pose2_press,0.623297972688,-0.00999861271019,1.07001180544,0.593869194827,-0.00132495456729,1.06966133546
+254,4.233333333,pose1_to_pose2_press,0.623298154096,-0.0099985973697,1.07001180574,0.593869376162,-0.00132493979574,1.06966133544
+255,4.250000000,pose1_to_pose2_press,0.623298286548,-0.00999858616907,1.07001180595,0.593869508562,-0.0013249290105,1.06966133543
+256,4.266666667,pose1_to_pose2_press,0.623298721083,-0.00999857362146,1.07001177885,0.59386994321,-0.00132491680524,1.06966131
+257,4.283333333,pose1_to_pose2_press,0.623299140669,-0.00999862070986,1.07001168468,0.593870363607,-0.00132496172758,1.06966122328
+258,4.300000000,pose1_to_pose2_press,0.623299178764,-0.00999862498507,1.07001167613,0.593870401775,-0.00132496580613,1.06966121541
+259,4.316666667,pose1_to_pose2_press,0.623299226863,-0.00999863038306,1.07001166534,0.593870449968,-0.0013249709558,1.06966120547
+260,4.333333333,pose1_to_pose2_press,0.623299445693,-0.00999864818991,1.07001165325,0.5938706693,-0.00132498782941,1.06966119496
+261,4.350000000,pose1_to_pose2_press,0.623299581815,-0.00999864338669,1.07001173283,0.59387080592,-0.0013249829077,1.06966127006
+262,4.366666667,pose1_to_pose2_press,0.623299699143,-0.0099986118804,1.07001180131,0.59387092381,-0.00132495139603,1.06966133469
+263,4.383333333,pose1_to_pose2_press,0.623299699149,-0.00999860879013,1.0700118013,0.593870923966,-0.00132494832305,1.06966133463
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+265,4.416666667,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924614,-0.00132494858851,1.06966133442
+266,4.433333333,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924608,-0.00132494859673,1.06966133442
+267,4.450000000,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924535,-0.0013249486041,1.06966133444
+268,4.466666667,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924537,-0.00132494860541,1.06966133444
+269,4.483333333,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924597,-0.00132494857582,1.0696613344
+270,4.500000000,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924594,-0.0013249485873,1.06966133441
+271,4.516666667,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924578,-0.00132494860843,1.06966133442
+272,4.533333333,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924578,-0.0013249486082,1.06966133441
+273,4.550000000,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924615,-0.00132494858036,1.06966133439
+274,4.566666667,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924614,-0.00132494858836,1.06966133439
+275,4.583333333,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924594,-0.00132494860384,1.0696613344
+276,4.600000000,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924595,-0.00132494860415,1.0696613344
+277,4.616666667,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924611,-0.00132494859201,1.06966133439
+278,4.633333333,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924612,-0.00132494859667,1.06966133439
+279,4.650000000,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924602,-0.00132494860468,1.0696613344
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+281,4.683333333,pose2_hold,0.623299699149,-0.00999860879013,1.0700118013,0.593870924622,-0.00132494858835,1.06966133438
+282,4.700000000,pose2_to_pose3_retreat,0.623299699149,-0.00999860879013,1.0700118013,0.593870924616,-0.00132494859728,1.06966133438
+283,4.716666667,pose2_to_pose3_retreat,0.623299657421,-0.00999860454797,1.07001179671,0.593870882605,-0.00132494533249,1.06966132962
+284,4.733333333,pose2_to_pose3_retreat,0.623299638585,-0.00999860263301,1.07001179464,0.59387086364,-0.00132494385873,1.06966132747
+285,4.750000000,pose2_to_pose3_retreat,0.62329963094,-0.00999860185582,1.0700117938,0.593870855943,-0.00132494326059,1.0696613266
+286,4.766666667,pose2_to_pose3_retreat,0.623299596598,-0.00999860052286,1.07001178486,0.593870821463,-0.00132494238103,1.06966131809
+287,4.783333333,pose2_to_pose3_retreat,0.623299545906,-0.00999860339296,1.07001176007,0.593870770783,-0.00132494513371,1.06966129524
+288,4.800000000,pose2_to_pose3_retreat,0.623299487993,-0.00999860667181,1.07001173175,0.593870712886,-0.0013249482784,1.06966126913
+289,4.816666667,pose2_to_pose3_retreat,0.623299477916,-0.00999860724236,1.07001172683,0.593870702811,-0.00132494882561,1.06966126459
+290,4.833333333,pose2_to_pose3_retreat,0.623299238752,-0.00999862078328,1.07001160988,0.593870463706,-0.00132496181252,1.06966115677
+291,4.850000000,pose2_to_pose3_retreat,0.623297291928,-0.00999866523903,1.07001177613,0.593868517438,-0.00132500481099,1.0696613123
+292,4.866666667,pose2_to_pose3_retreat,0.623292369466,-0.0099986307807,1.07001162213,0.59386359524,-0.0013249696333,1.06966115507
+293,4.883333333,pose2_to_pose3_retreat,0.623280033291,-0.00999870567731,1.07001157658,0.593851260221,-0.00132504038986,1.06966111542
+294,4.900000000,pose2_to_pose3_retreat,0.623259569388,-0.0099988528252,1.07001181919,0.593830797565,-0.00132518389266,1.06966134461
+295,4.916666667,pose2_to_pose3_retreat,0.623229063064,-0.00999866064631,1.0700115458,0.59380028948,-0.00132499751067,1.06966108027
+296,4.933333333,pose2_to_pose3_retreat,0.62318951929,-0.00999865439607,1.07001163957,0.593760744798,-0.00132499412292,1.06966117808
+297,4.950000000,pose2_to_pose3_retreat,0.623141590435,-0.0099987034691,1.0700116832,0.593712818039,-0.00132503636288,1.06966121961
+298,4.966666667,pose2_to_pose3_retreat,0.623087466675,-0.00999863726079,1.07001176627,0.593658694083,-0.00132497084983,1.06966130506
+299,4.983333333,pose2_to_pose3_retreat,0.62302745705,-0.00999859841212,1.07001174826,0.593598683644,-0.00132493466066,1.06966128943
+300,5.000000000,pose2_to_pose3_retreat,0.622961103156,-0.00999860394043,1.07001183066,0.593532329227,-0.00132494269764,1.06966135426
+301,5.016666667,pose2_to_pose3_retreat,0.622887393517,-0.00999858737186,1.07001172565,0.593458619998,-0.00132492454654,1.0696612519
+302,5.033333333,pose2_to_pose3_retreat,0.622804346041,-0.00999864908383,1.07001162978,0.59337557234,-0.00132498723817,1.06966115541
+303,5.050000000,pose2_to_pose3_retreat,0.622710405161,-0.00999871784413,1.07001169118,0.593281631921,-0.00132505439615,1.06966122026
+304,5.066666667,pose2_to_pose3_retreat,0.622604124201,-0.00999869732191,1.07001182978,0.593175351474,-0.00132503160847,1.06966136716
+305,5.083333333,pose2_to_pose3_retreat,0.622485087013,-0.00999845946135,1.07001154149,0.593056310674,-0.00132480671962,1.06966107825
+306,5.100000000,pose2_to_pose3_retreat,0.622353834336,-0.00999864648772,1.07001164533,0.592925059917,-0.00132498684529,1.06966117743
+307,5.116666667,pose2_to_pose3_retreat,0.622209751333,-0.00999871985859,1.07001168714,0.592780978094,-0.00132505685414,1.06966121551
+308,5.133333333,pose2_to_pose3_retreat,0.622055111634,-0.00999879783179,1.07001167942,0.59262633999,-0.00132512950785,1.06966120909
+309,5.150000000,pose2_to_pose3_retreat,0.621890698337,-0.0099989025294,1.07001163667,0.592461928492,-0.00132522737841,1.06966117237
+310,5.166666667,pose2_to_pose3_retreat,0.621715825699,-0.00999880730351,1.07001154421,0.592287053896,-0.00132513986413,1.06966108175
+311,5.183333333,pose2_to_pose3_retreat,0.621529686888,-0.00999883512829,1.07001169111,0.592100915481,-0.00132516598259,1.06966122439
+312,5.200000000,pose2_to_pose3_retreat,0.621326423743,-0.00999877694472,1.07001173439,0.591897652045,-0.00132510922351,1.06966126899
+313,5.216666667,pose2_to_pose3_retreat,0.621106879768,-0.00999862232546,1.07001159241,0.591678106503,-0.00132496105266,1.06966113466
+314,5.233333333,pose2_to_pose3_retreat,0.620871737474,-0.00999862709168,1.07001141181,0.591442963029,-0.00132496805574,1.06966095386
+315,5.250000000,pose2_to_pose3_retreat,0.620621594825,-0.00999868431281,1.07001157565,0.591192822869,-0.00132501857445,1.06966111151
+316,5.266666667,pose2_to_pose3_retreat,0.620355123129,-0.00999867828202,1.07001172005,0.59092635233,-0.0013250112939,1.06966125418
+317,5.283333333,pose2_to_pose3_retreat,0.620075891969,-0.00999865240975,1.07001179617,0.590647120995,-0.00132498855181,1.0696613327
+318,5.300000000,pose2_to_pose3_retreat,0.619782076758,-0.00999878201095,1.07001188478,0.590353307099,-0.00132511485804,1.06966142115
+319,5.316666667,pose2_to_pose3_retreat,0.619466281485,-0.00999871324065,1.0700117453,0.590037510196,-0.00132505006155,1.06966127863
+320,5.333333333,pose2_to_pose3_retreat,0.619130572013,-0.00999862580055,1.07001166513,0.589701799667,-0.0013249657984,1.06966119915
+321,5.350000000,pose2_to_pose3_retreat,0.618775436722,-0.00999859964816,1.07001158888,0.589346664557,-0.00132493963403,1.06966112638
+322,5.366666667,pose2_to_pose3_retreat,0.618402537852,-0.00999869801497,1.07001139767,0.588973767182,-0.00132503367305,1.06966093827
+323,5.383333333,pose2_to_pose3_retreat,0.61801227862,-0.00999869227553,1.07001141335,0.58858350884,-0.00132502839793,1.06966095064
+324,5.400000000,pose2_to_pose3_retreat,0.617611288245,-0.00999880058021,1.0700115554,0.588182520442,-0.00132513306289,1.0696610912
+325,5.416666667,pose2_to_pose3_retreat,0.617198516201,-0.00999879310468,1.07001155625,0.587769749166,-0.00132512610519,1.06966109546
+326,5.433333333,pose2_to_pose3_retreat,0.616768006837,-0.00999863815963,1.07001139302,0.58733923923,-0.00132497659897,1.06966093866
+327,5.450000000,pose2_to_pose3_retreat,0.616319159708,-0.00999866326377,1.07001150864,0.586890394212,-0.00132499861618,1.06966104876
+328,5.466666667,pose2_to_pose3_retreat,0.615849813685,-0.00999865636729,1.07001168777,0.586421048959,-0.00132499270156,1.06966122743
+329,5.483333333,pose2_to_pose3_retreat,0.615351758933,-0.0099987085528,1.07001171652,0.585922995257,-0.00132504437108,1.0696612536
+330,5.500000000,pose2_to_pose3_retreat,0.614824483261,-0.00999879019441,1.07001173799,0.585395721611,-0.00132512239626,1.06966127018
+331,5.516666667,pose2_to_pose3_retreat,0.614272152486,-0.0099988324442,1.07001193155,0.58484339348,-0.00132515993539,1.0696614595
+332,5.533333333,pose2_to_pose3_retreat,0.613700635236,-0.0099988396831,1.07001191985,0.584271875842,-0.00132517239009,1.06966144872
+333,5.550000000,pose2_to_pose3_retreat,0.613117933391,-0.00999881148213,1.07001172301,0.583689175825,-0.00132514250767,1.06966125491
+334,5.566666667,pose2_to_pose3_retreat,0.612532575151,-0.00999875306563,1.07001181528,0.583103818203,-0.00132508593219,1.06966134792
+335,5.583333333,pose2_to_pose3_retreat,0.611946597102,-0.0099986978686,1.07001185163,0.582517841127,-0.00132503059342,1.06966138721
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+337,5.616666667,pose2_to_pose3_retreat,0.610754635021,-0.00999879494627,1.07001167989,0.581325880611,-0.00132512940651,1.06966121157
+338,5.633333333,pose2_to_pose3_retreat,0.610130491884,-0.0099987158777,1.07001175499,0.580701737614,-0.00132505354123,1.06966128884
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+342,5.700000000,pose2_to_pose3_retreat,0.607413888838,-0.00999863977408,1.07001153995,0.577985139781,-0.00132498292149,1.06966107546
+343,5.716666667,pose2_to_pose3_retreat,0.606712136762,-0.00999862128211,1.07001156453,0.577283385984,-0.00132496846084,1.06966109309
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+345,5.750000000,pose2_to_pose3_retreat,0.605335790939,-0.00999869140631,1.07001176681,0.575907039124,-0.001325029142,1.0696613035
+346,5.766666667,pose2_to_pose3_retreat,0.604657238706,-0.00999869372544,1.07001160917,0.575228487871,-0.00132502882015,1.06966114733
+347,5.783333333,pose2_to_pose3_retreat,0.60397651364,-0.00999886034438,1.07001153333,0.574547765704,-0.00132518938347,1.06966106952
+348,5.800000000,pose2_to_pose3_retreat,0.60327798756,-0.00999880624143,1.07001161011,0.573849240653,-0.00132513677644,1.06966115015
+349,5.816666667,pose2_to_pose3_retreat,0.60256164697,-0.00999877999251,1.07001163388,0.573132890112,-0.00132510858109,1.06966117519
+350,5.833333333,pose2_to_pose3_retreat,0.601830886125,-0.00999875326419,1.0700117131,0.572402122521,-0.00132508335115,1.06966124935
+351,5.850000000,pose2_to_pose3_retreat,0.601094629152,-0.00999871234822,1.07001175378,0.571665863731,-0.0013250473648,1.06966128631
+352,5.866666667,pose2_to_pose3_retreat,0.600359804865,-0.00999866824477,1.07001163069,0.570931038275,-0.00132500714088,1.06966116866
+353,5.883333333,pose2_to_pose3_retreat,0.599632418897,-0.00999869825515,1.07001154953,0.570203653248,-0.00132503404728,1.06966108397
+354,5.900000000,pose2_to_pose3_retreat,0.59891566077,-0.0099987418676,1.07001172814,0.569486895106,-0.00132507780167,1.06966126018
+355,5.916666667,pose2_to_pose3_retreat,0.598212503895,-0.00999870978228,1.07001185592,0.568783737732,-0.001325047437,1.06966138728
+356,5.933333333,pose2_to_pose3_retreat,0.597523518743,-0.00999868959599,1.07001187146,0.568094752592,-0.00132502716908,1.06966140377
+357,5.950000000,pose2_to_pose3_retreat,0.596844540482,-0.00999875042457,1.07001174291,0.567415775418,-0.0013250842019,1.06966127788
+358,5.966666667,pose2_to_pose3_retreat,0.59616530463,-0.00999886088963,1.07001134179,0.566736540723,-0.00132519047824,1.0696608832
+359,5.983333333,pose2_to_pose3_retreat,0.595478016278,-0.00999880045949,1.07001142161,0.566049252053,-0.0013251310292,1.06966096541
+360,6.000000000,pose2_to_pose3_retreat,0.594785483842,-0.0099987708359,1.07001163356,0.565356719294,-0.00132510268311,1.06966117283
+361,6.016666667,pose2_to_pose3_retreat,0.594091237328,-0.00999872230174,1.07001171147,0.564662471794,-0.00132505766444,1.06966124651
+362,6.033333333,pose2_to_pose3_retreat,0.593406906232,-0.00999856572715,1.07001153881,0.563978138444,-0.00132490861226,1.06966107687
+363,6.050000000,pose2_to_pose3_retreat,0.592736247936,-0.00999862303956,1.07001169483,0.563307481367,-0.00132496234142,1.06966121921
+364,6.066666667,pose2_to_pose3_retreat,0.592082840096,-0.0099986433083,1.07001176647,0.562654074866,-0.00132497785608,1.06966129605
+365,6.083333333,pose2_to_pose3_retreat,0.591443964253,-0.00999868263089,1.07001176989,0.562015200309,-0.00132501250691,1.06966130708
+366,6.100000000,pose2_to_pose3_retreat,0.590821045372,-0.00999871726704,1.07001172681,0.561392281786,-0.00132504584788,1.06966126593
+367,6.116666667,pose2_to_pose3_retreat,0.590210169562,-0.00999873876394,1.07001165108,0.560781405074,-0.00132507059734,1.06966118542
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+370,6.166666667,pose2_to_pose3_retreat,0.588442141709,-0.00999865900095,1.07001157933,0.559013375931,-0.00132499502321,1.06966111828
+371,6.183333333,pose2_to_pose3_retreat,0.587871509332,-0.0099986900112,1.07001158737,0.558442743055,-0.00132502757878,1.06966112997
+372,6.200000000,pose2_to_pose3_retreat,0.587317296952,-0.00999862138135,1.07001149526,0.557888531056,-0.00132495742056,1.06966104371
+373,6.216666667,pose2_to_pose3_retreat,0.586783565259,-0.00999865893679,1.07001165264,0.557354799636,-0.00132499455216,1.06966118855
+374,6.233333333,pose2_to_pose3_retreat,0.586275124048,-0.00999879736816,1.07001166014,0.556846359816,-0.00132512832227,1.06966119552
+375,6.250000000,pose2_to_pose3_retreat,0.585786871337,-0.00999870033954,1.07001177603,0.556358106103,-0.00132503470176,1.06966131095
+376,6.266666667,pose2_to_pose3_retreat,0.585310459386,-0.00999857407484,1.07001191141,0.555881692762,-0.00132491322472,1.06966144413
+377,6.283333333,pose2_to_pose3_retreat,0.584841315291,-0.00999867465867,1.07001192566,0.555412549508,-0.00132501111079,1.06966145487
+378,6.300000000,pose2_to_pose3_retreat,0.584379340353,-0.00999874656659,1.07001181139,0.554950576071,-0.00132507786957,1.06966134199
+379,6.316666667,pose2_to_pose3_retreat,0.583932737417,-0.00999871311443,1.07001169975,0.554503971368,-0.00132505031107,1.06966123289
+380,6.333333333,pose2_to_pose3_retreat,0.583505819189,-0.00999869005381,1.07001165573,0.554077053322,-0.00132502653026,1.06966119136
+381,6.350000000,pose2_to_pose3_retreat,0.583108031944,-0.00999870825753,1.07001169591,0.553679267287,-0.00132504061132,1.06966123196
+382,6.366666667,pose2_to_pose3_retreat,0.582735658076,-0.00999873947028,1.07001176748,0.553306894135,-0.0013250694781,1.06966130151
+383,6.383333333,pose2_to_pose3_retreat,0.582385534167,-0.00999866735054,1.07001169219,0.552956769648,-0.00132499940217,1.0696612242
+384,6.400000000,pose2_to_pose3_retreat,0.582051517008,-0.00999870546457,1.07001155655,0.552622752252,-0.00132503795144,1.06966109764
+385,6.416666667,pose2_to_pose3_retreat,0.581732911463,-0.00999871419495,1.07001163827,0.552304146418,-0.00132504774467,1.0696611776
+386,6.433333333,pose2_to_pose3_retreat,0.581424311914,-0.00999869326745,1.07001172996,0.551995546469,-0.00132502847073,1.06966126213
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+388,6.466666667,pose2_to_pose3_retreat,0.580849926604,-0.00999873342807,1.07001175035,0.551421161982,-0.00132506572814,1.06966128515
+389,6.483333333,pose2_to_pose3_retreat,0.580589966798,-0.00999868143476,1.07001179011,0.551161201505,-0.00132501608605,1.06966132302
+390,6.500000000,pose2_to_pose3_retreat,0.580347610827,-0.00999876186654,1.0700117324,0.550918846542,-0.00132509313221,1.06966126453
+391,6.516666667,pose2_to_pose3_retreat,0.580123480259,-0.0099987971583,1.0700116749,0.550694716171,-0.00132512780738,1.06966120574
+392,6.533333333,pose2_to_pose3_retreat,0.57991664517,-0.00999864785921,1.07001170612,0.55048787854,-0.00132498725825,1.06966123391
+393,6.550000000,pose2_to_pose3_retreat,0.579724530288,-0.00999870684645,1.07001187878,0.550295764132,-0.00132504449306,1.06966141027
+394,6.566666667,pose2_to_pose3_retreat,0.579546863471,-0.00999884180322,1.07001182686,0.550118099119,-0.00132517332482,1.06966135838
+395,6.583333333,pose2_to_pose3_retreat,0.579385368882,-0.00999881632081,1.07001166887,0.549956604713,-0.00132514714248,1.06966120228
+396,6.600000000,pose2_to_pose3_retreat,0.579239467981,-0.00999875842052,1.07001155131,0.549810703034,-0.00132509191577,1.06966108393
+397,6.616666667,pose2_to_pose3_retreat,0.579109786373,-0.00999881041544,1.07001157513,0.549681020908,-0.00132514593277,1.06966110124
+398,6.633333333,pose2_to_pose3_retreat,0.578993770254,-0.00999877133419,1.07001160671,0.54956500574,-0.00132510301942,1.06966114788
+399,6.650000000,pose2_to_pose3_retreat,0.578890205591,-0.00999883569115,1.07001162754,0.549461442441,-0.00132516269127,1.06966117012
+400,6.666666667,pose2_to_pose3_retreat,0.578795821158,-0.00999887331383,1.07001159443,0.549367058139,-0.00132519992147,1.06966113575
+401,6.683333333,pose2_to_pose3_retreat,0.578709790074,-0.00999880437013,1.07001151696,0.549281025086,-0.00132513761529,1.06966105948
+402,6.700000000,pose2_to_pose3_retreat,0.578632620127,-0.00999857672757,1.07001173234,0.549203852173,-0.00132492026813,1.06966127037
+403,6.716666667,pose2_to_pose3_retreat,0.578563720985,-0.00999864138208,1.07001170938,0.549134954254,-0.00132498099707,1.06966124148
+404,6.733333333,pose2_to_pose3_retreat,0.578503414322,-0.00999866885176,1.07001165331,0.549074647677,-0.00132500800904,1.06966118919
+405,6.750000000,pose2_to_pose3_retreat,0.578452534755,-0.00999867404167,1.07001162341,0.54902376753,-0.00132501488122,1.06966116619
+406,6.766666667,pose2_to_pose3_retreat,0.578410177716,-0.00999876331222,1.07001162305,0.548981411319,-0.00132510135453,1.06966116546
+407,6.783333333,pose2_to_pose3_retreat,0.578375074759,-0.0099987921868,1.07001175642,0.548946309863,-0.00132512545795,1.06966129094
+408,6.800000000,pose2_to_pose3_retreat,0.578345973618,-0.00999878608874,1.07001188143,0.548917209119,-0.00132511828235,1.06966140919
+409,6.816666667,pose2_to_pose3_retreat,0.578322534682,-0.00999874879938,1.0700117582,0.54889376918,-0.00132508434146,1.0696612873
+410,6.833333333,pose2_to_pose3_retreat,0.578303378953,-0.00999870203468,1.07001142371,0.548874611771,-0.00132504293258,1.06966096139
+411,6.850000000,pose2_to_pose3_retreat,0.578288494189,-0.00999875267988,1.07001151714,0.548859728923,-0.0013250870897,1.06966105452
+412,6.866666667,pose2_to_pose3_retreat,0.578277463957,-0.00999866938406,1.07001152878,0.54884869722,-0.00132500877507,1.0696610664
+413,6.883333333,pose2_to_pose3_retreat,0.578269481576,-0.00999861079702,1.07001160243,0.548840713949,-0.00132495328138,1.06966113824
+414,6.900000000,pose2_to_pose3_retreat,0.578263918314,-0.00999861678539,1.0700117737,0.548835151391,-0.00132495706534,1.06966130505
+415,6.916666667,pose2_to_pose3_retreat,0.578259972421,-0.00999862355953,1.07001185368,0.548831205145,-0.00132496502959,1.06966138526
+416,6.933333333,pose2_to_pose3_retreat,0.578257334756,-0.00999862861127,1.07001189549,0.548828567078,-0.00132497141226,1.06966142797
+417,6.950000000,pose2_to_pose3_retreat,0.578255680706,-0.00999863100803,1.07001176304,0.548826913596,-0.00132497182363,1.06966129676
+418,6.966666667,pose2_to_pose3_retreat,0.578254664923,-0.00999863247993,1.0700116817,0.54882589816,-0.00132497207626,1.06966121618
+419,6.983333333,pose2_to_pose3_retreat,0.578254125152,-0.00999863587812,1.07001166709,0.548825358472,-0.00132497515948,1.06966120243
+420,7.000000000,pose2_to_pose3_retreat,0.578253850369,-0.00999863991974,1.07001168492,0.54882508364,-0.00132497933496,1.06966122113
+421,7.016666667,pose2_to_pose3_retreat,0.57825372298,-0.00999864179342,1.07001169319,0.548824956228,-0.0013249812707,1.0696612298
+422,7.033333333,pose2_to_pose3_retreat,0.578253642253,-0.00999864298078,1.07001169843,0.548824875486,-0.00132498249739,1.06966123529
+423,7.050000000,pose2_to_pose3_retreat,0.578253327621,-0.00999864760851,1.07001171885,0.548824560798,-0.00132498727839,1.0696612567
+424,7.066666667,pose2_to_pose3_retreat,0.578253199688,-0.0099986494902,1.07001172715,0.548824432842,-0.0013249892224,1.0696612654
+425,7.083333333,pose2_to_pose3_retreat,0.578253198247,-0.0099986495114,1.07001172725,0.5488244314,-0.0013249892443,1.0696612655
+426,7.100000000,pose2_to_pose3_retreat,0.578253093545,-0.00999865105139,1.07001173404,0.54882432668,-0.0013249908353,1.06966127262
+427,7.116666667,pose2_to_pose3_retreat,0.578253031037,-0.00999865197079,1.0700117381,0.54882426416,-0.00132499178515,1.06966127688
+428,7.133333333,pose2_to_pose3_retreat,0.578252965723,-0.00999865293145,1.07001174234,0.548824198835,-0.00132499277762,1.06966128132
+429,7.150000000,pose2_to_pose3_retreat,0.57825293443,-0.00999865339171,1.07001174437,0.548824167537,-0.00132499325313,1.06966128345
+430,7.166666667,pose2_to_pose3_retreat,0.578252824374,-0.00999865501047,1.07001175151,0.54882405746,-0.0013249949255,1.06966129094
+431,7.183333333,pose2_to_pose3_retreat,0.578252658567,-0.00999866632401,1.07001171678,0.548823891817,-0.00132500562739,1.06966125767
+432,7.200000000,pose2_to_pose3_retreat,0.578252485552,-0.00999868705636,1.07001163476,0.548823719166,-0.00132502502499,1.06966117814
+433,7.216666667,pose2_to_pose3_retreat,0.578252311924,-0.00999870786204,1.07001155246,0.548823545904,-0.00132504449122,1.06966109833
+434,7.233333333,pose2_to_pose3_retreat,0.578252256267,-0.00999871453142,1.07001152608,0.548823490364,-0.00132505073123,1.06966107274
+435,7.250000000,pose2_to_pose3_retreat,0.578252201334,-0.00999872111406,1.07001150004,0.548823435546,-0.00132505689007,1.06966104749
+436,7.266666667,pose2_to_pose3_retreat,0.578252199032,-0.00999872138993,1.07001149895,0.548823433249,-0.00132505714819,1.06966104643
+437,7.283333333,pose2_to_pose3_retreat,0.578252184568,-0.00999872312305,1.07001149209,0.548823418816,-0.00132505876973,1.06966103978
+438,7.300000000,pose2_to_pose3_retreat,0.578252157412,-0.00999870753028,1.0700114938,0.548823391108,-0.00132504509551,1.06966104027
+439,7.316666667,pose2_to_pose3_retreat,0.578252134039,-0.00999868447049,1.07001150273,0.548823366951,-0.00132502477538,1.06966104732
+440,7.333333333,pose2_to_pose3_retreat,0.578252116129,-0.009998708101,1.07001149842,0.548823349661,-0.00132504625962,1.06966104416
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4206ee018fecdf3d4868673fc869501c6581a4e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f90c1285368551893a28d16912c844df6b3ee499277b5cf609abeb57fb563fb
+size 27989254
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e2e6ce819034dcf6facde62fcb5a4955a1c3f23e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_04/franka_data.csv
@@ -0,0 +1,442 @@
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+17,0.283333333,BASELINE,766,745,716,679.853078224,663,637,880.853078224,789,804.146921776,652,632,654,0.400992419268,-0.0153548524899,0.0798500456831,0.999999926374,0.000272473429206,-0.00026820700971,3.2793095536e-05,1793238172299033856
+18,0.300000000,BASELINE,766,745,716,680,663,637,880.565533592,788.565533592,804,652,632.434466408,654,0.400993312105,-0.0153553345348,0.0798506238436,0.99999992696,0.000272031583266,-0.000266452791619,3.28998811821e-05,1793238172315700480
+19,0.316666667,BASELINE,766,745.017771896,716,679.982228104,663,637,879.982228104,788.017771896,804,652.017771896,632.982228104,654,0.400994688971,-0.0153562837018,0.0798514775558,0.99999992797,0.000270790067353,-0.000263890328825,3.30734667525e-05,1793238172332366848
+20,0.333333333,BASELINE,766,745.60108964,716,679.39891036,663,637,879.39891036,788.60108964,804,652.60108964,632.39891036,654,0.4009947871,-0.0153563091292,0.079851103245,0.999999927779,0.000270924161544,-0.000264497228885,3.29128167267e-05,1793238172349033472
+21,0.350000000,BASELINE,766,746,716,679,663,637,879.182783908,789,804,652.817216092,632,654,0.400994839479,-0.0153561348443,0.0798511359449,0.999999927563,0.000271471913407,-0.000264757955389,3.28798659571e-05,1793238172365700608
+22,0.366666667,BASELINE,766,746,716,679,663,637,879.760966195,789,804,652.239033805,632,654,0.400994792896,-0.0153555285414,0.0798520490912,0.999999927291,0.000272914490043,-0.000264269838745,3.31231543991e-05,1793238172382367232
+23,0.383333333,BASELINE,766,746,716,679,663,636.663466652,880,788.663466652,804,652,632,654,0.400995260135,-0.0153557741026,0.0798524487075,0.99999992782,0.000271857772419,-0.000263365091754,3.30370729917e-05,1793238172399033856
+24,0.400000000,BASELINE,766,746,716,679,663,636.089742602,880,788.089742602,804,652,632,654,0.400996089519,-0.0153566200626,0.0798524863849,0.999999928908,0.000269039537509,-0.000262166701169,3.27188497837e-05,1793238172415700736
+25,0.416666667,BASELINE,766,745.504536861,716,679,662.504536861,636.495463139,880,788,803.504536861,652,632,654,0.400995636086,-0.0153557757634,0.079852267153,0.999999928302,0.000270829405204,-0.000262634483886,3.27058721813e-05,1793238172432367104
+26,0.433333333,BASELINE,766,745.081629227,716,679,662,636.918370773,880,788.081629227,803.081629227,652,632,654,0.400994945729,-0.0153548910476,0.0798519897123,0.999999927469,0.00027314354858,-0.000263398908467,3.27982492311e-05,1793238172449033984
+27,0.450000000,BASELINE,766,745.660674257,716,679,662,636.339325743,880,788.660674257,803.660674257,652,632,654,0.400994261125,-0.0153556698906,0.0798516478554,0.999999927192,0.000273445677965,-0.000264088324206,3.31877152855e-05,1793238172465700608
+28,0.466666667,BASELINE,766,746,716,679,662.239512536,636.239512536,880,788.760487464,804,652,632,654,0.400994075394,-0.0153564604299,0.0798515662425,0.999999927564,0.000271882413852,-0.000264279795046,3.32769450607e-05,1793238172482366976
+29,0.483333333,BASELINE,766,746,716,679,662.818058121,636.818058121,880,788.181941879,804,652,632,654,0.400994595826,-0.0153572675255,0.0798518530084,0.999999928845,0.000267678661429,-0.000263766418483,3.29411865303e-05,1793238172499033600
+30,0.500000000,BASELINE,766.393199874,746,716,679,663,637,880,788,803.606800126,652,632,654,0.400994070915,-0.0153568531651,0.0798516208198,0.999999928762,0.000267680727823,-0.000264113518338,3.26616956009e-05,1793238172515700480
+31,0.516666667,BASELINE,766.966780104,746,716,679,663,637,880,788,803.033219896,652,632,654,0.400993066453,-0.0153558784622,0.079851150561,0.999999928055,0.000269612212792,-0.000264855361574,3.24080174304e-05,1793238172532367360
+32,0.533333333,BASELINE,767,746,716,679,663,636.44348582,880,788,803.55651418,652,632,654,0.40099249583,-0.0153565165832,0.0798504564029,0.999999927926,0.000269091362866,-0.000265889317834,3.22469135859e-05,1793238172549033984
+33,0.550000000,BASELINE,766.855500439,746,716,679,663,636.144499561,879.855500439,788,803.855500439,652,632,654,0.40099215259,-0.0153571147858,0.0798500665864,0.999999927907,0.00026853326126,-0.000266532188483,3.22087886119e-05,1793238172565700608
+34,0.566666667,BASELINE,766.275773344,746,716,679,663,636.724226656,879.275773344,788,803.275773344,652,632,654,0.400992413887,-0.015357294113,0.0798506348943,0.999999928111,0.000268317051652,-0.000265943033176,3.25239298959e-05,1793238172582367232
+35,0.583333333,BASELINE,766,745.69849767,716,679,663,637,879.30150233,788.30150233,803.30150233,652,632.30150233,654,0.400993013714,-0.0153570482237,0.0798511491856,0.999999928195,0.000268810669644,-0.000265117725399,3.26042798849e-05,1793238172599033600
+36,0.600000000,BASELINE,766,745.123446071,716,679,663,637,879.876553929,788.876553929,803.876553929,652,632.876553929,654,0.400993920685,-0.0153564165409,0.0798516144684,0.999999928168,0.000269948305255,-0.000264078159395,3.24716067241e-05,1793238172615700224
+37,0.616666667,BASELINE,766,745.46131506,716,679,663,636.53868494,880,789,803.53868494,652,632.53868494,654,0.400995778757,-0.0153553376396,0.0798527708155,0.999999928438,0.000270732300572,-0.000262254091782,3.24268865502e-05,1793238172632367104
+38,0.633333333,BASELINE,766.048039262,745.951960738,716,679,663,636.048039262,880,788.951960738,803.048039262,652,632,654,0.400997694243,-0.0153542714933,0.0798539642734,0.999999928756,0.000271313794118,-0.000260435670931,3.24149575195e-05,1793238172649033728
+39,0.650000000,BASELINE,766.627125013,745.372874987,716,679,663,636.627125013,880,788.372874987,803.627125013,652,632,654,0.40099737045,-0.0153546977155,0.0798534797678,0.999999928752,0.000270725349252,-0.000261050214645,3.2499746446e-05,1793238172665700352
+40,0.666666667,BASELINE,767,745.205390913,716,679,663,637,879.794609087,788,804,652,632,654,0.400996423755,-0.0153550726198,0.0798527082608,0.999999928535,0.000270469737866,-0.000262146849244,3.24878447297e-05,1793238172682366976
+41,0.683333333,BASELINE,767,745.782174306,716,679,663,637,879.217825694,788,804,652,632,654,0.400994350713,-0.0153553547301,0.0798514177914,0.999999927929,0.000270815963514,-0.000264115211409,3.23011048087e-05,1793238172699033600
+42,0.700000000,BASELINE,767,746,716,679,662.640447503,636.640447503,879,788.359552497,804,652.359552497,632,654,0.400994056431,-0.0153557937174,0.0798517193807,0.999999928237,0.000269826293925,-0.000263965566133,3.22654112766e-05,1793238172715700224
+43,0.716666667,BASELINE,767,746,716,679,662.062708391,636.062708391,879,788.937291609,804,652.937291609,632,654,0.400994841549,-0.0153563279022,0.0798529870764,0.999999929098,0.000268025965347,-0.000262530654024,3.23213769679e-05,1793238172732366848
+44,0.733333333,BASELINE,766.474769443,746,716,679,662,636,879,789,803.474769443,652.474769443,632.525230557,654,0.400994909947,-0.0153568755769,0.0798525888074,0.999999929031,0.000267956415019,-0.000262894319977,3.1990618404e-05,1793238172749033728
+45,0.750000000,BASELINE,766,745.887809583,716,679,662.112190417,636.112190417,879,788.887809583,803,652,632.887809583,654,0.400994976023,-0.0153575796104,0.0798521444934,0.999999928923,0.000267939660575,-0.000263345993894,3.17975357869e-05,1793238172765700352
+46,0.766666667,BASELINE,766,745.310066246,716,679,662.689933754,636.689933754,879,788.310066246,803,652,632.310066246,654,0.400995394588,-0.015358925665,0.0798523508363,0.999999929109,0.000267267516745,-0.000263254140913,3.23711548756e-05,1793238172782366976
+47,0.783333333,BASELINE,766,745,716,679,663,636.738775607,879.261224393,788,803,652,632,654,0.400995493643,-0.0153592837083,0.0798523984817,0.999999929328,0.000266577721816,-0.000263095204915,3.25697367147e-05,1793238172799033600
+48,0.800000000,BASELINE,766,745,716,679,663,636.174959438,879.825040562,788,803,652,632,654,0.400995222591,-0.0153584972795,0.0798522622982,0.999999929587,0.000265867480483,-0.000262858562647,3.23338906396e-05,1793238172815700736
+49,0.816666667,BASELINE,766,745,716,679,662.594995445,636.405004555,880,788,803.405004555,652.405004555,632,654,0.400994873443,-0.0153571674349,0.0798518803488,0.999999928871,0.000268147376167,-0.000263266833377,3.23472135037e-05,1793238172832367360
+50,0.833333333,BASELINE,766,745,716,679,662.00776605,636.99223395,880,788,803.99223395,652.99223395,632,654,0.400994489158,-0.0153555930897,0.0798513878212,0.999999927704,0.000271772632665,-0.000263965271639,3.24726456643e-05,1793238172849033728
+51,0.850000000,BASELINE,766,745,716,679,662.582889241,637,879.417110759,788,804,652.417110759,632,654,0.400995748445,-0.0153552258659,0.0798526123255,0.999999928463,0.000270490361474,-0.00026242666427,3.22639548275e-05,1793238172865700608
+52,0.866666667,BASELINE,766,745.170426512,716,679,662.829573488,636.829573488,879.170426512,788,804,652,632,654,0.400996667042,-0.0153554738634,0.0798534039084,0.999999929032,0.000269577610282,-0.000261186784584,3.23187538166e-05,1793238172882366976
+53,0.883333333,BASELINE,766,745.750361305,716,679,662.249638695,636.249638695,879.750361305,788,804,652,632,654,0.400996714091,-0.0153571612681,0.0798530999546,0.999999929091,0.000269710796362,-0.000260736741094,3.30174375528e-05,1793238172899033600
+54,0.900000000,BASELINE,766,745.673141285,716,679,662.326858715,636.326858715,880,788.326858715,804,652,632,654,0.400996549159,-0.0153583705391,0.0798529080398,0.999999929322,0.000269107568372,-0.000260441080965,3.32691043109e-05,1793238172915700480
+55,0.916666667,BASELINE,766,745.099241885,716,679,662.900758115,636.900758115,880,788.900758115,804,652,632,654,0.400996224013,-0.0153592184352,0.0798528008044,0.999999929683,0.000267947756663,-0.00026026210421,3.31829144179e-05,1793238172932367104
+56,0.933333333,BASELINE,766,745.486934938,716,679,663,637,879.513065062,788.513065062,803.513065062,652.486934938,632,654,0.40099605771,-0.0153584741345,0.0798529562334,0.999999929508,0.000268233090126,-0.000260678409832,3.28866559322e-05,1793238172949033728
+57,0.950000000,BASELINE,766.074492018,746,716,679,663,637,879.074492018,788.074492018,803.074492018,652.925507982,632.074492018,654,0.400995985679,-0.0153574425871,0.0798531979495,0.999999929254,0.000268778227526,-0.000261132811665,3.25607366976e-05,1793238172965700352
+58,0.966666667,BASELINE,766.654003427,746,716,679,663,637,879.654003427,788.654003427,803.654003427,652.345996573,632.654003427,654,0.400996327612,-0.0153567205344,0.0798536523307,0.999999929226,0.000269036262478,-0.000261001693753,3.23314975801e-05,1793238172982366976
+59,0.983333333,BASELINE,766.769549294,745.769549294,716,679,663,637,880,788.769549294,804,652,632.769549294,654,0.400996017175,-0.0153567891401,0.0798536591831,0.999999929146,0.00026933126341,-0.000261000077566,3.23598857551e-05,1793238172999033856
+60,1.000000000,BASELINE,766.197642022,745.197642022,716,679,663,637,880,788.197642022,804,652,632.197642022,654,0.400994740128,-0.0153580292564,0.0798530029364,0.999999928989,0.000269681036512,-0.000261190342803,3.27699977471e-05,1793238173015700480
+61,1.016666667,BASELINE,766,745.377468851,716,679,663,636.622531149,879.622531149,788,804,652,632,654,0.400994416985,-0.0153580333342,0.0798526711905,0.999999928898,0.000269369092566,-0.000261863273982,3.27427348326e-05,1793238173032367104
+62,1.033333333,BASELINE,766,745.954271446,716,679,663,636.045728554,879.045728554,788,804,652,632,654,0.400994597582,-0.0153573846847,0.0798525108071,0.999999928841,0.000268707709068,-0.000262791091374,3.248450296e-05,1793238173049033728
+63,1.050000000,BASELINE,766,745.456277719,716,679,663,636.543722281,879.543722281,788,804,652,632.543722281,654,0.400993636949,-0.0153564913597,0.0798516966576,0.999999928401,0.000269189937049,-0.000263998316877,3.22325393115e-05,1793238173065700352
+64,1.066666667,BASELINE,766,745.131778315,716,679,662.868221685,637,879.868221685,788,804,652,632.868221685,654,0.400993161522,-0.0153555222984,0.0798511294611,0.999999927971,0.000270101704123,-0.000264722279704,3.20231521125e-05,1793238173082367232
+65,1.083333333,BASELINE,766,745.711393057,716,679,662.288606943,637,879.288606943,788,804,652,632.288606943,654,0.400994668974,-0.0153543674519,0.0798515928184,0.999999927685,0.000272138573534,-0.000263722157804,3.19566228292e-05,1793238173099034112
+66,1.100000000,BASELINE,766.290012936,745.709987064,716,679,662.290012936,636.709987064,879,788,804,652,632,654,0.400994963716,-0.0153551954441,0.0798517634332,0.999999927891,0.000271599213321,-0.000263493012781,3.20025307602e-05,1793238173115700736
+67,1.116666667,BASELINE,766.867646125,745.132353875,716,679,662.867646125,636.132353875,879,788,804,652,632,654,0.400994055752,-0.0153579899162,0.0798516437207,0.99999992858,0.00026850487794,-0.000264028483931,3.21599482725e-05,1793238173132367104
+68,1.133333333,BASELINE,766.558849984,745,716,679,663,636,879,788,804,652,632,654,0.400993967983,-0.015357891041,0.0798516514291,0.999999928635,0.000268295693339,-0.000264022874716,3.22402935124e-05,1793238173149033984
+69,1.150000000,BASELINE,766,745.013895012,716,679,663,636,879.013895012,788.013895012,804,652,632,654,0.400994123832,-0.0153569328385,0.0798516936108,0.999999928489,0.000268988030038,-0.000263862673851,3.22965549133e-05,1793238173165700608
+70,1.166666667,BASELINE,766,745.606137872,716,679,663,636,879.606137872,788.606137872,804,652,632,654,0.400994272406,-0.0153560031591,0.0798515942301,0.999999927782,0.000271509483137,-0.000263962112829,3.23039077659e-05,1793238173182367232
+71,1.183333333,BASELINE,766.193684958,746,716,679,663,636.193684958,880,788.806315042,804,652,632,654,0.400994817672,-0.0153559914207,0.0798520633882,0.999999927707,0.000272377212553,-0.000263341843586,3.23715133869e-05,1793238173199033600
+72,1.200000000,BASELINE,766.771909229,746,716,679,663,636.771909229,880,788.228090771,804,652,632,654,0.400996150521,-0.0153578021491,0.0798536613146,0.999999928893,0.000269961663361,-0.00026129267608,3.25587439836e-05,1793238173215700224
+73,1.216666667,BASELINE,766.651526627,746,716,679.348473373,663,636.651526627,880,788,804,652,632,654,0.400996396543,-0.0153582481707,0.0798540630967,0.999999929393,0.000268569336712,-0.000260821918324,3.25003201902e-05,1793238173232367104
+74,1.233333333,BASELINE,766.076043991,746,716,679.923956009,663,636.076043991,880,788,804,652,632,654,0.400995934562,-0.0153578051686,0.0798536856631,0.999999929449,0.000267843577626,-0.000261379398894,3.22818674523e-05,1793238173249033728
+75,1.250000000,BASELINE,766,746,716,679.488930938,663,636.511069062,879.488930938,788,803.488930938,652,632,653.488930938,0.400994602774,-0.0153580359097,0.0798524930501,0.999999928885,0.000268252152575,-0.000263102740406,3.23710949662e-05,1793238173265700608
+76,1.266666667,BASELINE,766,745.901584668,716,679,663,637,879.098415332,788.098415332,803.098415332,652,632.098415332,653.196830663,0.400993448073,-0.015358108211,0.0798515222879,0.999999928278,0.000269118989794,-0.000264502959386,3.25068085869e-05,1793238173282367232
+77,1.283333333,BASELINE,766,745.321759832,716,679,663,637,879.678240168,788.678240168,803.678240168,652,632.678240168,654.356480336,0.400993807436,-0.0153569036883,0.0798522438716,0.999999927939,0.000271382625451,-0.000263454265443,3.26407565431e-05,1793238173299033856
+78,1.300000000,BASELINE,766,745,716,678.744425875,663,637,880,789,803.744425875,652.255574125,632.744425875,654.744425875,0.400993740659,-0.0153569773006,0.0798522127135,0.999999928133,0.000270810529341,-0.000263300436257,3.26772974238e-05,1793238173315700480
+79,1.316666667,BASELINE,766,745,716,678.170197631,663,637,880,789,803.170197631,652.829802369,632.170197631,654.170197631,0.400993142561,-0.0153586445131,0.0798512430242,0.999999928986,0.00026670279499,-0.000264262339582,3.25923895137e-05,1793238173332367104
+80,1.333333333,BASELINE,766,745,716,678.807628801,662.596185599,637,880,788.596185599,803.403814401,652.596185599,631.596185599,654,0.400994022796,-0.0153582103762,0.0798516998507,0.999999928929,0.000267652626038,-0.000263495491713,3.27625180337e-05,1793238173349033984
+81,1.350000000,BASELINE,766,745,716,679.955470802,662.022264599,637,880,788.022264599,803.977735401,652.022264599,631.022264599,654,0.400995525777,-0.0153568910472,0.0798527575962,0.999999928484,0.000270732953449,-0.000262000408412,3.3040080506e-05,1793238173365700352
+82,1.366666667,BASELINE,766,745,716,679.429581303,662.570418697,636.429581303,880,788,804,652,631.570418697,654,0.400995008303,-0.0153573908609,0.0798522866654,0.999999928477,0.000270490719835,-0.000262324703703,3.26600011468e-05,1793238173382367232
+83,1.383333333,BASELINE,766.159482939,745.159482939,716,679,663,636.159482939,880,788.159482939,804,652,632.159482939,654,0.400994854742,-0.0153576749116,0.0798521660689,0.999999928611,0.000269936989741,-0.000262425092468,3.23166050857e-05,1793238173399033600
+84,1.400000000,BASELINE,766.737074209,745.737074209,716,679,663,636.737074209,880,788.737074209,804,652,632.737074209,654,0.400995869012,-0.0153572008263,0.0798531256725,0.99999992907,0.000268918180446,-0.0002617459711,3.21389638134e-05,1793238173415700480
+85,1.416666667,BASELINE,766.686098087,745.686098087,716,679,663,636.686098087,880,788.686098087,804,652,632.686098087,653.686098087,0.400995593893,-0.015357589701,0.0798533991768,0.999999929277,0.000268316392934,-0.000261561395273,3.22277304782e-05,1793238173432367104
+86,1.433333333,BASELINE,766.109908434,745.109908434,716,679,663,636.109908434,880,788.109908434,804,652,632.109908434,653.109908434,0.400994241394,-0.0153586996413,0.0798530993955,0.999999929275,0.00026806305733,-0.000261790048036,3.25391002441e-05,1793238173449033728
+87,1.450000000,BASELINE,766.47702363,745,716,679,663,636.47702363,880,788,804,652,632,653.47702363,0.400993612963,-0.0153594945943,0.0798525120594,0.999999929178,0.000267548181786,-0.000262667341836,3.26650290251e-05,1793238173465700352
+88,1.466666667,BASELINE,766.934790951,745,716,679,663,636.934790951,879.934790951,788.065209049,804,652,632.065209049,654,0.400993516985,-0.015359868965,0.079852126966,0.999999929099,0.000267305177879,-0.000263209693061,3.2708837884e-05,1793238173482366976
+89,1.483333333,BASELINE,766.356663972,745,716,679,663,636.356663972,879.356663972,788.643336028,804,652,632.643336028,654,0.400996266686,-0.015357519145,0.0798538658062,0.99999992933,0.000269685557637,-0.000259914852993,3.24505303349e-05,1793238173499033600
+90,1.500000000,BASELINE,766,745.220810003,716,679.220810003,663,636,879.220810003,789,804,652,632.779189997,654,0.400997253243,-0.0153567870595,0.0798544503084,0.999999929552,0.000269888107507,-0.000258875363241,3.22343521877e-05,1793238173515700224
+91,1.516666667,BASELINE,766,745.797232267,716,679.797232267,663,636,879.797232267,789,804,652,632.202767733,654,0.400995400272,-0.0153586603193,0.0798531757607,0.999999929769,0.000266583284294,-0.000261468092524,3.20860230379e-05,1793238173532367104
+92,1.533333333,BASELINE,766,745.629279128,716,679.629279128,662.629279128,636,880,788.629279128,804,652,632,654,0.400994440026,-0.0153586803832,0.0798524164878,0.999999929492,0.000266313187913,-0.000262796093555,3.21103475832e-05,1793238173549033728
+93,1.550000000,BASELINE,766,745.057382453,716,679.057382453,662.057382453,636,880,788.057382453,804,652,632,654,0.400993964225,-0.01535769479,0.0798519368344,0.999999928952,0.000267689919488,-0.000263437775977,3.22283645625e-05,1793238173565700864
+94,1.566666667,BASELINE,766.532423722,745,716.532423722,679,662.532423722,636.532423722,880,788,804,652,632,654,0.400995035806,-0.0153589583528,0.0798527030096,0.999999929708,0.000266520545163,-0.000261700402591,3.26060876726e-05,1793238173582367232
+95,1.583333333,BASELINE,766.878306356,745,716.878306356,679,663,637,880,788.121693644,803.878306356,652,632,654,0.400995928954,-0.0153599366756,0.0798534528963,0.999999930298,0.00026573004262,-0.000260213285509,3.28717648493e-05,1793238173599033856
+96,1.600000000,BASELINE,766.298572627,745,716.298572627,679,663,637,880,788.701427373,803.298572627,652,632,654,0.40099550095,-0.0153588972489,0.0798536185066,0.999999929734,0.000267434360441,-0.000260666772038,3.26066965389e-05,1793238173615700480
+97,1.616666667,BASELINE,766.27893587,745,716,679,662.72106413,637,880.27893587,788.72106413,803,652,632,654,0.400995673969,-0.0153582725827,0.0798538629553,0.999999929794,0.000267541661856,-0.000260364218208,3.23088933837e-05,1793238173632366848
+98,1.633333333,BASELINE,766.854081297,745,716,679,662.145918703,637,880.854081297,788.145918703,803,652,632,654,0.400996485231,-0.0153580883621,0.0798541911246,0.999999930516,0.00026595304817,-0.000259258804609,3.19763282253e-05,1793238173649033728
+99,1.650000000,BASELINE,766.570339951,745,716,679,662.429660049,637,880.570339951,788.429660049,803.429660049,652,632,654,0.400996614902,-0.0153580265387,0.079853940242,0.999999930128,0.00026698671188,-0.000259672791174,3.21237005945e-05,1793238173665700352
+100,1.666666667,BASELINE,766,745,716,679,662.994470599,636.994470599,879.994470599,789,803.994470599,652,632,654,0.400996508564,-0.0153580004876,0.0798534943801,0.999999929364,0.000268901951024,-0.000260599806473,3.24304118553e-05,1793238173682366976
+101,1.683333333,BASELINE,766,745,716,679,662.403427142,636.403427142,879.403427142,789,803.403427142,652,632,654,0.400995947152,-0.0153573563017,0.0798532468962,0.999999928988,0.000269770295064,-0.000261155966927,3.23326927832e-05,1793238173699033856
+102,1.700000000,BASELINE,766.183482764,745,716,679,662.183482764,636,879,788.816517236,803.183482764,652,632,654,0.400995713628,-0.0153575441074,0.0798531912901,0.999999929061,0.000269462009665,-0.000261190568798,3.23664550793e-05,1793238173715700480
+103,1.716666667,BASELINE,766.761504314,745,716,679,662.761504314,636,879,788.238495686,803.761504314,652,632,654,0.400996185155,-0.0153595209253,0.0798535482747,0.999999930095,0.000266623644812,-0.000260103675125,3.26829387627e-05,1793238173732367360
+104,1.733333333,BASELINE,766.66295177,745.33704823,716,679,663,636.33704823,879.33704823,788.33704823,804,652,632,654,0.400995975962,-0.0153599494111,0.0798536720473,0.999999930364,0.000265802308561,-0.000259906133293,3.27032556391e-05,1793238173749033728
+105,1.750000000,BASELINE,766.089148178,745.910851822,716,679,663,636.910851822,879.910851822,788.910851822,804,652,632,654,0.400995288606,-0.0153592902902,0.079853632003,0.999999930101,0.000266397808828,-0.000260333305558,3.25155338354e-05,1793238173765700352
+106,1.766666667,BASELINE,766,745.501516191,716,679,663,637,880,789,804,652,632.498483809,654,0.400995414966,-0.0153580820123,0.0798534840332,0.999999929279,0.000268745363692,-0.000261067580368,3.25882070846e-05,1793238173782367232
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,679,663,637,880,789,804,652,632,654,0.40099530164,-0.0153584972349,0.079854198304,0.999999929152,0.000269646955249,-0.000260588845159,3.28675394118e-05,1793238173825277440
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,716,679,663,637,879.424609277,788.424609277,804,652.575390723,632,654,0.400995427174,-0.0153575170151,0.0798536204247,0.999999928964,0.000270614144985,-0.000260347223034,3.25423246685e-05,1793238173841944064
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.1504013,745.1504013,716,679.1504013,663,636.8495987,879.1504013,788.1504013,804,652.8495987,632,654,0.400995585543,-0.0153569517674,0.0798533217873,0.999999928973,0.000270728733186,-0.000260223460001,3.23187075468e-05,1793238173858610688
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+111,1.850000000,POSE1_TO_POSE2_PRESS,766.693726875,745.693726875,716,679.693726875,663,636.306273125,880,788.693726875,804,652,632,654,0.400995439514,-0.015358111081,0.0798537718595,0.999999929489,0.000268011178265,-0.000261046441839,3.23674995036e-05,1793238173891943936
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.104409945,745.104409945,716,679.104409945,663,636.895590055,880,788.104409945,804,652,632,654,0.400994444079,-0.0153586232865,0.0798532486778,0.999999928887,0.000269294521878,-0.000262037153298,3.22833985329e-05,1793238173908610816
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.478269033,716,679.478269033,663,637,880,788,804,652,632,653.521730967,0.400995243255,-0.0153591406785,0.0798539678737,0.99999992933,0.000268758338584,-0.000260879768826,3.24129568987e-05,1793238173925277184
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.941090289,716,679.941090289,663,637,880,788.058909711,804,652,632.058909711,653.058909711,0.400996295447,-0.0153594948839,0.0798547830435,0.999999929876,0.000268032346259,-0.000259510043978,3.25680485632e-05,1793238173941943808
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.365788142,716,679.365788142,663,637,880,788.634211858,804,652,632.634211858,653.634211858,0.400996178281,-0.0153584088343,0.079854094574,0.999999929383,0.000269076794008,-0.000260333412224,3.25436885631e-05,1793238173958610432
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,716,679,662.786461669,637,880,789,804,652.213538331,632.786461669,654,0.400998682541,-0.015358217445,0.0798550784339,0.999999929855,0.000268914873649,-0.000258667677577,3.263355065e-05,1793238173975277056
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,716,679,662.20010923,637,880,789,804,652.79989077,632.20010923,654,0.401005763521,-0.015359588033,0.0798589819947,0.99999993199,0.000266646769022,-0.000252656246829,3.29228317625e-05,1793238173991943936
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.381725914,716,679,662.381725914,637,880,789,803.618274086,652.618274086,632,654,0.401024196244,-0.0153601439724,0.0798669087842,0.999999935122,0.000267241441782,-0.000239224264689,3.33021891553e-05,1793238174008610560
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.96122074,716,679,662.96122074,637,880,789,803.03877926,652.03877926,632,654,0.40104851021,-0.0153602778495,0.0798769199742,0.999999938534,0.00026931929461,-0.000221947758094,3.37282143128e-05,1793238174025277184
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.46119025,716,679,663,637,880,789,803,652,632,654,0.401100059249,-0.0153640798208,0.0798965666961,0.999999946854,0.000266147225003,-0.000185005062333,3.50903958302e-05,1793238174041943808
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.115468713,716,678.884531287,663,637,880,789,803.230937425,652,632.115468713,654,0.401156209508,-0.0153676797558,0.0799160741544,0.999999953751,0.00026318789242,-0.000148044591758,3.62244496639e-05,1793238174058610432
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.68898071,716,678.31101929,663,637,880,789,804.377961421,652,632.68898071,654,0.401222863769,-0.0153694347007,0.0799322879357,0.999999958076,0.000262566019374,-0.000116608510485,3.61872325367e-05,1793238174075277056
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,716,678.270718925,663,636.729281075,880,789,804.729281075,652,632.729281075,654,0.401290982457,-0.0153713871254,0.079944748056,0.999999960334,0.000262698513302,-9.50872654448e-05,3.57620581411e-05,1793238174091943680
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,716,678.862204086,663,636.137795914,880,789,804.137795914,652,632.137795914,654,0.401360836295,-0.0153735735378,0.079952760582,0.999999960977,0.000263724832902,-8.53137962516e-05,3.48772055589e-05,1793238174108610560
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,716,679,663,636.444025458,879.555974542,789,804,652,632,654,0.401441115799,-0.0153769052342,0.0799561886324,0.999999962125,0.000261681318088,-7.88312528445e-05,3.25386949588e-05,1793238174125277440
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,716,679,663,636.977202857,879.022797143,788.977202857,803.977202857,652,632,654,0.401525356728,-0.0153805877254,0.0799581337243,0.999999963373,0.000258769162143,-7.35382396239e-05,2.97346663021e-05,1793238174141944320
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,716,679,663,636.401211117,879.598788883,788.401211117,803.401211117,652,632,654,0.40162888693,-0.0153843416958,0.079957881603,0.999999963871,0.000257403682544,-7.28557554489e-05,2.63480471003e-05,1793238174158610688
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.178320431,745.821679569,716,678.821679569,663,636,879.821679569,788,803.178320431,652,632,654,0.401738174571,-0.0153878044708,0.0799585554109,0.999999964469,0.000255958002374,-7.08702674894e-05,2.29033593857e-05,1793238174175277312
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.765977572,745.234022428,716,678.234022428,663,636,879.234022428,788,803.765977572,652,632,654,0.401860678472,-0.0153905988027,0.0799613547005,0.999999965301,0.000254328221013,-6.58937186376e-05,1.93253751624e-05,1793238174191943936
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,716,678.347692371,663,636.347692371,879,788.347692371,803.652307629,652,632,654,0.401999064743,-0.0153957291225,0.0799649843998,0.999999967165,0.000249197615373,-5.77918409032e-05,1.51584801595e-05,1793238174208610816
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+132,2.200000000,POSE1_TO_POSE2_PRESS,766.496071544,745.503928456,716,679,663,636.496071544,879.503928456,789,803,652,632,654,0.402310262866,-0.0154070820365,0.0799668558675,0.999999971272,0.000233202611871,-5.52332419136e-05,4.73405179666e-06,1793238174241943808
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+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.19453697,716,679,662.80546303,636.80546303,880.80546303,788,803.80546303,652,632,654,0.403107143655,-0.0154335305492,0.079958425025,0.999999991583,0.000108752499861,-6.71705912785e-05,-2.2251317929e-05,1793238174308611072
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+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.98416208,716,679,663,636.01583792,880.01583792,788.98416208,804,652,632.98416208,654,0.403629928217,-0.0154497053706,0.0799704443614,0.99999999457,9.14003187993e-05,-4.11452160554e-05,-2.85248342269e-05,1793238174341943808
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,716,679,663,636.558230153,880,789,803.441769847,652,632.441769847,654,0.403922053093,-0.015455520582,0.079971919694,0.999999994703,9.17936978558e-05,-4.03379722853e-05,-2.32709420892e-05,1793238174358610432
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.13274471,746,716,679,663,637,880,788.86725529,803.13274471,652,632,654,0.404223921567,-0.0154620382867,0.0799712506703,0.99999999498,8.86882828958e-05,-4.19461587277e-05,-2.03512010555e-05,1793238174375277056
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.710442889,746,716,679,663,637,880,788.289557111,803.710442889,652,632,654,0.404556240337,-0.0154711337847,0.0799638930524,0.999999995727,7.30243147341e-05,-5.03862607267e-05,-2.59645187642e-05,1793238174391943680
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745.704739431,716,679,663,637,880,788,804,652,632,654,0.404899019631,-0.0154798034546,0.0799593552861,0.999999996347,5.87193001239e-05,-5.4788187751e-05,-2.92473241718e-05,1793238174408610816
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745.112767193,716,679,663,637,880,788,804,652,632,654,0.405252310899,-0.0154880452048,0.0799576512292,0.999999996977,4.57799159685e-05,-5.51320946177e-05,-3.01881643115e-05,1793238174425277440
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.531787811,745,716,679.468212189,663,637,879.531787811,788.468212189,803.531787811,652,632.468212189,654,0.405634873895,-0.0154936424376,0.0799545395493,0.99999999677,3.98401276779e-05,-6.18809796452e-05,-3.22941800529e-05,1793238174441944064
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,716,679.953623911,663.046376089,637,879.046376089,789,803.046376089,652,632.953623911,654,0.406027128755,-0.0154982074143,0.0799510678952,0.999999996301,3.64975750162e-05,-6.992146799e-05,-3.43047803734e-05,1793238174458610688
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,716,679.378068364,663.621931636,637,879.621931636,789,803.621931636,652,632.378068364,654,0.406451374689,-0.0154980946768,0.0799472684077,0.999999995667,4.39960234533e-05,-7.55015499644e-05,-3.209795093e-05,1793238174475277312
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.201622232,745.201622232,716,679,663.798377768,637,880,789,803.798377768,652,632,654,0.406885614909,-0.0154966544162,0.0799452861439,0.999999995176,4.91923053117e-05,-7.92717647216e-05,-3.07320835665e-05,1793238174491943936
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.789228908,745.789228908,716,679,663.210771092,637,880,789,803.210771092,652,632,654,0.407338988104,-0.0154926727534,0.0799467827631,0.999999995105,4.99813322207e-05,-7.95771797255e-05,-3.09761493268e-05,1793238174508610560
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,679,663.37188357,637,880,789,803,652,632,654,0.407809544933,-0.0154986220455,0.0799432057518,0.99999999485,3.87956063656e-05,-8.81727381394e-05,-3.19571459794e-05,1793238174525277184
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,679,663.951768458,637,880,789,803,652,632,654,0.408289712869,-0.0155101259036,0.0799367909656,0.999999994084,2.09121810517e-05,-0.000101405126158,-3.33503216096e-05,1793238174541944320
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.472300232,746,716,679,663.472300232,637,880,789,803.527699768,652,632,654,0.408825460393,-0.0155193773717,0.0799477696148,0.999999996046,9.49779075148e-06,-8.16646376024e-05,-3.38832649271e-05,1793238174558610688
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,716,679.103279632,663,637,880.103279632,789,803.896720368,652,632,654,0.409376147964,-0.0155267252215,0.079962777046,0.999999997906,7.19000828595e-07,-5.49748854124e-05,-3.41333965958e-05,1793238174575277056
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,716,679.678892347,663,637,880.678892347,789,803.321107653,652,632,654,0.409972101731,-0.0155263016722,0.0799889930544,0.999999999388,1.30975781898e-06,-1.01840015609e-05,-3.34470382675e-05,1793238174591943936
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,716,679.739881044,663,637,880.739881044,788.739881044,803.260118956,652,632,654,0.41056293768,-0.01552157177,0.0800044965202,0.999999999319,4.7937294241e-06,1.47440315392e-05,-3.34994371749e-05,1793238174608610560
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,716,679.151571334,663,637,880.151571334,788.151571334,803.848428666,652,632,654,0.411147316582,-0.0155114085644,0.0800064840295,0.999999999228,1.19280551592e-05,1.46112137485e-05,-3.4483922271e-05,1793238174625276928
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,716,679,663,637,880,788.4317812,804,652,632,654,0.411731291196,-0.0155091595167,0.0799844480703,0.999999999007,9.55791868767e-06,-2.12808173387e-05,-3.79730439792e-05,1793238174641943552
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,716,679,663,637,880,789,804,652,632,654,0.412316137078,-0.0155097653592,0.0799543410986,0.999999996728,3.84562953068e-06,-6.88365315188e-05,-4.23235148688e-05,1793238174658610176
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,716,679,663,637,880,789,804,652,632,654,0.412943837335,-0.0155149572941,0.0799355194926,0.999999995327,-3.71372316996e-06,-8.47622371739e-05,-4.63396639962e-05,1793238174675277056
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,716,679.162489772,663,637,880.162489772,788.837510228,804,652,632,654,0.413590524066,-0.0155197816301,0.0799282735568,0.999999995098,-9.19977759338e-06,-8.59001379326e-05,-4.83856611774e-05,1793238174691943680
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,716,679.736695764,663,637,880.736695764,788.263304236,804,652,632,654,0.414285318649,-0.0155236745445,0.0799503580292,0.999999997695,-9.43251299998e-06,-4.956873059e-05,-4.54396914939e-05,1793238174708610304
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,716,679.679740634,663,637,880.679740634,788.320259366,804,652,632,654,0.414987660998,-0.0155242133079,0.0799707396086,0.999999998822,-1.01700709342e-05,-1.72462855346e-05,-4.42240018397e-05,1793238174725276672
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,716,679.088252058,663,637,880.088252058,788.911747942,804,652,632,654,0.415696395551,-0.0155219114246,0.0799896789985,0.999999998879,-1.13351655056e-05,1.16809480451e-05,-4.44736948947e-05,1793238174741943552
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,716,679.493530977,663,636.506469023,880,789,804,652,632,654,0.416376609047,-0.0155185120896,0.0799750689555,0.999999998633,-1.10781760055e-05,-2.02773275088e-05,-4.68954682886e-05,1793238174758610432
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663,636,880,789,804,652,632,654,0.417062522847,-0.0155159578585,0.0799592793928,0.999999997361,-1.13128694564e-05,-5.20578922774e-05,-4.93869676662e-05,1793238174775277056
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,716,680,663,636,880,789,804,652,632,654,0.417822068834,-0.015520542321,0.0799758546005,0.999999998583,-1.66463266415e-05,-9.1523645222e-06,-4.97374046777e-05,1793238174791943680
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.225018602,746,716,679.774981398,663,636.225018602,880.225018602,789,804,652,632,654,0.418588688732,-0.015525525824,0.0799923478941,0.999999998121,-2.28428590263e-05,2.78124581908e-05,-4.96304711226e-05,1793238174808610304
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.813156499,746,716,679.186843501,663,636.813156499,880.813156499,789,804,652,632,654,0.419366724131,-0.0155311532715,0.080008709003,0.999999996824,-3.04321627171e-05,5.51905929986e-05,-4.87854650601e-05,1793238174825276928
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,716,679.39547853,663,637,881,789,804,652,632,654,0.420112479292,-0.0155317802865,0.0799980695838,0.999999997429,-3.44942145974e-05,3.83532761567e-05,-4.98156149287e-05,1793238174841943808
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,716,679.975092647,663,637,881,789,804,652,632,654,0.420843204664,-0.0155300790899,0.0799748586642,0.999999997981,-3.69139705525e-05,9.2915567407e-07,-5.17188411212e-05,1793238174858610688
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.44605461,746,716,680,663.55394539,636.44605461,881,788.44605461,804,652,632,654,0.421623152314,-0.0155268468385,0.0799783775345,0.999999998302,-2.56983863614e-05,5.79939641807e-06,-5.19714524663e-05,1793238174875277056
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.13398315,746,716,680,663.86601685,636,880.86601685,788.13398315,804,652,632,654,0.422406010662,-0.0155251539055,0.0799879433411,0.999999998352,-1.64874890378e-05,1.93825490933e-05,-5.14708396798e-05,1793238174891943680
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.718117106,746,716,680,663.281882894,636,880.281882894,788.718117106,804,652,632,654,0.423191222569,-0.015528863682,0.0800137929472,0.999999997126,-1.60688700264e-05,5.58584712488e-05,-4.86885874441e-05,1793238174908610304
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663.297162134,636.297162134,880.297162134,789,804.297162134,652,632,654,0.423962250471,-0.015530714652,0.0800133737703,0.999999997654,-1.675680239e-05,4.54411780356e-05,-4.8440419393e-05,1793238174925276928
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663.871461135,636.871461135,880.871461135,789,804.871461135,652,632,654,0.42472005016,-0.015530832077,0.0799884560189,0.999999998513,-1.84767174588e-05,-8.70927623584e-06,-5.05555678669e-05,1793238174941943552
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.546155329,746,716,680.453844671,663.546155329,637,881,789,804.546155329,652,632,654,0.425496551228,-0.0155296738638,0.0799589782041,0.999999997141,-1.85923074837e-05,-5.0244917014e-05,-5.33633637107e-05,1793238174958610176
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.037834948,746,716,680.962165052,663,636.962165052,881,788.962165052,804.037834948,652,632,654,0.426279725122,-0.0155283618412,0.0799306367806,0.999999994677,-1.85938090439e-05,-8.45189461919e-05,-5.61880314582e-05,1793238174975276800
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.61156273,746,716,680.38843727,663,636.38843727,881,788.38843727,804.61156273,652,632,654,0.42708102974,-0.015530081362,0.0799370158796,0.999999995856,-2.35319171449e-05,-6.74624619568e-05,-5.64226872147e-05,1793238174991943424
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.809790698,746,716,680,663.190209302,636,881,788.190209302,804.809790698,652,632,654,0.427869706922,-0.0155320974036,0.0799432582911,0.99999999639,-2.74762981399e-05,-5.7321158624e-05,-5.63834967547e-05,1793238175008610304
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.220832422,746,716,680,663.779167578,636,881,788.779167578,804.220832422,652,632,654,0.428631912483,-0.0155347350628,0.0799492141561,0.999999996112,-2.93374608866e-05,-6.16766263648e-05,-5.57702235178e-05,1793238175025277184
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715.637503353,680,663.637503353,636.362496647,881,789,804,651.637503353,632,653.637503353,0.429437888702,-0.0155376788805,0.0799648967413,0.999999997151,-3.30368286299e-05,-3.97776414862e-05,-5.49864721291e-05,1793238175041943808
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715.057551185,680,663.057551185,636.942448815,881,789,804,651.057551185,632,653.057551185,0.430270122144,-0.0155408063572,0.0799864142187,0.999999997818,-3.78389038764e-05,-2.12906042892e-06,-5.41004537933e-05,1793238175058610176
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.518166006,746,715.518166006,680,663,636.481833994,881,789,804.518166006,651.518166006,632,653,0.431069255267,-0.0155445317604,0.0800162065415,0.999999997026,-4.16811059986e-05,3.90368889144e-05,-5.18388367067e-05,1793238175075277056
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,881.093458655,789,804.906541345,652,632,653.093458655,0.43185072066,-0.0155469037987,0.0800365682295,0.999999995685,-4.47896004277e-05,6.39350347693e-05,-5.03623679012e-05,1793238175091943680
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636,881.668967979,789,804.331032021,652,632,653.668967979,0.432559866155,-0.0155419555532,0.080003585611,0.999999997556,-4.46591297236e-05,2.92675755949e-06,-5.37172732436e-05,1793238175108610304
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.749903927,746,716,680.250096073,663.250096073,636,881.749903927,789,804,652,632,654,0.433266425982,-0.0155377412428,0.0799657954442,0.999999996073,-4.21944115848e-05,-5.22578095753e-05,-5.78208416786e-05,1793238175125276928
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.161167842,746,716,680.838832158,663.838832158,636,881.161167842,789,804,652,632,654,0.433969484655,-0.0155345207098,0.079921495669,0.999999992395,-3.65690298629e-05,-9.9556837065e-05,-6.29381295152e-05,1793238175141943808
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,716,681,664,636.42096234,881,789,804,652,632,654,0.434732526543,-0.0155402437758,0.079930283207,0.999999993745,-4.67481916913e-05,-7.9882969759e-05,-6.2800492353e-05,1793238175158610176
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.00059785,746,716,681,663.99940215,637,881,789,804,652,632,654,0.435518109,-0.0155493320001,0.0799590805578,0.999999995571,-6.28699247452e-05,-3.49822764615e-05,-6.06805358003e-05,1793238175175277312
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.575729756,746,716,681,663.424270244,637,881,789,804,652,632,654,0.436236798267,-0.0155526077825,0.0799869602356,0.999999996246,-6.47644006084e-05,-7.36317550591e-06,-5.70956363407e-05,1793238175191943936
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.84577505,746,716,681,663,637,881,789,804,652,632,654,0.43694582268,-0.0155546284137,0.0800091166148,0.999999996246,-6.49217100245e-05,1.63951776931e-05,-5.4990762933e-05,1793238175208610304
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.257821104,746,716,681,663,637,881,789,804,652,632,654,0.43762766665,-0.0155531191667,0.0800151772866,0.999999996132,-6.0193562359e-05,2.92959019812e-05,-5.70481868878e-05,1793238175225276928
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,716,681,663.325126898,637,881,789,804,652,632,654,0.438304069637,-0.0155527564107,0.0800160489309,0.999999995878,-6.05450959133e-05,3.56626834318e-05,-5.74949135595e-05,1793238175241943552
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,716,681,663.904165416,637,881,789,804,652,632,654,0.438976223384,-0.0155532890201,0.0800128681434,0.999999995608,-6.48636656842e-05,3.69267057171e-05,-5.66837473999e-05,1793238175258610176
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.518703137,716,681,664,636.518703137,881.481296863,789,804,652,632,654,0.439616974486,-0.015555855867,0.0799956192531,0.999999995909,-6.84386135885e-05,1.22411900482e-05,-5.78638047645e-05,1793238175275277056
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.057723524,745.057723524,716,681,664,636,881.942276476,788.942276476,804,651.942276476,632,654,0.440242306711,-0.0155581075865,0.0799722293253,0.999999995387,-7.15740038707e-05,-2.284224188e-05,-5.98377184189e-05,1793238175291943680
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.63123231,745.63123231,716,681,664,636,881.36876769,788.36876769,804,651.36876769,632,654,0.440785515614,-0.0155539384691,0.0799188977206,0.999999989767,-7.2099584414e-05,-0.000104848405031,-6.53762829974e-05,1793238175308610304
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.788299704,746,716,681.211700296,664,636.211700296,881.211700296,788.211700296,804,651.211700296,632.211700296,654,0.441338331072,-0.0155511382654,0.0798820674069,0.999999982373,-7.12534690796e-05,-0.0001593745795,-6.91195728696e-05,1793238175325276928
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.19529728,746,716,681.80470272,664,636.80470272,881.80470272,788.80470272,804,651.80470272,632.80470272,654,0.441908449234,-0.0155508036689,0.0798749582544,0.999999981754,-6.7936736423e-05,-0.000164405405934,-6.96293195284e-05,1793238175341943552
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,716,679,663.016368216,637,879.983631784,789,803.983631784,652,632,654,0.402442426536,-0.0153365699018,0.0798441056373,0.999999917839,0.000282764070778,-0.000288014111495,3.76093526182e-05,1793238178650897408
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745.488264451,716,679,662.511735549,637,879.511735549,788.511735549,803.511735549,652,632,654,0.401617282058,-0.0153593795823,0.0798568496399,0.999999929208,0.000265756889618,-0.000263151141067,4.13385773886e-05,1793238178750897408
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.767810695,716,679,662.232189305,636.232189305,879.767810695,788.767810695,804,652,632.232189305,654,0.40135481925,-0.0153580374968,0.0798538348427,0.999999935117,0.000240199386956,-0.000266928610387,2.8634444585e-05,1793238178800897536
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.192683407,716,679,662.807316593,636.807316593,879.192683407,788.192683407,804,652,632.807316593,654,0.401284113109,-0.0153584884236,0.0798505964922,0.999999930183,0.000252775736283,-0.000273583690476,2.98338310366e-05,1793238178817564416
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,766.283213056,746,716.283213056,679,662,637,880,788.716786944,803.716786944,652,632,654,0.401079569481,-0.0153546141651,0.0798504209008,0.999999927064,0.000266564715288,-0.000271502409647,3.31794522986e-05,1793238178900897536
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766.292585055,745.707414945,715.707414945,679,662,637,880,789,803.707414945,652,632,654,0.401056743306,-0.0153549202407,0.079849396037,0.999999926759,0.000266517540595,-0.000272643457204,3.34046325112e-05,1793238178917564160
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff6ff9e5b7f5a993320aef08ebbcfde24c5f6ea0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,442 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..897331d035911d73d4d312d0d71258e26cecc915
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
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+size 28226972
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..676e1751dcc7da8dad8fb719891041622ca5c15b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_05/franka_data.csv
@@ -0,0 +1,446 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,746,716,679,663,636,880,789,804,652,632,655,0.400996249266,-0.0153572303456,0.0798534571059,0.99999992871,0.000269083684964,-0.000262824270633,3.31277693876e-05,1793238179570147072
+1,0.016666667,BASELINE,766.409078972,746,716.590921028,679,663,636.590921028,880,789,804,652,632,654.409078972,0.400997139413,-0.0153573496504,0.0798549175543,0.999999929244,0.000268825880494,-0.00026106914008,3.29851908241e-05,1793238179586813696
+2,0.033333333,BASELINE,766,746,716.821995582,679,663,637,880,788.821995582,804,652,632,653.821995582,0.400997582336,-0.0153572153221,0.079855624942,0.999999929561,0.000268499756934,-0.000260207360808,3.28316707217e-05,1793238179603480320
+3,0.050000000,BASELINE,766,746,716.243545381,679,663,637,880,788.243545381,804,652,632,653.243545381,0.400997019162,-0.0153565104109,0.0798546382147,0.999999929396,0.00026801994,-0.000261355299599,3.26535360725e-05,1793238179620146944
+4,0.066666667,BASELINE,766,745.665858879,716,679,663,637,880.334141121,788.334141121,804,652.334141121,632,653.334141121,0.40099708937,-0.0153561046346,0.0798544454489,0.999999929548,0.000267660353727,-0.000261151267351,3.26005202444e-05,1793238179636813568
+5,0.083333333,BASELINE,766,745.088727781,716,679,663,637,880.911272219,788.911272219,804,652.911272219,632,653.911272219,0.400997620177,-0.0153559163916,0.0798548300581,0.999999929928,0.000267388200138,-0.000259964071357,3.26384917901e-05,1793238179653480192
+6,0.100000000,BASELINE,766.496291085,745.496291085,716,679,663,637,880.503708915,789,804,652.503708915,632,654,0.400998229496,-0.0153553923147,0.079855291481,0.999999929963,0.000268062338337,-0.000259128084998,3.26865993256e-05,1793238179670146816
+7,0.116666667,BASELINE,767,746,716,679,663,636.918180924,880,789,804,652,632,654,0.400998596233,-0.0153551103313,0.079855596755,0.999999929948,0.000268600535973,-0.000258626958371,3.27210098509e-05,1793238179686813696
+8,0.133333333,BASELINE,767,746,716,679,663,636.338276922,880,789,804,652,632,654,0.400997399392,-0.0153566735363,0.0798548664995,0.99999993001,0.000267264638891,-0.000259775921364,3.26608281842e-05,1793238179703480320
+9,0.150000000,BASELINE,767,746,716,679,663,636.240720271,880,789,804,652,632,654,0.400995834079,-0.0153573896935,0.0798536844343,0.999999929622,0.000266705971486,-0.000261846049186,3.25760485637e-05,1793238179720146944
+10,0.166666667,BASELINE,767,746,716,679,663,636.818447887,880,789,804,652,632,654,0.400993752907,-0.015356919987,0.0798518698373,0.999999928599,0.000267235422407,-0.00026520580372,3.24568319181e-05,1793238179736813568
+11,0.183333333,BASELINE,767,746,716,679,662.599009573,636.599009573,879.599009573,789,804,652,632,654,0.400993901355,-0.015357030278,0.0798520166461,0.999999928393,0.00026849132425,-0.000264703193694,3.25471960485e-05,1793238179753480192
+12,0.200000000,BASELINE,767,746,716,679,662.014260486,636.014260486,879.014260486,789,804,652,632,654,0.400995071553,-0.0153574063597,0.0798530622924,0.999999928558,0.000270080130963,-0.000262430609199,3.27336030659e-05,1793238179770146816
+13,0.216666667,BASELINE,766.434905091,746,716,679,662.565094909,636.565094909,879,788.434905091,804,652,632.565094909,654,0.400995198304,-0.0153576838806,0.0798526116103,0.999999929192,0.000267348224607,-0.000262832973877,3.25444008579e-05,1793238179786813440
+14,0.233333333,BASELINE,766,746,716,679,663,637,879.144175393,788.144175393,803.855824607,652,632.855824607,654,0.400995558603,-0.0153577664643,0.0798525205408,0.999999929724,0.000265392897048,-0.00026280703068,3.24244067373e-05,1793238179803480320
+15,0.250000000,BASELINE,766,746,716,679,663,637,879.72283386,788.72283386,803.27716614,652,632.27716614,654,0.400996701321,-0.0153572690148,0.0798536259084,0.999999929929,0.000266103325867,-0.000261288846102,3.25412709098e-05,1793238179820146944
+16,0.266666667,BASELINE,766,746,716,679,663,637,879.700041672,789,803.299958328,652,632.299958328,654,0.400997610699,-0.0153576004398,0.0798546468843,0.999999930487,0.000265457529307,-0.000259799671586,3.25842706911e-05,1793238179836813568
+17,0.283333333,BASELINE,766,746,716,679,663,637,879.124327468,789,803.875672532,652,632.875672532,654,0.400998305564,-0.0153586938606,0.0798555902777,0.999999931368,0.000263564935783,-0.000258337166516,3.25593658994e-05,1793238179853480192
+18,0.300000000,BASELINE,766.461535074,745.538464926,716,679,663,637,879.461535074,788.538464926,803.538464926,652,632.538464926,654,0.400998396094,-0.0153579386309,0.0798558147274,0.99999993114,0.000264542803486,-0.000258209039795,3.26260909995e-05,1793238179870147072
+19,0.316666667,BASELINE,767,745,716,679,663,637,879.950668548,788,803,652,632,654,0.400998337505,-0.0153569150688,0.0798558777682,0.999999930676,0.000266131225353,-0.000258365322487,3.2716809498e-05,1793238179886813440
+20,0.333333333,BASELINE,767,745,716,679,663,637,879.372112761,788,803,652,632,654,0.400998464885,-0.0153584753253,0.0798563335913,0.999999930954,0.000265787871207,-0.000257629852665,3.27941756773e-05,1793238179903480064
+21,0.350000000,BASELINE,766.793988473,745,716,679,663,637,879.206011527,788.206011527,803,652,632,654,0.400998113389,-0.0153592942455,0.0798561494925,0.999999931053,0.000265268359723,-0.00025778658258,3.27494892687e-05,1793238179920146944
+22,0.366666667,BASELINE,766.216642023,745,716,679,663,637,879.783357977,788.783357977,803,652,632,654,0.400996898721,-0.01535877691,0.079854811937,0.999999930827,0.000264431325404,-0.000259551498894,3.2484803569e-05,1793238179936813568
+23,0.383333333,BASELINE,766,745,716,679,663,636.640636698,879.640636698,788.640636698,803.359363302,652,632,654,0.400997236607,-0.0153582309813,0.0798548235671,0.999999930558,0.000265400403183,-0.000259600852084,3.24651560006e-05,1793238179953480960
+24,0.400000000,BASELINE,766,745,716,679,663,636.065436809,879.065436809,788.065436809,803.934563191,652,632,654,0.400998506969,-0.0153576678792,0.0798556455293,0.999999930261,0.000267454246825,-0.000258619823968,3.25926803456e-05,1793238179970148608
+25,0.416666667,BASELINE,766,745,716,679,662.480669846,636,879.519330154,788,804,652,632,653.480669846,0.400998274819,-0.0153579427416,0.0798557042834,0.999999930906,0.000265501659001,-0.000258126479701,3.26602317336e-05,1793238179986814976
+26,0.433333333,BASELINE,766,745.1043579,716,679,662,636.1043579,880,788,804,652,632,653.1043579,0.400997829644,-0.015358389767,0.0798556488937,0.999999931454,0.000263707609133,-0.000257834130003,3.27337947427e-05,1793238180003481088
+27,0.450000000,BASELINE,766,745.684971329,716,679,662,636.684971329,880,788,804,652,632,653.684971329,0.400997292504,-0.0153591315872,0.0798555196956,0.999999931025,0.000264984144737,-0.000258173356301,3.28699265567e-05,1793238180020147456
+28,0.466666667,BASELINE,766,746,715.736024598,679,662,637,880,788.263975402,803.736024598,652,632,654,0.40099725624,-0.0153588927615,0.079855525991,0.999999930649,0.000266177786357,-0.000258406160049,3.28212296805e-05,1793238180036814336
+29,0.483333333,BASELINE,766,746,715.15892953,679,662,637,880,788.84107047,803.15892953,652,632,654,0.400997814098,-0.0153574907233,0.0798556930048,0.999999930338,0.000267273101554,-0.000258512728557,3.25532945744e-05,1793238180053480704
+30,0.500000000,BASELINE,766,746,715.414150403,679,662,637,880,789,803,652,632,654,0.40099767639,-0.0153571955811,0.0798549954289,0.999999930254,0.000266861436374,-0.000259290007557,3.23272287494e-05,1793238180070147328
+31,0.516666667,BASELINE,766,746,715.985704317,679,662,637,880,789,803,652,632,654,0.400997274323,-0.0153573211297,0.0798539692539,0.999999930255,0.000265877022723,-0.000260322199226,3.21170759219e-05,1793238180086813952
+32,0.533333333,BASELINE,766,745.422115729,716,679,662.577884271,636.422115729,880,789,803.577884271,652,632.577884271,654,0.400995658604,-0.0153585417596,0.0798542774602,0.999999930566,0.000263429444001,-0.000261603767703,3.21841651833e-05,1793238180103480576
+33,0.550000000,BASELINE,766,745.167013274,716,679,663,636,880,789,804,652,632.832986726,654,0.400994858623,-0.0153591828572,0.0798546600671,0.999999930718,0.000262363405831,-0.000262086460012,3.22469619848e-05,1793238180120147200
+34,0.566666667,BASELINE,766,745.747283638,716,679,663,636,880,789,804,652,632.252716362,654,0.400996154138,-0.0153583204491,0.0798551420677,0.999999930467,0.000264808725026,-0.000260576585844,3.22815389759e-05,1793238180136814080
+35,0.583333333,BASELINE,766.324959047,746,715.675040953,679,663,636.324959047,879.675040953,789,804,652,632,654,0.400997616224,-0.0153580812195,0.0798557882629,0.999999930554,0.000266117676463,-0.000258880676699,3.24583639664e-05,1793238180153480960
+36,0.600000000,BASELINE,766.900632442,746,715.099367558,679,663,636.900632442,879.099367558,789,804,652,632,654,0.400999206824,-0.0153583227883,0.0798565611383,0.999999930904,0.000266549890912,-0.000257041236578,3.27449369878e-05,1793238180170147584
+37,0.616666667,BASELINE,766.514157408,746,715.485842592,679,662.514157408,636.514157408,879.485842592,788.514157408,803.514157408,652.485842592,632,654,0.400997887799,-0.0153584356954,0.0798556364221,0.999999930691,0.000266028034834,-0.000258399101039,3.28267187237e-05,1793238180186814208
+38,0.633333333,BASELINE,766,745.928059219,716,679,662.071940781,636,879.928059219,788,803.071940781,652.928059219,632,654,0.400996109836,-0.0153583588032,0.0798544358795,0.999999930303,0.000265625990813,-0.000260310622384,3.27948175782e-05,1793238180203480576
+39,0.650000000,BASELINE,766,745.34971462,716,679,662.65028538,636,879.34971462,788,803.65028538,652.34971462,632,654,0.400995374175,-0.0153571348226,0.0798537866966,0.999999929539,0.000267468398435,-0.000261424119945,3.22634232052e-05,1793238180220147200
+40,0.666666667,BASELINE,766,745,716,678.771430165,663,636.228569835,879.228569835,788,803.771430165,652,632,654,0.400995399638,-0.0153563273173,0.0798538611781,0.999999929191,0.000268760716799,-0.000261447205384,3.21044538505e-05,1793238180236813824
+41,0.683333333,BASELINE,766,745,716,678.193237743,663,636.806762257,879.806762257,788,803.193237743,652,632,654,0.400996589322,-0.0153561568565,0.0798550425834,0.999999929485,0.000269211613305,-0.000259802386032,3.25151493679e-05,1793238180253480448
+42,0.700000000,BASELINE,766,745.381886134,716,678.381886134,663,637,879.618113866,788.381886134,803.381886134,652.381886134,632,654,0.400997492832,-0.0153571884858,0.0798557001403,0.999999930114,0.000267928770029,-0.000258681171588,3.27214636629e-05,1793238180270147072
+43,0.716666667,BASELINE,766,745.95546966,716,678.95546966,663,637,879.04453034,788.95546966,803.95546966,652.95546966,632,654,0.400998252691,-0.0153588235345,0.0798560947382,0.999999930907,0.000265775632256,-0.000257822793905,3.28251836273e-05,1793238180286813696
+44,0.733333333,BASELINE,766,745.45500899,716,679,663,636.45500899,879.54499101,788.45500899,804,653,632,654,0.400997002501,-0.0153584325192,0.079855476847,0.999999930358,0.000266518282768,-0.000259186316191,3.27764043215e-05,1793238180303480576
+45,0.750000000,BASELINE,766,745,716,679,663,636.133347661,879.866652339,788,804,652.866652339,632,654,0.400995419404,-0.0153579515117,0.0798546156209,0.999999929725,0.000267283038955,-0.00026085093267,3.26453315785e-05,1793238180320146944
+46,0.766666667,BASELINE,766,745,716,679,663,636.713310338,879.286689662,788,804,652.286689662,632,654,0.400993287964,-0.0153577402576,0.0798532248313,0.999999929195,0.000267305491815,-0.000262897622036,3.22816278167e-05,1793238180336813568
+47,0.783333333,BASELINE,766,745,716,678.709718504,663,637,879.290281496,788.290281496,804,652,632,654,0.400993834404,-0.0153577676672,0.0798536302727,0.999999929367,0.000267409718084,-0.000262141025022,3.22372390088e-05,1793238180353480192
+48,0.800000000,BASELINE,766,745,716,678.135671644,663,637,879.864328356,788.864328356,804,652,632,654,0.400996998611,-0.0153580283831,0.0798557916238,0.99999993022,0.000267593882142,-0.000258644069006,3.2504997247e-05,1793238180370146816
+49,0.816666667,BASELINE,766.449971735,745.449971735,716,678,663,637,879.550028265,788.550028265,803.550028265,652,632,654,0.400997413501,-0.0153584491023,0.0798559356534,0.999999930424,0.000267062566084,-0.000258417823986,3.24061358676e-05,1793238180386813440
+50,0.833333333,BASELINE,766.961473728,746,716,678.038526272,662.961473728,637,879.038526272,788.038526272,803.038526272,652,632,654,0.400997053686,-0.0153588297396,0.0798555584611,0.999999930422,0.000266468507192,-0.000259062876236,3.22088153659e-05,1793238180403480320
+51,0.850000000,BASELINE,766.382428376,746,716,678.617571624,662.382428376,637,879.617571624,788.617571624,803.617571624,652,632,654,0.400997762592,-0.0153579532844,0.0798566279441,0.999999930329,0.000268100840016,-0.000257730461302,3.22220139354e-05,1793238180420146688
+52,0.866666667,BASELINE,766,746,716,679,662.19582053,637,880,788.80417947,804,652,632,654,0.400997822409,-0.0153572844014,0.0798568127365,0.999999930136,0.000269024011901,-0.000257525122034,3.21808142064e-05,1793238180436813568
+53,0.883333333,BASELINE,766,746,716,679,662.772520279,637,880,788.227479721,804,652,632,654,0.400996619721,-0.0153570192553,0.0798552767683,0.999999929749,0.000268567835651,-0.000259511992722,3.20338074837e-05,1793238180453480448
+54,0.900000000,BASELINE,766,745.651527235,716,679,663,637,880,788,804,652,632,654,0.400996230593,-0.01535767516,0.0798548368312,0.999999929876,0.00026769377723,-0.000259895081673,3.22910980239e-05,1793238180470147584
+55,0.916666667,BASELINE,766,745.076061533,716,679,663,637,880,788,804,652,632,654,0.400996371411,-0.0153589310312,0.0798551108418,0.999999930337,0.000266547513049,-0.000259233477356,3.28117452278e-05,1793238180486814976
+56,0.933333333,BASELINE,766.509471751,745,716,679,662.490528249,637,880,788.509471751,804,652.509471751,632,654,0.400995978713,-0.0153580268075,0.0798546656288,0.999999929461,0.00026896066077,-0.000260114683427,3.28547188868e-05,1793238180503481088
+57,0.950000000,BASELINE,767,745.095859343,716,679,662.095859343,637,879.904140657,788.904140657,804,652.904140657,632.095859343,654,0.400995651972,-0.0153568656007,0.079854285397,0.999999928577,0.000271470821875,-0.000260912791057,3.27641252866e-05,1793238180520146944
+58,0.966666667,BASELINE,767,745.678796457,716,679,662.678796457,637,879.321203543,788.321203543,804,652.321203543,632.678796457,654,0.400996073257,-0.0153560702857,0.0798547919424,0.999999928736,0.000271719345946,-0.000260094702109,3.2364518219e-05,1793238180536813568
+59,0.983333333,BASELINE,766.743149383,746,716,679,663,637,879.256850617,788,804,652,632.743149383,654,0.400996655828,-0.0153564242846,0.0798551206719,0.999999929225,0.000270509228248,-0.000259501118555,3.21455798342e-05,1793238180553480448
+60,1.000000000,BASELINE,766.171087583,746,716,679,663,637,879.828912417,788,804,652,632.171087583,654,0.40099743633,-0.0153581887398,0.079855231183,0.999999930115,0.000267509042094,-0.000259183051496,3.21483608907e-05,1793238180570147328
+61,1.016666667,BASELINE,766.411918487,746,716,679,663,637,880,788,804.411918487,652,632,654,0.400997987868,-0.0153583829686,0.0798558837491,0.999999930303,0.000267631148834,-0.000258290604819,3.2470034893e-05,1793238180586813952
+62,1.033333333,BASELINE,766.999594222,746,716,679,663,637,880,788,804.999594222,652,632,654,0.40099844171,-0.0153579072136,0.0798567675991,0.999999930191,0.000269085474675,-0.000257153082052,3.29277740337e-05,1793238180603480576
+63,1.050000000,BASELINE,767,746,716,679.577888012,663,637,880,788.577888012,804.422111988,652,632,654,0.400997434571,-0.0153588650298,0.079855612626,0.999999930526,0.000266569939062,-0.000258507850581,3.26031954302e-05,1793238180620147200
+64,1.066666667,BASELINE,766.843225088,745.843225088,716,679.843225088,662.843225088,637,879.843225088,788.843225088,804,652,632,654,0.400996656999,-0.0153592683721,0.0798549523254,0.999999930695,0.000265157647183,-0.000259335062464,3.23415118967e-05,1793238180636813568
+65,1.083333333,BASELINE,766.262717642,745.262717642,716,679.262717642,662.262717642,637,879.262717642,788.262717642,804,652,632,654,0.400996502633,-0.0153581704001,0.0798556328374,0.999999930435,0.000266734625588,-0.000258731735375,3.22512826982e-05,1793238180653480192
+66,1.100000000,BASELINE,766,745.302300836,716,679,662.302300836,637,879,788.302300836,804,652,632,654,0.400996166969,-0.015357542262,0.0798554336704,0.999999929854,0.000268408682599,-0.000259257906302,3.21651216383e-05,1793238180670146816
+67,1.116666667,BASELINE,766,745.854514516,716,679,662.854514516,637,879,788.854514516,804,652,632,654,0.400995681423,-0.0153573025367,0.0798545072706,0.999999929004,0.000270162994651,-0.000260717836046,3.20823237228e-05,1793238180686813440
+68,1.133333333,BASELINE,766,746,716,679.452065562,663,637,879,789,804,652,632,654,0.400995960274,-0.0153574382335,0.079854655273,0.999999929291,0.000269827037022,-0.000259928545459,3.23927048955e-05,1793238180703480064
+69,1.150000000,BASELINE,766,746,716,679.937835734,662.937835734,637,879,789,803.937835734,652,632,654,0.40099660556,-0.0153576589312,0.0798551725193,0.999999929909,0.000268946748459,-0.00025841090935,3.27590647459e-05,1793238180720147200
+70,1.166666667,BASELINE,766,746,716,679.358277774,662.358277774,637,879,789,803.358277774,652,632,654,0.400998024993,-0.0153574694166,0.0798555643646,0.999999929929,0.00026975896438,-0.000257527437611,3.24207956731e-05,1793238180736813824
+71,1.183333333,BASELINE,766,745.780013984,716,679,662.219986016,637,879.219986016,789,803,652,632,654,0.400998592053,-0.0153578221606,0.0798558942073,0.999999930158,0.000269226844934,-0.000257230291188,3.21550721555e-05,1793238180753480192
+72,1.200000000,BASELINE,766,745.20384551,716,679,662.79615449,637,879.79615449,789,803,652,632,654,0.400997779023,-0.0153590528833,0.079856123661,0.99999993072,0.000266518093284,-0.000257882472202,3.2006808115e-05,1793238180770146816
+73,1.216666667,BASELINE,766.372286092,745.372286092,716,679,663,637,880,788.627713908,803.372286092,652,632,654,0.400997138003,-0.0153587533908,0.0798560199905,0.999999930662,0.000266133236347,-0.000258497347908,3.20599861896e-05,1793238180786813696
+74,1.233333333,BASELINE,766.948397471,745.948397471,716,679,663,637,880,788.051602529,803.948397471,652,632,654,0.400996591158,-0.015357616111,0.0798557339357,0.999999930267,0.000267020703515,-0.000259091799054,3.22234531021e-05,1793238180803480320
+75,1.250000000,BASELINE,766.465952481,745.465952481,716,679,662.465952481,636.465952481,880,788,804,652,632,654,0.40099695381,-0.0153595003267,0.0798559010279,0.999999931301,0.000264215136794,-0.000257960209016,3.23375989453e-05,1793238180820146944
+76,1.266666667,BASELINE,766,745,716,679,662,636.119309628,879.880690372,788.119309628,804,652,632,654,0.400997274284,-0.0153608965517,0.0798559967814,0.999999932022,0.000262372475836,-0.000257036850183,3.23844806236e-05,1793238180836813824
+77,1.283333333,BASELINE,766,745,716,679,662,636.699448629,879.300551371,788.699448629,804,652,632,654,0.400997086241,-0.0153592597628,0.0798556447959,0.999999931024,0.000265652356095,-0.000257573671831,3.21902987264e-05,1793238180853481216
+78,1.300000000,BASELINE,766,745,716,679,662,637,879.276991926,789,803.723008074,652,632,654,0.400996862036,-0.0153587350794,0.0798555366423,0.999999930584,0.000266697601511,-0.000258199853288,3.22147543511e-05,1793238180870148352
+79,1.316666667,BASELINE,766,745,716,679,662,637,879.851744853,789,803.148255147,652,632,654,0.400996598958,-0.0153594058879,0.0798556906031,0.99999993075,0.00026534065717,-0.00025892209479,3.24742411263e-05,1793238180886814720
+80,1.333333333,BASELINE,766.435630278,745,715.564369722,678.564369722,662.435630278,636.564369722,879.564369722,788.564369722,803.435630278,652,632,654,0.400996678018,-0.0153589017282,0.0798558782113,0.999999930653,0.000265712278924,-0.000258914215108,3.24740477534e-05,1793238180903481088
+81,1.350000000,BASELINE,766.977647641,745,715.022352359,678.022352359,663,636.022352359,879.022352359,788,804,652,632,654,0.400996839307,-0.0153580434572,0.0798560440269,0.999999930468,0.000266650600325,-0.000258674704548,3.23878777735e-05,1793238180920147456
+82,1.366666667,BASELINE,766.399331177,745,715.600668823,678.600668823,663,636.600668823,879.600668823,788,804,652,632,654,0.400996087734,-0.0153585362797,0.0798553768833,0.999999930363,0.000266739062542,-0.000258986547738,3.24084359418e-05,1793238180936813824
+83,1.383333333,BASELINE,766,745,716,679,662.820499059,637,879.820499059,788.179500941,804,652,632,654,0.400996449014,-0.0153584027734,0.0798553178395,0.999999930421,0.000267044384607,-0.000258451448008,3.23671789909e-05,1793238180953480192
+84,1.400000000,BASELINE,766,745,716,679,662.240516361,637,879.240516361,788.759483639,804,652,632,654,0.400999293164,-0.0153568718745,0.0798566155175,0.99999993084,0.000267833539323,-0.000256026747165,3.21880072937e-05,1793238180970146816
+85,1.416666667,BASELINE,766,745.33704497,716,679,662.33704497,637,879.33704497,788.66295503,804,652,632,654,0.400999668906,-0.015356728523,0.0798571434296,0.999999930964,0.000267662956497,-0.000255722870954,3.21605552228e-05,1793238180986813696
+86,1.433333333,BASELINE,766,745.912890696,716,679,662.912890696,637,879.912890696,788.087109304,804,652,632,654,0.40099829575,-0.0153575682668,0.0798571259526,0.999999930881,0.000266812387064,-0.000256921626797,3.22405984963e-05,1793238181003480320
+87,1.450000000,BASELINE,766,745.501395869,716,679,663,636.501395869,879.501395869,788,803.501395869,652,632,654,0.400998398919,-0.015357372079,0.0798573505877,0.999999931275,0.000266210868622,-0.000256031322565,3.20814690821e-05,1793238181020147200
+88,1.466666667,BASELINE,766,745.085005123,716,678.914994877,663,636,879.085005123,788.085005123,803.085005123,652,632,654,0.400998729004,-0.0153572178318,0.0798575499882,0.999999931697,0.000265676022221,-0.000254951697413,3.19695839178e-05,1793238181036813568
+89,1.483333333,BASELINE,766,745.665166358,716,678.334833642,663,636,879.665166358,788.665166358,803.665166358,652,632,654,0.400998848142,-0.0153583834078,0.0798573510319,0.999999931795,0.000265270973237,-0.000254938166489,3.23812096471e-05,1793238181053480192
+90,1.500000000,BASELINE,766,745.756886947,716,678,663,636.243113053,880,788.756886947,804,652,632,654,0.400998805579,-0.0153587968468,0.0798569975278,0.999999931462,0.000265910499686,-0.000255557750187,3.25296757224e-05,1793238181070147072
+91,1.516666667,BASELINE,766,745.181962799,716,678,663,636.818037201,880,788.181962799,804,652,632,654,0.40099854232,-0.0153581837368,0.0798564330901,0.999999930537,0.00026797570741,-0.000257041435808,3.23189702092e-05,1793238181086813696
+92,1.533333333,BASELINE,766,745.40111634,716,678.40111634,663,637,880,788,803.59888366,652,632,654,0.400998962662,-0.0153579780299,0.0798569876092,0.999999930821,0.000267905571958,-0.000256007267346,3.23373106954e-05,1793238181103480320
+93,1.550000000,BASELINE,766,745.987971742,716,678.987971742,663,637,880,788,803.012028258,652,632,654,0.40099969955,-0.0153579609732,0.0798580602673,0.999999931661,0.000266846654632,-0.000253807193242,3.24617121354e-05,1793238181120146944
+94,1.566666667,BASELINE,766,745.433694472,716,679,662.433694472,636.433694472,879.433694472,788,803.566305528,652,632,654,0.400998502743,-0.0153576227166,0.0798571444308,0.999999931015,0.000267069180518,-0.00025610641967,3.24431676809e-05,1793238181136813568
+95,1.583333333,BASELINE,766,745,716,679,662.144929493,636.144929493,879.144929493,788.144929493,803.855070507,652,632,654,0.400997608193,-0.0153573671572,0.0798564614976,0.999999930435,0.000267751163206,-0.000257658712191,3.24247520492e-05,1793238181153480192
+96,1.600000000,BASELINE,766,745,716,679,662.724960088,636.724960088,879.724960088,788.724960088,803.275039912,652,632,654,0.400997742542,-0.0153573800455,0.0798566026944,0.999999930153,0.000269732007004,-0.000256685945681,3.24157030408e-05,1793238181170146816
+97,1.616666667,BASELINE,766,745.302306768,716,679,663,637,880,789,803,652,632,654,0.400997304418,-0.0153580717588,0.0798562612846,0.999999930366,0.000268889397324,-0.000256765791522,3.22228982268e-05,1793238181186813696
+98,1.633333333,BASELINE,766,745.877233063,716,679,663,637,880,789,803,652,632,654,0.400996350041,-0.0153593756348,0.0798554846613,0.999999931018,0.000265500603858,-0.000257794880747,3.18643828626e-05,1793238181203480320
+99,1.650000000,BASELINE,766,745.537187443,716,679,663,636.537187443,880,789,803.462812557,652,632,654,0.400996728959,-0.0153591058187,0.0798555998691,0.999999931288,0.000264787938571,-0.000257468033089,3.19572768513e-05,1793238181220146944
+100,1.666666667,BASELINE,766,745,716,679,663,636.050515401,880,788.949484599,803.949484599,652,631.949484599,654,0.400997520956,-0.0153585334021,0.0798560376575,0.999999931484,0.000264766535855,-0.000256704828855,3.21442926963e-05,1793238181236813568
+101,1.683333333,BASELINE,766,745,716,679,663,636.630161973,880,788.369838027,803.369838027,652,631.369838027,654,0.400998847915,-0.015359266931,0.0798573179978,0.999999931969,0.000264374961106,-0.00025522722505,3.20333943622e-05,1793238181253480192
+102,1.700000000,BASELINE,766.207562816,745,716,679,663,636.792437184,880,788,803.207562816,652,631.207562816,654,0.400999843246,-0.0153595340404,0.0798579284543,0.999999932203,0.000264404216528,-0.000254278656456,3.20444983658e-05,1793238181270146816
+103,1.716666667,BASELINE,766.781004961,745,716,679,663,636.218995039,880,788,803.781004961,652,631.781004961,654,0.401000254003,-0.0153589789732,0.0798573580795,0.999999931996,0.000265175286268,-0.000254262639672,3.22706608114e-05,1793238181286813440
+104,1.733333333,BASELINE,766.643280309,745.356719691,716,679,662.643280309,636.356719691,879.643280309,788,803.643280309,652,632,654,0.400999291896,-0.015358185203,0.0798565477103,0.999999930982,0.000267190213295,-0.000256131544299,3.22810524669e-05,1793238181303480064
+105,1.750000000,BASELINE,766.066161406,745.933838594,716,679,662.066161406,636.933838594,879.066161406,788,803.066161406,652,632,654,0.400997481565,-0.0153572439501,0.0798555890605,0.999999929457,0.000269973657445,-0.000259165047353,3.21581301914e-05,1793238181320146944
+106,1.766666667,BASELINE,766,746,716,679,662.524106135,636.475893865,879.524106135,788,803,652,632,654,0.400998377415,-0.0153580899128,0.079856761878,0.999999930468,0.00026870435856,-0.00025656652466,3.21795036519e-05,1793238181336813568
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,679,663,637,880,788,804,652,632,654,0.400998289127,-0.0153589595003,0.0798565914049,0.999999931038,0.000266933968727,-0.000256199840732,3.21087516834e-05,1793238181379101696
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,716,679.576006266,663,636.423993734,879.423993734,788,803.423993734,652,632,654,0.40099832526,-0.0153595900692,0.0798573740973,0.999999931646,0.000265419997761,-0.000255386439319,3.22294301337e-05,1793238181395768320
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,716,679.848289232,663,636,879,788,803.151710768,652,632,654,0.4009983178,-0.0153596295287,0.0798577802015,0.999999931944,0.000264750699939,-0.000254898036803,3.23338095222e-05,1793238181412434944
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,716,679.27342628,663,636,879,788,803.72657372,652,632,654,0.400998188748,-0.015358020264,0.0798571359251,0.999999931388,0.000266437366948,-0.000255316122119,3.23927275398e-05,1793238181429101568
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.309136559,716,679,662.690863441,636.309136559,879.309136559,788,804,652,632,654,0.400998094563,-0.0153576470359,0.0798567767664,0.999999931051,0.000267318187308,-0.000255725249525,3.23036833727e-05,1793238181445767936
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.898683752,716,679,662.101316248,636.898683752,879.898683752,788,804,652,632,654,0.400998032003,-0.0153583949882,0.0798566762315,0.999999930916,0.000267468042675,-0.000256126251394,3.20804261207e-05,1793238181462434560
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,716,679,662.479494349,637,879.520505651,788.479494349,804,652,632,654,0.400997965372,-0.0153592418593,0.0798567754613,0.999999931158,0.000266545994099,-0.000256123038019,3.22109953912e-05,1793238181479101440
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.058067911,746,716,679,663,637,879.058067911,789,803.941932089,652,632,654,0.400997966645,-0.0153600840665,0.0798569491156,0.999999931509,0.000265350303425,-0.00025597082121,3.23950574204e-05,1793238181495768320
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.63286806,746,716,679,663,637,879.63286806,789,803.36713194,652,632,654,0.400998579698,-0.0153607021024,0.0798574161609,0.999999932133,0.000263698962981,-0.000255239100626,3.24017469481e-05,1793238181512434944
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+118,1.966666667,POSE1_TO_POSE2_PRESS,766.614919613,745,716,679,662.614919613,637,880.385080387,788.385080387,804,652,632,654,0.401026439081,-0.0153601170268,0.079870224151,0.999999936573,0.000266678920941,-0.000233743257867,3.31866948816e-05,1793238181562436096
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+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636.880644124,879.119355876,788,803,652.119355876,631.119355876,654,0.401151690486,-0.0153658517369,0.0799166679564,0.999999953391,0.000264561288661,-0.000148161232112,3.56898755894e-05,1793238181612435712
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+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.289208682,716,679,662.289208682,636.289208682,880,788,803.289208682,653,632,654,0.401282357027,-0.0153705283503,0.0799449708788,0.999999959449,0.000265013891955,-9.78929993133e-05,3.58794661164e-05,1793238181645768704
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.868459473,716,679,662.868459473,636.868459473,880,788,803.868459473,653,632,654,0.401355703981,-0.0153707398523,0.0799542383493,0.999999960259,0.000266598156491,-8.50594744047e-05,3.42278679631e-05,1793238181662435072
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,716,679,663,637,880,788,803.553371486,652.553371486,632,654,0.401436046505,-0.0153760517159,0.0799575843406,0.999999962122,0.00026187083307,-7.84118249203e-05,3.21171675676e-05,1793238181679101696
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.9756387,716,678.9756387,663.0243613,637,880,788.0243613,803,652,632,654,0.401519287844,-0.0153826105905,0.0799591840808,0.99999996418,0.000255605346035,-7.36007454459e-05,2.98196703361e-05,1793238181695768320
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.400582831,716,678.400582831,663.599417169,637,880,788.599417169,803,652,632,654,0.401621595992,-0.0153834839561,0.079960637396,0.999999964364,0.000256488258722,-6.92217623634e-05,2.63487477224e-05,1793238181712435200
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,716,678.178949109,663.642101782,637,879.821050891,788.821050891,803.178949109,652,632,654,0.401728758944,-0.0153858806229,0.079961923958,0.999999964899,0.000255714848982,-6.54778211719e-05,2.29055330558e-05,1793238181729101824
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,716,678.768757837,662.462484326,637,879.231242163,788.231242163,803.768757837,652,632,654,0.401847068306,-0.0153917747248,0.0799628276617,0.999999966277,0.000251138592577,-6.31919100306e-05,1.95259351481e-05,1793238181745768192
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,716,679,662.352427149,636.647572851,879.352427149,788.352427149,803.647572851,652.352427149,632,654,0.401983396685,-0.0153965295238,0.0799647947825,0.999999967944,0.000246081761041,-5.76451349771e-05,1.52728901272e-05,1793238181762434816
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,716,679,662.932137164,636.067862836,879.932137164,788.932137164,803.067862836,652.932137164,632,654,0.402131345672,-0.0154005495785,0.0799674477089,0.999999969724,0.000240715002592,-4.99954045185e-05,1.04565522894e-05,1793238181779101440
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,716,679,662.491778094,636,879.491778094,788.491778094,803,652.491778094,632,654,0.402294137687,-0.0154064051785,0.0799654722416,0.999999971413,0.000232260976999,-5.66296679194e-05,4.61097729087e-06,1793238181795768064
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.083697924,716,679,662,636.083697924,879,788.083697924,803.083697924,652,632,654,0.402462049736,-0.015412472945,0.0799625784592,0.999999974337,0.000217046387824,-6.49185959632e-05,-1.53171892286e-06,1793238181812434688
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.658422847,716,679,662,636.658422847,879,788.658422847,803.658422847,652,632,654,0.402648454051,-0.0154183576866,0.0799578973209,0.999999983843,0.000164571244633,-7.18044174236e-05,-8.61695853298e-06,1793238181829101312
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,716,679,662.239857309,637,879,789,804,652.239857309,632,654,0.402850615691,-0.0154246400634,0.0799567886341,0.999999989341,0.000125958328221,-7.22025122685e-05,-1.54411143313e-05,1793238181845768192
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,716,679,662.831121662,637,879,789,804,652.831121662,632,654,0.40307586286,-0.0154315050021,0.0799609138285,0.999999991975,0.00010765450734,-6.30956523282e-05,-2.18827644384e-05,1793238181862435072
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,716,679,663,637,879.411529737,789,803.588470263,652.588470263,632,654,0.403328908118,-0.0154397901342,0.0799643170065,0.999999993662,9.46368991396e-05,-5.46670795029e-05,-2.70537163851e-05,1793238181879101696
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,716,679,663,637,879.987597244,789,803.012402756,652.012402756,632,654,0.4035930676,-0.0154486430879,0.079967431508,0.99999999491,8.37328242772e-05,-4.65096995642e-05,-3.17166177935e-05,1793238181895768576
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.437501856,716,679,662.437501856,636.437501856,880,789,803,652,632,654,0.403885761162,-0.0154523317703,0.0799656050786,0.999999993833,9.52053874722e-05,-5.17806451807e-05,-2.42772395463e-05,1793238181912435456
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715.862171395,679,662,636,880,788.862171395,803,652,632,654,0.404187560321,-0.0154573663488,0.0799641707687,0.999999993276,0.000100146323964,-5.50644779202e-05,-1.96808379343e-05,1793238181929102080
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.285391241,679,662,636,880,788.285391241,803,652,632,654,0.404516359013,-0.0154670491835,0.0799643315114,0.999999994962,8.27174858892e-05,-5.10788097979e-05,-2.49867364015e-05,1793238181945768704
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.298868087,715.298868087,679,662,636.298868087,880.298868087,788.298868087,803,652,632,654,0.404854547045,-0.0154777288747,0.079962684437,0.99999999628,6.35488443224e-05,-5.0813305343e-05,-2.86241507934e-05,1793238181962435328
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.890452715,715.890452715,679,662,636.890452715,880.890452715,788.890452715,803,652,632,654,0.405201931196,-0.0154893849055,0.0799592667553,0.999999997152,4.26762072369e-05,-5.41913926526e-05,-3.06274238294e-05,1793238181979101696
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,716,679,662.470043387,636.529956613,880.529956613,788.529956613,803,652,632,654,0.40558586532,-0.015494419978,0.0799571841207,0.999999997099,3.77506522606e-05,-5.7902272163e-05,-3.20083339027e-05,1793238181995768832
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,716,679,663,636.046752848,879.953247152,788.046752848,803.046752848,652,632,654,0.405980974256,-0.0154973300809,0.0799552056473,0.999999996829,3.72883421255e-05,-6.20776399642e-05,-3.31214372569e-05,1793238182012436480
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,716,679,663,636.62170619,879.37829381,788.62170619,803.62170619,652,632,654,0.406408491031,-0.0154932322381,0.0799509762154,0.999999995894,4.63062652272e-05,-7.06462219531e-05,-3.28068580603e-05,1793238182029102336
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.201932813,745.798067187,716,679,662.798067187,637,879,788.798067187,803.798067187,652,632,654,0.406841601736,-0.015488250267,0.0799481104087,0.999999995072,5.4943375764e-05,-7.60084369542e-05,-3.25525916804e-05,1793238182045768192
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.792303071,745.207696929,716,679,662.207696929,637,879,788.207696929,803.207696929,652,632,654,0.407285472889,-0.0154815675891,0.0799478676684,0.999999994672,6.28479556907e-05,-7.52028920955e-05,-3.24143429066e-05,1793238182062434816
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.624316528,745.375683472,715.624316528,679,662,636.624316528,879,788.375683472,803,652,632,654,0.407747758296,-0.0154903046644,0.0799438398172,0.999999994736,4.96269266482e-05,-8.36554036573e-05,-3.26769256704e-05,1793238182079101696
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.044729909,745.955270091,715.044729909,679,662,636.044729909,879,788.955270091,803,652,632,654,0.408220038073,-0.0155074108498,0.0799377575876,0.999999994422,2.4939920026e-05,-9.71327485519e-05,-3.31570607413e-05,1793238182095768320
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715,679,662.530568327,636.530568327,879.530568327,788.469431673,803.530568327,652,632,654,0.408750760006,-0.0155160949977,0.0799437373302,0.999999995509,1.50602508448e-05,-8.69320705611e-05,-3.46216321025e-05,1793238182112434944
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715.211042836,679,663,637,880,788.105521418,803.894478582,652,632,654,0.409299738585,-0.0155226829405,0.0799547827557,0.99999999705,7.44280671753e-06,-6.75843946269e-05,-3.57229963982e-05,1793238182129101568
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,716.361068737,679,663,637,880,788.680534369,803.319465631,652,632,654,0.409908199731,-0.0155230780868,0.0799838785504,0.99999999925,4.38091910173e-06,-1.63497598005e-05,-3.48420612669e-05,1793238182145768192
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,716.736930206,679,663,637,879.736930206,788.736930206,803.263069794,652,632,654,0.41050245436,-0.0155199540318,0.0800023487279,0.999999999295,5.6136031196e-06,1.42790843642e-05,-3.42586862249e-05,1793238182162434816
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,716.144990682,679,663,637,879.144990682,788.144990682,803.855009318,652,632,654,0.411078949169,-0.0155124305405,0.0800075355755,0.999999999162,1.22150316469e-05,1.91481523258e-05,-3.40472980111e-05,1793238182179101696
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.435219837,745.564780163,716,679.435219837,663,636.564780163,879.435219837,788.435219837,803.564780163,652,632,654,0.411652044808,-0.015508609835,0.0799869389734,0.999999999092,1.34666006377e-05,-1.53914675205e-05,-3.73759734541e-05,1793238182195768064
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.988378465,745,715.988378465,679.988378465,663,636,880,789,803.011621535,652,632,654,0.412225229983,-0.0155061827552,0.0799581386037,0.999999997109,1.27734148366e-05,-6.21883035649e-05,-4.18490966386e-05,1793238182212434944
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.41216551,745,715.41216551,679.41216551,663,636,880,789,803.58783449,652,632,654,0.412856337201,-0.0155131045949,0.0799371311546,0.999999995458,1.9143281366e-06,-8.33826324319e-05,-4.61302088983e-05,1793238182229101568
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.16718811,715.16718811,679,663,636,880,788.83281189,804,652,632,654,0.41350360767,-0.0155191004188,0.0799265838501,0.99999999473,-6.74668866827e-06,-9.00687008311e-05,-4.88051498656e-05,1793238182245768192
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.754432548,715.754432548,679,663,636,880,788.245567452,804,652,632,654,0.414191487904,-0.0155227696486,0.0799423174223,0.999999997007,-9.885104171e-06,-6.03030933793e-05,-4.74446217447e-05,1793238182262434816
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.66304141,716,679,663,636.33695859,880,788,804,652,632,653.66304141,0.414893415728,-0.0155227848782,0.0799628675107,0.999999998554,-1.04835910857e-05,-2.60463742058e-05,-4.58720134993e-05,1793238182279101696
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.083906561,716,679,663,636.916093439,880,788,804,652,632,653.083906561,0.415605439697,-0.0155201739329,0.0799868792876,0.999999998917,-9.25660012347e-06,1.14381606077e-05,-4.41469807037e-05,1793238182295768320
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.495370004,716,679,663,637,880,788,804,652,631.504629996,653.495370004,0.416278251614,-0.0155158727431,0.0799730624019,0.999999998624,-8.51835492993e-06,-2.20863373079e-05,-4.68048872931e-05,1793238182312434688
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.073470802,746,716,679,663,637,880.073470802,788.073470802,804,652,631.073470802,654,0.416956265232,-0.0155125762106,0.079957111316,0.999999997102,-8.67820198578e-06,-5.69303820696e-05,-4.97999455103e-05,1793238182329101312
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.643463134,746,716,679,663,637,880.643463134,788.643463134,804,652,631.643463134,654,0.417714330702,-0.0155180046018,0.0799700517903,0.999999998456,-1.43478038041e-05,-1.93851124082e-05,-5.00549386924e-05,1793238182345767936
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.777870812,746,716,679.222129188,663,637,880.777870812,789,804,652,632,654,0.418482890552,-0.0155235205792,0.0799855628968,0.999999998364,-2.13333598757e-05,1.73899421047e-05,-5.01380373932e-05,1793238182362434816
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.184716857,746,716,679.815283143,663,637,880.184716857,789,804,652,632,654,0.419268979398,-0.0155291828538,0.0800053677596,0.99999999689,-3.05169693813e-05,5.28785039698e-05,-4.99340189891e-05,1793238182379101440
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.601275108,716,680,663,636.601275108,880.398724892,789,804,652,631.601275108,654,0.420020112993,-0.015529444482,0.0799969153555,0.999999997471,-3.14051248095e-05,3.90279868133e-05,-5.04752366764e-05,1793238182395768832
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.022225768,716,680,663,636.022225768,880.977774232,789,804,652,631.022225768,654,0.420755437929,-0.0155272636526,0.0799756835222,0.99999999827,-2.85416373194e-05,2.86373080084e-06,-5.13534894497e-05,1793238182412436224
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.552541827,716,680,663,636,880.447458173,789,804,652,631.552541827,654,0.421519354398,-0.0155280759337,0.0799753756631,0.999999998307,-2.63977734717e-05,-3.25686658477e-07,-5.18495244423e-05,1793238182429102336
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.130421222,746,716,679.869578778,663,636,880,789,804,652,632,654,0.42229664003,-0.0155291493692,0.0799815046855,0.999999998356,-2.39349068414e-05,6.56640828822e-06,-5.16905321945e-05,1793238182445768448
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.719853929,746,716,679.280146071,663,636,880,789,804,652,632,654,0.423116961238,-0.0155307214533,0.0800073486165,0.999999997599,-2.02482319777e-05,4.43076172432e-05,-4.92798956135e-05,1793238182462435072
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.696697456,746,716,679.303302544,663,636.303302544,880,789,804.303302544,652,632,654,0.423899621116,-0.0155310889042,0.080007819112,0.99999999797,-1.73321481497e-05,3.66875518566e-05,-4.91185345485e-05,1793238182479101952
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.118669151,746,716,679.881330849,663,636.881330849,880,789,804.881330849,652,632,654,0.424648168021,-0.0155303652207,0.0799853068236,0.999999998513,-1.51140514306e-05,-1.20199080059e-05,-5.09945251923e-05,1793238182495768832
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,880.458289817,789,804.541710183,652,632,654,0.42541441443,-0.0155287014553,0.0799541169522,0.99999999677,-1.54262641176e-05,-5.75874965866e-05,-5.39115357447e-05,1793238182512435200
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,881,789,804,652,632,654,0.42618643405,-0.0155272315931,0.0799233870968,0.999999993445,-1.67859396837e-05,-9.79136173724e-05,-5.69278627906e-05,1793238182529101824
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,716,680,663,637,881,789,804,652,632,654,0.426977052424,-0.0155325269648,0.079934506237,0.99999999564,-2.42452839526e-05,-6.96158618809e-05,-5.73168968419e-05,1793238182545768448
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,716,680.206675688,663,636.793324312,881,788.793324312,804,652,632,654,0.42777549554,-0.0155361680127,0.0799439830786,0.999999996495,-2.95478559312e-05,-5.37645840909e-05,-5.69760334537e-05,1793238182562435072
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,716,680.784638707,663,636.215361293,881,788.215361293,804,652,632,654,0.428587995728,-0.0155368371135,0.0799505095768,0.999999996173,-3.09758455978e-05,-6.02730651224e-05,-5.53239290211e-05,1793238182579101696
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,716,680.636396011,663,636,881,788.363603989,804.363603989,652,632,654,0.429401839407,-0.0155390734509,0.0799654744552,0.999999997186,-3.34769389064e-05,-3.95148585604e-05,-5.42830063349e-05,1793238182595768320
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,716,680.056835486,663,636,881,788.943164514,804.943164514,652,632,654,0.43021648098,-0.0155422406222,0.0799854511688,0.99999999789,-3.6615384133e-05,-2.56205647778e-06,-5.36050849099e-05,1793238182612434944
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.519160902,746,716,680.519160902,663.519160902,636,881,789,804.480839098,652,632,654,0.431018593128,-0.0155427260491,0.0800122052329,0.999999997425,-3.72027907144e-05,3.29201698653e-05,-5.17810685975e-05,1793238182629102080
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+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,682,662,634,881.65865596,782.65865596,805,652,631.65865596,654,0.451305493256,-0.0156820153005,0.0796017055355,0.999999777746,-0.000277413690778,-0.000600286446754,-8.48840652052e-05,1793238183629101824
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.517726281,716,680.482273719,663,636,880,788,804,652,632,654,0.422273876476,-0.0153693754064,0.0797894030204,0.999999909189,0.000251367754871,-0.00034199314954,3.84349417393e-05,1793238185616027392
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.733972158,745.266027842,716,680.733972158,662.733972158,636.733972158,880,788,804,652,632,654,0.420093667779,-0.0153775340177,0.0798777888627,0.999999953198,0.000237758231521,-0.00018699895077,4.58918504308e-05,1793238185666027520
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.354130217,745.354130217,715.708260434,679,662.354130217,636,880,788.354130217,803,652,632.354130217,654,0.404892862612,-0.0153521139164,0.0798325463467,0.999999924914,0.000268558150789,-0.000276714582007,3.84478133677e-05,1793238186099361280
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.93331381,745.93331381,716.86662762,679,662.93331381,636,880,788.93331381,803,652,632.93331381,654,0.404538053046,-0.0153472796916,0.0798330135513,0.999999922264,0.000270956373107,-0.00028387908686,3.82974957951e-05,1793238186116028416
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.642971175,745,716,679,662,636,879.642971175,788,804,652,632.357028825,654,0.403619240301,-0.0153344830124,0.0798361685873,0.999999915398,0.000289744901912,-0.000289488462693,3.80561907231e-05,1793238186166028800
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.758987731,745,716,679,662.241012269,636.241012269,879.758987731,788.241012269,803.758987731,652,632.241012269,654,0.403353989489,-0.0153325707506,0.0798422650055,0.999999918015,0.000288688034845,-0.000281425944296,3.78095265895e-05,1793238186182695680
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.989807504,745,716,679.989807504,663,636.010192496,879.989807504,789,803,652,632.010192496,654,0.402653232214,-0.0153321913702,0.0798462829241,0.99999991756,0.000287696729294,-0.000284043054505,3.78155826251e-05,1793238186232694528
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..329821bdf944d9e2cdf64c2da6911774235f01f8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,446 @@
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+415,6.916666667,pose2_to_pose3_retreat,0.578283141371,-0.00999875005531,1.07001156232,0.54885441949,-0.00132508150401,1.06966110318
+416,6.933333333,pose2_to_pose3_retreat,0.578274023514,-0.0099987529803,1.07001155784,0.548845302244,-0.00132508234788,1.0696611002
+417,6.950000000,pose2_to_pose3_retreat,0.57826737744,-0.00999869946576,1.07001174395,0.548838654822,-0.00132503377331,1.06966127802
+418,6.966666667,pose2_to_pose3_retreat,0.578262898516,-0.00999871373629,1.07001166955,0.54883417571,-0.00132504865813,1.06966120477
+419,6.983333333,pose2_to_pose3_retreat,0.578259882998,-0.00999874130893,1.07001154813,0.548831160321,-0.00132507567541,1.06966108655
+420,7.000000000,pose2_to_pose3_retreat,0.578258246488,-0.00999874126404,1.070011572,0.54882952371,-0.00132507599169,1.06966111015
+421,7.016666667,pose2_to_pose3_retreat,0.578257368045,-0.00999873365215,1.07001163019,0.548828645126,-0.00132506890863,1.06966116719
+422,7.033333333,pose2_to_pose3_retreat,0.578257047179,-0.00999873087178,1.07001165144,0.548828324208,-0.00132506632142,1.06966118803
+423,7.050000000,pose2_to_pose3_retreat,0.578256773495,-0.00999872850025,1.07001166957,0.54882805048,-0.00132506411465,1.0696612058
+424,7.066666667,pose2_to_pose3_retreat,0.578256548157,-0.00999872654765,1.0700116845,0.548827825106,-0.00132506229771,1.06966122043
+425,7.083333333,pose2_to_pose3_retreat,0.578256512741,-0.00999872624076,1.07001168684,0.548827789684,-0.00132506201215,1.06966122273
+426,7.100000000,pose2_to_pose3_retreat,0.578256362353,-0.00999872493762,1.07001169681,0.548827639272,-0.00132506079954,1.0696612325
+427,7.116666667,pose2_to_pose3_retreat,0.578256279056,-0.00999872421584,1.07001170232,0.548827555962,-0.0013250601279,1.0696612379
+428,7.133333333,pose2_to_pose3_retreat,0.578255926898,-0.00999872116431,1.07001172565,0.548827203747,-0.00132505728838,1.06966126077
+429,7.150000000,pose2_to_pose3_retreat,0.578255442189,-0.00999871696421,1.07001175776,0.54882671896,-0.00132505338008,1.06966129224
+430,7.166666667,pose2_to_pose3_retreat,0.578255015939,-0.00999870235501,1.07001180136,0.548826292388,-0.00132503992013,1.06966133462
+431,7.183333333,pose2_to_pose3_retreat,0.578254734313,-0.00999868188465,1.07001184541,0.548826010296,-0.00132502109374,1.06966137719
+432,7.200000000,pose2_to_pose3_retreat,0.578254624046,-0.00999867386974,1.07001186265,0.548825899846,-0.00132501372251,1.06966139386
+433,7.216666667,pose2_to_pose3_retreat,0.578254425285,-0.00999865942256,1.07001189374,0.548825700756,-0.00132500043558,1.0696614239
+434,7.233333333,pose2_to_pose3_retreat,0.578254011941,-0.0099986293782,1.07001195838,0.54882528673,-0.00132497280407,1.06966148638
+435,7.250000000,pose2_to_pose3_retreat,0.578253527026,-0.00999859413151,1.07001203422,0.548824801012,-0.00132494038804,1.06966155967
+436,7.266666667,pose2_to_pose3_retreat,0.578253306694,-0.00999858010287,1.07001206386,0.548824580367,-0.00132492746546,1.06966158834
+437,7.283333333,pose2_to_pose3_retreat,0.578253105581,-0.00999861658116,1.07001197146,0.54882438023,-0.00132496048471,1.06966149959
+438,7.300000000,pose2_to_pose3_retreat,0.578252837147,-0.0099986652701,1.07001184813,0.548824113099,-0.00132500455674,1.06966138114
+439,7.316666667,pose2_to_pose3_retreat,0.57825255922,-0.009998715681,1.07001172043,0.548823836521,-0.00132505018747,1.06966125849
+440,7.333333333,pose2_to_pose3_retreat,0.578252276343,-0.00999874570599,1.07001165152,0.548823554461,-0.00132507732723,1.06966119239
+441,7.350000000,pose2_to_pose3_retreat,0.578252184058,-0.00999871940437,1.07001173258,0.5488234615,-0.00132505344254,1.06966127043
+442,7.366666667,pose2_to_pose3_retreat,0.578252180087,-0.00999871827249,1.07001173607,0.5488234575,-0.00132505241468,1.06966127379
+443,7.383333333,pose2_to_pose3_retreat,0.578252145684,-0.00999870851319,1.07001176462,0.548823422843,-0.00132504356011,1.06966130126
+444,7.400000000,pose2_to_pose3_retreat,0.578252116129,-0.009998708101,1.07001149842,0.548823392778,-0.00132504457907,1.06966104258
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b006972623b30df5b1146391e59a15664ecdc18f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ce44e0a413124b99c3d8b89d4b3205ec7158a2d85656ac2026ad967b939c054
+size 27682481
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd44e0d941db1b9294442b024572f94078eff6e4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_01/franka_data.csv
@@ -0,0 +1,437 @@
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+41,0.683333333,BASELINE,766.219770126,746,715,679.780229874,667.219770126,637,880.219770126,788,803,654,632,654,0.400936801669,0.00441566923102,0.0599471979285,0.999999974252,-0.000117636392572,-0.000190919514131,-3.47471867522e-05,1793238189529654528
+42,0.700000000,BASELINE,766.355232493,746,715,680,667,636.644767507,880,788,803,654,632,654,0.400936492118,0.00441444469771,0.0599474275501,0.999999974181,-0.000118895715364,-0.000190555476551,-3.44977973128e-05,1793238189546321152
+43,0.716666667,BASELINE,766.930541485,746,715,680,667,636.069458515,880,788,803,654,632,654,0.400934429551,0.00441361472817,0.0599468081179,0.999999973829,-0.000120320774155,-0.000191559788486,-3.42124490658e-05,1793238189562987776
+44,0.733333333,BASELINE,767,746,715,680,667,636.518854868,880,788,803,654,632,654,0.400934170578,0.00441453191462,0.0599461473015,0.999999973746,-0.000120017415845,-0.000192151279673,-3.43834567912e-05,1793238189579654400
+45,0.750000000,BASELINE,767,746,715,680,667,636.892624005,880,788.107375995,803,654,632,654,0.400934516875,0.00441573698327,0.0599458839405,0.999999973833,-0.000119231122733,-0.000192150475879,-3.45962458454e-05,1793238189596321280
+46,0.766666667,BASELINE,767,746,715,680,667,636.311071105,880,788.688928895,803,654,632,654,0.400936442425,0.00441715393139,0.0599474008534,0.999999974502,-0.000117360226836,-0.000189784393825,-3.47168231142e-05,1793238189612987648
+47,0.783333333,BASELINE,767,746,715,680,667,636,880,788.733206453,803,654,632,654,0.400937632437,0.00441699536539,0.0599482427593,0.999999974685,-0.000117528811847,-0.000188748273263,-3.4513818505e-05,1793238189629654272
+48,0.800000000,BASELINE,767,746,715,680,667,636,880,788.159583444,803,654,632,654,0.400937976533,0.00441502485865,0.0599483083646,0.999999974313,-0.00012004292871,-0.000189241692269,-3.39386742763e-05,1793238189646321152
+49,0.816666667,BASELINE,767,746,715,680,667.41385404,636,880,788,803,653.58614596,632,654,0.400936907237,0.00441491021367,0.0599476033051,0.999999974001,-0.000120660499895,-0.000190459684071,-3.41342537396e-05,1793238189662988032
+50,0.833333333,BASELINE,767,746,715,680,667.987219982,636,880,788,803,653.012780018,632,654,0.400935293176,0.00441551087423,0.0599466012081,0.999999973711,-0.00012054708469,-0.00019195694818,-3.46268935298e-05,1793238189679654656
+51,0.850000000,BASELINE,767,746,715,680,668,636.58049394,880,788,803,653.58049394,632,653.41950606,0.400936038582,0.00441604174782,0.0599469445059,0.999999974062,-0.000118398256878,-0.000191482431559,-3.45205487049e-05,1793238189696321024
+52,0.866666667,BASELINE,767,746,715,680,668,637,880,788,803.168940617,654,632,653.168940617,0.400936777526,0.00441643578046,0.0599474116033,0.999999974375,-0.000116747945758,-0.000190886530566,-3.43800061074e-05,1793238189712987648
+53,0.883333333,BASELINE,767,746,715,680,668,637,880,788,803.744670891,654,632,653.744670891,0.400937371386,0.00441650414662,0.0599481029414,0.99999997457,-0.000116409737855,-0.000190106588924,-3.4189999875e-05,1793238189729654272
+54,0.900000000,BASELINE,767,746,715,679.679551346,667.679551346,637,880,788,803.679551346,654,632,654,0.400936997383,0.00441668543331,0.0599477065511,0.999999974437,-0.000116651702483,-0.000190636441703,-3.42825238122e-05,1793238189746320896
+55,0.916666667,BASELINE,767,746,715,679.103735766,667.103735766,637,880,788,803.103735766,654,632,654,0.400935852087,0.00441695670685,0.0599464433451,0.999999974043,-0.00011735600914,-0.000192210075391,-3.46001972797e-05,1793238189762987520
+56,0.933333333,BASELINE,767,746,715,679.484257072,667,636.515742928,880,788,803,654,632,653.515742928,0.400937000898,0.00441576294325,0.0599467955378,0.999999974115,-0.000119632055208,-0.000190437302389,-3.45103098611e-05,1793238189779654400
+57,0.950000000,BASELINE,767,746,715,680,667.073475194,636,880,788.073475194,803,654,632,653.073475194,0.40093839472,0.00441457480568,0.0599474417541,0.999999974271,-0.000121673826267,-0.000188341973192,-3.43549224887e-05,1793238189796321024
+58,0.966666667,BASELINE,767,746,715,680,667.652708183,636,880,788.652708183,803,654,632,653.652708183,0.400938005059,0.00441564136346,0.0599476684465,0.999999974365,-0.000119725628839,-0.000189088035878,-3.43651376239e-05,1793238189812987904
+59,0.983333333,BASELINE,767,746,715,680,668,636.230287275,880,788.769712725,803,654,632,653.769712725,0.400937601782,0.00441666070724,0.0599475853931,0.999999974378,-0.000118192403379,-0.000189975203759,-3.44192348521e-05,1793238189829654528
+60,1.000000000,BASELINE,767,746,715,680,668,636.805390029,880,788.194609971,803,654,632,653.194609971,0.400937178117,0.00441760935634,0.0599470385489,0.999999974272,-0.000117280526579,-0.000191073652443,-3.45390379483e-05,1793238189846321152
+61,1.016666667,BASELINE,767,746,715,680,668,636.619846951,880,788,803.380153049,653.619846951,632,653.380153049,0.400936938452,0.00441763982069,0.0599470308288,0.999999974409,-0.000116883646349,-0.000190591982611,-3.45677722365e-05,1793238189862987776
+62,1.033333333,BASELINE,767,746,715,680,668,636.045257729,880,788,803.954742271,653.045257729,632,653.954742271,0.400936792896,0.00441720066272,0.0599472988534,0.99999997467,-0.000116750170514,-0.000189302132428,-3.45499277233e-05,1793238189879654144
+63,1.050000000,BASELINE,767,746,715,680,668,636.547487077,880,788,803.452512923,653.547487077,632,654,0.400937110415,0.00441645889371,0.0599474321049,0.999999974704,-0.000116645599075,-0.000189236201928,-3.42939189477e-05,1793238189896320768
+64,1.066666667,BASELINE,766.862950606,746,715,680,668,637,880,788,803,654,632,654,0.400937622197,0.00441603458007,0.0599477001716,0.999999974737,-0.000116826916365,-0.000188969946902,-3.41669035953e-05,1793238189912987648
+65,1.083333333,BASELINE,766.288499677,746,715,680,668,637,880,788,803,654,632,654,0.40093862762,0.00441670602053,0.0599484352855,0.999999974831,-0.000117912777674,-0.000187730363381,-3.4516568403e-05,1793238189929654528
+66,1.100000000,BASELINE,766.285888114,746,715,680,667.714111886,637,880,788,803,654,632,654,0.40093846869,0.00441681844982,0.0599482867467,0.999999974694,-0.000118413215291,-0.000188137810503,-3.4562310541e-05,1793238189946321152
+67,1.116666667,BASELINE,766.86021217,746,715,680,667.13978783,637,880,788,803,654,632,654,0.400937135029,0.00441636688601,0.0599472466802,0.999999974322,-0.00011832301187,-0.000190206966639,-3.43014214368e-05,1793238189962987776
+68,1.133333333,BASELINE,767,746,715,679.564668772,667.435331228,637,880.435331228,788,803.435331228,654,632,653.564668772,0.400936407451,0.00441650884688,0.0599466897811,0.999999974284,-0.000117002792681,-0.000191234890579,-3.4214565711e-05,1793238189979654400
+69,1.150000000,BASELINE,766.988935684,746,715,679,668,637,880.988935684,788,803.988935684,653.988935684,632,653,0.400935891214,0.00441683926325,0.0599462916838,0.999999974349,-0.00011532753991,-0.000191919467854,-3.41887021068e-05,1793238189996320768
+70,1.166666667,BASELINE,766.39430826,746,715,679,668,637,880.39430826,788,803.39430826,653.39430826,632,653,0.400936238195,0.00441703898079,0.0599460713004,0.99999997424,-0.000115796579237,-0.000192161625254,-3.44268994371e-05,1793238190012987648
+71,1.183333333,BASELINE,766.194172504,746.194172504,715,679.194172504,667.805827496,636.805827496,880,788,803,653.194172504,632,653.194172504,0.400937021038,0.00441677459534,0.0599462963706,0.999999974325,-0.00011627642723,-0.000191415857426,-3.44973723598e-05,1793238190029654272
+72,1.200000000,BASELINE,766.770554281,746.770554281,715,679.770554281,667.229445719,636.229445719,880,788,803,653.770554281,632,653.770554281,0.400938661831,0.00441559666931,0.0599473982719,0.999999974787,-0.000116777551088,-0.000188725457023,-3.42376964993e-05,1793238190046320896
+73,1.216666667,BASELINE,767,746.654492201,715,680,667.345507799,636,880,788,802.654492201,653.654492201,632,653.654492201,0.400938529848,0.00441633506267,0.059947844385,0.999999975014,-0.000115948889038,-0.000188037433598,-3.42149748298e-05,1793238190062987520
+74,1.233333333,BASELINE,767,746.080483296,715,680,667.919516704,636,880,788,802.080483296,653.080483296,632,653.080483296,0.40093722544,0.0044183408113,0.0599478567936,0.999999975086,-0.000114240774881,-0.000188673679593,-3.43489625038e-05,1793238190079654144
+75,1.250000000,BASELINE,766.49052802,746,715,680,667.49052802,636.50947198,880,788,802.50947198,653,632,653.50947198,0.400937094542,0.00441801972656,0.0599476735267,0.999999974979,-0.000114550639245,-0.000189040036454,-3.44158965338e-05,1793238190096321024
+76,1.266666667,BASELINE,766,746,715,680,667,637,879.900799643,787.900799643,803,653,632,653.900799643,0.40093712051,0.00441750392273,0.0599473752469,0.999999974841,-0.000115165170077,-0.000189382279835,-3.44901504555e-05,1793238190112987648
+77,1.283333333,BASELINE,766,746,715,680,667,637,879.324664843,787.324664843,803,653,632,653.324664843,0.400936980567,0.00441787629473,0.0599466774274,0.999999974695,-0.000115662285295,-0.000189820196155,-3.46521700119e-05,1793238190129654272
+78,1.300000000,BASELINE,766,746,715,680,667,637,879.251158175,787.251158175,803,653.251158175,632,653,0.400937159298,0.00441749947572,0.0599466541389,0.999999974634,-0.0001165670306,-0.00018960087398,-3.458242521e-05,1793238190146321152
+79,1.316666667,BASELINE,766,746,715,680,667,637,879.826578617,787.826578617,803,653.826578617,632,653,0.400937749458,0.00441615540016,0.0599475017157,0.999999974681,-0.000117998054003,-0.000188533012221,-3.42134568624e-05,1793238190162987776
+80,1.333333333,BASELINE,766,746,715,680,667,637,880,788,802.5874259,653.5874259,632,653,0.400937633166,0.00441597597437,0.0599478207391,0.999999974745,-0.000117840297308,-0.00018829251646,-3.41973652393e-05,1793238190179654400
+81,1.350000000,BASELINE,766.00307582,746,715,679.99692418,667.00307582,637,880,788,802.00307582,653,632,653.00307582,0.400937214829,0.00441630310628,0.0599479083975,0.999999974816,-0.000117004331246,-0.000188410738078,-3.43338629896e-05,1793238190196320768
+82,1.366666667,BASELINE,766.583099674,746,715,679.416900326,667.583099674,637,880,788,802.583099674,653,632,653.583099674,0.400937306141,0.00441740505278,0.059947367998,0.999999974663,-0.000117516364684,-0.000188865424666,-3.45377434234e-05,1793238190212987648
+83,1.383333333,BASELINE,767,746,715,679.162257691,667.837742309,637,880,788,803,653.162257691,632,654,0.400937697873,0.00441791430591,0.059947211908,0.999999974625,-0.000117681877682,-0.000188944579256,-3.46471177389e-05,1793238190229654272
+84,1.400000000,BASELINE,767,746,715,679.739202985,667.260797015,637,880,788,803,653.739202985,632,654,0.400938857397,0.00441690879228,0.0599480380109,0.99999997488,-0.00011696177649,-0.000188063973802,-3.45149595368e-05,1793238190246320896
+85,1.416666667,BASELINE,767,746,715,680,667.315429549,636.684570451,879.684570451,788,803,654,632,653.684570451,0.400938388272,0.00441640945972,0.0599479060445,0.999999974848,-0.00011656448056,-0.000188516245998,-3.43326816429e-05,1793238190262987520
+86,1.433333333,BASELINE,767,746,715,680,667.891063184,636.108936816,879.108936816,788,803,654,632,653.108936816,0.400936575641,0.00441632768603,0.0599469837476,0.999999974577,-0.000116433473129,-0.00019006803543,-3.41090590304e-05,1793238190279654144
+87,1.450000000,BASELINE,766.524966785,746.475033215,715,680,667.524966785,636,879.475033215,788,803.475033215,654,632,653,0.400936557839,0.00441642919076,0.0599467636734,0.999999974664,-0.000116667278414,-0.000189492283573,-3.39759019803e-05,1793238190296321024
+88,1.466666667,BASELINE,766,747,715,680,667.060578222,636,880.060578222,788,804,654,632,653.060578222,0.400936968136,0.00441660143623,0.0599467108619,0.999999974799,-0.000116981206315,-0.000188592712367,-3.39104857789e-05,1793238190312987392
+89,1.483333333,BASELINE,766,747,715,680,667.642928507,636,880.642928507,788,804,654,632,653.642928507,0.400937457231,0.0044170145042,0.0599466868982,0.999999974645,-0.000117251789916,-0.000189181444127,-3.42466536982e-05,1793238190329654016
+90,1.500000000,BASELINE,766.222651716,746.777348284,715,680,668,636.222651716,880.777348284,788,803.777348284,653.777348284,632,654,0.400938340204,0.00441708078462,0.0599471113544,0.999999974815,-0.000116734277779,-0.00018859041841,-3.42939949672e-05,1793238190346320640
+91,1.516666667,BASELINE,766.7982109,746.2017891,715,680,668,636.7982109,880.2017891,788,803.2017891,653.2017891,632,654,0.400939847479,0.00441659739973,0.0599482465654,0.999999975495,-0.000114967617954,-0.000186129453205,-3.38835401283e-05,1793238190362987520
+92,1.533333333,BASELINE,767,746,715,680,667.629834094,636.629834094,880,788,803,653.370165906,632,654,0.400938225939,0.00441584198848,0.0599473691734,0.999999975082,-0.000115707549543,-0.000187905019768,-3.37465647079e-05,1793238190379654144
+93,1.550000000,BASELINE,767,746,715,680,667.059824841,636.059824841,880,788,803,653.940175159,632,654,0.40093491523,0.00441493971695,0.0599454052273,0.999999974066,-0.000117800727206,-0.000191967784029,-3.37572339721e-05,1793238190396320768
+94,1.566666667,BASELINE,767,746,715,680,667.532411377,636.532411377,880.532411377,788,803.532411377,654,632.532411377,654,0.400935891188,0.00441616599847,0.0599460704857,0.999999974403,-0.000116272935993,-0.000191093766335,-3.402434607e-05,1793238190412987392
+95,1.583333333,BASELINE,767,746,715,680,667.876052362,637,880.876052362,788,803.876052362,653.876052362,633,653.876052362,0.400936950575,0.0044172738524,0.0599467863112,0.999999974776,-0.000114856195639,-0.000189954893466,-3.42385857671e-05,1793238190429654272
+96,1.600000000,BASELINE,767,746,715,680,667.296664849,637,880.296664849,788,803.296664849,653.296664849,633,653.296664849,0.400936469521,0.00441702941839,0.0599465550959,0.999999974713,-0.000115407676125,-0.00018996993776,-3.41480545973e-05,1793238190446320640
+97,1.616666667,BASELINE,767,746,715,680,667,637,880,788,803,653,633,653.280615919,0.400936737171,0.00441682349788,0.0599466703487,0.999999974674,-0.000116157454635,-0.000189730465009,-3.40834547581e-05,1793238190462987520
+98,1.633333333,BASELINE,767,746,715,680,667,637,880,788,803,653,633,653.855686016,0.400937790447,0.00441665799016,0.059947149155,0.99999997466,-0.000117115309982,-0.000189223923989,-3.40460650295e-05,1793238190479654144
+99,1.650000000,BASELINE,767,746,715,680,667,637,880.440172214,788,803.440172214,653.440172214,632.559827786,653.559827786,0.400937251386,0.00441691465244,0.0599463235768,0.999999974565,-0.000116629194807,-0.000190023210238,-3.40399145238e-05,1793238190496320768
+100,1.666666667,BASELINE,767,746,715,680,667,637,880.972561595,788,803.972561595,653.972561595,632,653.027438405,0.400936267681,0.00441731593471,0.0599451896206,0.999999974468,-0.000115643063643,-0.000191132639432,-3.40505834747e-05,1793238190512987392
+101,1.683333333,BASELINE,767,746,715,680,667,637,880.392835926,788,803.392835926,653.392835926,632,653.607164074,0.400937071963,0.0044177812765,0.059946644626,0.999999974891,-0.000114329847197,-0.000189678904897,-3.41891381529e-05,1793238190529654016
+102,1.700000000,BASELINE,767,746,715,680,667,637,880.185661248,788,803,653,632,654,0.400937992153,0.0044182709065,0.0599475364935,0.999999975132,-0.000114015639969,-0.000188565167754,-3.43465802443e-05,1793238190546320640
+103,1.716666667,BASELINE,767,746,715,680,667,637,880.761576096,788,803,653,632,654,0.400939155974,0.00441881158943,0.0599472446643,0.999999974995,-0.000115801316146,-0.000188166093695,-3.45437230152e-05,1793238190562987264
+104,1.733333333,BASELINE,766.66329869,746.33670131,715,680,667.33670131,637,880.66329869,788,803,653.33670131,632,654,0.400938588374,0.00441799900958,0.0599465737882,0.999999974727,-0.000116913367907,-0.000188906544583,-3.45066056724e-05,1793238190579654144
+105,1.750000000,BASELINE,766.088731262,746.911268738,715,680,667.911268738,637,880.088731262,788,803,653.911268738,632,654,0.400936797595,0.00441623040331,0.0599456351304,0.999999974367,-0.000117549530923,-0.0001904520246,-3.4303992872e-05,1793238190596320768
+106,1.766666667,BASELINE,766.499790921,746.500209079,715,680,667.500209079,637,880,788.499790921,803.499790921,654,632.499790921,654,0.40093694555,0.00441700322974,0.0599462131909,0.999999974552,-0.000116787638559,-0.000189937625241,-3.43705054645e-05,1793238190612987392
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,880,788,803,654,632,654,0.400941644056,0.00441670701721,0.0599494488615,0.99999997539,-0.000117639322931,-0.000184918451926,-3.44335561568e-05,1793238190655915264
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.424911177,746,715,680,668,636.424911177,880,788,803,653.424911177,632,653.424911177,0.400940251615,0.00441752591534,0.0599485082112,0.999999975346,-0.000115374735492,-0.000186575386575,-3.4455373455e-05,1793238190672581888
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.149192522,746,715,680,668,636,880,788,803,653,632.149192522,653.149192522,0.400939298573,0.00441821348343,0.0599478425806,0.99999997532,-0.000113783585057,-0.000187697549012,-3.44026892445e-05,1793238190689248768
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.720509055,746,715,680,668,636,880,788,803,653,632.720509055,653.720509055,0.400939588765,0.00441852946766,0.0599479550879,0.999999975366,-0.000114097850841,-0.000187306632042,-3.41392111264e-05,1793238190705916160
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746.305705022,715,680,668,636.305705022,880,788,803,653.305705022,633,654,0.400939234495,0.0044183334011,0.0599477690626,0.999999975209,-0.000115166181817,-0.000187502723237,-3.40908591045e-05,1793238190722582528
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746.904193742,715,680,668,636.904193742,880,788,803,653.904193742,633,654,0.400938263002,0.00441764692672,0.0599472971229,0.999999974853,-0.00011695670567,-0.000188261011377,-3.42485403965e-05,1793238190739248384
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746.51647077,715,680,668.48352923,637,880,788,803,654,632.51647077,654,0.400940420741,0.0044182833523,0.0599477109961,0.999999975239,-0.000115610899592,-0.000187024821938,-3.43121140223e-05,1793238190755914752
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668.940937504,637,880,788,803,653.940937504,632,654,0.400943901591,0.00441903727108,0.0599485118993,0.999999975825,-0.000114005526517,-0.000184856466257,-3.43683437138e-05,1793238190772581632
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668.366728286,637,880,788,803,653.366728286,632,654,0.40095372085,0.00441861686627,0.0599512159802,0.999999976932,-0.000115349833912,-0.000177873194789,-3.45169578947e-05,1793238190789248256
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715,680,668,636.78726267,880,788.21273733,803,653,632,654,0.400967413083,0.00441816431584,0.0599550770104,0.999999978482,-0.00011636290863,-0.000168190149834,-3.4759521555e-05,1793238190805915136
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668,636.198506287,880,788.801493713,803,653,632,654,0.400987950901,0.0044176549472,0.0599609829795,0.999999980744,-0.000116790520375,-0.000153735182067,-3.51681434734e-05,1793238190822582016
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668,636.384473329,880,788.615526671,803,653,632,654,0.401013238378,0.00441818121325,0.059965576419,0.999999982836,-0.000116646424677,-0.00013945333907,-3.57051210347e-05,1793238190839248384
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,715,680,668,636.964514563,880,788.035485437,803,653,632,654,0.40104094184,0.00441923426979,0.0599695022219,0.999999984743,-0.000116211521768,-0.000125259557161,-3.63073885788e-05,1793238190855915264
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667.459286683,636.459286683,880,788,803,653,632,654,0.401081346752,0.00441941025295,0.0599723521913,0.999999986346,-0.000118332494203,-0.000109061578718,-3.75555023129e-05,1793238190872581888
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667,636.118874142,880,788,803,653,632,654,0.401124033115,0.00441895873096,0.0599747833463,0.999999987504,-0.000120623321386,-9.4615284565e-05,-3.86000345258e-05,1793238190889248512
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667,636.705745414,880,788,803,653,632,654,0.401172442866,0.0044162617847,0.0599758416663,0.999999987861,-0.000122927155619,-8.7579380538e-05,-3.86773958466e-05,1793238190905914880
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667,636.711696428,880,788,803,653.288303572,632,654,0.401227449602,0.00441518478664,0.0599767947862,0.999999988042,-0.000124666750841,-8.27823832172e-05,-3.89964645495e-05,1793238190922581504
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667,636.133475562,880,788,803,653.866524438,632,654,0.401289090242,0.00441573680426,0.0599776421173,0.999999988081,-0.000125838948703,-8.02368248634e-05,-3.95585935399e-05,1793238190939248384
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667.44471982,636.44471982,880.44471982,788,803,654,632,654,0.401365803693,0.0044170564592,0.0599785450679,0.999999988499,-0.000125119868157,-7.5534045604e-05,-4.05276369975e-05,1793238190955915264
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715,679.977198232,668,637,881,788,803,654,632,654,0.401447991779,0.00441855739807,0.059979563414,0.999999989009,-0.000123872425317,-7.00412188681e-05,-4.16145840402e-05,1793238190972581888
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715,679.401680303,668,637,881,788,803,654,632,654,0.40155323292,0.00441886822403,0.0599829743306,0.999999989591,-0.000123576216038,-6.10910520486e-05,-4.25992795681e-05,1793238190989248512
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715,679.177185032,667.822814968,636.822814968,880.822814968,788,803.177185032,653.822814968,632,654,0.401663709261,0.00441951210405,0.0599865369237,0.999999990058,-0.000123510659694,-5.23043132956e-05,-4.35227960401e-05,1793238191005915136
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715,679.763785014,667.236214986,636.236214986,880.236214986,788,803.763785014,653.236214986,632,654,0.401786282372,0.00442092555981,0.0599904499897,0.99999999037,-0.000123978064678,-4.38952030263e-05,-4.43049481811e-05,1793238191022581760
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,715.348264619,680,667,636.348264619,880,788,803.651735381,653.348264619,632,654,0.401921842503,0.00442048824382,0.0599909401947,0.999999990325,-0.000125655153991,-3.89200937534e-05,-4.5224051057e-05,1793238191039248128
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,715.931314811,680,667,636.931314811,880,788,803.068685189,653.931314811,632,654,0.402066157957,0.00441880321435,0.0599891228489,0.999999990063,-0.000128147762401,-3.62600448021e-05,-4.62354805225e-05,1793238191055914752
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,715.51403896,679.51403896,667,636.51403896,880,788,803,654,632,654,0.402231255005,0.0044192474931,0.0599887455836,0.999999990271,-0.000126955994097,-3.36967626675e-05,-4.69510810598e-05,1793238191072581632
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.040143799,880,788,803,653.959856201,632,654,0.402401609458,0.00441996813442,0.0599886793689,0.99999999053,-0.000125404883931,-3.07102699805e-05,-4.76577119409e-05,1793238191089248512
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.640815822,880,788,803,653.359184178,632,654,0.402606625227,0.0044205774582,0.0599902712751,0.999999990675,-0.000125705930496,-2.16340571783e-05,-4.87906836327e-05,1793238191105915392
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667.237306721,637,880,788,803.237306721,653.237306721,632,654,0.402822998197,0.00442125590002,0.0599912265724,0.999999990863,-0.000124906787138,-1.37732760949e-05,-4.98220748644e-05,1793238191122582016
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667.827578666,637,880,788,803.827578666,653.827578666,632,654,0.403056263628,0.00442203714659,0.0599912349904,0.999999991185,-0.000122471243496,-7.72030415147e-06,-5.07023773069e-05,1793238191139248384
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,715,679.410286888,667.589713112,637,880,788,803.589713112,653.589713112,632,654,0.403309159626,0.00442234454321,0.0599930501517,0.999999991307,-0.000121574594116,-2.95126614277e-06,-5.09566106105e-05,1793238191155915008
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,715,679.98987401,667.01012599,637,880,788,803.01012599,653.01012599,632,654,0.403570155948,0.00442245641101,0.0599956108451,0.999999991343,-0.000121312952076,1.28797092635e-06,-5.0952503556e-05,1793238191172581632
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,715.565427829,680,667.565427829,636.434572171,880,788.565427829,803.565427829,653,632,654,0.403847289645,0.00442415836717,0.059987476961,0.99999999179,-0.000116906479002,-9.29397767775e-06,-5.16366584186e-05,1793238191189248512
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.859986967,746,715.859986967,680,668,636.140013033,880.140013033,788.859986967,803.859986967,653,632,654,0.404131227944,0.00442554251275,0.0599785485017,0.999999991975,-0.000113401302287,-2.13453638356e-05,-5.22908356291e-05,1793238191205915136
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.288167933,746,715.288167933,680,668,636.711832067,880.711832067,788.288167933,803.288167933,653,632,654,0.404435266898,0.00442585931733,0.0599677560268,0.999999991543,-0.000112903062327,-3.71157677032e-05,-5.28148164477e-05,1793238191222581504
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,715,680,667.704720936,636.704720936,881,788,803,653,632,654,0.404762574644,0.00442740056458,0.0599597233723,0.999999991393,-0.00010959428184,-4.8497719461e-05,-5.34018042065e-05,1793238191239248384
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,715,680,667.10946074,636.10946074,881,788,803,653,632,654,0.405113521754,0.00443018575274,0.0599544944848,0.999999991654,-0.000103430205318,-5.54213386633e-05,-5.40528023074e-05,1793238191255915776
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.470892432,746,715,679.529107568,667.470892432,636,880.529107568,788,803,653,632,654,0.405502033404,0.00443020200317,0.0599576583654,0.999999991947,-0.000102933411399,-5.07020754065e-05,-5.42157057271e-05,1793238191272582144
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636.0477544,880,788,803,653,632,654,0.405903138411,0.00442966163716,0.0599642075559,0.999999992289,-0.000103955449131,-4.07753820743e-05,-5.43348833434e-05,1793238191289248512
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636.623154519,880,788,803,653,632,654,0.406349868789,0.00442986469015,0.0599872668879,0.99999999268,-0.000107649999165,-2.29716062185e-06,-5.5186090626e-05,1793238191305915136
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.801314587,746,715,679,668,637,880,788,803,653,632,654,0.406809489277,0.0044300161709,0.0600081762444,0.999999991812,-0.000110401749635,3.29577395395e-05,-5.56851600029e-05,1793238191322582016
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.225535524,746,715,679,668,637,880,788,803,653,632,654,0.407293574438,0.00443006977049,0.0600250050681,0.99999999033,-0.000111364119961,6.20949563319e-05,-5.55158916478e-05,1793238191339248640
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.361000884,746,715,679.361000884,668,637,880,788,803.361000884,653.361000884,632,654,0.407772204502,0.00443148710361,0.0600288120492,0.99999999031,-0.000109586525847,6.58071413665e-05,-5.51365157173e-05,1793238191355916032
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.954464345,746,715,679.954464345,668,637,880,788,803.954464345,653.954464345,632,654,0.408247321797,0.00443378259806,0.0600242337563,0.999999991473,-0.000106044561548,5.31471537891e-05,-5.46218433285e-05,1793238191372583680
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.47032793,746,715,680,668,637,880.52967207,788,804,654,632,654,0.408739770525,0.00443401900205,0.0600114527792,0.999999992681,-0.000104950620917,2.56462755119e-05,-5.44651596681e-05,1793238191389250048
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715,680,667.896424246,636.896424246,880.896424246,788,803.896424246,653.896424246,632,654,0.409242965246,0.00443429827209,0.060000278099,0.999999993042,-0.00010461437642,1.3345080194e-06,-5.45050727294e-05,1793238191405916160
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715,680,667.321551043,636.321551043,880.321551043,788,803.321551043,653.321551043,632,654,0.40978850307,0.00443555124119,0.0599995143576,0.999999992764,-0.000106800130518,-2.85384434053e-06,-5.53041800071e-05,1793238191422582784
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715,680,667.260551188,636.260551188,880.260551188,788,803.260551188,653,632,654,0.410365275967,0.00443575075096,0.0600039082049,0.999999992455,-0.000108985111366,6.40624269554e-06,-5.63082954013e-05,1793238191439249152
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715,680,667.851829567,636.851829567,880.851829567,788,803.851829567,653,632,654,0.410981696765,0.0044346130663,0.0600148487686,0.999999991628,-0.000111169110948,3.27369271512e-05,-5.75726352082e-05,1793238191455915008
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.565247004,880.565247004,788,803.565247004,653,632,654,0.411592387606,0.00443616087783,0.0600149823058,0.999999992058,-0.000106615650843,3.4484359321e-05,-5.769057982e-05,1793238191472581632
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636,880,788,803,653,632,653.985227595,0.412200817788,0.00443858548167,0.0600110020412,0.999999992991,-9.99295058943e-05,2.70914567131e-05,-5.74354960872e-05,1793238191489248256
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636,880,788,803,653,632,653.409392896,0.412796160413,0.00444020459718,0.0599880296304,0.999999993443,-9.78104042273e-05,-1.52421298239e-05,-5.75721273677e-05,1793238191505915136
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715,679.830731199,668.169268801,636.169268801,880.169268801,788,803,653,632,653,0.413397501633,0.00444121570099,0.0599663362193,0.99999999216,-9.58252173578e-05,-5.641863626e-05,-5.7567513775e-05,1793238191522582272
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,679.24511604,668.75488396,636.75488396,880.75488396,788,803,653,632,653,0.414013597415,0.00444073129308,0.0599477887342,0.999999989441,-9.41694178686e-05,-9.4749098357e-05,-5.72154837527e-05,1793238191539249408
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746.337035424,715,679,668.662964576,637,880.662964576,788,803,653,632,653.337035424,0.414717894945,0.00444067303131,0.0599636495091,0.999999991792,-9.23715167437e-05,-6.80014488829e-05,-5.7085819308e-05,1793238191555916032
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746.916693441,715,679,668.083306559,637,880.083306559,788,803,653,632,653.916693441,0.415485686477,0.00444092154053,0.0600042798512,0.999999994261,-9.04713202782e-05,5.59415717258e-06,-5.71162295814e-05,1793238191572582400
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746.507866831,715,679.492133169,668.492133169,637,880.492133169,788,803.492133169,653,632,654,0.416217409279,0.00444128180257,0.0600331873997,0.999999992796,-9.12354332802e-05,5.32923011272e-05,-5.69511552676e-05,1793238191589248512
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715,679.933442077,668.933442077,637,881,788,804,653.066557923,632,653.933442077,0.416938940303,0.00444172599707,0.0600547129353,0.999999990332,-9.21384191384e-05,8.72694845305e-05,-5.68415398326e-05,1793238191605914624
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715,679.361349311,668.361349311,637,881,788,804,653.638650689,632,653.361349311,0.417629040512,0.00444266523074,0.0600351132162,0.999999992987,-9.06997463924e-05,5.00443196657e-05,-5.74023612432e-05,1793238191622581248
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715,679.219464342,668,637,881,788,804,653.780535658,632,653.219464342,0.418331717528,0.00444398763107,0.0600164264039,0.999999994056,-8.99175196953e-05,1.95729614811e-05,-5.84851968747e-05,1793238191639248128
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715,679.815231277,668,637,881,788,804,653.184768723,632,653.815231277,0.41905595937,0.0044459670249,0.0599993048959,0.999999994098,-9.02608623333e-05,6.81952247542e-07,-6.0463099765e-05,1793238191655915008
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.399748609,746,715,680,668,636.600251391,881,788,803.600251391,653,632,653.600251391,0.41980622173,0.00444661245027,0.0599839820702,0.999999993922,-8.94279930632e-05,-1.95733608797e-05,-6.14401779544e-05,1793238191672581632
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.979208525,746,715,680,668,636.020791475,881,788,803.020791475,653,632,653.020791475,0.420568181853,0.0044466581756,0.0599694678625,0.999999993384,-8.8066344977e-05,-4.04420104236e-05,-6.19673244506e-05,1793238191689248512
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.44634358,746,715,679.44634358,668,636,881,787.44634358,803.55365642,653,632,653,0.421283107659,0.00444602934133,0.0599486304727,0.999999990683,-8.8253922195e-05,-8.3867768327e-05,-6.17419091632e-05,1793238191705915136
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,679.127524106,668,636,880.872475894,787.127524106,804.127524106,653.127524106,632,653.127524106,0.422011541967,0.00444540826993,0.0599335939424,0.999999987594,-8.87904972933e-05,-0.000114536095478,-6.17157253256e-05,1793238191722582016
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,679.700018095,668,636,880.299981905,787.700018095,804.700018095,653.700018095,632,653.700018095,0.422793219256,0.0044449018827,0.0599396194703,0.999999989188,-9.03436515878e-05,-9.77606894797e-05,-6.24824465282e-05,1793238191739248640
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.283791756,880.283791756,788,804.716208244,654,632,654,0.423602681214,0.00444441141046,0.0599695019845,0.999999992851,-9.13673159557e-05,-4.52073379868e-05,-6.25043239388e-05,1793238191755915008
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.879982064,880.879982064,788,804.120017936,654,632,654,0.424442728541,0.00444393845752,0.0600256463181,0.99999999279,-9.18081160663e-05,4.67304492131e-05,-6.1706275335e-05,1793238191772581376
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,679.539794789,668,637,881.460205211,788,804,653.539794789,632.460205211,654,0.425251634816,0.00444335623936,0.0600459091683,0.999999990527,-9.47547030783e-05,7.82643516665e-05,-6.19820654409e-05,1793238191789248256
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746.036424183,715,679.036424183,668,637,881.963575817,788,804,653,633,653.963575817,0.426050064713,0.00444276865424,0.0600549330044,0.999999989019,-9.80829861442e-05,9.18070054897e-05,-6.25573725661e-05,1793238191805914880
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746.61294357,715,679.61294357,668,637,881.38705643,788,804,653,633,653.38705643,0.426809535373,0.00444250984987,0.0600314067823,0.999999991138,-9.7706051376e-05,6.43264572748e-05,-6.35605962611e-05,1793238191822582016
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746.807272862,715.192727138,680.192727138,668,637,881,788,804,653,632.807272862,653,0.427561085693,0.00444189713172,0.0600103177134,0.999999992565,-9.70115981831e-05,3.66591315523e-05,-6.41421002639e-05,1793238191839248640
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746.22082075,715.77917925,680.77917925,668,637,881,788,804,653,632.22082075,653,0.428296455575,0.00444056139811,0.0599942075348,0.999999993348,-9.56684821503e-05,8.61023047749e-06,-6.38620674212e-05,1793238191855915520
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.361355704,746,715.638644296,680.638644296,668,637,881,788,804,653,632,653.361355704,0.429037877096,0.00444019704828,0.0599811172125,0.999999993381,-9.48144232554e-05,-1.1309173549e-05,-6.41966585426e-05,1793238191872582144
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.940949866,746,715.059050134,680.059050134,668,637,881,788,804,653,632,653.940949866,0.429782953423,0.00444041935953,0.0599698507139,0.999999993105,-9.42557273755e-05,-2.6318818306e-05,-6.49024478895e-05,1793238191889248768
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.483036027,746,715,680,668,637,881,788,804,653,632,654,0.43054758786,0.00443956020371,0.0599612472288,0.999999992642,-9.46240866075e-05,-3.85064085825e-05,-6.54159209679e-05,1793238191905915392
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.092242539,746,715,680,668,637,881,788,804,653,632,654,0.431320046853,0.00443821089003,0.0599611554423,0.999999992541,-9.62463249615e-05,-3.62257451553e-05,-6.58941398002e-05,1793238191922581760
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.665802186,746,715,680,668,637,881,788,804,653,632,654,0.432121757131,0.00443494409904,0.0600039009958,0.999999991613,-0.000103862500645,3.98791348714e-05,-6.63022394479e-05,1793238191939248384
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,881,788,804,653,632.247372789,653.752627211,0.432884923906,0.0044330904542,0.0600313427848,0.99999998829,-0.000108297655741,8.52578237525e-05,-6.65002393697e-05,1793238191955915008
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,881,788,804,653,632.840128267,653.159871733,0.433594276049,0.00443320984887,0.0600374174048,0.999999988083,-0.000108291459642,8.77364991113e-05,-6.64048977693e-05,1793238191972581888
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,715.423499528,680,668.423499528,636.576500472,881,788,804,653,632.576500472,653.423499528,0.434288217197,0.00443227352596,0.0600169003352,0.99999999069,-0.000107260913018,5.2159061132e-05,-6.62941336931e-05,1793238191989248512
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.996627866,746,715.996627866,680,668.996627866,636.003372134,881.003372134,788,804,653,632,654,0.434976456152,0.00443094039867,0.0599866262205,0.999999992199,-0.000105900376068,2.60796981337e-06,-6.61794712464e-05,1793238192005915136
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.422332782,746,715.422332782,680,668.422332782,636.577667218,881.577667218,788,804,653,632,654,0.435662884778,0.00442843756733,0.0599671446055,0.999999990893,-0.000112720887137,-3.32028754681e-05,-6.6369149506e-05,1793238192022581760
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.156010832,746,715,680,668,637,881.843989168,788,804.156010832,653,632.156010832,654,0.436341598518,0.00442648514929,0.0599544419512,0.999999989326,-0.000117349181357,-5.61538780235e-05,-6.65157795578e-05,1793238192039248384
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.745606238,746,715,680,668,637,881.254393762,788,804.745606238,653,632.745606238,654,0.43699887124,0.00442606243671,0.0599605793483,0.999999990131,-0.0001158848787,-4.33648742915e-05,-6.65427704813e-05,1793238192055915008
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.670583269,746,715,680,668,637,881,788,804.670583269,652.670583269,632.670583269,653.670583269,0.437633171958,0.00442484997918,0.0599604994287,0.999999989977,-0.000114500213995,-5.16435841022e-05,-6.53333794778e-05,1793238192072581888
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.091163139,746,715,680,668,637,881,788,804.091163139,652.091163139,632.091163139,653.091163139,0.438250038552,0.00442303816255,0.0599557010165,0.999999988718,-0.000113175988763,-7.59111606809e-05,-6.31856642705e-05,1793238192089248512
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680.484363011,668.484363011,636.515636989,881,788,804,652.484363011,632,653.484363011,0.438883206024,0.00442358297233,0.0599611507125,0.999999989501,-0.000112904075079,-6.44068812886e-05,-6.40566903779e-05,1793238192105915392
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,681,669,636,881,788,804,653,632,653.940826037,0.439521102671,0.00442406962062,0.0599718446829,0.99999999055,-0.000113442154893,-4.20935456781e-05,-6.52588369648e-05,1793238192122582784
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,681,669,636,881,788,804,653,632,653.36591176,0.440173690605,0.00442021438302,0.0600115690973,0.999999990673,-0.00011932742423,1.62158570694e-05,-6.4434479586e-05,1793238192139248896
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,714.78538757,681,669,636,881.21461243,788,804.21461243,653,632.21461243,653.21461243,0.440786711142,0.00441831884484,0.0600376763628,0.999999989215,-0.000121415334751,5.27877925582e-05,-6.35791863557e-05,1793238192155915008
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,714.195041868,681,669,636,881.804958132,788,804.804958132,653,632.804958132,653.804958132,0.44133045889,0.00441985425589,0.0600399433652,0.999999989893,-0.000116855009396,5.13027945811e-05,-6.26697325048e-05,1793238192172581376
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.388231578,746,714.388231578,681,669,636.388231578,882,788,805,653,633,653.611768422,0.441836873988,0.00441947015886,0.0600169836289,0.999999991173,-0.000116480902391,1.36002726945e-05,-6.24555562024e-05,1793238192189248256
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.968015644,746,714.968015644,681,669,636.968015644,882,788,805,653,633,653.031984356,0.4423248693,0.00441813898148,0.059981577083,0.999999990178,-0.000118172264329,-4.19718849637e-05,-6.25844278592e-05,1793238192205914880
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766.879056184,746.879056184,715.879056184,681,668.879056184,636,882,788,805,653,632,654,0.443292810855,0.00441583334946,0.0599544420337,0.999999987953,-0.000120095027271,-7.41010753047e-05,-6.46493395796e-05,1793238192239248128
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.291637625,746.291637625,715.291637625,681,668.291637625,636,882,788,805,653,632,654,0.443776276672,0.00441584811851,0.0599672175569,0.999999988838,-0.000123241988412,-5.40043227835e-05,-6.49542396317e-05,1793238192255914752
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715,681,668.292177691,636,882,788,804.707822309,653,632,654,0.444242298922,0.00441569595559,0.0599797261339,0.999999989423,-0.000125540243041,-3.38662327788e-05,-6.51699299479e-05,1793238192272581632
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715,681,668.872440202,636,882,788,804.127559798,653,632,654,0.444691121927,0.00441537919909,0.0599919715034,0.99999998971,-0.000127001679782,-1.3687385562e-05,-6.52976601737e-05,1793238192289248256
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,715,681,668.5507626,636.4492374,881.5507626,788.4492374,804,653,632,653.5507626,0.44507953697,0.00441628160985,0.059988705326,0.999999989948,-0.000124140250841,-2.19347622727e-05,-6.49022758717e-05,1793238192305914624
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,715,681,668,636.974968482,881.025031518,788.974968482,804.025031518,653,632.025031518,653.025031518,0.445448057762,0.00441758951549,0.0599796760061,0.999999989905,-0.000120011721179,-4.05608330196e-05,-6.43648646384e-05,1793238192322581248
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,715,681,668,636.399759814,881.600240186,788.399759814,804.600240186,653,632.600240186,653.600240186,0.445753434882,0.00442025938218,0.0599400427383,0.999999985177,-0.00011480553916,-0.00011125444248,-6.39455501755e-05,1793238192339247872
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+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746.070556034,715,681,668,636,882,788,804,653,633,654,0.446960446014,0.00443001176719,0.0598759526822,0.999999972048,-9.87651931748e-05,-0.000204992101806,-6.42414079156e-05,1793238192405914624
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.986604347,745.493302174,715,681,667.493302174,636,882,788,804,653,633,654,0.447227432226,0.00443042827605,0.0598793191156,0.999999973067,-9.64412774744e-05,-0.000201211163013,-6.38659775302e-05,1793238192422581504
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+224,3.733333333,POSE1_TO_POSE2_PRESS,766.895770731,746.104229269,715,681,666,635,882,788,805,653,632,654,0.449013385527,0.00448619265132,0.0597735703565,0.999999930392,-3.25846157502e-05,-0.000364184891047,-7.43190376101e-05,1793238192605914880
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746.472846076,715,681,665.527153924,635,882,788,805,653,632,654,0.449094630166,0.00448748597978,0.0597701850729,0.999999928534,-3.05241352927e-05,-0.000369488043034,-7.40190953586e-05,1793238192622581504
+226,3.766666667,POSE1_TO_POSE2_PRESS,766.950983657,746.950983657,715,681,665,635,882,788,805,653,632,653.950983657,0.449171523765,0.00448882342845,0.0597676986939,0.999999927092,-2.86035408736e-05,-0.000373583182608,-7.37184528793e-05,1793238192639247872
+227,3.783333333,POSE1_TO_POSE2_PRESS,766.377554258,746.377554258,715,681,665,635,882,788,805,653,632,653.377554258,0.449234467371,0.00448982385111,0.059766169609,0.99999992588,-2.68996904881e-05,-0.000376910584429,-7.38623759533e-05,1793238192655914496
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746.196760237,715,681.196760237,665,635,882,788,804.803239763,653,632.196760237,653.196760237,0.449291706231,0.0044909824602,0.0597645695725,0.999999924657,-2.52045609223e-05,-0.000380263827832,-7.38222381396e-05,1793238192672581376
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746.772780742,715,681.772780742,665,635,882,788,804.227219258,653,632.772780742,653.772780742,0.449337949045,0.00449244597752,0.059762832775,0.999999923427,-2.35262410569e-05,-0.00038366688134,-7.3427318363e-05,1793238192689247744
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,747,715,682,665,635,882,788,804.360944813,653,632.639055187,654,0.44937822744,0.00449254056826,0.0597609992915,0.999999922464,-2.27288656913e-05,-0.000386253737359,-7.32423518423e-05,1793238192705914624
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,747,715,682,665,635,882,788,804.957019533,653,632.042980467,654,0.449414620438,0.00449174340053,0.059759102824,0.999999921676,-2.2505363155e-05,-0.000388308898561,-7.31941549695e-05,1793238192722581248
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.532641743,747,715,682,665,635,882,788,805,653,632,654,0.449437000116,0.00449274510447,0.059755753544,0.999999919784,-2.29961989579e-05,-0.000393087443655,-7.33874253512e-05,1793238192739248896
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,747,715,681.893354538,665,635,882,788,805,653,632,654,0.449457489178,0.00449372132029,0.0597529112221,0.999999918099,-2.28480772075e-05,-0.00039734746978,-7.34465396529e-05,1793238192755916288
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,747,715,681.319478673,665,635,882,788,805,653,632,654,0.449474466068,0.00449397343204,0.0597527845824,0.99999991779,-1.96573819802e-05,-0.000398408590268,-7.28356862663e-05,1793238192772581888
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.73816998,747,715.26183002,681,665,635,882,788,804.73816998,653,632.26183002,653.73816998,0.449489610958,0.00449406088772,0.0597526543028,0.999999917726,-1.93336322871e-05,-0.000398612201116,-7.26832194301e-05,1793238192789248256
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.147526865,747,715.852473135,681,665,635,882,788,804.147526865,653,632.852473135,653.147526865,0.449502455177,0.00449394156397,0.0597525194523,0.999999917974,-2.26102685189e-05,-0.000397738928724,-7.31064065177e-05,1793238192805914880
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746.565073694,715.565073694,681,664.565073694,635,882,788,804.434926306,653,632.565073694,653.434926306,0.449509750814,0.00449355408152,0.059751640018,0.999999917777,-2.28955314798e-05,-0.000398266109907,-7.28472990162e-05,1793238192822581760
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715,681,664,635,882,787.985492178,805,653,632,653.985492178,0.449515060094,0.00449311640867,0.0597504954803,0.999999917408,-2.21335319647e-05,-0.000399320891962,-7.23701796407e-05,1793238192839248384
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681,664,635,882,787.411500081,805,653,632,653.411500081,0.449515006441,0.00449418612838,0.059748687296,0.999999916102,-1.93915071172e-05,-0.000402741493878,-7.22457193382e-05,1793238192855915264
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746.16663308,715,681.16663308,664.16663308,635,882,787.16663308,805,653,632,653,0.449515414621,0.00449548964768,0.0597470048751,0.999999915008,-1.72295445933e-05,-0.000405544733928,-7.22533641991e-05,1793238192872582144
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746.75525317,715,681.75525317,664.75525317,635,882,787.75525317,805,653,632,653,0.449516992362,0.00449738524856,0.0597456409415,0.999999914491,-1.65365508538e-05,-0.000406784546606,-7.25955564652e-05,1793238192889248768
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,747,715,681.660747342,664.660747342,635,882,788,805,652.660747342,632.339252658,653.339252658,0.449517923529,0.00449700457917,0.0597451715954,0.999999914137,-1.68806990116e-05,-0.000407672909613,-7.24105454569e-05,1793238192905915136
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,747,715,681.080036525,664.080036525,635,882,788,805,652.080036525,632.919963475,653.919963475,0.449518394505,0.00449500380735,0.0597453389591,0.999999913898,-1.79630179035e-05,-0.00040831113336,-7.18503051491e-05,1793238192922581504
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746.503281016,715,681,664.496718984,635,882,788,805,652.496718984,633,654,0.449519257095,0.00449395089882,0.0597450857228,0.999999913822,-2.03017098487e-05,-0.000408423693424,-7.1645435003e-05,1793238192939248384
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.072773418,746,715,681,665,635,882,788,805.072773418,653,632.927226582,654,0.449520068166,0.0044932792645,0.0597447903108,0.999999913775,-2.23238447014e-05,-0.000408457758217,-7.15056679285e-05,1793238192955915008
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.6483523,746,715,681,665,635,882,788,805.6483523,653,632.3516477,654,0.449520090747,0.00449419502542,0.0597446680453,0.999999913785,-2.07711786127e-05,-0.000408530072266,-7.14232091957e-05,1793238192972581632
+247,4.116666667,POSE1_TO_POSE2_PRESS,766.770927757,746.229072243,715,681.229072243,665,635,881.770927757,788,805.770927757,652.770927757,632,653.770927757,0.44952034958,0.00449482239287,0.0597442727103,0.999999913741,-1.9036124433e-05,-0.000408739909425,-7.13249289042e-05,1793238192989248512
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.182134518,746.817865482,715,681.817865482,665,635,881.182134518,788,805.182134518,652.182134518,632,653.182134518,0.449520979409,0.00449499688507,0.0597434485637,0.999999913612,-1.70146589449e-05,-0.000409165704452,-7.12018033944e-05,1793238193005915392
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746.600148622,715,682,664.600148622,635,881.399851378,788,805,652.399851378,632,653.399851378,0.44952085143,0.00449544093297,0.0597429766568,0.999999913213,-1.75128437319e-05,-0.000410138302282,-7.10909742393e-05,1793238193022582016
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746.021211638,715,682,664.021211638,635,881.978788362,788,805,652.978788362,632,653.978788362,0.449520384044,0.0044960057096,0.0597426625114,0.999999912691,-1.91395306862e-05,-0.00041135580236,-7.09856523879e-05,1793238193039248640
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746.554627864,715,682,664,635,882,788,804.445372136,653,632.554627864,654,0.449520921219,0.00449589381137,0.0597420866285,0.99999991286,-1.70115202864e-05,-0.000411031229347,-7.10258531955e-05,1793238193055915008
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+253,4.216666667,POSE1_TO_POSE2_PRESS,766,746.281450302,715,681.281450302,664.718549698,635,882,788,804,653,632.281450302,654,0.449519536524,0.00449574416065,0.0597408501027,0.999999911868,-1.54376296965e-05,-0.000413425441039,-7.14556201881e-05,1793238193089248256
+254,4.233333333,POSE1_TO_POSE2_PRESS,766.302792383,746,715,681.302792383,665,635,882,788,804.302792383,652.697207617,632,654,0.449518906014,0.00449575150574,0.0597403242317,0.999999911333,-1.66486243454e-05,-0.000414633379697,-7.16590810001e-05,1793238193105915136
+255,4.250000000,POSE1_TO_POSE2_PRESS,766.885506181,746,715,681.885506181,665,635,882,788,804.885506181,652.114493819,632,654,0.449519071922,0.00449579818913,0.0597399026822,0.999999911165,-1.88413605697e-05,-0.000414929795742,-7.17533465013e-05,1793238193122582272
+256,4.266666667,POSE1_TO_POSE2_PRESS,766.538186889,746,715,681.538186889,665,635,882,788,804.538186889,652.461813111,632,654,0.449520681597,0.00449616565184,0.0597415792249,0.999999911924,-1.79330657847e-05,-0.000413233365421,-7.1200256918e-05,1793238193139249408
+257,4.283333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665,634.963531066,882,788,804,653,632,654,0.449522492413,0.00449660246086,0.0597435065078,0.999999912794,-1.63581576782e-05,-0.000411295537446,-7.05671766012e-05,1793238193155916288
+258,4.300000000,POSE1_TO_POSE2_PRESS,766,746,715,681,665,634.390119068,882,788,804,653,632,654,0.449522066717,0.00449690537777,0.0597415717731,0.999999912068,-1.61331087539e-05,-0.00041297836311,-7.10870343831e-05,1793238193172582400
+259,4.316666667,POSE1_TO_POSE2_PRESS,766,746,715,681,664.810892488,634.189107512,882,788,804.189107512,653,632,653.810892488,0.449521603704,0.00449729549606,0.0597401663404,0.999999911541,-1.57473390083e-05,-0.000414208720744,-7.1421803491e-05,1793238193189248768
+260,4.333333333,POSE1_TO_POSE2_PRESS,766,746,715,681,664.219290095,634.780709905,882,788,804.780709905,653,632,653.219290095,0.449521061262,0.0044978712131,0.0597398874695,0.999999911446,-1.5019492338e-05,-0.000414476049436,-7.13626314758e-05,1793238193205915136
+261,4.350000000,HOLD_POSE2,766,746,715,681,664,635,882,788,805,653,632,653,0.449521517975,0.0044950774522,0.0597424217065,0.999999912156,-1.70076331279e-05,-0.000412891735732,-7.01418933465e-05,1793238193240930816
+262,4.366666667,HOLD_POSE2,766,746,715,681.577087749,664,635,882,788,805,653,632.577087749,653.577087749,0.449522479164,0.00449565234486,0.0597415319673,0.999999911909,-1.68397799028e-05,-0.000413449021523,-7.04138286159e-05,1793238193257597696
+263,4.383333333,HOLD_POSE2,766.156870425,746,715,682,664.156870425,635,882,788,805,653,633,654,0.449523241283,0.00449604073758,0.0597411297399,0.999999911899,-1.70378641178e-05,-0.000413427278557,-7.06367917482e-05,1793238193274264576
+264,4.400000000,HOLD_POSE2,766.744045569,746,715,682,664.744045569,635,882,788,805,653,633,654,0.449523457339,0.00449591755023,0.0597420647857,0.999999912536,-1.82397360248e-05,-0.000411817226082,-7.07254215146e-05,1793238193290931456
+265,4.416666667,HOLD_POSE2,766.673029906,746,715,681.673029906,664.673029906,634.673029906,882,788,805,653,632.673029906,654,0.449522582993,0.00449539529101,0.0597419255794,0.999999912278,-1.83098697845e-05,-0.000412451581487,-7.06515880956e-05,1793238193307598080
+266,4.433333333,HOLD_POSE2,766.093390127,746,715,681.093390127,664.093390127,634.093390127,882,788,805,653,632.093390127,654,0.449520866027,0.0044945646447,0.0597409562332,0.999999911327,-1.75054405498e-05,-0.000414820327512,-7.04522094833e-05,1793238193324264704
+267,4.450000000,HOLD_POSE2,766,746,715,681,664,634.484919128,882,788,805,653,632,654,0.449521580941,0.00449509390004,0.05974053938,0.999999911327,-1.78750583821e-05,-0.000414801255644,-7.04710621343e-05,1793238193340931072
+268,4.466666667,HOLD_POSE2,766.062587591,746,715,681,664,635,882.062587591,788,805,653,632,654,0.449522461289,0.0044957844177,0.0597402111979,0.999999911443,-1.83359338461e-05,-0.000414502386405,-7.04734866264e-05,1793238193357597184
+269,4.483333333,HOLD_POSE2,766.637104955,746,715,681,664,635,882.637104955,788,805,653,632,654,0.449520874414,0.00449565762189,0.059739740351,0.999999911004,-1.76988677975e-05,-0.000415666093911,-6.999870687e-05,1793238193374264064
+270,4.500000000,HOLD_POSE2,766.782902412,746,715,681,664,635,882.782902412,788,805,653,632,653.782902412,0.449520164896,0.00449549003997,0.0597394682868,0.999999910729,-1.79537826893e-05,-0.000416330088499,-6.9923801129e-05,1793238193390930688
+271,4.516666667,HOLD_POSE2,766.193520717,746,715,681,664,635,882.193520717,788,805,653,632,653.193520717,0.449520959893,0.00449525251705,0.0597395370999,0.999999910733,-1.97382877786e-05,-0.000416137163369,-7.05346089088e-05,1793238193407597312
+272,4.533333333,HOLD_POSE2,766,746,715,681,664,635,881.611098102,788,805,653,632,653.388901898,0.449521457256,0.00449521118806,0.0597392563451,0.999999910682,-2.00031820528e-05,-0.000416246847368,-7.05290675176e-05,1793238193424264192
+273,4.550000000,HOLD_POSE2,766,746,715,681,664,635,881.032077454,788,805,653,632,653.967922546,0.449521809119,0.00449526577052,0.0597388047004,0.999999910606,-1.95251988812e-05,-0.00041650446498,-7.02222174566e-05,1793238193440931072
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,664.936487347,635,882.872974693,788,804.936487347,653,632.063512653,653.936487347,0.44911163789,0.00449891315394,0.0596392998591,0.99999984595,-1.11991602049e-05,-0.000550397170795,-7.0973811351e-05,1793238193845742848
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,667.161361495,636,881.161361495,788.838638505,804,653,632.161361495,653.161361495,0.43217767077,0.00456693485043,0.0598027336824,0.999999928217,0.000231792088137,-0.000299019106629,2.06158685335e-05,1793238194529076224
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,667.423699053,636.423699053,881.423699053,788.576300947,804,653,632,653,0.431462322305,0.00456881205263,0.0598112049422,0.999999931957,0.000236501841642,-0.000282167316852,2.31285179073e-05,1793238194545742848
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.01241864,668,636.98758136,881.98758136,788,804,653,632,653,0.43075502055,0.00456967708268,0.0598242298729,0.999999938046,0.000239199881077,-0.000256980131582,2.55371862977e-05,1793238194562409472
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.592757682,668,636.407242318,881.407242318,788,804,653,632,653,0.429985227135,0.00457002729769,0.0598351273715,0.999999939183,0.000240857127522,-0.000250649589883,2.82308895085e-05,1793238194579076096
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766.171845897,746.171845897,715,680.828154103,667.828154103,636,881.171845897,788,804,653,632.171845897,653,0.429194850585,0.00457080439944,0.0598297520269,0.999999934576,0.000240127757377,-0.00026886789222,2.99479031724e-05,1793238194595742720
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.747991272,746.747991272,715,680.252008728,667.252008728,636,881.747991272,788,804,653,632.747991272,653,0.428356048424,0.00457258583175,0.0597860917872,0.999999912783,0.000233783426213,-0.000344841921798,2.93670724998e-05,1793238194612409344
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746.669587733,715,680,667,636,881.669587733,788,804,653,632.669587733,653.330412267,0.42757933742,0.00457327604679,0.059770318497,0.999999909268,0.000224182728705,-0.000361180220205,2.74700104399e-05,1793238194629076224
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746.082287616,715,680,667,636,881.082287616,788,804,653,632.082287616,653.917712384,0.426850900885,0.00457311786571,0.0597762266631,0.999999922385,0.000212050282994,-0.000331153122552,2.45496092006e-05,1793238194645742848
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.501792061,746,715,680,667.498207939,636,881.498207939,788,804,653,632,654,0.426098917964,0.00457402701868,0.0598018990926,0.999999932679,0.000212214766114,-0.000298168410332,2.65218885726e-05,1793238194662409472
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,667.922831895,636.077168105,881.922831895,788,804,653,632,654,0.425339684373,0.00457503059136,0.0598282651029,0.999999940615,0.000213974489914,-0.0002685716838,2.92259623881e-05,1793238194679076096
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,667.346631012,636.653368988,881.346631012,788,804,653,632,654,0.424558373504,0.00457552009251,0.0598382904462,0.999999941951,0.000213092888202,-0.00026400097696,3.15069270885e-05,1793238194695742720
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.770950526,667.229049474,636.770950526,881,788.229049474,804.229049474,653,632,653.770950526,0.423777679785,0.00457518874148,0.0598448550343,0.999999944577,0.000208667922576,-0.000257366927841,3.26516902715e-05,1793238194712409600
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.196055709,667.803944291,636.196055709,881,788.803944291,804.803944291,653,632,653.196055709,0.422997917791,0.00457361797313,0.0598461941762,0.999999949049,0.000198892776802,-0.000247617405578,3.20808855454e-05,1793238194729076224
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.38962306,746,715,679.38962306,668,636,881,788.61037694,804.61037694,653,632,653.38962306,0.422230464846,0.0045745055505,0.0598452563289,0.999999949076,0.000194205997931,-0.000251204060273,3.20755164044e-05,1793238194745742848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.980882672,746,715,679.980882672,668,636,881,788.019117328,804.019117328,653,632,653.980882672,0.421469382089,0.00457666536362,0.059843140101,0.999999946774,0.000192152535951,-0.000261692413669,3.23627698175e-05,1793238194762409472
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.439430135,746,715,680.560569865,668,636,881,788,804,653,632,653.439430135,0.420649569174,0.00457762467896,0.0597994363671,0.999999923582,0.000190131106184,-0.000340036179987,3.25894565281e-05,1793238194779076096
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.86160863,667.86160863,636,880.86160863,788,804,653,632.13839137,653,0.419849019324,0.00457802589279,0.059763196638,0.999999901986,0.00018656946126,-0.000400212478231,3.24089921157e-05,1793238194795742720
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.288433758,667.288433758,636,880.288433758,788,804,653,632.711566242,653,0.419115153412,0.0045767997444,0.0597547722005,0.999999905167,0.00017816557065,-0.00039618898776,3.095574155e-05,1793238194812409600
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.292864346,746,715,680,667.292864346,636,880,788.292864346,804,653,632.707135654,653,0.418398103516,0.0045768055632,0.0597689866097,0.999999917553,0.000172977415687,-0.000366095689653,3.07805123137e-05,1793238194829075968
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.882390993,746,715,680,667.882390993,636,880,788.882390993,804,653,632.117609007,653,0.417698087758,0.0045780593258,0.0598061334538,0.999999936938,0.000171046699122,-0.000309594502022,3.18998781965e-05,1793238194845742592
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.536053902,746,715,680,667.536053902,636,880.463946098,788.536053902,804,653,632,653.463946098,0.416994462484,0.00457601897316,0.0598302623889,0.999999946678,0.000166670848459,-0.000278797491391,3.37044317667e-05,1793238194862409472
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.043324256,746,715,680,667.043324256,636.043324256,881,788,804,653,632.043324256,654,0.416289937823,0.00457328662777,0.0598489152589,0.999999952963,0.000162112200746,-0.000257930721367,3.55665015594e-05,1793238194879076096
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.620357361,746,715,680,667.620357361,636.620357361,881,788,804,653,632.620357361,654,0.415585415743,0.00457214281891,0.0598400746356,0.999999946763,0.000162808414268,-0.000280480486756,3.60335371856e-05,1793238194895742720
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.803843338,746,715,680,667.803843338,636.803843338,880.803843338,788,804,653,632.803843338,654,0.414893738404,0.00457137317313,0.0598348804855,0.999999939968,0.000181773705059,-0.000292768332969,3.61788622121e-05,1793238194912409344
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.230416918,746,715,680,667.230416918,636.230416918,880.230416918,788,804,653,632.230416918,654,0.414226765338,0.00457132315816,0.0598366996265,0.99999993084,0.000235876065712,-0.000285319347335,3.57054385756e-05,1793238194929075968
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.354180179,746,715.354180179,680.354180179,667.354180179,636.354180179,880.354180179,788,804,653,632,654,0.413551394272,0.00457204086676,0.0598331476729,0.999999924094,0.000254697508409,-0.000292690239936,3.56992927105e-05,1793238194945742848
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.946281152,746,715.946281152,680.946281152,667.946281152,636.946281152,880.946281152,788,804,653,632,654,0.412870381884,0.00457327429421,0.0598259876826,0.999999920092,0.000249818965817,-0.000310016397303,3.6007041098e-05,1793238194962409728
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.474896681,746,715.474896681,680.474896681,667.474896681,636.474896681,880.474896681,788,803.474896681,653,632.525103319,654,0.412202920677,0.00457091303108,0.0597929088557,0.999999905032,0.000237860527438,-0.000363420061828,3.58391367616e-05,1793238194979076096
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,667,636.102451456,880.102451456,787.897548544,803,653.102451456,633,654,0.411554374238,0.00456885234668,0.0597658442019,0.999999892082,0.000226223016795,-0.000404231508298,3.54391728377e-05,1793238194995742976
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,667,636.679109483,880.679109483,787.320890517,803,653.679109483,633,654,0.410987118277,0.00456984306912,0.0597785869252,0.999999906875,0.000219340688496,-0.000370096843014,3.41847713137e-05,1793238195012409600
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.747266664,667.252733336,637,880.747266664,787.505466671,803,654,632.747266664,654,0.410435541122,0.00456882663409,0.0598011778762,0.999999922877,0.000211240854513,-0.00032933978688,3.40285751487e-05,1793238195029076224
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.177449583,667.822550417,637,880.177449583,788.645100834,803,654,632.177449583,654,0.40990363492,0.00456529198345,0.0598361245883,0.999999939778,0.000201613516595,-0.000280274163568,3.52502070688e-05,1793238195045742848
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.411535131,667.588464869,637,880.411535131,788.588464869,803,653.588464869,632,653.588464869,0.40936313658,0.00456293566841,0.0598548693219,0.999999947906,0.000195665506497,-0.00025415961756,3.6140988612e-05,1793238195062409472
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.008854469,746,715,680,667.008854469,636.991145531,881,788,803,653.008854469,632,653.008854469,0.408819102293,0.00456112550109,0.0598659361979,0.999999952459,0.000191381671447,-0.000238948641358,3.68664490224e-05,1793238195079076352
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.584779646,746,715,680,667.584779646,636.415220354,881,788,803,653.584779646,632,653.584779646,0.408297478409,0.00456016336286,0.059854558614,0.999999948727,0.000187109771185,-0.00025728781657,3.65868777197e-05,1793238195095742976
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.839192607,746,715,680,668,636.160807393,881,788.160807393,803.160807393,653.839192607,632,654,0.407787036948,0.00455924779249,0.0598440086785,0.999999944997,0.000183183352548,-0.000274100568452,3.63179288951e-05,1793238195112409600
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.262899717,746,715,680,668,636.737100283,881,788.737100283,803.737100283,653.262899717,632,654,0.407305487916,0.00455845254144,0.0598355971736,0.999999941947,0.00018014956997,-0.00028696943392,3.60764258227e-05,1793238195129076224
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.318245579,746,715,680,668,637,881,788.681754421,803.681754421,653.318245579,632,654,0.406852717471,0.00455652973942,0.0598357318408,0.999999943917,0.000177224105036,-0.000281907942157,3.58431466353e-05,1793238195145742592
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.903461431,746,715,680,668,637,881,788.096538569,803.096538569,653.903461431,632,654,0.406424088873,0.00455366105597,0.0598430357328,0.999999949889,0.000174389505897,-0.000261805007629,3.56167663185e-05,1793238195162409216
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.513578839,668,636.513578839,880.513578839,788,803,654,632,654,0.406013269542,0.00455291480139,0.059848278925,0.999999952673,0.000173155871485,-0.000251830118126,3.54041011182e-05,1793238195179076096
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.067840434,667.932159566,636.067840434,880,788,803,653.932159566,632,654,0.405608196019,0.00455251488838,0.0598512315237,0.999999954016,0.000172646725124,-0.000246834703555,3.5137381556e-05,1793238195195742976
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.641103589,667.358896411,636.641103589,880,788,803,653.358896411,632,654,0.405219718291,0.00455157151625,0.0598401517225,0.999999949207,0.000175178858897,-0.000264030898919,3.44477621124e-05,1793238195212409600
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,715.214695038,680,667.214695038,636.785304962,880.214695038,788,803,653.214695038,632,654,0.404838569649,0.00455049401278,0.0598253326296,0.999999942072,0.00017766528946,-0.000288350708872,3.38318394566e-05,1793238195229076224
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,715.788836067,680,667.788836067,636.211163933,880.788836067,788,803,653.788836067,632,654,0.404469691524,0.00454919194451,0.0598042531538,0.999999930549,0.00018007520261,-0.000324596990533,3.33393012362e-05,1793238195245742592
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746.374266514,715.625733486,680,667.625733486,636,880.625733486,788,803.374266514,653.625733486,632,654,0.40413296048,0.00454788482551,0.0597912210908,0.999999923739,0.000179034243454,-0.000345551425343,3.25978478462e-05,1793238195262409216
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746.9662647,715.0337353,680,667.0337353,636,880.0337353,788,803.9662647,653.0337353,632,654,0.403814931147,0.00454657476811,0.0597828706541,0.999999920069,0.000175985720028,-0.000357609744929,3.17115866082e-05,1793238195279075840
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746.452470549,715,680,667,636.547529451,880.547529451,788,804,653,632,654,0.403558981968,0.0045447279356,0.0597988384361,0.999999930752,0.00017242542151,-0.000328271238249,3.16893206438e-05,1793238195295742720
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.12680955,636.87319045,880.87319045,788,803.87319045,653,632,654,0.403313025616,0.00454278829738,0.0598158519837,0.99999994093,0.000168444424137,-0.000297930234494,3.16918334051e-05,1793238195312409600
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.701372363,636.298627637,880.298627637,788,803.298627637,653,632,654,0.403089106963,0.00454063550141,0.0598313692718,0.99999994897,0.000163087173208,-0.000272882320647,3.15974873814e-05,1793238195329076224
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746.281818488,715,680,667.718181512,636.281818488,880.281818488,788,803.281818488,653,632,654,0.402875639587,0.00453914627163,0.0598429820215,0.999999954683,0.000158657918309,-0.000253910814994,3.1487372291e-05,1793238195345742592
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746.868631724,715,680,667.131368276,636.868631724,880.868631724,788,803.868631724,653,632,654,0.402673482998,0.00453837517871,0.0598503691293,0.999999958295,0.000155232976605,-0.000241515432344,3.13601913322e-05,1793238195362409472
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746.549450673,715,680,667,636.549450673,880.549450673,788,804,653,632,654,0.402471759776,0.00453846242506,0.0598492658035,0.999999957419,0.000155542867616,-0.00024495643361,3.10662403226e-05,1793238195379075840
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.030900418,636.030900418,880,788,803.969099582,653.030900418,632.030900418,654,0.402271614253,0.00453864008529,0.0598455662095,0.999999955159,0.000156693670758,-0.000253344399297,3.07667075131e-05,1793238195395742720
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.608519538,636.608519538,880,788,803.391480462,653.608519538,632.608519538,654,0.4020971712,0.00453603703755,0.0598392605789,0.999999951676,0.000153662560504,-0.000268440234419,3.12194999234e-05,1793238195412409344
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.815509606,636.815509606,880,788,803,654,632.815509606,654,0.40193679824,0.0045337866354,0.0598359772731,0.99999994958,0.000151119673728,-0.000277503196536,3.15387324341e-05,1793238195429075968
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.243005396,636.243005396,880,788,803,654,632.243005396,654,0.401806017035,0.0045322779056,0.0598390504172,0.999999950806,0.000149603602132,-0.000273878027002,3.15770663388e-05,1793238195445742592
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746.340053246,715,680,667.340053246,636,880.340053246,788,803.340053246,654,632,654,0.401690059954,0.00453203512284,0.0598416305767,0.999999952322,0.000148241871972,-0.000269073857748,3.13122997028e-05,1793238195462409216
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746.930895843,715,680,667.930895843,636,880.930895843,788,803.930895843,654,632,654,0.401585035655,0.00453272597619,0.0598438471603,0.999999954031,0.000146993968498,-0.000263400175536,3.08239963484e-05,1793238195479075840
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.488044901,746.488044901,715,680,668,636.511955099,880.488044901,788,803.488044901,654,632,654,0.401489748515,0.00453130642096,0.0598442118987,0.999999954516,0.000146080595351,-0.000262069233807,3.07772849582e-05,1793238195495742720
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.090839901,746,715,680,668,637,880,788.090839901,803.090839901,654,632,654,0.401398683591,0.00452997356345,0.0598440491916,0.999999954646,0.000145092224321,-0.000262133699412,3.07091858487e-05,1793238195512409344
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.754954713,637,880.245045287,788.754954713,803.754954713,654,632.245045287,654,0.401254086902,0.00452985335664,0.0598401998518,0.999999952839,0.000140742829953,-0.000271330454403,2.98732214376e-05,1793238195545742592
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.166858627,637,880.833141373,788.166858627,803.166858627,654,632.833141373,654,0.401193804865,0.00452722471434,0.0598372852765,0.999999951999,0.000136472555107,-0.000276572790591,2.97407978276e-05,1793238195562409472
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,715.415925513,680,667.415925513,637,881,788,803,654,632.584074487,654,0.401145884979,0.00452750931795,0.0598358025823,0.999999951325,0.000136868195205,-0.000278835496975,2.94601458677e-05,1793238195579076096
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746.40525753,715,680,668,637,881,788.59474247,804,654,632,654,0.400975698805,0.00452537050666,0.0598474900685,0.999999956382,0.000137301910697,-0.000260046579095,2.75682858219e-05,1793238195929075968
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.829176138,667.829176138,637,881,788.829176138,803.829176138,654,632,654,0.400976578755,0.0045248148227,0.0598480996323,0.999999957087,0.000135404664046,-0.000258341512222,2.74053871968e-05,1793238195945742848
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.251872939,667.251872939,637,881,788.251872939,803.251872939,654,632,654,0.400976824562,0.00452422135651,0.0598479030921,0.999999957496,0.000131613652944,-0.000258743515188,2.71723230625e-05,1793238195962409472
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746.332495223,715.332495223,679.332495223,667.332495223,637,880.667504777,788.332495223,803.332495223,654,632,654,0.400975542167,0.00452386476968,0.0598473374899,0.999999957246,0.000130326193588,-0.000260356455332,2.71764142915e-05,1793238195979076096
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746.922331421,715.922331421,679.922331421,667.922331421,637,880.077668579,788.922331421,803.922331421,654,632,654,0.400973076992,0.00452369152015,0.0598464862453,0.999999956488,0.00013097640569,-0.000262906623219,2.73640564158e-05,1793238195995742720
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746.49717184,715.49717184,680,667.49717184,637,881.005656319,788.49717184,803.49717184,654,632,654,0.400973547082,0.00452383863159,0.0598465339177,0.999999956508,0.000130887524294,-0.000262864477856,2.74807786077e-05,1793238196012409344
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,881.918829749,788,803.162340501,654,632,654,0.400974113335,0.00452400271915,0.0598465938639,0.999999956607,0.000130759333523,-0.000262542766686,2.75442588786e-05,1793238196029076224
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,881.344969554,788,804.310060893,654,632,654,0.40097256146,0.00452397496597,0.0598459008838,0.999999956475,0.000131072855513,-0.000262910286538,2.73498492181e-05,1793238196045743872
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746.228739265,715,680,667.228739265,637,880.771260735,788,804.771260735,654,632,654,0.400971470303,0.00452352492323,0.0598453608515,0.999999956383,0.000130824476363,-0.000263386425754,2.7317098107e-05,1793238196062411008
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746.802220024,715,680,667.802220024,637,880.197779976,788,804.197779976,654,632,654,0.400971073512,0.00452243843209,0.0598450513324,0.999999956351,0.000129729235058,-0.000264026269331,2.75279886077e-05,1793238196079077120
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746.219887877,715,680,667.609943938,637,880,788,803.609943938,654,632,654,0.400971516819,0.0045231096681,0.0598458052273,0.999999956338,0.000131602075131,-0.000263144875343,2.756425436e-05,1793238196095743488
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,745.029101789,715,680,667.014550895,637,880,788,803.014550895,654,632,654,0.400972402379,0.00452470622344,0.0598471189346,0.999999956323,0.000135037400592,-0.000261462657122,2.75085924964e-05,1793238196112410112
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,745.562745839,715,680,667.562745839,637,880.562745839,788.562745839,803.562745839,654,632,654,0.400973020772,0.00452331446882,0.0598477885197,0.999999956967,0.00013230074291,-0.000260414769515,2.73373142971e-05,1793238196129076736
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,637,881,788.86123601,803.86123601,654,632,654,0.400973506498,0.00452198420155,0.059848291938,0.999999957571,0.000129357542129,-0.000259585278921,2.71931089111e-05,1793238196145742848
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,637,881,788.287802916,803.287802916,654,632,654,0.400973597615,0.00452108103749,0.059848325395,0.99999995802,0.000126251685357,-0.000259390125654,2.71427799685e-05,1793238196162409728
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f49255dcd01026f58ee97c1a181eda5d3b4074e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,437 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+395,6.583333333,pose2_to_pose3_retreat,0.57873769468,0.0100013397185,1.05001156901,0.549308929211,0.0186750045156,1.04966110437
+396,6.600000000,pose2_to_pose3_retreat,0.578656622682,0.0100013029435,1.05001153948,0.549227858084,0.0186749706383,1.04966107376
+397,6.616666667,pose2_to_pose3_retreat,0.578583991737,0.0100012538489,1.05001163354,0.54915522715,0.0186749215221,1.04966116578
+398,6.633333333,pose2_to_pose3_retreat,0.578520190386,0.0100012061657,1.05001139675,0.549091426008,0.0186748750719,1.04966094185
+399,6.650000000,pose2_to_pose3_retreat,0.578465707528,0.0100013621667,1.05001161465,0.549036941099,0.0186750239544,1.04966115571
+400,6.666666667,pose2_to_pose3_retreat,0.578419772289,0.0100013632242,1.05001138084,0.54899100626,0.018675026587,1.04966092722
+401,6.683333333,pose2_to_pose3_retreat,0.578381798956,0.0100012980845,1.05001150374,0.548953033853,0.0186749645689,1.04966104956
+402,6.700000000,pose2_to_pose3_retreat,0.578351290866,0.0100012209695,1.05001167735,0.548922525875,0.0186748876411,1.04966121847
+403,6.716666667,pose2_to_pose3_retreat,0.578326604192,0.0100011594688,1.05001142555,0.54889783782,0.0186748213248,1.04966096342
+404,6.733333333,pose2_to_pose3_retreat,0.578307841505,0.010001233128,1.05001154704,0.548879076531,0.0186748994763,1.04966107881
+405,6.750000000,pose2_to_pose3_retreat,0.578292753523,0.0100012473746,1.05001162049,0.548863989194,0.0186749160263,1.04966115513
+406,6.766666667,pose2_to_pose3_retreat,0.578281159451,0.0100012481902,1.05001167953,0.548852395166,0.0186749171799,1.04966121877
+407,6.783333333,pose2_to_pose3_retreat,0.578273123447,0.0100013049514,1.05001178082,0.548844358525,0.0186749716077,1.04966131591
+408,6.800000000,pose2_to_pose3_retreat,0.578267611798,0.0100012854114,1.05001177633,0.548838846971,0.0186749523232,1.04966130991
+409,6.816666667,pose2_to_pose3_retreat,0.578263813112,0.0100012285409,1.05001171833,0.548835048744,0.0186748970062,1.04966125188
+410,6.833333333,pose2_to_pose3_retreat,0.578261606219,0.0100012017991,1.05001170172,0.548832842111,0.0186748711411,1.04966123509
+411,6.850000000,pose2_to_pose3_retreat,0.578261031646,0.0100012074872,1.05001173172,0.548832267593,0.0186748770054,1.04966126473
+412,6.866666667,pose2_to_pose3_retreat,0.578260622408,0.0100012115385,1.05001175309,0.548831858394,0.0186748811823,1.04966128584
+413,6.883333333,pose2_to_pose3_retreat,0.578260346389,0.010001214271,1.05001176751,0.548831582402,0.0186748839994,1.04966130008
+414,6.900000000,pose2_to_pose3_retreat,0.578260072741,0.01000121698,1.0500117818,0.54883130878,0.0186748867924,1.04966131419
+415,6.916666667,pose2_to_pose3_retreat,0.578259540342,0.0100012222506,1.05001180959,0.548830776431,0.0186748922263,1.04966134166
+416,6.933333333,pose2_to_pose3_retreat,0.578258664381,0.0100012309223,1.05001185533,0.548829900555,0.0186749011667,1.04966138684
+417,6.950000000,pose2_to_pose3_retreat,0.578258051446,0.0100012369901,1.05001188734,0.548829287678,0.0186749074225,1.04966141846
+418,6.966666667,pose2_to_pose3_retreat,0.578257871171,0.0100012387748,1.05001189675,0.54882910742,0.0186749092625,1.04966142776
+419,6.983333333,pose2_to_pose3_retreat,0.57825751198,0.0100012423306,1.05001191551,0.548828748264,0.0186749129285,1.04966144629
+420,7.000000000,pose2_to_pose3_retreat,0.578256782167,0.0100012494194,1.05001195132,0.54882801852,0.0186749202418,1.04966148171
+421,7.016666667,pose2_to_pose3_retreat,0.578255963843,0.0100012473213,1.05001182198,0.548827200225,0.0186749184443,1.04966135739
+422,7.033333333,pose2_to_pose3_retreat,0.578255534517,0.0100012462206,1.05001175412,0.548826770915,0.0186749175013,1.04966129216
+423,7.050000000,pose2_to_pose3_retreat,0.578255311732,0.0100012456494,1.0500117189,0.548826548139,0.0186749170119,1.04966125832
+424,7.066666667,pose2_to_pose3_retreat,0.578254986816,0.0100012448163,1.05001166755,0.548826223234,0.0186749162982,1.04966120896
+425,7.083333333,pose2_to_pose3_retreat,0.57825461453,0.0100012438618,1.0500116087,0.548825850962,0.0186749154804,1.0496611524
+426,7.100000000,pose2_to_pose3_retreat,0.578253970789,0.0100012422114,1.05001150695,0.548825207245,0.0186749140664,1.0496610546
+427,7.116666667,pose2_to_pose3_retreat,0.578253484219,0.0100012287205,1.05001151054,0.548824720173,0.0186748987633,1.04966105559
+428,7.133333333,pose2_to_pose3_retreat,0.578253253075,0.0100012213154,1.05001151879,0.548824488748,0.0186748903352,1.04966106216
+429,7.150000000,pose2_to_pose3_retreat,0.57825301884,0.0100012138112,1.05001152715,0.548824254228,0.0186748817944,1.04966106882
+430,7.166666667,pose2_to_pose3_retreat,0.578252821444,0.0100012074872,1.0500115342,0.548824056593,0.0186748745969,1.04966107443
+431,7.183333333,pose2_to_pose3_retreat,0.578252768453,0.0100012057895,1.05001153609,0.548824003537,0.0186748726647,1.04966107594
+432,7.200000000,pose2_to_pose3_retreat,0.578252541438,0.0100012362596,1.05001152963,0.548823776386,0.0186749027244,1.04966107072
+433,7.216666667,pose2_to_pose3_retreat,0.578252263233,0.0100012894435,1.0500115156,0.548823498074,0.0186749556548,1.04966105942
+434,7.233333333,pose2_to_pose3_retreat,0.578252153601,0.0100012853658,1.05001159531,0.548823388768,0.0186749527094,1.04966113986
+435,7.250000000,pose2_to_pose3_retreat,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425988,1.04966118241
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ae66a327eb88572c9a4dc41056d0ed96988f24b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd914e66733e0fca52b50f22412cc045b2bc0f82015c79da8644560cdf3ac63b
+size 27796464
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..83025b84187848657b7c5ac5734ad603866112b3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_02/franka_data.csv
@@ -0,0 +1,439 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,746,715,680,668,637,880,788,803,654,632,654,0.40097477222,0.00452374965046,0.0598479525085,0.999999957804,0.000128179083317,-0.000259337587987,2.65654069856e-05,1793238196285919488
+1,0.016666667,BASELINE,767,746,715,680,668,637,880,788,803.594679024,654,632,654,0.400974263401,0.0045222877766,0.0598482647047,0.999999957542,0.000130088564279,-0.000259350502177,2.70281234399e-05,1793238196302585856
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+3,0.050000000,BASELINE,767,746,715,680,668,637,880.762331591,788,803.237668409,654,632,654,0.400973970369,0.00452234851869,0.0598483886822,0.999999957712,0.000129291479857,-0.000259077594955,2.7164509124e-05,1793238196335918848
+4,0.066666667,BASELINE,767,746,715,680,668,637,881,788,803,654,632,654,0.40097392973,0.00452271470133,0.0598483337199,0.99999995774,0.000128943696833,-0.000259155911779,2.70443679291e-05,1793238196352585472
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+8,0.133333333,BASELINE,766,746.332682618,715.332682618,680,667,636,880.667317382,788,803.667317382,654,632,653.332682618,0.40097336487,0.00452408404077,0.0598488683572,0.999999957393,0.000131642677608,-0.000259172503765,2.67252831479e-05,1793238196419252480
+9,0.150000000,BASELINE,766.244209116,746.244209116,715,679.755790884,667,636,880.755790884,788,804,654,632,653.244209116,0.400973567375,0.00452475044783,0.0598493749948,0.999999957415,0.000132726453042,-0.000258532654057,2.6748553356e-05,1793238196435918848
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+12,0.200000000,BASELINE,767,747,715,679,667,636.972413726,880,788,803.027586274,653.027586274,632,654,0.400973071798,0.00452459302836,0.0598484917939,0.999999957191,0.000132338650203,-0.000259575016073,2.69179369608e-05,1793238196485918464
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+15,0.250000000,BASELINE,767,746.271250703,715,680,667,636.271250703,880,788,803.271250703,654,632,654,0.400972339027,0.00452179873146,0.059848187232,0.99999995757,0.00012854481265,-0.000259973636617,2.73990659246e-05,1793238196535919104
+16,0.266666667,BASELINE,767,746,715.30498991,680.30498991,667.30498991,636,880,788,803,654,632,654,0.400972599084,0.00452220790695,0.0598481584992,0.999999957526,0.000129393879205,-0.000259730466792,2.73030483827e-05,1793238196552585728
+17,0.283333333,BASELINE,767,746,715.879010657,680.879010657,667.879010657,636,880,788,803,654,632,654,0.400973421223,0.00452402530381,0.0598485724755,0.999999957522,0.000131668293197,-0.000258620253125,2.71252847113e-05,1793238196569252352
+18,0.300000000,BASELINE,767,746,715.535187404,680.535187404,668,636.464812596,880.464812596,788.464812596,803.464812596,654,632,654,0.400973794661,0.00452464397779,0.05984875452,0.999999957531,0.000133032510388,-0.000257911816473,2.68802891996e-05,1793238196585918976
+19,0.316666667,BASELINE,767,746,715,680,667.947157758,637,881,788.947157758,803.947157758,654,632,654,0.400974047702,0.00452498411232,0.0598489056216,0.999999957556,0.000134020625823,-0.00025732692431,2.66313543755e-05,1793238196602585344
+20,0.333333333,BASELINE,767,746,715,680,667.368273176,637,881,788.368273176,803.368273176,654,632,654,0.400974295123,0.00452573836162,0.0598493653102,0.999999957713,0.000133684542525,-0.000256903735052,2.65219485695e-05,1793238196619251968
+21,0.350000000,BASELINE,767,746,715.209589221,680,667,637,880.790410779,788,803.209589221,654,632,654,0.400974184384,0.00452569017375,0.0598495260102,0.999999957822,0.000132743371202,-0.00025696469698,2.65315699839e-05,1793238196635918592
+22,0.366666667,BASELINE,767,746,715.785664175,680,667,637,880.214335825,788,803.785664175,654,632,654,0.400973447371,0.00452423885175,0.0598491639017,0.999999957846,0.000130744148711,-0.000257872241142,2.6749321282e-05,1793238196652585472
+23,0.383333333,BASELINE,767,746.361340676,715.638659324,680,667.361340676,637,880,788,804,654,632,654.361340676,0.400972489966,0.00452336597057,0.0598481783933,0.999999957512,0.000130150719081,-0.000259459435885,2.67724305973e-05,1793238196669252352
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+27,0.450000000,BASELINE,767,746,715,680,668,636.308893109,880,788,803.691106891,653.691106891,632,653.691106891,0.400973574902,0.00452444627286,0.0598488510203,0.999999958007,0.000130649189003,-0.000257317787613,2.65445962759e-05,1793238196735919360
+28,0.466666667,BASELINE,767,746,715,680,668,636.270089557,880,788,803.729910443,654,632,654,0.400973533351,0.00452481999654,0.0598486448529,0.999999957866,0.000131033334381,-0.000257670853829,2.6548630339e-05,1793238196752585984
+29,0.483333333,BASELINE,767,746,715,680,668,636.845559457,880,788,803.154440543,654,632,654,0.400972226237,0.00452402504909,0.0598482191436,0.999999957545,0.000130824278936,-0.000259004209885,2.6697380635e-05,1793238196769252352
+30,0.500000000,BASELINE,767,746,715,680,667.582027632,637,880,788,803.417972368,653.582027632,632,654,0.400972484337,0.00452312832044,0.059848656989,0.999999957609,0.000130687818492,-0.00025881374406,2.67941155237e-05,1793238196785918976
+31,0.516666667,BASELINE,767,746,715,680,667.010736088,637,880,788,803.989263912,653.010736088,632,654,0.400973316584,0.00452219425677,0.0598494116005,0.999999957815,0.0001305779871,-0.000258064315139,2.68717702973e-05,1793238196802585600
+32,0.533333333,BASELINE,767,746,715,680,667,636.418494903,880.581505097,788,803.418494903,653,632,654,0.400974196117,0.00452298495207,0.0598498127814,0.99999995817,0.00013036414373,-0.000256816513569,2.66641438584e-05,1793238196819252480
+33,0.550000000,BASELINE,767,746,715,680,667.170327805,636.170327805,881,788,803,653.170327805,632,654,0.400974613305,0.0045238647557,0.0598500011607,0.999999958319,0.000130688026133,-0.000256089315637,2.64886729104e-05,1793238196835919616
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+35,0.583333333,BASELINE,767,746,715.326774982,680,667.673225018,636.673225018,881,788.326774982,803.326774982,654,632.326774982,654,0.400974817296,0.00452464486179,0.0598504494588,0.999999958327,0.000131946309421,-0.000255411452475,2.64709656526e-05,1793238196869252608
+36,0.600000000,BASELINE,767,746,715.901424723,680,667.098575277,636.098575277,881,788.901424723,803.901424723,654,632.901424723,654,0.400976928045,0.00452346297764,0.0598520099036,0.99999995922,0.000130079145869,-0.000252843034296,2.66539500784e-05,1793238196885918976
+37,0.616666667,BASELINE,767,746,715.51185838,679.51185838,667.48814162,636,881,788.51185838,804,654,632.51185838,654,0.400976142648,0.00452333392375,0.0598512338108,0.999999958994,0.000129511371253,-0.000254017971914,2.6699854373e-05,1793238196902585600
+38,0.633333333,BASELINE,767,746,715,679.075994973,668,636.075994973,880.924005027,788.075994973,804,654,632,654,0.400974860473,0.00452349309309,0.0598501465031,0.999999958539,0.000129636425394,-0.00025574088792,2.67181274577e-05,1793238196919252224
+39,0.650000000,BASELINE,767,746,715,679.65483548,668,636.65483548,880.34516452,788.65483548,804,654,632,654,0.400974259133,0.00452411693407,0.0598502011597,0.999999958098,0.000132565552731,-0.000255961022045,2.67413790517e-05,1793238196935919104
+40,0.666666667,BASELINE,767,746,715,679.766631355,667.766631355,637,880,788.766631355,803.766631355,654,632,654,0.400974398569,0.00452402471348,0.0598503849409,0.999999958005,0.000133562559062,-0.000255786368111,2.68996758259e-05,1793238196952585728
+41,0.683333333,BASELINE,767,746,715,679.188552201,667.188552201,637,880,788.188552201,803.188552201,654,632,654,0.400975632208,0.00452287479315,0.0598507594529,0.999999958436,0.000131705615337,-0.000255028569874,2.72574488091e-05,1793238196969252608
+42,0.700000000,BASELINE,766.605816771,746,715,679.394183229,667,637,880.394183229,788,803.394183229,654,632,654,0.400975513946,0.0045233375325,0.0598504698029,0.999999958449,0.000131109253632,-0.000255298854392,2.7122163204e-05,1793238196985919488
+43,0.716666667,BASELINE,766.020827467,746,715,679.979172533,667,637,880.979172533,788,803.979172533,654,632,654,0.40097474129,0.00452458088669,0.0598498586626,0.999999958261,0.000131123082089,-0.000256066786779,2.67482104747e-05,1793238197002585856
+44,0.733333333,BASELINE,766.558939457,746,715,680,667.558939457,636.441060543,880.441060543,788,803.441060543,654,632,654,0.40097511667,0.00452265890944,0.0598504210057,0.999999958529,0.000130381347715,-0.000255371897902,2.69750825338e-05,1793238197019252480
+45,0.750000000,BASELINE,766.861854471,746,715,680,667.861854471,636,880,788,803.138145529,654,632.138145529,654,0.400975081639,0.00452117485691,0.0598506470179,0.999999958676,0.000129658547405,-0.000255150918047,2.71221932952e-05,1793238197035918848
+46,0.766666667,BASELINE,766.283820493,746,715,680,667.283820493,636,880,788,803.716179507,654,632.716179507,654,0.400973604808,0.00452145736023,0.0598496641244,0.999999958381,0.000129084857492,-0.000256610939086,2.69446954004e-05,1793238197052585472
+47,0.783333333,BASELINE,766.293218455,746,715,680,667,636,880,788,803.706781545,653.706781545,632.706781545,654,0.400973343999,0.00452229004849,0.0598496186638,0.999999958246,0.000129834441155,-0.000256767685869,2.68476464937e-05,1793238197069252096
+48,0.800000000,BASELINE,766.86929759,746,715,680,667,636,880,788,803.13070241,653.13070241,632.13070241,654,0.400974256256,0.00452365348675,0.0598504775218,0.999999958264,0.000131860554432,-0.000255667195992,2.68282047394e-05,1793238197085918976
+49,0.816666667,BASELINE,767,746,715,680,667.45456971,636.45456971,880.45456971,788,803,653.45456971,632,654,0.400974468053,0.00452383509834,0.0598503314433,0.999999958367,0.000131090998482,-0.000255680941018,2.65996106652e-05,1793238197102585600
+50,0.833333333,BASELINE,767,746,715,680,667.958057287,637,880.958057287,788,803,654,632,654,0.4009744868,0.00452369695357,0.0598499512019,0.999999958494,0.0001296668455,-0.000255938812917,2.6348358682e-05,1793238197119252480
+51,0.850000000,BASELINE,767,746,715,680,667.378337512,637,880.378337512,788,803,654,632,654,0.400974665941,0.00452390586918,0.0598503498862,0.999999958602,0.000130368960493,-0.000255134254407,2.65935749388e-05,1793238197135919104
+52,0.866666667,BASELINE,767,746,715,680,667,637,880,788,803,654,632,654,0.400974901832,0.00452408176626,0.0598506779182,0.999999958693,0.00013075490956,-0.000254569171856,2.66892357897e-05,1793238197152585728
+53,0.883333333,BASELINE,767,746,715,680,667,637,880,788,803,654,632,654,0.400975244339,0.00452419563132,0.059850873215,0.999999958754,0.000130546876692,-0.000254453993579,2.65039264245e-05,1793238197169252352
+54,0.900000000,BASELINE,767,746,715,680,667,637,880,788.350653382,803.350653382,654,632,654,0.400975196722,0.00452362765714,0.0598508606163,0.999999958766,0.000130295026481,-0.000254530653076,2.65518985761e-05,1793238197185918976
+55,0.916666667,BASELINE,767,746,715,680,667,637,880,788.925585523,803.925585523,654,632,654,0.400974899579,0.00452262357693,0.0598507150471,0.999999958747,0.000130015150599,-0.000254730012485,2.67490781618e-05,1793238197202585600
+56,0.933333333,BASELINE,767,746,715,680,667,636.484872723,880.515127277,788.484872723,804,654,632,654,0.400974612632,0.00452198993322,0.059850264148,0.999999958625,0.00012936638295,-0.000255527533832,2.68269209166e-05,1793238197219252224
+57,0.950000000,BASELINE,767,746,715,680,667.104343712,636,880.895656288,788,803.895656288,654,632,653.895656288,0.400974490944,0.00452171174978,0.0598499689636,0.999999958582,0.000128722489571,-0.000256022527006,2.68265049474e-05,1793238197235918848
+58,0.966666667,BASELINE,767,746,715,680,667.682226092,636,880.317773908,788,803.317773908,654,632,653.317773908,0.400975112357,0.00452279679387,0.0598505864671,0.999999958964,0.000128349617834,-0.000254740973872,2.65514503083e-05,1793238197252585728
+59,0.983333333,BASELINE,766.74103529,746,715,680,667.74103529,636.25896471,880.25896471,788,803,654,632,653.25896471,0.400975210621,0.00452305082327,0.05985082988,0.999999959083,0.000128179939575,-0.0002543727963,2.64280342613e-05,1793238197269252608
+60,1.000000000,BASELINE,766.165693926,746,715,680,667.165693926,636.834306074,880.834306074,788,803,654,632,653.834306074,0.400974669754,0.00452228960387,0.0598506162675,0.999999958881,0.000128258502321,-0.000255120487607,2.64898747337e-05,1793238197285919488
+61,1.016666667,BASELINE,766.408752576,746,715,680,667.408752576,636.591247424,881,788,803.408752576,653.591247424,632,654,0.400973549789,0.00452338857095,0.0598501183264,0.999999958499,0.000128980015774,-0.0002562695282,2.63056027965e-05,1793238197302585856
+62,1.033333333,BASELINE,766.982837088,746,715,680,667.982837088,636.017162912,881,788,803.982837088,653.017162912,632,654,0.40097219559,0.00452523994491,0.0598495053802,0.999999958042,0.000129961589445,-0.000257580906207,2.6021783491e-05,1793238197319252480
+63,1.050000000,BASELINE,766.423404028,746,715,679.423404028,668,636.576595972,881,788,803.423404028,653.576595972,632,654,0.400973204882,0.00452381899821,0.0598499538199,0.999999958318,0.000129515511087,-0.00025669890161,2.63550593351e-05,1793238197335919104
+64,1.066666667,BASELINE,766.166087927,746,715,679.166087927,667.833912073,636.833912073,880.833912073,788,803,654,632,654,0.400974286621,0.00452269827177,0.0598505312343,0.99999995864,0.000129195131788,-0.000255578226448,2.66224703834e-05,1793238197352585472
+65,1.083333333,BASELINE,766.743510732,746,715,679.743510732,667.256489268,636.256489268,880.256489268,788,803,654,632,654,0.400975367392,0.00452257082637,0.0598513470607,0.999999959019,0.000129295022373,-0.000254033862776,2.66796616199e-05,1793238197369252352
+66,1.100000000,BASELINE,766.681580184,745.681580184,715,680,667,636.318419816,880.318419816,788,803,654,632,654,0.400975220667,0.00452377049867,0.0598513473929,0.999999958763,0.000130943754619,-0.000254212283177,2.65404301866e-05,1793238197385918720
+67,1.116666667,BASELINE,766.108680086,745.108680086,715,680,667,636.891319914,880.891319914,788,803,654,632,654,0.400974092928,0.00452603079997,0.0598506959844,0.999999957992,0.000133830317052,-0.000255767548164,2.62442182678e-05,1793238197402585600
+68,1.133333333,BASELINE,766.475822428,745.475822428,715,680,667.475822428,637,880.524177572,788,803,654,632,654,0.400974023671,0.00452546845333,0.0598498582177,0.999999957859,0.000133559877089,-0.00025642359164,2.62977837965e-05,1793238197419252480
+69,1.150000000,BASELINE,767,746,715,680,668,637,880.062366208,787.937633792,803.062366208,654,632,654,0.400974231382,0.0045241458592,0.0598492258286,0.99999995798,0.000132197866262,-0.000256642308606,2.64219718672e-05,1793238197435918848
+70,1.166666667,BASELINE,767,746,715,680,668,637,880.643297006,787.356702994,803.643297006,654,632,654,0.400974681587,0.00452199653843,0.0598506638875,0.999999958964,0.00012790508896,-0.000254975164839,2.64524931309e-05,1793238197452585472
+71,1.183333333,BASELINE,767,746,715,680,668,637,880.777442344,787.222557656,803.777442344,654,632,654,0.400975183109,0.00452089632239,0.0598516569567,0.999999959559,0.000125569732961,-0.00025379503301,2.64965583946e-05,1793238197469252096
+72,1.200000000,BASELINE,767,746,715,680,668,637,880.200838488,787.799161512,803.200838488,654,632,654,0.400975766265,0.0045214650288,0.0598519421335,0.999999959562,0.000126348255139,-0.000253389642766,2.6562169549e-05,1793238197485918976
+73,1.216666667,BASELINE,767,746,715.382054966,680,668,637,880,788,803.382054966,654,632.382054966,654,0.400975412053,0.00452112194715,0.0598514644686,0.999999959473,0.000126315653683,-0.000253747964498,2.66502100616e-05,1793238197502585600
+74,1.233333333,BASELINE,767,746,715.968310039,680,668,637,880,788,803.968310039,654,632.968310039,654,0.400974556839,0.00452029153449,0.0598505790815,0.999999959334,0.000125849524159,-0.000254514473769,2.67502385767e-05,1793238197519252224
+75,1.250000000,BASELINE,767,746,715.452075563,680,668,637,880.547924437,788,804,654,632.452075563,654,0.400974091834,0.00452080935301,0.0598502152812,0.999999959011,0.000126508600013,-0.000255469847861,2.66277974381e-05,1793238197535919104
+76,1.266666667,BASELINE,767,746,715,680,668,637,880.873108782,788,804,654,632,654,0.400973621094,0.00452140343866,0.0598499017103,0.999999958699,0.000127254485512,-0.000256330329343,2.65196218015e-05,1793238197552585728
+77,1.283333333,BASELINE,767,746,715,680,668,637,880.295095326,788,804,654,632,654,0.400973050686,0.00452199476564,0.0598496607501,0.999999958469,0.000128080402287,-0.000256815080421,2.65073589952e-05,1793238197569252608
+78,1.300000000,BASELINE,767,746,715,680,668,637,880.281873749,788,804.281873749,654,632,654,0.400973800285,0.0045219494294,0.0598504317324,0.999999958794,0.000127682615571,-0.000255736476864,2.65906673004e-05,1793238197585918976
+79,1.316666667,BASELINE,767,746,715,680,668,637,880.857753454,788,804.857753454,654,632,654,0.400975926706,0.00452124002712,0.0598522582125,0.999999959691,0.000126008455542,-0.000253027229853,2.67736602206e-05,1793238197602585600
+80,1.333333333,BASELINE,767,746.443061764,715,680,667.556938236,637,880.556938236,788,804.556938236,653.556938236,632,654,0.400975088565,0.00452241531814,0.059851650482,0.999999959362,0.000126957845728,-0.000253884943466,2.6452840386e-05,1793238197619252224
+81,1.350000000,BASELINE,767,746.969032658,715,680,667,636.969032658,880.030967342,788,804,653.030967342,632,654,0.400973320886,0.00452405193599,0.0598502794522,0.999999958655,0.000128620857757,-0.000255871269878,2.60086031798e-05,1793238197635918592
+82,1.366666667,BASELINE,767,746.389901371,715,680,667,636.389901371,880.610098629,788,804,653.610098629,632,654,0.400972313285,0.00452291090408,0.0598495316079,0.999999958446,0.000127681899159,-0.000257123472212,2.630517704e-05,1793238197652585216
+83,1.383333333,BASELINE,767,746,715,680,667,636,880.811700436,788,803.811700436,654,632,654,0.400972167457,0.00452256181254,0.0598491855744,0.999999958301,0.00012785503169,-0.000257588115298,2.64367293621e-05,1793238197669252096
+84,1.400000000,BASELINE,767,746,715,680,667,636,880.235416354,788,803.235416354,654,632,654,0.400973797281,0.00452384448561,0.0598496674579,0.999999958286,0.000130319588056,-0.000256430020939,2.622826076e-05,1793238197685918976
+85,1.416666667,BASELINE,767,746,715,679.660907327,667.339092673,636.339092673,880,788,803.339092673,654,632,654,0.400975113083,0.00452492942361,0.0598504871121,0.999999958494,0.000131417490978,-0.000255075357085,2.60422202001e-05,1793238197702585856
+86,1.433333333,BASELINE,767,746,715,679.087624257,667.912375743,636.912375743,880,788,803.912375743,654,632,654,0.400976212012,0.00452587779809,0.0598515400436,0.999999958857,0.000131571530501,-0.000253584934875,2.58716693186e-05,1793238197719252480
+87,1.450000000,BASELINE,767,746,715,679.501750323,667.498249677,637,880,788,804,653.498249677,632,654,0.400975280479,0.0045239417226,0.0598511816829,0.999999958782,0.000130450255871,-0.000254421434572,2.6243220817e-05,1793238197735919360
+88,1.466666667,BASELINE,767,746,715,680,667.091802338,636.908197662,880.091802338,788,803.908197662,653.091802338,632,654,0.400974027611,0.00452194332355,0.0598506452592,0.99999995861,0.000129422727233,-0.00025558293845,2.66048346318e-05,1793238197752585984
+89,1.483333333,BASELINE,767,746,715,680,667.670059696,636.329940304,880.670059696,788,803.329940304,653.670059696,632,654,0.400973013226,0.00452237236319,0.0598505145608,0.999999958357,0.000130111221003,-0.000256241958826,2.6395510591e-05,1793238197769252352
+90,1.500000000,BASELINE,767,746,715,679.751983949,667.751983949,636.248016051,881,788,803,654,632,654,0.400972776641,0.00452271870598,0.0598503366549,0.999999958212,0.000130797235485,-0.000256469905224,2.62986433768e-05,1793238197785918976
+91,1.516666667,BASELINE,767,746,715,679.174427586,667.174427586,636.825572414,881,788,803,654,632,654,0.400973573524,0.00452295516896,0.0598500960241,0.999999958209,0.00013147995567,-0.00025612508117,2.63511981935e-05,1793238197802585600
+92,1.533333333,BASELINE,767,746,715,679.40945838,667.40945838,637,880.59054162,788,803.40945838,654,632,654,0.40097364597,0.00452327644279,0.0598497449368,0.999999958232,0.000130969464677,-0.000256299197996,2.63476446248e-05,1793238197819252224
+93,1.550000000,BASELINE,767,746,715,679.996083118,667.996083118,637,880.003916882,788,803.996083118,654,632,654,0.400973404964,0.004523634413,0.0598493460566,0.999999958264,0.000129942689579,-0.000256697852547,2.63198138231e-05,1793238197835919104
+94,1.566666667,BASELINE,767,746,715,679.424255539,668,637,880,788,803.424255539,653.424255539,632,654,0.400973948676,0.00452441796852,0.0598504920796,0.99999995834,0.000131473572803,-0.000255658499142,2.5967033111e-05,1793238197852585984
+95,1.583333333,BASELINE,767,746,715,679.154304417,668,637,880.154304417,788,803.154304417,653.154304417,632,654,0.400974700398,0.00452430007332,0.059851578534,0.999999958599,0.000131862276537,-0.000254447717966,2.58793478161e-05,1793238197869253120
+96,1.600000000,BASELINE,767,746,715,679.729984652,668,637,880.729984652,788,803.729984652,653.729984652,632,654,0.400976005755,0.0045217126769,0.0598524739594,0.999999959364,0.000129084958464,-0.000252795196381,2.65215520829e-05,1793238197885919232
+97,1.616666667,BASELINE,767,746,715,680,667.695005545,637,881,788,803.695005545,654,632,654,0.400975761008,0.0045211661846,0.0598521645332,0.999999959387,0.000128203785824,-0.000253136262266,2.66730062006e-05,1793238197902585856
+98,1.633333333,BASELINE,767,746,715,680,667.120588017,637,881,788,803.120588017,654,632,654,0.400974146945,0.00452242256676,0.0598507907765,0.999999958758,0.000128997612099,-0.000255238404416,2.63909461243e-05,1793238197919252224
+99,1.650000000,BASELINE,767,746,715,680,667,637,881,788,803,654,632,653.536059015,0.400974410915,0.00452304803104,0.0598505598869,0.999999958706,0.000129403110748,-0.000255219027488,2.65644707025e-05,1793238197935918848
+100,1.666666667,BASELINE,767,746,715,680,667.050761265,636.949238735,880.949238735,788.050761265,803,654,632,653.050761265,0.400975084934,0.00452346389488,0.0598506711235,0.999999958799,0.000129691029256,-0.000254681712466,2.6807120671e-05,1793238197952585472
+101,1.683333333,BASELINE,767,746,715,680,667.633437645,636.366562355,880.366562355,788.633437645,803,654,632,653.633437645,0.4009748267,0.00452344009186,0.0598511852943,0.999999958804,0.000129828087485,-0.000254624065819,2.6505619257e-05,1793238197969252352
+102,1.700000000,BASELINE,766.787093005,746,715.212906995,680,668,636.212906995,880,788.787093005,803,654,632,654,0.400974378377,0.00452378860606,0.059851150848,0.999999958587,0.000130802307525,-0.000254997934442,2.63103190469e-05,1793238197985918976
+103,1.716666667,BASELINE,766.213063326,746,715.786936674,680,668,636.786936674,880,788.213063326,803,654,632,654,0.400973607632,0.00452476862695,0.0598501858633,0.999999957989,0.000133196481456,-0.000256103718675,2.62951522808e-05,1793238198002585856
+104,1.733333333,BASELINE,766.360377627,746,715.639622373,679.639622373,668,636.639622373,880.360377627,788,803.360377627,654,632,654,0.400974443906,0.0045242573324,0.0598509067666,0.99999995827,0.000133543204765,-0.000254813064958,2.63956752808e-05,1793238198019252480
+105,1.750000000,BASELINE,766.933471135,746,715.066528865,679.066528865,668,636.066528865,880.933471135,788,803.933471135,654,632,654,0.400976228735,0.00452286577664,0.0598526227793,0.999999959066,0.000132681403603,-0.000252107893983,2.65644851225e-05,1793238198035919104
+106,1.766666667,BASELINE,767,746,715,679.523078303,667.476921697,636.523078303,881,788,804,654,632,654,0.400976712677,0.00452345422986,0.0598526650708,0.999999959168,0.000133457493397,-0.000251304704834,2.64254225793e-05,1793238198052585728
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,880,788,804,654,632,654,0.400973958969,0.00452258999731,0.0598506054153,0.999999958533,0.000132194097236,-0.000254477199452,2.64771912303e-05,1793238198094724608
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,715,679.57313379,667.57313379,637,880,788,803.42686621,654,632,654,0.400975628169,0.00452289904234,0.0598516612211,0.999999959111,0.000131573704907,-0.000252532782079,2.63350202867e-05,1793238198111391232
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667.849930632,636.849930632,880,788,803.150069368,654,632,654,0.400976230245,0.00452342015555,0.0598521631707,0.999999959317,0.000131563377446,-0.000251732818446,2.62199993776e-05,1793238198128057856
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667.261899809,636.261899809,880,788,803.738100191,654,632,654,0.400973718031,0.00452456016721,0.0598510487502,0.999999958441,0.000133333459135,-0.000254272820631,2.61842129173e-05,1793238198144724480
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.677554767,746,715,680,667,636.322445233,880,788,803.677554767,654,632,654,0.400972922445,0.00452547159534,0.0598510336746,0.99999995817,0.000133883300954,-0.000255049681022,2.61676931804e-05,1793238198161390848
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.096169629,746,715,680,667,636.903830371,880,788,803.096169629,654,632,654,0.400973505399,0.00452619945921,0.059851901429,0.99999995839,0.000133453228057,-0.000254410648826,2.61666456034e-05,1793238198178057216
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.481582504,746,715,679.518417496,667,636.518417496,880,788,803,653.518417496,632,654,0.400974328457,0.00452356014269,0.0598514657117,0.999999958807,0.000129690678872,-0.000254693677061,2.64083392139e-05,1793238198194723584
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.058288851,880.058288851,788,803,653,632,654,0.400975141539,0.00452071622082,0.0598508730466,0.999999959186,0.000125964045671,-0.000255050735187,2.66641300373e-05,1793238198211390208
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.632114337,880.632114337,788,803,653,632,654,0.40097544549,0.00452196526818,0.059851177215,0.999999959031,0.000128396840661,-0.000254446197121,2.66190831108e-05,1793238198228057088
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.787792138,746,715,679.212207862,667,637,880.787792138,788,803,653.212207862,632,654,0.400977374406,0.00452231740602,0.0598523304393,0.999999959307,0.000129301795301,-0.000252890265263,2.67215129006e-05,1793238198244723712
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.196501613,746,715,679.803498387,667,637,880.196501613,788,803,653.803498387,632,654,0.400982206116,0.00452106732762,0.059855000395,0.999999960349,0.000127477455005,-0.000249634788087,2.70873913057e-05,1793238198261390336
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.385729274,746,715,680,667.385729274,637,880.385729274,788,803.385729274,653.614270726,632,654,0.400999270403,0.00452178531169,0.0598627999452,0.999999963485,0.000127920548203,-0.00023650519316,2.7044192038e-05,1793238198278057216
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.963450882,746,715,680,667.963450882,637,880.963450882,788,803.963450882,653.036549118,632,654,0.401022423316,0.00452348287623,0.0598731526927,0.999999967394,0.000129492230294,-0.000218460868683,2.67973790621e-05,1793238198294724096
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668,636.460140062,880.460140062,788,804,653.539859938,632,654,0.401071503138,0.00452228387271,0.0598936579155,0.999999974904,0.000127473869354,-0.000182253745296,2.69589169572e-05,1793238198311390464
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667.881849435,636.118150565,880,788,803.881849435,653.881849435,632,653.881849435,0.401124595224,0.00452103168588,0.0599140938558,0.999999981004,0.00012553396781,-0.000146617032622,2.71546592672e-05,1793238198328056832
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667.295755462,636.704244538,880,788,803.295755462,653.295755462,632,653.295755462,0.401186643122,0.00452034364973,0.0599315397743,0.999999984856,0.000124865091038,-0.000118097728608,2.73766431256e-05,1793238198344723712
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.712304713,746,715,680,667,637,880,788,803.287695287,653.287695287,632,653.287695287,0.401251573246,0.00452022766021,0.0599449987326,0.99999998709,0.000125112982531,-9.70065584849e-05,2.74896502713e-05,1793238198361390336
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.13154654,746,715,680,667,637,880,788,803.86845346,653.86845346,632,653.86845346,0.401319439366,0.00452069439016,0.0599543963442,0.999999988162,0.000126294746752,-8.34821124822e-05,2.74916474999e-05,1793238198378056960
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.446094491,746,715,680,667,637,880,788,803.553905509,654,632,654,0.401395695996,0.00452101203653,0.0599565294866,0.999999988701,0.000125091263612,-7.90746276988e-05,2.6391806721e-05,1793238198394723584
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746.022704003,715,679.977295997,667.022704003,637,880,788.022704003,803,654,632,654,0.40147538948,0.00452127556684,0.0599566342183,0.999999989122,0.000123210823622,-7.71400083524e-05,2.50030861157e-05,1793238198411390208
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746.596432916,715,679.403567084,667.596432916,637,880,788.596432916,803,654,632,654,0.401578862408,0.00452128526691,0.0599591394104,0.999999989798,0.000121853056301,-7.04258249712e-05,2.44342269587e-05,1793238198428057088
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.824762914,746.824762914,715,679.175237086,668,637,880.175237086,788.824762914,803,654,632,654,0.4016868924,0.00452135153452,0.0599615871876,0.999999990445,0.000120229015176,-6.39642457832e-05,2.37391944294e-05,1793238198444723968
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.233922014,746.233922014,715,679.766077986,668,637,880.766077986,788.233922014,803,654,632,654,0.401805730212,0.00452155196146,0.0599638987956,0.999999991095,0.000117973461762,-5.81017602992e-05,2.27449209021e-05,1793238198461390336
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.350435436,746,715,679.649564564,668,637,880.649564564,788,803.350435436,654,632,654,0.401937161995,0.00452074178554,0.0599643338023,0.999999991755,0.000113677272516,-5.57289185805e-05,2.14948396432e-05,1793238198478056960
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.930543739,746,715,679.069456261,668,637,880.069456261,788,803.930543739,654,632,654,0.402076847787,0.00451926926778,0.0599635388982,0.999999992414,0.000108043664987,-5.56431637218e-05,2.00771037366e-05,1793238198494723328
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.494152985,746,715,679.505847015,668,637,880,788,803.494152985,654,632,654,0.402242985487,0.00451912198865,0.0599639399109,0.999999992827,0.00010647252036,-5.16806889018e-05,1.83944838203e-05,1793238198511389952
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668,637,880,788,803.080560957,654,632,654,0.402417686953,0.00451926747413,0.0599642989678,0.999999993214,0.000105147233586,-4.73302934285e-05,1.65983993331e-05,1793238198528056576
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668,637,880,788,803.655669386,654,632,654,0.402622873237,0.00452010365097,0.0599634019143,0.999999993741,0.000101939192696,-4.38354654879e-05,1.43269475919e-05,1793238198544723200
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.237617001,746,715,679.762382999,667.762382999,636.762382999,880.237617001,788,803.762382999,654,632,654,0.40283719729,0.0045201664245,0.0599640272878,0.999999994415,9.7597278092e-05,-3.87337092943e-05,1.20235974533e-05,1793238198561390080
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.829768946,746,715,679.170231054,667.170231054,636.170231054,880.829768946,788,803.170231054,654,632,654,0.403065155281,0.00451907524646,0.059966924189,0.999999995273,9.15635745734e-05,-3.12343461705e-05,9.67265364816e-06,1793238198578056960
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667.410768672,636.410768672,881,788,803,654,632,653.589231328,0.403315543878,0.00451963135271,0.0599699873851,0.999999995901,8.69725713791e-05,-2.41976186763e-05,7.01258323759e-06,1793238198594723840
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667.987268836,636.987268836,881,788,803,654,632,653.012731164,0.403574982472,0.00452085208338,0.0599731176756,0.999999996399,8.29636499036e-05,-1.73475494455e-05,4.22779058446e-06,1793238198611390464
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.437784659,746,715,679.562215341,668,637,881,788,803,653.437784659,632,653.562215341,0.403848464985,0.00451790446296,0.0599631578823,0.999999996631,7.40408998012e-05,-3.53768659702e-05,1.92168410972e-06,1793238198628056832
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.132052913,746,715,680,668,637,880.867947087,788,803.132052913,653.132052913,632,654,0.404130541781,0.00451564145593,0.0599535099219,0.999999996483,6.579633197e-05,-5.20099682859e-05,-5.62108677783e-07,1793238198644723456
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.685691837,746,715,680,668,637,880.314308163,788,803.685691837,653.685691837,632,654,0.404439043736,0.00451586463175,0.0599458012363,0.999999996243,6.00711617566e-05,-6.23918989297e-05,-3.647684983e-06,1793238198661390080
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667.732646577,637,880,788,804,654,632,654,0.404764796639,0.00451660039348,0.0599387676609,0.999999995799,5.52343148276e-05,-7.28112038447e-05,-6.98905291469e-06,1793238198678056704
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667.114183319,637,880,788,804,654,632,654,0.405113204907,0.00451800932396,0.0599326206929,0.999999995146,5.15640840823e-05,-8.32795930769e-05,-1.06663472361e-05,1793238198694723584
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,715,679.529982833,667.470017167,636.529982833,880.470017167,788,803.529982833,653.529982833,632,653.529982833,0.405503952166,0.00451859111109,0.0599387109104,0.999999996167,4.55983822568e-05,-7.3393386859e-05,-1.41685307788e-05,1793238198711390208
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,715,679.046346925,668,636.046346925,881,788,803,653,632,653.046346925,0.405908202136,0.00451886257335,0.0599487137578,0.999999997455,3.88767933739e-05,-5.71670151995e-05,-1.75980382523e-05,1793238198728057088
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,715,679.621391936,668,636.621391936,881,788,803,653,632,653.621391936,0.406357123333,0.00451773051348,0.0599717413912,0.999999999128,2.94616022696e-05,-2.11909241651e-05,-2.06508073054e-05,1793238198744723712
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668.201238206,636.798761794,881,787.798761794,803,653,632,654,0.406817975621,0.00451619923437,0.0599933150176,0.999999999423,2.04426930253e-05,1.31112931002e-05,-2.3757534255e-05,1793238198761390336
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668.790338275,636.209661725,881,787.209661725,803,653,632,654,0.407301823592,0.00451389850939,0.0600120862233,0.999999998586,1.21875688849e-05,4.41873225781e-05,-2.69682582538e-05,1793238198778056960
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.62717047,746,715,679.62717047,668.62717047,636.37282953,881,787.37282953,803,653,632,654,0.40777899449,0.0045128782395,0.0600169950373,0.999999998424,4.56556717532e-06,4.71050667009e-05,-3.02118841018e-05,1793238198794723584
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.048330989,746,715,679.048330989,668.048330989,636.951669011,881,787.951669011,803,653,632,654,0.408252475903,0.00451256549542,0.060014244075,0.999999998842,-2.70659737354e-06,3.44637230708e-05,-3.34736900299e-05,1793238198811390208
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715,679.52632745,668,637,880.47367255,788,803.52632745,653,632,654,0.40874393728,0.00451136946138,0.0600025454408,0.999999999238,-1.05655053222e-05,9.09699370988e-06,-3.64630972889e-05,1793238198828057344
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.89922692,880,788,804,653,632,654,0.409247312232,0.00451032096908,0.0599919980678,0.999999998975,-1.75696689037e-05,-1.36599615638e-05,-3.94264400128e-05,1793238198844724480
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.323990025,880,788,804,653,632,654,0.409799066758,0.00451034601344,0.0599907090853,0.999999998721,-2.02978137276e-05,-1.86710982162e-05,-4.2383905293e-05,1793238198861391616
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636,880,788,803.741061163,653.258938837,632,654,0.410377951384,0.00451079344962,0.0599953138942,0.999999998814,-1.8361155819e-05,-9.24132003465e-06,-4.41421591725e-05,1793238198878058240
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636,880,788,803.148213207,653.851786793,632,654,0.410991821134,0.00451178557229,0.0600075189175,0.999999998785,-1.04091002343e-05,1.88104348079e-05,-4.43539956481e-05,1793238198894724864
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.433731208,880,788,803.433731208,653.566268792,632,654,0.411603402658,0.00451340587787,0.0600080883521,0.999999998821,2.03890374477e-05,2.11964929098e-05,-3.86298687284e-05,1793238198911390976
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746.011979216,715,680,668,637,880.011979216,788,804,653,632,654,0.412213818688,0.00451516202401,0.0600043440151,0.999999997743,5.77975592581e-05,1.42523442169e-05,-3.11611802519e-05,1793238198928057088
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746.587319964,715,680,668,637,880.587319964,788,804,653,632,654,0.412805296189,0.00451345896361,0.059980133001,0.999999997824,4.7939979202e-05,-2.9133107787e-05,-3.47024711649e-05,1793238198944723456
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746.833579943,715,680,668,637,881,788,804,653,632,654,0.413411310471,0.0045122029323,0.059957757108,0.999999995965,4.11591000624e-05,-7.03441764545e-05,-3.77773221941e-05,1793238198961390080
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746.244942204,715,680,668,637,881,788,804,653,632,654,0.414054205402,0.00451208104078,0.0599400370293,0.999999992701,4.21839967588e-05,-0.000106038701445,-3.96687871228e-05,1793238198978056704
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,679.661686352,668,637,881.338313648,788,803.661686352,653.338313648,632,654,0.414757309603,0.00451089474989,0.0599552588858,0.999999994984,4.34590569582e-05,-8.05631374939e-05,-4.06601087688e-05,1793238198994723584
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,679.082266047,668,637,881.917733953,788,803.082266047,653.917733953,632,654,0.415503323235,0.0045089498914,0.0599939575375,0.999999998084,4.4912401497e-05,-1.14933632899e-05,-4.10099233096e-05,1793238199011390464
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,679.494311899,668,637,881.505688101,788,803.494311899,653.505688101,632,654,0.416239794386,0.00450705003997,0.060023243116,0.999999997276,4.80073732435e-05,3.86969693366e-05,-4.05658195453e-05,1793238199028057088
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668,637,881.069644044,788,804,653,632,654,0.416968043381,0.00450512767064,0.0600449884621,0.999999995094,5.10968101189e-05,7.477179717e-05,-4.01162190812e-05,1793238199044723712
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668,637,881.639407225,788,804,653,632,654,0.417648587214,0.00450299011851,0.0600237721862,0.999999997305,5.2195785897e-05,3.1916167675e-05,-4.05705446932e-05,1793238199061390080
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.218858807,746,715,680,668,636.781141193,881.781141193,788,803.781141193,653,632,654,0.418356071115,0.00449753953683,0.060004504838,0.999999997984,4.87710821919e-05,-9.37978992703e-07,-4.06621901604e-05,1793238199078056704
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.815012499,746,715,680,668,636.184987501,881.184987501,788,803.184987501,653,632,654,0.419109997623,0.00448637755972,0.0599885972799,0.999999998353,3.75479211344e-05,-1.65503849012e-05,-4.01286045526e-05,1793238199094723328
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.602930837,746.397069163,715,680,668,636.397069163,881,788,803.397069163,653,632,653.602930837,0.41985323468,0.00448271046993,0.0599748363965,0.99999999845,1.38905969982e-05,-3.5150735135e-05,-4.08920076076e-05,1793238199111389952
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.027216593,746.972783407,715,680,668,636.972783407,881,788,803.972783407,653,632,653.027216593,0.42059166241,0.0044824153998,0.0599620413229,0.999999997472,-1.53609712119e-05,-5.50953881286e-05,-4.22389378262e-05,1793238199128056832
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746.452175363,715,680,668,636.452175363,881,788,804,653,632,653.547824637,0.421310678078,0.00448352632986,0.0599395569807,0.999999992975,-4.88752165739e-05,-9.93419635498e-05,-4.23437286248e-05,1793238199144723456
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.126429208,881.126429208,788,804,653,632.126429208,654,0.422041779731,0.00448392665707,0.0599230975983,0.999999987729,-7.4710198188e-05,-0.000130909706456,-4.26864575152e-05,1793238199161390080
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.71827419,881.71827419,788,804,653,632.71827419,654,0.422820918593,0.00448145426187,0.0599305873959,0.999999990269,-7.14973580259e-05,-0.000111364587971,-4.41319871296e-05,1793238199178056960
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.696601778,881.393203556,788,804.303398222,653,632.696601778,654,0.423649389252,0.00448011230596,0.0599642135057,0.999999995195,-6.78756656873e-05,-5.46459110364e-05,-4.49138499582e-05,1793238199194723584
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.117583382,880.235166765,788,804.882416618,653,632.117583382,654,0.424522675025,0.00447979729053,0.0600215829808,0.9999999963,-6.38825539686e-05,3.58428466419e-05,-4.5092808593e-05,1793238199211390208
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715.4543121,680,668.4543121,636.4543121,880,788,804.5456879,653,632,654,0.425315795321,0.00447894891303,0.0600394813873,0.999999995215,-5.72901625068e-05,6.51962769437e-05,-4.51455277135e-05,1793238199228056576
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.024800405,746,715.975199595,680,668.975199595,636.975199595,880.024800405,788,804,653,632,654,0.426088498452,0.00447791470007,0.0600460472443,0.999999994716,-5.02267982727e-05,7.74555059408e-05,-4.52377029028e-05,1793238199244723456
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.604412723,746,715.395587277,680,668.395587277,636.395587277,880.604412723,788,804,653,632,654,0.426861439436,0.00447576364513,0.0600241014126,0.999999996216,-4.74447907866e-05,5.58084412652e-05,-4.69321959915e-05,1793238199261390080
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.812596798,746,715.187403202,679.812596798,668,636.187403202,881,788,804,653.187403202,632,654,0.427626538644,0.00447479909819,0.0600045395908,0.999999997356,-4.37555988357e-05,3.20499913001e-05,-4.84438809712e-05,1793238199278056704
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.222344385,746,715.777655615,679.222344385,668,636.777655615,881,788,804,653.777655615,632,654,0.428374781011,0.00447638511463,0.0599901025252,0.999999998038,-3.81162873596e-05,3.75282131687e-06,-4.95625948627e-05,1793238199294723584
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746.359633524,715.640366476,679.359633524,668,637,881.359633524,788,804,653.640366476,632,654,0.429127673526,0.00447589353963,0.0599752685326,0.9999999979,-3.50474357953e-05,-2.14198007553e-05,-5.01300685734e-05,1793238199311390464
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746.936610721,715.063389279,679.936610721,668,637,881.936610721,788,804,653.063389279,632,654,0.4298833763,0.00447414637706,0.059960194659,0.99999999717,-3.35320359507e-05,-4.47041079635e-05,-5.03644015092e-05,1793238199328057088
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.513080062,746.486919938,715,680.513080062,668,636.486919938,881.486919938,788,804,653,632,653.486919938,0.430644094981,0.00447412970115,0.0599558349843,0.999999996858,-3.26367228525e-05,-5.03366230446e-05,-5.18093921133e-05,1793238199344723712
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.908609595,746.091390405,715,680.817219191,668,636,881,788,804,653,632.091390405,653.091390405,0.431410440745,0.00447355971315,0.059960011807,0.999999997189,-3.2590145355e-05,-4.16221295423e-05,-5.31770801721e-05,1793238199361389824
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.319940836,746.680059164,715,679.639881672,668,636,881,788,804,653,632.680059164,653.680059164,0.432204036278,0.00446881684765,0.060003442397,0.999999997349,-3.67453133016e-05,3.33034231691e-05,-5.33110876535e-05,1793238199378056448
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746.735388177,715,679.264611823,668,636,881.264611823,788,804,653,632.735388177,653.735388177,0.43297131729,0.00446527545006,0.0600286594865,0.999999995108,-3.81140603519e-05,7.41258313186e-05,-5.32514724594e-05,1793238199394723328
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746.155736086,715,679.844263914,668,636,881.844263914,788,804,653,632.155736086,653.155736086,0.43370726883,0.00446316449068,0.0600321920315,0.99999999518,-3.61653637577e-05,7.43458771054e-05,-5.29613351809e-05,1793238199411389952
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636,882,788,804,653,632.421312432,653.421312432,0.434421219175,0.00446326401337,0.0600095129589,0.999999997255,-3.44389303086e-05,3.72624988313e-05,-5.39903143972e-05,1793238199428056832
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636,882,788,804,653,632.997404509,653.997404509,0.435127086892,0.0044641756117,0.0599772043941,0.99999999783,-3.27941505408e-05,-1.35252241979e-05,-5.55039038654e-05,1793238199444723456
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.570882046,746,715,680,668.570882046,636.570882046,882,788.570882046,804,653,632.429117954,654,0.435801189326,0.00446189125379,0.0599615343946,0.99999999688,-3.28623230874e-05,-4.54653183558e-05,-5.56186187453e-05,1793238199461390080
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.850803658,746,715,680,668.850803658,636.850803658,882,788.850803658,804,653,632,653.850803658,0.436471507131,0.00446012830243,0.0599502989737,0.999999995626,-3.22408763029e-05,-6.786566309e-05,-5.56944988241e-05,1793238199478056960
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.25807529,746,715,680,668.25807529,636.25807529,882,788.25807529,804,653,632,653.25807529,0.4371310015,0.0044599583907,0.0599520228412,0.999999996082,-2.95462777303e-05,-6.21597538881e-05,-5.56737513122e-05,1793238199494723584
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636,881.672676264,788.327323736,804,653,632,653,0.437774823313,0.00445864769126,0.0599486802291,0.999999995235,-2.98346916765e-05,-7.43803071073e-05,-5.57364088193e-05,1793238199511390208
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636,881.092929462,788.907070538,804,653,632,653,0.438406558843,0.0044564572477,0.0599414304871,0.999999992871,-3.24235230157e-05,-0.000100425255625,-5.58633859565e-05,1793238199528056832
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636,881,788.518080992,804,653,632,653,0.439069412814,0.00445443469081,0.0599544374603,0.999999992077,-8.38587617273e-05,-7.49579347513e-05,-5.65297468182e-05,1793238199544723456
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746.05577331,715,680,668,636,881,788.05577331,804.05577331,653,632,653,0.439735258383,0.00445248469004,0.0599733567399,0.999999988091,-0.000138263069804,-3.79801281793e-05,-5.70890680667e-05,1793238199561390336
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746.629079098,715,680,668,636,881,788.629079098,804.629079098,653,632,653,0.440373742747,0.00445091057094,0.0600112563223,0.999999989406,-0.000133695087563,1.45608985208e-05,-5.5699723439e-05,1793238199578057216
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.208954497,746.791045503,715,680.208954497,668.208954497,636,881.208954497,788.791045503,804.791045503,653,632.208954497,653.208954497,0.440977809511,0.00444901398155,0.0600329605137,0.999999989255,-0.000129242904452,4.28194334207e-05,-5.43304811114e-05,1793238199594724096
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.800870287,746.199129713,715,680.800870287,668.800870287,636,881.800870287,788.199129713,804.199129713,653,632.800870287,653.800870287,0.441518797356,0.00444652638503,0.0600249826027,0.99999999043,-0.000125002953201,2.65742330078e-05,-5.29980816435e-05,1793238199611390720
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.615050027,746.384949973,715,680.615050027,668.615050027,636,881.615050027,788.384949973,804,653,632.615050027,654,0.442037560966,0.0044445565404,0.0599998124376,0.999999990968,-0.00012265569877,-1.16381224137e-05,-5.36956720096e-05,1793238199628057088
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.034942936,746.965057064,715,680.034942936,668.034942936,636,881.034942936,788.965057064,804,653,632.034942936,654,0.442545057661,0.0044428491789,0.0599659263582,0.999999989252,-0.000121267979454,-6.09871124815e-05,-5.54224009799e-05,1793238199644723456
+201,3.350000000,POSE1_TO_POSE2_PRESS,766.517448845,746.482551155,715,680,668.517448845,636.517448845,881.517448845,788.482551155,804,653,632,654,0.443045044149,0.00443974590766,0.0599578822411,0.999999988625,-0.000122359656359,-6.80900644573e-05,-5.60611665836e-05,1793238199661390336
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.076020205,715,680.076020205,669,636.923979795,882,788.076020205,804.076020205,653,632,654,0.443544634946,0.00443710539648,0.0599544843021,0.999999988426,-0.000123421035576,-6.85351466247e-05,-5.67333318721e-05,1793238199678056960
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.690997275,715,680.690997275,669,636.309002725,882,788.690997275,804.690997275,653,632,654,0.444044833452,0.00443838002079,0.0599722830551,0.999999989889,-0.000123140928935,-4.0975673005e-05,-5.81366814555e-05,1793238199694723840
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.711270473,746.711270473,715.288729527,681,669,636,882.288729527,788.711270473,804.711270473,653,632,654,0.444517029568,0.00443858887166,0.0599845042353,0.999999990262,-0.000124160010856,-2.3653705053e-05,-5.91743597646e-05,1793238199711390720
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.130953754,746.130953754,715.869046246,681,669,636,882.869046246,788.130953754,804.130953754,653,632,654,0.444960946114,0.00443772140067,0.0599910926382,0.99999999007,-0.000126491139981,-1.66705689086e-05,-5.98427475593e-05,1793238199728057856
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,715.552983096,681,668.552983096,636,882.552983096,788.447016904,804.447016904,653,632.447016904,654,0.445345582989,0.0044377010271,0.0599752254893,0.999999989156,-0.000124915000795,-4.93035052717e-05,-6.04405392273e-05,1793238199744724224
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,715,681.024261867,668,636,881.975738133,788.975738133,805,653,632.975738133,654,0.44571126687,0.00443802993456,0.0599521525202,0.999999986242,-0.000122145552965,-9.41794002415e-05,-6.10492202443e-05,1793238199761390336
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,715,681.600551295,668,636,881.399448705,788.399448705,805,653,632.399448705,654,0.44603877928,0.00444068917378,0.0599140216062,0.999999979074,-0.000118132685026,-0.000154937002202,-6.23737672286e-05,1793238199778056704
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.180671519,746,715.180671519,681.819328481,667.819328481,636,881.180671519,788,805,653,632.180671519,654,0.446363722103,0.00444228491528,0.059884090243,0.99999997125,-0.000114797205068,-0.000200739161231,-6.34536951029e-05,1793238199794723328
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.769444687,746,715.769444687,681.230555313,667.230555313,636,881.769444687,788,805,653,632.769444687,654,0.446682860687,0.00444147842295,0.0598726800673,0.999999968936,-0.000112991813527,-0.000212759890728,-6.39810764781e-05,1793238199811389952
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.647295066,746,715.647295066,681,667,636,882,788,805,653,632.647295066,653.647295066,0.446994010623,0.00444117782046,0.05986935175,0.999999970175,-9.82177126408e-05,-0.000215515908358,-5.96403624028e-05,1793238199828056576
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.067582973,746,715.067582973,681,667,636,882,788,805,653,632.067582973,653.067582973,0.447300018956,0.00444120281758,0.0598712250589,0.999999973282,-7.50967199407e-05,-0.000212308994029,-5.21664556891e-05,1793238199844723456
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746.506688134,715,681,666.493311866,635.493311866,882,788,805,653,632.506688134,653,0.447578197561,0.00444551633068,0.0598727250987,0.999999975289,-5.92493965989e-05,-0.000208327348589,-5.01108749714e-05,1793238199861390336
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746.917558181,715,681,666,635,881.917558181,788,804.917558181,653,632.917558181,653.082441819,0.447847025167,0.00445087440656,0.0598726098533,0.999999976255,-4.59235536981e-05,-0.000207172647645,-4.95941156673e-05,1793238199878057472
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746.328275283,715,681,666,635,881.328275283,788,804.328275283,653,632.328275283,653.671724717,0.448080942518,0.00445917503653,0.0598628668894,0.99999997255,-4.2198286938e-05,-0.000224026155218,-5.41419265109e-05,1793238199894723840
+216,3.600000000,POSE1_TO_POSE2_PRESS,766.256888243,746.256888243,715,681,666,635,881.513776486,788,804.256888243,653,632,654,0.448298360562,0.00447059957789,0.0598512035234,0.999999968324,-3.48611404533e-05,-0.000242182111362,-5.90355118225e-05,1793238199911390464
+217,3.616666667,POSE1_TO_POSE2_PRESS,766.836870705,746.836870705,715,681,666,635,882.673741409,788,804.836870705,653,632,654,0.448495027034,0.00448595313357,0.0598371248244,0.999999963349,-2.29812504611e-05,-0.000261976185822,-6.43639853107e-05,1793238199928057088
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746.586182436,715,681,666,635,882.586182436,788,805,653,632,654,0.448662893831,0.00449121474025,0.0598209052349,0.999999956098,-1.88705624432e-05,-0.000288232387424,-6.61092496991e-05,1793238199944723456
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,746.010423528,715,681,666,635,882.010423528,788,805,653,632,654,0.448819490298,0.00449252701254,0.0598038478401,0.999999947384,-1.78002362467e-05,-0.000317017445667,-6.64522783772e-05,1793238199961389824
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.435411092,746,715,681.564588908,665.435411092,635,882,788,804.435411092,653,632.564588908,653.435411092,0.448954312156,0.00449197907167,0.0597867118045,0.99999993805,-1.9814295096e-05,-0.000344992654312,-6.69857992851e-05,1793238199978056704
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,715,682,665,635,882,788,804.142714127,653,632.857285873,653,0.449085601615,0.00449233701423,0.059771638518,0.999999929295,-2.09829839921e-05,-0.000369288460522,-6.77962666451e-05,1793238199994723584
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,715,682,665,635,882,788,804.730591775,653,632.269408225,653,0.449207124864,0.00449562763476,0.0597630040235,0.99999992438,-1.93373473735e-05,-0.000382153798491,-6.94596484115e-05,1793238200011390208
+223,3.716666667,POSE1_TO_POSE2_PRESS,766.313955835,746,715,682,665,635,882,788.313955835,805,653,632.313955835,653.313955835,0.44932405057,0.00449603712576,0.0597598382862,0.999999922993,-2.02822452845e-05,-0.000385619117497,-7.00040876629e-05,1793238200028056832
+224,3.733333333,POSE1_TO_POSE2_PRESS,766.893501703,746,715,682,665,635,882,788.893501703,805,653,632.893501703,653.893501703,0.44943708701,0.00449400933392,0.0597612988273,0.999999924673,-2.34185982247e-05,-0.000381132519044,-6.96019609125e-05,1793238200044723456
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746.470760568,715,681.529239432,665,635,882,788.529239432,804.529239432,653,633,654,0.449526858842,0.00449447001525,0.0597591108997,0.999999923083,-2.29530695956e-05,-0.000385251683274,-6.99181932808e-05,1793238200061390080
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746.953278683,715,681,665,635,882,788.046721317,804.046721317,653,632.953278683,654,0.449609916085,0.00449550212582,0.0597560914282,0.999999920754,-2.16088743215e-05,-0.000391244343906,-7.03738618521e-05,1793238200078056704
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746.38604344,715,681,665,635,882,788.61395656,804.61395656,653,632.38604344,654,0.449676518684,0.00449665894182,0.059752958812,0.999999918703,-1.9509701399e-05,-0.000396524676947,-7.05812057228e-05,1793238200094723584
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746.191350624,715.191350624,681,665,635,882,788.808649376,805,653,632,654,0.449737629935,0.00449792701957,0.0597489821529,0.999999916122,-1.72586945687e-05,-0.000403057474753,-7.07353861931e-05,1793238200111390208
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746.790388822,715.790388822,681,665,635,882,788.209611178,805,653,632,654,0.449787041431,0.00449943214915,0.059743207194,0.999999912409,-1.46841937652e-05,-0.000412258747068,-7.07762978391e-05,1793238200128056832
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,746.623807566,715.623807566,681.376192434,664.623807566,635,882,788.376192434,805,653,632,654,0.44982970279,0.00449929212009,0.0597387951707,0.999999910301,-1.57597258135e-05,-0.000417275748275,-7.09304185732e-05,1793238200144723456
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746.045127561,715.045127561,681.954872439,664.045127561,635,882,788.954872439,805,653,632,654,0.449868730849,0.00449826657562,0.0597351167548,0.999999909075,-1.87999074766e-05,-0.000420040543088,-7.11454746991e-05,1793238200161390080
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.46995926,746,715,682,664,635,882,788.46995926,805,653,632.53004074,654,0.449897617395,0.00449861023818,0.0597343014571,0.999999908433,-1.68572998166e-05,-0.00042175983129,-7.04861620932e-05,1793238200178056960
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.107482763,746,715,682,664,635,882,788,805,653,632.892517237,653.892517237,0.449923797862,0.00449910015478,0.0597334984394,0.999999907722,-1.46028437846e-05,-0.000423619685455,-6.99256208705e-05,1793238200194723584
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.696440394,746,715,682,664,635,882,788,805,653,632.303559606,653.303559606,0.449941698686,0.00449972646159,0.059731665658,0.999999906504,-1.28393166799e-05,-0.000426505331612,-7.01388108291e-05,1793238200211390208
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,715,681.719368677,664,635,882,788,805,653,632.280631323,653.280631323,0.449956398506,0.00449989129555,0.059729563405,0.999999905283,-1.24685995711e-05,-0.000429386000299,-7.00392027052e-05,1793238200228056832
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,715,681.140247713,664,635,882,788,805,653,632.859752287,653.859752287,0.449967693622,0.00449956529035,0.0597271745319,0.99999990406,-1.35793254105e-05,-0.000432261375126,-6.96068912361e-05,1793238200244723456
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746,715.43531414,681,664.43531414,635,881.56468586,788,805,653,633,654,0.449974842822,0.00450045876711,0.0597256224069,0.999999902767,-1.5041386195e-05,-0.000435099959752,-7.0200316719e-05,1793238200261389824
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.990217062,746,715.990217062,681.009782938,665,635,881.009782938,788,804.990217062,653,632.990217062,653.990217062,0.44998059006,0.00450169640186,0.0597243176226,0.999999901439,-1.65757842378e-05,-0.000437941508067,-7.1090669484e-05,1793238200278056704
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.413177185,746,715.413177185,681.586822815,665,635,881.586822815,788,804.413177185,653,632.413177185,653.413177185,0.449981867859,0.00450029323297,0.0597218500662,0.99999989989,-1.57945007895e-05,-0.000441636623549,-7.01916042584e-05,1793238200294723328
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715,681.834718019,664.834718019,635,882.165281981,788,804.165281981,653,632.165281981,653.165281981,0.449983947002,0.00449964558774,0.0597204971184,0.999999899045,-1.46378178328e-05,-0.000443684953033,-6.9559652892e-05,1793238200311390208
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,681.252680171,664.252680171,635,882.747319829,788,804.747319829,653,632.747319829,653.747319829,0.449988046719,0.00450090298335,0.0597219546385,0.999999900002,-1.25345710784e-05,-0.000441580937799,-6.96012248974e-05,1793238200328057088
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.332466524,746,715,681.332466524,664,635,882.335066951,788,804.667533476,653,632.667533476,654,0.449989424965,0.00450045503901,0.0597215746633,0.999999899893,-1.24430890149e-05,-0.000441905057062,-6.91351446152e-05,1793238200344723456
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.919998271,746,715,681.919998271,664,635,881.160003458,788,804.080001729,653,632.080001729,654,0.449988715323,0.00449869877367,0.0597197849788,0.999999898964,-1.38950141932e-05,-0.000444092018606,-6.82795982215e-05,1793238200361390080
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.505056509,746,715,682,664,634.505056509,881.494943491,788,804,653,632.494943491,654,0.449991720114,0.00450112498823,0.0597213190793,0.99999990001,-1.24557508212e-05,-0.000441727536629,-6.85692355512e-05,1793238200378056960
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746.06817906,715,681.93182094,664,634,882,788,804,653,633,654,0.44999452572,0.0045037841798,0.0597228213884,0.999999900979,-1.06658696388e-05,-0.000439507204717,-6.90044174998e-05,1793238200394723584
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,746.64345493,715,681.35654507,664,634,882,788,804,653,633,654,0.449991495035,0.00450327262908,0.0597201904199,0.999999899128,-9.65783477143e-06,-0.000443695155595,-6.91795008003e-05,1793238200411389952
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,747,715,681,664,634,882,788,804,653,633,654,0.449989742208,0.00450328945305,0.0597183966069,0.999999897976,-9.36479764551e-06,-0.000446263302956,-6.9354111196e-05,1793238200428056576
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,747,715,681,664,634,882,788,804,653,633,654,0.44999007237,0.00450416756141,0.0597179674104,0.999999897987,-1.02372523006e-05,-0.000446191067905,-6.95279507561e-05,1793238200444723456
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,747,715,681,664,634,882,788,804,653,633,654,0.449990632149,0.00450321182861,0.059717813384,0.999999897861,-1.01194569484e-05,-0.000446526500663,-6.92038820579e-05,1793238200461390336
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,747,715,681,664,634,882,788,804,653,633,654,0.449991293753,0.00450144285773,0.059717781385,0.999999897674,-9.56252374729e-06,-0.000447042718421,-6.86590101847e-05,1793238200478056960
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746.446960183,715,681.553039817,664,634.553039817,882,788,804.553039817,653,633,654,0.449991666196,0.00450183771471,0.0597179094994,0.999999898011,-1.0604711358e-05,-0.000446272434024,-6.85998327932e-05,1793238200494723584
+252,4.200000000,POSE1_TO_POSE2_PRESS,766.130209937,746,715,681.869790063,664,634.869790063,882,788,804.869790063,653,633,654,0.449991762355,0.00450204926073,0.0597178119964,0.999999898098,-1.16740878768e-05,-0.000446058186699,-6.8561561951e-05,1793238200511390208
+253,4.216666667,POSE1_TO_POSE2_PRESS,766.71952368,746,715,681.28047632,664,634.28047632,882,788,804.28047632,653,633,654,0.449990922506,0.00450132910259,0.0597168978782,0.999999897231,-1.2628431562e-05,-0.000447974124186,-6.85329499423e-05,1793238200528056576
+254,4.233333333,POSE1_TO_POSE2_PRESS,766.695710697,746,715,681.304289303,664,634.304289303,882.304289303,788,804.304289303,653,632.695710697,653.695710697,0.449991543634,0.00450152387058,0.0597167845225,0.999999897202,-1.24883336367e-05,-0.000448042740471,-6.853479174e-05,1793238200544723456
+255,4.250000000,POSE1_TO_POSE2_PRESS,766.115075564,746,715,681.884924436,664,634.884924436,882.884924436,788,804.884924436,653,632.115075564,653.115075564,0.449993491573,0.00450254954531,0.0597173983937,0.999999897933,-1.13542987261e-05,-0.000446433678508,-6.85642907141e-05,1793238200561390080
+256,4.266666667,POSE1_TO_POSE2_PRESS,766,746,715,682,664,634.538701994,882.538701994,788,804.538701994,653,632,653.461298006,0.449992878657,0.00450184503539,0.0597169485021,0.999999897627,-1.33195949742e-05,-0.000447079375233,-6.84698937788e-05,1793238200578056448
+257,4.283333333,POSE1_TO_POSE2_PRESS,766,746.0363067,715,681.9636933,664,634,882,788,804,653,632,653.9636933,0.449991678279,0.00450080560516,0.0597162836218,0.999999897085,-1.58096379854e-05,-0.000448229105667,-6.83490819266e-05,1793238200594723328
+258,4.300000000,POSE1_TO_POSE2_PRESS,766,746.60673196,715,681.39326804,664,634,882,788,804,653,632,653.39326804,0.449991147613,0.00450113052153,0.0597163241335,0.999999896941,-1.47493092327e-05,-0.000448594862307,-6.82901942948e-05,1793238200611389952
+259,4.316666667,POSE1_TO_POSE2_PRESS,766,746.815747279,715,681.184252721,664,634,881.815747279,788,804.184252721,653,632,653,0.449990996091,0.00450120655404,0.0597163245173,0.999999896876,-1.39138399927e-05,-0.000448772320707,-6.8242245871e-05,1793238200628056832
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+261,4.350000000,HOLD_POSE2,766,746,715,681,663,634,882,788,804,653,633,653,0.449992992087,0.00450350272625,0.0597167260108,0.999999897483,-8.52321019254e-06,-0.000447570147578,-6.81312360144e-05,1793238200679920128
+262,4.366666667,HOLD_POSE2,766,746,715,681,663.575702506,634,882,788,804,653,632.424297494,653,0.449993310843,0.00450267648843,0.0597169053285,0.999999897384,-1.14174255514e-05,-0.000447683245576,-6.84200399256e-05,1793238200696587264
+263,4.383333333,HOLD_POSE2,766,746.15594376,715,681,664,634,882,787.84405624,804,653,632,653,0.449993420793,0.00450262656376,0.0597169466117,0.999999897196,-1.26961781554e-05,-0.000448035919233,-6.86406225381e-05,1793238200713254400
+264,4.400000000,HOLD_POSE2,766,746.748904538,715,681,664,634,882,787.251095462,804,653,632,653,0.449992945589,0.00450475217998,0.0597166010665,0.99999989677,-9.44775626233e-06,-0.000449059980094,-6.8670021752e-05,1793238200729920768
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+267,4.450000000,HOLD_POSE2,766,746,715,681.470347428,664,634,882,788,805,653,632,654,0.449992366132,0.00450381493085,0.05971587699,0.99999989622,-1.02188393471e-05,-0.000450307678242,-6.84069687677e-05,1793238200779920384
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+269,4.483333333,HOLD_POSE2,766,746,715,681.376484924,664,634,882,788,805,653,632,654,0.449992846415,0.00450190905061,0.0597162529826,0.999999896612,-1.23300023184e-05,-0.000449459370193,-6.79041387656e-05,1793238200813253376
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+271,4.516666667,HOLD_POSE2,766,746,715,681,664,634.808918887,882,787.191081113,805,653,632.808918887,654,0.449993101254,0.00450150517564,0.0597164999401,0.999999896566,-1.38567501059e-05,-0.000449463893271,-6.82549210134e-05,1793238200846586624
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766.575106028,746,715,681.424893972,663.424893972,634,881.424893972,788,805,653,633,653,0.449990785995,0.00450178271713,0.0597130873725,0.999999894741,-1.24945186124e-05,-0.000453646506428,-6.75791715747e-05,1793238201012455936
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,681.033243055,664,634.966756945,882.033243055,788,805,653,632,654,0.449951156825,0.00450540465093,0.0596930278174,0.999999881323,-1.13023893605e-05,-0.000482165868097,-6.88684994e-05,1793238201195789056
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,766.884457556,746,715,682,663.115542444,635,881.884457556,788,804.884457556,653,632.115542444,654,0.449872559913,0.00450439360865,0.0596621133983,0.999999858944,-1.07248831936e-05,-0.00052655533061,-6.88187040583e-05,1793238201229122048
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.872800991,746.872800991,715,681.127199009,664,635,881.872800991,788,804,653,633,653.127199009,0.449695570849,0.00450753627562,0.0596252804662,0.999999833388,-6.42363751685e-06,-0.000573019825669,-6.94999659216e-05,1793238201279122176
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746.551506616,715,681,664,634.551506616,882,788,804.448493384,653,633,653,0.449622025616,0.00450705215521,0.0596212436495,0.999999830071,-5.79426022359e-06,-0.000578882749852,-6.86924523649e-05,1793238201295789056
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,766.400157269,746.599842731,715,681.599842731,664,634.599842731,882,788,805,653,632.400157269,653.599842731,0.449452349965,0.00450672075498,0.0596182040032,0.999999826302,-2.91335618007e-06,-0.000585550312807,-6.72220880973e-05,1793238201329122816
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746.226402077,715,681.226402077,664,634.226402077,882,788,804.226402077,652.226402077,632,654,0.449229895274,0.00450883087975,0.0596093009165,0.999999816416,-3.01123949038e-07,-0.000602295364219,-6.63884023723e-05,1793238201362455808
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+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,746.930789766,715,681,664,634.930789766,882,788,804,652,632,654,0.448954079106,0.00450963127272,0.0595951653342,0.999999803181,8.74768154526e-06,-0.00062403310121,-6.43672824328e-05,1793238201395789312
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766.5063595,747,715,681.5063595,664.5063595,635,881.4936405,788,804.5063595,652.5063595,632.5063595,653.4936405,0.448800242974,0.00450978139741,0.059597386583,0.999999805773,1.09956883078e-05,-0.000619958307418,-6.31203523857e-05,1793238201412455936
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746.918279395,715,681.918279395,665,635,881.081720605,788,805,653,633,653.081720605,0.448642267861,0.00451012381023,0.0596019217155,0.999999810362,1.34242472608e-05,-0.000612595817625,-6.18250215235e-05,1793238201429122304
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,766.762219682,746,715,681,665,635,882,788,805,653,632.762219682,654,0.448287374242,0.00451323695095,0.0596273067881,0.999999831949,2.51587874159e-05,-0.000576236105746,-5.84917072272e-05,1793238201462455552
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+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,665.414650444,635,882,788,804.585349556,653,632.414650444,654,0.44787166545,0.0045154064163,0.0596654672648,0.999999864346,3.4971111868e-05,-0.000516916626481,-5.36928544072e-05,1793238201495789056
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,665.99216444,635,882,788,804.00783556,653,632.99216444,654,0.447640922305,0.00451574399521,0.0596820489825,0.999999877937,4.07643280206e-05,-0.000489755491947,-5.10230842886e-05,1793238201512455936
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,746.567781445,715,681,666,635.567781445,882,788,805.135562889,653,633,653.432218555,0.447373607217,0.00451552144154,0.059692584046,0.999999885537,4.48499417343e-05,-0.000473858948259,-4.87140668091e-05,1793238201529122560
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766.145925942,746.854074058,715,681.145925942,666,636,881.854074058,788,805.708148116,653,632.854074058,653.145925942,0.447096236727,0.00451534398612,0.0597034255591,0.999999892646,4.97019323976e-05,-0.000458372100489,-4.61824246452e-05,1793238201545788928
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.47275589,746,715,681,666.47275589,636,882,788.47275589,804,652.47275589,632.52724411,654,0.445755167393,0.00451788152406,0.0597338344598,0.999999908989,7.92827937489e-05,-0.00041784764123,-3.37636529364e-05,1793238201612455936
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746.263273547,715.263273547,681,668,636,881.736726453,788,804.736726453,653,633,653.263273547,0.441035038695,0.0045394932718,0.0597726612691,0.999999915757,0.00018741322775,-0.000365164300179,4.03917685371e-06,1793238201779123712
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746.858202419,715.858202419,681,668,636,881.141797581,788,804.141797581,653,633,653.858202419,0.440436914185,0.00454254995083,0.0597699101614,0.999999910002,0.000199596773482,-0.000374284070506,8.33445595124e-06,1793238201795790336
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746.559339361,716,681,668,636,881.440660639,788,804,653,632.559339361,654,0.439858191707,0.00454433767595,0.0597896534136,0.999999919231,0.000210740858275,-0.000342005405587,1.26018664897e-05,1793238201812456704
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746.019015092,715.980984908,681,668,636,881.980984908,788,804,653,632,654,0.439284398611,0.00454578354348,0.0598163519151,0.999999931161,0.000221556719429,-0.00029716455467,1.68731370398e-05,1793238201829122816
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746.591509823,715.408490177,681,668,636,881.408490177,788,804,653,632,654,0.43867736207,0.00454883712879,0.0598406091895,0.999999938008,0.00023228683331,-0.000263749857643,2.15106122399e-05,1793238201845790208
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.830310966,746.830310966,715,680.830310966,667.830310966,636,881,788,804,653,632,654,0.438046819133,0.00455235098283,0.0598498389359,0.999999938,0.000244179912118,-0.000252422350043,2.56847253836e-05,1793238201862457088
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.237973318,746.237973318,715,680.237973318,667.237973318,636,881,788,804,653,632,654,0.437357728277,0.00455701123923,0.0598216392505,0.999999922215,0.00025896961567,-0.000296107945949,2.8704731104e-05,1793238201879122944
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766.342778844,746,715,680,667.342778844,636,881,788,804.342778844,653,632,653.657221156,0.436651401499,0.00455973492574,0.0597917711519,0.999999905176,0.000269262498252,-0.000340803792285,3.15990762186e-05,1793238201895789568
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766.915750751,746,715,680,667.915750751,636,881,788,804.915750751,653,632,653.084249249,0.43593349997,0.00456115810894,0.0597607826318,0.999999886605,0.000276535540833,-0.000386178070077,3.44090338339e-05,1793238201912456704
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,715,680.500052112,668,636.500052112,881.500052112,788,805,653,632.500052112,653,0.435266567168,0.00456377105266,0.0597678712151,0.999999893129,0.000287308433918,-0.000360311166823,3.70379283473e-05,1793238201929123328
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,715,680.350484656,668,636.350484656,882,788,805,653,632.350484656,653,0.433874255024,0.00456982797431,0.0597984743687,0.999999908466,0.000301252819215,-0.000300891083473,4.21735114227e-05,1793238201962456064
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766.772586069,746,715,680.227413931,667.772586069,636,881.772586069,788,804.772586069,653.227413931,632,653,0.433142581241,0.00457044663859,0.0598085152889,0.999999919962,0.000273969790329,-0.000289338275329,3.60654076001e-05,1793238201979122432
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,746.864752658,715,680.864752658,667.864752658,636,881,788,804,653,632.864752658,654,0.429371808535,0.0045752801853,0.0598358772164,0.999999941548,0.000223067865624,-0.00025768744503,2.72458742925e-05,1793238202062456064
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746.276508785,715,680.276508785,667.276508785,636,881,788,804,653,632.276508785,654,0.42856469421,0.00457746629374,0.0597935853485,0.99999991906,0.000226228761555,-0.000331482695696,2.86472039641e-05,1793238202079122688
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.88731139,746,715,680,667.88731139,636.88731139,881,788,804,653,632,654,0.427009480161,0.00458012577976,0.0597694309822,0.999999919159,0.000206304430142,-0.000344337103961,2.35005356947e-05,1793238202112455680
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.371384424,746.628615576,716,680.628615576,667.371384424,636.371384424,881,788.628615576,804,654,632.628615576,654,0.422389796441,0.00458199062411,0.0598440410532,0.999999948369,0.000193718926694,-0.000254387343744,3.19811893418e-05,1793238202212455936
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.06488497,746.93511503,715,680,667.93511503,637,880.93511503,788,804,653.06488497,632,654,0.403863838725,0.00455436959547,0.0597842107935,0.999999925287,0.000145360473736,-0.000356525023254,3.44445450207e-05,1793238202745790976
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.510360176,746.489639824,715,679.489639824,668,637,880.489639824,788,804,653.510360176,632.510360176,654,0.403609008376,0.00455135616376,0.0597988228023,0.99999993557,0.000143521625843,-0.000327171535957,3.49351119425e-05,1793238202762456832
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.912522984,746,715,679,667.912522984,636.912522984,880,788,803.912522984,654,632.912522984,654,0.403363835016,0.00454862923438,0.059815720007,0.999999944502,0.000151352407337,-0.000294663477038,3.55304516221e-05,1793238202779122944
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.323886914,746,715,679,667.323886914,636.323886914,880,788,803.323886914,654,632.323886914,654,0.403127376721,0.00454913050158,0.0598273542319,0.999999937177,0.000216125482052,-0.000278542574709,3.67304988905e-05,1793238202795789568
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.260720436,746,715.260720436,679.260720436,667,636,880,788,803,654,632,654,0.402904684015,0.00454916284722,0.0598380932295,0.999999933787,0.000250136462528,-0.00026163859044,3.74481553835e-05,1793238202812456192
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.840399124,746,715.840399124,679.840399124,667,636,880,788,803,654,632,654,0.402698831766,0.004548621527,0.0598477370301,0.999999939196,0.00024651393512,-0.000243776607211,3.7575668268e-05,1793238202829122560
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,715.583385086,680,667,636.416614914,880.416614914,788,803.416614914,653.583385086,632,654,0.402500313323,0.00454627207272,0.0598489878083,0.999999946233,0.000216440768086,-0.000244316087174,3.15712247666e-05,1793238202845789184
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,715.008484974,680,667,636.991515026,880.991515026,788,803.991515026,653.008484974,632,654,0.402304581228,0.00454323565107,0.0598470498114,0.999999952473,0.000176318165269,-0.000251846865751,2.32370568172e-05,1793238202862455808
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636.432534743,880.432534743,788,804,653.567465257,632,654,0.402133637682,0.00453685174711,0.0598423592132,0.999999952527,0.00015943173237,-0.000262702616229,2.26814355777e-05,1793238202879122176
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636.147305008,880.147305008,788,804,654,632,654,0.401970164366,0.00453321970903,0.0598388201724,0.999999951753,0.000149113947153,-0.000271572864722,2.25155173078e-05,1793238202895789056
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636.738826543,880.738826543,788,804,654,632,654,0.40182809868,0.00453803748581,0.0598388781437,0.999999949698,0.000157555056058,-0.000274305380114,2.31734052498e-05,1793238202912455680
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.677838022,667,636.677838022,881,788,804,653.677838022,632,654,0.401705187769,0.00453912798387,0.0598398363417,0.999999949763,0.000160603924537,-0.000272229514905,2.39250711376e-05,1793238202929122560
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.100974461,667,636.100974461,881,788,804,653.100974461,632,654,0.401597420625,0.00453727169218,0.0598415062598,0.999999951519,0.000159389683255,-0.000266352139487,2.47508780339e-05,1793238202945789440
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.475837434,667.475837434,636.475837434,881,788,804,653.475837434,632,654,0.401502013495,0.0045355369365,0.0598416379727,0.999999951901,0.000157202576962,-0.000266170426902,2.52556752562e-05,1793238202962455808
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746.052275504,715,679.947724496,668,637,880.947724496,788,804,653.947724496,632,654,0.401411103453,0.00453400001626,0.0598415978149,0.999999952023,0.000154970323466,-0.000266979439473,2.5679243345e-05,1793238202979122432
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746.625100621,715,679.374899379,668,637,880.374899379,788,804,653.374899379,632,654,0.401338859582,0.00453417631484,0.0598430962054,0.999999952475,0.000154344023731,-0.000265619797564,2.59721942063e-05,1793238202995789056
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746.795125068,715,679,668,636.795125068,880.204874932,788,804,653,632,654,0.401269827824,0.00453404872446,0.0598426440108,0.999999952264,0.000154027567374,-0.000266564325817,2.62754593713e-05,1793238203012455680
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746.202188037,715,679,668,636.202188037,880.797811963,788,804,653,632,654,0.40120688027,0.0045333455254,0.0598384971318,0.999999950785,0.000154297998241,-0.000271873278357,2.65982612687e-05,1793238203029122560
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.381137149,668,636,880.618862851,788,803.618862851,653.381137149,632,654,0.401154597191,0.00453387808458,0.0598353718237,0.99999994948,0.000154178331384,-0.000276707559608,2.65032194912e-05,1793238203045789184
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.959488793,668,636,880.040511207,788,803.040511207,653.959488793,632,654,0.401107832309,0.00453505007093,0.0598327751143,0.999999948257,0.00015385681349,-0.000281296228166,2.61919698917e-05,1793238203062455552
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,715.53620161,680,667.46379839,636.53620161,880.53620161,788,803,654,632,654,0.401077432071,0.00453520748192,0.0598335465463,0.9999999485,0.000153474667825,-0.000280623218199,2.63926258558e-05,1793238203079122432
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,715.888494436,680,667,636.888494436,880.888494436,788,803,654,632,654,0.401050383382,0.00453514815679,0.0598346448804,0.99999994893,0.000153138729278,-0.000279249566588,2.65972196314e-05,1793238203095789312
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,715.318476313,680,667,636.318476313,880.318476313,788,803,654,632,654,0.401032047781,0.00453451184889,0.0598360442431,0.999999949678,0.000153011573149,-0.00027662454026,2.66594556714e-05,1793238203112455936
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636,880.263939283,788,803,654,632,654,0.401015795906,0.0045340367366,0.0598373998381,0.99999995039,0.000152023648939,-0.000274584172895,2.66713748137e-05,1793238203129122304
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636,880.862051361,788,803,654,632,654,0.401002182228,0.00453376571352,0.0598387000189,0.999999951062,0.000149945908627,-0.00027328404027,2.66195878794e-05,1793238203145788928
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.556981332,667,636,881,788,803,653.556981332,632,654,0.400996315186,0.00453302417785,0.0598408678058,0.999999952171,0.000149397406241,-0.000269497144098,2.66529896848e-05,1793238203162455552
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.018776927,667,636.018776927,880.981223073,788,803,653.018776927,632,654,0.400992651042,0.00453215957391,0.0598431736077,0.999999953334,0.000149304040785,-0.000265192580205,2.67143926215e-05,1793238203179122432
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.592486461,667,636.592486461,880.407513539,788,803,653.592486461,632,654,0.400985458071,0.00453182643324,0.0598418715374,0.999999952712,0.000149113122979,-0.000267620956567,2.68485898986e-05,1793238203195789056
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.828233495,667,636.828233495,880,788.171766505,803.171766505,654,632,654,0.400979935258,0.00453146871178,0.0598411433184,0.999999952488,0.000147902672224,-0.000269120493183,2.68858614485e-05,1793238203212455936
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.235294565,667,636.235294565,880,788.764705435,803.764705435,654,632,654,0.400978507684,0.00453105071812,0.0598418221863,0.999999953244,0.000144192321023,-0.000268342509438,2.66854705684e-05,1793238203229122816
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.652054622,746.347945378,715,679.347945378,667,636.347945378,880,788.652054622,804,654,632,654,0.400977701245,0.00453120855928,0.0598425072808,0.999999953436,0.000145059143337,-0.000267165547134,2.66161431113e-05,1793238203245789440
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.075195674,746.924804326,715,679.924804326,667,636.924804326,880,788.075195674,804,654,632,654,0.400977303449,0.00453174524268,0.0598431964719,0.999999953249,0.000148937292285,-0.000265726096513,2.66330424035e-05,1793238203262456320
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.501293673,746.498706327,715,680,667,636.498706327,880.501293673,788,804,654,632,654,0.400975757648,0.00453119881605,0.0598429954329,0.999999953378,0.000147958233708,-0.00026579633376,2.65457171686e-05,1793238203279122688
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.079002172,636,881,788,804,654,632,654,0.400974365801,0.00453054241496,0.0598428988851,0.999999953585,0.000146520651746,-0.000265820128883,2.64957367868e-05,1793238203295789312
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.664888034,636,881,788,804,654,632,654,0.400975065797,0.00453022206153,0.0598443289151,0.999999953991,0.000146812437455,-0.000264094046865,2.67855988321e-05,1793238203312455680
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766.750556896,746.249443104,715,680,668,636.249443104,880.750556896,788,804,654,632,654,0.400975273002,0.00452978902242,0.0598448427315,0.999999954185,0.000146620156631,-0.000263456299531,2.69012879349e-05,1793238203329122304
+420,7.000000000,POSE2_TO_POSE3_RETREAT,766.167780097,746.832219903,715,680,668,636.832219903,880.167780097,788,804,654,632,654,0.400974821688,0.00452920540011,0.0598441322013,0.999999954095,0.000145781012161,-0.000264272906135,2.67842277682e-05,1793238203345789184
+421,7.016666667,POSE2_TO_POSE3_RETREAT,766.40826081,746.59173919,715,680,668,637,880.40826081,788,803.59173919,654,632,654,0.400974370892,0.00452971686588,0.0598440429801,0.999999954126,0.000145280014181,-0.000264451328772,2.65887595358e-05,1793238203362456064
+422,7.033333333,POSE2_TO_POSE3_RETREAT,766.98157841,746.01842159,715,680,668,637,880.98157841,788,803.01842159,654,632,654,0.400973920307,0.0045306710676,0.0598442049496,0.999999954206,0.000144915726348,-0.000264371738355,2.63615915162e-05,1793238203379123456
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.444003497,880.444003497,788,803,654,632,654,0.400974780937,0.0045310128479,0.0598448680301,0.999999954286,0.000146636391805,-0.000263134174691,2.61974959151e-05,1793238203395790080
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.865535121,667.865535121,636.134464879,880.134464879,788,803,654,632,654,0.400975723014,0.00453128749973,0.0598456657718,0.999999954497,0.000147815776228,-0.000261675562968,2.61076578044e-05,1793238203412456704
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.273405582,667.273405582,636.726594418,880.726594418,788,803,654,632,654,0.400976794148,0.00453140287278,0.0598468652239,0.999999955168,0.000146917269965,-0.000259595435754,2.62634357139e-05,1793238203429122816
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.31185237,667,636.68814763,881,788,803.31185237,654,632,654,0.400977274473,0.00453171015504,0.0598469669159,0.99999995539,0.000146485155741,-0.000258996708356,2.61476286763e-05,1793238203445789184
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.891215755,667,636.108784245,881,788,803.891215755,654,632,654,0.400977247997,0.00453218205949,0.0598461269348,0.999999955229,0.000146453118712,-0.000259668745073,2.57988525347e-05,1793238203462455808
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636.466793846,881,788,804.466793846,654,632,654,0.400977538565,0.00453151297639,0.0598468184905,0.99999995551,0.000146326614204,-0.000258632542107,2.60208810213e-05,1793238203479122432
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.958490782,667.041509218,636.958490782,881,788,804.916981565,654,632,654,0.400977825676,0.00453054435371,0.0598477464856,0.999999955871,0.000146014337251,-0.000257379079386,2.63219647122e-05,1793238203495789312
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.38361752,667.61638248,636.38361752,881,788,803.767235039,654,632,654,0.400977126619,0.0045291160311,0.0598471633074,0.999999955966,0.000143595620712,-0.000258408110987,2.59433428199e-05,1793238203512455936
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.196781374,668,636.196781374,880.803218626,788,803.196781374,654,632,654,0.400976312725,0.00452859726008,0.0598467500029,0.999999955879,0.000142591642585,-0.000259324732647,2.56796595394e-05,1793238203529122816
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.78826359,668,636.78826359,880.21173641,788,803.78826359,654,632,654,0.400975268492,0.00452990285243,0.0598466774279,0.999999955438,0.000144425323056,-0.000260015884486,2.56465181676e-05,1793238203545789440
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.630322487,667.630322487,636.630322487,880,788,803.630322487,654,632,654,0.400974789717,0.00453044692697,0.0598466092094,0.999999955257,0.000144729803891,-0.000260516873108,2.58928758334e-05,1793238203562455808
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.054522419,667.054522419,636.054522419,880,788,803.054522419,654,632,654,0.400974626227,0.00453056639894,0.05984654342,0.999999955223,0.000144181642713,-0.00026091183163,2.62950748875e-05,1793238203579122432
+435,7.250000000,POSE2_TO_POSE3_RETREAT,766.479788771,746,715,679.520211229,667,636.520211229,880,788,803.520211229,654,632,654,0.400977239899,0.00453119188973,0.0598478408945,0.999999955819,0.000144930274536,-0.000258223753442,2.60495321434e-05,1793238203595789056
+436,7.266666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.902576878,667,637,880,788,803.902576878,653.902576878,632,654,0.400979382267,0.00453186125189,0.0598489716408,0.999999956305,0.000145734521404,-0.000255907671859,2.5751670014e-05,1793238203612455680
+437,7.283333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.312262534,667,637,880,788,803.312262534,653.312262534,632,654,0.400977670582,0.00453248480182,0.0598485374635,0.999999955945,0.000146133916864,-0.000257105076684,2.55318746729e-05,1793238203629122304
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe4a805bbb5b2b1a0f69ff993c65edf03c44edc7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,439 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+1,0.016666667,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+2,0.033333333,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+3,0.050000000,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+4,0.066666667,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+5,0.083333333,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
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+374,6.233333333,pose2_to_pose3_retreat,0.584829133871,0.0100011599111,1.05001153343,0.555400418012,0.0186748127472,1.04966105081
+375,6.250000000,pose2_to_pose3_retreat,0.584365589086,0.0100013293508,1.05001132524,0.554936874114,0.0186749842516,1.04966086582
+376,6.266666667,pose2_to_pose3_retreat,0.58392526429,0.0100013187342,1.0500115423,0.554496549164,0.0186749711119,1.04966107541
+377,6.283333333,pose2_to_pose3_retreat,0.583507938825,0.0100012916037,1.0500116531,0.554079223611,0.0186749419667,1.04966118457
+378,6.300000000,pose2_to_pose3_retreat,0.583109516472,0.010001282368,1.05001153782,0.553680801927,0.0186749338098,1.04966107949
+379,6.316666667,pose2_to_pose3_retreat,0.582724993745,0.0100011510946,1.05001159072,0.553296280545,0.0186748051879,1.04966111954
+380,6.333333333,pose2_to_pose3_retreat,0.582350274831,0.0100012545581,1.05001178644,0.552921561404,0.0186749063002,1.04966131708
+381,6.350000000,pose2_to_pose3_retreat,0.581988135778,0.0100012085107,1.05001183495,0.552559423303,0.0186748618792,1.04966136156
+382,6.366666667,pose2_to_pose3_retreat,0.581641431469,0.0100011782868,1.05001166251,0.552212719776,0.0186748332518,1.04966119748
+383,6.383333333,pose2_to_pose3_retreat,0.581321690745,0.0100012211874,1.05001161544,0.551892979271,0.0186748760511,1.04966116108
+384,6.400000000,pose2_to_pose3_retreat,0.581029436129,0.0100012871374,1.05001173872,0.551600724455,0.0186749401081,1.0496612831
+385,6.416666667,pose2_to_pose3_retreat,0.580763795314,0.0100012909666,1.05001172721,0.55133508326,0.0186749408135,1.04966125389
+386,6.433333333,pose2_to_pose3_retreat,0.580520435617,0.0100012368823,1.05001176468,0.551091724326,0.0186748888474,1.04966130282
+387,6.450000000,pose2_to_pose3_retreat,0.580298780709,0.0100012842729,1.05001178592,0.550870069766,0.018674936553,1.04966132439
+388,6.466666667,pose2_to_pose3_retreat,0.580087964202,0.0100013304561,1.05001180306,0.550659253291,0.0186749818397,1.04966133777
+389,6.483333333,pose2_to_pose3_retreat,0.579886648088,0.010001302431,1.05001179229,0.550457937307,0.0186749532982,1.04966132379
+390,6.500000000,pose2_to_pose3_retreat,0.579697854442,0.0100011283449,1.05001159116,0.550269145973,0.0186747864129,1.04966112509
+391,6.516666667,pose2_to_pose3_retreat,0.579520415944,0.0100012498163,1.05001145097,0.550091705223,0.0186748999035,1.04966099272
+392,6.533333333,pose2_to_pose3_retreat,0.579355209768,0.0100014105084,1.05001150604,0.54992649778,0.0186750554894,1.04966104363
+393,6.550000000,pose2_to_pose3_retreat,0.579204472279,0.010001388566,1.05001163524,0.54977576107,0.018675035337,1.04966116511
+394,6.566666667,pose2_to_pose3_retreat,0.579070529173,0.0100012325137,1.05001170779,0.549641819401,0.0186748836079,1.04966123604
+395,6.583333333,pose2_to_pose3_retreat,0.578951010539,0.0100012467338,1.05001167774,0.549522300319,0.0186748959937,1.04966121327
+396,6.600000000,pose2_to_pose3_retreat,0.578845301108,0.0100011307407,1.05001154564,0.549416593628,0.0186747892207,1.04966108926
+397,6.616666667,pose2_to_pose3_retreat,0.578753097541,0.0100012413236,1.05001170077,0.549324389455,0.0186748970879,1.04966123801
+398,6.633333333,pose2_to_pose3_retreat,0.57867113844,0.010001244369,1.05001175502,0.549242430516,0.0186749001083,1.0496612895
+399,6.650000000,pose2_to_pose3_retreat,0.578597691117,0.0100011296805,1.05001174555,0.549168984309,0.0186747884024,1.04966128113
+400,6.666666667,pose2_to_pose3_retreat,0.578532587603,0.0100011555443,1.0500120731,0.549103879842,0.0186748087818,1.04966159909
+401,6.683333333,pose2_to_pose3_retreat,0.578475925957,0.010001180868,1.05001162535,0.549047218848,0.0186748369719,1.04966116335
+402,6.700000000,pose2_to_pose3_retreat,0.578427213252,0.0100013363723,1.05001173438,0.548998504255,0.018674986401,1.04966126799
+403,6.716666667,pose2_to_pose3_retreat,0.578386481382,0.0100013062334,1.05001174419,0.548957772606,0.0186749570949,1.04966127818
+404,6.733333333,pose2_to_pose3_retreat,0.578354238079,0.01000122223,1.05001172344,0.548925530655,0.0186748774834,1.04966125828
+405,6.750000000,pose2_to_pose3_retreat,0.578328842509,0.0100012397078,1.05001181902,0.548900135514,0.0186748960199,1.04966134998
+406,6.766666667,pose2_to_pose3_retreat,0.578309607886,0.0100013255386,1.05001180758,0.548880898863,0.0186749748907,1.04966134182
+407,6.783333333,pose2_to_pose3_retreat,0.578295028907,0.0100012860317,1.05001180912,0.548866320682,0.0186749378589,1.04966134336
+408,6.800000000,pose2_to_pose3_retreat,0.578284725291,0.0100012269911,1.05001181179,0.548856018329,0.0186748828965,1.04966134558
+409,6.816666667,pose2_to_pose3_retreat,0.578276495689,0.0100011973576,1.05001180204,0.548847789376,0.0186748553773,1.04966133793
+410,6.833333333,pose2_to_pose3_retreat,0.578270225145,0.0100011842994,1.05001176456,0.548841519061,0.0186748430026,1.04966130297
+411,6.850000000,pose2_to_pose3_retreat,0.57826618035,0.0100011901663,1.05001169527,0.548837474015,0.0186748479182,1.04966123672
+412,6.866666667,pose2_to_pose3_retreat,0.578263001492,0.0100011950649,1.05001164164,0.548834294956,0.0186748520578,1.04966118544
+413,6.883333333,pose2_to_pose3_retreat,0.578260552119,0.0100012359134,1.05001170735,0.5488318448,0.0186748908528,1.04966124867
+414,6.900000000,pose2_to_pose3_retreat,0.578259003997,0.0100012617316,1.05001174888,0.548830296184,0.0186749153731,1.04966128863
+415,6.916666667,pose2_to_pose3_retreat,0.578258115149,0.010001276555,1.05001177273,0.548829407052,0.0186749294514,1.04966131158
+416,6.933333333,pose2_to_pose3_retreat,0.578257565847,0.0100012857157,1.05001178747,0.548828857574,0.0186749381516,1.04966132576
+417,6.950000000,pose2_to_pose3_retreat,0.578257189353,0.0100012923143,1.05001176569,0.548828480921,0.0186749442292,1.04966130369
+418,6.966666667,pose2_to_pose3_retreat,0.578256806482,0.010001299082,1.05001173784,0.548828097879,0.0186749504302,1.04966127555
+419,6.983333333,pose2_to_pose3_retreat,0.578256592541,0.0100013028636,1.05001172227,0.548827883843,0.0186749538952,1.04966125983
+420,7.000000000,pose2_to_pose3_retreat,0.578256523812,0.0100013040784,1.05001171727,0.548827815085,0.0186749550083,1.04966125478
+421,7.016666667,pose2_to_pose3_retreat,0.578256479866,0.0100013048552,1.05001171408,0.548827771119,0.01867495572,1.04966125155
+422,7.033333333,pose2_to_pose3_retreat,0.578256410441,0.0100013060824,1.05001170903,0.548827701663,0.0186749568444,1.04966124645
+423,7.050000000,pose2_to_pose3_retreat,0.578256106141,0.0100013114612,1.05001168689,0.548827397228,0.0186749617729,1.04966122409
+424,7.066666667,pose2_to_pose3_retreat,0.578255658193,0.0100013193791,1.0500116543,0.548826949081,0.0186749690278,1.04966119117
+425,7.083333333,pose2_to_pose3_retreat,0.578255144816,0.0100013284535,1.05001161696,0.548826435477,0.0186749773425,1.04966115345
+426,7.100000000,pose2_to_pose3_retreat,0.578254719385,0.0100013359734,1.05001158601,0.548826009857,0.0186749842328,1.04966112218
+427,7.116666667,pose2_to_pose3_retreat,0.578254394998,0.0100013417072,1.05001156241,0.548825685327,0.0186749894865,1.04966109835
+428,7.133333333,pose2_to_pose3_retreat,0.578254343706,0.0100013426138,1.05001155868,0.548825634012,0.0186749903173,1.04966109458
+429,7.150000000,pose2_to_pose3_retreat,0.57825421567,0.0100013414436,1.05001156124,0.548825505932,0.0186749889997,1.04966109723
+430,7.166666667,pose2_to_pose3_retreat,0.578253974029,0.010001334953,1.0500115809,0.548825264223,0.0186749822839,1.04966111726
+431,7.183333333,pose2_to_pose3_retreat,0.578253638473,0.0100013259398,1.05001160819,0.548824928574,0.0186749729578,1.04966114508
+432,7.200000000,pose2_to_pose3_retreat,0.578253247911,0.0100013154492,1.05001163995,0.548824537903,0.018674962103,1.04966117747
+433,7.216666667,pose2_to_pose3_retreat,0.578253234083,0.0100013150777,1.05001164108,0.548824524071,0.0186749617187,1.04966117861
+434,7.233333333,pose2_to_pose3_retreat,0.5782528635,0.0100013104302,1.05001166905,0.548824153441,0.0186749569023,1.04966120707
+435,7.250000000,pose2_to_pose3_retreat,0.578252606701,0.0100013504416,1.05001167076,0.548823897069,0.0186749982364,1.04966120835
+436,7.266666667,pose2_to_pose3_retreat,0.578252298718,0.010001398428,1.05001167282,0.548823589599,0.018675047809,1.04966120988
+437,7.283333333,pose2_to_pose3_retreat,0.578252143417,0.0100012746401,1.05001163795,0.548823435847,0.0186749296376,1.04966118376
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c068df146452520a6a295f24403794bf16a1557b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26029952a0d82671da3dad6b67a4dcb035e9b8e589300df001e9ce8bdc808f14
+size 27929777
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1e88be81b1f84536a35222c72c5b8efda87f787d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_03/franka_data.csv
@@ -0,0 +1,441 @@
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+23,0.383333333,BASELINE,767,746,715,680,667.332870562,636.667129438,880,788,803,654,632,654,0.40097571187,0.00452937364627,0.0598489579343,0.999999956749,0.000142436288697,-0.000256059924316,2.54593623011e-05,1793238204136088576
+24,0.400000000,BASELINE,767,746,715,680,667.927646889,636.072353111,880,788,803,654,632,654,0.400975470945,0.00453143332338,0.0598482633406,0.999999956386,0.000143400696569,-0.000256955019178,2.52807731683e-05,1793238204152754944
+25,0.416666667,BASELINE,766.492143654,746,715,680,667.492143654,636,880,788,803,653.492143654,632,654,0.400976904035,0.00453042978737,0.0598496898546,0.999999957072,0.00014231786397,-0.000254864586623,2.54265069503e-05,1793238204169421568
+26,0.433333333,BASELINE,766.085709147,746,715,680,667,636.085709147,880.085709147,788,803,653.085709147,632,654,0.400978217153,0.00452940915999,0.0598510770378,0.99999995772,0.000141364026976,-0.000252831091557,2.5563946967e-05,1793238204186088448
+27,0.450000000,BASELINE,766.661622084,746,715,680,667,636.661622084,880.661622084,788,803,653.661622084,632,654,0.400977518107,0.00453071717452,0.0598505591278,0.999999957358,0.000142769600174,-0.000253488102289,2.53970531299e-05,1793238204202754816
+28,0.466666667,BASELINE,767,746.234554769,715,680,667,636.765445231,881,788.234554769,803,654,632,654,0.400978091475,0.00453138468627,0.0598508914176,0.999999957402,0.000143759127874,-0.000252755466953,2.53660480232e-05,1793238204219421184
+29,0.483333333,BASELINE,767,746.803241933,715,680,667,636.196758067,881,788.803241933,803,654,632,654,0.400980477446,0.00453113977677,0.0598524348503,0.999999958023,0.000144155982488,-0.000250043226676,2.5528621711e-05,1793238204236088064
+30,0.500000000,BASELINE,767,746.610180348,715,680,667,636.389819652,880.610180348,789,803,653.610180348,632.389819652,654,0.400979822448,0.0045309991841,0.059852203532,0.999999957771,0.00014474574651,-0.000250718232873,2.54509576855e-05,1793238204252754944
+31,0.516666667,BASELINE,767,746.01413818,715,680,667,636.98586182,880.01413818,789,803,653.01413818,632.98586182,654,0.400977558714,0.00453091377715,0.0598510333344,0.999999957054,0.000145437563514,-0.000253185161354,2.52462030239e-05,1793238204269421824
+32,0.533333333,BASELINE,766.433691105,746,715,680,667.566308895,637,880,788.433691105,803.566308895,653,632.433691105,654,0.400976864238,0.00452918958124,0.0598503860168,0.999999957115,0.000143423715559,-0.000254064161333,2.55343176594e-05,1793238204286088448
+33,0.550000000,BASELINE,766.144843053,746,715,679.855156947,668,637,880.144843053,788,804,653.144843053,632,654,0.400976507413,0.00452841165568,0.0598500075227,0.999999957162,0.000142124059524,-0.000254587094355,2.5731266611e-05,1793238204302755072
+34,0.566666667,BASELINE,766.718832086,746,715,679.281167914,668,637,880.718832086,788,804,653.718832086,632,654,0.400977038029,0.00453055534306,0.0598503878682,0.999999957127,0.000143135206928,-0.000254169368817,2.56226268729e-05,1793238204319421440
+35,0.583333333,BASELINE,767,746,715,679,667.700081659,637,880.700081659,788,803.700081659,653.700081659,632,654,0.400977227788,0.00453117319317,0.0598501893264,0.999999957083,0.00014338447237,-0.000254219117189,2.54331657561e-05,1793238204336088064
+36,0.600000000,BASELINE,767,746,715,679,667.112180558,637,880.112180558,788,803.112180558,653.112180558,632,654,0.400977090256,0.00453032592863,0.0598494349348,0.999999957032,0.000142902175896,-0.000254717735786,2.51660996233e-05,1793238204352754688
+37,0.616666667,BASELINE,767.46979213,746,715,679.46979213,667.46979213,637,880.46979213,788,803.46979213,653.46979213,632,654,0.40097621836,0.00453002525972,0.059849704319,0.999999956858,0.000143713128725,-0.000254930441099,2.53133291598e-05,1793238204369421312
+38,0.633333333,BASELINE,767.900255578,746,715,680,668,637,880.950127789,788,803.950127789,654,632,654,0.400975373684,0.00452995338145,0.0598501840808,0.999999956701,0.000144764842997,-0.000254930377354,2.55274814332e-05,1793238204386087936
+39,0.650000000,BASELINE,766.75050822,746,715,680,668,637,880.37525411,788,803.37525411,654,632,654,0.40097663852,0.00453093311108,0.0598503370761,0.999999957038,0.000145140706654,-0.000253400252215,2.54176874231e-05,1793238204402755072
+40,0.666666667,BASELINE,766.200027111,746,715,680,667.799972889,637,880.200027111,788,803.200027111,653.799972889,632,654,0.400977295448,0.00453101835522,0.0598503774169,0.999999957181,0.000145187019187,-0.000252810073948,2.54256835944e-05,1793238204419421952
+41,0.683333333,BASELINE,766.776074414,746,715,680,667.223925586,637,880.776074414,788,803.776074414,653.223925586,632,654,0.4009768096,0.0045294221042,0.0598502059844,0.99999995696,0.000144613826296,-0.000253986851265,2.56551071899e-05,1793238204436088576
+42,0.700000000,BASELINE,767,746,715,680,667,637,881,788,804,653.361379589,632,654,0.400977895127,0.00452933440374,0.0598506706467,0.999999957212,0.000144931405781,-0.000252821968152,2.5540340858e-05,1793238204452754944
+43,0.716666667,BASELINE,767,746,715,680,667,637,881,788,804,653.952572124,632,654,0.400979979942,0.00453020603933,0.0598515398222,0.999999957759,0.000145815456195,-0.000250167947547,2.52066930335e-05,1793238204469421568
+44,0.733333333,BASELINE,767,746.532162203,715,680,667.532162203,637,880.467837797,788,804,654,632,654,0.40097852312,0.00452988179981,0.0598512190274,0.999999957531,0.000144355558975,-0.000251913258632,2.52834498133e-05,1793238204486088192
+45,0.750000000,BASELINE,767,746.890110267,715,680,667.890110267,637,880,788.109889733,804,654,632,654,0.400977566359,0.00452958929639,0.0598511671056,0.999999957433,0.000142900006532,-0.000253117644743,2.539904424e-05,1793238204502754816
+46,0.766666667,BASELINE,767,746.31597624,715,680,667.31597624,637,880,788.68402376,804,654,632,654,0.400980027191,0.00452987152089,0.0598526895538,0.999999958192,0.000142326503973,-0.000250415759138,2.5527488343e-05,1793238204519421440
+47,0.783333333,BASELINE,767,746,715,680,667,636.740716715,880,788.740716715,804,654,632,654,0.400980588531,0.00453004537574,0.0598528939861,0.999999958461,0.00014169071919,-0.000249707118631,2.54611799921e-05,1793238204536088064
+48,0.800000000,BASELINE,767,746,715,680,667,636.164079544,880,788.164079544,804,654,632,654,0.400978824959,0.00453008658988,0.059851485212,0.999999958136,0.000140978703013,-0.000251438141707,2.51565013044e-05,1793238204552754944
+49,0.816666667,BASELINE,767,746,715,680,667.42437329,636,880,788,804,654,632,653.57562671,0.400977331321,0.00453023870284,0.0598505361724,0.999999957542,0.000141773178753,-0.000253348015463,2.51424333561e-05,1793238204569421568
+50,0.833333333,BASELINE,767,746,715,680,667.982991367,636.017008633,879.982991367,788,803.982991367,653.982991367,632,653.017008633,0.400975974879,0.00453038419158,0.059849771045,0.999999956856,0.000143095942758,-0.000255292892484,2.52457798581e-05,1793238204586088448
+51,0.850000000,BASELINE,767,746,715,680,667.407327139,636.592672861,879.407327139,788,803.407327139,653.407327139,632,653.592672861,0.400975598471,0.00452886342869,0.0598490410585,0.999999956801,0.000142091178525,-0.000256051135008,2.54093904499e-05,1793238204602754816
+52,0.866666667,BASELINE,767,746,715,680,667,636.831937417,879.168062583,788,803,653.168062583,632,654,0.400975499967,0.00452796051119,0.0598488205717,0.999999956887,0.000141531686598,-0.000256013627374,2.55410318922e-05,1793238204619421696
+53,0.883333333,BASELINE,767,746,715,680,667,636.257211954,879.742788046,788,803,653.742788046,632,654,0.40097607391,0.00452855260105,0.059849832927,0.999999957313,0.000142049625027,-0.000254050634289,2.55953172219e-05,1793238204636088064
+54,0.900000000,BASELINE,767,746.325519941,715,680,667,636.325519941,880,788,803,653.674480059,632,654,0.400976888086,0.00452941024772,0.0598508794955,0.999999957546,0.00014316977364,-0.000252509385134,2.54660757366e-05,1793238204652754944
+55,0.916666667,BASELINE,767,746.914737674,715,680,667,636.914737674,880,788,803,653.085262326,632,654,0.40097789687,0.0045304830171,0.0598519537792,0.999999957624,0.000144777761758,-0.00025130978317,2.51881625092e-05,1793238204669421568
+56,0.933333333,BASELINE,767,746.504120896,715,679.504120896,667.495879104,637,880,788,803.495879104,653.495879104,632,654,0.400977729466,0.00452859992057,0.0598510399788,0.99999995792,0.000141555850579,-0.000251939772222,2.54513334941e-05,1793238204686088192
+57,0.950000000,BASELINE,767,746.074810057,715,679,667.925189943,637,880.074810057,788,803.925189943,654,632,654,0.400977302589,0.00452688511668,0.0598499593989,0.999999958121,0.00013841096119,-0.00025286143093,2.57061205988e-05,1793238204702754816
+58,0.966666667,BASELINE,767,746.648116233,715,679,667.351883767,637,880.648116233,788,803.351883767,654,632,654,0.400976472708,0.00452962408792,0.0598500087934,0.999999957535,0.000141224396204,-0.00025366399939,2.52950389705e-05,1793238204719421696
+59,0.983333333,BASELINE,767,746.772514445,715.227485555,679.227485555,667.227485555,637,880.772514445,788,803,654,632,654,0.40097611366,0.00453086059454,0.0598502337217,0.999999957357,0.000142314573168,-0.00025377525715,2.50953658726e-05,1793238204736088576
+60,1.000000000,BASELINE,767,746.183509504,715.816490496,679.816490496,667.816490496,637,880.183509504,788,803,654,632,654,0.400976502858,0.00452970938913,0.0598507376077,0.999999957837,0.000140666153851,-0.00025278788607,2.52316625375e-05,1793238204752755200
+61,1.016666667,BASELINE,767,746,715.600611862,680,667.600611862,636.600611862,880,788,803,654,632.399388138,654,0.400977626672,0.00452966599466,0.0598513471492,0.999999958076,0.000141274764971,-0.000251494596096,2.52966193426e-05,1793238204769421568
+62,1.033333333,BASELINE,767,746,715.020478152,680,667.020478152,636.020478152,880,788,803,654,632.979521848,654,0.400979082941,0.00453012394695,0.0598520045057,0.999999958203,0.000142904809275,-0.000250062860696,2.53292908445e-05,1793238204786088192
+63,1.050000000,BASELINE,767,746,715,680,667,636.557005142,880,788,803.557005142,654,632.442994858,654,0.400977932969,0.00453000462316,0.0598514800759,0.999999957947,0.000142900318555,-0.000251081390055,2.53825508122e-05,1793238204802754816
+64,1.066666667,BASELINE,767,746,715,680,667,636.866706563,880,788,804,654,632,653.866706563,0.400977155984,0.00452982900821,0.0598511734499,0.999999957819,0.000142645876919,-0.000251728977461,2.5410738629e-05,1793238204819421696
+65,1.083333333,BASELINE,767,746,715,680,667,636.294037699,880,788,804,654,632,653.294037699,0.400977922821,0.00452953746801,0.0598517273107,0.999999958165,0.000141764669029,-0.000250858292377,2.53537978075e-05,1793238204836088320
+66,1.100000000,BASELINE,767,746,715,679.713394847,667.286605153,636.286605153,880,788.286605153,804,654,632,653.286605153,0.400978626865,0.0045295659605,0.0598520525187,0.999999958217,0.000142393235753,-0.00025029871485,2.53116338075e-05,1793238204852755200
+67,1.116666667,BASELINE,767,746,715,679.124337133,667.875662867,636.875662867,880,788.875662867,804,654,632,653.875662867,0.400979264642,0.00452993218143,0.0598521364308,0.999999957957,0.000144615057901,-0.000250067447164,2.5285063695e-05,1793238204869422080
+68,1.133333333,BASELINE,767,746,715.457802995,679.457802995,668,637,880,788.542197005,804,654,632,654,0.400979691495,0.00453006536363,0.0598526565419,0.999999958233,0.000144023617137,-0.000249305574013,2.52642375163e-05,1793238204886088448
+69,1.150000000,BASELINE,767,746.03783927,715.96216073,680,667.96216073,637,880.03783927,788,803.96216073,654,632,654,0.400979955011,0.00453022753609,0.0598531756344,0.999999958577,0.000142923632755,-0.00024856187825,2.52240362022e-05,1793238204902755072
+70,1.166666667,BASELINE,767,746.614273257,715.385726743,680,667.385726743,637,880.614273257,788,803.385726743,654,632,654,0.40097869689,0.00453168982412,0.0598520190617,0.99999995786,0.000145298845343,-0.000250097607286,2.4886179599e-05,1793238204919421440
+71,1.183333333,BASELINE,767,746.813136061,715,679.813136061,667.186863939,636.813136061,880.813136061,788,803,654,632,654,0.400978253505,0.00453219777527,0.0598514755643,0.999999957575,0.0001461282777,-0.000250766884684,2.47471071128e-05,1793238204936088064
+72,1.200000000,BASELINE,767,746.24831879,715,679.24831879,667.75168121,636.24831879,880.24831879,788,803,654,632,654,0.400979458014,0.00453077547302,0.0598521720809,0.999999958173,0.000143831196128,-0.000249683666483,2.50100977985e-05,1793238204952754944
+73,1.216666667,BASELINE,767,746,715,679.337572115,668,636.337572115,880.337572115,788,803.337572115,654,632,654,0.400978353928,0.00452988001514,0.0598515610312,0.999999957952,0.000143220357065,-0.000250901004578,2.51321111447e-05,1793238204969421824
+74,1.233333333,BASELINE,767,746,715,679.939996965,668,636.939996965,880.939996965,788,803.939996965,654,632,654,0.400975438562,0.00452939790953,0.0598499240897,0.999999957087,0.000143932512306,-0.00025392331595,2.51435163055e-05,1793238204986088704
+75,1.250000000,BASELINE,767,746,715,680,667.480404345,636.480404345,881,788,804,654,632,654,0.400976884727,0.00452883086655,0.0598510697325,0.999999957782,0.00014233287469,-0.000252072136596,2.52457744772e-05,1793238205002755328
+76,1.266666667,BASELINE,767,746,715,680,667.096724995,636.096724995,880.903275005,788.096724995,804,654,632.096724995,654,0.400978505859,0.00452858904979,0.0598523355178,0.999999958453,0.00014113226338,-0.000250070395491,2.53073985186e-05,1793238205019421952
+77,1.283333333,BASELINE,767,746,715,680,667.674131096,636.674131096,880.325868904,788.674131096,804,654,632.674131096,654,0.40097859881,0.00453001015887,0.0598526686716,0.999999958184,0.000143185515532,-0.000249999562834,2.51171434279e-05,1793238205036088320
+78,1.300000000,BASELINE,767,746,715.248989944,680,667.751010056,637,880,788.751010056,804,654,632.751010056,654,0.400979076478,0.00453060581683,0.0598530750837,0.999999958168,0.000144279563057,-0.000249440041351,2.50290053158e-05,1793238205052754688
+79,1.316666667,BASELINE,767,746,715.820548757,680,667.179451243,637,880,788.179451243,804,654,632.179451243,654,0.40098005255,0.00453013209482,0.0598535764028,0.999999958485,0.000144130951598,-0.000248247418798,2.50731607472e-05,1793238205069421312
+80,1.333333333,BASELINE,766.593074888,746.406925112,715.593074888,680,667,637,880.406925112,788,804,653.593074888,632.406925112,654,0.400980484036,0.00453070167624,0.0598535496997,0.999999958564,0.000144219216427,-0.000247879620731,2.5060664031e-05,1793238205086087680
+81,1.350000000,BASELINE,766.000080678,746.999919322,715,679.999919322,667,637,881,788.000080678,804,653.000080678,632.999919322,654,0.400980666095,0.00453174842768,0.0598532813076,0.999999958534,0.000144415899443,-0.000247889538272,2.50222669589e-05,1793238205102754560
+82,1.366666667,BASELINE,766.577421088,746.422578912,715,679.422578912,667,637,881,788.577421088,804,653.577421088,632.422578912,654,0.400979465442,0.00453060253885,0.059852760102,0.999999958084,0.000144682671655,-0.000249530269172,2.51768225755e-05,1793238205119421440
+83,1.383333333,BASELINE,767,746,715,679.154693387,667,637,880.845306613,788.845306613,803.845306613,654,632,654,0.400978443559,0.00452991050828,0.0598521501035,0.999999957704,0.000145015782402,-0.000250851711682,2.52024862314e-05,1793238205136088320
+84,1.400000000,BASELINE,767,746,715,679.731779837,667,637,880.268220163,788.268220163,803.268220163,654,632,654,0.400977909808,0.00453045774552,0.0598512976544,0.999999957525,0.000145530031769,-0.000251301331893,2.48762081148e-05,1793238205152754944
+85,1.416666667,BASELINE,767,746,715,679.684940368,667.315059632,637,880,788,803.315059632,654,632,654.315059632,0.400978529832,0.00453082232445,0.0598514917255,0.999999957793,0.000144759537634,-0.000250696382998,2.47168136025e-05,1793238205169421568
+86,1.433333333,BASELINE,767,746,715,679.096282296,667.903717704,637,880,788,803.903717704,654,632,654.903717704,0.400980151795,0.00453102828248,0.0598525945971,0.999999958444,0.000142873369532,-0.000249175644066,2.47023411794e-05,1793238205186087936
+87,1.450000000,BASELINE,767,746,715,679.484878777,667.515121223,636.515121223,880.484878777,788,804,654,632,654.515121223,0.400979350731,0.0045308248688,0.0598527621596,0.999999958222,0.000144282666803,-0.000249212393222,2.51304206918e-05,1793238205202754560
+88,1.466666667,BASELINE,767,746,715,680,667.064005069,636.064005069,880.935994931,788,804,654,632,654,0.400978375964,0.00453059313697,0.059852783405,0.999999957912,0.000145977353026,-0.000249426319855,2.55526050295e-05,1793238205219421440
+89,1.483333333,BASELINE,767,746,715,680,667.638594173,636.638594173,880.361405827,788,804,654,632,654,0.400979795257,0.00453077409187,0.0598530964519,0.99999995829,0.000144807990735,-0.000248624075982,2.52374160565e-05,1793238205236088064
+90,1.500000000,BASELINE,767,746,715,680,668,637,880.217980166,788.217980166,803.782019834,653.782019834,632,654,0.400980441402,0.00453105683373,0.059853035451,0.999999958371,0.000144370764281,-0.000248580754736,2.49639138816e-05,1793238205252754944
+91,1.516666667,BASELINE,767,746,715,680,668,637,880.805498181,788.805498181,803.194501819,653.194501819,632,654,0.400979776843,0.00453151213315,0.0598523403337,0.99999995795,0.000145174714645,-0.000249824021436,2.47610826173e-05,1793238205269422080
+92,1.533333333,BASELINE,767,746,715,680,668,637,880.611968162,789,803,653.388031838,632,653.611968162,0.400978905305,0.00453038355495,0.0598521175676,0.999999957854,0.000144132041414,-0.000250780110853,2.50617703157e-05,1793238205286088960
+93,1.550000000,BASELINE,767,746,715,680,668,637,880.031901189,789,803,653.968098811,632,653.031901189,0.400977931332,0.00452847112318,0.0598521285659,0.999999957915,0.000142175482905,-0.000251594077691,2.56116471671e-05,1793238205302755584
+94,1.566666667,BASELINE,767,746,715,680,667.454925749,637,880.545074251,788.454925749,803,654,632,653.545074251,0.400977044361,0.00452839110517,0.059851684673,0.99999995776,0.000142896587774,-0.000251830419647,2.53283710506e-05,1793238205319422208
+95,1.583333333,BASELINE,767,746.121149599,715,680,667.121149599,637,881,788.121149599,803.121149599,654,632,654,0.400976425681,0.00452861970741,0.0598512869929,0.999999957614,0.000143708245085,-0.000251977971135,2.50573397822e-05,1793238205336088832
+96,1.600000000,BASELINE,767,746.694536781,715,680,667.694536781,637,881,788.694536781,803.694536781,654,632,654,0.400976789604,0.00452960228032,0.0598511606408,0.999999957548,0.000144276229196,-0.000251919561219,2.50130111104e-05,1793238205352755200
+97,1.616666667,BASELINE,767,746.73095545,715,680,667.73095545,637,880.73095545,788.73095545,803.73095545,654,632,654,0.40097718503,0.0045301231055,0.059851386549,0.999999957602,0.000144596571707,-0.000251515335413,2.50764572231e-05,1793238205369421824
+98,1.633333333,BASELINE,767,746.155170122,715,680,667.155170122,637,880.155170122,788.155170122,803.155170122,654,632,654,0.400977616375,0.00453011748673,0.0598520140733,0.999999957792,0.000144634575151,-0.000250716840947,2.52627786073e-05,1793238205386088960
+99,1.650000000,BASELINE,767,746.434958223,715,680,667.434958223,636.565041777,880.434958223,788,803.434958223,654,632,654,0.400978524778,0.00452978783169,0.0598528226957,0.999999958266,0.000143560871313,-0.000249443349898,2.52312615529e-05,1793238205402755584
+100,1.666666667,BASELINE,767,746.970692046,715,680,668,636.029307954,881,788,804,654,632,654,0.40097957744,0.00452937076447,0.0598536582942,0.999999958807,0.000142202221175,-0.000248059868731,2.513529748e-05,1793238205419422208
+101,1.683333333,BASELINE,767,746.396243236,715,680,668,636.603756764,881,788,804,654,632,654,0.400980039863,0.0045295513064,0.0598537529769,0.999999958705,0.000143171902691,-0.000247889916304,2.53353828135e-05,1793238205436088320
+102,1.700000000,BASELINE,767,746,715.177563577,680,668,637,881,788,804,654,632,654,0.4009800807,0.00452957617147,0.059853619827,0.999999958591,0.000143602879658,-0.000248089802618,2.54534539853e-05,1793238205452754688
+103,1.716666667,BASELINE,767,746,715.749942819,680,668,637,881,788,804,654,632,654,0.400979184136,0.00452925488632,0.0598529800878,0.999999958448,0.000142836037675,-0.000249112031759,2.53891652316e-05,1793238205469421056
+104,1.733333333,BASELINE,767,746,715.665579242,680,668,637,881,788,804,654,632,654,0.400978613672,0.00453019696042,0.0598527961999,0.999999958095,0.000144559282223,-0.000249538718591,2.53626001541e-05,1793238205486087936
+105,1.750000000,BASELINE,767,746,715.071715082,680,668,637,881,788,804,654,632,654,0.400978296196,0.00453211914777,0.0598529659612,0.999999957569,0.000148214334165,-0.000249503384198,2.53653010723e-05,1793238205502754560
+106,1.766666667,BASELINE,767,746,715,680,667.490473374,637,881,788,803.490473374,654,632,654,0.400977677223,0.00453116427064,0.0598521319383,0.999999957546,0.000146808895873,-0.000250431943966,2.52776871291e-05,1793238205519421440
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,881,788,804,654,632,654,0.400978008616,0.00452831801002,0.0598506885319,0.999999957341,0.000145388385532,-0.000252028685271,2.57175052037e-05,1793238205562582784
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667.410333462,636.410333462,881,788,804,654,632,654,0.400978329776,0.00452939387587,0.0598516619985,0.999999957601,0.000145795826882,-0.000250783093758,2.550024953e-05,1793238205579249408
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667.176346913,636.176346913,881,788,804,654,632,654,0.400978646402,0.00453027221281,0.0598526054229,0.999999957895,0.000145918709553,-0.000249552998545,2.53230292086e-05,1793238205595915776
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667.75619474,636.75619474,881,788,804,654,632,654,0.400978952656,0.00453069858231,0.0598534801076,0.999999958271,0.000145390491099,-0.000248358360308,2.5237414084e-05,1793238205612582400
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746.332429353,715,680,668,636.667570647,881,788,804,654,632,654,0.400979009376,0.00453069776127,0.0598534533669,0.99999995838,0.000144686784714,-0.000248340348625,2.51390665186e-05,1793238205629249024
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746.906042476,715,680,668,636.093957524,881,788,804,654,632,654,0.400978885053,0.00453038700541,0.0598527726249,0.999999958295,0.000143855758555,-0.000249176001784,2.50314813321e-05,1793238205645915648
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746.518870522,715,680,668,636.481129478,881,788,803.518870522,654,632,654,0.400978786082,0.00452978772587,0.0598527537615,0.999999958428,0.000142563403405,-0.000249385776121,2.50443688494e-05,1793238205662583296
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,880.942210037,788,803,653.942210037,632,653.942210037,0.400978648032,0.00452925343331,0.0598527798202,0.999999958557,0.000141346424602,-0.000249558390726,2.50615172754e-05,1793238205679250688
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,880.353751845,788,803,653.353751845,632,653.353751845,0.400978105526,0.00452983488145,0.0598520278251,0.999999958278,0.000141651423731,-0.000250515582936,2.4901091147e-05,1793238205695916544
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,880,788.231801421,803.231801421,653.231801421,632,653,0.400979187595,0.00453001203873,0.0598527195357,0.999999958363,0.000142680649376,-0.000249578085971,2.50347466732e-05,1793238205712582912
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,880,788.8129763,803.8129763,653.8129763,632,653,0.400982718242,0.00452957984465,0.059855587214,0.999999958983,0.000144801436555,-0.000245784894144,2.56116450715e-05,1793238205729249792
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746.390133958,715,680.390133958,667.609866042,637,880,789,804,654,632,653.390133958,0.400994050946,0.00452897131337,0.0598607370378,0.999999961064,0.00014407223771,-0.000237593324902,2.57708238101e-05,1793238205745916672
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746.965385504,715,680.965385504,667.034614496,637,880,789,804,654,632,653.965385504,0.401009085708,0.00452827911049,0.0598669697342,0.999999963752,0.000141990727784,-0.000227314736198,2.57317956612e-05,1793238205762583040
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746.460061409,715,679.920122817,667,637,880,788.460061409,803.460061409,654,632,654,0.401049357257,0.00452911544612,0.0598832240334,0.999999969878,0.000143780242152,-0.000197249169093,2.57657822048e-05,1793238205779249408
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746.118146458,715.118146458,679,667.118146458,637,880,788,803.118146458,654,632,654,0.401095238083,0.00452959450133,0.0599009029795,0.999999975516,0.000144649984947,-0.00016546110915,2.58106462693e-05,1793238205795915776
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746.711225988,715.711225988,679,667.711225988,637,880,788,803.711225988,654,632,654,0.401157172193,0.00452824393163,0.0599217295269,0.999999981058,0.000140826069887,-0.000131841492658,2.58804445553e-05,1793238205812582400
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,747,715.704130444,679.295869556,668,637,880.295869556,788,804,654,632,654,0.401223673007,0.00452749909962,0.059938272873,0.999999984445,0.000138854964205,-0.000105622328217,2.59550535651e-05,1793238205829249280
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,747,715.127492309,679.872507691,668,637,880.872507691,788,804,654,632,654,0.401294507439,0.00452732908892,0.059950751628,0.999999986316,0.000138642102101,-8.64259039701e-05,2.60342277723e-05,1793238205845915904
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.553702933,715,680,667.553702933,636.553702933,881,788,803.553702933,654,632,654,0.401365743662,0.00452793852195,0.0599529159552,0.999999986733,0.000138581405741,-8.17638635195e-05,2.53636957346e-05,1793238205862582784
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715,679.980553121,667,636.019446879,880.980553121,788,803,654,632,653.980553121,0.401437885061,0.00452871066851,0.0599522230724,0.999999986823,0.000138473221452,-8.11176067623e-05,2.448320273e-05,1793238205879249152
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715,679.402546961,667,636.597453039,880.402546961,788,803,654,632,653.402546961,0.40153274949,0.00452780154084,0.0599535577651,0.999999987515,0.000135760470802,-7.73155001687e-05,2.36844798304e-05,1793238205895915776
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715.180496206,679.180496206,667.180496206,637,880,788,803,654,632.180496206,653.180496206,0.401634763771,0.00452766541078,0.0599561866193,0.999999988199,0.000133921950297,-7.17444137944e-05,2.28143711659e-05,1793238205912582400
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715.775095438,679.775095438,667.775095438,637,880,788,803,654,632.775095438,653.775095438,0.40175318157,0.00452930272889,0.059961784601,0.999999988844,0.000134089130757,-6.21148499568e-05,2.1780485976e-05,1793238205929249024
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,715.643268428,680,668,637,880.356731572,788,803,654,632.643268428,654,0.401882765523,0.00452974363698,0.0599634487539,0.999999989421,0.000131773006395,-5.80693829504e-05,2.05514617316e-05,1793238205945915904
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,715.069518367,680,668,637,880.930481633,788,803,654,632.069518367,654,0.402019142443,0.00452945670638,0.0599627197535,0.999999989982,0.000127946157735,-5.74210134309e-05,1.92037240859e-05,1793238205962582784
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746.50495147,715,680,668,637,881,788.50495147,803,654,632,654,0.402175595026,0.00452745034569,0.0599619070398,0.999999990733,0.000123145542534,-5.52591510741e-05,1.774405017e-05,1793238205979249920
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,747,715,680,667.918229366,637,880.918229366,788.918229366,803.081770634,654,632,654,0.402339192199,0.00452568834141,0.059961354937,0.999999991467,0.000118578202456,-5.23739557471e-05,1.61979328252e-05,1793238205995917056
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,747,715,680,667.327402185,637,880.327402185,788.327402185,803.672597815,654,632,654,0.402530036609,0.00452692334081,0.0599624970972,0.999999992065,0.000116298877728,-4.62847356257e-05,1.42097428566e-05,1793238206012583424
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746.741849955,715,680,667.258150045,637,880,788,804,654,632,654,0.402737866537,0.00452778938973,0.059964651555,0.999999992724,0.000113873370878,-3.79447787382e-05,1.20617330931e-05,1793238206029249792
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746.162853821,715,680,667.837146179,637,880,788,804,654,632,654,0.402966807189,0.00452819688231,0.0599680641635,0.999999993403,0.000111266179268,-2.68074564943e-05,9.71508875122e-06,1793238206045916672
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,715,679.588275443,668,637,880,788,803.588275443,654,632,654,0.403213816688,0.0045274137143,0.0599705490379,0.999999994073,0.000106454978316,-2.15796225639e-05,7.39792057276e-06,1793238206062583040
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,715,679.015425932,668,637,880,788,803.015425932,654,632,654,0.403467897273,0.00452616459125,0.0599726708512,0.999999994734,0.000100781256839,-1.86644176252e-05,5.09228769896e-06,1793238206079249408
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.425535234,746,715,679,668,637,880.574464766,788,803,654,632,654,0.403733101101,0.00452655403319,0.0599654148997,0.99999999513,9.43057943829e-05,-2.90040331556e-05,2.1232573627e-06,1793238206095916032
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.324046014,746,715,679.162023007,668,637,880.837976993,788,803.162023007,653.837976993,632,654,0.404008145671,0.00452683493814,0.0599576072755,0.999999995333,8.77809752408e-05,-4.03449280575e-05,-9.28802986498e-07,1793238206112582656
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.484683846,746,715,679.742341923,668,637,880.257658077,788,803.742341923,653.257658077,632,654,0.40430780141,0.00452671856472,0.0599490453916,0.999999995274,8.11860131969e-05,-5.33238379001e-05,-4.14782545496e-06,1793238206129249280
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.679873072,746,715,680,668,636.679873072,880.320126928,788,804,653.320126928,632,654,0.404623778303,0.00452598560583,0.0599408924965,0.999999994928,7.42351992995e-05,-6.76674140637e-05,-7.31513064746e-06,1793238206145916160
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.104111439,746,715,680,668,636.104111439,880.895888561,788,804,653.895888561,632,654,0.404952788351,0.00452476027769,0.0599330661952,0.999999994248,6.7000222134e-05,-8.31007346026e-05,-1.04411377842e-05,1793238206162583040
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746.470225507,715.470225507,680,668,636,881,788,803.529774493,654,632,654,0.405337100177,0.00452441749051,0.0599356814433,0.999999994986,6.0201589071e-05,-7.88376785177e-05,-1.3694275075e-05,1793238206179249664
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746.954285271,716,679.954285271,668,636.045714729,881,788.045714729,803,654,632,654,0.405736357611,0.00452414704803,0.059941742592,0.999999996093,5.32874050577e-05,-6.8461684027e-05,-1.69767893385e-05,1793238206195916288
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746.361234294,716,679.361234294,668,636.638765706,881,788.638765706,803,654,632,654,0.406168401444,0.00452241033402,0.0599614653417,0.999999998151,4.38365374053e-05,-3.69513462599e-05,-2.02750436644e-05,1793238206212582912
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,715.773519055,679,668,636.773519055,881,788.773519055,803,654,632,654,0.406616741431,0.00452122887215,0.059981961973,0.999999999091,3.52899683209e-05,-3.77587932585e-06,-2.36202633636e-05,1793238206229249024
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,715.194118404,679,668,636.194118404,881,788.194118404,803,654,632,654,0.407090475291,0.00452091264621,0.0600036645241,0.999999998726,2.81525461278e-05,3.19943156656e-05,-2.70386678623e-05,1793238206245915648
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746.382497841,715,679.382497841,668.382497841,636.382497841,881,788,803.764995682,653.617502159,632,654.382497841,0.407566082558,0.00452086492651,0.0600136941431,0.999999998348,2.03428348426e-05,4.43267607149e-05,-3.04204537345e-05,1793238206262582528
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746.95771119,715,679.95771119,668.95771119,636.95771119,881,788,804.91542238,653.04228881,632,654.95771119,0.408042633698,0.00452095248945,0.0600178425387,0.999999998349,1.21944015223e-05,4.48504638686e-05,-3.37837897964e-05,1793238206279249152
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.469041187,747,715,680,668.469041187,637,880.469041187,788,804.469041187,653,632,654.469041187,0.408539866209,0.00451917722477,0.060007293794,0.999999999125,2.31979095984e-06,1.93645879391e-05,-3.70083358202e-05,1793238206295916032
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.107305492,746.892694508,715,679.892694508,668,637,880.107305492,788,804,653,632,654,0.409042732205,0.00451787095756,0.0599961579332,0.999999999143,-6.56244226891e-06,-6.53712686127e-06,-4.0358334032e-05,1793238206312582656
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.698325154,746.301674846,715,679.301674846,668,637,880.698325154,788,804,653,632,654,0.409563594954,0.00451934519372,0.0599876327205,0.999999998651,-1.03537466599e-05,-2.50095709032e-05,-4.43234937589e-05,1793238206329249280
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.716736467,746,715,679.283263533,668,637,880.716736467,788,804,653,632,654,0.410122991245,0.00451879220875,0.0599901063668,0.999999998513,-1.73205879541e-05,-1.83525073663e-05,-4.8354398921e-05,1793238206345915904
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.138138446,746,715,679.861861554,668,637,880.138138446,788,804,653,632,654,0.410722563206,0.00451612561513,0.060004047575,0.999999998138,-2.75982885153e-05,1.45049270082e-05,-5.24538516425e-05,1793238206362582528
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746.438651973,715,679.561348027,668,636.561348027,880.438651973,788,804,653,631.561348027,654,0.411334755599,0.00451652704607,0.06000968825,0.999999997506,-3.40843945975e-05,2.61740520963e-05,-5.60477794025e-05,1793238206379249152
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746.984856903,715,679,668,636.015143097,881,788,803.984856903,653,631.015143097,653.984856903,0.411950402345,0.00451800527788,0.0600121177125,0.999999997129,-3.69457252547e-05,3.01855506947e-05,-5.88768932209e-05,1793238206395915776
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746.398265757,715,679,668,636.601734243,881,788,803.398265757,653,631.601734243,653.398265757,0.412547042214,0.00452380798617,0.0599916044699,0.999999997881,5.21056513147e-05,-4.01028213625e-06,-3.88275030967e-05,1793238206412582400
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715,679.186317142,668,637,881,788,803,653,632,653.186317142,0.413149725596,0.00452719537073,0.059969339786,0.999999992799,0.000107950534474,-4.50693898016e-05,-2.67736311628e-05,1793238206429249536
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,679.766653017,668,637,881,788,803,653,632,653.766653017,0.413765189604,0.00452547488999,0.0599433712,0.999999990058,9.35711687996e-05,-0.000100642773778,-3.16284786859e-05,1793238206445917440
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.655195698,881,788,803.344804302,653,632,654,0.414441489814,0.00452097345428,0.0599465246657,0.99999999152,8.07197102152e-05,-9.59107345491e-05,-3.52949339339e-05,1793238206462583808
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.078513554,881,788,803.921486446,653,632,654,0.415158701805,0.00451460185102,0.0599692624545,0.999999995617,6.88957562026e-05,-5.06238296543e-05,-3.81622056884e-05,1793238206479249664
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.496533023,746.496533023,715.496533023,680,668,636,881,788,804,653,632.496533023,654,0.415908903521,0.00450767024012,0.0600077932111,0.999999997105,6.39672274731e-05,1.65259902118e-05,-3.77535689247e-05,1793238206495916032
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,747,716,680,668,636.073357502,881.073357502,788,804,653,632.926642498,654,0.416658098214,0.00450026374884,0.0600423504212,0.999999994702,6.01744740233e-05,7.50695905665e-05,-3.66077516439e-05,1793238206512582656
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,747,716,680,668,636.664551693,881.664551693,788,804,653,632.335448307,654,0.417363481425,0.00449012807324,0.0600312876699,0.999999996638,5.67278030839e-05,4.85377195527e-05,-3.39027046861e-05,1793238206529249280
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.749608222,746.749608222,715.749608222,679.749608222,668,636.749608222,881.499216443,788,804,653,632,654,0.418078690751,0.00448597748131,0.0600164131658,0.99999999749,5.75929201931e-05,2.34570725727e-05,-3.39553947361e-05,1793238206545916160
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.170790753,746.170790753,715.170790753,679.170790753,668,636.170790753,880.341581505,788,804,653,632,654,0.418806788573,0.00448967720656,0.0599965389849,0.999999997237,6.41135818317e-05,2.79915964257e-07,-3.76252626182e-05,1793238206562582784
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,679.404425248,668,636,880.404425248,788,803.595574752,653,632,654,0.419538815764,0.00448952288818,0.0599814380837,0.99999999667,6.77383992824e-05,-2.35126747057e-05,-3.89812224057e-05,1793238206579249408
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,679.97813372,668,636,880.97813372,788,803.02186628,653,632,654,0.420272487657,0.00448775535443,0.0599683351702,0.999999995633,7.01510817015e-05,-4.75628706981e-05,-3.93686325763e-05,1793238206595916288
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.551525521,746,715.551525521,680,668,636,881,788,803.551525521,653,632,654,0.420999808125,0.00448803630662,0.0599467112184,0.999999993159,7.38125277827e-05,-8.1312512495e-05,-4.02774446674e-05,1793238206612582912
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.870053684,746,715.870053684,680,668,636.129946316,881,788,804.129946316,653,632,654,0.421737296939,0.00448889165077,0.059928048038,0.999999991449,5.390063633e-05,-0.000111755537917,-4.13125924003e-05,1793238206629249536
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.273531108,746,715.273531108,680,668,636.726468892,881,788,804.726468892,653,632,654,0.422512199101,0.00449151792535,0.0599212279032,0.999999989482,-5.08297157218e-05,-0.000128946095898,-4.2727171214e-05,1793238206645916160
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.310755667,746,715,680,668,637,881,788,804.689244333,653,632,654,0.423331877024,0.0044889219252,0.0599493309632,0.99999999055,-0.000100162812356,-8.37526301033e-05,-4.30550133982e-05,1793238206662582784
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.884680303,746,715,680,668,637,881,788,804.115319697,653,632,654,0.424189474058,0.00448190334855,0.0600070093529,0.999999993735,-0.00010258175116,1.42718578967e-05,-4.24625332225e-05,1793238206679249408
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.54073865,746,715.45926135,680,668,637,881.45926135,788,804.45926135,653,632,654,0.424991484238,0.0044821654242,0.0600319112273,0.999999993246,-9.32163141314e-05,5.49147385517e-05,-4.24541973165e-05,1793238206695916288
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.034925318,746.034925318,715.965074682,680,668,636.965074682,881.965074682,788,804.965074682,653,632,654,0.425779346545,0.00448405143285,0.0600466239302,0.999999992675,-8.15715095318e-05,7.85641146868e-05,-4.2702421777e-05,1793238206712582656
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.625183125,746.625183125,715.374816875,680,668,636.374816875,881.374816875,788,804.374816875,653,632,654,0.426564502653,0.00448264852762,0.0600303739438,0.99999999385,-8.08011706963e-05,6.14370266862e-05,-4.46945065441e-05,1793238206729250048
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.788233368,715,680,668.211766632,636,881.211766632,788,804,653,632,654,0.427345364061,0.00448174719709,0.06001306691,0.999999995091,-7.78148256991e-05,4.01030759801e-05,-4.64167626466e-05,1793238206745917184
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.208042188,715,680,668.791957812,636,881.791957812,788,804,653,632,654,0.42811875382,0.00448171848931,0.0599939208576,0.99999999628,-7.09731466889e-05,1.14501625306e-05,-4.7669580125e-05,1793238206762583296
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668.631380271,636.368619729,882,788,804,653,632,654,0.428876234099,0.0044822380096,0.0599808542689,0.999999996832,-6.27261480256e-05,-7.10430053028e-06,-4.84772504995e-05,1793238206779249664
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668.056691352,636.943308648,882,788,804,653,632,654,0.429624820467,0.00448306400539,0.0599711862792,0.999999997156,-5.36935350646e-05,-2.00134332542e-05,-4.90360705766e-05,1793238206795916032
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.530154457,715,680,668.530154457,637,881.469845543,788,804,653,632.530154457,654,0.430358262026,0.00447984685111,0.0599564860516,0.999999996378,-5.17309410443e-05,-4.63427157519e-05,-4.92008282245e-05,1793238206812582656
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.883206217,747,715,680.116793783,668.883206217,637,881,788,804.116793783,653.116793783,632.883206217,654,0.431113517988,0.00447649179047,0.0599525095301,0.999999996058,-5.0623066355e-05,-5.34889573425e-05,-4.95972433219e-05,1793238206829249280
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.302669634,747,715,680.697330366,668.302669634,637,881,788,804.697330366,653.697330366,632.302669634,654,0.431961971731,0.00447434613563,0.0599932994785,0.999999997225,-4.9836625759e-05,2.13650328877e-05,-5.1084722744e-05,1793238206845915904
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746.725140067,715,680.725140067,668.274859933,637,881,788,804.725140067,653.725140067,632,654,0.432761726761,0.00447286828474,0.060021380428,0.999999995192,-4.65254095489e-05,6.91373926962e-05,-5.16828043347e-05,1793238206862582784
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746.150885963,715,680.150885963,668.849114037,637,881,788,804.150885963,653.150885963,632,654,0.433508436135,0.00447211784669,0.0600356179596,0.999999994045,-4.04640543278e-05,8.74107874704e-05,-5.13120997981e-05,1793238206879249664
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.424457785,746.424457785,715,680,668.575542215,637,881,788,804,653,632,654,0.434216719197,0.00447191011293,0.0600146786336,0.999999996591,-3.82394885211e-05,5.12683654233e-05,-5.22180292582e-05,1793238206895916544
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.999805906,715.000194094,680.000194094,668.000194094,637,881.000194094,788,804.000194094,653,632,654,0.434911301765,0.00447189454127,0.0599812068613,0.999999997857,-3.73823537838e-05,-4.26054129823e-06,-5.35785466947e-05,1793238206912583424
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.411428864,715.588571136,680.588571136,668.588571136,637,881.588571136,788,804.588571136,653,632,654,0.435588805298,0.00446807710448,0.0599610256431,0.999999997143,-3.65907403398e-05,-3.85668245417e-05,-5.37360181421e-05,1793238206929249792
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,715.825244211,681,668.825244211,637,881.825244211,788,805,653,632,654,0.436275440456,0.00446552136737,0.0599475909667,0.999999996041,-3.44866643724e-05,-6.1792778059e-05,-5.39474376613e-05,1793238206945916160
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,715.24415705,681,668.24415705,637,881.24415705,788,805,653,632,654,0.436983308039,0.00446589925574,0.0599498429288,0.999999996341,-2.93309314975e-05,-5.92554398826e-05,-5.42842940614e-05,1793238206962583040
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.333548548,715,680.666451452,668.333548548,636.666451452,881,788.333548548,804.666451452,653,632,654,0.437650146534,0.00446485364781,0.0599478720219,0.999999995524,-2.76976919517e-05,-7.24324465041e-05,-5.42105448073e-05,1793238206979249664
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.908803654,715,680.091196346,668.908803654,636.091196346,881,788.908803654,804.091196346,653,632,654,0.438287253184,0.00446277650069,0.0599428410051,0.999999993437,-2.86170338636e-05,-9.69968816206e-05,-5.38392493781e-05,1793238206995916544
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.505734299,747,715,680,668.505734299,636,881.494265701,789,804,653,632,654,0.43893119467,0.00445956539936,0.059950565656,0.999999994862,-2.89899698258e-05,-8.07912635143e-05,-5.3926313027e-05,1793238207012583168
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.080633037,746.919366963,715,680.080633037,668.080633037,636.080633037,882,788.919366963,804.080633037,653,632,654,0.439580478614,0.00445621187737,0.0599648243802,0.99999999678,-2.90818179567e-05,-5.18754096535e-05,-5.38864017841e-05,1793238207029249792
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.660696927,746.339303073,715,680.660696927,668.660696927,636.660696927,882,788.339303073,804.660696927,653,632,654,0.440254877355,0.00445329945537,0.0600046694643,0.999999998193,-2.80702565042e-05,8.19058163667e-06,-5.25251549824e-05,1793238207045916928
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.240439504,715.240439504,681,668.759560496,637,882,788,804.759560496,653,632,654,0.440895593825,0.00445156701029,0.060027651999,0.999999997524,-2.52759044139e-05,4.07430148017e-05,-5.15026031175e-05,1793238207062583808
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.819729207,715.819729207,681,668.180270793,637,882,788,804.180270793,653,632,654,0.44148884198,0.00445149750106,0.0600268702232,0.999999997906,-1.99690745332e-05,3.45207221977e-05,-5.09573726676e-05,1793238207079250176
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.604342462,716,681,668.395657538,637,882,788,804.395657538,653,632,654,0.442026325325,0.00445009274253,0.0600021250264,0.999999998414,-2.11601140553e-05,-4.85985868369e-06,-5.19664663155e-05,1793238207095916544
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.029932699,716,681,668.970067301,637,882,788,804.970067301,653,632,654,0.442538615003,0.00444808473811,0.0599665535103,0.999999996486,-2.52867943705e-05,-5.92208644113e-05,-5.36777804289e-05,1793238207112582912
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.542729554,715.457270446,681,669,637,881.457270446,788,804.457270446,653,632,654,0.443055609485,0.00444670634899,0.0599556283351,0.999999995682,-3.08607339417e-05,-6.78060516571e-05,-5.55506744541e-05,1793238207129250048
+202,3.366666667,POSE1_TO_POSE2_PRESS,766.880542677,746.880542677,715,681.119457323,669,637,881.119457323,788.119457323,804,653,632.119457323,654,0.44357069182,0.0044452397389,0.0599512368933,0.999999994935,-4.70715528465e-05,-6.8105260496e-05,-5.7227446446e-05,1793238207145917184
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.287309613,746.287309613,715,681.712690387,669,637,881.712690387,788.712690387,804,653,632.712690387,654,0.444077164797,0.00444328595992,0.0599673849063,0.999999991748,-0.000105153395864,-4.55224589674e-05,-5.80911556579e-05,1793238207162583552
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+259,4.316666667,POSE1_TO_POSE2_PRESS,767,746.214619044,715,681.214619044,664,635,882,788,804.785380956,653,632.214619044,654,0.450478706561,0.00450979919872,0.0597112645907,0.999999895083,-1.76277082401e-05,-0.000452849771217,-6.67052761921e-05,1793238208095916544
+260,4.333333333,POSE1_TO_POSE2_PRESS,767,746.794369652,715,681.794369652,664,635,882,788,804.205630348,653,632.794369652,654,0.450479816749,0.0045095937139,0.0597117700938,0.999999895861,-1.79821093469e-05,-0.000451158574252,-6.6404652255e-05,1793238208112582912
+261,4.350000000,POSE1_TO_POSE2_PRESS,766.630444461,747,715,682,664,634.630444461,882,788,804.369555539,653,632.630444461,654,0.450480235044,0.00450940064153,0.0597122174568,0.999999896098,-1.68283550003e-05,-0.000450706792026,-6.62110449615e-05,1793238208129249536
+262,4.366666667,POSE1_TO_POSE2_PRESS,766.057767549,747,715,682,664,634.057767549,882,788,804.942232451,653,632.057767549,654,0.450480273049,0.00450921439152,0.0597126328638,0.999999896035,-1.48456626931e-05,-0.000450936238017,-6.60762579858e-05,1793238208145916160
+263,4.383333333,HOLD_POSE2,767,747,715,681,664,634,882,788,805,653,633,654,0.450476867378,0.00450919551842,0.0597097882992,0.999999894068,-1.81050790279e-05,-0.000455117211582,-6.63700554412e-05,1793238208175803136
+264,4.400000000,HOLD_POSE2,766.420459251,747,715,681,663.420459251,634,882,788,805,653,633,654,0.45047673295,0.00450893084613,0.0597095397147,0.999999893585,-1.70938365504e-05,-0.00045629027321,-6.58536831385e-05,1793238208192470016
+265,4.416666667,HOLD_POSE2,766.158140547,747,715,681.158140547,663,634,882,788,805,653,632.841859453,654,0.450477428528,0.0045092160696,0.0597096631614,0.999999893603,-1.58849270443e-05,-0.000456325546702,-6.56365180781e-05,1793238208209136640
+266,4.433333333,HOLD_POSE2,766.734253494,747,715,681.734253494,663,634,882,788,805,653,632.265746506,654,0.450480317851,0.00451095469166,0.0597107699026,0.999999894943,-1.41535746909e-05,-0.000453353596509,-6.62101707691e-05,1793238208225803264
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+268,4.466666667,HOLD_POSE2,766.113426103,746.113426103,715,682,663,634,882,788,805,653,632.886573897,654,0.450479048085,0.00451103572419,0.059710409001,0.999999894698,-1.61922979481e-05,-0.000453703371804,-6.70426673402e-05,1793238208259136256
+269,4.483333333,HOLD_POSE2,766.47137252,746,715,681.52862748,663,634,882,788,804.52862748,653,633,654,0.450478677654,0.00451060300518,0.0597102744336,0.999999894626,-1.55536638573e-05,-0.00045394551393,-6.66303991964e-05,1793238208275802624
+270,4.500000000,HOLD_POSE2,767,746,715,681,663,634,882,788,804.057624049,653,633,653.942375951,0.450478625703,0.00451010489411,0.0597102003708,0.999999894637,-1.44851394286e-05,-0.000454038355568,-6.6078228596e-05,1793238208292469248
+271,4.516666667,HOLD_POSE2,767,746,715,681,663,634,882,788,804.637880359,653,633,653.362119641,0.450478525698,0.00450893406896,0.0597097152292,0.999999894322,-1.50367267835e-05,-0.000454724745515,-6.59941677301e-05,1793238208309135872
+272,4.533333333,HOLD_POSE2,766.784314211,746.215685789,715,681.215685789,663,634,882,788,805,653,633,653.215685789,0.45047899791,0.00450797869044,0.0597096725395,0.999999894344,-1.56974079745e-05,-0.000454669744694,-6.58904622275e-05,1793238208325802752
+273,4.550000000,HOLD_POSE2,766.210577443,746.789422557,715,681.789422557,663,634,882,788,805,653,633,653.789422557,0.450480420036,0.00450738096603,0.0597103643458,0.999999894923,-1.65391912367e-05,-0.000453383991921,-6.57541454918e-05,1793238208342469632
+274,4.566666667,HOLD_POSE2,766,746.63600513,715,682,663,634,882,788,805,653,633,654,0.450480865597,0.00450757813012,0.0597104605675,0.999999894881,-1.6877571695e-05,-0.000453449143622,-6.58623296615e-05,1793238208359136512
+275,4.583333333,HOLD_POSE2,766,746.060948274,715,682,663,634,882,788,805,653,633,654,0.450480744899,0.00450823620929,0.0597102114404,0.999999894478,-1.69240547238e-05,-0.000454297615533,-6.61122873737e-05,1793238208375803392
+276,4.600000000,HOLD_POSE2,766,746,715,682,663,634,882,788.531197886,805,653,633,654,0.450480180946,0.00450823064371,0.0597085493772,0.999999893656,-1.697409531e-05,-0.000456111182433,-6.60531130275e-05,1793238208392469504
+277,4.616666667,HOLD_POSE2,766.121219752,746.121219752,715.121219752,682,663.121219752,634,882,788.878780248,804.878780248,653,632.878780248,654,0.450479834718,0.0045084987436,0.059707390608,0.999999893146,-1.68195866365e-05,-0.000457233505751,-6.60465380035e-05,1793238208409136128
+278,4.633333333,HOLD_POSE2,766.695722535,746.695722535,715.695722535,682,663.695722535,634,882,788.304277465,804.304277465,653,632.304277465,654,0.450480499133,0.00451008437137,0.0597087401924,0.999999894002,-1.58986196989e-05,-0.000455343196767,-6.63736899955e-05,1793238208425802752
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,715,682,663,634,882,789,804,653,633,654,0.450480627955,0.00450875375865,0.0597098023621,0.999999894076,-1.68950520106e-05,-0.000455254460694,-6.56231566464e-05,1793238208463690496
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746,715,681.42240987,663,634,882,788.42240987,804.57759013,653,632.42240987,654,0.450481652414,0.00450847889808,0.0597106485738,0.999999894633,-1.59453415806e-05,-0.000454066825161,-6.55915041268e-05,1793238208480358144
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.840110419,746.159889581,715,681,663,634,882,788,804.840110419,653,632.159889581,654,0.450481496209,0.00450862742997,0.0597106371129,0.999999894626,-1.46926530207e-05,-0.000454147394443,-6.54358198129e-05,1793238208497025280
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.244991782,746.755008218,715,681,663,634,882,788,804.244991782,653,632.755008218,654,0.450478126161,0.00450992846151,0.0597082910156,0.999999893076,-1.2615239554e-05,-0.000457680093242,-6.49425134868e-05,1793238208513691648
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,747,715,681,663.338369509,634,882,788,804.338369509,653,633,653.661630491,0.4504783158,0.00450996754163,0.0597083342259,0.999999893089,-1.33756664187e-05,-0.000457634931155,-6.49152694284e-05,1793238208530357760
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,747,715,681,663.913503882,634,882,788,804.913503882,653,633,653.086496118,0.450480996235,0.00450912360549,0.0597100492895,0.999999894192,-1.61217950164e-05,-0.000455086257986,-6.52141397986e-05,1793238208547024128
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.936774367,746,715.936774367,681,663.063225633,634.936774367,881.936774367,788,804.936774367,653,632,653.063225633,0.450479651609,0.004509284506,0.0597099701561,0.999999894004,-1.44649992608e-05,-0.000455573149703,-6.50772553363e-05,1793238208580357120
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.344531858,746,715.344531858,681,663.655468142,634.344531858,881.344531858,788,804.344531858,653,632,653.655468142,0.450479827506,0.00450757433024,0.0597102453855,0.999999894117,-1.66406089877e-05,-0.000455272719412,-6.49263619487e-05,1793238208597023744
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.24247652,746,715,681.24247652,663.75752348,634,881.24247652,788,804.24247652,653,632,654,0.450479415327,0.00450698027564,0.0597099198185,0.999999893897,-1.77227694246e-05,-0.000455709598078,-6.49661834459e-05,1793238208613690368
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766.822204885,746,715,681.822204885,663.177795115,634,881.822204885,788,804.822204885,653,632,654,0.450478185215,0.00450793859384,0.0597087586255,0.999999893217,-1.72840905078e-05,-0.0004571719732,-6.52712634094e-05,1793238208630357248
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766.603056732,746,715,682,663.396943268,634.396943268,882,788,805,653,632.396943268,654,0.450470526564,0.0045085528358,0.0597042937475,0.999999890687,-1.67365551534e-05,-0.00046261765658,-6.58044299988e-05,1793238208647023872
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766.030525618,746,715,682,663.969474382,634.969474382,882,788,805,653,632.969474382,654,0.450460024249,0.00450901487573,0.0596983674844,0.999999887295,-1.61408671174e-05,-0.000469825356393,-6.6438490726e-05,1793238208663690752
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746.559600705,715,681.440399295,663.440399295,634.440399295,882,788,804.440399295,652.440399295,632.440399295,653.440399295,0.450433135612,0.00450991348021,0.059686140903,0.999999878223,-1.4463914562e-05,-0.000488829542825,-6.62656116762e-05,1793238208680357376
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766.147158198,746.852841802,715,681,663,634,882,788,804,652.147158198,632,653.147158198,0.450399836688,0.00451089745815,0.0596717956579,0.999999867472,-1.25866427127e-05,-0.000510396483378,-6.62733981523e-05,1793238208697024000
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.724314093,746.275685907,715,681,663,634,882,788,804,652.724314093,632,653.724314093,0.450350503483,0.00451205905431,0.0596522964775,0.999999853248,-1.0301975851e-05,-0.000537510510466,-6.69418866136e-05,1793238208713690368
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766.697877719,746.302122281,715,681.302122281,663,634,881.697877719,788,804,653,632,654,0.450297615251,0.00451203395899,0.0596368052836,0.999999842122,-1.00048566187e-05,-0.000557828794582,-6.69592675294e-05,1793238208730356992
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.119473061,746.880526939,715,681.880526939,663,634,881.119473061,788,804,653,632,654,0.450241476051,0.00451092366743,0.0596249792825,0.999999834177,-1.15252942441e-05,-0.000571932560381,-6.63812287891e-05,1793238208747023616
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,746.543273788,715,681.543273788,663.456726212,634,881.456726212,788,804,653,632.456726212,654,0.450174419066,0.00451104435299,0.0596195351081,0.999999829253,-1.1365755537e-05,-0.000580482536302,-6.63736150875e-05,1793238208763690496
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.033190356,746,715,681,664,634,881.966809644,788,804.033190356,653,632.966809644,654,0.450103660991,0.00451165790116,0.0596157020171,0.999999825007,-1.04935303997e-05,-0.000587754142081,-6.64916123314e-05,1793238208780357376
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766.623743778,746,715,681,664,634,881.376256222,788,804.623743778,653,632.376256222,654,0.450018479816,0.0045151666156,0.0596110244242,0.99999981909,-4.99753530237e-06,-0.000597837568113,-6.62252690314e-05,1793238208797024000
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766.21472604,746,715,681.78527396,664,634.78527396,881.78527396,788.78527396,805,653,632,653.21472604,0.449822565768,0.00451565834955,0.0596019675702,0.999999808472,-1.77180277772e-07,-0.000615504965785,-6.488886642e-05,1793238208830357504
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.361593091,746,715,681.638406909,664,635,882.361593091,788.638406909,805,653,632.361593091,653.361593091,0.449701594848,0.00451723729058,0.0595954173856,0.999999801637,4.17417011514e-06,-0.000626567943557,-6.41924648413e-05,1793238208847023872
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746.511032457,715.511032457,681,664,635,882.488967543,788,804.488967543,653,633,654,0.449417512857,0.00451979999846,0.0595815475455,0.999999788853,1.12563123905e-05,-0.000646729366369,-6.25107656506e-05,1793238208880357120
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,746,715,682,666,635,882,788,804,653,632.479731056,653,0.446608396068,0.00452279912646,0.0597293082674,0.999999907132,6.72861214218e-05,-0.000424282163842,-3.45473297806e-05,1793238209080357376
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,746.053807853,715,681.946192147,666.053807853,635.053807853,882,788,804,653,633,653.053807853,0.446251826943,0.00452274648465,0.0597363977038,0.999999909853,7.40762908489e-05,-0.000416936964842,-3.11464183739e-05,1793238209097024000
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,746.765506928,715,681,667.234493072,636,882,788,804.234493072,653,632.765506928,654,0.44545775147,0.00452956785503,0.0597481307224,0.999999917142,9.55602412327e-05,-0.000394874021193,-2.56623279136e-05,1793238209130357504
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,746.186310065,715,681,667.813689935,636,882,788,804.813689935,653,632.186310065,654,0.445045801416,0.00452944984398,0.0597582677536,0.9999999249,0.000103222223862,-0.000372898475369,-2.21755871444e-05,1793238209147023872
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,746,715,681.963096241,668,636,882,788,804.036903759,653,632.963096241,654,0.444221214616,0.0045316727942,0.0598104274641,0.999999951992,0.000122279862925,-0.000284345128459,-1.45335784397e-05,1793238209180357376
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766.536536626,746.536536626,715,682,668,636,881.463463374,788,804.536536626,653,633,654,0.443753299745,0.00453388433635,0.0598314252285,0.999999959495,0.000133415581114,-0.000251201570864,-1.04216229938e-05,1793238209197024000
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746.291326642,715,681.291326642,668,636,881.708673358,788,805,653,633,653.291326642,0.442708111685,0.0045402208494,0.0598343163028,0.999999953985,0.000160449312301,-0.000257455537861,-1.87047631154e-06,1793238209230358016
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.442890659,746,715,680.557109341,668,636,882,788.557109341,805,653,633,653.557109341,0.440934620743,0.00454885761178,0.0597785443772,0.999999914584,0.000196781100666,-0.000363341904043,9.53270948573e-06,1793238209280357632
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.98064411,746,715,680.01935589,667.98064411,636,882,788.01935589,804.98064411,653,633,653.01935589,0.4403377487,0.00455118907405,0.0597740152811,0.999999907582,0.000209577121399,-0.000375115437947,1.42411086499e-05,1793238209297024512
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.194042871,746,715,681,667.388085742,636.194042871,882,788.805957129,804,653,633,654,0.439143347179,0.00455567116647,0.0598232451174,0.999999931075,0.000229876167303,-0.000290726738661,2.20167669348e-05,1793238209330358528
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.77338719,746,715,681,668.546774379,636.77338719,882,788.22661281,804,653,633,654,0.438525446738,0.00455682315061,0.0598513822388,0.999999939659,0.000239570556951,-0.000250147732859,2.67201797099e-05,1793238209347025664
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,766.072714484,746,715,681,667.145428967,636.072714484,881.072714484,788,804,653,633,654,0.437138928497,0.00456432017205,0.0598195057322,0.999999918286,0.000263758738116,-0.000304439365286,3.42853560753e-05,1793238209380358144
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746.678788523,715,681,668,636,881.321211477,788.678788523,804.321211477,653,632.678788523,653.321211477,0.43502483852,0.00457374072337,0.0597745140996,0.999999895214,0.000294707763738,-0.000347796025945,4.19243154549e-05,1793238209430357760
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636,881.843279893,788.156720107,804,653,633,653.156720107,0.430642159506,0.00457427762802,0.0598352155736,0.999999951585,0.000188334689396,-0.000246952190892,1.93445681258e-05,1793238209530357504
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636,881.259006136,788.740993864,804,653,633,653.740993864,0.42984067019,0.00458107296006,0.0598463613296,0.999999949544,0.000206756248479,-0.000239984294742,2.38887249739e-05,1793238209547024384
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.106327764,746.893672236,715,680,668,636,881.893672236,789,804,653,632.106327764,654,0.428200067979,0.00458220142046,0.0597826862421,0.999999913172,0.000216119634644,-0.000355108418213,2.90886397253e-05,1793238209580357120
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746.624115321,715,680.375884679,667.375884679,636,881,788.375884679,804,653,632.375884679,654,0.423559965716,0.00458931112471,0.0598469674311,0.999999949024,0.000193280258036,-0.000252264025952,3.09429105521e-05,1793238209680357376
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,746.049538181,715,680.950461819,667.950461819,636,881,788.950461819,804,653,632.950461819,654,0.42279404244,0.00458880525572,0.0598447011849,0.999999951734,0.00018776047689,-0.00024558890665,3.10345659604e-05,1793238209697024256
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.141694154,746,715,680,668,636.141694154,881,788,804,653,632,654,0.418871140018,0.00458986105025,0.0597548872631,0.999999909673,0.000157314306418,-0.000393705099686,3.00527918175e-05,1793238209780357120
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.242402098,746.242402098,715,680,667.757597902,636,880.757597902,788.242402098,803.242402098,653,632.757597902,654,0.41138545284,0.00458051791975,0.0597724047779,0.99999988631,0.000275545668384,-0.000387660203143,3.42716954911e-05,1793238209963691008
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.819611062,746.819611062,715,680,667.180388938,636,880.180388938,788.819611062,803.819611062,653,632.180388938,654,0.410808666692,0.00457927574552,0.0597841419449,0.999999900472,0.000263969950058,-0.000358088834873,3.38938947709e-05,1793238209980358144
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.603357693,746.603357693,715,680,667.396642307,636,880,788.603357693,804,653,632,654,0.410252736129,0.00457744287802,0.0598122042856,0.999999918399,0.000252141252354,-0.000313771948822,3.42558318879e-05,1793238209997024512
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.026407186,746.026407186,715,680,667.973592814,636,880,788.026407186,804,653,632,654,0.409706286182,0.00457534148927,0.0598476878293,0.999999936022,0.000240197552146,-0.00026275194768,3.49540436649e-05,1793238210013690880
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,667.438974228,636,880,788,804,653,632,654,0.409183953322,0.00457409429009,0.05986079567,0.999999942261,0.000233043093173,-0.000244721333167,3.57776620734e-05,1793238210030357504
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.146649046,746.146649046,715,680,667.146649046,636,880,788,803.853350954,653,632,654,0.408662852017,0.00457274142661,0.0598670468264,0.999999945733,0.000225444802204,-0.000237444798581,3.64606926634e-05,1793238210047024384
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.725457811,746.725457811,715,680,667.725457811,636,880,788,803.274542189,653,632,654,0.408141970903,0.00457095644129,0.0598562548435,0.999999942953,0.000215861623224,-0.000257196384031,3.67116993376e-05,1793238210063691008
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746.696189539,715,679.696189539,668,636,880,788,803,653.303810461,632.303810461,654,0.407637484469,0.00456936364756,0.0598449688278,0.999999940345,0.000203872641001,-0.000276473802741,3.61603859606e-05,1793238210080357888
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746.118248479,715,679.118248479,668,636,880,788,803,653.881751521,632.881751521,654,0.407147791117,0.00456794426993,0.059833237043,0.999999937788,0.000189712883921,-0.000295323375809,3.48851327959e-05,1793238210097025280
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.54361704,746.45638296,715,679.45638296,667.54361704,636.45638296,880,788,803,654,632.54361704,654,0.406708846454,0.00456731431125,0.0598388025078,0.999999944483,0.00018181969722,-0.000277151320913,3.4099746884e-05,1793238210113691648
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.031094951,747,715,680,667.031094951,636.968905049,880.031094951,788,803,654,632,654,0.406284515066,0.0045667792842,0.0598485629574,0.999999952652,0.000175565498182,-0.000250501673208,3.34914698714e-05,1793238210130357248
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.622602301,747,715,680,667.622602301,636.377397699,880.622602301,788,803,654,632,654,0.405888280778,0.004564295406,0.0598537375001,0.999999955562,0.000169798159386,-0.00024269686833,3.38041213196e-05,1793238210147023872
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,747,715,680,668,636.209852868,881,788,803.209852868,654,632,654,0.405492391146,0.0045628506636,0.0598522389783,0.999999955619,0.000164781665415,-0.000245874018431,3.39940169514e-05,1793238210163690496
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,747,715,680,668,636.789600209,881,788,803.789600209,654,632,654,0.405097109058,0.00456323754089,0.0598389782641,0.999999950427,0.000161088639041,-0.00026840837168,3.39675385744e-05,1793238210180357120
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,747,715,680,668,637,881,788.365722358,803.634277642,653.634277642,632.365722358,654,0.404721298121,0.00456312275419,0.0598222410183,0.999999942807,0.000158874019243,-0.000296594421537,3.42967512548e-05,1793238210197023744
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,747,715,680,668,637,881,788.939779459,803.060220541,653.060220541,632.939779459,654,0.404356578942,0.00456272219326,0.0598035233555,0.999999933198,0.000157501577361,-0.00032799997781,3.48285842982e-05,1793238210213690368
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746.473112067,715,679.473112067,668,636.473112067,880.473112067,788.473112067,803,653.526887933,633,654,0.404038296219,0.00456104285677,0.0597941985818,0.99999992867,0.000154951789634,-0.000342623193925,3.55001087103e-05,1793238210230356992
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.113766521,668,636,880,788,803.113766521,654,632.886233479,654,0.403738923926,0.00455910704901,0.0597913502818,0.999999928026,0.000152406086341,-0.000345546971658,3.62860680937e-05,1793238210247023616
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.693439719,668,636,880,788,803.693439719,654,632.306560281,654,0.403494707611,0.00455673467669,0.0598105168032,0.99999994036,0.000150442186772,-0.00030861301684,3.74736257215e-05,1793238210263690240
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.72803848,636,880.27196152,788,804,654,632,654,0.403255255351,0.00455543443595,0.0598259159283,0.999999948068,0.000150797910787,-0.000282162171718,3.88299936674e-05,1793238210280357376
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.150809119,636,880.849190881,788,804,654,632,654,0.4030211506,0.0045553376277,0.0598370862742,0.999999951592,0.000153757336072,-0.000267478274143,4.03758455965e-05,1793238210297025024
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.567722191,746,715,679.567722191,667,636,880.567722191,788.432277809,803.567722191,654,632,654,0.402808825379,0.00455413445168,0.0598465431213,0.99999995587,0.00015216497071,-0.000251796208456,4.12958609747e-05,1793238210313691136
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.017254322,667,636.017254322,880.017254322,788.982745678,803,654,632,654,0.402604434173,0.00455258343808,0.0598549442032,0.999999960014,0.000149074354697,-0.000236612877156,4.19894824459e-05,1793238210330357248
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.596304628,667,636.596304628,880.596304628,788.403695372,803,654,632,654,0.402407577082,0.00455244694519,0.0598487011078,0.999999956863,0.000149615771577,-0.000249162272384,4.25183982734e-05,1793238210347023872
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.175041306,746,715,680,667,637,881,788,803.175041306,653.824958694,632.175041306,654,0.402219011926,0.00455205494471,0.0598433758989,0.9999999542,0.00014814515299,-0.000260458277503,4.26077710196e-05,1793238210363690496
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.753055879,746,715,680,667,637,881,788,803.753055879,653.246944121,632.753055879,654,0.402049536169,0.00455107472464,0.0598401638131,0.999999952898,0.000142042504782,-0.000268868775122,4.16852447633e-05,1793238210380356864
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,880.669554286,788,804,653.330445714,632.669554286,654,0.401901740772,0.0045462273922,0.0598398336363,0.999999957342,0.000102666672206,-0.000271430806417,3.31877652039e-05,1793238210397024000
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,880.092630381,788,804,653.907369619,632.092630381,654,0.401770116657,0.00453849559538,0.0598416530641,0.999999962728,3.84724979502e-05,-0.000269630489077,1.90401568002e-05,1793238210413690880
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,880.476380494,788.476380494,804,653.523619506,632,654,0.401655766003,0.00453679423995,0.0598397538493,0.999999957122,0.000104898026365,-0.000272824807029,1.78886694901e-05,1793238210430357760
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,881,789,803.953572835,653.046427165,632,654,0.401546501273,0.0045365299865,0.0598375469774,0.999999943676,0.000189827639729,-0.000276129620585,1.91181600774e-05,1793238210447024640
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,881,789,803.353103265,653.646896735,632,654,0.40145850263,0.00453965087151,0.0598401565478,0.999999944052,0.000197434562023,-0.000269352686092,1.90972722032e-05,1793238210463690752
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.762828356,746,715,680,667,637,881,788.762828356,803.237171644,653.762828356,632,654,0.401375979782,0.00454023707529,0.0598416908554,0.999999944249,0.000200510231156,-0.000266287119234,1.96988598126e-05,1793238210480357376
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.187105858,746,715,680,667,637,881,788.187105858,803.812894142,653.187105858,632,654,0.401301273367,0.00453720514615,0.0598416902779,0.999999944296,0.000197117758907,-0.000268519347508,2.11890005515e-05,1793238210497024512
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.387389702,746.387389702,715,680,667.387389702,637,881,788.387389702,804,653.387389702,632,654,0.401238537358,0.00453735200739,0.0598400778013,0.999999943348,0.000197947251359,-0.00027136936371,2.18875501624e-05,1793238210513691136
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.961294517,746.961294517,715,680,667.961294517,637,881,788.961294517,804,653.961294517,632,654,0.401181564699,0.00453902934937,0.0598376892495,0.999999941912,0.000200809477914,-0.000274516823952,2.22049752252e-05,1793238210530357248
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,747,715,680,667.450464534,637,881,789,804,654,632.549535466,654,0.401133887062,0.00453710618602,0.0598342588272,0.999999940648,0.000199777242578,-0.000279765535003,2.29131431898e-05,1793238210547024128
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746.863532761,715.136467239,680,667.136467239,637,881,788.863532761,803.863532761,654,632.863532761,654,0.401091496738,0.00453569377707,0.0598320977212,0.999999939843,0.00019898409172,-0.000283141214656,2.34512179121e-05,1793238210563690496
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746.284214022,715.715785978,680,667.715785978,637,881,788.284214022,803.284214022,654,632.284214022,654,0.401064082937,0.00453678381106,0.0598343002013,0.999999940567,0.000199880771651,-0.000279945562673,2.33456190563e-05,1793238210580357376
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746.293467271,716,680,668,637,881,788,803.293467271,654,632.293467271,654.293467271,0.401041404678,0.00453727123289,0.0598363172491,0.99999994117,0.000201093520757,-0.000276896778934,2.34507659745e-05,1793238210597024256
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746.869571615,716,680,668,637,881,788,803.869571615,654,632.869571615,654.869571615,0.401023287197,0.00453717828164,0.0598381557082,0.999999941657,0.000202610674842,-0.000273989442998,2.37588812345e-05,1793238210613690624
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,747,715.55606252,680,668,636.55606252,880.55606252,788,804,654,632.55606252,654.55606252,0.401009619744,0.00453678551,0.0598387529437,0.999999942056,0.000201830429175,-0.00027308381359,2.40216843909e-05,1793238210630357248
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746.981623381,715.018376619,680,667.981623381,636.018376619,880.018376619,788.018376619,804,654,632,654,0.400997421806,0.00453634040013,0.0598390112533,0.999999942417,0.000200482485204,-0.000272732815464,2.4267254404e-05,1793238210647023872
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746.388994766,715.611005234,680,667.388994766,636.611005234,880.611005234,788.611005234,804,654,632,654,0.400990448692,0.00453700166496,0.0598400295978,0.999999942388,0.000202404518201,-0.000271407657353,2.43886904453e-05,1793238210663690496
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,667.19912699,637,881,788.80087301,804,653.80087301,632,654,0.400984133565,0.00453720133242,0.0598405246731,0.999999942372,0.00020320139148,-0.000270876983148,2.42969002295e-05,1793238210680357376
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,667.778639412,637,881,788.221360588,804,653.221360588,632,654,0.400979075367,0.00453651922629,0.0598400201652,0.99999994239,0.000201848910777,-0.000271863984279,2.37977912299e-05,1793238210697024000
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,715.645048797,680,668,637,880.645048797,788,804,653.354951203,632,654,0.400976541494,0.00453712568995,0.0598404495454,0.999999942577,0.000202321504357,-0.00027085135557,2.35058512217e-05,1793238210713690880
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,715.070715222,680,668,637,880.070715222,788,804,653.929284778,632,654,0.400975567814,0.00453852857158,0.0598414561278,0.999999942862,0.000203922109736,-0.000268602828663,2.3341954818e-05,1793238210730357760
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,637,880.499606303,788.499606303,804,654,632,654,0.400975354364,0.00453658128598,0.0598415852391,0.999999943399,0.000202038094416,-0.000267982852631,2.38112128632e-05,1793238210747024384
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.927060984,637,881,789.072939016,804,654,632,654,0.400975406915,0.0045344221184,0.0598418877328,0.999999944076,0.000199594325572,-0.000267243865579,2.43237656506e-05,1793238210763690752
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.327941933,637,881,789.672058067,804,654,632,654,0.400976608313,0.00453412797601,0.0598443298315,0.999999945518,0.000196642240342,-0.000263996704233,2.45072946559e-05,1793238210780357376
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.739259575,667,637,881,789.47851915,804,654,632,654,0.400976776856,0.00453456002145,0.0598454021214,0.999999946083,0.000196182822371,-0.000262215169479,2.42974001459e-05,1793238210797024000
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.16319852,667,637,881,788.32639704,804,654,632,654,0.400975696338,0.00453587026595,0.0598448178636,0.999999945597,0.000198737855695,-0.000262206057204,2.36117276878e-05,1793238210813690624
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.412592494,667.412592494,637,880.587407506,788,803.587407506,654,632,654,0.400975481922,0.00453646942273,0.0598449831146,0.999999945579,0.000199366448038,-0.00026181139391,2.34498958689e-05,1793238210830357248
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.988276731,667.988276731,637,880.011723269,788,803.011723269,654,632,654,0.400975609863,0.00453678749691,0.0598454446355,0.999999945747,0.000199233546455,-0.000261264327972,2.34951305882e-05,1793238210847024128
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767.57584922,746,715.57584922,680,668,637,880.57584922,788,803,654,632,654,0.400975285456,0.00453613419602,0.0598446792849,0.999999945776,0.00019807189005,-0.000262033564173,2.353614728e-05,1793238210863690496
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767.838934572,746.161065428,715.838934572,679.838934572,667.838934572,637,881,788,803.161065428,654,632,654,0.40097525957,0.00453549574262,0.0598443438327,0.999999945862,0.000197286673296,-0.000262289998259,2.36118855032e-05,1793238210880357120
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767.260465171,746.739534829,715.260465171,679.260465171,667.260465171,637,881,788,803.739534829,654,632,654,0.400976031676,0.00453494809562,0.0598451885626,0.999999946109,0.000197532426692,-0.000261146586005,2.37778324302e-05,1793238210897023744
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,747,715.317037537,679,667.317037537,637,880.682962463,788,804,654,632,654,0.400976341244,0.00453378800508,0.0598458301343,0.999999946613,0.000195937013395,-0.00026041063993,2.3868156784e-05,1793238210913690624
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da640dadfbd6b238da04be4ba97644cd8fe1feaa
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,441 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd03171185368408182f5d0ca291b577cdb306b5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b57d5d5741c4f7784ff21c90bc023cebdc70a1e509642b07ed8b8521fe824247
+size 27987535
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1b7f720a6c898d63180543222ded1fd8bc3090b6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_04/franka_data.csv
@@ -0,0 +1,442 @@
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+4,0.066666667,BASELINE,766.666979388,746,715,680,667.333020612,637,880.333020612,788.333020612,803.666979388,654,632,654,0.400975421623,0.00453520491419,0.0598483140746,0.999999947822,0.000195543598039,-0.000256094197025,2.31062097056e-05,1793238211316126976
+5,0.083333333,BASELINE,766.090577851,746,715,680,667.909422149,637,880.909422149,788.909422149,803.090577851,654,632,654,0.400976233502,0.0045351071311,0.0598489637629,0.999999948472,0.000192695639584,-0.000255718374645,2.30854016761e-05,1793238211332793088
+6,0.100000000,BASELINE,766.485196464,746,715,680,667.514803536,636.514803536,880.514803536,789,803.485196464,653.514803536,632,654,0.400977318393,0.00453472039306,0.0598497648649,0.999999948731,0.000192871178042,-0.000254558678069,2.32207302261e-05,1793238211349459456
+7,0.116666667,BASELINE,767,746.062431228,715,680,667,636.062431228,880.062431228,788.937568772,804,653.062431228,632,654,0.400978232861,0.00453438986774,0.0598504739198,0.999999948868,0.000193576239035,-0.000253467331886,2.33668129479e-05,1793238211366125824
+8,0.133333333,BASELINE,767,746.653010201,715,680,667,636.653010201,880.653010201,788.346989799,804,653.653010201,632,654,0.400977275001,0.00453499063385,0.0598501654706,0.999999948604,0.000193992116935,-0.000254190562779,2.33576081003e-05,1793238211382792704
+9,0.150000000,BASELINE,767,746.762482159,715,680,667,637,881,788,804,654,632,654,0.400976858803,0.00453456052069,0.0598501119915,0.999999948797,0.000192592697707,-0.000254490621269,2.34163048484e-05,1793238211399459328
+10,0.166666667,BASELINE,767,746.186623108,715,680,667,637,881,788,804,654,632,654,0.400977214196,0.00453266193277,0.0598504217143,0.99999994963,0.000188607410252,-0.00025418787587,2.35717265754e-05,1793238211416126208
+11,0.183333333,BASELINE,767,746,715,680,667.389106199,637,881,788,804,654,632,654,0.400977409058,0.0045326150342,0.0598506806884,0.999999949537,0.00018947616532,-0.000253902657891,2.36478080876e-05,1793238211432793600
+12,0.200000000,BASELINE,767,746,715,680,667.96477335,637,881,788,804,654,632,654,0.40097752695,0.00453345594687,0.0598509153306,0.999999948995,0.000192672240425,-0.000253625843586,2.3685849135e-05,1793238211449460992
+13,0.216666667,BASELINE,767,746,715,680,667.448484913,637,881,788,803.448484913,653.448484913,632.551515087,654,0.400977461498,0.00453302294988,0.0598507531289,0.999999949194,0.000191578728176,-0.000253681856254,2.35563621912e-05,1793238211466126848
+14,0.233333333,BASELINE,767,746,715,680,667.137264445,637,880.862735555,788,803.137264445,653.137264445,632.862735555,654,0.400977382261,0.00453290090715,0.059850528478,0.999999949265,0.000191130435192,-0.000253747088071,2.34700054413e-05,1793238211482792960
+15,0.250000000,BASELINE,767,746,715,680,667.717482105,637,880.282517895,788,803.717482105,653.717482105,632.282517895,654,0.400977297106,0.00453405027063,0.0598501857758,0.999999948769,0.000193666543111,-0.000253772063114,2.35580680088e-05,1793238211499459584
+16,0.266666667,BASELINE,767,746,715,680,667.703714634,637,880,788,803.703714634,653.703714634,632,654,0.400976519639,0.00453462984253,0.0598496088375,0.999999948387,0.000194648425245,-0.000254537788427,2.34246981173e-05,1793238211516126208
+17,0.283333333,BASELINE,767,746,715,680,667.126253678,637,880,788,803.126253678,653.126253678,632,654,0.400975085164,0.00453466868065,0.0598488096085,0.999999948116,0.000194155342871,-0.000256006487693,2.30811882347e-05,1793238211532792576
+18,0.300000000,BASELINE,767,746,715,680,667,637,880.448772957,788,803,653.448772957,632,654,0.400975225246,0.00453584579785,0.0598490017708,0.999999947758,0.00019604006848,-0.000255971020096,2.30564352135e-05,1793238211549459200
+19,0.316666667,BASELINE,767,746,715,680,667.023794951,636.976205049,881,788,803.023794951,654,632,654,0.400975793207,0.0045372129611,0.0598494474821,0.999999947413,0.000198383065097,-0.000255504662102,2.31286714757e-05,1793238211566126080
+20,0.333333333,BASELINE,767,746,715,680,667.614947693,636.385052307,881,788,803.614947693,654,632,654,0.400976058316,0.00453551719073,0.0598493243949,0.999999948098,0.000195788748266,-0.000254799750931,2.33868154909e-05,1793238211582792704
+21,0.350000000,BASELINE,767,746,715,680,668,636,881,788,803.79819025,654,632,654,0.400976074401,0.00453410939095,0.0598492080767,0.999999948533,0.000193621231834,-0.000254738189956,2.35377477353e-05,1793238211599459328
+22,0.366666667,BASELINE,767,746,715,680,668,636,881,788,803.219344436,654,632,654,0.40097562524,0.00453323959954,0.0598491044048,0.999999948507,0.000192251096109,-0.000255878584004,2.34883789044e-05,1793238211616125952
+23,0.383333333,BASELINE,766.644026773,746,715,679.644026773,667.644026773,636.355973227,880.644026773,788,803,654,632,654,0.40097589421,0.00453371890538,0.0598494334136,0.999999948281,0.000193708442263,-0.000255659068647,2.35081490043e-05,1793238211632792576
+24,0.400000000,BASELINE,766.070861703,746,715,679.070861703,667.070861703,636.929138297,880.070861703,788,803,654,632,654,0.400976601337,0.00453502134303,0.0598500264162,0.999999947926,0.000196890934877,-0.000254609824623,2.35701032037e-05,1793238211649459200
+25,0.416666667,BASELINE,766.517107629,746,715,679.517107629,667,637,880,788,803.517107629,653.482892371,632,654,0.400976682551,0.00453482456257,0.0598499805724,0.999999948111,0.000196787502543,-0.000253960992763,2.35699410753e-05,1793238211666125824
+26,0.433333333,BASELINE,767,746.105240612,715,680,667.105240612,637,880.105240612,788,804,653.105240612,632,654,0.400976540919,0.00453455850721,0.059849830848,0.999999948379,0.000195851319161,-0.000253636040448,2.35052274156e-05,1793238211682792448
+27,0.450000000,BASELINE,767,746.684700381,715,680,667.684700381,637,880.684700381,788,804,653.684700381,632,654,0.40097579302,0.00453493332458,0.059849619137,0.999999948669,0.000193251529771,-0.000254515968861,2.31891278606e-05,1793238211699459072
+28,0.466666667,BASELINE,767,746.737507676,715,679.737507676,668,637,881,788.262492324,804,654,632,654,0.400975631661,0.00453530829141,0.0598496152758,0.999999948822,0.0001920323489,-0.000254857218347,2.29817487662e-05,1793238211716125952
+29,0.483333333,BASELINE,767,746.161706473,715,679.161706473,668,637,881,788.838293527,804,654,632,654,0.400976170392,0.00453568343663,0.0598498595026,0.999999948818,0.000192461052206,-0.000254555504639,2.29041376211e-05,1793238211732793088
+30,0.500000000,BASELINE,767,746,715,679.414342309,667.585657691,637,880.585657691,788.585657691,804,654,632,654,0.400976584524,0.00453492328519,0.0598504802823,0.99999994883,0.000193405087022,-0.000253770776293,2.31162643472e-05,1793238211749459712
+31,0.516666667,BASELINE,767,746,715,679.990487758,667.009512242,637,880.009512242,788.009512242,804,654,632,654,0.400976949999,0.00453371979364,0.0598512481082,0.999999948847,0.000194550361852,-0.00025279742786,2.34415354406e-05,1793238211766126080
+32,0.533333333,BASELINE,766.421864791,746,715,680,667.578135209,637,880.578135209,788,804,654,632,654,0.40097632752,0.00453391759347,0.0598500948219,0.999999948568,0.000194102521936,-0.000254245322307,2.3392713297e-05,1793238211782792704
+33,0.550000000,BASELINE,766.163993804,746,715,680,668,637,881,788,804,654,632,654,0.400975973291,0.00453426226584,0.0598494585545,0.999999948468,0.000193763614035,-0.000254901514876,2.33577245818e-05,1793238211799459072
+34,0.566666667,BASELINE,766.744814753,746,715,680,668,637,881,788,804,654,632,654,0.400976343031,0.00453492045652,0.0598502183783,0.999999948837,0.000193769557567,-0.000253442107501,2.33738587178e-05,1793238211816125696
+35,0.583333333,BASELINE,767,746,715,680,668,637,880.677634307,788,804,653.677634307,632,654,0.400976437635,0.00453470190883,0.0598505182453,0.999999948905,0.00019402703463,-0.000252978823293,2.33700109551e-05,1793238211832792320
+36,0.600000000,BASELINE,767,746,715,680,668,637,880.102645855,788,804,653.102645855,632,654,0.400976316627,0.00453379630279,0.0598504576659,0.999999948736,0.000194481626635,-0.000253296153574,2.33505043246e-05,1793238211849459200
+37,0.616666667,BASELINE,767,746,715.469640044,680,667.530359956,637,880.469640044,788,804,653.469640044,632,654,0.400977482147,0.00453514975252,0.0598511155849,0.999999948916,0.00019529872702,-0.000251968782441,2.31827679771e-05,1793238211866125824
+38,0.633333333,BASELINE,767,746,715.956983346,680,667.043016654,637,880.956983346,788,803.956983346,654,632.043016654,654,0.400978733145,0.00453684027101,0.0598517992171,0.999999949107,0.000196181445285,-0.000250538476051,2.30039679484e-05,1793238211882792704
+39,0.650000000,BASELINE,767,746,715.362077982,680,667.637922018,637,880.362077982,788,803.362077982,654,632.637922018,654,0.400977493887,0.0045365569255,0.0598508095396,0.999999948503,0.000196895330601,-0.000252373040051,2.30964951297e-05,1793238211899459584
+40,0.666666667,BASELINE,767,746.226946176,715,680,668,637,880,788,803.226946176,654,632.773053824,654,0.40097646941,0.00453564351938,0.059850184362,0.999999948378,0.000195760581629,-0.000253730413635,2.32790600873e-05,1793238211916126464
+41,0.683333333,BASELINE,767,746.80682423,715,680,668,637,880,788,803.80682423,654,632.19317577,654,0.400975778946,0.00453375028414,0.0598501260309,0.999999948991,0.000191750957236,-0.000254345691718,2.36016459119e-05,1793238211932792832
+42,0.700000000,BASELINE,767,746.6174723,715.3825277,679.6174723,668,637,880.3825277,788,803.6174723,654,632.3825277,654,0.400977241061,0.00453350359915,0.0598513905387,0.999999949711,0.000190742260488,-0.000252280810885,2.34269958664e-05,1793238211949459200
+43,0.716666667,BASELINE,767,746.043854247,715.956145753,679.043854247,668,637,880.956145753,788,803.043854247,654,632.956145753,654,0.400979778489,0.00453407944253,0.0598533158659,0.999999950481,0.0001912326666,-0.000248877066167,2.30039533989e-05,1793238211966125824
+44,0.733333333,BASELINE,767,746,715.470063177,679.529936823,668,637,881,788,803.529936823,654,632.470063177,654,0.400979686619,0.0045339563574,0.0598527676672,0.999999950604,0.000190416183575,-0.000249000592032,2.30603317585e-05,1793238211982792704
+45,0.750000000,BASELINE,766.892397696,746,715,680,667.892397696,637,881,788,804,654,632,654,0.400979235375,0.00453407589075,0.0598520318361,0.999999950438,0.000190499082257,-0.00024959311952,2.31645603177e-05,1793238211999459328
+46,0.766666667,BASELINE,766.297242061,746,715,680,667.297242061,637,881,788,804,654,632,654,0.400978141991,0.00453555690267,0.0598513736133,0.99999994919,0.000195147335462,-0.000250987698038,2.33057776892e-05,1793238212016126208
+47,0.783333333,BASELINE,766.288302565,746,715.288302565,680,667,637,881.288302565,788,804,654,632,654,0.40097736359,0.00453604026893,0.0598509474935,0.999999948644,0.000196863994206,-0.000251814532692,2.33840461219e-05,1793238212032793088
+48,0.800000000,BASELINE,766.864257913,746,715.864257913,680,667,637,881.864257913,788,804,654,632,654,0.400976899462,0.00453552823821,0.0598507529535,0.999999948815,0.000195655666325,-0.00025207490325,2.33995075087e-05,1793238212049459968
+49,0.816666667,BASELINE,767,746.438512699,715.561487301,679.561487301,667,637,881.122974601,788,804,654,632,654,0.400976115857,0.0045347394224,0.0598502271656,0.999999948895,0.000194188517078,-0.000252905968898,2.32353194717e-05,1793238212066126080
+50,0.833333333,BASELINE,767,746.987424335,715,679.012575665,667,637,880.012575665,788,804,654,632,654,0.400975290114,0.00453387383188,0.0598496280876,0.999999948949,0.000192682578236,-0.000253862222849,2.30274735966e-05,1793238212082792448
+51,0.850000000,BASELINE,767,746.398108161,715,679.601891839,667,637,880.601891839,788,804,654,632,654,0.400977049811,0.00453340143086,0.0598503522076,0.999999949216,0.000193057849019,-0.000252489233989,2.3357951465e-05,1793238212099459328
+52,0.866666667,BASELINE,767,746,715,680,667.188084649,637,881,788,804,654,632,654,0.400978036582,0.00453346856926,0.0598507570062,0.999999949272,0.000193732031004,-0.000251737956794,2.3511802775e-05,1793238212116125952
+53,0.883333333,BASELINE,767,746,715,680,667.767774366,637,881,788,804,654,632,654,0.400977414069,0.00453465906554,0.0598504969556,0.999999948888,0.000195028566477,-0.000252281125771,2.32979055238e-05,1793238212132792832
+54,0.900000000,BASELINE,767,746,715,680,667.65509812,637,881,788,803.65509812,654,632,654,0.400978852654,0.00453488014592,0.059851763911,0.999999949495,0.000194949672999,-0.000249920591558,2.33506575077e-05,1793238212149459456
+55,0.916666667,BASELINE,767,746,715,680,667.079683061,637,881,788,803.079683061,654,632,654,0.400981668761,0.00453445332274,0.0598540514322,0.999999950749,0.000193951519476,-0.000245619384076,2.35816229747e-05,1793238212166126080
+56,0.933333333,BASELINE,767,746.507021231,715.507021231,680,667,637,880.492978769,788.507021231,803.507021231,654,632,654,0.400979948373,0.00453487347148,0.0598528982287,0.999999949954,0.000194864849674,-0.000248137622569,2.33989735707e-05,1793238212182792960
+57,0.950000000,BASELINE,767,746.905883123,715.905883123,679.905883123,667,637,880.094116877,789,804,654,632.094116877,654,0.400977775901,0.00453511233828,0.0598514685451,0.999999949083,0.00019534325429,-0.000251268313048,2.32096689944e-05,1793238212199459584
+58,0.966666667,BASELINE,767,746.326131567,715.326131567,679.326131567,667,637,880.673868433,789,804,654,632.673868433,654,0.400977033254,0.00453371333234,0.0598514659684,0.99999994957,0.000191992106912,-0.000251903187607,2.33290743845e-05,1793238212216125952
+59,0.983333333,BASELINE,767,746,715,679,667,637,881,788.74802348,804,654,632.74802348,654,0.400976399806,0.00453350229999,0.0598512308773,0.999999949592,0.000191155314672,-0.000252455887168,2.32762491611e-05,1793238212232792576
+60,1.000000000,BASELINE,767,746,715,679,667,637,881,788.17202866,804,654,632.17202866,654,0.400975906778,0.00453481889067,0.0598506967945,0.999999949024,0.000193551748123,-0.000252902917437,2.30019514524e-05,1793238212249459200
+61,1.016666667,BASELINE,767,746,715,679.403406627,667.403406627,637,881,788,803.596593373,653.596593373,632,654,0.400977243781,0.00453484299476,0.0598514267542,0.999999949483,0.000193118840294,-0.000251426361452,2.28969570816e-05,1793238212266126080
+62,1.033333333,BASELINE,767,746,715,679.978603603,667.978603603,637,881,788,803.021396397,653.021396397,632,654,0.400979360101,0.00453431669451,0.0598526950053,0.999999950373,0.000191481059883,-0.000249130647962,2.28640604012e-05,1793238212282792704
+63,1.050000000,BASELINE,767,746,715,679.433950735,667.433950735,637,881.566049265,788,803,653.566049265,632,654,0.400978135586,0.00453523827559,0.0598520003994,0.999999949779,0.000192841700976,-0.000250473515872,2.27362130752e-05,1793238212299459328
+64,1.066666667,BASELINE,767,746,715,679.152303228,667.152303228,637,881.847696772,788.152303228,803.152303228,654,632,654,0.40097753926,0.00453588994236,0.0598514964049,0.999999949407,0.000193725948305,-0.000251285102035,2.26432895245e-05,1793238212316125952
+65,1.083333333,BASELINE,767,746,715,679.733864636,667.733864636,637,881.266135364,788.733864636,803.733864636,654,632,654,0.400979077238,0.00453562320763,0.0598517433783,0.999999949829,0.000192941001547,-0.000250203086974,2.26591360832e-05,1793238212332792832
+66,1.100000000,BASELINE,767,746.312632885,715.312632885,680,668,637,880.687367115,788.687367115,804,653.687367115,632,654,0.400979342325,0.00453478407757,0.0598519760148,0.999999950142,0.000191910815952,-0.000249724119984,2.28724926676e-05,1793238212349459712
+67,1.116666667,BASELINE,767,746.889044424,715.889044424,680,668,637,880.110955576,788.110955576,804,653.110955576,632,654,0.400978533431,0.00453346199874,0.0598521965549,0.999999950363,0.000190673714322,-0.000249753964551,2.32524949598e-05,1793238212366126336
+68,1.133333333,BASELINE,767,746.528041449,715.528041449,680,668,637,880.471958551,788,804,653.471958551,632,654,0.400978807731,0.00453496416718,0.0598525501923,0.999999950045,0.000192539353085,-0.000249609129436,2.30971835264e-05,1793238212382792960
+69,1.150000000,BASELINE,767,746,715,680,667.944037895,637,880.944037895,788.055962105,804,654,632,654,0.400979129346,0.0045366684018,0.0598528391281,0.999999949668,0.000194603697996,-0.000249541568988,2.28604562397e-05,1793238212399459328
+70,1.166666667,BASELINE,767,746,715,680,667.364345926,637,880.364345926,788.635654074,804,654,632,654,0.40097747724,0.00453396303458,0.0598522256158,0.999999949981,0.00019160569982,-0.000250586891641,2.30560281562e-05,1793238212416125952
+71,1.183333333,BASELINE,767,746,715,680,667.215176702,636.784823298,880,789,804,654,632,654,0.400976461346,0.00453232361891,0.0598519188224,0.999999950062,0.000190254400503,-0.000251270589534,2.32754892437e-05,1793238212432792576
+72,1.200000000,BASELINE,767,746,715,680,667.794412912,636.205587088,880,789,804,654,632,654,0.400976521865,0.00453248769636,0.0598521309693,0.999999949764,0.000191689166159,-0.000251342451229,2.35353686788e-05,1793238212449459712
+73,1.216666667,BASELINE,767,746,715,680,668,636.369329536,880,788.630670464,804,654,632,654,0.400977475137,0.00453289687849,0.0598523365381,0.999999949857,0.00019191228871,-0.000250817647917,2.33546937909e-05,1793238212466126336
+74,1.233333333,BASELINE,767,746,715,680,668,636.941869427,880,788.058130573,804,654,632,654,0.400978919615,0.00453344092069,0.0598525384877,0.999999950166,0.000191468747933,-0.000249964551043,2.29316196435e-05,1793238212482792960
+75,1.250000000,BASELINE,767,746,715,680,668,637,880,788.531362581,804,654,632,654,0.40097669095,0.00453317930732,0.0598511964284,0.999999949674,0.000191387364449,-0.000251988738203,2.28903672109e-05,1793238212499459584
+76,1.266666667,BASELINE,767,746,715.120210583,680,668,637,880.120210583,788.879789417,804,654,632,654,0.40097512451,0.00453296407953,0.0598504244812,0.99999994932,0.000191590501192,-0.000253233973106,2.29126113365e-05,1793238212516125952
+77,1.283333333,BASELINE,767,746,715.69928304,680,668,637,880.69928304,788.30071696,804,654,632,654,0.400977670308,0.00453327343621,0.0598524947542,0.999999949848,0.000192723476003,-0.000250264698547,2.30125305889e-05,1793238212532792576
+78,1.300000000,BASELINE,767,746,715.723810397,679.723810397,668,637,881,788,804,654,632,654,0.400978126925,0.00453423520599,0.059852619808,0.999999949683,0.000193921120932,-0.000250006872759,2.29075543565e-05,1793238212549459200
+79,1.316666667,BASELINE,767,746,715.149243761,679.149243761,668,637,881,788,804,654,632,654,0.400976326531,0.00453590179985,0.0598506433753,0.999999948773,0.00019518863112,-0.00025267831761,2.2581222548e-05,1793238212566125824
+80,1.333333333,BASELINE,767,746.425716014,715,679.425716014,668,637,880.574283986,788,803.574283986,654,632,654,0.400977295625,0.00453531960573,0.059851640845,0.999999949288,0.000194236654045,-0.000251345567065,2.2854267778e-05,1793238212582792704
+81,1.350000000,BASELINE,767,746.999165482,715,680,667.999165482,637,880,788.000834518,803.000834518,654,632,654,0.400979231513,0.00453394973515,0.0598536765979,0.999999950293,0.000192507735772,-0.000248614593136,2.33368396755e-05,1793238212599459584
+82,1.366666667,BASELINE,767,746.409416422,715,680,667.409416422,637,880,788.590583578,803.590583578,654,632,654,0.400977634678,0.00453357671079,0.0598520109029,0.999999949853,0.000192095924845,-0.000250703392826,2.32605686313e-05,1793238212616126464
+83,1.383333333,BASELINE,767,746,715,680,667.177061214,636.822938786,880.177061214,788.822938786,803.822938786,654,632.177061214,654,0.400976484905,0.00453359908898,0.0598508835976,0.999999949649,0.000191524281561,-0.000251964882528,2.30916672878e-05,1793238212632792832
+84,1.400000000,BASELINE,767,746,715,680,667.756111716,636.243888284,880.756111716,788.243888284,803.243888284,654,632.756111716,654,0.400976350113,0.00453451916564,0.0598509786204,0.999999949992,0.000190589764287,-0.000251348097064,2.27124635868e-05,1793238212649459456
+85,1.416666667,BASELINE,767,746,715,680,668.332902296,636.332902296,881,788,803.332902296,654,632.667097704,654,0.400976329881,0.00453407253583,0.0598509664171,0.999999949908,0.000190058139447,-0.00025207187947,2.28386362285e-05,1793238212666126080
+86,1.433333333,BASELINE,767,746,715,680,668.908048359,636.908048359,881,788,803.908048359,654,632.091951641,654,0.400976393011,0.00453263139159,0.0598508761883,0.999999949512,0.000189819688314,-0.000253771155965,2.33325572393e-05,1793238212682792704
+87,1.450000000,BASELINE,767,746.485010298,715,680,669,637,881,788.485010298,804,654,632,654,0.400976874292,0.00453298504057,0.0598510512152,0.999999949664,0.000190228714487,-0.000252874236742,2.32139288336e-05,1793238212699459584
+88,1.466666667,BASELINE,767,746.936259001,715,680,668.936259001,636.936259001,880.936259001,788.936259001,803.936259001,654,632,654,0.400977435696,0.0045336219611,0.0598512867293,0.9999999499,0.00019084704207,-0.000251492602489,2.29833680765e-05,1793238212716126208
+89,1.483333333,BASELINE,767,746.345767051,715,680,668.345767051,636.345767051,880.345767051,788.345767051,803.345767051,654,632,654,0.400978001648,0.00453377728758,0.0598516049592,0.999999949977,0.000192176784882,-0.000250188150245,2.27911145525e-05,1793238212732792832
+90,1.500000000,BASELINE,767,746,715.238320783,679.761679217,668,636,880.238320783,788.238320783,803.238320783,654,632,654,0.400977856484,0.00453421228493,0.0598516200831,0.999999949777,0.000193262396122,-0.000250161234659,2.26916885425e-05,1793238212749459456
+91,1.516666667,BASELINE,767,746,715.813360319,679.186639681,668,636,880.813360319,788.813360319,803.813360319,654,632,654,0.400976706597,0.00453504242371,0.0598512069544,0.999999949187,0.000194003078545,-0.000251939325625,2.27234167189e-05,1793238212766126080
+92,1.533333333,BASELINE,767,746,716,679.389643638,668,636.389643638,881.389643638,788.610356362,803.610356362,654,632,654,0.400977127075,0.00453503982527,0.0598511293014,0.999999949349,0.000193899512258,-0.000251381809252,2.26280325734e-05,1793238212782792704
+93,1.550000000,BASELINE,767,746,716,679.966524689,668,636.966524689,881.966524689,788.033475311,803.033475311,654,632,654,0.400978302166,0.00453463706751,0.0598512128561,0.999999949872,0.000193390254964,-0.000249701951912,2.24715665083e-05,1793238212799459584
+94,1.566666667,BASELINE,767,746,715.459218895,680,668,637,880.918437789,788,803.540781105,654,632,654,0.400979269777,0.00453547424852,0.0598521695308,0.999999949585,0.000195546000567,-0.000249161678828,2.25674926891e-05,1793238212816125952
+95,1.583333333,BASELINE,767,746,715,680,667.880814928,637,880.119185072,788.119185072,804,653.880814928,632,654,0.400979495075,0.00453597566563,0.0598526732261,0.99999994931,0.00019681436769,-0.00024926171982,2.26454310692e-05,1793238212832792832
+96,1.600000000,BASELINE,767,746,715,680,667.285184513,637,880.714815487,788.714815487,804,653.285184513,632,654,0.400976804055,0.00453482951258,0.0598511511119,0.999999949289,0.000193879137357,-0.000251640799852,2.25893090031e-05,1793238212849459456
+97,1.616666667,BASELINE,767,746.299477481,715,680,667.299477481,637,881,789,804,653.299477481,632,654,0.40097597728,0.00453327619246,0.059850876624,0.999999949524,0.000191780108154,-0.000252290337892,2.28632465717e-05,1793238212866126080
+98,1.633333333,BASELINE,767,746.874063534,715,680,667.874063534,637,881,789,804,653.874063534,632,654,0.400976863052,0.00453134883709,0.0598517482416,0.999999950001,0.000190449237383,-0.000251351069088,2.34403863574e-05,1793238212882792704
+99,1.650000000,BASELINE,767,747,715.449692757,680,668,637,881,788.550307243,804,653.550307243,632,654,0.400976372181,0.00453187028916,0.0598514031146,0.999999950086,0.000189198496598,-0.000251959845726,2.34256621401e-05,1793238212899459840
+100,1.666666667,BASELINE,767,746.973680816,715.973680816,680,668,637,881,788,804,653.026319184,632,654,0.400975548737,0.00453304051918,0.0598507657853,0.999999950052,0.000188100250835,-0.000252932725873,2.32357103628e-05,1793238212916126720
+101,1.683333333,BASELINE,767,746.381921213,715.381921213,680,668,637,881,788,804,653.618078787,632,654,0.400975882266,0.00453338135765,0.0598511884596,0.999999949877,0.000189794972564,-0.000252392390455,2.28504555661e-05,1793238212932793088
+102,1.700000000,BASELINE,767,746,715.204716172,680,668,637,881,788.204716172,803.795283828,654,632,654,0.400976524951,0.00453397283898,0.0598514901016,0.99999994979,0.000191377496327,-0.000251556303778,2.26525519437e-05,1793238212949459456
+103,1.716666667,BASELINE,767,746,715.782030684,680,668,637,881,788.782030684,803.217969316,654,632,654,0.400977730319,0.00453502050851,0.0598515714556,0.999999949867,0.000192755811436,-0.000250181928331,2.27956411429e-05,1793238212966125824
+104,1.733333333,BASELINE,767,746.358192219,715.641807781,680.358192219,667.641807781,637,881,789,803.358192219,654,632,654,0.40097824547,0.00453388551685,0.0598520340791,0.999999950305,0.000191079579916,-0.00024969290645,2.30666232752e-05,1793238212982792704
+105,1.750000000,BASELINE,767,746.933654444,715.066345556,680.933654444,667.066345556,637,881,789,803.933654444,654,632,654,0.400978341953,0.00453142658027,0.0598527279708,0.999999950953,0.000187550540658,-0.000249740916688,2.34151819198e-05,1793238212999459328
+106,1.766666667,BASELINE,767,746.478466992,715,680.478466992,667.521533008,637,881,789,803.478466992,654,632,654,0.400977202691,0.0045337278633,0.0598517144036,0.999999949906,0.00019124028443,-0.000251155100302,2.31783196252e-05,1793238213016126208
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,747,716,680,667,637,881,788,803,654,632,654,0.400976596743,0.00453174856466,0.0598504745468,0.999999950104,0.000188109109526,-0.000252727962476,2.31556862437e-05,1793238213058405632
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746.427184077,715.427184077,680,667,637,881,788.572815923,803.572815923,654,632.572815923,654,0.400977225367,0.00453278922841,0.0598510013027,0.999999949923,0.000190493390918,-0.000251659711661,2.3099880742e-05,1793238213075072512
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,880.853426873,788.853426873,803.853426873,654,633,654,0.400977299701,0.00453365145511,0.0598513372813,0.999999949681,0.000192414702664,-0.000251165068427,2.30488846404e-05,1793238213091739136
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,880.276908463,788.276908463,803.276908463,654,633,654,0.400975748124,0.0045339902698,0.05985111365,0.999999949274,0.000192977978755,-0.000252352997184,2.30119960161e-05,1793238213108405504
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,880,788,803.306679718,654,633,654.306679718,0.40097621644,0.00453479992391,0.0598516190511,0.999999949281,0.000193768199392,-0.000251716958435,2.30457549402e-05,1793238213125071616
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,880,788,803.896801956,654,633,654.896801956,0.400978551602,0.0045360447418,0.0598527982456,0.999999949666,0.000194768168898,-0.000249395154571,2.31448084328e-05,1793238213141737984
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,880,788,804,654,632.522595219,654.522595219,0.400978301159,0.00453664865297,0.0598522255444,0.999999949409,0.000195306836024,-0.000250030181145,2.2866327022e-05,1793238213158404608
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667.055587798,637,880.055587798,788.055587798,803.944412202,654,632,654,0.400977642741,0.00453688272399,0.0598514387311,0.99999994913,0.000195398060148,-0.000251100131519,2.2537944386e-05,1793238213175071232
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667.630016117,637,880.630016117,788.630016117,803.369983883,654,632,654,0.400978291178,0.00453493263859,0.0598521190133,0.999999949927,0.000192225516452,-0.000250380410077,2.24906278358e-05,1793238213191737856
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667.790052735,637,881,788.790052735,803.209947265,654,632,654,0.400979038066,0.004533763776,0.0598527725298,0.999999950413,0.000190486468185,-0.000249758253975,2.25912443634e-05,1793238213208404480
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667.200163156,637,881,788.200163156,803.799836844,654,632,654,0.400979963117,0.00453400869532,0.0598533776084,0.999999950352,0.000191341622043,-0.000249312662296,2.29595759137e-05,1793238213225071104
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,881,788.383237446,804,654,632,654,0.400992237435,0.00453310548528,0.0598593224528,0.999999952918,0.00019005061954,-0.000239797707128,2.32647504469e-05,1793238213241737984
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,881,788.963305368,804,654,632,654,0.401010340728,0.00453161259687,0.0598680097972,0.999999956662,0.00018765735272,-0.000225624733317,2.35374876109e-05,1793238213258404608
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667.539336004,637,881,788.460663996,803.460663996,654,632,654,0.401052589324,0.0045334345778,0.0598855453583,0.999999962752,0.000190742813547,-0.000193792762216,2.36157213896e-05,1793238213275071488
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715,679.88499166,668,637,880.88499166,788,803.11500834,654,632,654,0.401099439505,0.00453471782562,0.0599039813118,0.999999968154,0.000192989093069,-0.000160883324146,2.3732617238e-05,1793238213291737856
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715,679.309661993,668,637,880.309661993,788,803.690338007,654,632,654,0.401158181235,0.00453294880421,0.0599236294769,0.999999973338,0.000190395681974,-0.000128434427734,2.40568313133e-05,1793238213308404480
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,715,679.271630887,667.728369113,637,880,788,804,653.728369113,632,654,0.401219545826,0.00453200994871,0.0599389076859,0.999999976427,0.000189320365199,-0.000103518405052,2.42342518447e-05,1793238213325071360
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,715,679.859874449,667.140125551,637,880,788,804,653.140125551,632,654,0.401283967618,0.00453203873381,0.0599490922773,0.999999977836,0.000190014537856,-8.73826940438e-05,2.4240569976e-05,1793238213341737984
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,715,679.558280748,667,637,880.441719252,788,804,653.441719252,632.441719252,654,0.40135899823,0.00453220177301,0.0599535891075,0.999999979052,0.000187515236287,-7.86495589799e-05,2.34120762697e-05,1793238213358404608
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746.021419677,715,679.021419677,667,637,881,788,804,654,632.978580323,654,0.401437848771,0.0045323900688,0.0599562453064,0.999999980188,0.000184079214839,-7.23932175983e-05,2.23243453674e-05,1793238213375071232
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746.597405087,715,679.597405087,667,637,881,788,804,654,632.402594913,654,0.40152971123,0.0045321453623,0.0599572942139,0.999999980694,0.000182245106773,-7.03317496428e-05,2.12833902072e-05,1793238213391737856
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746.824505445,715,680,667.175494555,636.824505445,881,788,804,654,632,654,0.401628188394,0.00453213989948,0.0599592673602,0.999999981219,0.000180914023019,-6.64667478302e-05,2.03763208341e-05,1793238213408404480
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746.24153065,715,680,667.75846935,636.24153065,881,788,804,654,632,654,0.401742024208,0.00453268993585,0.0599633864936,0.999999981763,0.000180750910041,-5.84141268584e-05,1.97801205823e-05,1793238213425071104
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667.658134768,636.341865232,880.658134768,788,804,654,632,654,0.401865878073,0.00453162502429,0.0599640290366,0.999999982443,0.000177736856425,-5.6268897908e-05,1.89200979904e-05,1793238213441737728
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667.074440957,636.925559043,880.074440957,788,804,654,632,654,0.401996818515,0.00452941773118,0.05996221231,0.999999983227,0.000172706104817,-5.83024382481e-05,1.7873452729e-05,1793238213458404352
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667,636.495634812,880,788.504365188,804,654,632,654,0.402157727635,0.0045306866312,0.0599629330325,0.999999983744,0.000171606833673,-5.30207301564e-05,1.59021183987e-05,1793238213475070976
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,715,679.918019295,667.081980705,636.081980705,880.081980705,789,803.918019295,654,632,654,0.402326618789,0.00453212465228,0.0599640716341,0.999999984281,0.000170427878326,-4.69118430472e-05,1.38494174359e-05,1793238213491737856
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,715,679.343265673,667.656734327,636.656734327,880.656734327,789,803.343265673,654,632,654,0.4025171569,0.00453152489246,0.0599654925236,0.999999985369,0.000165315576434,-4.2258422013e-05,1.21201075917e-05,1793238213508404480
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,715,679.231732139,667.768267861,637,881,788.768267861,803,654,632,654,0.402720751583,0.00453143349933,0.0599665420529,0.99999998643,0.000160190919791,-3.71466133124e-05,9.99064699839e-06,1793238213525071104
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,715,679.80709202,667.19290798,637,881,788.19290798,803,654,632,654,0.402943707403,0.00453209594599,0.0599670409047,0.999999987462,0.000155047943014,-3.13550773432e-05,7.26781651361e-06,1793238213541737728
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746.392457695,715,680,667.392457695,637,881,788,803.392457695,654,632,654,0.403179755843,0.0045321382234,0.0599677301548,0.999999988238,0.000150768014178,-2.7727215006e-05,4.96772173807e-06,1793238213558404608
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746.982870254,715,680,667.982870254,637,881,788,803.982870254,654,632,654,0.403422408167,0.00453186768869,0.0599685154414,0.999999988885,0.000146923405131,-2.5190705436e-05,2.88085407938e-06,1793238213575070976
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,747,715,680,668,637,881,788,804,653.438147612,632,654,0.403700799205,0.00453266658952,0.0599628708555,0.999999989246,0.000143150927915,-3.18719242888e-05,-7.83547093882e-08,1793238213591737856
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,747,715,680,667.860916423,637,880.860916423,788.139083577,804,653.139083577,632,654,0.403983545405,0.00453305205542,0.0599559824754,0.999999989612,0.000138146881333,-4.10066604371e-05,-3.1217462928e-06,1793238213608404480
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,747,715,680,667.288080773,637,880.288080773,788.711919227,804,653.711919227,632,654,0.404276543422,0.00453204850932,0.0599458143154,0.99999999,0.000129295288203,-5.69340833155e-05,-6.3463839898e-06,1793238213625071104
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746.705903384,715,680,667,637,880,788.705903384,803.705903384,654,632,654,0.404584601052,0.00453168588901,0.059936545091,0.999999990037,0.000121120391241,-7.18495967339e-05,-9.66093367242e-06,1793238213641737728
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746.114275076,715,680,667,637,880,788.114275076,803.114275076,654,632,654,0.404907894229,0.00453197168043,0.0599281853006,0.999999989783,0.000113630093261,-8.57413834173e-05,-1.30664459106e-05,1793238213658404608
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.532293373,746,715,680,667.467706627,637,880.467706627,788,803,653.532293373,632.467706627,654,0.405278680168,0.00453085475254,0.0599290332726,0.999999990715,0.000103778941696,-8.6795447772e-05,-1.63176869471e-05,1793238213675071232
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668,637,880.953025954,788,803.046974046,653,633,654,0.405666182607,0.00452961072841,0.0599336818034,0.999999992055,9.38438478914e-05,-8.18678572342e-05,-1.9531020271e-05,1793238213691737856
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668,637,880.37830767,788,803.62169233,653,633,654,0.406113758488,0.00453071146428,0.0599562642737,0.999999994773,8.93152698434e-05,-4.42650424234e-05,-2.27333879836e-05,1793238213708404736
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.200899139,746,715,680,668,637,880.200899139,788,804,653,632.799100861,654,0.406567424142,0.00453085197141,0.0599783224865,0.999999996224,8.26678336972e-05,-6.57269277046e-06,-2.59828756065e-05,1793238213725071616
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.788751289,746,715,680,668,637,880.788751289,788,804,653,632.211248711,654,0.407032819314,0.00452914297626,0.0599993709225,0.999999996493,7.19392529065e-05,3.12921081379e-05,-2.93231210008e-05,1793238213741739520
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.628718634,746,715,679.628718634,668,636.628718634,881,788,803.628718634,653.371281366,632,654,0.407506387622,0.00452752994128,0.0600118570555,0.999999996483,6.12754745337e-05,4.72694752275e-05,-3.23316513087e-05,1793238213758406656
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.049173895,746,715,679.049173895,668,636.049173895,881,788,803.049173895,653.950826105,632,654,0.407984540482,0.00452597073342,0.0600195403232,0.999999996801,5.06480462662e-05,5.09694923278e-05,-3.51541121134e-05,1793238213775073280
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.52774904,746,715,679.52774904,667.47225096,636.52774904,880.47225096,788,803,653.47225096,632,654,0.408465296262,0.00452590974181,0.0600086953095,0.999999998023,4.42971352087e-05,2.24605130414e-05,-3.85613181848e-05,1793238213791739904
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.895973373,746,715,679.895973373,667.104026627,637,880,788,803,653,632,654,0.408957449281,0.0045260350519,0.0599969944075,0.999999998367,3.80682176452e-05,-6.1490244592e-06,-4.21847929635e-05,1793238213808406528
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.321515084,746,715,679.321515084,667.678484916,637,880,788,803,653,632,654,0.409500051664,0.0045263746837,0.0599891915795,0.999999998213,3.05979139846e-05,-2.17086227787e-05,-4.65411086984e-05,1793238213825071872
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715,679,668,637,880,788,803.259204999,653,632,654,0.410058007881,0.00452587005532,0.0599880424471,0.999999998244,2.17778164047e-05,-2.10537875095e-05,-5.09436183736e-05,1793238213841737984
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715,679,668,637,880,788,803.847884501,653,632,654,0.410635480374,0.00452429229104,0.0599953508013,0.999999998402,1.12419998056e-05,2.11151505401e-07,-5.54048455808e-05,1793238213858404608
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,715,679,668,637,880,788,803.567875566,653,632,654,0.411246069468,0.00452419100901,0.0600031271559,0.999999998067,1.34784174873e-06,1.62659112087e-05,-5.99942613659e-05,1793238213875071488
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,715,679.014595288,668,637,880,788,803,653,632,654,0.411867681283,0.00452462388412,0.0600104314179,0.999999997484,-6.81828007647e-06,2.93783321652e-05,-6.42053189831e-05,1793238213891738112
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,715,679.58855313,668,637,880,788,803,653,632,654,0.412469505114,0.0045258115519,0.0599933932016,0.999999997727,4.2673734631e-05,-6.98053748689e-07,-5.2204049553e-05,1793238213908405504
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.162466687,746.162466687,715,679.837533313,668,636.837533313,880.162466687,788,803.162466687,653,632,653.837533313,0.413076267663,0.00452879604227,0.0599733476543,0.99999999428,9.12029945453e-05,-3.81766290007e-05,-4.0809988948e-05,1793238213925072640
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.736268091,746.736268091,715,679.263731909,668,636.263731909,880.736268091,788,803.736268091,653,632,653.263731909,0.413695534072,0.00453632974524,0.0599456881183,0.999999985641,0.000137294739757,-9.4396136426e-05,-3.09532664321e-05,1793238213941739008
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.680247636,747,715,679.319752364,667.680247636,636,880.680247636,788,803.680247636,653,632,653.319752364,0.414364236893,0.00453441844492,0.0599446081924,0.999999989634,0.000102266615114,-9.71575780296e-05,-2.88883253933e-05,1793238213958405376
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.088527559,747,715,679.911472441,667.088527559,636,880.088527559,788,803.088527559,653,632,653.911472441,0.415074988185,0.00452447362751,0.0599661357498,0.999999997957,-1.75861173221e-06,-5.44498668588e-05,-3.34507414571e-05,1793238213975071488
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.492882135,747,715,680,667.492882135,636.492882135,880.492882135,788,803.492882135,653,632,654,0.415829020384,0.00451353656371,0.0600080134033,0.999999998742,-3.04250523702e-05,1.95425170001e-05,-3.47588284619e-05,1793238213991738112
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746.928174368,715,680,668,636.928174368,881,788,804,653,632,653.928174368,0.416582081681,0.00450273365701,0.0600462541769,0.999999994744,-4.44736785052e-05,8.53909550143e-05,-3.52593753795e-05,1793238214008404480
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746.353795012,715,680,668,636.353795012,881,788,804,653,632,653.353795012,0.417275071846,0.00449409085915,0.0600339978455,0.999999996663,-4.90079100148e-05,5.57468411316e-05,-3.41156602617e-05,1793238214025071104
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,715,679.780081844,668,636.219918156,881.219918156,788,804,653,632,653.219918156,0.417985972385,0.00449008806046,0.0600185802081,0.999999997869,-4.77458941323e-05,2.8417445117e-05,-3.426553185e-05,1793238214041737728
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,715,679.207437088,668,636.792562912,881.792562912,788,804,653,632,653.792562912,0.41872559947,0.00449352735236,0.0599980921519,0.999999998631,-3.71872812071e-05,4.80061914255e-06,-3.64901862411e-05,1793238214058404608
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,715,679.380198105,668,637,881.23960379,788,804,653,632,654,0.419461590861,0.00449390298459,0.0599812011806,0.999999998521,-3.16979496363e-05,-2.25217120863e-05,-3.80329110025e-05,1793238214075071488
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,715,679.976347796,668,637,880.047304408,788,804,653,632,654,0.420195517141,0.00449253846548,0.0599663533458,0.99999999746,-2.90879579874e-05,-5.19487597263e-05,-3.91883012656e-05,1793238214091738112
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.450474204,746,715,680,668,637,880.549525796,788,804,653,632,654,0.420923477797,0.00449282331247,0.0599498455262,0.999999996205,-2.25754892779e-05,-7.40819433141e-05,-3.98929936208e-05,1793238214108404736
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668,637,881,788,804,653,632,654,0.421659368501,0.0044932722422,0.0599349266885,0.999999994416,-1.620643745e-05,-9.62238102404e-05,-4.05748436463e-05,1793238214125071104
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668,637,881,788,804,653,632,654,0.422425511031,0.00449407613807,0.059926140583,0.999999991948,-1.09645232362e-05,-0.000119512712935,-4.12410723229e-05,1793238214141737728
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.285463373,746,715,680,668,637,881,788,804.285463373,653,632,654,0.423238922636,0.00449188556643,0.0599477882703,0.999999995502,-1.08464833094e-05,-8.44788671182e-05,-4.17403851545e-05,1793238214158404352
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.872993546,746,715,680,668,637,881,788,804.872993546,653,632,654,0.42410235258,0.00448652635983,0.0600016398738,0.99999999891,-1.61503381969e-05,1.22699594539e-05,-4.20630734889e-05,1793238214175070976
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.54594892,746.45405108,715,680,668,636.54594892,881.45405108,788,804.09189784,653,632,654,0.424925790008,0.00448835990613,0.0600339285794,0.999999997084,-1.19113443174e-05,6.23815038961e-05,-4.24073657822e-05,1793238214191737856
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746.966889019,715,680,668,636,881.966889019,788,803.033110981,653,632,654,0.425735597784,0.00449186631687,0.0600576101786,0.999999994442,-5.55736777882e-06,9.61849804712e-05,-4.28110800124e-05,1793238214208404480
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746.391312324,715,680,668,636,881.391312324,788,803.608687676,653,632,654,0.426502804197,0.00449028075266,0.0600377067173,0.999999996295,-7.67044619125e-06,7.35298736357e-05,-4.4090705492e-05,1793238214225071360
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.188273431,746,715,680,668.188273431,636,881,788,804,653,632,654,0.427274346713,0.00448873048428,0.0600175204704,0.999999997751,-9.86149734921e-06,4.82541736477e-05,-4.55179949141e-05,1793238214241737984
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.776373121,746,715,680,668.776373121,636,881,788,804,653,632,654,0.428055097725,0.00448725517147,0.0599967336831,0.999999998657,-1.22181354718e-05,1.74132553308e-05,-4.72588706391e-05,1793238214258404608
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.358869358,715,680,669,636,881.358869358,788,804,653,632,654,0.428822668458,0.00448708691953,0.0599838126242,0.999999998765,-1.24073029113e-05,-1.95582540422e-06,-4.80847985936e-05,1793238214275070976
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.93792749,715,680,669,636,881.93792749,788,804,653,632,654,0.429582152219,0.00448772063118,0.0599757176824,0.999999998666,-1.12665915176e-05,-1.42862151257e-05,-4.83493488304e-05,1793238214291737600
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746.48433007,715,680,668.48433007,636.51566993,881.48433007,788.51566993,804,653,632,653.48433007,0.430333652185,0.00448454575597,0.0599578394736,0.99999999767,-1.58802578234e-05,-4.45395902927e-05,-4.92245703223e-05,1793238214308404224
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668.093099342,636.906900658,881,789,804,653,632,653.093099342,0.431097353214,0.00448121373971,0.0599489828302,0.999999996817,-2.08462346128e-05,-5.84810519777e-05,-5.01051250321e-05,1793238214325070848
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668.669723432,636.330276568,881,789,804,653,632,653.669723432,0.43192940073,0.00447944055175,0.0599930816376,0.999999998153,-2.40536650736e-05,2.34721775552e-05,-5.06325755485e-05,1793238214341737472
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,715,680.251451087,669,636,881,788.748548913,804,653,632.251451087,654,0.43273336857,0.00447857806044,0.0600250604306,0.999999995361,-2.50396220006e-05,7.77764996979e-05,-5.10142583881e-05,1793238214358404352
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,715,680.840021012,669,636,881,788.159978988,804,653,632.840021012,654,0.433499690103,0.00447893653435,0.0600407899951,0.99999999391,-2.30472637034e-05,9.5012104977e-05,-5.12005117565e-05,1793238214375070976
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.421435529,715,681,668.578564471,636,881,788,804,653,632.578564471,654,0.434222932137,0.00447716725045,0.0600222697363,0.999999996455,-2.27200474356e-05,6.24630966306e-05,-5.16947729086e-05,1793238214391737600
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.999821569,746.999821569,715,680.999821569,668,636,881.000178431,788,804,653,632.000178431,654,0.434930091541,0.00447460375691,0.0599909680077,0.999999998303,-2.30139524182e-05,1.13352382914e-05,-5.23039321171e-05,1793238214408404480
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.423606503,746.423606503,715,680.423606503,668,636,881.576393497,788,804,653,632.576393497,654,0.435629120836,0.00447208225908,0.0599689395966,0.999999998021,-2.1946083202e-05,-2.64809226072e-05,-5.26834943504e-05,1793238214425071104
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668.152322199,636,882,788,804,653,632.847677801,654,0.436326604339,0.00447018113996,0.0599540417472,0.999999997008,-2.11477765935e-05,-5.1969022314e-05,-5.32468934237e-05,1793238214441737728
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668.72745615,636,882,788,804,653,632.27254385,654,0.437019797237,0.00447000205035,0.0599589367086,0.999999997367,-2.10977142543e-05,-4.32372391134e-05,-5.43205819822e-05,1793238214458404352
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.31140257,746,715,680.31140257,669,636,881.68859743,788.31140257,804,653,632,654,0.437692260934,0.00446892910858,0.0599556610704,0.999999996718,-2.00678884079e-05,-5.65902706773e-05,-5.43874595257e-05,1793238214475070976
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.903286372,746,715,680.903286372,669,636,881.096713628,788.903286372,804,653,632,654,0.438346053736,0.0044670510715,0.0599450261482,0.999999994366,-1.8155586605e-05,-8.98351619249e-05,-5.35474992467e-05,1793238214491737600
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,715,681,669,636.482746767,881,789,804,653,632,654,0.439018198031,0.00446512314487,0.0599548666759,0.999999995808,-1.95033412386e-05,-7.12851978072e-05,-5.4050264207e-05,1793238214508404480
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.940488426,746,715,681,669,636.940488426,881.059511574,788.940488426,804.059511574,653,632.059511574,654,0.439693768547,0.00446328908042,0.0599713407332,0.999999997531,-2.03537144382e-05,-3.94756919267e-05,-5.44591980078e-05,1793238214525071360
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.366052189,746,715,681,669,636.366052189,881.633947811,788.366052189,804.633947811,653,632.633947811,654,0.440367971299,0.0044623514708,0.0600106088786,0.999999998403,-1.13911357691e-05,1.95311339027e-05,-5.17871097975e-05,1793238214541737984
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.213074844,746,715,680.786925156,668.786925156,636,882,788,804.786925156,653,633,654,0.441004106759,0.00446046583637,0.0600341033903,0.999999997311,-6.13566527017e-06,5.32980610249e-05,-4.99931837747e-05,1793238214558404352
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.800441773,746,715,680.199558227,668.199558227,636,882,788,804.199558227,653,633,654,0.441573372285,0.00445691488026,0.0600298895768,0.999999997823,-7.39218573411e-06,4.27280057489e-05,-4.97418578327e-05,1793238214575071232
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.382856399,715,680,668.382856399,636,882,788.382856399,804,653,632.617143601,654,0.442127312015,0.00445392583154,0.0600048618835,0.999999998575,-1.4588543261e-05,2.07656926726e-06,-5.13074210509e-05,1793238214591737856
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.962722726,715,680,668.962722726,636,882,788.962722726,804,653,632.037277274,654,0.442673365462,0.00445122592833,0.0599691238008,0.999999996783,-2.48414173037e-05,-5.40541204288e-05,-5.38079174297e-05,1793238214608404480
+201,3.350000000,POSE1_TO_POSE2_PRESS,766.460092166,746.460092166,715,680.539907834,669,636,882,788.460092166,804.539907834,653,632.539907834,654,0.443204048591,0.00445082963684,0.059959222894,0.999999995973,-2.91671033676e-05,-6.37763827546e-05,-5.60072667246e-05,1793238214625071104
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746.116395099,715,681,668.883604901,636,882,788.116395099,805,653,633,654,0.443733789159,0.00445025609129,0.0599567921794,0.999999995364,-4.46854042934e-05,-6.26773440663e-05,-5.78439272326e-05,1793238214641737984
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746.69086113,715,681,668.30913887,636,882,788.69086113,805,653,633,654,0.444263976248,0.00444836211967,0.0599767744752,0.999999992199,-0.000105854632078,-3.15390734407e-05,-5.8334656174e-05,1793238214658404608
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.273031979,746.726968021,715,681.273031979,668,636.273031979,882,788.726968021,805,653,632.726968021,654,0.444761709115,0.00444675056045,0.059989842963,0.999999987005,-0.000149435967711,-1.21402931139e-05,-5.92638279391e-05,1793238214675071232
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.864179856,746.135820144,715,681.864179856,668,636.864179856,882,788.135820144,805,653,632.135820144,654,0.445221628783,0.00444546804659,0.0599948560113,0.999999983254,-0.000172525238662,-6.41946743828e-06,-6.07038398095e-05,1793238214691738112
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.555698326,746.444301674,715.444301674,681.555698326,668.444301674,636.555698326,882,788.444301674,805,653,632.444301674,654,0.445623920837,0.00444597983497,0.0599668423845,0.999999980778,-0.000175665287396,-6.08907788661e-05,-6.22741260043e-05,1793238214708405504
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.021161805,747,716,681,669,636,882,789,805,653,633,654,0.446008212982,0.00444702914416,0.0599291973682,0.999999974245,-0.000172988493746,-0.000132295632848,-6.39011301591e-05,1793238214725073152
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.59873963,747,716,681,669,636,882,789,805,653,633,654,0.44637120467,0.00444813884166,0.0598973413322,0.999999967076,-0.000173830569534,-0.000176848973645,-6.59976979978e-05,1793238214741738752
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,747,715.825102647,681.174897353,668.825102647,636,882,788.825102647,805,653,633,653.825102647,0.446733224853,0.00444859243571,0.0598731080067,0.999999960539,-0.000174184579764,-0.000209741781427,-6.77489368017e-05,1793238214758404608
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,747,715.252176849,681.747823151,668.252176849,636,882,788.252176849,805,653,633,653.252176849,0.447093034053,0.00444755288043,0.0598662223215,0.999999959251,-0.000173427859176,-0.000216097739463,-6.87142815778e-05,1793238214775071232
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.668727826,747,715,681.668727826,667.668727826,636,882,788.331272174,804.668727826,653,633,653.331272174,0.447439352679,0.00444815869774,0.0598658209639,0.999999959854,-0.000171951126344,-0.000214111621529,-6.98622074819e-05,1793238214791737856
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.077005248,747,715,681.077005248,667.077005248,636,882,788.922994752,804.077005248,653,633,653.922994752,0.447775064883,0.00445005812785,0.0598705176665,0.999999961905,-0.000169908310626,-0.000205566857875,-7.11536810954e-05,1793238214808404736
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.502127991,747,715,681.502127991,667,635.497872009,882,789,804.502127991,653,633,654,0.448085667688,0.00444854117851,0.0598675907086,0.999999965222,-0.000143412042494,-0.000212480443712,-6.19681352379e-05,1793238214825071360
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746.920885856,715,682,666.920885856,635,882,789,804.920885856,653,633,653.920885856,0.448383054859,0.00444781744817,0.0598609859203,0.999999967057,-0.000112049836811,-0.00022509026907,-5.16201892126e-05,1793238214841737984
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746.345553011,715,682,666.345553011,635,882,789,804.345553011,653,633,653.345553011,0.44862111296,0.00445527473623,0.0598384668463,0.999999962847,-7.31137453279e-05,-0.000258922446781,-4.38126871693e-05,1793238214858404608
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746,715,682,666,635,882,789,804.235679246,653,633,653.235679246,0.448842795193,0.00446035490519,0.05981337241,0.999999953662,-5.1097648805e-05,-0.000297374018381,-4.04071251309e-05,1793238214875071232
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746,715,682,666,635,882,789,804.825783265,653,633,653.825783265,0.449039850663,0.00446186025786,0.0597844050326,0.999999938816,-5.45265843013e-05,-0.00034277243526,-4.36213938321e-05,1793238214891737856
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746.408219156,715,682,666,635,882,789,804.591780844,653,633,654,0.449232033277,0.00446536848118,0.0597637803719,0.999999927366,-5.48689439188e-05,-0.000374234668769,-4.69637410222e-05,1793238214908404480
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,746.987442825,715,682,666,635,882,789,804.012557175,653,633,654,0.449422174629,0.00446971571438,0.0597466505069,0.999999917335,-5.39183254066e-05,-0.000399858982405,-5.03597406826e-05,1793238214925071104
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,747,715,682,666,635,882,789,804.562302453,653,632.437697547,654,0.449607353575,0.00448544804668,0.0597458966408,0.999999917131,-4.32041111894e-05,-0.000400855442049,-5.64518321445e-05,1793238214941738240
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,747,715,682,665.725262441,635,882,788.862631221,804.862631221,653,632,654,0.449784883773,0.00450017557291,0.0597450048714,0.999999916653,-3.24724095158e-05,-0.000402262824677,-6.18322520641e-05,1793238214958405120
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,747,715,682,664.573192256,635,882,788.286596128,804.286596128,653,632,654,0.449938339975,0.00451088874859,0.0597425139025,0.999999914941,-2.23757748219e-05,-0.000406725186002,-6.47492704316e-05,1793238214975071488
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746.704060844,715,682,664,635,882,788,804,653,632.295939156,654,0.450075362483,0.00451404663231,0.0597385532279,0.999999912197,-2.03643428497e-05,-0.00041331369196,-6.60514877083e-05,1793238214991737856
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746.115089144,715,682,664,635,882,788,804,653,632.884910856,654,0.450196112721,0.00450972343079,0.0597331372821,0.999999908446,-2.63587023675e-05,-0.000422007460844,-6.57547642533e-05,1793238215008404480
+225,3.750000000,POSE1_TO_POSE2_PRESS,766.533807729,746,715.466192271,681.533807729,664,635,882,788,804.466192271,653,633,654,0.450303458314,0.00451131622056,0.0597269492066,0.999999905315,-2.46613138057e-05,-0.000429325597404,-6.66371391677e-05,1793238215025071104
+226,3.766666667,POSE1_TO_POSE2_PRESS,766.045264519,746,715.954735481,681,664,635,882,788,805,653,632.954735481,654,0.450406829965,0.00451408584636,0.059721271199,0.999999902686,-2.13645099554e-05,-0.000435412577748,-6.77378371632e-05,1793238215041737728
+227,3.783333333,POSE1_TO_POSE2_PRESS,766.620340385,746,715.379659615,681,664,635,882,788,805,653,632.379659615,654,0.450501792594,0.00451381285252,0.0597237583328,0.99999990458,-2.12120238295e-05,-0.000430999621652,-6.8042168563e-05,1793238215058404608
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746.199750424,715.199750424,681.199750424,664,635,882,788,804.800249576,653,632.199750424,654,0.450586983035,0.00451375839675,0.0597249484787,0.999999905557,-2.13787721161e-05,-0.000428688570426,-6.82283944637e-05,1793238215075071744
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746.787580969,715.787580969,681.787580969,664,635,882,788,804.212419031,653,632.787580969,654,0.450653187819,0.0045141285222,0.0597236188038,0.999999904781,-2.21657370186e-05,-0.000430461152866,-6.81851620287e-05,1793238215091739392
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+231,3.850000000,POSE1_TO_POSE2_PRESS,767,747,715.049499302,682,663.049499302,634.049499302,882,788,804.950500698,653,633,653.049499302,0.450761072919,0.00451730496517,0.059718153076,0.999999901155,-1.94859058676e-05,-0.000438771039761,-6.92088233207e-05,1793238215125072128
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+233,3.883333333,POSE1_TO_POSE2_PRESS,766.106258276,747,715.893741724,682,664,634,882,788,805,653,632.893741724,654,0.450832495616,0.00451592629863,0.059712025677,0.999999896461,-1.50297622538e-05,-0.000449744454301,-6.76911536987e-05,1793238215158404352
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766.149256422,747,715,681.149256422,663.149256422,634.850743578,882,788,805,653,632.850743578,654,0.450902899858,0.00451760682908,0.0597077363356,0.999999893887,-1.17471006769e-05,-0.000455512853544,-6.77972625206e-05,1793238215208404480
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+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746.91742493,715.91742493,681.91742493,663,634,882,788.08257507,805,653,632.08257507,654,0.450948252599,0.00451839507387,0.0597030078031,0.999999890635,-9.51284308168e-06,-0.000462706803278,-6.73872069937e-05,1793238215325071104
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.489012136,746.510987864,715.510987864,682,663,634,882.489012136,788,805,653,632.489012136,654,0.450949082563,0.00451834711529,0.0597028575221,0.999999890379,-8.75048678699e-06,-0.000463301360789,-6.72156880487e-05,1793238215341737728
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.939774188,746.060225812,715,682,663,634,882.939774188,788,805,653,633,654,0.450949597344,0.00451801242818,0.0597027251262,0.999999890031,-8.2909479448e-06,-0.000464093374536,-6.69864159026e-05,1793238215358404608
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.360923167,746.639076833,715,682,663,634,882.360923167,788,805,653,633,654,0.450948257661,0.00451668662842,0.0597008012791,0.999999888774,-1.00050957441e-05,-0.00046678397747,-6.68144663025e-05,1793238215375071232
+247,4.116666667,POSE1_TO_POSE2_PRESS,766.222354558,746.777645442,715,681.777645442,663,634,882,788,805,653,633,654,0.450947957652,0.00451649320455,0.0596992891599,0.999999887787,-1.07530449812e-05,-0.000468869878421,-6.68752026743e-05,1793238215391738112
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.812963703,746.187036297,715,681.187036297,663,634,882,788,805,653,633,654,0.450949379509,0.00451817517544,0.0596984589273,0.999999887256,-9.9008156812e-06,-0.000469954296944,-6.73213040736e-05,1793238215408404736
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,746,715.39524993,681.39524993,663,634,882,788,804.60475007,653,632.60475007,654,0.450950263149,0.00451802093249,0.0596986551339,0.999999887387,-9.31245534741e-06,-0.000469719127822,-6.71034364069e-05,1793238215425071104
+250,4.166666667,POSE1_TO_POSE2_PRESS,767,746,715.973678857,681.973678857,663,634,882,788,804.026321143,653,632.026321143,654,0.45095089735,0.0045170156942,0.0596993270448,0.999999887824,-8.84638541545e-06,-0.000468872394349,-6.65778515496e-05,1793238215441737728
+251,4.183333333,POSE1_TO_POSE2_PRESS,767,746.547078528,715.452921472,682,663,634,882,788,804.547078528,653,632,654,0.450949156365,0.00451762545343,0.0596979498462,0.999999886826,-7.33779848765e-06,-0.000471042240251,-6.64342043565e-05,1793238215458404864
+252,4.200000000,POSE1_TO_POSE2_PRESS,766.879011107,746.879011107,715,681.879011107,663,634,882,788,805,653,632,654,0.450948100972,0.00451815937385,0.0596970228832,0.999999886172,-6.24545979853e-06,-0.000472448823159,-6.6400708366e-05,1793238215475071744
+253,4.216666667,POSE1_TO_POSE2_PRESS,766.3022739,746.3022739,715,681.3022739,663,634,882,788,805,653,632,654,0.450950054648,0.00451811759716,0.0596981598758,0.999999887095,-6.90828660689e-06,-0.000470438580146,-6.67135478676e-05,1793238215491738368
+254,4.233333333,POSE1_TO_POSE2_PRESS,766,746,715,681.282913779,663,634,882,788,805,653,632,654,0.450951521151,0.00451817463606,0.0596991275236,0.999999887623,-7.72015311332e-06,-0.00046927705324,-6.6879034508e-05,1793238215508404736
+255,4.250000000,POSE1_TO_POSE2_PRESS,766,746,715,681.877408152,663,634,882,788,805,653,632,654,0.450952451116,0.00451834050324,0.0596999086672,0.999999887722,-8.69616102524e-06,-0.000469050240463,-6.68822374374e-05,1793238215525071360
+256,4.266666667,POSE1_TO_POSE2_PRESS,766.45772617,746,715,681.54227383,663,634,882,788,805,653,632.45772617,654,0.45095155595,0.00451840198789,0.0596992795504,0.999999887162,-6.63210042278e-06,-0.000470287594009,-6.67921039553e-05,1793238215541737984
+257,4.283333333,POSE1_TO_POSE2_PRESS,766.96574252,746.03425748,715,681.03425748,663,634,882,788,805,653,632.96574252,654,0.450950311865,0.00451843035182,0.0596983147151,0.999999886472,-4.04356319143e-06,-0.00047179823815,-6.66783606976e-05,1793238215558404608
+258,4.300000000,POSE1_TO_POSE2_PRESS,766.390852264,746.609147736,715,681.609147736,663,634,882,788,805,653,632.390852264,654,0.450951043883,0.00451836396365,0.0596978334542,0.999999886556,-5.64151518479e-06,-0.000471619102529,-6.65746760007e-05,1793238215575071232
+259,4.316666667,POSE1_TO_POSE2_PRESS,766.183280819,747,715,681.816719181,663,634,882,788.183280819,804.816719181,653,632.183280819,654,0.450951443848,0.00451837549497,0.059697553877,0.999999886546,-6.53260469748e-06,-0.000471635276584,-6.65288005838e-05,1793238215591737856
+260,4.333333333,POSE1_TO_POSE2_PRESS,766.755805954,747,715,681.244194046,663,634,882,788.755805954,804.244194046,653,632.755805954,654,0.450951138615,0.00451855250849,0.0596977026275,0.999999886341,-5.92248884917e-06,-0.000472066241317,-6.66056981352e-05,1793238215608404480
+261,4.350000000,POSE1_TO_POSE2_PRESS,767,746.659231982,715,681.340768018,663,634,881.659231982,788.659231982,804.340768018,653,632.659231982,654,0.450950524677,0.00451858570754,0.0596969433692,0.999999885832,-5.32277219816e-06,-0.000473154632505,-6.6583156296e-05,1793238215625071104
+262,4.366666667,POSE1_TO_POSE2_PRESS,767,746.065020072,715,681.934979928,663,634,881.065020072,788.065020072,804.934979928,653,632.065020072,654,0.45094968114,0.00451851194555,0.0596955087857,0.999999885093,-4.73078991589e-06,-0.000474731980112,-6.64866570829e-05,1793238215641737728
+263,4.383333333,POSE1_TO_POSE2_PRESS,766.486797527,746,715,682,663.513202473,634,881,788,805,653,632,654,0.450950814089,0.00451799005508,0.0596964415775,0.999999885693,-5.60101342512e-06,-0.000473432667568,-6.66700297257e-05,1793238215658404608
+264,4.400000000,HOLD_POSE2,767,746,715,682,663,634,882,788,804,653,632,653,0.450951291716,0.00451967042658,0.0596966963041,0.999999886127,-6.31846658343e-06,-0.00047251463965,-6.66035436165e-05,1793238215701311232
+265,4.416666667,HOLD_POSE2,767,746,715,681.411523343,663,634,882,788,804,653,632,653.588476657,0.450950915157,0.00451789750187,0.0596961884981,0.999999885797,-6.71512195569e-06,-0.000473293183998,-6.59956031241e-05,1793238215717977088
+266,4.433333333,HOLD_POSE2,766.825831616,746,715,681.174168384,663,634,882,788,804.174168384,653,632,654,0.450951235568,0.00451649245608,0.0596963179992,0.999999885838,-7.15970567339e-06,-0.000473260983246,-6.55567088076e-05,1793238215734643200
+267,4.450000000,HOLD_POSE2,766.246616422,746,715,681.753383578,663,634,882,788,804.753383578,653,632,654,0.450953176855,0.00451594295089,0.0596979296249,0.999999886742,-7.71575185536e-06,-0.000471343310036,-6.55109489501e-05,1793238215751309568
+268,4.466666667,HOLD_POSE2,766,746.329785247,715.329785247,682,663,634.329785247,882,788,805,653,632,654,0.450953339021,0.00451712388326,0.059697698822,0.999999886597,-7.48415170738e-06,-0.000471609067728,-6.58384303542e-05,1793238215767976192
+269,4.483333333,HOLD_POSE2,766,746.904100699,715.904100699,682,663,634.904100699,882,788,805,653,632,654,0.450952181999,0.00451958790594,0.0596961018893,0.999999885672,-6.66852504077e-06,-0.000473493802766,-6.6442663869e-05,1793238215784643072
+270,4.500000000,HOLD_POSE2,766.478452704,747,715.521547296,682,663,634.521547296,882.478452704,788,805,653,632,654,0.450950930259,0.00451883229999,0.0596954416264,0.999999885011,-7.08479866698e-06,-0.000474916828507,-6.61970346499e-05,1793238215801309696
+271,4.516666667,HOLD_POSE2,766.945364972,747,715,682,663,634,882.945364972,788,804.945364972,653,632.054635028,654,0.45095007882,0.00451757152305,0.0596952427154,0.999999884618,-7.60847223819e-06,-0.000475788614171,-6.58165113293e-05,1793238215817976320
+272,4.533333333,HOLD_POSE2,766.351179585,747,715,682,663,634,882.351179585,788,804.351179585,653,632.648820415,654,0.450953368082,0.00451769538385,0.0596977457,0.99999988636,-6.75414779157e-06,-0.000472130591894,-6.5786197085e-05,1793238215834642944
+273,4.550000000,HOLD_POSE2,766.234356821,747,715,682,663,634,882,788,804.234356821,653,632.765643179,654,0.450954334848,0.00451708140169,0.0596982558978,0.999999886896,-6.98737377784e-06,-0.000471005490667,-6.56780822598e-05,1793238215851309824
+274,4.566666667,HOLD_POSE2,766.807394113,747,715,682,663,634,882,788,804.807394113,653,632.192605887,654,0.450951945262,0.00451540112666,0.059695886222,0.999999885699,-8.79227199928e-06,-0.000473540837478,-6.54575340243e-05,1793238215867976448
+275,4.583333333,HOLD_POSE2,767,747,715,682,663,634,882,788,805,653,632.383429406,654,0.450950647248,0.00451672577472,0.0596951104681,0.999999884858,-7.299771759e-06,-0.000475282363798,-6.58588251869e-05,1793238215884643072
+276,4.600000000,HOLD_POSE2,767,747,715,682,663,634,882,788,805,653,632.960982587,654,0.450949901878,0.00451957176401,0.0596951416894,0.999999884191,-4.13785502114e-06,-0.000476621992553,-6.65749430215e-05,1793238215901309952
+277,4.616666667,HOLD_POSE2,767,746.448493749,715,681.448493749,662.448493749,634,882,788,805,653,632.448493749,653.448493749,0.450950993278,0.00451839661066,0.0596955488382,0.999999884644,-5.15375706045e-06,-0.00047569847608,-6.6301105733e-05,1793238215917976320
+278,4.633333333,HOLD_POSE2,766.860651624,746,715,681.139348376,662.139348376,634,882,788,804.860651624,653,632,653.139348376,0.450951881109,0.00451766272545,0.0596958509616,0.999999885024,-5.57587284297e-06,-0.000474941721069,-6.59611479626e-05,1793238215934642944
+279,4.650000000,HOLD_POSE2,766.284169207,746,715,681.715830793,662.715830793,634,882,788,804.284169207,653,632,653.715830793,0.450951712893,0.00451922700795,0.0596957381822,0.999999884923,-3.18576458315e-06,-0.000475222456538,-6.56387656392e-05,1793238215951309824
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746,715,682,662,634,882,788,805,653,632,654,0.450954334022,0.00451855399585,0.059697048637,0.999999885938,-5.57074708981e-06,-0.000472999360126,-6.6068273892e-05,1793238215989946112
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746.608659661,715.608659661,681.391340339,662.608659661,634,882,788,805,653,632,654,0.450953060814,0.00451772124564,0.0596952938966,0.999999884971,-5.79617386802e-06,-0.000475040898296,-6.60339618885e-05,1793238216006613248
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.788667747,746.788667747,715.788667747,681.211332253,663,634,882,788,805,653,632,654,0.4509522754,0.00451766546243,0.0596947933158,0.999999884581,-5.10138192509e-06,-0.000475872304812,-6.60114904305e-05,1793238216023280128
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766.196776342,746.196776342,715.196776342,681.803223658,663,634,882,788,805,653,632,654,0.450952368387,0.00451900881197,0.0596965511779,0.999999885231,-2.74949484936e-06,-0.000474524552224,-6.60103409749e-05,1793238216039946240
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,681.617822039,663,634,881.617822039,788,805,653,632,654,0.450952311081,0.00451924838885,0.0596964330318,0.999999885183,-3.61438996527e-06,-0.000474643772402,-6.58363612911e-05,1793238216056612864
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,681.045310744,663,634,881.045310744,788,805,653,632,654,0.450952178927,0.00451893826171,0.0596953805908,0.999999884784,-6.08131606289e-06,-0.000475493578528,-6.55763082149e-05,1793238216073279232
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,663,634,881.534495307,788,805,653,632,653.465504693,0.450950711868,0.00451783286882,0.0596939338456,0.999999883877,-6.73201994986e-06,-0.00047740197259,-6.54866542859e-05,1793238216089945856
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.116116598,746,715.116116598,681.116116598,662.883883402,634,882,788,805,653,632.116116598,653.116116598,0.45094960171,0.0045169373629,0.0596929436881,0.999999883224,-6.83973774242e-06,-0.000478776452666,-6.54047723696e-05,1793238216106612480
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.702550887,746,715.702550887,681.702550887,662.297449113,634,882,788,805,653,632.702550887,653.702550887,0.450950401839,0.00451716882514,0.0596939401527,0.999999883793,-5.3804028368e-06,-0.000477619861925,-6.52950517055e-05,1793238216123279616
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,715.714221014,681.714221014,662,634,881.714221014,788,805,653,632.714221014,654,0.45094931567,0.00451775853246,0.0596939247035,0.999999883757,-4.63784390813e-06,-0.000477681715942,-6.54646530082e-05,1793238216139946496
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,715.134293047,681.134293047,662,634,881.134293047,788,805,653,632.134293047,654,0.450946287956,0.00451871697726,0.0596928677031,0.999999883097,-4.63305423433e-06,-0.00047899770103,-6.59217571646e-05,1793238216156612608
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766.555740225,746,715,681.444259775,662.444259775,634,881.444259775,788,804.555740225,653,632,654,0.450937380296,0.00451912561918,0.0596884232402,0.999999880061,-4.89410753649e-06,-0.000485266121064,-6.61189519749e-05,1793238216173279232
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.022188603,746.022188603,715,681.977811397,662.977811397,634,882,788,804.022188603,653,632,654,0.450925918774,0.00451928759607,0.0596826362029,0.999999875988,-5.2510149991e-06,-0.000493570810012,-6.6207596324e-05,1793238216189945856
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766.594915968,746.594915968,715,681.405084032,662.405084032,634,882,788,804.594915968,653,632,654,0.450895056271,0.00451744029641,0.059668865858,0.999999865031,-5.998504021e-06,-0.000515369171436,-6.55462742123e-05,1793238216206612480
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.826841574,746.826841574,715,681.173158426,662.173158426,634,882,788,804.826841574,652.826841574,632,654,0.450859369917,0.00451672530453,0.0596542259355,0.999999853559,-5.69635138179e-06,-0.000537196283136,-6.53393293248e-05,1793238216223279360
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766.235272631,746.235272631,715,681.764727369,662.764727369,634,882,788,804.235272631,652.235272631,632,654,0.45081202747,0.00451874635863,0.0596374848109,0.99999984151,-2.8579023937e-06,-0.000559092870231,-6.62303165339e-05,1793238216239946240
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,715,682,663,634,882,788,804.349307233,652.349307233,632.349307233,654,0.450758492666,0.00451956463443,0.0596247962701,0.999999832402,-6.42788794618e-07,-0.000575121942046,-6.6553197154e-05,1793238216256612864
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,746,715,682,663,634,882,788,804.929271975,652.929271975,632.929271975,654,0.450700868875,0.00451958868136,0.0596147837666,0.999999825341,1.16071853498e-06,-0.000587276525263,-6.65009407773e-05,1793238216273279744
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.504647134,746,715,682,663,634,882,788,805,653,632.495352866,654,0.450629504171,0.00452061790072,0.0596098634608,0.99999982058,2.27027807003e-06,-0.000595332466357,-6.64344200048e-05,1793238216289946368
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766.920512617,746,715,682,663,634,882,788,804.920512617,653,632,654,0.450554206333,0.00452165057717,0.0596057424059,0.999999816093,3.27889500825e-06,-0.000602838632309,-6.62455649301e-05,1793238216306612736
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766.345032544,746,715,682,663,634,882,788,804.345032544,653,632,654,0.450466274866,0.00452183368246,0.059602195384,0.999999811524,4.25905803231e-06,-0.000610466391185,-6.53057194093e-05,1793238216323279360
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766.235978262,746.235978262,715,681.764021738,663,634.235978262,882,788,804.235978262,653,632.235978262,654,0.450369425442,0.00452213217817,0.0595977344512,0.999999805515,5.56642767171e-06,-0.000620301124891,-6.4535064686e-05,1793238216339945984
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.825269786,746.825269786,715,681.174730214,663,634.825269786,882,788,804.825269786,653,632.825269786,654,0.450259223812,0.00452260343963,0.0595919051857,0.9999997973,7.3637001297e-06,-0.000633440202396,-6.40177272433e-05,1793238216356612608
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,746.592491728,715,680.592491728,663,634.592491728,881.592491728,788,805,653,633,654,0.450130027207,0.00452338939214,0.0595845227106,0.999999788679,1.06288705558e-05,-0.000646966244653,-6.29552030959e-05,1793238216373278976
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746.013225924,715,680.013225924,663,634.013225924,881.013225924,788,805,653,633,654,0.449992824545,0.0045243079814,0.0595764855846,0.999999779761,1.45127341774e-05,-0.00066065538675,-6.16628923386e-05,1793238216389945600
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746.56108579,715.56108579,681.12217158,663.56108579,634,881.56108579,788,805,653,633,654,0.44982741065,0.00452522282434,0.0595638655616,0.999999767019,1.86886006538e-05,-0.000679633245017,-6.09163884269e-05,1793238216406612736
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746.861290237,716,682,664,634,882,788,805,653,633,654,0.449659868052,0.00452607288859,0.0595542872287,0.999999757833,2.24477545047e-05,-0.0006929764073,-6.01156635587e-05,1793238216423279616
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746.272544107,716,682,664,634,882,788,805,653,633,654,0.449487557608,0.00452671306614,0.0595549249164,0.999999761523,2.48327713506e-05,-0.000687637175855,-5.90976446318e-05,1793238216439946240
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746.311225244,715.688774756,681.688774756,664,634.311225244,882.311225244,788,805,653,632.688774756,653.688774756,0.449304308519,0.00452796063175,0.0595616792358,0.999999769354,2.99747572537e-05,-0.000676080417794,-5.75193698259e-05,1793238216456612864
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766.531572868,747,715,681,664.468427132,635,882.063145737,788,805,653,632,653.468427132,0.448896938727,0.00453027689345,0.0595874898312,0.999999793807,4.1813178913e-05,-0.000638603844916,-5.3132655495e-05,1793238216489945856
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,766.617143962,747,715,681.617143962,665,634.382856038,881.617143962,788,805,653,632,654,0.448419933676,0.00453193279508,0.0596119571158,0.999999816521,5.00220756944e-05,-0.000601699753045,-4.91142529832e-05,1793238216523279360
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.953545189,746,715.046454811,681.953545189,665.953545189,635,882,788.953545189,804.953545189,653,633,654,0.447292579403,0.00453064258229,0.0596934477275,0.999999885437,7.2673623779e-05,-0.000471673331433,-3.70009881506e-05,1793238216589946368
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,747,715,681,666.693929566,635.693929566,882,788.693929566,805,653,633,654,0.446200573943,0.00453690385321,0.0597341282418,0.999999907459,0.000100403032161,-0.000417479736893,-2.66988071915e-05,1793238216639945984
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,766.990902562,746,715,680.990902562,668,636,882,788.990902562,804,653,632.990902562,653.990902562,0.444497761232,0.00453798034894,0.0597758253836,0.999999934697,0.000134987332719,-0.000334993292939,-1.28160648877e-05,1793238216706612480
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746.082848737,715.082848737,681.082848737,667.917151263,636.917151263,882,788,804.917151263,653,633,654,0.441849427435,0.0045515284132,0.0598063602888,0.999999933692,0.000195817899267,-0.000306932073737,8.00134258569e-06,1793238216789945600
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746.129230979,715,681,668,636,881.129230979,788.870769021,804.129230979,653,633,654,0.43593873384,0.00457859211915,0.0597580301109,0.999999876768,0.000297494027665,-0.000395270755431,4.15125857741e-05,1793238216939945728
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746.715492315,715,681,668,636,881.715492315,788.284507685,804.715492315,653,633,654,0.435246356974,0.00458223461888,0.0597682766828,0.999999886784,0.000307082739097,-0.000360863942871,4.36932747133e-05,1793238216956612352
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,747,715.298266077,681,668,636,882,788.298266077,805,653,633,654,0.434539206576,0.00458465842307,0.0597820956932,0.999999909452,0.00026628799664,-0.000330487317894,3.10647499978e-05,1793238216973279232
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,747,715.877751655,681,668,636,882,788.877751655,805,653,633,654,0.433818126907,0.00458593318332,0.0597992829705,0.999999937969,0.000177989327256,-0.000303910540187,4.47339148878e-06,1793238216989945856
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.033819228,746,715,680,668,636.033819228,881,788,804.033819228,653,632.033819228,654,0.432316904629,0.00457363845002,0.0598114020334,0.999999945999,0.000157033856872,-0.000288575408602,8.16185129469e-06,1793238217023279104
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,746.187080944,715.187080944,680.187080944,668,636.812919056,881,788.187080944,804.812919056,653,632.812919056,654,0.430807804734,0.00458514600836,0.05982152094,0.999999944551,0.000196810910761,-0.000268062274459,1.75035628364e-05,1793238217056612096
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746.77783182,715.77783182,680.77783182,668,636.22216818,881,788.77783182,804.22216818,653,632.22216818,654,0.430031464442,0.00458400201812,0.0598371121681,0.999999947395,0.000205879079051,-0.000249538777691,2.35604129263e-05,1793238217073278976
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746.059208167,716,680.059208167,668,636,881,788.059208167,804,653,632,653.059208167,0.428377576108,0.00458764236515,0.0597813720791,0.999999910531,0.000219234586278,-0.000360521377404,2.99871731197e-05,1793238217106612224
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,715.484335251,680,668,636,881.515664749,788,804,653,632.515664749,653.515664749,0.427597376464,0.00459030911948,0.0597687067307,0.99999991203,0.000207273299198,-0.000363751767786,2.57478658167e-05,1793238217123278848
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.848339268,746.848339268,715,680.848339268,667.848339268,636.848339268,881,788.848339268,804,653,633,654,0.421394133728,0.00459670981644,0.0598408072177,0.999999949189,0.000173251616945,-0.000265859099196,3.04241646107e-05,1793238217256612352
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.256519926,746.256519926,715,680.256519926,667.256519926,636.256519926,881,788.256519926,804,653,633,654,0.420564423434,0.00459657797942,0.0597914625094,0.999999921995,0.000170213450819,-0.000355045305159,3.13110165957e-05,1793238217273278976
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,667,636.328189657,881,788,804,653,632.671810343,654,0.419767945762,0.00459552319202,0.0597613396106,0.999999906524,0.000163353956168,-0.000399140615514,3.08960224577e-05,1793238217289945600
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,667,636.907459911,881,788,804,653,632.092540089,654,0.418996892653,0.00459376230398,0.0597459223069,0.999999904239,0.000153570965464,-0.000408739257362,2.94850546066e-05,1793238217306612224
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.482090725,746,715,680,667.482090725,636.517909275,881,788.482090725,804,653,632.482090725,654,0.418286186939,0.00459501072971,0.0597714702698,0.999999922119,0.000147746750579,-0.000364748953393,2.98347434468e-05,1793238217323279104
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,715,680.055682103,668,636,881,789,803.944317897,653,632.944317897,654,0.417587329189,0.00459636396332,0.0598037567932,0.999999940419,0.000142434499841,-0.000312947166259,3.062917294e-05,1793238217339945472
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,715,680.627813617,668,636,881,789,803.372186383,653,632.372186383,654,0.416891943999,0.00459338262475,0.0598263045436,0.999999950277,0.000134889751028,-0.000283193604913,3.24437922211e-05,1793238217356612352
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.792057164,746,715,680.792057164,668,636.207942836,880.792057164,789,803.207942836,653,632.207942836,654,0.416192670263,0.00459069816177,0.0598392039049,0.999999954308,0.000127750030784,-0.000271845712877,3.41038040045e-05,1793238217373278976
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.197040573,746,715,680.197040573,668,636.802959427,880.197040573,789,803.802959427,653,632.802959427,654,0.415486158098,0.00458856631529,0.059834143343,0.999999948565,0.000121364247024,-0.000294758922007,3.54760230757e-05,1793238217389945600
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.386661435,746.386661435,715.386661435,680,667.613338565,637,880.386661435,788.613338565,804,653,632.613338565,654,0.414793359836,0.00458811625111,0.0598354923073,0.999999949819,0.000115148748808,-0.000292994538017,3.544139966e-05,1793238217406612480
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.964761482,746.964761482,715.964761482,680,667.035238518,637,880.964761482,788.035238518,804,653,632.035238518,654,0.414107351459,0.0045884988485,0.0598400146704,0.999999954531,0.000109017560467,-0.00027901211439,3.47102392162e-05,1793238217423279104
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746.459953302,715.459953302,680,667.540046698,637,880.459953302,788.540046698,804,653,632.540046698,654,0.413433082864,0.00458784180251,0.0598335063056,0.999999929959,0.000228644751213,-0.000294250306388,3.4933153483e-05,1793238217439945728
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.882435112,746,715,680,668,636.882435112,880.117564888,788.882435112,804,653,632.882435112,654,0.41276196472,0.00458749279535,0.0598198283338,0.999999893738,0.00032932966404,-0.000320685402105,3.50257362844e-05,1793238217456612352
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.295267678,746,715,680,668,636.295267678,880.704732322,788.295267678,804,653,632.295267678,654,0.412100386827,0.00458864378848,0.0597803721299,0.999999873819,0.000321743769642,-0.000384269018144,3.43503439625e-05,1793238217473279232
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.288247735,746,715,680,668,636,881,788,804,653,632,654,0.411480638539,0.00458843852315,0.0597653584317,0.999999870393,0.000311615351155,-0.000401227355005,3.35668933401e-05,1793238217489945600
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.868068955,746,715,680,668,636,881,788,804,653,632,654,0.410903202517,0.00458686135102,0.0597750692549,0.999999885962,0.000298915074602,-0.000371022455726,3.26741377809e-05,1793238217506612224
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746.444846421,715,680,668,636,881.444846421,788,804,653.444846421,632,654,0.41034400518,0.00458437012786,0.059803139795,0.999999905074,0.000285925853032,-0.000327095939192,3.32632751938e-05,1793238217523279104
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746.979281936,715,680,668,636.020718064,881.979281936,788,804,653.979281936,632,654,0.409791012559,0.00458168481991,0.0598359622549,0.999999922895,0.000273025190884,-0.000280165601719,3.42706412396e-05,1793238217539945728
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746.403659261,715,680,668,636.596340739,881.403659261,788,804,653.403659261,632,654,0.409260313299,0.00458101255039,0.0598512108553,0.999999930271,0.000264776118316,-0.00026103769302,3.47884167671e-05,1793238217556612352
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746.176470928,715.176470928,680,668,636.823529072,881,788.176470928,804,653,632.176470928,654.176470928,0.408734405602,0.00458003903881,0.0598588436041,0.999999934693,0.000256309497281,-0.000252345578649,3.52378325396e-05,1793238217573278976
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746.767181973,715.767181973,680,668,636.232818027,881,788.767181973,804,653,632.767181973,654.767181973,0.408219745301,0.00457835840473,0.0598485992397,0.99999993283,0.000247332211039,-0.000268149986547,3.55267837473e-05,1793238217589945600
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746.648790088,715.648790088,680,668,636,881,788.648790088,803.648790088,653,632.648790088,654.648790088,0.407717236263,0.00457774511037,0.059837861729,0.999999930428,0.000238153027958,-0.000284964383425,3.49703878998e-05,1793238217606612480
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746.069109707,715.069109707,680,668,636,881,788.069109707,803.069109707,653,632.069109707,654.069109707,0.407222631945,0.00457782614621,0.0598268034153,0.999999927508,0.000228842506642,-0.000302435801359,3.3864073498e-05,1793238217623279104
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636,881,788,803.503269096,653,632,654,0.406781198999,0.00457475331621,0.0598320288744,0.999999935286,0.000216559647965,-0.000285324220021,3.34783409887e-05,1793238217639945472
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.922782058,746.077217942,715,680.077217942,668,636.077217942,880.922782058,788,804.077217942,653.077217942,632,654,0.406352728174,0.0045716651624,0.0598398819478,0.999999943579,0.000204837151442,-0.000264156171974,3.32440769985e-05,1793238217656612352
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.331811679,746.668188321,715,680.668188321,668,636.668188321,880.331811679,788,804.668188321,653.668188321,632,654,0.405962613249,0.004571315341,0.0598505525463,0.999999948999,0.000199519707262,-0.000247143834651,3.33686387965e-05,1793238217673278976
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.254210385,746.745789615,715.254210385,680.745789615,668,636.745789615,880.254210385,788,804.745789615,654,632,654,0.40556985051,0.00457011995238,0.0598523698505,0.999999950702,0.000194175438228,-0.000244470988808,3.35663433337e-05,1793238217689945856
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.83389687,746.16610313,715.83389687,680.16610313,668,636.16610313,880.83389687,788,804.16610313,654,632,654,0.405173697697,0.004567841949,0.0598428519139,0.999999947764,0.000188796824657,-0.000260157590073,3.38576955483e-05,1793238217706612480
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,715.587803339,679.587803339,667.587803339,636,880.587803339,788,804,654,632,654,0.404790956978,0.00456704528254,0.0598241250618,0.999999939198,0.000186490342763,-0.000292649250046,3.43834259391e-05,1793238217723279104
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,715.010060422,679.010060422,667.010060422,636,880.010060422,788,804,654,632,654,0.404413602785,0.00456684354984,0.059801699728,0.999999927122,0.000185417688461,-0.000331890151823,3.50032871795e-05,1793238217739945984
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.564153666,667.564153666,636,880,788.564153666,803.435846334,654,632,654,0.404089105292,0.00456466073849,0.0597923861736,0.999999923421,0.000184264325826,-0.000343424563573,3.55693401343e-05,1793238217756612352
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.861502427,636.138497573,880,789,803.138497573,654,632.138497573,653.861502427,0.403782705029,0.00456312111497,0.0597891848048,0.999999922941,0.000183891972148,-0.000344954672526,3.61686765086e-05,1793238217773279232
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.286552198,636.713447802,880,789,803.713447802,654,632.713447802,653.286552198,0.403530383243,0.00456371903188,0.0598045127329,0.999999931937,0.000185985348676,-0.000316505190348,3.68759053895e-05,1793238217789945856
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746.298118372,715,680,667.298118372,637,880.298118372,788.701881628,804,654,633,653.298118372,0.40329175615,0.00456264315293,0.059819880645,0.999999939339,0.000187480370754,-0.000291054667322,3.82114722915e-05,1793238217806612224
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746.892447036,715,680,667.892447036,637,880.892447036,788.107552964,804,654,633,653.892447036,0.403066736114,0.00455990419108,0.0598352882843,0.999999945381,0.000188380868015,-0.000268583910657,4.0171355558e-05,1793238217823278848
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746.529255648,715,680,668,637,881,788.470744352,804,654,632.529255648,654,0.402858821918,0.00455946509448,0.0598468843552,0.999999949776,0.00019366836691,-0.000247471503209,4.1203130269e-05,1793238217839946496
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.954387407,637,880.954387407,789,804,654,632,654,0.402654452088,0.00455947632634,0.059856344286,0.999999952842,0.000199784118607,-0.000229423168473,4.2042524149e-05,1793238217856614144
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.378204148,637,880.378204148,789,804,654,632,654,0.402447346787,0.00455881491779,0.0598507525595,0.999999948561,0.000204259115306,-0.000243525352329,4.30294659107e-05,1793238217873280256
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,880,789,803.797617325,653.797617325,632,654,0.402253377433,0.00455814307065,0.0598454588422,0.999999942771,0.000216898508279,-0.000255894988924,4.39515446536e-05,1793238217889946368
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,880,789,803.208618337,653.208618337,632,654,0.402084502008,0.0045574512825,0.0598407344195,0.999999933853,0.000245134536033,-0.000264954898672,4.47497139443e-05,1793238217906612992
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.629467846,667,637,880,788.629467846,803,653.370532154,632,654,0.401935137298,0.00455712935906,0.0598382076223,0.999999925536,0.000271255045303,-0.000270798847657,4.48967418783e-05,1793238217923279360
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.055718674,667,637,880,788.055718674,803,653.944281326,632,654,0.401796473155,0.00455701028652,0.0598368861044,0.999999917351,0.000296215308682,-0.00027487901539,4.46866537572e-05,1793238217939945984
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.525477177,667.525477177,637,880,788,803.525477177,654,632,654,0.40168333249,0.00455471116166,0.0598391231757,0.999999934205,0.000241380584514,-0.000269011262073,3.095514491e-05,1793238217956612352
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.891722674,637,880,788,803.891722674,653.891722674,632,654,0.401576461184,0.00455066519004,0.0598415171908,0.999999948057,0.000185305111247,-0.000263081646066,1.83141394268e-05,1793238217973279232
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.305375393,637,880,788,803.305375393,653.305375393,632,654,0.401485149516,0.00453994177695,0.0598429141876,0.999999952574,0.00016164581684,-0.000261603131005,1.69092406818e-05,1793238217989945856
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746.277743024,715,680,667,637,880,788,803.277743024,653,632,654,0.401399422686,0.00453786643981,0.0598432386799,0.999999953453,0.000153764557844,-0.000263045706521,1.60131839717e-05,1793238218006613248
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746.857352103,715,680,667,637,880,788,803.857352103,653,632,654,0.401319765763,0.00454519029727,0.0598423975167,0.999999950766,0.000163031717636,-0.00026766308054,1.56701642375e-05,1793238218023280896
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746.565128797,715,680.434871203,667,637,880.434871203,788,804,653.434871203,632,654,0.401253732761,0.00454474645047,0.0598395618762,0.999999949708,0.000162826928493,-0.00027168565828,1.60863889568e-05,1793238218039946752
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,715,680.988330112,667,637,881,788,803.988330112,654,632,654,0.401192459111,0.00454178900158,0.0598361252527,0.999999949185,0.000159543813638,-0.000275491137123,1.6753555949e-05,1793238218056612608
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,715,680.413371547,667,637,881,788,803.413371547,654,632,654,0.401146233814,0.00453990306782,0.0598351079804,0.999999948838,0.000156928425341,-0.000278190060837,1.75695637428e-05,1793238218073279488
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,880.834027352,788.165972648,803.165972648,654,632,654,0.401104865073,0.00453943678258,0.0598346956602,0.999999948632,0.000156791410146,-0.000278967420415,1.81494691547e-05,1793238218089945856
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,880.243463934,788.756536066,803.756536066,654,632,654,0.401075920368,0.00454260223856,0.0598358309274,0.999999948787,0.000162994562566,-0.000274829039522,1.81253779819e-05,1793238218106612480
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746.339771018,715,680,667.339771018,637,880.339771018,788.660228982,803.660228982,654,632,654,0.40105210239,0.00454184215326,0.0598378876584,0.999999949733,0.000162205311214,-0.000271810417402,1.8530790702e-05,1793238218123279360
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746.917865667,715,680,667.917865667,637,880.917865667,788.082134333,803.082134333,654,632,654,0.401031880418,0.00453832859844,0.0598405907265,0.999999951231,0.000156511418959,-0.000269577220813,1.92374678636e-05,1793238218139946240
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746.510000392,715,680,667.510000392,637,881,788,803.489999608,654,632,654,0.401018946813,0.0045398678615,0.0598422619574,0.999999951233,0.000160243994072,-0.000267373218477,1.91822313801e-05,1793238218156612608
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,881,788.061724983,804,654,632,654,0.401007528568,0.00454175184165,0.0598435685011,0.999999950996,0.000164757674239,-0.000265516061106,1.90726446746e-05,1793238218173279488
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,881,788.6382763,804,654,632,654,0.400998682216,0.00453953169723,0.0598432585607,0.999999951048,0.00016276581274,-0.00026651148913,1.95621478657e-05,1793238218189946112
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766.7776273,746,715,680,667,637,880.7776273,788.7776273,804,654,632,654,0.400992094096,0.00453923393158,0.0598439720263,0.99999995139,0.000162188258122,-0.000265560672408,1.98122081614e-05,1793238218206612992
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e47b2795e7f1ab13f0ce0c080de0781ed096686
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,442 @@
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+429,7.150000000,pose2_to_pose3_retreat,0.578254342495,0.0100012984067,1.0500118629,0.548825633802,0.0186749503018,1.04966139815
+430,7.166666667,pose2_to_pose3_retreat,0.578254086403,0.0100013060599,1.05001184252,0.548825377805,0.018674958336,1.04966137907
+431,7.183333333,pose2_to_pose3_retreat,0.578253913369,0.0100013112309,1.05001182876,0.548825204835,0.0186749637644,1.04966136617
+432,7.200000000,pose2_to_pose3_retreat,0.578253756849,0.0100013159085,1.0500118163,0.548825048372,0.0186749686748,1.04966135451
+433,7.216666667,pose2_to_pose3_retreat,0.578253613901,0.0100013201804,1.05001180493,0.548824905476,0.0186749731594,1.04966134386
+434,7.233333333,pose2_to_pose3_retreat,0.578253601047,0.0100013205645,1.05001180391,0.548824892628,0.0186749735626,1.0496613429
+435,7.250000000,pose2_to_pose3_retreat,0.578253484798,0.0100013240386,1.05001179466,0.548824776421,0.0186749772097,1.04966133424
+436,7.266666667,pose2_to_pose3_retreat,0.578253149554,0.010001321197,1.05001176419,0.548824441381,0.0186749751139,1.049661305
+437,7.283333333,pose2_to_pose3_retreat,0.578252807995,0.0100012666519,1.05001171792,0.548824100354,0.0186749223215,1.04966125815
+438,7.300000000,pose2_to_pose3_retreat,0.578252498647,0.0100012172507,1.05001167602,0.548823791487,0.0186748745078,1.04966121571
+439,7.316666667,pose2_to_pose3_retreat,0.578252183294,0.0100012759919,1.05001152791,0.548823475013,0.0186749298519,1.04966107787
+440,7.333333333,pose2_to_pose3_retreat,0.578252143417,0.0100012746401,1.05001163795,0.548823435704,0.0186749303286,1.04966118385
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7726dbdafda8d50a50eff024e2a148bfd775cf86
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ef244df16e78496799a6b1937f6a25f08b93042d4f1ea44385a27f0aea70aa1
+size 28049712
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f18cd29a746135f3282bb00b14426efb78759ad6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_05/franka_data.csv
@@ -0,0 +1,443 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,746,715,680,667,637,881,788,804,654,632,654,0.400981502704,0.0045376612611,0.0598525641968,0.999999955121,0.000161091849285,-0.000251758756064,2.06285572143e-05,1793238218803321088
+1,0.016666667,BASELINE,766.409469287,746,715,680,667,637,880.409469287,788,803.409469287,654,632,654,0.400981440573,0.00454082050056,0.0598535658563,0.999999954728,0.000164410609588,-0.000251215754349,2.0114858968e-05,1793238218819987456
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+3,0.050000000,BASELINE,766.757021152,746,715,679.242978848,667.757021152,637,880,788,803.757021152,653.242978848,632,654,0.400981467494,0.00453788230463,0.0598527081666,0.999999955128,0.000162873644251,-0.000250578818567,2.06711905173e-05,1793238218853320192
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+18,0.300000000,BASELINE,767,746,715,679.54988708,667.45011292,636.45011292,880,788,803.54988708,653.54988708,632,654,0.400983753647,0.00454020478158,0.0598545947757,0.999999955617,0.000165237699763,-0.000247081202838,2.03090371787e-05,1793238219103320320
+19,0.316666667,BASELINE,767,746,715,679.024725064,667.975274936,636.975274936,880,788,803,653,632.024725064,654,0.400985809049,0.00453967648229,0.0598555604311,0.999999956609,0.000162559386027,-0.000244843664223,2.01968343543e-05,1793238219119986944
+20,0.333333333,BASELINE,767,746,715,679.615351776,667.384648224,636.384648224,880,788,803,653,632.615351776,654,0.400983208607,0.00453923276754,0.0598547105257,0.999999956171,0.000162001858358,-0.000246985113801,2.02755912129e-05,1793238219136653568
+21,0.350000000,BASELINE,767,746,715,680,667.202083286,636.202083286,880,788,803.202083286,653.202083286,632.797916714,654,0.400982158215,0.0045390937248,0.0598545549905,0.999999955906,0.000162125147264,-0.000247960788903,2.04526187259e-05,1793238219153320192
+22,0.366666667,BASELINE,767,746,715,680,667.781540759,636.781540759,880,788,803.781540759,653.781540759,632.218459241,654,0.400984002413,0.00453952363247,0.0598556961354,0.999999955969,0.000163519806099,-0.000246759474258,2.08131587266e-05,1793238219169987072
+23,0.383333333,BASELINE,767,746,715,679.642033842,667.642033842,637,880,788,803.642033842,653.642033842,632,654,0.400984629226,0.00454007927007,0.0598560863999,0.99999995595,0.000164495489731,-0.000246186735798,2.08023981125e-05,1793238219186653696
+24,0.400000000,BASELINE,767,746,715,679.067443258,667.067443258,637,880,788,803.067443258,653.067443258,632,654,0.400984519334,0.00454071099361,0.0598560222666,0.999999955883,0.000165217629243,-0.000245994382219,2.05669437147e-05,1793238219203320320
+25,0.416666667,BASELINE,767,746,715,679.50779787,667,637,880.50779787,788,803.50779787,653.50779787,632,654,0.400984149888,0.00454071111604,0.0598555784656,0.999999955776,0.000165618802138,-0.000246174295049,2.04069683548e-05,1793238219219986944
+26,0.433333333,BASELINE,767,746,715,680,667,637,881,788,804,654,632.08555766,654,0.400983790578,0.00454044611441,0.0598552338652,0.999999955732,0.000165671728394,-0.000246326203882,2.03023018365e-05,1793238219236653824
+27,0.450000000,BASELINE,767,746,715,680,667,637,881,788,804,654,632.677718918,654,0.400983695667,0.00453910860518,0.0598557756139,0.999999956094,0.000163915358298,-0.000246019160703,2.04656949923e-05,1793238219253320448
+28,0.466666667,BASELINE,767,746,715,680,667.263228135,637,880.736771865,788,804,654,632.736771865,654,0.400983026974,0.00453868648099,0.0598557985175,0.99999995602,0.000163692586093,-0.00024644934972,2.06647379012e-05,1793238219269987072
+29,0.483333333,BASELINE,767,746,715,680,667.84079369,637,880.15920631,788,804,654,632.15920631,654,0.400981673091,0.00453935747623,0.059855201835,0.999999955427,0.000165301180559,-0.000247759914508,2.09063524332e-05,1793238219286653696
+30,0.500000000,BASELINE,767,746,715,679.583537885,667.583537885,637,880.416462115,788,804,653.583537885,632,654,0.400982600513,0.00453835495346,0.0598550029322,0.999999955693,0.00016412982016,-0.000247451407006,2.10338962324e-05,1793238219303320320
+31,0.516666667,BASELINE,767,746,715,679.008591425,667.008591425,637,880.991408575,788,804,653.008591425,632,654,0.400984396085,0.00453671557464,0.0598549554042,0.999999956283,0.000161900549987,-0.000246526762729,2.11180304944e-05,1793238219319987200
+32,0.533333333,BASELINE,767,746,715,679,667,637,880.41861372,788,804,653.58138628,632,654,0.400983231484,0.00453821369563,0.059854430582,0.999999955908,0.000162893558263,-0.000247420135242,2.08066319428e-05,1793238219336653824
+33,0.550000000,BASELINE,767,746,715,679.16826168,667.16826168,637,880.16826168,788,804,654,632,654,0.40098236145,0.00453936860893,0.059854328245,0.999999955609,0.00016394529222,-0.000247950636503,2.06003638488e-05,1793238219353320448
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+37,0.616666667,BASELINE,767,746,715,680,667.474336324,637,880.525663676,788,803.525663676,653.525663676,632,653.525663676,0.400982311311,0.0045396044529,0.0598547703438,0.999999955585,0.000164545215139,-0.000247657207586,2.05221634573e-05,1793238219419986944
+38,0.633333333,BASELINE,767,746,715,680.049848222,667.950151778,637,880,788,803.049848222,653.049848222,632,653.049848222,0.400982289108,0.00453913090238,0.0598540000655,0.99999995564,0.000163463589133,-0.000248153309405,2.04760559422e-05,1793238219436653824
+39,0.650000000,BASELINE,767,746,715,680.642761917,667.357238083,637,880,788,803.642761917,653.642761917,632,653.642761917,0.400981929875,0.00453993384584,0.0598543047392,0.999999955591,0.000163949310561,-0.000248041196088,2.0350753641e-05,1793238219453320448
+40,0.666666667,BASELINE,767,746,715,680.77061071,667,636.77061071,880,788,804,653.77061071,632,654,0.400982004284,0.00454002365983,0.0598547190716,0.999999955545,0.000164775534252,-0.000247676697599,2.03907601904e-05,1793238219469987328
+41,0.683333333,BASELINE,767,746,715,680.193512205,667,636.193512205,880,788,804,653.193512205,632,654,0.400982736009,0.00453903250926,0.059855299625,0.999999955501,0.000166117892629,-0.000246929632647,2.06813425739e-05,1793238219486653952
+42,0.700000000,BASELINE,767,746,715,680,667.378130474,636.378130474,880.378130474,788.378130474,804,653.378130474,632.378130474,654,0.400983004483,0.00453934764893,0.0598553214112,0.999999955508,0.000166377510721,-0.000246721295827,2.07593774022e-05,1793238219503320576
+43,0.716666667,BASELINE,767,746,715,680,667.947020772,636.947020772,880.947020772,788.947020772,804,653.947020772,632.947020772,654,0.400983039254,0.00454032178789,0.0598550613097,0.999999955541,0.00016609090634,-0.000246784737401,2.07301859146e-05,1793238219519987456
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+45,0.750000000,BASELINE,767,746.870903419,715,679.870903419,667.870903419,637,881,788,804.870903419,654,632,654,0.400986118864,0.00453874697222,0.0598570815252,0.999999957173,0.000162399939931,-0.000242647730742,2.0059430265e-05,1793238219553320192
+46,0.766666667,BASELINE,767,746.29114301,715,679.29114301,667.29114301,637,881,788,804.29114301,654,632,654,0.400984738969,0.00453890232327,0.0598570748932,0.999999956387,0.000165082647021,-0.000244027668005,2.05876785955e-05,1793238219569986816
+47,0.783333333,BASELINE,767,746,715,679.286874652,667,636.713125348,880.713125348,788,803.713125348,653.713125348,632,654,0.400984716765,0.00453921715601,0.0598572593101,0.999999956182,0.000166097441115,-0.000244159015836,2.08253225557e-05,1793238219586653440
+48,0.800000000,BASELINE,767,746,715,679.863134386,667,636.136865614,880.136865614,788,803.136865614,653.136865614,632,654,0.400986064134,0.00453969286609,0.0598576364477,0.999999956569,0.000165429726693,-0.000243030848043,2.07698191411e-05,1793238219603320320
+49,0.816666667,BASELINE,767,746,715,680,667,636.438189959,880,788.438189959,803.438189959,653.438189959,632,654,0.400984641738,0.0045383402786,0.059856407289,0.99999995647,0.000163896739773,-0.000244474303373,2.0735497363e-05,1793238219619987200
+50,0.833333333,BASELINE,767,746,715,680,667.013250829,636.986749171,880.013250829,788.986749171,804,654,632,654,0.400982416814,0.00453647249997,0.0598547224459,0.999999956223,0.000162105447546,-0.000246670820081,2.07088409341e-05,1793238219636654080
+51,0.850000000,BASELINE,767,746,715,680,667.604917173,636.395082827,880.604917173,788.395082827,804,654,632,654,0.40098282043,0.00453697498183,0.0598549869035,0.999999956408,0.000160803740582,-0.000246773560246,2.0728784006e-05,1793238219653320448
+52,0.866666667,BASELINE,767,746,715,680,668,636.192435445,881,788.192435445,804,654,632,654,0.400982954844,0.00453734409039,0.0598552359871,0.999999956432,0.00016051789135,-0.000246858485186,2.07563789703e-05,1793238219669987072
+53,0.883333333,BASELINE,767,746,715,680,668,636.771617111,881,788.771617111,804,654,632,654,0.400982548233,0.00453744515257,0.0598554541728,0.999999956136,0.000162273657448,-0.000246907606061,2.07993522879e-05,1793238219686653696
+54,0.900000000,BASELINE,767,746.347507827,715,679.652492173,668,637,881,789,804,654,632,654,0.400982901891,0.00453830873488,0.0598559089065,0.99999995599,0.000164039911855,-0.000246341376326,2.06636598999e-05,1793238219703320320
+55,0.916666667,BASELINE,767,746.921255992,715,679.078744008,668,637,881,789,804,654,632,654,0.400983750511,0.00453966874575,0.0598565176416,0.99999995594,0.000165812994466,-0.000245374530782,2.0411649585e-05,1793238219719987200
+56,0.933333333,BASELINE,767,746.503682622,715,679.496317378,667.503682622,637,881,788.503682622,804,654,632,654,0.400983427321,0.00453941854731,0.0598563943858,0.999999956043,0.000164966215648,-0.000245516904368,2.05157444032e-05,1793238219736653824
+57,0.950000000,BASELINE,767,746.073896741,715,679.926103259,667.073896741,637,880.926103259,788,803.926103259,654,632,654,0.400983105762,0.00453894116285,0.0598561989133,0.999999956196,0.000163706717337,-0.000245726388237,2.06406879123e-05,1793238219753320704
+58,0.966666667,BASELINE,767,746.667722179,715,679.332277821,667.667722179,637,880.332277821,788,803.332277821,654,632,654,0.400984107226,0.00453866755177,0.059856314614,0.999999956537,0.000162475654663,-0.00024516655822,2.05137495222e-05,1793238219769987328
+59,0.983333333,BASELINE,766.74651886,746.74651886,715.25348114,679,667.74651886,637,880.25348114,788.25348114,803.50696228,654,632,654,0.400984712657,0.00453906288467,0.0598565563096,0.999999956749,0.000162451082132,-0.00024433063755,2.03594105037e-05,1793238219786653952
+60,1.000000000,BASELINE,766.171007713,746.171007713,715.828992287,679,667.171007713,637,880.828992287,788.828992287,804.657984575,654,632,654,0.400984814953,0.00454030806392,0.0598569580729,0.999999956796,0.000163959270523,-0.000243143962997,2.0170260892e-05,1793238219803320576
+61,1.016666667,BASELINE,766.405246612,746,716,679.405246612,667.405246612,637,881,789,805,654,632,654,0.400983553798,0.00454085558926,0.0598564759505,0.999999956477,0.000163976265414,-0.000244447435191,2.01025412803e-05,1793238219819987200
+62,1.033333333,BASELINE,766.981815087,746,716,679.981815087,667.981815087,637,881,789,805,654,632,654,0.400981716229,0.00454110817469,0.0598556201569,0.999999955999,0.000163362843965,-0.000246803640702,2.00861573683e-05,1793238219836653824
+63,1.050000000,BASELINE,767,746.568130871,716,680,668,637,880.431869129,789,804.431869129,654,632,654,0.400982147976,0.00453909024443,0.0598558003428,0.999999956146,0.000162630364437,-0.000246642710112,2.06401591879e-05,1793238219853320448
+64,1.066666667,BASELINE,767,746.847103535,716,680,668,637,880.152896465,788.847103535,804,654,632.152896465,654,0.400982653866,0.00453777339538,0.0598560293774,0.999999956242,0.000162625378449,-0.000246230140048,2.09718738872e-05,1793238219869987072
+65,1.083333333,BASELINE,767,746.267549601,716,680,668,637,880.732450399,788.267549601,804,654,632.732450399,654,0.400983160421,0.00453861925377,0.0598563005761,0.999999956134,0.000164661282484,-0.000245344123441,2.06314607899e-05,1793238219886653696
+66,1.100000000,BASELINE,767,746,715.689832161,680,667.689832161,637,881,788.310167839,804,654,632.689832161,654,0.400983235985,0.00453920611976,0.0598564774147,0.99999995626,0.000164653009475,-0.000244845921702,2.04686963935e-05,1793238219903320320
+67,1.116666667,BASELINE,767,746,715.11368958,680,667.11368958,637,881,788.88631042,804,654,632.11368958,654,0.400982941967,0.00453957089486,0.0598565733378,0.99999995659,0.000162891816188,-0.000244680278533,2.04582691092e-05,1793238219919987200
+68,1.133333333,BASELINE,766.541759176,746,715,679.541759176,667.458240824,637,881,788.541759176,804,654,632,654,0.400983653372,0.00453875547743,0.0598567366097,0.999999956594,0.000162965672903,-0.000244595032085,2.06840226877e-05,1793238219936653824
+69,1.150000000,BASELINE,766.030379461,746,715,679.030379461,667.969620539,636.969620539,881,788,803.969620539,654,632,654,0.400984499732,0.00453770919054,0.0598568765876,0.999999956529,0.000163418623515,-0.000244534752573,2.09353643833e-05,1793238219953320448
+70,1.166666667,BASELINE,766.6256441,746,715,679.6256441,667.3743559,636.3743559,881,788,803.3743559,654,632,654,0.400983259467,0.00453776497898,0.0598562755625,0.999999956672,0.000162532126075,-0.000244571204179,2.0582861831e-05,1793238219969986816
+71,1.183333333,BASELINE,767,746,715,680,667,636.214743675,881,788,803.214743675,654,632,654,0.40098289116,0.00453836112808,0.0598560936883,0.99999995663,0.000163163613906,-0.000244343819216,2.03383510237e-05,1793238219986653696
+72,1.200000000,BASELINE,767,746,715,680,667,636.793395914,881,788,803.793395914,654,632,654,0.400984000486,0.00453987298227,0.059856622115,0.999999956268,0.000166367507245,-0.000243669331978,2.02768449487e-05,1793238220003320320
+73,1.216666667,BASELINE,767,746.369673036,715,679.630326964,667,637,881,788.369673036,804,654.369673036,632,654.369673036,0.400984472803,0.00454008629703,0.0598566414635,0.999999956338,0.00016577904998,-0.000243788938009,2.01914136685e-05,1793238220019986944
+74,1.233333333,BASELINE,767,746.944631183,715,679.055368817,667,637,881,788.944631183,804,654.944631183,632,654.944631183,0.400984591379,0.00453957851283,0.0598563781129,0.999999956646,0.000163084642008,-0.000244349516263,2.00926963583e-05,1793238220036653568
+75,1.250000000,BASELINE,767,746.467813954,715,679.532186046,667,637,880.467813954,788.467813954,804,654.467813954,632,654.467813954,0.400984584523,0.0045398344402,0.0598570229781,0.999999956746,0.000163900408979,-0.000243367338977,2.04219681714e-05,1793238220053320192
+76,1.266666667,BASELINE,767,746,715,680,667.11922831,636.88077169,880,788.11922831,803.88077169,654,632,654,0.400984107785,0.0045398520632,0.0598573452951,0.999999956739,0.000164350395061,-0.000243072299068,2.0671653461e-05,1793238220069987072
+77,1.283333333,BASELINE,767,746,715,680,667.699103863,636.300896137,880,788.699103863,803.300896137,654,632,654,0.400981867263,0.00453863455032,0.0598560474997,0.999999956404,0.000161941976962,-0.000246067236222,2.04376419243e-05,1793238220086653696
+78,1.300000000,BASELINE,767,746,715.276525359,679.723474641,667.723474641,636.276525359,880,788.723474641,803,654,632,654,0.400981661792,0.00453802357152,0.0598559063391,0.999999956388,0.000161052796615,-0.000246720073889,2.0359356274e-05,1793238220103320576
+79,1.316666667,BASELINE,767,746,715.851299971,679.148700029,667.148700029,636.851299971,880,788.148700029,803,654,632,654,0.400983651248,0.00453806677633,0.059857012679,0.999999956726,0.000161802205832,-0.000244846816024,2.04490303856e-05,1793238220119987200
+80,1.333333333,BASELINE,767,746,715.572354674,679.427645326,667,637,880,788,803,654,632,654,0.400984748942,0.00453835912195,0.0598571454532,0.999999957185,0.000161032745835,-0.000243500539276,2.01672556349e-05,1793238220136653824
+81,1.350000000,BASELINE,767,746,715,680,667,637,880.004643933,788,803.004643933,654,632,654,0.400985537431,0.00453873434866,0.0598569483529,0.999999957679,0.000159761585938,-0.00024233718864,1.97635350709e-05,1793238220153320192
+82,1.366666667,BASELINE,767,746,715,680,667,637,880.594884871,788,803.594884871,654,632,654,0.40098658056,0.00453859646801,0.059857999646,0.999999957608,0.000162069827284,-0.000241048973946,2.03295025146e-05,1793238220169986816
+83,1.383333333,BASELINE,767,746,715,680,667,637,881,788.180917685,803.819082315,654,632,654,0.400986697039,0.00453777131747,0.0598583349766,0.99999995753,0.00016248103057,-0.000241062141178,2.07238439827e-05,1793238220186653696
+84,1.400000000,BASELINE,767,746,715,680,667,637,881,788.757741875,803.242258125,654,632,654,0.400984785707,0.00453544219771,0.0598571035496,0.999999957436,0.000158740900459,-0.000243923153415,2.07426123236e-05,1793238220203320320
+85,1.416666667,BASELINE,767,746,715,680,667.333779183,637,881,788.666220817,803.333779183,654,632,654.333779183,0.400984104818,0.00453541876711,0.0598568263665,0.99999995743,0.000158083617674,-0.00024439233843,2.05356342975e-05,1793238220219987200
+86,1.433333333,BASELINE,767,746,715,680,667.909246678,637,881,788.090753322,803.909246678,654,632,654.909246678,0.40098431489,0.0045370648779,0.0598572401481,0.999999957495,0.000159658613837,-0.000243129609736,2.01651941334e-05,1793238220236653824
+87,1.450000000,BASELINE,767.483342499,746,715,679.516657501,667.516657501,637.483342499,881,788,804,653.516657501,632.483342499,654.516657501,0.40098329018,0.00453822830094,0.0598564288801,0.999999956845,0.000161798907664,-0.000244364125268,2.04115148347e-05,1793238220253320448
+88,1.466666667,BASELINE,767.940543596,746,715,679.059456404,667.059456404,637.940543596,881,788,804,653.059456404,632.940543596,654,0.400982292227,0.00453913030565,0.0598556042935,0.999999956202,0.000163682432212,-0.000245711030353,2.07194639651e-05,1793238220269986816
+89,1.483333333,BASELINE,767.343875012,746,715,679.656124988,667.656124988,637.343875012,881,788,804,653.656124988,632.343875012,654,0.400983624923,0.00453848685621,0.0598567317869,0.999999956889,0.0001622896291,-0.000243848825035,2.05408744164e-05,1793238220286653696
+90,1.500000000,BASELINE,767,746,715,680,668,636.75645819,881.24354181,788,804,654,632,654,0.40098478019,0.00453779660709,0.0598575986573,0.999999957416,0.000161386167408,-0.000242283948954,2.05325674805e-05,1793238220303320320
+91,1.516666667,BASELINE,767,746,715,680,668,636.181626584,881.818373416,788,804,654,632,654,0.400985694101,0.00453704269645,0.0598581110023,0.99999995773,0.000161148356706,-0.000241123529832,2.07558959068e-05,1793238220319987200
+92,1.533333333,BASELINE,767,746,715.393512574,680,668,636.393512574,881.606487426,788.393512574,804,654,632,654,0.400985852458,0.00453803386413,0.0598580444787,0.999999957438,0.000162220666389,-0.000241607811143,2.08368362227e-05,1793238220336653824
+93,1.550000000,BASELINE,767,746,715.968793845,680,668,636.968793845,881.031206155,788.968793845,804,654,632,654,0.400985661816,0.00453983110665,0.0598577105682,0.999999956863,0.0001638981381,-0.000242851801381,2.0852005594e-05,1793238220353320448
+94,1.566666667,BASELINE,767,746.557407272,716,680,667.442592728,636.442592728,881,789,803.442592728,654,632,654,0.400984430178,0.00453874218222,0.0598566041532,0.999999956574,0.000163784237895,-0.000244115648662,2.08335498938e-05,1793238220369987072
+95,1.583333333,BASELINE,767,746.855773012,715.855773012,680,667.144226988,636.144226988,880.855773012,788.855773012,803.144226988,654,632,654,0.40098355318,0.00453771102844,0.0598559207656,0.9999999565,0.000163035724764,-0.000244927148553,2.07391121771e-05,1793238220386653696
+96,1.600000000,BASELINE,767,746.276667321,715.276667321,680,667.723332679,636.723332679,880.276667321,788.276667321,803.723332679,654,632,654,0.400983925537,0.00453735320901,0.0598566465051,0.999999957023,0.000160683507771,-0.000244371279542,2.04213858073e-05,1793238220403320320
+97,1.616666667,BASELINE,767,746,715,680,668,637,880.300481482,788.300481482,804,654,632,654,0.400985083215,0.00453766582182,0.0598577505141,0.999999957461,0.000160519313622,-0.000242687852474,2.0365616604e-05,1793238220419987200
+98,1.633333333,BASELINE,767,746,715,680,668,637,880.875840111,788.875840111,804,654,632,654,0.400986959296,0.00453859173865,0.0598592005598,0.999999957816,0.000162356698793,-0.000239972947757,2.0549482948e-05,1793238220436653824
+99,1.650000000,BASELINE,767,746.460574026,715,680,668,637,881,788.539425974,804,654,632,654,0.400986487773,0.00453922768357,0.0598589070572,0.999999957469,0.000164050004481,-0.000240269693956,2.05051250095e-05,1793238220453320448
+100,1.666666667,BASELINE,767,746.952718323,715.047281677,680,668,637,881,788,804,654,632.047281677,654,0.400985386928,0.00453967165634,0.0598581463455,0.999999956969,0.000165433176392,-0.000241406137758,2.0406496436e-05,1793238220469987072
+101,1.683333333,BASELINE,767,746.372838332,715.627161668,680,668,637,881,788,804,654,632.627161668,654,0.400984474054,0.00453885201107,0.0598575273012,0.999999956938,0.000163769490695,-0.00024266601725,2.04039712552e-05,1793238220486653952
+102,1.700000000,BASELINE,767,746.206344004,716,680,668,637,881,788.206344004,804,654,633,654,0.400983630549,0.00453853962291,0.0598569627819,0.999999956805,0.000163125014232,-0.000243644038837,2.0422106372e-05,1793238220503320576
+103,1.716666667,BASELINE,767,746.784269947,716,680,668,637,881,788.784269947,804,654,633,654,0.400982911963,0.00453914069767,0.0598564964506,0.999999956495,0.00016431591837,-0.000244114493777,2.04774463182e-05,1793238220519987200
+104,1.733333333,BASELINE,767,747,715.640026775,680,667.640026775,637,881,788.640026775,804,654,632.640026775,654,0.400983804938,0.0045389544195,0.0598570477179,0.999999956741,0.000164203834398,-0.000243166378527,2.06188962068e-05,1793238220536653824
+105,1.750000000,BASELINE,767,747,715.065647299,680,667.065647299,637,881,788.065647299,804,654,632.065647299,654,0.400985657787,0.00453829918043,0.0598582050844,0.999999957317,0.000163315668389,-0.000241373338491,2.08116346648e-05,1793238220553320192
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,880,788,804,653,632,654,0.400984992884,0.00453937836761,0.0598579367865,0.999999956627,0.000167373292788,-0.000241455384554,2.07714213597e-05,1793238220584315904
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,679.592734102,667,637,880.592734102,788.592734102,804,653.592734102,632,654,0.400984410006,0.00453993993638,0.0598573548692,0.999999956541,0.000166320998792,-0.000242569014492,2.03815734838e-05,1793238220600984320
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,881,788.819764941,803.819764941,654,632,654,0.400984096081,0.00453989752606,0.0598570432529,0.999999956667,0.000164641459783,-0.000243214990061,2.01274575762e-05,1793238220617651712
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,881,788.243755231,803.243755231,654,632,654,0.400984372748,0.00453852884991,0.0598573251849,0.999999957258,0.000161584565485,-0.000242834052734,2.01713927755e-05,1793238220634317568
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746.331276621,715,680,667,637,881,788,803,654,632,654,0.400983758746,0.00453847234139,0.0598570239825,0.999999957057,0.000161712615253,-0.000243573016953,2.01562927172e-05,1793238220650983936
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746.905591044,715,680,667,637,881,788,803,654,632,654,0.400982491314,0.0045393784917,0.0598562949693,0.999999956276,0.000164177267771,-0.000245133585836,2.00978820263e-05,1793238220667650816
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746.503796337,715,679.503796337,667.496203663,636.503796337,881,788,803.496203663,654,632.496203663,654,0.400983200606,0.00453900371279,0.0598570593155,0.999999956532,0.00016445333793,-0.000243876797147,2.03704456505e-05,1793238220684317440
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,715,679.0878541,668,636.0878541,881,788,803.9121459,654,632.9121459,654,0.400984023943,0.00453850208597,0.0598578356018,0.999999956889,0.000164339883074,-0.000242461686332,2.06479616979e-05,1793238220700983808
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,715,679.667369282,668,636.667369282,881,788,803.332630718,654,632.332630718,654,0.400983309278,0.00453870079416,0.0598570346181,0.999999956677,0.000164456000061,-0.000243262276512,2.05888122842e-05,1793238220717649664
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,880.756276116,788.243723884,803.243723884,654,632,654,0.400983577613,0.00453881627181,0.0598568989783,0.999999956626,0.00016427611121,-0.000243591629512,2.06197283694e-05,1793238220734315776
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,880.184179854,788.815820146,803.815820146,654,632,654,0.400985170356,0.00453881961187,0.059857659765,0.999999956792,0.000163697409815,-0.000243286078434,2.07719908847e-05,1793238220750982400
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715,679.599230429,667.599230429,637,880.400769571,789,804,654,632,654,0.400991309716,0.00453964347302,0.0598608869766,0.999999957718,0.000164835314686,-0.000238664109845,2.08165347221e-05,1793238220767649024
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,715,679.008178364,667.008178364,637,880.991821636,789,804,654,632,654,0.400999607775,0.00454085691165,0.0598652852288,0.999999958964,0.00016678825174,-0.000231992737399,2.0809934523e-05,1793238220784315648
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,715,679.572094968,667.572094968,637,881,788.427905032,804,653.427905032,632,654,0.401031003277,0.00453817390566,0.0598783814064,0.999999964987,0.000162859649875,-0.000207513845933,2.10039336662e-05,1793238220800982272
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715.150636381,680,668,637,880.849363619,788,803.849363619,653.150636381,632,654,0.401068242806,0.00453632175477,0.0598930072531,0.999999970665,0.000160253982223,-0.000180389058161,2.11587284495e-05,1793238220817648896
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715.724734395,680,668,637,880.275265605,788,803.275265605,653.724734395,632,654,0.401120999742,0.00453695895215,0.059911590157,0.999999975983,0.000161599270665,-0.000146528642506,2.11954015611e-05,1793238220834315520
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715.701724985,679.701724985,667.701724985,637,880,788.298275015,803.298275015,654,632,654,0.40117873476,0.00453609893514,0.0599278238666,0.999999979746,0.000160373393589,-0.00011969316101,2.14919995289e-05,1793238220850982144
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,715.128697835,679.128697835,667.128697835,637,880,788.871302165,803.871302165,654,632,654,0.401241055271,0.00453385977859,0.0599418936453,0.999999982534,0.000156779120968,-9.9328607976e-05,2.20280238913e-05,1793238220867648768
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,715,679.461987181,667.461987181,637,880,788.538012819,804.461987181,654,632,654,0.401311728499,0.00453510314381,0.0599484979372,0.999999983519,0.000157533761222,-8.76730614654e-05,2.14013783787e-05,1793238220884315392
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667.944017769,637,880,788,804.888035537,654,632,654,0.401385935616,0.00453712834082,0.0599526039166,0.99999998397,0.000159209423741,-7.93272090933e-05,2.04689862276e-05,1793238220900982272
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667.366822951,637,880,788,803.733645903,654,632,654,0.40147051969,0.00453704136324,0.0599535819053,0.999999984297,0.000157732431947,-7.83101856923e-05,1.9825354166e-05,1793238220917649152
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,880,788.209311811,803.209311811,654,632,654,0.40156317635,0.00453657983361,0.0599551517867,0.999999984916,0.000155412863076,-7.51622946426e-05,1.90981454655e-05,1793238220934315776
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667,637,880,788.783598108,803.783598108,654,632,654,0.401669909072,0.0045354652021,0.0599577537444,0.999999986007,0.000151624102846,-6.82988354164e-05,1.82252052517e-05,1793238220950982400
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667.358508132,637,880,789,804,654,632,654,0.401788998615,0.00453591908292,0.0599597352084,0.999999986601,0.000150052949956,-6.32374568056e-05,1.68212021377e-05,1793238220967648768
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667.93379536,637,880,789,804,654,632,654,0.401915559965,0.00453732139591,0.0599613414786,0.999999986906,0.000149822717234,-5.926574154e-05,1.50960811597e-05,1793238220984315136
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667.476309816,637,880,788.476309816,804,654,632,654,0.40206686609,0.00453604953715,0.0599625257913,0.999999988063,0.000144146684756,-5.39009772562e-05,1.38079864735e-05,1793238221000982016
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746.112737324,715,680,667.112737324,637,880,788,803.887262676,654,632.112737324,654,0.402225322889,0.004534492954,0.0599633342869,0.999999989159,0.000138152670837,-4.93881199473e-05,1.25121970803e-05,1793238221017649152
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746.690453325,715,680,667.690453325,637,880,788,803.309546675,654,632.690453325,654,0.402399999895,0.00453319638972,0.0599628190727,0.999999989786,0.00013376812911,-4.9136094248e-05,1.0950262588e-05,1793238221034316800
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746.733952278,715,680,667.733952278,636.733952278,880.266047722,788,803.266047722,654,632.733952278,654,0.402591963519,0.00453339913345,0.0599635975342,0.999999990401,0.000130567306148,-4.5484071688e-05,9.01463025387e-06,1793238221050983680
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746.160806874,715,680,667.160806874,636.160806874,880.839193126,788,803.839193126,654,632.160806874,654,0.402803880996,0.00453533252171,0.0599658692796,0.999999990973,0.000128732844656,-3.79074481551e-05,6.6476402857e-06,1793238221067649792
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667.425888003,636.425888003,881,788.425888003,803.574111997,653.574111997,632,654,0.403032218015,0.0045364261885,0.0599670961079,0.999999991621,0.00012546133215,-3.16593620387e-05,3.96494245861e-06,1793238221084315904
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746.017490799,715.017490799,680,668,637,881,789,803.017490799,653.017490799,632,654,0.403268175885,0.00453717431011,0.0599679211853,0.999999992265,0.000121620464802,-2.60259626818e-05,1.17423352814e-06,1793238221100982528
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746.597005559,715.597005559,680,668,637,881,789,803.597005559,653.597005559,632,654,0.403543253166,0.00453734198006,0.0599689311476,0.999999992821,0.000117492879165,-2.34957207749e-05,-1.13092187925e-06,1793238221117649152
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,747,715.82463328,680,668,637,880.82463328,789,804,654,632,654,0.403819879705,0.00453692941517,0.059966372527,0.999999993279,0.000112676471814,-2.70692129398e-05,-3.63760528897e-06,1793238221134315776
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,747,715.248905856,680,668,637,880.248905856,789,804,654,632,654,0.404100043149,0.00453519217916,0.0599556668623,0.999999993336,0.000106287490993,-4.45774775614e-05,-6.60437506932e-06,1793238221150982400
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,747,715.325018437,680,667.674981563,637,880,789,804,654,632,654,0.404397558939,0.00453512382308,0.0599448565102,0.999999992987,0.000100123226822,-6.2488576324e-05,-9.77903634624e-06,1793238221167649024
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,747,715.897569534,680,667.102430466,637,880,789,804,654,632,654,0.40470829023,0.00453632647868,0.0599339664276,0.999999992227,9.41301052096e-05,-8.0706473698e-05,-1.31120272153e-05,1793238221184315648
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746.51485683,716,680,667.48514317,636.51485683,880.48514317,788.51485683,804,654,632,654,0.405051728244,0.00453594934353,0.0599291645242,0.999999991902,8.9060194514e-05,-8.94725015232e-05,-1.6104182239e-05,1793238221200982528
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,716,680,668,636.074510696,880.925489304,788,804,653.925489304,632,654,0.405412689,0.00453517700861,0.0599281148179,0.999999992113,8.34696422023e-05,-9.18700807783e-05,-1.91267443894e-05,1793238221217649408
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,716,680,668,636.653856157,880.346143843,788,804,653.346143843,632,654,0.40584409007,0.0045340591788,0.059943500015,0.999999994958,7.29887068451e-05,-6.50723234792e-05,-2.28584742796e-05,1793238221234316032
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.770727114,746,716,680,668,636.770727114,880.229272886,788,803.770727114,653,632,654,0.406284918229,0.00453364509467,0.0599623799687,0.99999999699,6.4925768081e-05,-3.32506868354e-05,-2.64320026045e-05,1793238221250982400
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.201141879,746,716,680,668,636.201141879,880.798858121,788,803.201141879,653,632,654,0.406739739099,0.00453427558828,0.0599864472285,0.999999997711,6.045188973e-05,6.02794932163e-06,-2.9770710322e-05,1793238221267649024
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.374538677,746.374538677,715.625461323,679.625461323,667.625461323,636,880.625461323,788.374538677,803,653.374538677,632,654,0.407198762925,0.00453339676861,0.0600041547752,0.999999997555,5.3165650745e-05,3.17002341953e-05,-3.25306137608e-05,1793238221284315648
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.953546793,746.953546793,715.046453207,679.046453207,667.046453207,636,880.046453207,788.953546793,803,653.953546793,632,654,0.407660081229,0.00453169397942,0.0600183904047,0.999999997158,4.43440783514e-05,4.99444917891e-05,-3.49745342786e-05,1793238221300982272
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.454791044,747,715,679.545208956,667.545208956,636.545208956,880.545208956,788.454791044,803.545208956,653.454791044,632,654,0.408143821051,0.0045321813509,0.0600106544918,0.9999999981,3.81020699936e-05,2.89315607154e-05,-3.888457727e-05,1793238221317649408
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.134912523,746.865087477,715,680,668,637,880.865087477,788,804,653.134912523,632.134912523,654,0.408639552681,0.00453255489321,0.0600007862586,0.999999998573,3.12678111268e-05,5.36054729959e-06,-4.29722660257e-05,1793238221334316544
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.714521817,746.285478183,715,680,668,637,880.285478183,788,804,653.714521817,632.714521817,654,0.409168364875,0.00453192352555,0.0599902066875,0.999999998531,2.17397181213e-05,-1.53552802421e-05,-4.72239728134e-05,1793238221350983936
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.708756162,746.291243838,715,680,668,636.708756162,880.291243838,788,804,653.708756162,632.708756162,654,0.409718064145,0.00453101221448,0.0599877945272,0.999999998417,1.11571902114e-05,-1.94518454088e-05,-5.16111529527e-05,1793238221367650816
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.134836406,746.865163594,715,680,668,636.134836406,880.865163594,788,804,653.134836406,632.134836406,654,0.410288036088,0.00452982919539,0.0599933095045,0.999999998397,-4.48753959432e-07,-7.4180624103e-06,-5.61298215471e-05,1793238221384317184
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746.547548965,715,680,668,636,880.547548965,788,804,653,632,654,0.410879406734,0.00452908121785,0.060001395088,0.999999998042,-1.09334403844e-05,1.03566877423e-05,-6.0739018814e-05,1793238221400983552
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.042818147,746.042818147,715,680,668,636.042818147,880,788,804,653,632,654,0.41147841339,0.0045284064348,0.060009016226,0.999999997276,-2.07794675972e-05,2.74617113658e-05,-6.52906376483e-05,1793238221417649664
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.620380294,746.620380294,715,680,668,636.620380294,880,788,804,653,632,654,0.412090718095,0.00452697732311,0.0600009784723,0.999999997171,-2.69496157076e-05,1.41854587964e-05,-6.87759916131e-05,1793238221434316288
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746.802639567,715,680,668,636.802639567,880,788,804,653,632,653.802639567,0.412700646635,0.00452851198732,0.0599851093327,0.999999997975,1.1392608448e-05,-1.56855517525e-05,-6.06196398308e-05,1793238221450982400
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746.226775655,715,680,668,636.226775655,880,788,804,653,632,653.226775655,0.413306018063,0.0045357306657,0.059954220938,0.999999987426,0.000135101932949,-7.73824626684e-05,-3.01364909407e-05,1793238221467649024
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.642864177,746,715,679.642864177,667.642864177,636.357135823,880.357135823,787.642864177,804,653,632,653.357135823,0.413946627396,0.00453076840991,0.0599414083337,0.999999980738,0.000167064251433,-0.000101055086302,-2.00458032169e-05,1793238221484315904
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.05372484,746,715,679.05372484,667.05372484,636.94627516,880.94627516,787.05372484,804,653,632,653.94627516,0.414610128045,0.00451789314328,0.0599403381733,0.999999985008,0.00013942563489,-0.000100026270703,-2.32025211839e-05,1793238221500983040
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.526695475,746,715,679.526695475,667.526695475,636.473304525,881,787.526695475,804,653,632,654,0.415362242871,0.00450168928678,0.0599828087929,0.999999993495,0.000107729842667,-2.74659186829e-05,-2.54976652096e-05,1793238221517650176
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668,636.105375715,881,788,804,653,632,654,0.416114998314,0.00448928349928,0.0600225412672,0.999999995453,8.21781482362e-05,3.95483764767e-05,-2.78680432578e-05,1793238221534316800
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,715,680,668,636.680201373,881,788,804,653,632,654,0.416830994557,0.00449528612435,0.060030611357,0.999999994595,8.58121549577e-05,4.9878375878e-05,-3.09587365731e-05,1793238221550982656
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.747498092,746,715,680,668,636.747498092,881,788,804,653,632,654,0.417549403902,0.00449688273773,0.0600260802096,0.999999995136,8.34431687335e-05,4.10331308056e-05,-3.2890356364e-05,1793238221567649024
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.178363933,746,715,680,668,636.178363933,881,788,804,653,632,654,0.418270839325,0.00449295430296,0.0600057473685,0.999999996706,7.35465520192e-05,8.14252097637e-06,-3.33685219509e-05,1793238221584315648
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715,679.591132092,668,636.408867908,881,788.408867908,804,653,632,654,0.418999973259,0.00449404319776,0.0599895335339,0.999999999185,7.15636204375e-06,-1.88453561639e-05,-3.49762279313e-05,1793238221600982272
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,679.004239716,668,637,881,788.995760284,804.004239716,653,632,654,0.419732734699,0.0044974017841,0.0599752099132,0.999999994832,-8.42959310991e-05,-4.30473908632e-05,-3.70984098045e-05,1793238221617649152
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,679.583269799,668,637,881,788.416730201,804.583269799,653,632,654,0.420480900638,0.00449799088027,0.0599622590462,0.999999994722,-7.76030709542e-05,-5.48328673032e-05,-3.90723605284e-05,1793238221634315776
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746.161659938,715,680,668,637,881,788,804.838340062,653,632,654,0.421224087511,0.00449784688765,0.0599461633492,0.999999993593,-7.05787899715e-05,-7.88614903636e-05,-4.01686909403e-05,1793238221650982656
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746.738406884,715,680,668,637,881,788,804.261593116,653,632,654,0.421954489815,0.00449582057566,0.0599219928132,0.999999988251,-6.27035347769e-05,-0.000134326293897,-3.9011594654e-05,1793238221667649280
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.320631676,746.679368324,715,680,668,636.679368324,880.679368324,788,803.679368324,653,632,653.679368324,0.422743351451,0.00449585013791,0.0599270210808,0.999999989855,-5.58645338672e-05,-0.000124793905204,-3.9947187302e-05,1793238221684315904
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.907403318,746.092596682,715,680,668,636.092596682,880.092596682,788,803.092596682,653,632,653.092596682,0.423580737155,0.0044975861764,0.0599562857841,0.999999995968,-4.98856750041e-05,-6.13106663604e-05,-4.2619814083e-05,1793238221700982272
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.511567509,746,715,680,668,636.488432491,880.488432491,788.488432491,803.488432491,653,632,653.488432491,0.424397140197,0.00449442285954,0.0600038230096,0.999999997797,-4.92261555031e-05,1.38529790826e-05,-4.23256764054e-05,1793238221717648896
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.068160459,746,715,680,668,636.931839541,881,789,804,653,632,654,0.425210193803,0.0044907516907,0.0600480020631,0.999999994664,-4.86433707938e-05,8.10634419774e-05,-4.16466359819e-05,1793238221734315520
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.646203459,746,715,680,668,636.353796541,881,789,804,653,632,654,0.426027602325,0.00449014885899,0.060041447446,0.999999995638,-4.11785407195e-05,7.24068001107e-05,-4.22467734784e-05,1793238221750982144
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,715.222419415,680,668,636,881,788.777580585,804,653,632,654,0.426830967703,0.00449042558209,0.0600291041324,0.999999996828,-3.3579178429e-05,5.75638092378e-05,-4.36142864408e-05,1793238221767649024
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,715.795752906,680,668,636,881,788.204247094,804,653,632,654,0.427612177152,0.00449208999045,0.0600076279142,0.999999998058,-2.57675617018e-05,3.29605316637e-05,-4.61924979911e-05,1793238221784315904
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.378633137,716,680,668,636.378633137,881.378633137,788.378633137,804,653,632,654,0.428389115289,0.00449108693046,0.0599925599223,0.999999998535,-2.20416786544e-05,1.37937030381e-05,-4.74770142309e-05,1793238221800982528
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.966796361,716,680,668,636.966796361,881.966796361,788.966796361,804,653,632,654,0.429163689697,0.00448860773208,0.0599810381512,0.999999998631,-2.0576781838e-05,-2.3646721073e-06,-4.80456180957e-05,1793238221817648896
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,747,715.452913217,680.547086783,668,637,882,789,804,653,632.547086783,654,0.429910612295,0.00448942348972,0.0599598702449,0.99999999785,-1.36644798324e-05,-4.27128332001e-05,-4.7844444482e-05,1793238221834315776
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.873910201,746.873910201,715,680.873910201,668.126089799,636.873910201,882,788.873910201,804,653,632.873910201,653.873910201,0.430671346932,0.00448948910547,0.0599484912754,0.999999996765,-8.8403895214e-06,-6.3900858831e-05,-4.80382318067e-05,1793238221850982144
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.297820747,746.297820747,715,680.297820747,668.702179253,636.297820747,882,788.297820747,804,653,632.297820747,653.297820747,0.431487279534,0.00448617398483,0.0599741075983,0.999999998613,-1.26320596102e-05,-1.15433962975e-05,-4.98059581445e-05,1793238221867648768
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.277741564,746,715.277741564,680,669,636,882.277741564,788,804,653,632,653.277741564,0.43229692438,0.00448285895377,0.060003177362,0.999999997844,-1.56016553467e-05,3.8990276492e-05,-5.04909916062e-05,1793238221884315392
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.852739657,746,715.852739657,680,669,636,882.852739657,788,804,653,632,653.852739657,0.433099839621,0.00447954401878,0.0600359432141,0.999999994758,-1.76914150578e-05,8.75720111383e-05,-5.0017258822e-05,1793238221900982272
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.5593904,746,716,680,669,636,882.5593904,788.4406096,804,653,632,654,0.43384747075,0.0044792317355,0.060027541531,0.999999996145,-1.60711457119e-05,6.99969688089e-05,-5.05251249309e-05,1793238221917649152
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.032205916,746,715.967794084,680.032205916,668.967794084,636,882,789,804.032205916,653,632,654,0.434575116689,0.00447985231866,0.0600044652031,0.999999998162,-1.3323238598e-05,2.92853607628e-05,-5.13941613332e-05,1793238221934315520
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.611816602,746,715.388183398,680.611816602,668.388183398,636,882,789,804.611816602,653,632,654,0.435286578212,0.00447875827505,0.0599728631618,0.999999998374,-1.31187798746e-05,-1.75501767047e-05,-5.26580075763e-05,1793238221950982400
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,715,680.810671094,668,636.189328906,882,788.810671094,804.810671094,653,632,654,0.43599365212,0.00447740224228,0.0599508279299,0.999999997129,-1.3037721971e-05,-5.20241612665e-05,-5.35368330025e-05,1793238221967649024
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,715,680.23741386,668,636.76258614,882,788.23741386,804.23741386,653,632,654,0.436691828785,0.00447551493777,0.0599481926307,0.999999996588,-1.32069009344e-05,-6.14309291668e-05,-5.36348990541e-05,1793238221984315648
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.664024413,746,715.335975587,680,668,637,881.664024413,788.335975587,804.335975587,653,632,654,0.437372891121,0.00447249258461,0.0599458305983,0.999999995688,-1.62272031496e-05,-7.4103761739e-05,-5.35593465641e-05,1793238222000983040
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.090541537,746,715.909458463,680,668,637,881.090541537,788.909458463,804.909458463,653,632,654,0.438041854983,0.0044686678449,0.0599436617435,0.999999994382,-2.12630165363e-05,-8.90854346007e-05,-5.33610599369e-05,1793238222017650944
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.501724537,746.501724537,716,680.501724537,668.501724537,637,881.501724537,789,804.498275463,653,632.501724537,654,0.438730037445,0.00446670731752,0.0599475115967,0.999999994909,-2.38411520118e-05,-8.19477123781e-05,-5.38359556603e-05,1793238222034316544
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.905828938,716,680.905828938,669,636.905828938,882,788.905828938,804.094171062,653,633,653.905828938,0.439422128814,0.00446530925585,0.0599577459898,0.99999999623,-2.50015333522e-05,-6.31522809324e-05,-5.40977896106e-05,1793238222050982400
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+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,715.755532333,680,669,636,881.755532333,788.244467667,804.755532333,653,633,653.244467667,0.440775682031,0.00446370249233,0.0600204985825,0.99999999802,-1.85700252938e-05,3.18426603668e-05,-5.10023927499e-05,1793238222084316160
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,715.181220072,680,669,636,881.181220072,788.818779928,804.181220072,653,633,653.818779928,0.441390037834,0.00446107375384,0.0600307327456,0.999999997694,-1.72551921064e-05,4.35493590775e-05,-4.91739663678e-05,1793238222100983296
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,715,680.403677809,669,636.403677809,881,789,804.403677809,653,633,654,0.441966603716,0.0044585892821,0.060011470205,0.999999998408,-2.27780763491e-05,1.20813913235e-05,-5.01945758746e-05,1793238222117650176
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,715,680.993455835,669,636.993455835,881,789,804.993455835,653,633,654,0.442525748053,0.00445617131881,0.059978609338,0.999999997354,-3.14532285879e-05,-3.92906045054e-05,-5.25286241644e-05,1793238222134316800
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.573755069,715,681,669,636.426244931,881.573755069,789,804.426244931,653,633,654,0.443076267625,0.00445571290422,0.0599631253276,0.999999995849,-4.75867977915e-05,-5.46205576099e-05,-5.52725383222e-05,1793238222150982912
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.276858951,715,681,669,636.723141049,882,789,804,653,633,654,0.444161911039,0.00445400776596,0.0599695451932,0.999999989265,-0.0001279441091,-4.08428958686e-05,-5.85898989786e-05,1793238222184317184
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.305130171,715,681,669,636.694869829,882,789,804.305130171,653,632.694869829,654,0.444678777592,0.00445227084423,0.0599830033786,0.999999985823,-0.000156073052243,-2.1213023794e-05,-5.95435474139e-05,1793238222200984320
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.896975573,715,681,669,636.103024427,882,789,804.896975573,653,632.103024427,654,0.445175402237,0.00444992997342,0.0599959989574,0.999999985404,-0.000159807021061,-1.51217950203e-06,-6.0429286596e-05,1793238222217650944
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.521175729,715,681.478824271,668.521175729,636,882,788.521175729,805,653,632,654,0.445602870672,0.00444973760571,0.0599675003797,0.99999998365,-0.000160188637388,-5.69919648752e-05,-6.15671960274e-05,1793238222234317312
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,715.058276198,681.941723802,668,636,882,788,805,653,632.058276198,654,0.44601239175,0.00444999374067,0.0599304430315,0.999999977253,-0.000159950605733,-0.000126337989691,-6.28307399975e-05,1793238222250983424
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,715.635148749,681.364851251,668,636,882,788,805,653,632.635148749,654,0.44639190631,0.00445021144896,0.0598950460636,0.999999969171,-0.000160485874581,-0.000178073821981,-6.47393425704e-05,1793238222267649536
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.788963905,746,715.788963905,681.211036095,667.788963905,636,881.788963905,788,804.788963905,653,633,654,0.446771580332,0.00445053996238,0.0598692950439,0.999999962127,-0.000159587456804,-0.0002141354391,-6.65162224437e-05,1793238222284315904
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.214771983,746,715.214771983,681.785228017,667.214771983,636,881.214771983,788,804.214771983,653,633,654,0.447151528721,0.00445105915184,0.059860143,0.999999960566,-0.00015622191822,-0.000223224496995,-6.80664308705e-05,1793238222300982528
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,715.368151315,681.631848685,667,636,881,788.368151315,804,653,632.631848685,654,0.447519369447,0.00445191262601,0.0598608658874,0.999999961772,-0.00015406266734,-0.000219064483607,-6.87792905841e-05,1793238222317648896
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,715.956292117,681.043707883,667,636,881,788.956292117,804,653,632.043707883,654,0.447879975253,0.00445296585267,0.0598674895571,0.999999964551,-0.000152624235531,-0.000206987464472,-6.89917911965e-05,1793238222334315520
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.536603099,746,715.463396901,681.536603099,666.463396901,635.463396901,881.536603099,788.463396901,804.536603099,653,632.536603099,654,0.448212370799,0.0044521663212,0.0598640155922,0.999999968536,-0.000116149400215,-0.000214772175906,-5.75303276067e-05,1793238222350982144
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+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746.190717985,716,681.190717985,663,634,882,788.190717985,804.809282015,653,632.190717985,654,0.451034758687,0.00452250298236,0.0597032738593,0.999999891433,-4.99506354232e-06,-0.000460810566978,-6.90111458347e-05,1793238222617649920
+229,3.816666667,POSE1_TO_POSE2_PRESS,766.606659142,746,715.606659142,681,663.393340858,634,881.606659142,788.393340858,804.606659142,653,632,654,0.451099565077,0.00452435504337,0.0596990252127,0.999999888704,-3.12414456746e-06,-0.00046661289035,-6.96680761539e-05,1793238222634316544
+230,3.833333333,POSE1_TO_POSE2_PRESS,766.017609944,746,715.017609944,681,663.982390056,634,881.017609944,788.982390056,804.017609944,653,632,654,0.451160499116,0.00452657375132,0.0596960785257,0.99999988711,-1.26946838819e-06,-0.000469902638027,-7.05022939777e-05,1793238222650982656
+231,3.850000000,POSE1_TO_POSE2_PRESS,766.562712461,746,715.562712461,682.125424921,663.437287539,634,881.562712461,789,804.562712461,653,632,654,0.451208428635,0.00452360071676,0.059692934048,0.999999884552,-3.36202817358e-06,-0.000475453468457,-6.94845870282e-05,1793238222667649536
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746,715.858404935,682.858404935,663,634,882,788.858404935,805,653,632,654,0.451253842197,0.00452205760349,0.0596909202408,0.99999988297,-4.23524212557e-06,-0.000478849396091,-6.88867162279e-05,1793238222684316416
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,715.283108771,682.283108771,663,634,882,788.283108771,805,653,632,654,0.45129277696,0.00452538434686,0.0596923883114,0.999999884549,-1.00105554144e-06,-0.00047543149948,-6.97495950858e-05,1793238222700983040
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.701370698,746,715,682,663,634,882,788,805,653,632,654,0.451324653479,0.00452772606408,0.0596931340338,0.999999885099,1.54817647238e-06,-0.000474209671312,-7.01797503092e-05,1793238222717649664
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.113390803,746,715,682,663,634,882,788,805,653,632,654,0.451349691065,0.00452911336127,0.0596931798522,0.999999884663,3.43373652038e-06,-0.000475115677149,-7.01906271563e-05,1793238222734316288
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.467933004,746.467933004,715,682,663,634,881.532066996,788,804.532066996,653,632,654,0.451368728342,0.00452762283791,0.05969246097,0.999999884338,3.02992957544e-06,-0.000475862733222,-6.97835353817e-05,1793238222750982912
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746.952599342,715,682,663,634,881,788.047400658,804.047400658,653,632.047400658,654,0.451385817825,0.00452580863327,0.0596916795182,0.999999884086,2.31201735627e-06,-0.000476459751023,-6.93507147601e-05,1793238222767649280
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746.3760988,715,682,663,634,881,788.6239012,804.6239012,653,632.6239012,654,0.451397167944,0.00452805637992,0.0596922390567,0.999999884363,4.19357659625e-06,-0.000475805908246,-6.97453984993e-05,1793238222784315904
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746.199905789,715,682,663,634,881.199905789,788.800094211,804.800094211,653,632.800094211,653.800094211,0.451407574522,0.00452882248591,0.0596926294456,0.999999884735,5.77067835104e-06,-0.000475023932154,-6.96389997033e-05,1793238222800982784
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746.774979576,715,682,663,634,881.774979576,788.225020424,804.225020424,653,632.225020424,653.225020424,0.451416210334,0.00452680796115,0.0596927023872,0.999999885286,6.776397315e-06,-0.000474001485237,-6.85922072506e-05,1793238222817649664
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.640177911,746.640177911,715,682,662.640177911,634,882,788.359822089,804,653,632.359822089,653.359822089,0.451421345235,0.00452622647919,0.0596926815968,0.999999885443,7.0180367479e-06,-0.000473735189822,-6.81148756516e-05,1793238222834316288
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.049055913,746.049055913,715,682,662.049055913,634,882,788.950944087,804,653,632.950944087,653.950944087,0.45142422969,0.00452656618218,0.0596926005537,0.999999885348,6.76851250416e-06,-0.00047395496181,-6.80036034535e-05,1793238222850982400
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746.530878943,715.530878943,682,662,634,882,788.469121057,804.530878943,653,632.469121057,654,0.451425507681,0.00452760985559,0.0596918120353,0.999999884539,6.74662234626e-06,-0.000475659012758,-6.80023259168e-05,1793238222867649024
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.109125374,747,715.890874626,681.890874626,662.109125374,634,881.890874626,788,805,653,632.109125374,654,0.451426700532,0.00452815863037,0.0596912394017,0.999999883873,6.52843125014e-06,-0.000477059283397,-6.80201735247e-05,1793238222884315648
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.684483422,747,715.315516578,681.315516578,662.684483422,634,881.315516578,788,805,653,632.684483422,654,0.451428150761,0.00452632078635,0.0596918626699,0.9999998841,5.38353993659e-06,-0.000476587773512,-6.80772031023e-05,1793238222900982272
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,747,715,681.258953168,662.741046832,634,881.258953168,788.258953168,805,653,632.741046832,654,0.451429048353,0.00452585467725,0.0596919894248,0.999999884106,4.87408695846e-06,-0.000476587166692,-6.80370648042e-05,1793238222917648896
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,747,715,681.832344354,662.167655646,634,881.832344354,788.832344354,805,653,632.167655646,654,0.451429274895,0.00452705421893,0.0596915132805,0.999999883843,5.13622497256e-06,-0.000477158361374,-6.78789388694e-05,1793238222934315520
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.582144305,746.582144305,715,682,662.417855695,634,882,788.582144305,805,653,632.417855695,654,0.45143026412,0.00452767594774,0.0596914392604,0.999999883998,5.25021217671e-06,-0.000476815076083,-6.79969028664e-05,1793238222950982400
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,715.008217196,682,663,634,882,788,805,653,632.991782804,653.991782804,0.45143154086,0.00452804623795,0.0596915201079,0.999999884312,5.31987943719e-06,-0.000476123030118,-6.82170635246e-05,1793238222967649536
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,715.587594739,682,663,634,882,788,805,653,632.412405261,653.412405261,0.451430896617,0.00452753529617,0.0596908158139,0.999999883711,6.56409626601e-06,-0.000477454728622,-6.76109431693e-05,1793238222984316160
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,715.83446401,682,662.83446401,634,882,788.16553599,804.83446401,652.83446401,632.16553599,653.16553599,0.451430514277,0.00452673212151,0.0596902464185,0.999999883323,6.87782247348e-06,-0.000478321743657,-6.71883320352e-05,1793238223000982528
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,746,715.260070297,682,662.260070297,634,882,788.739929703,804.260070297,652.260070297,632.739929703,653.739929703,0.451430778808,0.00452520716023,0.0596900102095,0.999999883467,4.89332767215e-06,-0.000478041035844,-6.7218970787e-05,1793238223017649152
+253,4.216666667,POSE1_TO_POSE2_PRESS,766.322360414,746,715,682,662,634,881.677639586,788.677639586,804,652.322360414,633,654,0.451430691861,0.00452562939516,0.0596898409707,0.999999883313,6.09308331188e-06,-0.000478373147647,-6.70582333667e-05,1793238223034315776
+254,4.233333333,POSE1_TO_POSE2_PRESS,766.911440884,746,715,682,662,634,881.088559116,788.088559116,804,652.911440884,633,654,0.451430314103,0.00452766273458,0.059689727143,0.999999882901,9.92747847912e-06,-0.000479212304603,-6.67391518636e-05,1793238223050982400
+255,4.250000000,POSE1_TO_POSE2_PRESS,766.50766617,746.49233383,715,682,662,634,881.49233383,788,804.49233383,653,632.50766617,654,0.451430071956,0.00452849649103,0.0596886844697,0.999999882292,9.65753418794e-06,-0.00048044510127,-6.70515786673e-05,1793238223067649024
+256,4.266666667,POSE1_TO_POSE2_PRESS,766,747,715,682,662.071400961,634,881.928599039,788,805,653,632.071400961,654,0.451430044841,0.0045288715319,0.0596877900696,0.999999881827,8.60647940406e-06,-0.000481378196158,-6.74379936198e-05,1793238223084315648
+257,4.283333333,POSE1_TO_POSE2_PRESS,766,747,715,682,662.64780022,634,881.35219978,788,805,653,632.64780022,654,0.451431368874,0.0045275033696,0.0596891067219,0.999999882637,7.16703181623e-06,-0.000479698985442,-6.75574349202e-05,1793238223100982528
+258,4.300000000,POSE1_TO_POSE2_PRESS,766,746.776666304,715,682,662.776666304,634,881.223333696,788,804.776666304,653,633,654,0.451431991036,0.00452651301724,0.0596894370778,0.999999882925,7.19061341909e-06,-0.000479139050353,-6.72651197018e-05,1793238223117649664
+259,4.316666667,POSE1_TO_POSE2_PRESS,766,746.202492818,715,682,662.202492818,634,881.797507182,788,804.202492818,653,633,654,0.451431510612,0.00452611617458,0.0596882180397,0.999999882393,9.51249937661e-06,-0.000480337409584,-6.63259671749e-05,1793238223134316544
+260,4.333333333,POSE1_TO_POSE2_PRESS,766.381368119,746.381368119,715,681.618631881,662,634,881.618631881,788,804.381368119,653,633,654,0.451430782821,0.00452740606234,0.0596872898757,0.999999881732,1.21389963544e-05,-0.00048164706498,-6.63641299425e-05,1793238223150982912
+261,4.350000000,POSE1_TO_POSE2_PRESS,766.970506775,746.970506775,715,681.029493225,662,634,881.029493225,788,804.970506775,653,633,654,0.451429920263,0.0045296148861,0.0596865201808,0.999999880996,1.49314462232e-05,-0.000483017354795,-6.69347371756e-05,1793238223167649024
+262,4.366666667,POSE1_TO_POSE2_PRESS,766.446877109,746.446877109,715,681,662,634,881.553122891,788,805,653,632.446877109,654,0.451430945104,0.00452833130144,0.0596876472055,0.999999881407,1.18222790152e-05,-0.000482284355352,-6.66866560713e-05,1793238223184315904
+263,4.383333333,POSE1_TO_POSE2_PRESS,766,746,715,681.133502411,662.133502411,633.866497589,882,788,805,653,632.133502411,654,0.451431796371,0.00452738859069,0.0596885478739,0.999999881759,9.50904992575e-06,-0.000481639737422,-6.64375362523e-05,1793238223200982272
+264,4.400000000,POSE1_TO_POSE2_PRESS,766,746,715,681.707634445,662.707634445,633.292365555,882,788,805,653,632.707634445,654,0.451431746466,0.00452817840857,0.0596883715341,0.999999881747,1.08493581675e-05,-0.000481652667424,-6.63273889529e-05,1793238223217648896
+265,4.416666667,HOLD_POSE2,766,747,715,682,662,634,882,788,804,653,633,654,0.451431427923,0.00452680134575,0.0596869491322,0.999999881071,1.14644668182e-05,-0.000483037487618,-6.63376990599e-05,1793238223254612224
+266,4.433333333,HOLD_POSE2,766.580129928,746.419870072,715,681.419870072,662,634,882,788,804.580129928,653,633,654,0.451432806916,0.00452685929493,0.0596883082074,0.999999882069,9.97536633961e-06,-0.000481007573635,-6.62888339742e-05,1793238223271278336
+267,4.450000000,HOLD_POSE2,766.83990409,746.16009591,715,681.16009591,662,634,882,788,805.16009591,653,632.83990409,654,0.451433779391,0.00452693983995,0.0596889419914,0.999999882602,9.15187560872e-06,-0.000479918923,-6.62647076511e-05,1793238223287944448
+268,4.466666667,HOLD_POSE2,766.260367512,746.739632488,715,681.739632488,662,634,882,788,805.739632488,653,632.260367512,654,0.451433686816,0.00452707958463,0.0596876755607,0.999999881928,1.00722379542e-05,-0.000481296319477,-6.63053952359e-05,1793238223304610560
+269,4.483333333,HOLD_POSE2,766.315454064,746.684545936,715,682,662,634,881.684545936,788,805.684545936,653,632,654,0.451432948121,0.0045271158781,0.0596870193766,0.999999881377,1.03605711901e-05,-0.000482422040468,-6.63824508615e-05,1793238223321276928
+270,4.500000000,HOLD_POSE2,766.88824503,746.11175497,715,682,662,634,881.11175497,788,805.11175497,653,632,654,0.451431682342,0.00452706777951,0.0596868610114,0.999999880928,1.01333161055e-05,-0.00048334245291,-6.64891743193e-05,1793238223337943552
+271,4.516666667,HOLD_POSE2,766.525441462,746,715,682,662,634,881.474558538,788,805,653,632.474558538,653.525441462,0.451431613049,0.00452701330407,0.0596872070327,0.999999881153,1.05750395389e-05,-0.000482876080692,-6.64251501262e-05,1793238223354610176
+272,4.533333333,HOLD_POSE2,766.063032182,746,715,681.936967818,662,634,882,788,804.936967818,653,632.936967818,653.063032182,0.451431804858,0.00452701672458,0.0596875332441,0.999999881444,1.12187428291e-05,-0.000482270286014,-6.63429466457e-05,1793238223371276800
+273,4.550000000,HOLD_POSE2,766.642350765,746,715,681.357649235,662,634,882,788,804.357649235,653,632.357649235,653.642350765,0.451431759739,0.00452750702232,0.0596866957579,0.99999988094,1.21886027879e-05,-0.000483275904986,-6.64508515796e-05,1793238223387943680
+274,4.566666667,HOLD_POSE2,766.779815929,746,715,681.220184071,662,634,882,788,804,653,632,654,0.451432437496,0.00452810925205,0.0596865298814,0.999999880958,1.2400963723e-05,-0.000483206094234,-6.66419997932e-05,1793238223404610816
+275,4.583333333,HOLD_POSE2,766.204379077,746,715,681.795620923,662,634,882,788,804,653,632,654,0.451434281569,0.00452889207676,0.0596874476041,0.999999881819,1.13911488005e-05,-0.000481401146961,-6.69674556533e-05,1793238223421277440
+276,4.600000000,HOLD_POSE2,766,746.379130303,715.379130303,682,662,633.620869697,882,788,804.379130303,653,632,654,0.451433870462,0.0045289035522,0.0596872985883,0.999999881695,1.10781163306e-05,-0.000481699663506,-6.67211646884e-05,1793238223437944064
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746,715,681.406918528,662.406918528,634,882.406918528,788,805,653,632.406918528,654,0.451434696069,0.00452691760868,0.0596884099188,0.999999882036,1.41211172288e-05,-0.000481092728951,-6.54167483038e-05,1793238223558989312
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,715.936080786,681,662,634,882,788,804.063919214,653,632,654,0.451433356701,0.00452688185035,0.0596864646996,0.999999881054,9.73325944301e-06,-0.000483197031266,-6.57032806967e-05,1793238223658978816
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766.255418943,746.255418943,715,681,667.255418943,636,881,788,804,653.255418943,632.255418943,653.255418943,0.435042468864,0.00459265168282,0.0597682926938,0.999999894274,0.000282782688355,-0.000361189441588,3.2054252871e-05,1793238224525645824
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766.832254512,746.832254512,715,681,667.832254512,636,881,788,804,653.832254512,632.832254512,653.832254512,0.434331839572,0.00459374086629,0.0597894980544,0.999999931587,0.000184560268963,-0.000320556608297,2.60866979969e-06,1793238224542312448
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.59324683,746.59324683,715,680.59324683,668,636,881.40675317,788,804,654,633,654,0.433598473126,0.00458774879593,0.0598010576217,0.999999942322,0.000158119459129,-0.000300588190558,-8.79721996763e-07,1793238224558979328
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.019706447,746.019706447,715,680.019706447,668,636,881.980293553,788,804,654,633,654,0.43285578346,0.00457885309087,0.0598086619757,0.999999945214,0.000161112365094,-0.000289093122039,6.27551144669e-06,1793238224575646208
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,715.568659648,680,667.431340352,636.568659648,881.431340352,788,804.568659648,653.431340352,632.431340352,653.431340352,0.432077830001,0.00458434570427,0.0598101641258,0.999999941324,0.000181811704133,-0.000290106308575,1.16128559872e-05,1793238224592312832
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.155023573,746,715.844976427,680.155023573,667.155023573,636.844976427,881,788.155023573,805,653,632.155023573,653.155023573,0.431305384628,0.00458928613319,0.0598158431573,0.999999939914,0.000200047778049,-0.000282628631856,1.65644752727e-05,1793238224608979456
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.734461813,746,715.265538187,680.734461813,667.734461813,636.265538187,881,788.734461813,805,653,632.734461813,653.734461813,0.430551454211,0.00459131319897,0.0598335518554,0.999999946354,0.000209815210034,-0.000250686676501,2.06371655903e-05,1793238224625645824
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746.313467486,715,680.686532514,668,636,881,788.686532514,804.686532514,653,632.686532514,653.686532514,0.429757214286,0.00459316111271,0.0598315982048,0.99999994241,0.000218642836893,-0.000258400638487,2.45955957606e-05,1793238224642312448
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746.89210721,715,680.10789279,668,636,881,788.10789279,804.10789279,653,632.10789279,653.10789279,0.428928875287,0.00459485747586,0.0598130115397,0.999999929006,0.000226675451697,-0.000299660818902,2.845736937e-05,1793238224658979072
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746.533724224,715,680,667.533724224,636,881,788,804,653,632,653.466275776,0.428126880621,0.00459621203039,0.059786628908,0.999999917319,0.000222358746298,-0.000339346763961,2.76185828813e-05,1793238224675645696
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.959359236,746,715,680,667,636.040640764,881.040640764,788,804,653,632,654,0.427332454117,0.00459722152795,0.0597621111341,0.999999907153,0.00021465993203,-0.000372763912141,2.57383932018e-05,1793238224692312320
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.368460457,746,715,680,667,636.631539543,881.631539543,788,804,653,632,654,0.426558746331,0.00459461980487,0.059787035167,0.999999926606,0.000199491247733,-0.00032618944631,2.4344833155e-05,1793238224708979200
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,667.218117399,636.781882601,881.781882601,788,804,653,632,654,0.425779045715,0.00459435128321,0.0598098342629,0.999999938805,0.000192627906254,-0.000290988975442,2.4682511401e-05,1793238224725646336
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,667.797537906,636.202462094,881.202462094,788,804,653,632,654,0.424989418084,0.00459794761983,0.0598291134861,0.999999941996,0.000199522044879,-0.000274629084672,2.78879193487e-05,1793238224742313472
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,667.62652815,636,881.37347185,788,804,653,632,653.62652815,0.424203576407,0.00459910702776,0.0598371916279,0.999999943631,0.000199556753744,-0.000268398714855,2.96300050907e-05,1793238224758979840
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,667.052466851,636,881.947533149,788,804,653,632,653.052466851,0.42341976819,0.00459895757596,0.0598392537361,0.999999944535,0.00019590730441,-0.000267608849852,3.05861492293e-05,1793238224775645952
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,667,636,880.929792491,788,804.535103754,653,632.535103754,653,0.422668629408,0.00459741763079,0.0598482828829,0.999999951289,0.000184503553621,-0.000249942489095,3.01627102798e-05,1793238224792312576
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.122102153,746,715,680,667,636.122102153,880.122102153,788,804.877897847,653,632.877897847,653.122102153,0.421899747654,0.00459672197052,0.0598498996246,0.999999953912,0.000175086879867,-0.000246224983248,2.99014238901e-05,1793238224808978944
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.701862467,746,715,680,667,636.701862467,880.701862467,788,804.298137533,653,632.298137533,653.701862467,0.421052045273,0.00459971507398,0.0598211067542,0.999999938685,0.000176041649214,-0.0003011528475,3.0768047977e-05,1793238224825645824
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.719984931,746,715,680,667,636.719984931,881,788,804,653.280015069,632,654,0.42023470953,0.00460022829442,0.0597877315682,0.99999992084,0.000171647354843,-0.000357655987939,3.0634319453e-05,1793238224842312448
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.143534357,746,715,680,667,636.143534357,881,788,804,653.856465643,632,654,0.419449521216,0.00459811620818,0.0597495053554,0.999999900055,0.000161590320837,-0.000415826777121,2.94415763204e-05,1793238224858979328
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.430991724,746,715,680,667,636,881,788.430991724,803.569008276,654,632.430991724,654,0.418724402159,0.00459874904851,0.0597600126523,0.999999912771,0.000155611110651,-0.00038651864825,2.90777667131e-05,1793238224875646208
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.994958381,746,715,680,667,636,881,788.994958381,803.005041619,653.994958381,633,654,0.418019282774,0.00460027196332,0.0597866940446,0.999999934253,0.000150978640203,-0.000328418426523,2.90055204321e-05,1793238224892313088
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.402037345,746,715,680,667,636,881,788.402037345,803.597962655,653.402037345,633,654,0.417323915095,0.00459946134036,0.0598152862897,0.999999945389,0.000145731507374,-0.000295009020766,3.08839174602e-05,1793238224908979456
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.185887219,746,715.185887219,680,667,636,881,788,804,653,633,654,0.416617502559,0.00459781629522,0.0598361510539,0.99999995251,0.000138432573907,-0.0002734162749,3.25721231536e-05,1793238224925645568
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.763288373,746,715.763288373,680,667,636,881,788,804,653,633,654,0.415887827321,0.00459441379765,0.0598407402752,0.999999953101,0.000126812156289,-0.000276711662766,3.38597500324e-05,1793238224942312192
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,715.661273842,680.338726158,667.338726158,636,881,788,804,653,632.661273842,654,0.415187005764,0.00459328345099,0.0598391355185,0.999999952515,0.000118750184317,-0.000282333442197,3.40079394981e-05,1793238224958979072
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,715.087200244,680.912799756,667.912799756,636,881,788,804,653,632.087200244,654,0.414506231832,0.00459373179838,0.0598332271763,0.999999951115,0.000113160626385,-0.000289571601762,3.33644460728e-05,1793238224975645952
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,715.48767679,680.51232321,668,636,880.51232321,788,804,653,632,654,0.413840712354,0.00459327511318,0.0598379248484,0.999999953172,0.00010967361029,-0.000283720003854,3.3616647135e-05,1793238224992312832
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.935474727,746.064525273,716,680,668,636.064525273,880,788,804,653,632.064525273,654,0.413176402359,0.00459283706564,0.0598400589749,0.999999952002,0.000121921460593,-0.000282803250001,3.39655191633e-05,1793238225008979712
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.343692726,746.656307274,716,680,668,636.656307274,880,788,804,653,632.656307274,654,0.412499650461,0.0045938758315,0.0598057236018,0.99999990745,0.000259666878917,-0.000341367604107,3.37934676499e-05,1793238225025646336
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.242871951,747,715.757128049,680,668,636.757128049,880.242871951,788,803.757128049,653.242871951,632.757128049,654,0.411843570875,0.00459343177466,0.0597805417945,0.999999871628,0.000333081933402,-0.000380361206744,3.35406042611e-05,1793238225042312960
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.822208712,747,715.177791288,680,668,636.177791288,880.822208712,788,803.177791288,653.822208712,632.177791288,654,0.411216129915,0.00459093347619,0.0597680409639,0.999999872159,0.000317376343066,-0.000392242298842,3.31757882577e-05,1793238225058979584
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746.601174201,715,680,667.601174201,636,880.601174201,788,803,654,632,654,0.410654088083,0.00458946769326,0.0597897821557,0.999999891329,0.000304797657627,-0.000351237526745,3.27366854036e-05,1793238225075645952
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746.025761249,715,680,667.025761249,636,880.025761249,788,803,654,632,654,0.410121002814,0.00458845907457,0.0598266846055,0.999999915246,0.000293603462034,-0.000286816605632,3.22646905902e-05,1793238225092312576
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.43849522,746,715,680,667,636.56150478,880.56150478,788,803.56150478,653.43849522,632,654,0.409602598501,0.00458544372841,0.0598510143415,0.999999927052,0.000281537906032,-0.000255904443726,3.383641553e-05,1793238225108979200
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.147189027,746.147189027,715,680,667.147189027,637,880.852810973,788,804,653.147189027,632.147189027,654,0.409078401093,0.00458288881053,0.0598669888421,0.999999934617,0.000270325707885,-0.000237601668536,3.51538731903e-05,1793238225125646080
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.726597206,746.726597206,715,680,667.726597206,637,880.273402794,788,804,653.726597206,632.726597206,654,0.408535171675,0.00458196211772,0.0598601586424,0.999999933438,0.000261739308436,-0.000251714473676,3.54434041276e-05,1793238225142312960
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.695405377,746.695405377,715,680,668,637,880,788.304594623,804,653.695405377,632.695405377,654,0.408006292123,0.00458087097904,0.0598489775253,0.999999931458,0.000250744060286,-0.000270181226715,3.48366502232e-05,1793238225158979328
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.118668449,746.118668449,715,680,668,637,880,788.881331551,804,653.118668449,632.118668449,654,0.407490233597,0.00457963291504,0.0598339090495,0.999999928426,0.000237596608995,-0.000292538045554,3.34291040128e-05,1793238225175645952
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.45548147,746,715,680,667.54451853,636.54451853,880.45548147,788.54451853,803.54451853,653,632,654,0.407036605478,0.00457782202072,0.0598330992041,0.999999932136,0.000229972568865,-0.000285907798049,3.31271574788e-05,1793238225192312576
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.970066499,746,715.029933501,680,667.029933501,636.029933501,881,788,803.029933501,653.029933501,632,654,0.406601101556,0.00457595004557,0.0598363880217,0.999999937563,0.000223651703888,-0.000271582578313,3.31146078647e-05,1793238225208978944
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.377333318,746,715.622666682,680,667.622666682,636.622666682,881,788,803.622666682,653.622666682,632,654,0.40620227597,0.00457571979624,0.0598472874508,0.999999944153,0.000214929215339,-0.000253769551867,3.31580365267e-05,1793238225225645568
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.209454392,746,716,680,667.790545608,637,881,788,804,654,632.209454392,654,0.405805005982,0.00457514655959,0.0598537174803,0.999999948277,0.000207357783778,-0.000243609711986,3.32252495153e-05,1793238225242312192
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.785826881,746,716,680,667.214173119,637,881,788,804,654,632.785826881,654,0.405410461101,0.0045739724845,0.0598523181021,0.999999948613,0.000201802752308,-0.000246856576245,3.33341274337e-05,1793238225258978816
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746.361348862,715.638651138,679.638651138,667,637,881,788.361348862,804,653.638651138,632.638651138,654,0.405017607687,0.00457315661781,0.0598382845417,0.999999943357,0.000199448058526,-0.000269005899651,3.37928151592e-05,1793238225275645696
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746.936367983,715.063632017,679.063632017,667,637,881,788.936367983,804,653.063632017,632.063632017,654,0.404625754419,0.00457255256426,0.0598167802258,0.999999933906,0.000198985765125,-0.000302332491824,3.44583499308e-05,1793238225292312320
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746.477446537,715,679,667.522553463,636.477446537,880.477446537,788.477446537,803.477446537,653.522553463,632.522553463,654,0.40428387122,0.00457189722846,0.0597981255434,0.999999924154,0.000196743094175,-0.000334318358829,3.48574739521e-05,1793238225308978944
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.108649129,667.891350871,636,880.108649129,788,803,653.891350871,633,654,0.403961830057,0.00457094607891,0.0597855730573,0.999999917399,0.000194284098974,-0.00035525816604,3.53264658515e-05,1793238225325645568
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.688331904,667.311668096,636,880.688331904,788,803,653.311668096,633,654,0.403698854885,0.00456874013273,0.059797938578,0.999999926809,0.000191847684513,-0.000329032536647,3.62420761492e-05,1793238225342312192
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.732625956,746,715,680,667.267374044,636.267374044,880.732625956,788,803.267374044,653.267374044,633,654,0.403445880734,0.00456753815758,0.059812071131,0.999999934946,0.000190604182048,-0.000303939165358,3.73929977698e-05,1793238225358979072
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.15432883,746,715,680,667.84567117,636.84567117,880.15432883,788,803.84567117,653.84567117,633,654,0.403204536555,0.0045675036772,0.0598282585243,0.999999941809,0.000190747889489,-0.000280162472431,3.8817557428e-05,1793238225375645696
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.420473325,746,715,680,667.579526675,636.579526675,880.420473325,788,804,653.579526675,632.579526675,653.579526675,0.402980160847,0.00456643846005,0.0598391455781,0.999999947108,0.000190249169547,-0.000260775903658,3.98195940452e-05,1793238225392312320
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.994003263,746,715,680,667.005996737,636.005996737,880.994003263,788,804,653.005996737,632.005996737,653.005996737,0.402761961843,0.00456499804411,0.0598481032535,0.999999951693,0.000189516599405,-0.000242987385685,4.06678278957e-05,1793238225408978944
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746.584218818,715,680,667,636,880.415781182,788,803.415781182,653.584218818,632,653.584218818,0.402570425676,0.00456522093538,0.059853184271,0.99999995281,0.000190737957749,-0.000237205436012,4.16148702118e-05,1793238225425645568
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746.82846719,715,680,667,636.17153281,880.17153281,788.17153281,803,654,632,654,0.402380333922,0.00456496910766,0.0598542618344,0.99999995251,0.000190914055081,-0.000238196325967,4.23641352646e-05,1793238225442312448
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746.248482272,715,680,667,636.751517728,880.751517728,788.751517728,803,654,632,654,0.402193010767,0.00456354503459,0.0598459039531,0.999999948799,0.000188552026126,-0.000255012540497,4.26399689899e-05,1793238225458979072
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,881,788.683706034,803.316293966,653.683706034,632,654,0.402026427692,0.00456214427746,0.0598405178114,0.999999946286,0.000185566816012,-0.000266747718494,4.28870448446e-05,1793238225475645696
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,881,788.130329608,803.869670392,653.130329608,632,654,0.401875390607,0.00456076099696,0.0598373591768,0.999999944765,0.000182114491723,-0.000274674337991,4.3112564878e-05,1793238225492312320
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746.45640058,715,680,667,637,880.54359942,788,803.54359942,653.45640058,632.45640058,654,0.401746912071,0.00455834603433,0.0598366335532,0.999999947,0.000167943334571,-0.000275911832216,4.08452145217e-05,1793238225508979712
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746.946882871,715,680,667,637,880.053117129,788,803.053117129,654,632.946882871,654,0.401627805967,0.00455540332792,0.0598368086333,0.99999995088,0.000146147571167,-0.000274830986662,3.67196435051e-05,1793238225525647104
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746.353108122,715,680,667,637,880.646891878,788,803.646891878,654,632.353108122,654,0.40153335982,0.00455032403498,0.0598385222781,0.999999959785,8.03556888861e-05,-0.000271128175296,2.14970347831e-05,1793238225542313472
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,881,788,803.766465117,653.766465117,632,654,0.401447178654,0.00454736294748,0.059842007243,0.999999963768,4.26757143834e-05,-0.000265477160214,1.28099809446e-05,1793238225558979840
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,881,788,803.190285902,653.190285902,632,654,0.401373123946,0.00454750970899,0.0598480911036,0.999999965821,4.62417702496e-05,-0.000256967726015,1.37119488698e-05,1793238225575646976
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.615669951,746,715,679.615669951,667,637,880.615669951,788,803.384330049,653.384330049,632,654,0.401304348742,0.0045474691807,0.0598489855553,0.999999965735,4.89565720242e-05,-0.00025675754862,1.44840417359e-05,1793238225592313600
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.04182487,746,715,679.04182487,667,637,880.04182487,788,803.95817513,653.95817513,632,654,0.40123817689,0.00454733629887,0.0598473210837,0.999999964605,5.12516161286e-05,-0.000260639775685,1.51920925472e-05,1793238225608980224
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.546480674,746,715,679.546480674,667,637,880.546480674,788.546480674,804,654,632,654,0.401183185788,0.00454626257554,0.0598436669439,0.999999962982,5.01315709848e-05,-0.000266967975951,1.58163784392e-05,1793238225625646336
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636.866355914,881,788.866355914,804,654,632,654,0.401133789358,0.00454573235604,0.0598407666592,0.999999961786,4.95753721832e-05,-0.000271487952639,1.62551147211e-05,1793238225642312704
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636.286796523,881,788.286796523,804,654,632,654,0.40110012727,0.00454726237417,0.0598409035822,0.999999962259,5.17962970483e-05,-0.000269333035437,1.60967202844e-05,1793238225658979072
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,715.291344763,680,667,636,881,788,803.708655237,654,632,654,0.401070431237,0.00454633390618,0.0598407553986,0.999999962224,5.22197388146e-05,-0.000269346232322,1.66547058412e-05,1793238225675645696
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,715.868096913,680,667,636,881,788,803.131903087,654,632,654,0.401044620429,0.00454299705426,0.0598403279188,0.999999961693,5.08823290239e-05,-0.000271483358597,1.79144721172e-05,1793238225692312320
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,715.558553203,680,667,636.441446797,880.558553203,788.441446797,803.441446797,653.558553203,632,654,0.401025935328,0.00454437118462,0.059841070129,0.999999961575,5.38893907056e-05,-0.00027134761047,1.77610405475e-05,1793238225708979200
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746.014309048,715,680,667,636.985690952,880.014309048,788.985690952,803.985690952,653.014309048,632,653.985690952,0.40100955349,0.00454702489712,0.0598421538453,0.999999961586,5.80343011251e-05,-0.000270486630705,1.72124396023e-05,1793238225725645568
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746.608286036,715,680,667,636.391713964,880.608286036,788.391713964,803.391713964,653.608286036,632,653.391713964,0.401000885072,0.00454492750777,0.0598430220111,0.999999962481,5.60888926928e-05,-0.000267547573685,1.76304502486e-05,1793238225742312960
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746.802908599,715.197091401,680,667,636.197091401,881,788,803.197091401,654,632,653.197091401,0.400993591436,0.00454381473298,0.059843854954,0.999999963108,5.51558990155e-05,-0.000265367158972,1.79350301401e-05,1793238225758979840
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746.224118924,715.775881076,680,667,636.775881076,881,788,803.775881076,654,632,653.775881076,0.400988960283,0.00454460881814,0.0598446196824,0.999999963238,5.61836047153e-05,-0.000264655973726,1.80199336383e-05,1793238225775646464
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,715.648961358,680,667,637,881,788,803.648961358,654,632.351038642,654,0.400985987539,0.00454488373338,0.0598458621268,0.999999963649,5.64083670714e-05,-0.000263041211598,1.81538899323e-05,1793238225792312832
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,715.076098969,680,667,637,881,788,803.076098969,654,632.923901031,654,0.400984062755,0.00454483058153,0.0598474064433,0.999999964234,5.61257439336e-05,-0.00026085547301,1.8318843024e-05,1793238225808978944
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,880.500042964,788.499957036,803.499957036,653.500042964,632.500042964,654,0.400983220466,0.00454270739466,0.0598478236716,0.999999964496,5.52812723078e-05,-0.000260002887657,1.87471223129e-05,1793238225825645824
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.921100344,667.078899656,637,880.078899656,788.921100344,804,653.078899656,632,654,0.400982819017,0.00454095139458,0.0598481830358,0.999999964741,5.46937313935e-05,-0.000259156125451,1.90897231046e-05,1793238225842312448
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.326487917,667.673512083,637,880.673512083,788.326487917,804,653.673512083,632,654,0.400984215147,0.00454366815823,0.0598492927292,0.999999965212,5.63481461345e-05,-0.000257012546114,1.86086351558e-05,1793238225858979072
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667.740599411,637,880.740599411,788,803.740599411,653.740599411,632,654,0.400984152738,0.0045448854636,0.0598495736444,0.999999965336,5.76220210442e-05,-0.000256253123586,1.84769483789e-05,1793238225875645952
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667.165333707,637,880.165333707,788,803.165333707,653.165333707,632,654,0.400982314307,0.00454427691937,0.0598488453786,0.999999965046,5.84325230659e-05,-0.000257179151257,1.87707179393e-05,1793238225892312832
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,715.408644796,679,667,636.591355204,880,788,803.408644796,653.408644796,632,654,0.400982108948,0.00454357602839,0.0598487951991,0.999999965137,5.78626298466e-05,-0.000256957195102,1.87524968753e-05,1793238225908979200
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,715.982104112,679,667,636.017895888,880,788,803.982104112,653.982104112,632,654,0.400982562239,0.00454283789218,0.0598490185052,0.99999996538,5.67359959081e-05,-0.000256272234332,1.86084438112e-05,1793238225925645824
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,715.427367026,679.572632974,667,636,880,788.572632974,803.427367026,654,632,654,0.400981736257,0.00454353346413,0.0598497174756,0.999999965439,5.76215794285e-05,-0.000255840769789,1.86083047864e-05,1793238225942312448
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.83957128,667,636,880,789,803,653.83957128,632,654,0.400980991359,0.00454402608949,0.0598502472578,0.999999965493,5.80076769135e-05,-0.000255541951661,1.86188588191e-05,1793238225958979072
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.260345693,667,636,880,789,803,653.260345693,632,654,0.400980565704,0.00454386836611,0.0598502953786,0.999999965549,5.69206672e-05,-0.000255568088792,1.86452252885e-05,1793238225975645696
+428,7.133333333,POSE2_TO_POSE3_RETREAT,766.683450088,746,715,679.316549912,667,636.316549912,880.316549912,788.683450088,803,653,632,654,0.400980162181,0.00454312806731,0.0598500408772,0.999999965468,5.64714655766e-05,-0.000255975880992,1.87627593211e-05,1793238225992312576
+429,7.150000000,POSE2_TO_POSE3_RETREAT,766.108456796,746,715,679.891543204,667,636.891543204,880.891543204,788.108456796,803,653,632,654,0.400979776727,0.00454191213181,0.0598495393036,0.999999965276,5.6542994773e-05,-0.000256695270894,1.89547260163e-05,1793238226008979200
+430,7.166666667,POSE2_TO_POSE3_RETREAT,766.466009115,746,715,679.533990885,667,636.533990885,880.533990885,788,803,653,632,653.533990885,0.400980160569,0.00454312495863,0.0598496230898,0.999999965216,5.80567047393e-05,-0.000256583656984,1.90425386439e-05,1793238226025645568
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.04172199,667,636.04172199,880.04172199,788,803,653.04172199,632,653.04172199,0.400980747115,0.00454480169348,0.0598498936327,0.99999996523,5.97448532614e-05,-0.000256138520762,1.90708075619e-05,1793238226042312192
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.635557987,667,636.635557987,880.635557987,788,803,653.635557987,632,653.635557987,0.400981649438,0.00454514569005,0.059850834789,0.999999965851,5.93047300916e-05,-0.00025383628245,1.86315383879e-05,1793238226058979072
+433,7.216666667,POSE2_TO_POSE3_RETREAT,766.777262856,746,715,680,667,637,880.777262856,788,803,654,632.222737144,654,0.400982590307,0.00454523052634,0.059851800409,0.99999996637,5.91958249825e-05,-0.000251826308797,1.8403745197e-05,1793238226075645696
+434,7.233333333,POSE2_TO_POSE3_RETREAT,766.200659438,746,715,680,667,637,880.200659438,788,803,654,632.799340562,654,0.400983592413,0.00454490363035,0.059852804895,0.999999966732,5.96131315472e-05,-0.000250280660599,1.85119274132e-05,1793238226092312320
+435,7.250000000,POSE2_TO_POSE3_RETREAT,766.374117804,746,715,679.625882196,667,637,880,788,803,653.625882196,632.625882196,654,0.400983087388,0.00454433593265,0.0598527710251,0.999999966642,5.93989808537e-05,-0.000250674759013,1.87127616006e-05,1793238226108979200
+436,7.266666667,POSE2_TO_POSE3_RETREAT,766.947920295,746,715,679.052079705,667,637,880,788,803,653.052079705,632.052079705,654,0.400981777935,0.0045436397075,0.0598521829345,0.99999996631,5.88477909911e-05,-0.000252104193686,1.89630485997e-05,1793238226125645824
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.535307952,667,636.464692048,880,788,803,653.535307952,632,654,0.400982221301,0.00454352593038,0.0598525039264,0.99999996654,5.75993255022e-05,-0.000251478854109,1.89802020565e-05,1793238226142312192
+438,7.300000000,POSE2_TO_POSE3_RETREAT,766.877855282,746,715,679.877855282,667,636,880,788,803.122144718,654,632,654,0.40098264652,0.00454344678393,0.0598528778044,0.999999966766,5.65057006045e-05,-0.000250827936224,1.89761057716e-05,1793238226158979072
+439,7.316666667,POSE2_TO_POSE3_RETREAT,766.298162057,746,715,679.298162057,667,636,880,788,803.701837943,654,632,654,0.400982348327,0.00454327956714,0.059853109857,0.999999966775,5.62528342902e-05,-0.000250849546439,1.89795847266e-05,1793238226175645440
+440,7.333333333,POSE2_TO_POSE3_RETREAT,766.28010779,746,715,679.28010779,667,636,880.28010779,788,804,654,632,654,0.40098160128,0.0045435426975,0.059852984952,0.999999966633,5.69766423844e-05,-0.000251258274207,1.88739052049e-05,1793238226192312320
+441,7.350000000,POSE2_TO_POSE3_RETREAT,766.856870139,746,715,679.856870139,667,636,880.856870139,788,804,654,632,654,0.400980378864,0.00454426159684,0.059852482003,0.99999996633,5.87348198578e-05,-0.000252076987669,1.86526189024e-05,1793238226208978944
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe7c0f5144f05d199e669f08db1d5a7cce51d915
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,443 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+1,0.016666667,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+2,0.033333333,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+3,0.050000000,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+4,0.066666667,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+5,0.083333333,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+6,0.100000000,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+7,0.116666667,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+8,0.133333333,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+9,0.150000000,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+10,0.166666667,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+11,0.183333333,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+12,0.200000000,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+13,0.216666667,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+14,0.233333333,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+15,0.250000000,pose1_baseline,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
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+382,6.366666667,pose2_to_pose3_retreat,0.583385672859,0.0100013033999,1.0500116464,0.553956959241,0.0186749598899,1.04966119431
+383,6.383333333,pose2_to_pose3_retreat,0.582987553588,0.0100011709843,1.0500115683,0.553558840944,0.0186748292686,1.04966111225
+384,6.400000000,pose2_to_pose3_retreat,0.582598127396,0.0100011801317,1.05001153012,0.553169414851,0.018674837413,1.04966107349
+385,6.416666667,pose2_to_pose3_retreat,0.58221995977,0.01000129194,1.05001152398,0.55279124657,0.0186749455687,1.04966106896
+386,6.433333333,pose2_to_pose3_retreat,0.581856668286,0.0100012765198,1.05001157122,0.55242795545,0.0186749297027,1.04966111159
+387,6.450000000,pose2_to_pose3_retreat,0.581519514652,0.010001056232,1.05001169756,0.552090806363,0.0186747230271,1.0496612278
+388,6.466666667,pose2_to_pose3_retreat,0.581209988737,0.0100011822767,1.05001166483,0.551781278073,0.0186748401348,1.049661205
+389,6.483333333,pose2_to_pose3_retreat,0.580930170356,0.0100012452216,1.05001163712,0.55150145966,0.018674901207,1.04966116298
+390,6.500000000,pose2_to_pose3_retreat,0.580673502535,0.0100012514229,1.05001166113,0.551244790588,0.0186749017224,1.04966118884
+391,6.516666667,pose2_to_pose3_retreat,0.580437336749,0.0100013004032,1.05001174219,0.55100862382,0.0186749467421,1.04966128092
+392,6.533333333,pose2_to_pose3_retreat,0.580215339429,0.0100014027458,1.05001182836,0.550786627139,0.0186750513847,1.04966137751
+393,6.550000000,pose2_to_pose3_retreat,0.580005919618,0.0100011719638,1.05001156769,0.550577210325,0.0186748297662,1.04966111279
+394,6.566666667,pose2_to_pose3_retreat,0.57980720697,0.0100012390687,1.05001171738,0.550378497602,0.0186748956026,1.04966125608
+395,6.583333333,pose2_to_pose3_retreat,0.579619887923,0.0100012266308,1.05001172179,0.550191178654,0.0186748827945,1.04966126075
+396,6.600000000,pose2_to_pose3_retreat,0.579445848246,0.010001228679,1.05001165319,0.550017138515,0.0186748827181,1.04966119485
+397,6.616666667,pose2_to_pose3_retreat,0.579284339087,0.0100012691633,1.0500117114,0.549855629007,0.0186749213593,1.04966125203
+398,6.633333333,pose2_to_pose3_retreat,0.579136927209,0.0100011134927,1.05001190033,0.549708220264,0.0186747755341,1.04966143545
+399,6.650000000,pose2_to_pose3_retreat,0.579007871128,0.0100012453344,1.05001172558,0.54957916303,0.0186749027848,1.04966125589
+400,6.666666667,pose2_to_pose3_retreat,0.578894612276,0.0100013117938,1.05001159585,0.549465902338,0.0186749627818,1.04966113129
+401,6.683333333,pose2_to_pose3_retreat,0.578796566123,0.0100012580036,1.05001168396,0.549367855846,0.0186749075611,1.0496612218
+402,6.700000000,pose2_to_pose3_retreat,0.578710295431,0.0100012125896,1.05001169471,0.549281586074,0.0186748651166,1.0496612353
+403,6.716666667,pose2_to_pose3_retreat,0.578634431821,0.0100012522453,1.05001155692,0.549205723624,0.0186749086603,1.04966110045
+404,6.733333333,pose2_to_pose3_retreat,0.578566368554,0.0100013676895,1.05001179604,0.549137658579,0.0186750173586,1.04966132946
+405,6.750000000,pose2_to_pose3_retreat,0.578505751488,0.0100012555372,1.05001162714,0.549077044933,0.018674916215,1.04966116261
+406,6.766666667,pose2_to_pose3_retreat,0.578453070259,0.010001235249,1.05001163606,0.549024363738,0.0186748959883,1.04966117126
+407,6.783333333,pose2_to_pose3_retreat,0.578408037138,0.01000129559,1.05001174703,0.548979329078,0.0186749507958,1.04966127949
+408,6.800000000,pose2_to_pose3_retreat,0.578370941808,0.0100013114241,1.05001178252,0.548942232878,0.0186749633646,1.04966131413
+409,6.816666667,pose2_to_pose3_retreat,0.578341034211,0.0100012038429,1.05001166523,0.548912325491,0.0186748569413,1.04966120164
+410,6.833333333,pose2_to_pose3_retreat,0.578317566142,0.0100011724125,1.05001153163,0.54888885811,0.0186748278221,1.04966107703
+411,6.850000000,pose2_to_pose3_retreat,0.578299021976,0.0100012416204,1.05001171366,0.548870312457,0.0186748919594,1.04966125456
+412,6.866666667,pose2_to_pose3_retreat,0.578284820603,0.0100012569616,1.05001178252,0.548856111587,0.0186749089654,1.04966132208
+413,6.883333333,pose2_to_pose3_retreat,0.578274688589,0.0100012478941,1.05001178715,0.548845980139,0.0186749016605,1.04966132587
+414,6.900000000,pose2_to_pose3_retreat,0.578267577815,0.0100012488621,1.05001180361,0.548838868471,0.0186748992768,1.04966133884
+415,6.916666667,pose2_to_pose3_retreat,0.578263135174,0.0100011927395,1.05001193098,0.548834427544,0.0186748489429,1.04966146617
+416,6.933333333,pose2_to_pose3_retreat,0.578260069891,0.0100011458329,1.05001203575,0.54883136377,0.0186748071676,1.04966157123
+417,6.950000000,pose2_to_pose3_retreat,0.578258298147,0.0100011926486,1.05001189674,0.548829591501,0.0186748524628,1.04966143651
+418,6.966666667,pose2_to_pose3_retreat,0.578257524922,0.0100012188441,1.05001182051,0.548828817938,0.018674877645,1.04966136247
+419,6.983333333,pose2_to_pose3_retreat,0.578257225939,0.0100012289731,1.05001179104,0.548828518825,0.0186748873822,1.04966133385
+420,7.000000000,pose2_to_pose3_retreat,0.578256941028,0.0100012386254,1.05001176295,0.548828233789,0.0186748966611,1.04966130657
+421,7.016666667,pose2_to_pose3_retreat,0.578256759905,0.0100012447616,1.05001174509,0.548828052587,0.0186749025598,1.04966128923
+422,7.033333333,pose2_to_pose3_retreat,0.578256718063,0.0100012461791,1.05001174097,0.548828010726,0.0186749039225,1.04966128522
+423,7.050000000,pose2_to_pose3_retreat,0.578256314125,0.0100012598638,1.05001170115,0.548827606612,0.0186749170779,1.04966124654
+424,7.066666667,pose2_to_pose3_retreat,0.578255798975,0.0100012773162,1.05001165036,0.548827091237,0.0186749338551,1.04966119722
+425,7.083333333,pose2_to_pose3_retreat,0.57825552621,0.010001288278,1.05001164652,0.548826818364,0.0186749444488,1.04966119314
+426,7.100000000,pose2_to_pose3_retreat,0.578255235423,0.0100013018682,1.05001166792,0.548826527477,0.0186749576346,1.04966121317
+427,7.116666667,pose2_to_pose3_retreat,0.578254819354,0.0100013213135,1.05001169854,0.548826111264,0.0186749765015,1.04966124183
+428,7.133333333,pose2_to_pose3_retreat,0.578254583995,0.0100013323132,1.05001171586,0.548825875823,0.0186749871739,1.04966125804
+429,7.150000000,pose2_to_pose3_retreat,0.578254547513,0.0100013340182,1.05001171855,0.548825839328,0.0186749888282,1.04966126055
+430,7.166666667,pose2_to_pose3_retreat,0.578254385637,0.0100013415836,1.05001173046,0.548825677396,0.0186749961686,1.0496612717
+431,7.183333333,pose2_to_pose3_retreat,0.57825402295,0.0100013585341,1.05001175715,0.548825314584,0.0186750126147,1.04966129668
+432,7.200000000,pose2_to_pose3_retreat,0.578253453821,0.0100013840376,1.05001179846,0.548824745268,0.0186750373607,1.04966133531
+433,7.216666667,pose2_to_pose3_retreat,0.578253113015,0.0100012706158,1.05001175511,0.548824405511,0.0186749274592,1.04966129087
+434,7.233333333,pose2_to_pose3_retreat,0.578252992984,0.0100012306688,1.05001173984,0.548824285849,0.0186748887521,1.04966127522
+435,7.250000000,pose2_to_pose3_retreat,0.578252926395,0.0100012085077,1.05001173137,0.548824219465,0.0186748672787,1.04966126654
+436,7.266666667,pose2_to_pose3_retreat,0.57825291985,0.0100012063293,1.05001173054,0.54882421294,0.0186748651679,1.04966126569
+437,7.283333333,pose2_to_pose3_retreat,0.578252774986,0.0100011581177,1.05001171211,0.548824068521,0.0186748184527,1.0496612468
+438,7.300000000,pose2_to_pose3_retreat,0.57825260194,0.0100011005272,1.0500116901,0.548823896008,0.0186747626497,1.04966122424
+439,7.316666667,pose2_to_pose3_retreat,0.57825244583,0.010001141514,1.0500116289,0.548823739179,0.018674801352,1.04966116754
+440,7.333333333,pose2_to_pose3_retreat,0.578252243469,0.0100012405517,1.05001152914,0.548823535291,0.0186748955037,1.04966107607
+441,7.350000000,pose2_to_pose3_retreat,0.578252143417,0.0100012746401,1.05001163795,0.548823435614,0.0186749308369,1.04966118404
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe80144bad333027fd9a7288ec050ba49633256e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:522587fb03819d3c607ee21a4cf9cfc4ae3186e7686e663a638568022587bae3
+size 27553969
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..486fc56490a7fe950f6d865d0eaa8eeb4a744cd7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_01/franka_data.csv
@@ -0,0 +1,435 @@
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+25,0.416666667,BASELINE,767,746.506934405,715,679,668,637,881,789,804,654,632.506934405,654,0.400946114202,0.0045582989518,0.0499424384659,0.999999974662,9.64307009691e-05,-0.000202403584454,-2.02263287342e-05,1793238227950818560
+26,0.433333333,BASELINE,767,746.917220476,715,679.082779524,667.917220476,637,880.917220476,788.917220476,804,654,632.917220476,654,0.400947058999,0.00455809918044,0.0499430993768,0.99999997481,9.71875650807e-05,-0.000201314871798,-2.01613406654e-05,1793238227967485184
+27,0.450000000,BASELINE,767,746.342735119,715,679.657264881,667.342735119,637,880.342735119,788.342735119,804,654,632.342735119,654,0.400947080158,0.00455992282327,0.0499428583114,0.999999974486,9.86047721218e-05,-0.000202211930141,-2.03886081192e-05,1793238227984151552
+28,0.466666667,BASELINE,767,746,715,679.762013563,667.237986437,637,880,788.237986437,804,654,632,654,0.40094712931,0.00456065330781,0.0499427062663,0.99999997437,9.89277039898e-05,-0.000202606918247,-2.06032673092e-05,1793238228000818176
+29,0.483333333,BASELINE,767,746,715,679.172069335,667.827930665,637,880,788.827930665,804,654,632,654,0.400947219859,0.00455976712203,0.0499426858733,0.999999974563,9.76323138345e-05,-0.000202259395365,-2.07992801428e-05,1793238228017484800
+30,0.500000000,BASELINE,767,746,715,679.410660904,667.589339096,637,880.410660904,789,804,654,632,654,0.400948369953,0.00456047965575,0.0499436336224,0.999999974843,9.84346137412e-05,-0.00020046576923,-2.09126725593e-05,1793238228034151424
+31,0.516666667,BASELINE,767,746,715,679.990420607,667.009579393,637,880.990420607,789,804,654,632,654,0.400949956338,0.00456185049795,0.0499449800258,0.999999975152,0.000100100684413,-0.000198076677791,-2.09920441687e-05,1793238228050818048
+32,0.533333333,BASELINE,767,746,715,679.433583122,667.566416878,637,881,789,804,654,632,654,0.400949573168,0.00456136715034,0.0499448154214,0.999999975056,0.000100194201703,-0.00019853529236,-2.07815249699e-05,1793238228067484928
+33,0.550000000,BASELINE,767,746,715,679,667.854854843,637,880.854854843,789,804,654,632.145145157,654,0.400948505463,0.00456037711422,0.0499440072832,0.99999997486,9.94179507782e-05,-0.000199933983857,-2.05299957806e-05,1793238228084151552
+34,0.566666667,BASELINE,767,746,715,679,667.267612667,637,880.267612667,789,804,654,632.732387333,654,0.400945453517,0.00455793864225,0.0499413163309,0.999999974363,9.60729487893e-05,-0.000204050325951,-2.01683890548e-05,1793238228100818432
+35,0.583333333,BASELINE,767,746,715,679,667,637,880.315641884,789,804,654,632.684358116,654,0.400945023032,0.00455760060461,0.0499412387933,0.999999974276,9.5917516879e-05,-0.000204577667252,-1.99188700423e-05,1793238228117484800
+36,0.600000000,BASELINE,767,746,715,679,667,637,880.895557825,789,804,654,632.104442175,654,0.400946787388,0.00455902117458,0.0499433493608,0.999999974538,9.84325813393e-05,-0.000202100085251,-1.97631974537e-05,1793238228134151424
+37,0.616666667,BASELINE,767,746,715,679,667.472863522,637,881.472863522,789,804.472863522,654,632.472863522,654,0.400946029621,0.0045595699402,0.0499430096338,0.999999974448,9.86128928519e-05,-0.000202430080954,-2.00635246577e-05,1793238228150818304
+38,0.633333333,BASELINE,767.049304721,746.049304721,715,679.049304721,667.950695279,637,881.950695279,789,804.950695279,654,633,654,0.40094503754,0.00455987978163,0.0499423234483,0.999999974349,9.82054663613e-05,-0.000203077121114,-2.04187453173e-05,1793238228167484672
+39,0.650000000,BASELINE,767.62265198,746.62265198,715,679.62265198,667.37734802,637,881.37734802,789,804.37734802,654,633,654,0.400947443363,0.00455968556641,0.0499436755314,0.999999974981,9.70020803639e-05,-0.00020053912019,-2.02927958487e-05,1793238228184151296
+40,0.666666667,BASELINE,767.798612022,746.798612022,715,679.798612022,667.201387978,637,881,789,804,654,632.798612022,654,0.400948668531,0.00455961655897,0.049944298911,0.999999975293,9.62676157433e-05,-0.000199336487474,-2.02824380011e-05,1793238228200818176
+41,0.683333333,BASELINE,767.209501375,746.209501375,715,679.209501375,667.790498625,637,881,789,804,654,632.209501375,654,0.400947620643,0.00455978860813,0.0499435193522,0.999999974999,9.6435943161e-05,-0.000200704775643,-2.04946231969e-05,1793238228217485056
+42,0.700000000,BASELINE,767,746,715,679.373544446,668,637,881,788.626455554,804,654,632.373544446,654,0.400947573892,0.00455973401848,0.0499433833318,0.999999974914,9.67018483312e-05,-0.000201002126482,-2.04687132654e-05,1793238228234151936
+43,0.716666667,BASELINE,767,746,715,679.95324315,668,637,881,788.04675685,804,654,632.95324315,654,0.400948079656,0.00455955434985,0.0499436024717,0.999999974945,9.70216053716e-05,-0.000200708441076,-2.03114017635e-05,1793238228250818560
+44,0.733333333,BASELINE,767,746,715,679.471797961,668,637,881,788.528202039,804,654,632.471797961,654,0.400948105656,0.00455971408032,0.049943598177,0.999999974921,9.72912401625e-05,-0.000200705046926,-2.02454621643e-05,1793238228267485184
+45,0.750000000,BASELINE,767,746,715,679,668,637,881,789,804,654,632,654,0.40094788827,0.00455966842023,0.0499434913427,0.999999974881,9.73675467299e-05,-0.000200874952717,-2.0175198812e-05,1793238228284151552
+46,0.766666667,BASELINE,767,746,715,679,668,637,881,789,804,654,632,654,0.400946746553,0.00455854288972,0.0499430036681,0.999999974789,9.65762969427e-05,-0.000201723690543,-2.00482705227e-05,1793238228300818176
+47,0.783333333,BASELINE,767,746,715,679,667.738093833,637,881,788.738093833,804,654,632,654,0.400946779424,0.00455798516851,0.0499428509732,0.999999974818,9.61873329067e-05,-0.000201763917344,-2.00948132493e-05,1793238228317484544
+48,0.800000000,BASELINE,767,746,715,679,667.145711854,637,881,788.145711854,804,654,632,654,0.400948294402,0.00455814391459,0.0499431209591,0.999999974998,9.63059769363e-05,-0.000200783956987,-2.03602434165e-05,1793238228334151424
+49,0.816666667,BASELINE,767,746,715,679,667.436526922,637,881,788.436526922,804.436526922,654,632.436526922,654,0.400947739226,0.00455908702991,0.0499429823612,0.999999974899,9.59828530348e-05,-0.000201408128353,-2.05712883814e-05,1793238228350818304
+50,0.833333333,BASELINE,767,746,715,679.030657086,667.984671457,637,881,789,805,654,632.984671457,654,0.400946578094,0.00456021502799,0.0499427411128,0.999999974723,9.55407371893e-05,-0.000202471195515,-2.07470566228e-05,1793238228367485184
+51,0.850000000,BASELINE,767,746,715,680.178911613,667.410544194,637,881,789,805,654,632.410544194,654,0.400947945673,0.0045587550071,0.049943616722,0.999999975093,9.601439089e-05,-0.000200457448369,-2.02835801194e-05,1793238228384151808
+52,0.866666667,BASELINE,767,746,715,680.66370917,667.168145415,637,881,789,804.831854585,654,632,654,0.400948583254,0.0045581523424,0.0499440484034,0.999999975253,9.64315089892e-05,-0.000199483420467,-2.00566197714e-05,1793238228400818432
+53,0.883333333,BASELINE,767,746,715,679.483429798,667.758285101,637,881,789,804.241714899,654,632,654,0.40094738876,0.00455970138321,0.0499433659599,0.999999974891,9.67067397549e-05,-0.000201118774358,-2.04232436563e-05,1793238228417485056
+54,0.900000000,BASELINE,767,746.342138368,715,679,667.657861632,637,881,789,804,654,632,654,0.400946564499,0.00455933442702,0.0499428718101,0.999999974826,9.54278214778e-05,-0.000202046807476,-2.04604285042e-05,1793238228434151424
+55,0.916666667,BASELINE,767,746.921630495,715,679,667.078369505,637,881,789,804,654,632,654,0.40094599708,0.00455763827437,0.0499425082866,0.999999974964,9.30707337987e-05,-0.00020248414653,-2.02690695638e-05,1793238228450818048
+56,0.933333333,BASELINE,767,746.502413035,715,679,667.497586965,637,881,789,804,654,632,654,0.400945779514,0.00455836537837,0.0499418798752,0.999999974667,9.44552809793e-05,-0.000203297795591,-2.03459233525e-05,1793238228467484672
+57,0.950000000,BASELINE,767,746,715,679.072884909,668,636.927115091,881.072884909,789,804,654,632,654,0.400945695006,0.00455937065027,0.0499413742676,0.999999974369,9.61555722239e-05,-0.000203955509569,-2.04423695877e-05,1793238228484151296
+58,0.966666667,BASELINE,767,746,715,679.647455764,668,636.352544236,881.647455764,789,804,654,632,654,0.400946149767,0.00455968208836,0.0499419990925,0.999999974552,9.60014959289e-05,-0.000203134798825,-2.038495576e-05,1793238228500818176
+59,0.983333333,BASELINE,767,746,715,679.772215115,668,636.227784885,881.54443023,788.772215115,804,654,632,654,0.400947012829,0.00455975745227,0.0499426369934,0.999999974776,9.59851094262e-05,-0.00020204690099,-2.02777401322e-05,1793238228517485056
+60,1.000000000,BASELINE,767,746,715,679.182742659,668,636.817257341,880.365485318,788.182742659,804,654,632,654,0.400948524214,0.00455945796652,0.049943295657,0.999999975065,9.61873532378e-05,-0.000200534750773,-2.00914468512e-05,1793238228534151936
+61,1.016666667,BASELINE,767,746,715,679.399791528,668,637,880.399791528,788.399791528,804,654,632,654,0.40094961367,0.00455912332525,0.0499439228884,0.999999975431,9.47212478417e-05,-0.000199396655003,-2.01862875274e-05,1793238228550818304
+62,1.033333333,BASELINE,767,746,715,679.979208334,668,637,880.979208334,788.979208334,804,654,632,654,0.400950513556,0.00455877288872,0.0499445359974,0.999999975827,9.25055575404e-05,-0.000198426620995,-2.04074409591e-05,1793238228567484928
+63,1.050000000,BASELINE,767,746,715,679.44415379,668,637,881,789,804,654,632,654,0.400949676325,0.00455908827959,0.0499443923805,0.999999975619,9.35521748667e-05,-0.00019896779928,-2.0538487647e-05,1793238228584151296
+64,1.066666667,BASELINE,767,746,715,679.134655065,668,636.865344935,881.134655065,789,804,654,632,654,0.400948713422,0.00455941901533,0.0499440996742,0.99999997532,9.5090483891e-05,-0.000199737052404,-2.05611498067e-05,1793238228600818176
+65,1.083333333,BASELINE,767,746,715,679.721094823,668,636.278905177,881.721094823,789,804,654,632,654,0.400947545798,0.00455971808941,0.0499434012506,0.999999974789,9.7871097723e-05,-0.000201082811721,-2.02314203608e-05,1793238228617484800
+66,1.100000000,BASELINE,767,746,715,679.69585252,668,636.30414748,881.69585252,789,803.69585252,654,632,654,0.400947285042,0.00455962152308,0.0499431960609,0.99999997464,9.84661889678e-05,-0.000201537599683,-2.01876714246e-05,1793238228634151168
+67,1.116666667,BASELINE,767,746,715,679.115871679,668,636.884128321,881.115871679,789,803.115871679,654,632,654,0.400947846731,0.00455916614782,0.0499434381882,0.999999974842,9.70792151737e-05,-0.000201184359761,-2.0403280122e-05,1793238228650818048
+68,1.133333333,BASELINE,767,746,715,679.461268155,667.538731845,637,881,789,803.461268155,654,632,654,0.400947559231,0.00455935210963,0.0499427175267,0.999999974783,9.66216505791e-05,-0.000201666889681,-2.06858331293e-05,1793238228667484672
+69,1.150000000,BASELINE,767,746.037593259,715,679.962406741,667,637,881,789,804,654,632.037593259,654,0.400946985429,0.00455971498599,0.0499417945145,0.999999974649,9.64515409516e-05,-0.000202386436907,-2.0944284687e-05,1793238228684151552
+70,1.166666667,BASELINE,767,746.612411106,715,679.387588894,667,637,881,789,804,654,632.612411106,654,0.400945350002,0.00456031787439,0.0499414148797,0.999999974367,9.70733267082e-05,-0.000203511190112,-2.06194700452e-05,1793238228700818176
+71,1.183333333,BASELINE,767.19156139,746.80843861,714.80843861,679.19156139,667,637,881,789,803.80843861,654,632.80843861,654,0.400945028944,0.00456042750159,0.0499416284283,0.99999997444,9.67942983013e-05,-0.000203303896424,-2.04741802123e-05,1793238228717485056
+72,1.200000000,BASELINE,767.779680504,746.220319496,714.220319496,679.779680504,667,637,881,789,803.220319496,654,632.220319496,654,0.400947428803,0.00455951601217,0.0499430699459,0.999999975239,9.46504640782e-05,-0.000200339087528,-2.07005307101e-05,1793238228734151424
+73,1.216666667,BASELINE,767.635938156,746.364061844,714.364061844,679.635938156,667.364061844,637,881,788.635938156,803.364061844,654,632,654,0.400947574557,0.00455909385489,0.0499430789327,0.999999975177,9.48568846967e-05,-0.000200565960336,-2.05373497856e-05,1793238228750818304
+74,1.233333333,BASELINE,767.053795854,746.946204146,714.946204146,679.053795854,667.946204146,637,881,788.053795854,803.946204146,654,632,654,0.400946370056,0.00455896481758,0.0499422298043,0.999999974599,9.64711559527e-05,-0.000202704715656,-2.01408315932e-05,1793238228767485184
+75,1.250000000,BASELINE,767,746.479994454,715,679,667.479994454,636.479994454,881,788,803.479994454,654,632,654,0.400946852522,0.00456070454117,0.049942404602,0.999999974599,9.700653756e-05,-0.000202396942696,-2.067864599e-05,1793238228784151808
+76,1.266666667,BASELINE,767,746.093600843,715,679,667,636.093600843,880.906399157,788.093600843,803,654,632,654,0.400947204915,0.00456183706,0.0499425412454,0.999999974642,9.70638270512e-05,-0.000202112492052,-2.1101003977e-05,1793238228800818432
+77,1.283333333,BASELINE,767,746.670517145,715,679,667,636.670517145,880.329482855,788.670517145,803,654,632,654,0.400945998733,0.0045588517235,0.0499419425447,0.999999974606,9.52196779469e-05,-0.000203234735216,-2.04359662829e-05,1793238228817485056
+78,1.300000000,BASELINE,767,746.746717869,715,679,667.253282131,637,880,788.746717869,803.253282131,654,632,654,0.400946120846,0.00455745065819,0.0499418079112,0.999999974712,9.41870719866e-05,-0.000203220765072,-2.01512588229e-05,1793238228834151424
+79,1.316666667,BASELINE,767,746.156164809,715,679,667.843835191,637,880,788.156164809,803.843835191,654,632,654,0.400948011719,0.00455815921139,0.0499422912306,0.999999975012,9.42351184418e-05,-0.000201693811212,-2.037299982e-05,1793238228850818048
+80,1.333333333,BASELINE,767,746,715,679,667.574763502,637,880.425236498,788.425236498,804,654,632,654,0.400947394614,0.00455969597404,0.0499418627019,0.999999974725,9.58504379183e-05,-0.000202336615963,-2.05458207032e-05,1793238228867484672
+81,1.350000000,BASELINE,767,746,715,679,667,637,880.996665531,788.996665531,804,654,632,654,0.400945897268,0.00456150921971,0.0499411217737,0.999999974231,9.80030872965e-05,-0.000203729913977,-2.07005868434e-05,1793238228884151296
+82,1.366666667,BASELINE,767,746,715,679,667,637,880.420847703,788.420847703,804,654,632,654,0.400948072431,0.00455967194818,0.0499430273187,0.999999975197,9.56724898363e-05,-0.000200050523457,-2.07750512077e-05,1793238228900817920
+83,1.383333333,BASELINE,767,746,715,679.154781616,667.154781616,637,880,788,803.845218384,654,632.154781616,654,0.40094915637,0.00455846331116,0.0499440450463,0.999999975718,9.41581703779e-05,-0.000198154547769,-2.07897554672e-05,1793238228917484800
+84,1.400000000,BASELINE,767,746,715,679.729899134,667.729899134,637,880,788,803.270100866,654,632.729899134,654,0.400947276903,0.00455896183805,0.0499426517547,0.999999975067,9.48605926687e-05,-0.000201101738702,-2.06421709774e-05,1793238228934151424
+85,1.416666667,BASELINE,767,746,715,679.685304397,667.685304397,637,880.314695603,788.314695603,803.314695603,654,632.685304397,654,0.40094684222,0.00455911345258,0.049942389305,0.999999974956,9.50864423247e-05,-0.000201559865425,-2.05065417325e-05,1793238228950817792
+86,1.433333333,BASELINE,767,746,715,679.09193698,667.09193698,637,880.90806302,788.90806302,803.90806302,654,632.09193698,654,0.400947686934,0.00455895786644,0.0499431282477,0.999999975327,9.48902734562e-05,-0.00019981385555,-2.03814992024e-05,1793238228967484672
+87,1.450000000,BASELINE,767,746,715,679.485748914,667.485748914,637,881.485748914,789,804,654,632,654,0.400947918897,0.00455909300802,0.0499432420459,0.999999975132,9.64029115635e-05,-0.000200088043105,-2.01677964102e-05,1793238228984151296
+88,1.466666667,BASELINE,767,746,715,679.939457613,667.939457613,637,881.878915227,788.939457613,804,654,632,654,0.400948170054,0.00455921156511,0.0499433405121,0.999999974921,9.77980634311e-05,-0.000200487560815,-1.99547167994e-05,1793238229000818176
+89,1.483333333,BASELINE,767,746,715,679.364810384,667.364810384,637,880.729620767,788.364810384,804,654,632,654,0.400949538219,0.00455873664693,0.0499442820978,0.999999975477,9.55350543049e-05,-0.000198806013612,-1.9884967673e-05,1793238229017484800
+90,1.500000000,BASELINE,767,746,714.784581511,679.215418489,667.215418489,637,880.215418489,788.215418489,804,654,632,654,0.400950117917,0.00455923057344,0.0499447585388,0.999999975662,9.5102840385e-05,-0.000198073506513,-1.99657573075e-05,1793238229034151424
+91,1.516666667,BASELINE,767,746,714.194648775,679.805351225,667.805351225,637,880.805351225,788.805351225,804,654,632,654,0.400949326832,0.00456140887788,0.0499444263056,0.999999975207,9.78535424005e-05,-0.000198990946364,-2.03082650176e-05,1793238229050818048
+92,1.533333333,BASELINE,767,746,714.389042108,679.610957892,667.610957892,637,881,789,804,654,632,654,0.400948984442,0.00456055882419,0.0499438258476,0.999999975079,9.73521190159e-05,-0.000199872714194,-2.03681159096e-05,1793238229067484672
+93,1.550000000,BASELINE,767,746,714.969659381,679.030340619,667.030340619,637,881,789,804,654,632,654,0.400948863001,0.00455821752283,0.0499430933082,0.99999997511,9.52492587941e-05,-0.000200736916209,-2.02887787459e-05,1793238229084151552
+94,1.566666667,BASELINE,767,746,715,679.544769346,667,637,881,789,804,654,632,654,0.400949746609,0.00455823479737,0.0499437298139,0.999999975472,9.42768636041e-05,-0.000199399925599,-2.01712669903e-05,1793238229100818176
+95,1.583333333,BASELINE,767,746,714.878164582,680,667,637,881,789,804,654,632,654,0.400950078961,0.00455839469094,0.0499441757058,0.999999975681,9.37036830742e-05,-0.000198631574186,-2.00733171697e-05,1793238229117484544
+96,1.600000000,BASELINE,767,746,714.292495307,680,667,637,881,789,804,654,632,654,0.400948101687,0.00455860245502,0.0499436085462,0.999999975244,9.44130380986e-05,-0.000200490113136,-2.00578538435e-05,1793238229134151424
+97,1.616666667,BASELINE,767,746,714.290255206,680,667,637,880.709744794,789,804,654,632.290255206,654,0.400946878847,0.00455910572686,0.0499426490127,0.999999974813,9.60406465591e-05,-0.000201851537362,-2.01706579991e-05,1793238229150818048
+98,1.633333333,BASELINE,767,746,714.870093679,680,667,637,880.129906321,789,804,654,632.870093679,654,0.400946408695,0.00455990382237,0.0499412980138,0.999999974385,9.85843826591e-05,-0.00020271699757,-2.04114326983e-05,1793238229167484672
+99,1.650000000,BASELINE,767,746,715,679.551061912,667,637,880,788.551061912,803.551061912,654,632.551061912,654,0.40094835224,0.00455997504148,0.0499426612426,0.999999974925,9.86083284532e-05,-0.000200008361438,-2.05659626452e-05,1793238229184151296
+100,1.666666667,BASELINE,767,746,715,679.027216764,667.027216764,637,880.027216764,788,803,654,632,654,0.400950670813,0.00455987914394,0.0499445875896,0.999999975642,9.79866306895e-05,-0.00019668772624,-2.0685621408e-05,1793238229200817920
+101,1.683333333,BASELINE,767,746,715,679.599909478,667.599909478,637,880.599909478,788,803,654,632,654,0.400946538623,0.00456064004163,0.0499420937897,0.999999974528,9.90059843207e-05,-0.000201783273445,-2.06054576916e-05,1793238229217484544
+102,1.700000000,BASELINE,767,746,715,679.821585111,668,637,880.821585111,788.178414889,803.178414889,654,632,654,0.400944825334,0.00456062056223,0.0499410331982,0.999999974145,9.84641729099e-05,-0.000203947476613,-2.04920001714e-05,1793238229234151424
+103,1.716666667,BASELINE,767,746,715,679.229605997,668,637,880.229605997,788.770394003,803.770394003,654,632,654,0.400948719036,0.00455879217516,0.0499432947725,0.999999975484,9.43035937966e-05,-0.000199316848017,-2.03013679031e-05,1793238229250818048
+104,1.733333333,BASELINE,767,746,715,679.354438541,667.645561459,637,880.354438541,789,804,654,632,654,0.400950565597,0.00455829377609,0.0499444947429,0.99999997604,9.32533430531e-05,-0.000197015889349,-2.02344537115e-05,1793238229267484928
+105,1.750000000,BASELINE,767,746,715,679.93345565,667.06654435,637,880.93345565,789,804,654,632,654,0.400951115052,0.0045586380809,0.0499450220624,0.999999976115,9.4173851307e-05,-0.000196191050555,-2.02459294764e-05,1793238229284151552
+106,1.766666667,BASELINE,767,746.510156968,714.489843032,679.489843032,667,637,880.489843032,789,804,654,632,654,0.400949622233,0.00455854376176,0.0499436338266,0.99999997562,9.50698061316e-05,-0.000198301571266,-1.99751282423e-05,1793238229300818176
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679,668,637,881,789,804,654,632,654,0.400947395974,0.00455773427087,0.0499434259587,0.999999975553,9.38075067832e-05,-0.000199217303279,-2.01497993699e-05,1793238229344302848
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.598722135,746,714.598722135,679,668,637,881,788.401277865,803.401277865,654,632,654,0.400947744671,0.0045583942324,0.0499426754506,0.999999975439,9.36542440383e-05,-0.000199848395014,-2.02645013912e-05,1793238229360969728
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,881,788.188651433,803,654,632,654,0.400948341151,0.00455890272208,0.0499425249302,0.999999975383,9.42222173074e-05,-0.000199857930262,-2.03031877662e-05,1793238229377636608
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,881,788.760710621,803,654,632,654,0.400949441219,0.00455910336647,0.0499435938012,0.999999975442,9.62560022679e-05,-0.000198604238658,-2.01873829509e-05,1793238229394303232
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636.663005843,881,788.663005843,803,654,632,654,0.400949181064,0.00455938704632,0.04994354742,0.999999975301,9.72050212844e-05,-0.000198834208219,-2.03300428134e-05,1793238229410969600
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636.083684683,881,788.083684683,803,654,632,654,0.400947942796,0.00455973043561,0.0499426990789,0.99999997502,9.73740026739e-05,-0.000200131054411,-2.0658560419e-05,1793238229427636224
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667.497170137,636.502829863,881.502829863,788.502829863,803.502829863,653.497170137,632,654,0.400949408907,0.00455903968001,0.0499430227372,0.999999975201,9.59407654379e-05,-0.0001999195789,-2.06292125449e-05,1793238229444302592
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881.91070204,789,804,653.08929796,632,654,0.400952431361,0.00455843377968,0.0499439517385,0.999999975633,9.45932998386e-05,-0.000198399844957,-2.05656363573e-05,1793238229460969216
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881.331156851,789,804,653.668843149,632,654,0.400961491329,0.00455925233675,0.0499471176982,0.999999976996,9.52018984912e-05,-0.000191095890205,-2.06458695967e-05,1793238229477635840
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881,789,803.752960159,654,632,654,0.400974488446,0.00455933161502,0.0499507134593,0.999999978822,9.46063465717e-05,-0.000181591813941,-2.07236353717e-05,1793238229494302464
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881,789,803.176561359,654,632,654,0.400992734659,0.00455842527043,0.049954882241,0.999999981208,9.24053945171e-05,-0.000169154487764,-2.07981114613e-05,1793238229510969088
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.600196247,880.600196247,788.600196247,803,653.600196247,632,654,0.401018425001,0.00455812410411,0.0499596651535,0.999999983842,9.28028963495e-05,-0.000152516961198,-2.10361555776e-05,1793238229527635968
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.023845962,880.023845962,788.023845962,803,653.023845962,632,654,0.401047402545,0.00455809017415,0.0499647192561,0.99999998634,9.43478309776e-05,-0.000134024696516,-2.13464285516e-05,1793238229544302592
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.565926806,880.565926806,788.565926806,803.565926806,653.565926806,632,654,0.401087029418,0.00455918675952,0.0499687862542,0.999999988803,9.45295673135e-05,-0.000113808725043,-2.24702745467e-05,1793238229560969472
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667.15333412,637,881,788.84666588,804,654,632,654,0.40113082577,0.00455977040127,0.0499731330345,0.999999991013,9.4145776195e-05,-9.25216023245e-05,-2.3476941679e-05,1793238229577636096
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667.732562318,637,881,788.267437682,804,654,632,654,0.401184926461,0.00455879378904,0.0499783752592,0.999999993102,9.23546194977e-05,-6.84659283924e-05,-2.40606081884e-05,1793238229594302720
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746.308011409,714.691988591,679,668,637,881.308011409,788.308011409,804,654,632.308011409,654,0.401240828157,0.00455824287876,0.0499816824886,0.99999999386,9.17139220935e-05,-5.73754844858e-05,-2.40243840224e-05,1793238229610969600
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746.880218945,714.119781055,679,668,637,881.880218945,788.880218945,804,654,632.880218945,654,0.401298274658,0.0045580571135,0.0499833299796,0.99999999384,9.20600288229e-05,-5.740594031e-05,-2.34564499318e-05,1793238229627635968
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.545516706,714.454483294,679,667.545516706,637,881.545516706,788.545516706,803.545516706,654,632.545516706,654,0.401369675459,0.00455764111275,0.0499847537199,0.999999994175,9.08898424319e-05,-5.34294594041e-05,-2.30947116744e-05,1793238229644302592
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,880.969658259,788.030341741,803.030341741,654,632,654,0.401445760956,0.0045571259995,0.049986072387,0.999999994573,8.92575146281e-05,-4.86689179886e-05,-2.27652312049e-05,1793238229660969472
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,880.374253559,788.625746441,803.625746441,654,632,654,0.401540288382,0.004555900276,0.0499865374635,0.999999994813,8.64947720846e-05,-4.90630428595e-05,-2.20198353064e-05,1793238229677636096
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715,679.213140537,667,636.786859463,880,788.786859463,804,654,632,654,0.401641691886,0.00455428957934,0.0499864004038,0.999999995051,8.36212203571e-05,-4.96241117072e-05,-2.10677698481e-05,1793238229694302720
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715,679.786978248,667,636.213021752,880,788.213021752,804,654,632,654,0.40175473175,0.00455202739374,0.0499852443503,0.999999995286,8.0560146818e-05,-5.04676993713e-05,-1.97659581086e-05,1793238229710969344
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,714.639104265,679.639104265,667.360895735,636.360895735,880.360895735,788,803.639104265,653.639104265,632,654,0.401884358389,0.0045511641225,0.0499862449669,0.999999995527,7.92013670524e-05,-4.81030437402e-05,-1.89627346624e-05,1793238229727635968
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,714.065139625,679.065139625,667.934860375,636.934860375,880.934860375,788,803.065139625,653.065139625,632,654,0.402023777691,0.00455112675481,0.0499885188578,0.99999999576,7.88476026732e-05,-4.38442763356e-05,-1.84538721824e-05,1793238229744302848
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,714.524892521,679,668,637,881,788,803,653,632,654,0.402184674807,0.00455035547282,0.0499868233524,0.999999995798,7.73155999631e-05,-4.60194173869e-05,-1.75834452992e-05,1793238229760969472
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667.885710495,637,881,788.114289505,803,653.114289505,632,654,0.40235404684,0.00454900082071,0.0499850948495,0.999999995947,7.45289210852e-05,-4.76988717933e-05,-1.66234728407e-05,1793238229777636352
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667.307247063,637,881,788.692752937,803,653.692752937,632,654,0.402546671723,0.00454565846608,0.0499852961687,0.999999996649,6.72591264036e-05,-4.40199211367e-05,-1.54878117675e-05,1793238229794302976
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.730483573,746,714.730483573,678.730483573,667.269516427,636.730483573,881,788.730483573,803.269516427,653.730483573,632,654,0.40275239022,0.00454296489207,0.0499860842465,0.999999997118,6.27252008311e-05,-4.03984701029e-05,-1.40686345362e-05,1793238229810969600
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.155645896,746,714.155645896,678.155645896,667.844354104,636.155645896,881,788.155645896,803.844354104,653.155645896,632,654,0.402972941787,0.00454100628835,0.0499875370328,0.999999997367,6.12906006182e-05,-3.68421576472e-05,-1.232827655e-05,1793238229827636224
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,714.42951102,678.42951102,668,636.42951102,881,788,803.57048898,653.42951102,632,654,0.40322408149,0.00453882786156,0.0499945950014,0.999999998025,5.81294865292e-05,-2.13722922892e-05,-1.06590524331e-05,1793238229844302848
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,715,679,667.981822438,636.981822438,880.981822438,788.018177562,803,654,632,654,0.403487861426,0.0045365446286,0.0500036981504,0.999999998486,5.42643240213e-05,-1.56345217799e-06,-9.00276508743e-06,1793238229860969472
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,679,667.403082526,636.403082526,880.403082526,788.596917474,803,654,632,654,0.403791202566,0.00453354638458,0.0500116904056,0.99999999868,4.84565453671e-05,1.56387419702e-05,-6.93092560766e-06,1793238229877636096
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715,679,667,636,880.350009382,789,803,653.824995309,632,654,0.404100533181,0.00453058480032,0.050018374636,0.999999998628,4.28659816398e-05,2.97170995529e-05,-4.79589731211e-06,1793238229894302720
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715,679,667,636,881.50318817,789,803,653.248405915,632,654,0.404423607851,0.00452770733989,0.0500220573301,0.999999998613,3.77738636184e-05,3.66271613389e-05,-2.51586941113e-06,1793238229910969344
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.327704137,746,715,679.327704137,667.327704137,636.327704137,881.672295863,789,803,653.327704137,632,654,0.404765878695,0.00452448542563,0.0500250736992,0.99999999848,3.26447519787e-05,4.44334541e-05,-3.87792243721e-07,1793238229927635968
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.90345143,746,715,679.90345143,667.90345143,636.90345143,881.09654857,789,803,653.90345143,632,654,0.405122679386,0.00452100278987,0.0500275857196,0.999999998221,2.74876388917e-05,5.29181154639e-05,1.62527184793e-06,1793238229944302592
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,715,679.507562502,667.507562502,637,881,788.507562502,803.492437498,654,632,654,0.405481474275,0.00451756283327,0.0500177444506,0.999999999177,2.22314914468e-05,3.36365876544e-05,4.48474503782e-06,1793238229960969216
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,715,679.082109014,667.082109014,637,880.917890986,788.082109014,803.917890986,654,632.082109014,654,0.40584640348,0.00451377052412,0.0500048588299,0.9999999998,1.68546016903e-05,7.68638847422e-06,7.55532241607e-06,1793238229977635840
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,715,679.659818327,667.659818327,637,880.340181673,788.659818327,803.340181673,654,632.659818327,654,0.406245933682,0.00450779955288,0.0499886207477,0.999999999576,1.08693595868e-05,-2.47485436428e-05,1.08707790375e-05,1793238229994302720
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,715,679.763836732,668,637,880,789,803.236163268,653.763836732,632.763836732,654,0.406661936206,0.00450361024437,0.0499760765514,0.999999998804,7.72168095948e-06,-4.63401532934e-05,1.36042171633e-05,1793238230010969344
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,715,679.18944585,668,637,880,789,803.81055415,653.18944585,632.18944585,654,0.407101529987,0.00450197259272,0.0499688226544,0.99999999847,8.63789602545e-06,-5.24022033238e-05,1.55041015647e-05,1793238230027635968
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,880.384150031,789,803.615849969,653.384150031,632,654,0.407579196847,0.00449658082858,0.0499718271727,0.999999998866,1.22988603801e-05,-4.22704448528e-05,1.81485191139e-05,1793238230044302592
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,880.957354644,789,803.042645356,653.957354644,632,654,0.408075600878,0.00448934152549,0.0499798802405,0.999999999334,1.73106183769e-05,-2.41691080034e-05,2.11593491806e-05,1793238230060969472
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,715,679.549752177,668,636.450247823,881,788.450247823,803.549752177,654,632,654,0.408604571716,0.00448374387728,0.0499972749355,0.999999999453,2.27255601805e-05,4.08861045555e-06,2.36782161777e-05,1793238230077636096
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,715,679.859821472,668,636.140178528,881,788,804,653.859821472,632,654,0.40914587073,0.00447768948075,0.050013104798,0.99999999903,2.22916485145e-05,2.81556063879e-05,2.54882813729e-05,1793238230094302720
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,715,679.280405658,668,636.719594342,881,788,804,653.280405658,632,654,0.409717596703,0.00446979044028,0.0500216786271,0.999999999009,3.42931470145e-06,3.65333653454e-05,2.52012817976e-05,1793238230110969344
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,881,788,804,653.29549955,632,654,0.410276189584,0.00446216627502,0.0500201028269,0.999999999153,-1.34190539725e-05,2.95075148668e-05,2.5352896597e-05,1793238230127635712
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,881,788,804,653.86811265,632,654,0.410822466583,0.00445479988128,0.050009008909,0.999999999229,-2.83787687246e-05,8.03646940207e-06,2.59158351198e-05,1793238230144302336
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636.545774805,881,788,804,654,632,654,0.411373496052,0.00444954879455,0.0499864435146,0.99999999837,-3.53920071975e-05,-3.60992271912e-05,2.65312932043e-05,1793238230160969216
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636.043567889,881,788.043567889,804,654,632,653.956432111,0.411934540871,0.00444492591554,0.0499632804346,0.9999999956,-3.9717332409e-05,-8.05432957762e-05,2.71190306601e-05,1793238230177635840
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636.622954637,881,788.622954637,804,654,632,653.377045363,0.412601269085,0.00444024401596,0.0499749854709,0.999999997792,-4.02310286947e-05,-4.53666273851e-05,2.71725585956e-05,1793238230194302464
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.798817889,746,715,679,668,637,881,788.798817889,803.798817889,654,632,653,0.41328246519,0.00443608830315,0.0499906663232,0.999999998726,-4.07329195132e-05,-1.07096122548e-05,2.78134149742e-05,1793238230210969344
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.222750656,746,715,679,668,637,881,788.222750656,803.222750656,654,632,653,0.413990620897,0.00443291309327,0.0500137557574,0.99999999845,-4.1212811899e-05,2.29790726764e-05,2.95487061406e-05,1793238230227635968
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746.35126301,715,679,668,637,881,788.35126301,803,654,632,653,0.414656497069,0.00443592175414,0.0500084582786,0.99999999867,-3.97231024645e-05,1.26957023951e-05,3.03598728197e-05,1793238230244302848
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746.923981971,715,679,668,637,881,788.923981971,803,654,632,653,0.41529571782,0.00444282907493,0.0499852640929,0.999999998528,-3.69916452593e-05,-2.53101250468e-05,3.05884193779e-05,1793238230260969472
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746.48524134,715,679,668,636.48524134,881,788.48524134,803.51475866,653.48524134,632,653.51475866,0.415957793514,0.00445627502007,0.0499629583138,0.999999997468,-2.15410612794e-05,-6.09737860279e-05,2.97005789687e-05,1793238230277636096
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.105295321,746,715,679,668,636,881,788,804,653.105295321,632,654,0.416639395122,0.0044667819638,0.049949167827,0.99999999619,-8.44526214728e-06,-8.18833162355e-05,2.90544428645e-05,1793238230294302720
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.682373559,746,715,679,668,636,881,788,804,653.682373559,632,654,0.417392811337,0.00445963675778,0.0499729214896,0.999999998702,-1.46221630818e-05,-3.82920389745e-05,3.02568228428e-05,1793238230310969344
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.741159089,746,715,679.258840911,668,636.258840911,881,788.258840911,804,653.741159089,632,654,0.418154222775,0.00445297477361,0.0499940481534,0.999999999273,-2.22170767403e-05,-9.88377801114e-08,3.09811894847e-05,1793238230327636224
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.16543952,746,715,679.83456048,668,636.83456048,881,788.83456048,804,653.16543952,632,654,0.418925422237,0.00444690435915,0.0500119587914,0.999999998522,-3.15479531756e-05,3.14859273581e-05,3.11203620227e-05,1793238230344302848
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.589094522,881,788.589094522,804,653,632.410905478,654,0.419650560615,0.00444411219015,0.0500014058572,0.999999998816,-3.62405294764e-05,6.47910243877e-06,3.18181491317e-05,1793238230360969984
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.012497363,881,788.012497363,804,653,632.987502637,654,0.420357125482,0.00444264192651,0.0499793753988,0.999999997846,-3.90627778213e-05,-4.13474632385e-05,3.2741189412e-05,1793238230377637632
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.576052211,746,715,680,668,636.576052211,881,788,804,653.576052211,632.423947789,654,0.421131712861,0.00443824280967,0.0499910943787,0.999999998481,-4.35001058528e-05,-7.33444949991e-06,3.30384513654e-05,1793238230394303744
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.837826449,746,715,679.837826449,668.162173551,637,881.162173551,788.162173551,804,653.837826449,632,654,0.421914215308,0.00443605478189,0.050004725815,0.999999998054,-4.5173627338e-05,2.73421787049e-05,3.32334456094e-05,1793238230410970112
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.25863017,746,715,679.25863017,668.74136983,637,881.74136983,788.74136983,804,653.25863017,632,654,0.422713195785,0.00443971933564,0.0500213523668,0.999999996919,-3.964812169e-05,5.906290544e-05,3.3201112886e-05,1793238230427636480
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.317390573,746.317390573,715,679.317390573,669,636.682609427,881.682609427,788.682609427,803.682609427,653,632,654,0.423489640841,0.00444400798497,0.0500163105855,0.999999997603,-3.39968084957e-05,5.02574758474e-05,3.33614651301e-05,1793238230444302848
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.890849292,746.890849292,715,679.890849292,669,636.109150708,881.109150708,788.109150708,803.109150708,653,632,654,0.424247904463,0.00444880014939,0.0499937869676,0.999999998996,-2.82439950344e-05,8.7558698523e-06,3.36772740223e-05,1793238230460969472
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.522053465,746.522053465,715,680,668.522053465,636.477946535,881,788,803.477946535,653,632,654,0.42501738299,0.00444493445402,0.0499935936967,0.999999998763,-3.47428220098e-05,7.17733575911e-06,3.48661049836e-05,1793238230477636096
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,679.93330985,668.06669015,636.93330985,881,788,804,653.06669015,632,654,0.425792192841,0.00443932297777,0.0500005636738,0.999999998237,-4.37501989177e-05,1.74147333062e-05,3.61827604078e-05,1793238230494302720
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,679.356497738,668.643502262,636.356497738,881,788,804,653.643502262,632,654,0.426587615884,0.00443592616514,0.0500221723576,0.999999997004,-4.99151758722e-05,4.62449887557e-05,3.69073123908e-05,1793238230510969344
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.221251493,746,715,679,669,636,881,788.221251493,804.221251493,654,632,654,0.427359847384,0.00443497664808,0.0500263977428,0.999999996916,-5.21851487676e-05,4.5025610294e-05,3.76501589428e-05,1793238230527635968
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.800517196,746,715,679,669,636,881,788.800517196,804.800517196,654,632,654,0.428094552022,0.00443798717877,0.0500024946527,0.999999998091,-4.8152490293e-05,-4.8180502229e-06,3.84226086213e-05,1793238230544302592
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.623607439,746,715,679,668.623607439,636.376392561,881.376392561,789,804.623607439,653.623607439,632,654,0.428858882034,0.00443891050085,0.0499845600136,0.99999999774,-4.46423002153e-05,-3.26213060141e-05,3.82413133403e-05,1793238230560969216
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.0495129,746,715,679,668.0495129,636.9504871,881.9504871,789,804.0495129,653.0495129,632,654,0.429638772869,0.00443873750654,0.0499697603331,0.999999997244,-4.14065394135e-05,-4.88477317318e-05,3.75590589757e-05,1793238230577636096
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,679.540462369,668.540462369,636.459537631,881.459537631,789,804.540462369,653,632,654,0.430418350123,0.00443744167894,0.0499871319354,0.999999998532,-3.66440260714e-05,-1.31895027033e-05,3.76824030067e-05,1793238230594302720
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.129285481,746,715,680,669.129285481,636.129285481,881.129285481,789,804.870714519,653,632,654,0.431182144269,0.00443651582432,0.0499981063658,0.999999998687,-3.32206127985e-05,8.3779559798e-06,3.81047713235e-05,1793238230610969600
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.708874847,746,715,680,669.708874847,636.708874847,881.708874847,789,804.291125153,653,632,654,0.431891068596,0.00443724772054,0.0499762231205,0.999999997962,-3.49632265045e-05,-3.61899203872e-05,3.93038095621e-05,1793238230627636992
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.713813769,746,715,680,669.427627538,636.713813769,881.713813769,789,804,653,632.286186231,654,0.432609729206,0.00443716773541,0.0499618587589,0.99999999657,-3.82543477994e-05,-6.17058386518e-05,3.98701702187e-05,1793238230644303616
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.138801413,746,715,680,668.277602826,636.138801413,881.138801413,789,804,653,632.861198587,654,0.433338215869,0.00443626837977,0.0499550826396,0.999999995967,-4.31082606661e-05,-6.79940535061e-05,3.97980172144e-05,1793238230660969728
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.445850406,746,715,680,668.445850406,636,881.445850406,789,804,653.445850406,633,654,0.434081163701,0.00443470462917,0.0499745680903,0.999999997444,-4.72221133394e-05,-3.52641556769e-05,4.04762426522e-05,1793238230677636096
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,715,680,669,636.033079657,882,789,804,653.966920343,632.966920343,654,0.434824952234,0.00443309553998,0.0500008200944,0.999999997843,-5.05638224466e-05,6.77385698953e-06,4.13711078261e-05,1793238230694302720
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,715,680,669,636.612222355,882,789,804,653.387777645,632.387777645,654,0.435506658087,0.00443422786471,0.0500008280203,0.999999998104,-4.50466369596e-05,-2.48311287716e-06,4.19006760943e-05,1793238230710969600
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668.809589675,636.809589675,881.809589675,788.809589675,804,653,632,654,0.436172988127,0.00443512165533,0.0499928482333,0.999999997893,-4.22249770789e-05,-2.49921894702e-05,4.25013262179e-05,1793238230727636736
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,715,680,668.233336238,636.233336238,881.233336238,788.233336238,804,653,632,654,0.436808161095,0.00443553208614,0.049968682328,0.999999995294,-4.48654673769e-05,-7.43550327308e-05,4.3246015018e-05,1793238230744303616
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.657545193,746,715,680,668.342454807,636,881.342454807,788.342454807,804.342454807,653,632,653.657545193,0.437477015351,0.00443356539186,0.0499734705748,0.999999995939,-4.93444473182e-05,-6.14997964971e-05,4.36471915226e-05,1793238230760969984
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.082068816,746,715,680,668.917931184,636,881.917931184,788.917931184,804.917931184,653,632,653.082068816,0.438168787823,0.00442998119529,0.0499979605234,0.999999997504,-5.50744176324e-05,-6.30859265941e-06,4.38146267936e-05,1793238230777636096
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680.506964746,669,636,882,789,804.493035254,653,632.506964746,653.506964746,0.438814100811,0.00443020164741,0.0500093404075,0.999999997719,-5.01281248905e-05,1.10840497204e-05,4.38998007555e-05,1793238230794302720
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680.904014586,668.904014586,636,881.904014586,788.904014586,804,653,633,654,0.439439888238,0.00443113418924,0.0500128203539,0.999999998051,-4.18768204e-05,1.47023451108e-05,4.39107181522e-05,1793238230810969344
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680.326374105,668.326374105,636,881.326374105,788.326374105,804,653,633,654,0.440006473648,0.00443246445751,0.0499876006782,0.999999998527,-2.59518775336e-05,-1.92505837662e-05,4.36176750544e-05,1793238230827636480
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746.249240482,715,680.249240482,668,636.249240482,881.249240482,788,804,653.249240482,632.750759518,654,0.440562370196,0.00443278450369,0.0499683335734,0.999999997709,-1.94406650497e-05,-4.79155776632e-05,4.36898488192e-05,1793238230844303616
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746.822223558,715,680.822223558,668,636.822223558,881.822223558,788,804,653.822223558,632.177776442,654,0.441104382761,0.00443179235555,0.0499567983637,0.999999996275,-2.51571042682e-05,-6.9711982537e-05,4.42364088897e-05,1793238230860971008
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.397456787,747,715,680.602543213,668.397456787,636.602543213,881.602543213,788,804,653.602543213,632,654,0.441663929386,0.00443063341675,0.049969696113,0.999999997531,-2.99414374842e-05,-4.54931692363e-05,4.43946893194e-05,1793238230877637888
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.973702255,747,715,680.026297745,668.973702255,636.026297745,881.026297745,788,804,653.026297745,632,654,0.442231363433,0.00442939945013,0.0499935845821,0.999999998427,-3.43064802777e-05,-5.75251713542e-07,4.4378309217e-05,1793238230894304000
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.435624504,715,680,669,636.564375496,881.564375496,788.564375496,804.564375496,653,632,654,0.442761895526,0.00442969841816,0.0500100112459,0.99999999789,-3.75325778066e-05,2.8202185783e-05,4.48966907307e-05,1793238230910970880
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,715,680.152515674,669,636.847484326,882,789,804.847484326,653,632.152515674,654,0.443269803567,0.00442990205911,0.0500191329498,0.999999997214,-4.00435207844e-05,4.36476399716e-05,4.54233655914e-05,1793238230927637760
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,715,680.731640824,669,636.268359176,882,789,804.268359176,653,632.731640824,654,0.443719364683,0.00442963401673,0.0500088196376,0.999999997831,-4.07064094955e-05,2.39604063517e-05,4.59017108427e-05,1793238230944303616
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.30859611,715,681,669,636,882,789,804.30859611,653,633,654,0.444137936193,0.00442932796342,0.0499876336096,0.999999997992,-4.16088996541e-05,-1.35199712688e-05,4.5838021936e-05,1793238230960969728
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.883677596,715,681,669,636,882,789,804.883677596,653,633,654,0.444529746882,0.00442898908611,0.049957058547,0.999999995859,-4.27182953537e-05,-6.63654560266e-05,4.53062642259e-05,1793238230977636352
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.530932961,746.530932961,715,680.530932961,669,636,882,789,805,653,633,654,0.444943078837,0.00442988983389,0.0499540014893,0.999999996003,-4.04090347496e-05,-6.59779083783e-05,4.4807288771e-05,1793238230994303488
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.056285399,746,715,680,669,636,882.056285399,789,805,653,633,654,0.445360512967,0.00443104291068,0.0499595890798,0.9999999971,-3.75286267811e-05,-4.92795384213e-05,4.43002307119e-05,1793238231010970368
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.636203101,746,715,680,669,636,882.636203101,789,805,653,633,654,0.445765343851,0.00443161929518,0.0499806870528,0.999999998328,-3.73990062058e-05,-6.41026595747e-06,4.36406486354e-05,1793238231027636736
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,715.214538389,680.214538389,669,636,882.785461611,789,804.785461611,653,633,654,0.446145042208,0.00443236886105,0.0499945007579,0.999999998149,-3.67925647711e-05,2.18959216213e-05,4.32391959855e-05,1793238231044303104
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,715.790209934,680.790209934,669,636,882.209790066,789,804.209790066,653,633,654,0.446482434863,0.00443340994359,0.0499960528292,0.999999998108,-3.5383489365e-05,2.56880174778e-05,4.32722536009e-05,1793238231060969728
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.635252632,746,715.635252632,681,668.635252632,636,882,788.635252632,804,653,632.635252632,654,0.446768843007,0.00443539657189,0.049979438494,0.999999998536,-3.28402465108e-05,5.73172224649e-07,4.29983268451e-05,1793238231077636096
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.061365425,746,715.061365425,681,668.061365425,636,882,788.061365425,804,653,632.061365425,654,0.447026017545,0.00443792535988,0.0499524078554,0.99999999781,-2.9646691453e-05,-4.11164133777e-05,4.25483804954e-05,1793238231094302720
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746,715.529587481,681,668,636,882,788.529587481,804.529587481,653,632.529587481,653.470412519,0.447250262419,0.00444245566149,0.0499142169413,0.999999993508,-2.56604049888e-05,-0.000102914585215,4.16317559703e-05,1793238231110969344
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,715.880395134,681,668,635.880395134,882,789,805,653,633,653.119604866,0.447469487107,0.00444686583948,0.0498784788908,0.999999986256,-2.15899421021e-05,-0.000159262603232,4.07126560564e-05,1793238231127635968
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746,715.301808803,681,668,635.301808803,882,789,805,653,633,653.698191197,0.447684577201,0.00444989541007,0.049857281466,0.999999981849,-1.75606896508e-05,-0.000185456472655,3.99984820193e-05,1793238231144302848
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,715,681,668,635,882,789,804.725766019,653.274233981,633,654,0.447894960061,0.00445180251356,0.0498469586658,0.999999979236,-1.46679331538e-05,-0.000199291387714,3.99539763304e-05,1793238231160969728
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,715,681,668,635,882,789,804.152496851,653.847503149,633,654,0.448100209961,0.00445248563595,0.0498484939722,0.99999997916,-1.30144554275e-05,-0.000199649626269,4.06397026065e-05,1793238231177636352
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,715,681,668,635.431753341,882,788.568246659,804.431753341,654,633,654,0.448283929682,0.00445447700707,0.0498494412225,0.999999979374,-1.05266129602e-05,-0.000198792360755,4.02783582949e-05,1793238231194302976
+219,3.650000000,POSE1_TO_POSE2_PRESS,766.019789259,746,715,681,668,635.980210741,882,788,805,653.980210741,633,654,0.448459274324,0.00445694735307,0.049850090883,0.999999979668,-7.68165641864e-06,-0.000197582982177,3.95647356334e-05,1793238231210969856
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.602308033,746,715,681,668,635.397691967,882,788,805,653.397691967,633,654,0.448618351199,0.00445955526459,0.0498483386673,0.999999979431,-3.28060281612e-06,-0.000198887682016,3.9624641139e-05,1793238231227636224
+221,3.683333333,POSE1_TO_POSE2_PRESS,766.817520254,746,715,681,667.817520254,635,882.182479746,788,804.817520254,653,632.817520254,654,0.448765640067,0.00446205303202,0.0498460937644,0.999999978778,1.95210835814e-07,-0.000202166123418,3.96690923382e-05,1793238231244302848
+222,3.700000000,POSE1_TO_POSE2_PRESS,766.242398787,746,715,681,667.242398787,635,882.757601213,788,804.242398787,653,632.242398787,654,0.448887564655,0.00446431380204,0.0498427887465,0.999999977226,1.68018485651e-06,-0.00020969146493,3.96802904938e-05,1793238231260969472
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,746,715,680.668034704,667,635,882.668034704,788.331965296,804,653,632.331965296,654,0.448995044218,0.00446531945724,0.0498389089103,0.999999975295,2.93496759279e-06,-0.000218698151516,3.96572679225e-05,1793238231277636096
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746,715,680.094222341,667,635,882.094222341,788.905777659,804,653,632.905777659,654,0.449092000143,0.0044654107224,0.0498346103008,0.999999973036,4.02204895568e-06,-0.000228784044943,3.9609314484e-05,1793238231294303232
+225,3.750000000,POSE1_TO_POSE2_PRESS,766.49385882,746.49385882,715,680.49385882,667,635,882.49385882,789,804.49385882,653,632.50614118,654,0.44917816753,0.00446828206368,0.049833645906,0.999999972754,7.20817433187e-06,-0.000230024146686,3.9091692212e-05,1793238231310969856
+226,3.766666667,POSE1_TO_POSE2_PRESS,766.917106342,746.917106342,715,681,667,635,882.834212684,789,805,653,632.082893658,654,0.449259358975,0.0044713825015,0.049832989136,0.999999972664,1.05100634363e-05,-0.000230379059565,3.85536367078e-05,1793238231327636224
+227,3.783333333,POSE1_TO_POSE2_PRESS,766.339118449,746.339118449,715,681,667,635,881.678236897,789,805,653,632.660881551,654,0.449323490322,0.00447258907949,0.0498302572931,0.999999971381,1.20403272397e-05,-0.000235826808138,3.84446553214e-05,1793238231344303104
+228,3.800000000,POSE1_TO_POSE2_PRESS,766.23050981,746.23050981,715.23050981,680.76949019,667,635,881.461019621,789,804.76949019,653,633,654,0.44937954866,0.00447279636355,0.049826997746,0.999999970009,1.21372861441e-05,-0.000241581879058,3.83761934428e-05,1793238231360969984
+229,3.816666667,POSE1_TO_POSE2_PRESS,766.788270021,746.788270021,715.788270021,680.211729979,667,635,882.576540042,789,804.211729979,653,633,654,0.449424145898,0.00447158496893,0.0498229890273,0.999999968516,1.0199409212e-05,-0.000247773249356,3.83652563468e-05,1793238231377636096
+230,3.833333333,POSE1_TO_POSE2_PRESS,766.622239773,747,715.622239773,680.377760227,667.377760227,635,882.622239773,788.622239773,804.377760227,653,633,654,0.449462431029,0.00447344496959,0.0498192265108,0.999999966862,1.21000628084e-05,-0.000254329005745,3.80384727753e-05,1793238231394302720
+231,3.850000000,POSE1_TO_POSE2_PRESS,766.013334549,747,715.013334549,680.986665451,667.986665451,635,882.013334549,788.013334549,804.986665451,653,633,654,0.449496853888,0.00447718430435,0.0498156146415,0.999999965074,1.6349447407e-05,-0.000261107723493,3.75184281671e-05,1793238231410969600
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746.433489046,715,681,667.433489046,635,882,788.566510954,805,653,633,654,0.449524495943,0.00447780058562,0.0498157050056,0.999999965128,1.65263089991e-05,-0.000260972108274,3.69250903869e-05,1793238231427636480
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680.85502412,667,634.85502412,882,789,804.85502412,653,633,653.85502412,0.449550190326,0.00447794135778,0.0498158466133,0.999999965236,1.65688141304e-05,-0.000260609863038,3.65498650343e-05,1793238231444302848
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680.278730951,667,634.278730951,882,789,804.278730951,653,633,653.278730951,0.449570541868,0.00447687547397,0.0498158940659,0.999999965377,1.64828707073e-05,-0.000260033942438,3.68284275298e-05,1793238231460969472
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746.297021883,715.297021883,680.297021883,667,634.297021883,882,789,804.297021883,653.297021883,633,653.297021883,0.449585756583,0.00447705754305,0.0498153601654,0.999999965065,1.6845698817e-05,-0.00026120961531,3.68226977798e-05,1793238231477636352
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746.872268645,715.872268645,680.872268645,667,634.872268645,882,789,804.872268645,653.872268645,633,653.872268645,0.449596159559,0.00447840858831,0.0498142817027,0.999999964322,1.76288979815e-05,-0.000264026032145,3.65506672272e-05,1793238231494302976
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746.543020603,716,681,666.543020603,634.543020603,882,788.543020603,804.543020603,653.543020603,632.543020603,653.543020603,0.449602381477,0.00447722449663,0.0498138791812,0.999999964072,1.64407592972e-05,-0.000265002230213,3.68586665312e-05,1793238231510969600
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746.044026646,715.955973354,681,666.044026646,634.044026646,882,788.044026646,804.044026646,653,632.044026646,653.044026646,0.449607150312,0.00447553707513,0.0498134923692,0.999999963885,1.49190461807e-05,-0.000265739446397,3.72691040884e-05,1793238231527635968
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746.626612569,715.373387431,681,666.626612569,634.626612569,882,788.626612569,804.626612569,653,632.626612569,653.626612569,0.449608742213,0.00447654396858,0.0498109377015,0.999999962744,1.61997102231e-05,-0.000269978354548,3.69074729583e-05,1793238231544302848
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746.793327275,715.206672725,681,667,635,882,789,805,653,633,653.793327275,0.449610874054,0.00447785293032,0.0498090694653,0.999999962015,1.83463298048e-05,-0.000272580870785,3.65246907206e-05,1793238231560969728
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746.217775262,715.782224738,681,667,635,882,789,805,653,633,653.217775262,0.449613969608,0.00447970103782,0.049808426405,0.999999962042,2.20385478603e-05,-0.000272262676811,3.61041570045e-05,1793238231577636096
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.353720672,746,715.646279328,680.646279328,667,634.646279328,882,789,805,653,633,653.353720672,0.449615543797,0.00448052229729,0.0498086092347,0.999999962037,2.31711327412e-05,-0.000272207675635,3.59475095599e-05,1793238231594303232
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.922747688,746,715.077252312,680.077252312,667,634.077252312,882,789,805,653,633,653.922747688,0.449616191947,0.00448071852426,0.0498092947755,0.999999962018,2.27456935879e-05,-0.000272312877375,3.59514871462e-05,1793238231610970880
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746.514235733,715.514235733,680.514235733,667,634,882,789,805,653.514235733,633,654,0.449616618513,0.00448021678939,0.0498088275823,0.999999962012,2.10536648493e-05,-0.000272534586969,3.54756366065e-05,1793238231627636992
+245,4.083333333,POSE1_TO_POSE2_PRESS,767,747,716,681,667,634.106343797,882,788.893656203,805,653.893656203,633,654,0.449617107364,0.00448009448305,0.0498082869439,0.999999962007,1.99545344267e-05,-0.00027268526598,3.50848795866e-05,1793238231644303104
+246,4.100000000,POSE1_TO_POSE2_PRESS,767,747,716,681,667,634.685520346,882,788.314479654,805,653.314479654,633,654,0.449618027919,0.00448214671439,0.0498082248862,0.999999962011,2.23762483244e-05,-0.000272438748171,3.54076112132e-05,1793238231660969728
+247,4.116666667,POSE1_TO_POSE2_PRESS,766.737134771,747,715.737134771,681,667,635,882,788.262865229,805,653,633,654,0.449618145879,0.00448294497767,0.0498079184896,0.999999961796,2.39307753728e-05,-0.000273057004707,3.57019703708e-05,1793238231677636096
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.161965967,747,715.161965967,681,667,635,882,788.838034033,805,653,633,654,0.449617310297,0.00448225343327,0.0498073217999,0.999999961324,2.44550198288e-05,-0.000274702677887,3.59626209533e-05,1793238231694302720
+249,4.150000000,POSE1_TO_POSE2_PRESS,766.422109705,746.577890295,715,680.577890295,667,634.577890295,882.422109705,789,804.577890295,653,633,653.577890295,0.449617678995,0.0044824264094,0.0498076877854,0.999999961309,2.4924727723e-05,-0.000274737987548,3.57768266033e-05,1793238231710969600
+250,4.166666667,POSE1_TO_POSE2_PRESS,766.990455864,746.009544136,715,680.009544136,667,634,882.990455864,789,804.009544136,653,633,653.009544136,0.449618514059,0.0044829131135,0.0498084084236,0.999999961472,2.53397302407e-05,-0.000274152911343,3.54211127995e-05,1793238231727636224
+251,4.183333333,POSE1_TO_POSE2_PRESS,766.410933896,746.589066104,715,680.589066104,667,634,882.410933896,789,804.589066104,653,633,653.589066104,0.449619009675,0.00448189820745,0.0498077737947,0.999999961495,2.3764360893e-05,-0.000274215166453,3.53685761573e-05,1793238231744303872
+252,4.200000000,POSE1_TO_POSE2_PRESS,766.167716996,746.832283004,715.167716996,681,667,634,882.167716996,788.832283004,804.832283004,653,633,654,0.449618950188,0.00448136849579,0.0498070271003,0.999999961315,2.26120854555e-05,-0.000274974110623,3.53342641281e-05,1793238231760970752
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+256,4.266666667,POSE1_TO_POSE2_PRESS,766,746.49358394,715,681,666.49358394,634,882,788,804,653,633,654,0.449619280971,0.00448092636121,0.0498069788632,0.999999961048,2.24229388593e-05,-0.00027596771234,3.52519371552e-05,1793238231827636224
+257,4.283333333,POSE1_TO_POSE2_PRESS,766,747,715,681,667,634,882,788,804,653,633,654,0.449619847678,0.00448030637393,0.0498080620227,0.999999961273,2.34954340302e-05,-0.00027500989972,3.5648693366e-05,1793238231844302848
+258,4.300000000,POSE1_TO_POSE2_PRESS,766,747,715,681,667,634,882,788,804,653,633,654,0.449619850634,0.00448072523385,0.0498077560435,0.999999961133,2.30567432256e-05,-0.000275550206435,3.56985959754e-05,1793238231860969472
+259,4.316666667,HOLD_POSE2,767,746,715,680,667,634,882,789,804,653,633,654,0.449618337226,0.00448268189788,0.0498059515973,0.999999960548,2.6275335434e-05,-0.000277444827607,3.51764256782e-05,1793238231900249088
+260,4.333333333,HOLD_POSE2,766.409073566,746,715,680.590926434,667,634,882,789,804.590926434,653,633,654,0.449619429202,0.00448435901361,0.0498066117884,0.999999960882,2.60414568542e-05,-0.00027634937281,3.447295144e-05,1793238231916915712
+261,4.350000000,HOLD_POSE2,766.179258987,746,715.179258987,681,667,634,882,789,805,653,632.820741013,654,0.449620347816,0.00448517670233,0.0498073111271,0.999999961183,2.58523500904e-05,-0.000275312029244,3.41847678433e-05,1793238231933582592
+262,4.366666667,HOLD_POSE2,766.761756786,746,715.761756786,681,667,634,882,789,805,653,632.238243214,654,0.449620876452,0.00448406113086,0.0498080985274,0.999999961412,2.57639564119e-05,-0.000274405405294,3.48307704901e-05,1793238231950249216
+263,4.383333333,HOLD_POSE2,766.659899275,746,715.659899275,681,667,634,882,788.659899275,805,653,632,654,0.449621017232,0.00448346518796,0.0498079768835,0.999999961364,2.60440532349e-05,-0.000274511552077,3.51825589299e-05,1793238231966915584
+264,4.400000000,HOLD_POSE2,766.084430071,746,715.084430071,681,667,634,882,788.084430071,805,653,632,654,0.449620889593,0.0044832288568,0.0498072261306,0.999999961122,2.65791658355e-05,-0.000275318592179,3.53307348558e-05,1793238231983582208
+265,4.416666667,HOLD_POSE2,766.490965781,746.490965781,715,681,667,634,882.490965781,788.490965781,805,653.490965781,632.490965781,654,0.449618990724,0.00448366085842,0.0498052343355,0.999999960236,2.6265318266e-05,-0.000278609360942,3.48622195949e-05,1793238232000248832
+266,4.433333333,HOLD_POSE2,767,746.932118807,715,681,667.067881193,634,882.932118807,789,805,653.932118807,633,653.932118807,0.449617028203,0.00448409975673,0.0498033583126,0.999999959354,2.5721443492e-05,-0.00028186556256,3.43778949304e-05,1793238232016915456
+267,4.450000000,HOLD_POSE2,767,746.343448468,715,681,667.656551532,634,882.343448468,789,805,653.343448468,633,653.343448468,0.449616913849,0.00448370993717,0.049804007621,0.999999959457,2.45326883653e-05,-0.000281580157158,3.45857863596e-05,1793238232033582336
+268,4.466666667,HOLD_POSE2,767,746,715,681,667.758428131,634,882,789,804.758428131,653,633,653,0.449617945088,0.00448385653049,0.0498047596018,0.999999959778,2.41433722818e-05,-0.000280466543086,3.46247042723e-05,1793238232050248960
+269,4.483333333,HOLD_POSE2,767,746,715,681,667.178519898,634,882,789,804.178519898,653,633,653,0.449620580801,0.00448475440331,0.0498056553818,0.999999960402,2.487372019e-05,-0.000278192971498,3.44269642925e-05,1793238232066915840
+270,4.500000000,HOLD_POSE2,766.601173871,746.398826129,715,680.601173871,667,634,882,789,804,653,632.601173871,653.398826129,0.449621175589,0.00448497538992,0.0498061879533,0.999999960567,2.49458808456e-05,-0.000277605834449,3.43218952274e-05,1793238232083582464
+271,4.516666667,HOLD_POSE2,766.024967351,746.975032649,715,680.024967351,667,634,882,789,804,653,632.024967351,653.975032649,0.449620862662,0.00448489532728,0.0498065589856,0.99999996053,2.47253087072e-05,-0.000277768749409,3.42580421086e-05,1793238232100249088
+272,4.533333333,HOLD_POSE2,766.561304822,746.438695178,715,680.561304822,666.438695178,634,882,789,804.561304822,653,632,654,0.449620829427,0.00448422054181,0.0498063918701,0.99999996049,2.60530849349e-05,-0.000277786089622,3.43043700005e-05,1793238232116915712
+273,4.550000000,HOLD_POSE2,766.853826246,746,715,681,666,634,882,788.853826246,804.853826246,653,632.146173754,654,0.449620659616,0.00448373265502,0.0498060758634,0.999999960385,2.65937229062e-05,-0.000278103672973,3.43605158348e-05,1793238232133582336
+274,4.566666667,HOLD_POSE2,766.274466748,746,715,681,666,634,882,788.274466748,804.274466748,653,632.725533252,654,0.449620047517,0.00448387846944,0.0498053908516,0.999999960092,2.45938490909e-05,-0.000279330566444,3.44309679687e-05,1793238232150248960
+275,4.583333333,HOLD_POSE2,766,746,715.303056391,681,666.303056391,634,882,788,804,653,633,654,0.4496196513,0.00448356612041,0.0498053461686,0.999999960058,2.41741684312e-05,-0.000279476866633,3.45209269135e-05,1793238232166915584
+276,4.600000000,HOLD_POSE2,766,746,715.878926391,681,666.878926391,634,882,788,804,653,633,654,0.449619449422,0.00448284132924,0.0498058779143,0.99999996026,2.51769894821e-05,-0.000278650408669,3.46284460301e-05,1793238232183582208
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,682,667,635,882,788,805,654,633,654,0.449622844859,0.00448448900475,0.0498065471423,0.999999960779,2.8071414681e-05,-0.000276561422664,3.41628712081e-05,1793238232216201472
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766.591132418,746.591132418,715,680.817735164,666.408867582,634.408867582,882,788,805,653.408867582,632.408867582,654,0.449622480705,0.00448525468617,0.0498067248643,0.999999960795,2.80561288411e-05,-0.000276496895803,3.42253331756e-05,1793238232232867840
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766.820399164,746.820399164,715,680,666.179600836,634,882,788.179600836,804.820399164,653,632.179600836,654,0.449621767065,0.00448573732516,0.049806590534,0.999999960654,2.82605795072e-05,-0.000276981406864,3.42770765307e-05,1793238232249534464
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766.237906679,746.237906679,715,680,666.762093321,634,882,788.762093321,804.237906679,653,632.762093321,654,0.449620269437,0.00448558502609,0.0498057561893,0.999999960156,2.89579566231e-05,-0.00027869755357,3.43047752464e-05,1793238232266201088
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.340567591,746.340567591,715,680,667,634,882,788.659432409,804.340567591,653.340567591,633,653.659432409,0.449620458732,0.00448546010864,0.0498054825562,0.99999996018,2.80453896576e-05,-0.000278737123237,3.40363461027e-05,1793238232282867968
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.916267597,746.916267597,715,680,667,634,882,788.083732403,804.916267597,653.916267597,633,653.083732403,0.449621812702,0.00448535409583,0.049805596046,0.999999960562,2.60212957511e-05,-0.000277619161618,3.35634663274e-05,1793238232299534592
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766.509130933,746.509130933,715,680,667,634,882,788.490869067,805,653.509130933,632.509130933,653.490869067,0.44962037315,0.00448589235967,0.0498053119257,0.999999960222,2.78379075933e-05,-0.000278632077957,3.38551491114e-05,1793238232316201216
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,667,634,881.932987759,788.932987759,804.932987759,653,632.067012241,654,0.449618641461,0.00448635574619,0.0498049221176,0.999999959773,2.98991249427e-05,-0.00027998445396,3.41952131211e-05,1793238232332868096
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,667,634,881.343363062,788.343363062,804.343363062,653,632.656636938,654,0.449618339424,0.00448538000719,0.04980423584,0.999999959487,2.87700342208e-05,-0.000281155792129,3.38977551677e-05,1793238232349534720
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,667,634,881.242385062,788,804.242385062,653,633,654,0.449616720329,0.00448432570258,0.0498033305243,0.999999959212,2.68335203519e-05,-0.000282344995887,3.37375588573e-05,1793238232366201344
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,667,634,881.822728024,788,804.822728024,653,633,654,0.449613264858,0.00448316185388,0.0498021198038,0.999999958944,2.37712151219e-05,-0.000283559109566,3.37687467122e-05,1793238232382867968
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.397551591,667,634,882,788,805,653,632.602448409,654,0.449596188136,0.00448434571087,0.0497940408176,0.9999999549,2.51798384888e-05,-0.000297382026168,3.36288709565e-05,1793238232399534336
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.969947759,667,634,882,788,805,653,632.030052241,654,0.44957312074,0.00448656209692,0.0497829411442,0.999999948869,2.85547915727e-05,-0.00031675033828,3.34137608202e-05,1793238232416200960
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,715.559564786,681,667,634,881.440435214,788,805,653,632.559564786,654,0.449533324855,0.00448652057842,0.0497685197075,0.999999939407,2.92096907111e-05,-0.000345248397725,3.37061455018e-05,1793238232432867840
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,715.853642954,681,667,634,881.146357046,788,805,653,633,654,0.449487186661,0.00448683046837,0.0497527799509,0.999999928752,2.98266484874e-05,-0.000374789923663,3.37387031838e-05,1793238232449534464
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,715.27793655,681,667,634,881.72206345,788,805,653,633,654,0.449425162113,0.00448853827399,0.0497337127688,0.999999916604,3.07744598722e-05,-0.000405908461649,3.2926543409e-05,1793238232466201344
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746.298660493,715,681,667,634.298660493,882,788,805,653,633,654,0.449360829719,0.00448883546586,0.0497194875389,0.999999907465,3.18024382451e-05,-0.000427808032475,3.22301533455e-05,1793238232482867712
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746.876088819,715,681,667,634.876088819,882,788,805,653,633,654,0.449294343199,0.0044878159996,0.049709781758,0.999999901672,3.29052439417e-05,-0.000441102675483,3.16418220713e-05,1793238232499534336
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766.450853183,746.549146817,715,681,667,634.549146817,882,788,805,653,633,654,0.449218571319,0.0044888051712,0.0497050080813,0.99999989862,3.54789422523e-05,-0.000447787052734,3.14171336895e-05,1793238232516201216
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,715,681,667,634,882,788,804.974354437,653,633,653.974354437,0.449139676278,0.00449044379368,0.0497017100576,0.999999896347,3.8509523682e-05,-0.000452599868567,3.12500245997e-05,1793238232532867840
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746,715,681,667,634,882,788,804.382884935,653,633,653.382884935,0.449047847997,0.00449430297913,0.0497012381141,0.999999894678,4.27536247042e-05,-0.000455967837104,3.01611975174e-05,1793238232549534464
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.796102328,746,715.203897672,680.796102328,667,634.203897672,882,788,804.203897672,653,632.796102328,653.203897672,0.448944956848,0.00449662170642,0.0496989547061,0.999999892479,4.56609253613e-05,-0.00046054099988,2.93252975186e-05,1793238232566201088
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766.21792321,746,715.78207679,680.21792321,667,634.78207679,882,788,804.78207679,653,632.21792321,653.78207679,0.448821758334,0.00449611271631,0.0496933461131,0.999999889321,4.61143496963e-05,-0.000467326457504,2.89536791289e-05,1793238232582867712
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766.358793014,746,715.641206986,680.358793014,666.641206986,635,882.358793014,788.358793014,805,653,632.358793014,654,0.448685842159,0.00449714759685,0.0496899256522,0.999999887056,4.73933264362e-05,-0.000472066197692,2.81872876759e-05,1793238232599534336
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766.93462437,746,715.06537563,680.93462437,666.06537563,635,882.93462437,788.93462437,805,653,632.93462437,654,0.448542232902,0.00449911638384,0.0496878288189,0.999999885339,4.9171690106e-05,-0.000475568458691,2.71820930661e-05,1793238232616201216
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.493201012,746,715,681,666.506798988,635,882.493201012,789,804.493201012,653,632.493201012,653.493201012,0.448384501251,0.00450111610488,0.0496890713167,0.999999888038,5.35993549244e-05,-0.000469424766581,2.63038420397e-05,1793238232632868096
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,746.082070222,715,681,667,635,882,789,804.082070222,653,632,653,0.448220644012,0.00450289278072,0.0496907642862,0.999999890827,5.79341814325e-05,-0.000462969010452,2.54896723772e-05,1793238232649534720
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746.679738105,715,681,667,635,882,789,804.679738105,653,632,653,0.448029666286,0.00450324330932,0.0496926004543,0.999999891048,5.95541200328e-05,-0.00046231393086,2.49759473352e-05,1793238232666201088
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,746.732660899,715,680.732660899,667,635,881.732660899,789,805,653.267339101,632,653.267339101,0.447827163966,0.00450502489996,0.0496978264415,0.999999894039,6.40255262528e-05,-0.00045522113504,2.44150925642e-05,1793238232682867712
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,746.156682038,715,680.156682038,667,635,881.156682038,789,805,653.843317962,632,653.843317962,0.447611356654,0.0045084586344,0.0497069659339,0.999999900033,7.17889172454e-05,-0.000440696073645,2.37998271173e-05,1793238232699534336
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766.419860303,746,715,680.419860303,667,635,881,788.580139697,804.580139697,653.580139697,632.419860303,654,0.447378957005,0.004511547333,0.0497158527898,0.999999906358,7.66534099842e-05,-0.000425317688135,2.26451149251e-05,1793238232716200960
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766.996613192,746,715,680.996613192,667,635,881,788.003386808,804.003386808,653.003386808,632.996613192,654,0.447140357168,0.00451450709919,0.0497246452408,0.999999912644,8.04346478461e-05,-0.000409620434377,2.1288823327e-05,1793238232732867584
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746.827435692,715,681,668,636,882,788.172564308,804.827435692,653,632.827435692,654,0.446594828237,0.00452113182564,0.0497405070854,0.99999992199,9.57867923332e-05,-0.000382745255347,1.87281157113e-05,1793238232766201600
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746.24968186,715,681,668,636,882,788.75031814,804.24968186,653,632.24968186,654,0.4463076853,0.00452069149696,0.0497616236636,0.999999933844,9.90269454243e-05,-0.000349511583837,1.8638656787e-05,1793238232782868224
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.070985956,746,715,681,668,636,881.070985956,788.070985956,804,653,633,654,0.435323677702,0.00455012392513,0.0498280104878,0.999999959321,3.71838435018e-05,-0.000281495126958,-2.71126027956e-05,1793238233132867840
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.800591382,668,636,881,789,804.800591382,654,632.199408618,653.199408618,0.422488099922,0.00458761197022,0.0498271713163,0.999999955488,0.000126567790291,-0.000268151992038,-3.31630024612e-05,1793238233416201216
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.882505664,668,636.882505664,881,789,803.117494336,654,633,654,0.406063273706,0.00459168348585,0.0497867886723,0.999999917943,0.000122666137045,-0.000384319395056,-3.69589144447e-05,1793238233849534720
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.541963126,667.541963126,637,881,789,803.458036874,654,632.541963126,654,0.405655158326,0.00459380863534,0.0497830698325,0.999999915663,0.00012367257644,-0.000389875055884,-3.70936222519e-05,1793238233866201600
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881.034109592,788.965890408,804,654,632,654,0.40526546973,0.0045954040211,0.0497859658587,0.999999918192,0.000124053995507,-0.000383204113836,-3.71625659761e-05,1793238233882867968
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881.62479236,788.37520764,804,654,632,654,0.404935893455,0.00459466026671,0.0498022441501,0.999999930098,0.000120496446896,-0.000351991160399,-3.72429167203e-05,1793238233899534592
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.21075353,667,637,881.578492941,788.21075353,804,654.21075353,632.21075353,654,0.404612462736,0.00459509710933,0.0498216688412,0.999999941225,0.000121039448733,-0.000318629280675,-3.70812276012e-05,1793238233916201472
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.788492902,667,637,880.423014197,788.788492902,804,654.788492902,632.788492902,654,0.404299733332,0.00459758972961,0.0498465723672,0.999999951421,0.000128722753517,-0.000281525471687,-3.64980736477e-05,1793238233932868352
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,880,789,804,654.063358416,632.063358416,654,0.40371114046,0.00459760913549,0.0498660648658,0.999999958167,0.000133090167266,-0.000254362168258,-3.54100544762e-05,1793238233966201344
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.526687814,637,880,789,803.473312186,654,632,654,0.40343625462,0.00459690197867,0.0498578342882,0.999999954074,0.000133434373824,-0.00026980522327,-3.5402221588e-05,1793238233982867712
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.883752138,667.883752138,637,880.232495724,788.883752138,803.116247862,654,632,654,0.403167513547,0.00459528751714,0.0498476840602,0.999999948949,0.000132702776752,-0.000288509245922,-3.5414344082e-05,1793238233999534336
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.304440648,667.304440648,637,881.391118703,788.304440648,803.695559352,654,632,654,0.402915686157,0.00459013834325,0.049837104068,0.999999943619,0.000127986379954,-0.000308445378272,-3.52449067267e-05,1793238234016200960
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667.271983456,636.728016544,881.728016544,788.271983456,804,654,632,654,0.402679189992,0.00458273845722,0.0498293941508,0.999999939845,0.00011847580408,-0.000324135176935,-3.47934961837e-05,1793238234032867584
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.419034837,667.580965163,636.419034837,880.580965163,789,804,654,632,654,0.402274127151,0.00456797585679,0.0498233754518,0.999999938126,9.44401267958e-05,-0.000337179870683,-3.37508621509e-05,1793238234066201088
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.993081816,667.006918184,636.993081816,880.006918184,789,804,654,632,654,0.402101145785,0.00456496406324,0.0498230137032,0.999999939197,8.72985043033e-05,-0.000335934974459,-3.36512864863e-05,1793238234082867968
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767.584912615,746.584912615,715,680,667.584912615,636.415087385,880.584912615,789,804,654,632.584912615,654,0.401963841406,0.00456939438627,0.0498288636037,0.999999942307,9.67426780305e-05,-0.00032397311632,-3.26902041689e-05,1793238234099534848
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767.826532624,746.826532624,715,680,667.826532624,636.173467376,881,789,803.826532624,654,632.826532624,654,0.401832282236,0.00457237319449,0.0498345192038,0.999999945138,0.000103860414425,-0.000312928885671,-3.18281457034e-05,1793238234116201216
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767.246171252,746.246171252,715,680,667.246171252,636.753828748,881,789,803.246171252,654,632.246171252,654,0.401713178493,0.00457173430785,0.0498395413035,0.999999947683,0.000105046557577,-0.000304343742961,-3.12230137158e-05,1793238234132867840
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.330265505,637,881,789,803.330265505,654,632,654,0.401605603153,0.00457269856319,0.0498445838739,0.999999949903,0.000108809743473,-0.000295630572219,-3.09361900124e-05,1793238234149534464
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.90381137,637,881,789,803.90381137,654,632,654,0.40150651986,0.00457484372579,0.0498496415238,0.999999951838,0.000114471232143,-0.000286823092488,-3.08838386693e-05,1793238234166201088
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.522545627,636.522545627,881,789,804,654,632,654,0.401423881589,0.00457572463873,0.0498505538856,0.999999952657,0.000114260534608,-0.000284004303305,-3.11808071903e-05,1793238234182867968
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,715,680.053007164,667,636.053007164,881,789,804,654,632,654,0.401345725101,0.00457606529249,0.0498504047323,0.999999953165,0.000112556200901,-0.000282857554025,-3.1511418479e-05,1793238234199534848
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,715,680.647883183,667,636.647883183,881,789,804,654,632,654,0.401279509234,0.00457348730571,0.0498479429348,0.999999952676,0.000107679023717,-0.000286467404984,-3.14663916223e-05,1793238234216201472
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,715,680.764604074,667,636.764604074,881,789,804,654.235395926,632,654,0.401220846337,0.00457303730003,0.0498472166102,0.999999952602,0.00010625389963,-0.000287256976887,-3.14491645904e-05,1793238234232867840
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636.387295431,880.612704569,789,803.612704569,654.612704569,632,654,0.401135546167,0.00457608604913,0.0498518103616,0.999999954465,0.00011100872673,-0.000278826044367,-3.16870666583e-05,1793238234266201344
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636.961510459,880.038489541,789,803.038489541,654.038489541,632,654,0.401102835164,0.00457542464873,0.0498551015303,0.999999956112,0.00011101881592,-0.000272813771462,-3.19943973719e-05,1793238234282867712
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746.551502965,715,680,667.551502965,637,880.551502965,789,803.551502965,654,632.551502965,654,0.401078317524,0.00457561661169,0.0498549598653,0.999999956188,0.000113001955538,-0.000271732810442,-3.18801967574e-05,1793238234299534336
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746.860172836,715,679.860172836,668,637,881,789,804,654,632.860172836,654,0.401056639726,0.00457554428647,0.0498550684456,0.999999956476,0.000113770408643,-0.000270372579557,-3.16818594701e-05,1793238234316201216
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746.28065917,715,679.28065917,668,637,881,789,804,654,632.28065917,654,0.401042040784,0.00457444811632,0.0498567394627,0.99999995778,0.000110273530911,-0.000267020109632,-3.13141862247e-05,1793238234332867840
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,668,636.703987469,881,789,803.703987469,654,632,654,0.40102891596,0.00457348747379,0.0498572928329,0.999999958505,0.000107861140977,-0.000265296821328,-3.12169724949e-05,1793238234349534464
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,668,636.129984638,881,789,803.129984638,654,632,654,0.401017175501,0.00457265410737,0.0498567966024,0.9999999587,0.0001064672112,-0.000265103524243,-3.13737517607e-05,1793238234366201344
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.440461732,668,636.440461732,880.559538268,788.559538268,803.440461732,654,632,654.440461732,0.401009234028,0.00457234048961,0.0498560967339,0.999999958569,0.000106033768055,-0.000265762900734,-3.14620241122e-05,1793238234382867968
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,637,880.01034623,788.01034623,804,654,632,654.98965377,0.401002516523,0.00457221181623,0.0498553938104,0.999999958362,0.000105910720317,-0.000266579936988,-3.15323218381e-05,1793238234399534848
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,637,880.607411314,788.607411314,804,654,632,654.392588686,0.401002140672,0.00457394260925,0.049857898277,0.999999959355,0.000107444500547,-0.000262182225465,-3.17206024971e-05,1793238234416201216
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,637,881,789,804.198282675,654,632.198282675,654,0.40100211849,0.00457478140173,0.0498600673167,0.999999960166,0.000108480288089,-0.000258632279852,-3.17746208104e-05,1793238234432867840
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,637,881,789,804.777262235,654,632.777262235,654,0.401002775341,0.00457390757942,0.0498615923467,0.999999960659,0.000108559944275,-0.000256710020049,-3.15708593707e-05,1793238234449534464
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746.353559296,715,680,668,637,881,789,804.646440704,654.353559296,633,654,0.401001688114,0.0045733245869,0.0498618130022,0.999999960839,0.000108666958855,-0.000256006268142,-3.11997726682e-05,1793238234466201088
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746.92817912,715,680,668,637,881,789,804.07182088,654.92817912,633,654,0.400999510415,0.00457292343375,0.0498612181064,0.999999960826,0.00010879107908,-0.000256064380029,-3.07240669986e-05,1793238234482867712
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746.485136085,715,679.485136085,667.485136085,637,880.485136085,789,804,654.485136085,632.485136085,654,0.400997925027,0.00457285783067,0.0498609648608,0.999999960856,0.000106796755866,-0.000256796396623,-3.06177744926e-05,1793238234499534336
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.681057002,667.681057002,637,880.681057002,789,803.318942998,654.681057002,632,654,0.400997716695,0.00457422481914,0.0498610841285,0.99999996122,0.000106713335008,-0.000255358776552,-3.10599254642e-05,1793238234532868096
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.742289944,637,881,789,803.257710056,655,632,654,0.400998203088,0.00457427247911,0.0498614656277,0.999999961417,0.000107577058322,-0.000254205049716,-3.12035277769e-05,1793238234549534720
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.168965446,637,881,789,803.831034554,655,632,654,0.400998213065,0.00457293915167,0.0498620144739,0.999999961509,0.000107612467774,-0.00025384760523,-3.10163732504e-05,1793238234566201344
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.596053576,667.403946424,637,880.596053576,789,803.596053576,654.596053576,632,654,0.400998720593,0.00457309418078,0.0498625606506,0.999999961755,0.000106569092359,-0.000253310562963,-3.11049975696e-05,1793238234582867968
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.023314161,667.976685839,637,880.023314161,789,803.023314161,654.023314161,632,654,0.400999436027,0.00457387113442,0.0498631057116,0.999999962061,0.000105074936063,-0.000252698474015,-3.13088588058e-05,1793238234599534336
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746.571862756,715,679,668,637,880.571862756,789,803.571862756,654.571862756,632,654,0.40099844626,0.00457284639117,0.0498632617152,0.999999962286,0.000103734171481,-0.000252386444301,-3.11240957775e-05,1793238234616200960
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767.163150532,746.836849468,715,679.163150532,668,637,881,789,804,654.836849468,632.163150532,654,0.400998202146,0.00457241219355,0.049863563653,0.999999962516,0.000103332464236,-0.000251650952435,-3.10114290263e-05,1793238234632867840
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767.742100065,746.257899935,715,679.742100065,668,637,881,789,804,654.257899935,632.742100065,654,0.401000042782,0.00457367788162,0.0498642795877,0.99999996277,0.00010530741296,-0.000249803791793,-3.11245317484e-05,1793238234649534464
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767.680819078,746,715,679.680819078,667.680819078,637,881,789,804,654,633,654,0.400999830889,0.0045742046819,0.0498641556583,0.999999962619,0.000106658821788,-0.000249818872544,-3.12448022461e-05,1793238234666201088
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767.105239362,746,715,679.105239362,667.105239362,637,881,789,804,654,633,654,0.400997970194,0.00457413793182,0.049863357064,0.999999962145,0.000107509339439,-0.000251329896329,-3.13708306296e-05,1793238234682867968
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+428,7.133333333,POSE2_TO_POSE3_RETREAT,767.352709573,747,715,680,667.352709573,637,881,789,804,654.352709573,632,654,0.40099724261,0.00457352536545,0.0498633157203,0.999999962163,0.000106142294597,-0.000251882925738,-3.10147961021e-05,1793238234732867584
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+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,747,715,680,667,637,881,789,804,654,632.801121942,654,0.400997910123,0.00457269285258,0.0498636191212,0.999999962553,0.000103901584655,-0.000251291113446,-3.08319754554e-05,1793238234766201088
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a71980783a9c12d903e2ee38d6bbee8f720e1f0f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,435 @@
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+355,5.916666667,pose2_to_pose3_retreat,0.59398356112,0.0100013404317,1.04001163911,0.564554819278,0.0186749984777,1.03966117002
+356,5.933333333,pose2_to_pose3_retreat,0.593314939764,0.0100012246548,1.04001153301,0.563886201327,0.0186748874035,1.03966106641
+357,5.950000000,pose2_to_pose3_retreat,0.592658374426,0.0100011649422,1.04001143818,0.563229639011,0.018674831775,1.0396609749
+358,5.966666667,pose2_to_pose3_retreat,0.592009356874,0.0100012666099,1.04001142127,0.562580620441,0.0186749245451,1.03966096229
+359,5.983333333,pose2_to_pose3_retreat,0.591362835861,0.0100011677749,1.04001181377,0.561934101414,0.0186748276903,1.03966134752
+360,6.000000000,pose2_to_pose3_retreat,0.590721598446,0.010001159627,1.0400117367,0.561292865815,0.0186748222821,1.03966126644
+361,6.016666667,pose2_to_pose3_retreat,0.590089613355,0.0100012521542,1.04001168203,0.56066088049,0.0186749114062,1.03966121124
+362,6.033333333,pose2_to_pose3_retreat,0.589478847294,0.0100013743877,1.04001178842,0.560050113005,0.018675026587,1.03966131946
+363,6.050000000,pose2_to_pose3_retreat,0.588889640424,0.0100014153122,1.04001168956,0.559460906837,0.0186750678681,1.03966122375
+364,6.066666667,pose2_to_pose3_retreat,0.588315531507,0.0100012862815,1.0400118052,0.558886800057,0.0186749439549,1.03966133615
+365,6.083333333,pose2_to_pose3_retreat,0.587752241351,0.0100011695776,1.04001191498,0.558323512332,0.0186748331834,1.03966144179
+366,6.100000000,pose2_to_pose3_retreat,0.587199227334,0.01000112947,1.04001183244,0.557770499641,0.0186747956551,1.03966136366
+367,6.116666667,pose2_to_pose3_retreat,0.586659591725,0.0100011535735,1.04001163175,0.55723086413,0.0186748185049,1.03966117104
+368,6.133333333,pose2_to_pose3_retreat,0.586137222354,0.0100011776872,1.04001154985,0.556708494377,0.0186748395125,1.03966108743
+369,6.150000000,pose2_to_pose3_retreat,0.58564303409,0.010001192388,1.04001158413,0.556214304875,0.0186748474421,1.03966111198
+370,6.166666667,pose2_to_pose3_retreat,0.585172040424,0.0100013289747,1.04001157669,0.555743310752,0.0186749810792,1.0396611069
+371,6.183333333,pose2_to_pose3_retreat,0.584714971205,0.0100013360811,1.04001167193,0.555286241876,0.0186749880399,1.03966120449
+372,6.200000000,pose2_to_pose3_retreat,0.584265107664,0.0100012577161,1.04001177632,0.554836379055,0.0186749106236,1.03966130824
+373,6.216666667,pose2_to_pose3_retreat,0.583820928405,0.010001257822,1.04001170649,0.55439220037,0.0186749111138,1.03966123682
+374,6.233333333,pose2_to_pose3_retreat,0.583388607092,0.0100011557543,1.04001175789,0.553959881318,0.0186748157182,1.03966129999
+375,6.250000000,pose2_to_pose3_retreat,0.58297249863,0.0100011964244,1.04001169387,0.553543773162,0.0186748558743,1.03966123252
+376,6.266666667,pose2_to_pose3_retreat,0.582587348253,0.0100012438364,1.04001154955,0.553158621021,0.0186748957414,1.0396610812
+377,6.283333333,pose2_to_pose3_retreat,0.582231252321,0.0100013217926,1.04001153884,0.552802525075,0.0186749724833,1.03966107315
+378,6.300000000,pose2_to_pose3_retreat,0.581903615906,0.0100013938654,1.04001164979,0.552474890444,0.0186750497115,1.0396611905
+379,6.316666667,pose2_to_pose3_retreat,0.581596529784,0.0100013599375,1.04001169745,0.552167804973,0.0186750168037,1.03966122765
+380,6.333333333,pose2_to_pose3_retreat,0.581308011496,0.0100013125795,1.04001179524,0.551879286014,0.0186749662117,1.039661323
+381,6.350000000,pose2_to_pose3_retreat,0.581029645597,0.0100012617081,1.04001175729,0.551600920709,0.018674916575,1.03966128726
+382,6.366666667,pose2_to_pose3_retreat,0.580761510334,0.010001278256,1.04001166521,0.551332786094,0.0186749347437,1.03966120254
+383,6.383333333,pose2_to_pose3_retreat,0.580504822026,0.0100013785534,1.0400116503,0.551076097463,0.018675033465,1.03966119736
+384,6.400000000,pose2_to_pose3_retreat,0.580259670796,0.0100012919026,1.04001187423,0.550830947001,0.0186749484263,1.03966141678
+385,6.416666667,pose2_to_pose3_retreat,0.580027805439,0.0100010854953,1.04001172843,0.550599083634,0.0186747475348,1.03966125909
+386,6.433333333,pose2_to_pose3_retreat,0.579812649464,0.0100012865335,1.04001176102,0.550383924797,0.0186749381923,1.03966129219
+387,6.450000000,pose2_to_pose3_retreat,0.579615248141,0.0100013613998,1.04001174297,0.550186523197,0.018675011535,1.0396612753
+388,6.466666667,pose2_to_pose3_retreat,0.579439182709,0.0100013204063,1.04001169988,0.550010458546,0.0186749725645,1.03966123037
+389,6.483333333,pose2_to_pose3_retreat,0.579282732577,0.0100013142674,1.0400117013,0.549854007992,0.0186749644377,1.03966122997
+390,6.500000000,pose2_to_pose3_retreat,0.579144917817,0.0100013023876,1.04001169522,0.549716194018,0.0186749549391,1.03966122662
+391,6.516666667,pose2_to_pose3_retreat,0.579021641473,0.0100012157015,1.04001174712,0.549592919441,0.018674873403,1.03966126683
+392,6.533333333,pose2_to_pose3_retreat,0.578912066861,0.0100012508489,1.0400117165,0.549483345154,0.0186749097201,1.03966124241
+393,6.550000000,pose2_to_pose3_retreat,0.578812714648,0.0100013453092,1.04001168387,0.549383991842,0.0186750004828,1.03966121652
+394,6.566666667,pose2_to_pose3_retreat,0.578723368571,0.01000141248,1.04001172178,0.549294643932,0.0186750609084,1.039661251
+395,6.583333333,pose2_to_pose3_retreat,0.578643769313,0.0100012133295,1.04001192037,0.549215045893,0.0186748657583,1.03966144777
+396,6.600000000,pose2_to_pose3_retreat,0.578573404968,0.0100011488703,1.04001159305,0.549144682202,0.0186748029245,1.03966112502
+397,6.616666667,pose2_to_pose3_retreat,0.578512578572,0.0100011562621,1.04001157911,0.549083855244,0.0186748077884,1.03966110858
+398,6.633333333,pose2_to_pose3_retreat,0.578460097063,0.0100011701868,1.04001163177,0.549031373538,0.0186748209414,1.03966116025
+399,6.650000000,pose2_to_pose3_retreat,0.578416020338,0.0100011533808,1.04001143257,0.548987298193,0.0186748094756,1.03966096985
+400,6.666666667,pose2_to_pose3_retreat,0.578379738616,0.0100012061473,1.04001150649,0.548951016718,0.0186748632109,1.03966104646
+401,6.683333333,pose2_to_pose3_retreat,0.5783502589,0.0100012432482,1.04001152619,0.548921537003,0.0186749003817,1.03966106715
+402,6.700000000,pose2_to_pose3_retreat,0.578326888961,0.0100012550921,1.04001148535,0.548898167085,0.0186749121416,1.03966102625
+403,6.716666667,pose2_to_pose3_retreat,0.578308046483,0.0100012466602,1.0400114231,0.548879324688,0.0186749036061,1.03966096248
+404,6.733333333,pose2_to_pose3_retreat,0.578293139223,0.0100012452337,1.04001176303,0.548864417285,0.0186749010261,1.0396612877
+405,6.750000000,pose2_to_pose3_retreat,0.57828116687,0.0100012380592,1.04001171736,0.548852444443,0.0186748923752,1.0396612429
+406,6.766666667,pose2_to_pose3_retreat,0.578271884794,0.0100012392204,1.04001156412,0.548843162026,0.0186748928047,1.03966109587
+407,6.783333333,pose2_to_pose3_retreat,0.578265232498,0.010001265519,1.04001155486,0.548836510076,0.0186749203743,1.0396610893
+408,6.800000000,pose2_to_pose3_retreat,0.578260900698,0.0100012813065,1.04001154295,0.548832177933,0.0186749351189,1.03966108076
+409,6.816666667,pose2_to_pose3_retreat,0.578258597,0.0100012894582,1.04001153555,0.548829873949,0.0186749423743,1.03966107543
+410,6.833333333,pose2_to_pose3_retreat,0.578257428402,0.0100012838261,1.0400115617,0.548828705731,0.0186749379652,1.03966110021
+411,6.850000000,pose2_to_pose3_retreat,0.578256977112,0.0100012779238,1.04001158321,0.548828254788,0.0186749331754,1.03966112027
+412,6.866666667,pose2_to_pose3_retreat,0.578256344241,0.0100012696466,1.04001161338,0.548827622404,0.0186749264585,1.0396611484
+413,6.883333333,pose2_to_pose3_retreat,0.578255552005,0.0100012592851,1.04001165114,0.548826830778,0.0186749180501,1.03966118361
+414,6.900000000,pose2_to_pose3_retreat,0.578254792579,0.0100012493528,1.04001168734,0.548826071936,0.01867490999,1.03966121736
+415,6.916666667,pose2_to_pose3_retreat,0.578254309422,0.0100012562535,1.04001165983,0.548825588707,0.0186749166857,1.03966119094
+416,6.933333333,pose2_to_pose3_retreat,0.57825414496,0.0100012641095,1.04001162941,0.548825424035,0.0186749238903,1.03966116199
+417,6.950000000,pose2_to_pose3_retreat,0.578254044108,0.0100012689269,1.04001161075,0.548825323054,0.0186749283083,1.03966114424
+418,6.966666667,pose2_to_pose3_retreat,0.578253715179,0.0100012846391,1.04001154992,0.548824993707,0.0186749427176,1.03966108635
+419,6.983333333,pose2_to_pose3_retreat,0.578253622694,0.0100012890569,1.04001153281,0.548824901103,0.0186749467691,1.03966107007
+420,7.000000000,pose2_to_pose3_retreat,0.578253622575,0.0100012890626,1.04001153279,0.548824900984,0.0186749467744,1.03966107005
+421,7.016666667,pose2_to_pose3_retreat,0.578253390625,0.0100013001422,1.04001148989,0.548824668739,0.0186749569353,1.03966102923
+422,7.033333333,pose2_to_pose3_retreat,0.578253249876,0.0100013068655,1.04001146386,0.54882452781,0.0186749631011,1.03966100446
+423,7.050000000,pose2_to_pose3_retreat,0.578253064055,0.0100013157417,1.04001142949,0.548824341753,0.0186749712414,1.03966097175
+424,7.066666667,pose2_to_pose3_retreat,0.578252953014,0.0100013210459,1.04001140895,0.54882423057,0.0186749761057,1.03966095221
+425,7.083333333,pose2_to_pose3_retreat,0.578252869648,0.0100013251938,1.04001140649,0.548824147069,0.0186749798098,1.03966095015
+426,7.100000000,pose2_to_pose3_retreat,0.578252622385,0.0100013391271,1.04001152675,0.548823899115,0.0186749913086,1.03966106809
+427,7.116666667,pose2_to_pose3_retreat,0.578252401294,0.0100013515857,1.04001163427,0.548823677406,0.0186750015903,1.03966117356
+428,7.133333333,pose2_to_pose3_retreat,0.57825239599,0.0100013518846,1.04001163685,0.548823672086,0.0186750018369,1.03966117609
+429,7.150000000,pose2_to_pose3_retreat,0.578252365054,0.0100013536279,1.04001165189,0.548823641064,0.0186750032756,1.03966119084
+430,7.166666667,pose2_to_pose3_retreat,0.578252351715,0.0100013543795,1.04001165838,0.548823627688,0.0186750038959,1.03966119721
+431,7.183333333,pose2_to_pose3_retreat,0.578252270634,0.0100012799995,1.04001163575,0.548823546916,0.0186749303224,1.03966116864
+432,7.200000000,pose2_to_pose3_retreat,0.578252205837,0.0100011919766,1.04001159518,0.548823482563,0.0186748435339,1.03966112146
+433,7.216666667,pose2_to_pose3_retreat,0.578252116546,0.0100012593952,1.04001168434,0.548823393045,0.0186749104348,1.03966121694
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb9885d926ed8005a758fcb0b709afb08c08e17d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0acbf8f218a0e22b71a15516e1cd62cf4efce5233f6842571257e152bb7290ab
+size 27670676
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..595c2d9f127257b8d6ea1cf83e76830dfdeb119f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_02/franka_data.csv
@@ -0,0 +1,437 @@
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+18,0.300000000,BASELINE,767,746,715,679,668,637,881,789,803.552354211,654,632,654,0.400997430538,0.00457207512411,0.0498657117536,0.999999963837,0.000102639856125,-0.000246672600307,-3.07032844423e-05,1793238235272977152
+19,0.316666667,BASELINE,767,746.023237019,715,679.023237019,668,637,881.023237019,789,803.023237019,654,632,654,0.400998528825,0.00456923254945,0.0498665596926,0.99999996413,0.0001026726268,-0.000245556313548,-3.00180175702e-05,1793238235289644032
+20,0.333333333,BASELINE,767,746.599197109,715,679.599197109,668,637,881.599197109,789,803.599197109,654,632,654,0.400997060271,0.00457170444272,0.049865897068,0.999999963517,0.000105454854308,-0.000246825154987,-3.03614554799e-05,1793238235306310656
+21,0.350000000,BASELINE,767,746.820140735,715,680,668,637,881.820140735,789,803.820140735,654,632,654,0.400996399535,0.00457302713878,0.0498654336351,0.999999963241,0.00010662699532,-0.000247419568455,-3.05264277611e-05,1793238235322977280
+22,0.366666667,BASELINE,767,746.228719177,715,680,668,637,881.228719177,789,803.228719177,654,632,654,0.400997587283,0.00457172018822,0.0498654260021,0.999999963748,0.000104114861517,-0.000246470724458,-3.02830266842e-05,1793238235339643904
+23,0.383333333,BASELINE,767,746,715,679.645067439,668.354932561,637,881,789,803.354932561,654,632,654,0.400998431402,0.00457147182134,0.0498659746247,0.999999964037,0.000103759884779,-0.000245446451203,-3.02759072335e-05,1793238235356310528
+24,0.400000000,BASELINE,767,746,715,679.066315274,668.933684726,637,881,789,803.933684726,654,632,654,0.40099905883,0.00457189099462,0.0498668740207,0.99999996419,0.000104765205767,-0.00024437461235,-3.04177863749e-05,1793238235372977152
+25,0.416666667,BASELINE,767.507963581,746,715,679,668.492036419,637,881,789,804,654,632,654,0.400999522699,0.00457168423464,0.0498672822427,0.999999964195,0.000104975225793,-0.000244233258185,-3.06486255675e-05,1793238235389644032
+26,0.433333333,BASELINE,767.918274214,746,715,679,668,637,881,789,804,654,632,654,0.400999831126,0.00457139090983,0.0498675170298,0.999999964205,0.000104840506449,-0.000244228414448,-3.08388079903e-05,1793238235406310912
+27,0.450000000,BASELINE,767.344136706,746,715,679,668,637,881,789,804,654,632,654,0.400999330521,0.00457106407408,0.0498670898237,0.999999964352,0.000103248791431,-0.000244320545342,-3.07146620443e-05,1793238235422977536
+28,0.466666667,BASELINE,767,746.237551563,715,679.237551563,668,637,881,789,803.762448437,654,632,654.237551563,0.400998677556,0.00457023590144,0.0498665515713,0.999999964438,0.000101379636509,-0.000244790974072,-3.03952090136e-05,1793238235439643904
+29,0.483333333,BASELINE,767,746.830537558,715,679.830537558,668,637,881,789,803.169462442,654,632,654.830537558,0.400997796626,0.00456865760793,0.049865847167,0.999999964431,9.90953646716e-05,-0.000245827427597,-2.97835294864e-05,1793238235456310528
+30,0.500000000,BASELINE,767,746.586233575,715,680.413766425,668.413766425,637,880.586233575,789,803,654,632,654.586233575,0.400997786295,0.00456970299324,0.0498658228276,0.999999964308,0.000100223543956,-0.000245841752359,-3.00304666084e-05,1793238235472977152
+31,0.516666667,BASELINE,767,746.006908795,715,680.993091205,668.993091205,637,880.006908795,789,803,654,632,654.006908795,0.400998124314,0.00457179817848,0.0498660705993,0.999999964134,0.000102717130827,-0.000245447097667,-3.06209578645e-05,1793238235489643776
+32,0.533333333,BASELINE,767,746,715,679.871423433,668.435711716,637,880.564288284,789,803.564288284,654,632,654,0.400998284734,0.00457251011373,0.0498663085381,0.999999963906,0.000105274070532,-0.000245282662325,-3.06924671231e-05,1793238235506310400
+33,0.550000000,BASELINE,767,746,715,679.140510569,668,637,880.859489431,789,804,654,632,654,0.400998666701,0.00457259779905,0.0498665569711,0.99999996389,0.00010645559711,-0.000244833661941,-3.07205480421e-05,1793238235522977024
+34,0.566666667,BASELINE,767,746,715,679.733220872,668,637,880.266779128,789,804,654,632,654,0.400999768564,0.00457073021425,0.0498668395588,0.999999964569,0.00010320822346,-0.000243459914521,-3.0629023979e-05,1793238235539643648
+35,0.583333333,BASELINE,767.318325007,746.318325007,715,680,668,637,880,789,803.681674993,654,632.318325007,654,0.401000096388,0.00457016774809,0.049867049891,0.999999964798,0.000101958367564,-0.000243071344112,-3.0424341049e-05,1793238235556310528
+36,0.600000000,BASELINE,767.897203451,746.897203451,715,680,668,637,880,789,803.102796549,654,632.897203451,654,0.40099979065,0.00457067353946,0.0498672010813,0.999999964666,0.000102343507326,-0.000243489154614,-3.01270360056e-05,1793238235572977152
+37,0.616666667,BASELINE,767.52720344,746.52720344,715,680,667.52720344,637,880.47279656,789,803.47279656,654,632.52720344,654,0.400999818081,0.00457149614676,0.0498672672866,0.99999996452,0.000103709928357,-0.000243506509323,-3.01490892997e-05,1793238235589643776
+38,0.633333333,BASELINE,767,746,715,679.952439492,667.047560508,637,881,789,803.952439492,654,632.047560508,654,0.400999960569,0.00457243413562,0.0498673346415,0.999999964396,0.000105259853825,-0.000243336893797,-3.02675214442e-05,1793238235606310656
+39,0.650000000,BASELINE,767,746,715,679.378999597,667.621000403,637,881,789,803.378999597,654,632.621000403,654,0.401000579812,0.00457389151996,0.0498676176053,0.999999964563,0.00010649602791,-0.000242056010259,-3.06891643758e-05,1793238235622977024
+40,0.666666667,BASELINE,767,746,715,679,668,636.799312341,881,789,803.200687659,654,632.799312341,654,0.401000384132,0.00457355580471,0.0498675137031,0.999999964646,0.000105851951338,-0.000241992349803,-3.070912519e-05,1793238235639643648
+41,0.683333333,BASELINE,767,746,715,679,668,636.207447876,881,789,803.792552124,654,632.207447876,654,0.40099860002,0.00456972501161,0.0498666557286,0.999999964555,0.00010154292364,-0.000244301278948,-2.99461343578e-05,1793238235656310784
+42,0.700000000,BASELINE,767,746.376486013,715,679,668,636.376486013,881,789,804,654,632,654,0.400997655373,0.00456943775747,0.04986665794,0.999999964249,0.000102093097565,-0.000245329611077,-2.98624162232e-05,1793238235672977664
+43,0.716666667,BASELINE,767,746.9561402,715,679,668,636.9561402,881,789,804,654,632,654,0.400997163738,0.0045710627507,0.0498671243451,0.999999963829,0.00010526550748,-0.000245666877464,-3.01452631088e-05,1793238235689644288
+44,0.733333333,BASELINE,767,746.468392663,715,679.531607337,667.468392663,637,880.468392663,789,804,654,632,654,0.400997311791,0.0045706209675,0.0498676409307,0.999999964264,0.000104605640246,-0.000244184385309,-3.00500861383e-05,1793238235706311168
+45,0.750000000,BASELINE,767,746,715,680,667.109080682,637,880,789,804,654,632,654,0.400997678674,0.00457017038804,0.049868016482,0.999999964673,0.000103721374992,-0.000242894042129,-2.99851862948e-05,1793238235722977536
+46,0.766666667,BASELINE,767,746,715,680,667.696862276,637,880,789,804,654,632,654,0.400998776098,0.00457042367544,0.0498677550762,0.999999964667,0.000103229046509,-0.00024310067616,-3.01889591076e-05,1793238235739643904
+47,0.783333333,BASELINE,767,746,715.280797232,680,668,636.719202768,880.280797232,789,804,654.280797232,632,654,0.400999296713,0.00457036910412,0.0498675280362,0.999999964793,0.000101987536722,-0.000243096412464,-3.02623206126e-05,1793238235756310528
+48,0.800000000,BASELINE,767,746,715.8606357,680,668,636.1393643,880.8606357,789,804,654.8606357,632,654,0.400999203042,0.00456998667187,0.0498673375948,0.999999965057,9.99481696477e-05,-0.000242867548586,-3.01967977309e-05,1793238235772977152
+49,0.816666667,BASELINE,767.438525493,746,715.561474507,680,668,636.438525493,880.561474507,789,804,654.561474507,632,654,0.400998807665,0.00457072629392,0.0498665291565,0.999999964791,0.0001008445074,-0.000243579974802,-3.02729738216e-05,1793238235789643776
+50,0.833333333,BASELINE,767.984277543,746,715,679.984277543,668,637,880,789,804,654,632.015722457,654,0.400998341079,0.00457181272241,0.0498655835925,0.999999964365,0.000102659912326,-0.000244552678929,-3.03982483189e-05,1793238235806310400
+51,0.850000000,BASELINE,767.409790086,746,715,679.409790086,668,637,880,789,804,654,632.590209914,654,0.400998736321,0.00457260747676,0.0498667137364,0.999999964294,0.000104127806416,-0.000244191148407,-3.06751126244e-05,1793238235822977280
+52,0.866666667,BASELINE,767,746,715,679.168564062,667.831435938,637,880.168564062,788.831435938,804,654,632.831435938,654,0.400998795655,0.00457243188508,0.0498673180099,0.99999996429,0.000104376251808,-0.000244096618242,-3.06961970238e-05,1793238235839643904
+53,0.883333333,BASELINE,767,746,715,679.756539046,667.243460954,637,880.756539046,788.243460954,804,654,632.243460954,654,0.400998019206,0.00456984193693,0.0498666138446,0.999999964456,0.000101590538484,-0.000244666422267,-3.00808652865e-05,1793238235856310528
+54,0.900000000,BASELINE,767,746,715,680,667,637,881,788.339672354,804,654.339672354,632.339672354,654,0.400998269812,0.00457045379094,0.0498667773929,0.999999964447,0.000102616785348,-0.000244271169968,-3.01131761206e-05,1793238235872977152
+55,0.916666667,BASELINE,767,746,715,680,667,637,881,788.919384124,804,654.919384124,632.919384124,654,0.400999246219,0.00457332829231,0.0498675541364,0.999999964306,0.000106336865623,-0.000243193932331,-3.0603162569e-05,1793238235889643776
+56,0.933333333,BASELINE,767,746.495649182,715,679.504350818,667.495649182,637,881,789,804,654.504350818,633,654,0.400997876164,0.0045735374645,0.0498672520241,0.999999964202,0.000104736614813,-0.000244314373007,-3.06027918333e-05,1793238235906310400
+57,0.950000000,BASELINE,767.072806846,746.927193154,714.927193154,679,668,637,880.927193154,789,803.927193154,654,633,654,0.400996332591,0.00457322053001,0.0498667185954,0.999999964075,0.00010270136445,-0.000245706578114,-3.05222300164e-05,1793238235922977024
+58,0.966666667,BASELINE,767.660208015,746.339791985,714.339791985,679,668,637,880.339791985,789,803.339791985,654,633,654,0.400996241415,0.00457222795364,0.0498657819031,0.99999996378,0.000103665470435,-0.000246510638332,-3.04346942026e-05,1793238235939643904
+59,0.983333333,BASELINE,767.755625543,746.244374457,714.244374457,679.244374457,668,637,880.244374457,789,803.244374457,654,632.755625543,654,0.400996687629,0.00457139227514,0.0498657032918,0.999999963913,0.000102818914262,-0.000246332002025,-3.03776047462e-05,1793238235956310528
+60,1.000000000,BASELINE,767.175898004,746.824101996,714.824101996,679.824101996,668,637,880.824101996,789,803.824101996,654,632.175898004,654,0.400997871296,0.00457077190618,0.0498668022179,0.999999964625,9.94876012732e-05,-0.00024480481938,-3.03622965655e-05,1793238235972977408
+61,1.016666667,BASELINE,767,746.597843961,715,679.597843961,668,636.597843961,880.597843961,789,804,654,632.402156039,654,0.400999114672,0.00457115530424,0.0498677172544,0.999999964885,0.000101482270465,-0.000242930623547,-3.02581018135e-05,1793238235989644032
+62,1.033333333,BASELINE,767,746.020518885,715,679.020518885,668,636.020518885,880.020518885,789,804,654,632.979481115,654,0.401000384056,0.00457197591798,0.0498685521933,0.999999964932,0.000105796803492,-0.000240905277599,-3.01151903112e-05,1793238236006310912
+63,1.050000000,BASELINE,766.445057456,746,715,679.554942544,668,636.554942544,880.554942544,789,804,654,632.445057456,654,0.400999511266,0.00457269212509,0.0498682608779,0.999999964733,0.000104560859582,-0.000242224807833,-3.04746499648e-05,1793238236022977536
+64,1.066666667,BASELINE,766.133769512,746,715,679.866230488,667.866230488,636.866230488,881,789,804,654,632,654,0.40099865041,0.00457270691836,0.0498677899591,0.999999964573,0.000102922780245,-0.000243559413213,-3.06681168857e-05,1793238236039644160
+65,1.083333333,BASELINE,766.72432331,746,715,679.27567669,667.27567669,636.27567669,881,789,804,654,632,654,0.400998099869,0.00457033972376,0.0498668474697,0.999999964586,0.00010060997241,-0.000244524591122,-3.02315502943e-05,1793238236056310528
+66,1.100000000,BASELINE,767,746,715,679.308335755,667.308335755,636.308335755,881,789,804,654,632.308335755,654,0.400997755927,0.00457040499624,0.0498666979149,0.999999964486,0.000100776634545,-0.000244869644023,-3.01705417363e-05,1793238236072976896
+67,1.116666667,BASELINE,767,746,715,679.886621177,667.886621177,636.886621177,881,789,804,654,632.886621177,654,0.400997592862,0.00457259990728,0.0498672425788,0.999999964288,0.00010311408654,-0.000244671773985,-3.04383363465e-05,1793238236089643520
+68,1.133333333,BASELINE,767,746,715,679.538354016,668,637,881,789,804,654,632.538354016,654,0.400999039298,0.00457200988692,0.0498680697143,0.999999964768,0.000103393780972,-0.000242602119395,-3.02952217028e-05,1793238236106310656
+69,1.150000000,BASELINE,766.963358191,746,715,679.036641809,668,637,881,788.963358191,803.963358191,654,632,654,0.401000694045,0.00457075854913,0.0498688347182,0.999999965357,0.000103098363261,-0.000240316919751,-3.00718881534e-05,1793238236122977280
+70,1.166666667,BASELINE,766.376865342,746,715,679.623134658,668,637,881,788.376865342,803.376865342,654,632,654,0.400999584593,0.00456977516312,0.0498676336334,0.999999965177,0.000101703332088,-0.000241647224773,-3.01485472327e-05,1793238236139644160
+71,1.183333333,BASELINE,766.207136471,746,715,680,667.792863529,637,881,788,803.207136471,654,632,654,0.400999448048,0.00456941322761,0.0498671207399,0.999999965149,0.000100816837555,-0.000242131008135,-3.0161788742e-05,1793238236156310784
+72,1.200000000,BASELINE,766.786660031,746,715,680,667.213339969,637,881,788,803.786660031,654,632,654,0.401001060583,0.00457016852709,0.0498678450672,0.9999999654,0.000100844582942,-0.000241092926762,-3.00610190318e-05,1793238236172977152
+73,1.216666667,BASELINE,767,746.366625491,715,679.633374509,667.366625491,637,880.633374509,788.366625491,804,654,632,654,0.401001033895,0.00457057235477,0.0498682560254,0.999999965329,0.000101374731379,-0.000241180011677,-2.99698538266e-05,1793238236189643776
+74,1.233333333,BASELINE,767,746.946848368,715,679.053151632,667.946848368,637,880.053151632,788.946848368,804,654,632,654,0.401000052188,0.00457077141362,0.0498684844137,0.999999965068,0.000102197581713,-0.000241922622757,-2.98842842481e-05,1793238236206310400
+75,1.250000000,BASELINE,767,746.479218562,715,679,668,637,880.520781438,789,804,654,632,654,0.400998366183,0.0045699534432,0.0498675524924,0.999999964848,0.000101569215134,-0.000243101017582,-2.98212042586e-05,1793238236222977024
+76,1.266666667,BASELINE,767,746,715,679,668,637,881,789,803.903304084,654,632,654,0.400997421451,0.00456954435594,0.0498669689264,0.99999996477,0.00010112764929,-0.000243602822311,-2.98554029761e-05,1793238236239643648
+77,1.283333333,BASELINE,767,746,715,679,668,637,881,789,803.314066014,654,632,654,0.401000614335,0.00457174042144,0.0498687558004,0.999999965393,0.000102383038328,-0.000240434416659,-3.03735602441e-05,1793238236256310272
+78,1.300000000,BASELINE,767,746,715,679,667.729277906,637,881,789,803.270722094,654,632,654,0.401001538054,0.00457194930207,0.0498691644547,0.99999996555,0.000101989079181,-0.00023992755168,-3.05507678863e-05,1793238236272977408
+79,1.316666667,BASELINE,767,746,715,679,667.149568778,637,881,789,803.850431222,654,632,654,0.400999871875,0.00456989012107,0.049868000086,0.999999965175,9.97126463083e-05,-0.000242458420371,-3.0338834687e-05,1793238236289644288
+80,1.333333333,BASELINE,767,746,715,679,667,636.572089252,881,789,804,654,632,654,0.40099871997,0.00456969595233,0.0498673985844,0.999999964836,9.97403097082e-05,-0.000243860982584,-3.0200960715e-05,1793238236306310656
+81,1.350000000,BASELINE,767.004587289,746,715,679.004587289,667,636.004587289,881,789,804.004587289,654,632,654,0.400997756059,0.00457015652442,0.0498669935825,0.999999964511,0.000100573920785,-0.000244860517415,-3.00930321406e-05,1793238236322977024
+82,1.366666667,BASELINE,767.577823644,746,715,679.577823644,667,636.577823644,881,789,804.577823644,654,632,654,0.400997928849,0.00457139026015,0.0498666851682,0.999999964434,0.000101998240225,-0.000244534682362,-3.05049336972e-05,1793238236339643904
+83,1.383333333,BASELINE,767.844871754,746,715,680,667.155128246,637,881,789,804.844871754,654.155128246,632,654,0.400998530886,0.00457195261066,0.0498668837596,0.999999964518,0.000102829454563,-0.000243823982345,-3.0646289822e-05,1793238236356310528
+84,1.400000000,BASELINE,767.256197241,746,715,680,667.743802759,637,881,789,804.256197241,654.743802759,632,654,0.401000332567,0.00457063860065,0.0498684993105,0.999999965056,0.000102003082621,-0.000242037676921,-3.00315364046e-05,1793238236372977152
+85,1.416666667,BASELINE,767,746,715,680,668,637,881,789,804,654.671669359,632,654,0.401000793524,0.00456929081852,0.0498689786145,0.999999965379,0.000100382223112,-0.000241421770883,-2.9693407807e-05,1793238236389644032
+86,1.433333333,BASELINE,767,746,715,680,668,637,881,789,804,654.090336784,632,654,0.401000221357,0.00456791701264,0.0498685823599,0.999999965535,9.81491549026e-05,-0.000241707740298,-2.95684381961e-05,1793238236406310912
+87,1.450000000,BASELINE,767,746.485403297,715,679.514596703,667.514596703,637,881.485403297,789,803.514596703,654,632,654,0.40100040454,0.00456908642003,0.0498687920114,0.999999965538,9.94376827307e-05,-0.000241152811272,-2.97053776255e-05,1793238236422977536
+88,1.466666667,BASELINE,767,746.938574797,715,679.061425203,667,637,881.938574797,788.938574797,803,654,632,654,0.4010004194,0.00457061723076,0.0498689087006,0.99999996544,0.000101236764528,-0.000240784764643,-2.98994801543e-05,1793238236439644672
+89,1.483333333,BASELINE,767,746.351332305,715,679.648667695,667,637,881.351332305,788.351332305,803,654,632,654,0.400997803699,0.00457123624663,0.0498672753156,0.99999996475,0.000101859889998,-0.000243340883152,-3.01704135871e-05,1793238236456310784
+90,1.500000000,BASELINE,767,746,715,680,667,636.767334718,880.767334718,788.232665282,803,654,632,654,0.400996998863,0.00457155545822,0.0498669390453,0.999999964566,0.000102330524072,-0.000243876670726,-3.03547084167e-05,1793238236472977408
+91,1.516666667,BASELINE,767,746,715,680,667,636.188169702,880.188169702,788.811830298,803,654,632,654,0.400998890879,0.00457142818239,0.0498685345197,0.999999965139,0.000102574058338,-0.000241403654493,-3.04099755789e-05,1793238236489643776
+92,1.533333333,BASELINE,767,746,715,680,667,636,880.390217531,788.609782469,803.390217531,654.390217531,632,654,0.400999246782,0.0045698029605,0.0498687293828,0.999999965463,0.00010052803548,-0.000240960588448,-3.00948976083e-05,1793238236506310400
+93,1.550000000,BASELINE,767,746,715,680,667,636,880.9682305,788.0317695,803.9682305,654.9682305,632,654,0.400998863418,0.00456745683959,0.0498682501902,0.999999965661,9.73801441959e-05,-0.000241494452627,-2.96015879605e-05,1793238236522977280
+94,1.566666667,BASELINE,767,746,715,680,667.544359798,636.544359798,881,788.544359798,804,654.455640202,632,654,0.40099826722,0.00456853919359,0.0498680073158,0.999999965385,9.87340346388e-05,-0.000242055530703,-2.98557257358e-05,1793238236539643904
+95,1.583333333,BASELINE,767,746,715,679.876991551,667.876991551,636.876991551,881,789,803.876991551,654,632,654,0.400997659409,0.00456941315931,0.0498677693334,0.999999965117,0.000100080050254,-0.000242583930175,-3.00382712344e-05,1793238236556310784
+96,1.600000000,BASELINE,767,746,715,679.288392234,667.288392234,636.288392234,881,789,803.288392234,654,632,654,0.400997054491,0.00456874363396,0.049867497845,0.999999964996,0.000100405249812,-0.000242982649468,-2.97852967356e-05,1793238236572977408
+97,1.616666667,BASELINE,767,746,715,679.295682862,667.887048586,636.295682862,881,789,803,654,632,654,0.400997776909,0.00456861034878,0.0498679377355,0.999999965184,0.000100033064931,-0.000242375746685,-2.96499933985e-05,1793238236589644032
+98,1.633333333,BASELINE,767,746,715,679.875411757,669.62623527,636.875411757,881,789,803,654,632,654,0.400999774425,0.00456899219968,0.049869061008,0.999999965669,9.89909417e-05,-0.000240802798843,-2.9627730198e-05,1793238236606310656
+99,1.650000000,BASELINE,767,746,715,680,669.100252647,637,881,789,803.449873677,654,632,654,0.401000055362,0.00457029484856,0.0498690544927,0.99999996542,0.000101810052761,-0.000240639049817,-2.97941645868e-05,1793238236622977280
+100,1.666666667,BASELINE,767,746,715,680,667.97715767,636.97715767,880.97715767,788.97715767,803.97715767,654,632.02284233,654,0.400999854791,0.00457176330093,0.0498687519736,0.999999964981,0.000105474002838,-0.000240861092032,-2.99939584081e-05,1793238236639644160
+101,1.683333333,BASELINE,767,746,715,680,667.405426509,636.405426509,880.405426509,788.405426509,803.405426509,654,632.594573491,654,0.400999375045,0.00457115916991,0.0498687680681,0.999999965084,0.000104040858139,-0.000241084172992,-2.9754161395e-05,1793238236656310784
+102,1.700000000,BASELINE,767,746,715,679.82600498,667,636.17399502,880,788.17399502,803.17399502,654,632.82600498,654,0.400999238883,0.00457038217837,0.0498687911107,0.999999965278,0.000102276661481,-0.000241053051672,-2.96061548745e-05,1793238236672977408
+103,1.716666667,BASELINE,767,746,715,679.227835544,667,636.772164456,880,788.772164456,803.772164456,654,632.227835544,654,0.40099994033,0.00456918377827,0.0498688310914,0.999999965692,9.97054087633e-05,-0.00024040222233,-2.96819201883e-05,1793238236689644288
+104,1.733333333,BASELINE,767,746,715,679.356812465,667.356812465,637,880.356812465,789,804,654,632,654,0.401000348412,0.00457026337065,0.0498689228213,0.999999965645,0.000100404357235,-0.000240273134109,-2.99518592728e-05,1793238236706310912
+105,1.750000000,BASELINE,767,746,715,679.933141923,667.933141923,637,880.933141923,789,804,654,632,654,0.401000576012,0.00457274442197,0.0498690463882,0.999999965312,0.000103115187897,-0.000240465029684,-3.03412573143e-05,1793238236722977792
+106,1.766666667,BASELINE,766.492506917,746,715,679.492506917,668,637,881,789,804,654,632.507493083,654,0.400999678747,0.00457316101345,0.0498681431715,0.999999964951,0.000104178083738,-0.000241507055147,-3.03090856867e-05,1793238236739644672
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,880,789,803,654,632,654,0.400999043376,0.00457085023658,0.0498678197764,0.999999964941,0.000103587457351,-0.000241862958343,-2.98186327264e-05,1793238236782254080
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667.418039793,636.418039793,880,788.418039793,803,654,632,654,0.400998959294,0.00457062089184,0.0498682517091,0.999999965038,0.000103171982374,-0.000241648231822,-2.97679135739e-05,1793238236798920448
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.16162498,880.16162498,788.16162498,803.16162498,654.16162498,632,654,0.400998816852,0.00457059476768,0.0498684872872,0.999999965102,0.000102804006117,-0.000241530099402,-2.98477188824e-05,1793238236815586816
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636.735435921,880.735435921,788.735435921,803.735435921,654.735435921,632,654,0.400998525574,0.0045710869091,0.0498682221097,0.999999965084,0.000102557163924,-0.000241658307153,-3.02603956848e-05,1793238236832253184
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.316086716,746,715,679,667.316086716,636.683913284,880.683913284,789,803.683913284,654.683913284,632,654,0.400998635562,0.00457115294009,0.049868008595,0.999999965087,0.000101835634756,-0.000241939569882,-3.03365039546e-05,1793238236848919808
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.902589044,746,715,679,667.902589044,636.097410956,880.097410956,789,803.097410956,654.097410956,632,654,0.400999088838,0.00457085442895,0.0498678392785,0.999999965108,0.000100708005746,-0.000242351772797,-3.01246741699e-05,1793238236865586432
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.032658962,746,715,679.483670519,668,636.483670519,880.483670519,789,803.483670519,654,632,654,0.4009991861,0.00457084327237,0.0498679200927,0.99999996507,0.000101493751617,-0.000242176012648,-3.01655962174e-05,1793238236882253056
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.063581022,746,715,679.936418978,668,636.936418978,881,789,804,654,632,654,0.400999316802,0.00457086961954,0.0498680604512,0.999999965061,0.00010244542867,-0.000241805983496,-3.02270509733e-05,1793238236898919680
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.642751055,746,715,679.357248945,668,636.357248945,881,789,804,654,632,654,0.401000293656,0.00457073599036,0.0498682796826,0.999999965387,0.000101652416262,-0.00024081020208,-3.00467945151e-05,1793238236915586304
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.222170332,746,715,679.222170332,668,636,881,789,803.777829668,654,632,654,0.4010044242,0.00457116698595,0.0498702175515,0.999999966203,0.000102035856381,-0.000237251779171,-2.99165947312e-05,1793238236932252928
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.801990786,746,715,679.801990786,668,636,881,789,803.198009214,654,632,654,0.40101363156,0.00457250691533,0.0498749220854,0.999999967763,0.000104313151547,-0.00022956801237,-2.986697627e-05,1793238236948919552
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.616019877,746,715,680,668,636.383980123,881,789,803.383980123,654,632,654.383980123,0.401033958445,0.00457151473631,0.0498827372483,0.999999971279,0.000103048477854,-0.000214327168066,-2.97735320417e-05,1793238236965586176
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.032905693,746,715,680,668,636.967094307,881,789,803.967094307,654,632,654.967094307,0.401060051972,0.00456931311401,0.0498921655999,0.99999997552,9.99469211214e-05,-0.000195167183843,-2.96573595324e-05,1793238236982253056
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668.546299782,637,881,789,804,654,632,654.453700218,0.401112066858,0.00456928152852,0.0499096777424,0.99999998227,9.89710593744e-05,-0.000157427438949,-2.96865555516e-05,1793238236998919680
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746.124772462,715,680,668.875227538,637,880.875227538,789,804,654,632,654,0.401167553127,0.00456936907774,0.0499269664705,0.999999987424,9.83376270324e-05,-0.000120845534793,-2.96358131492e-05,1793238237015586304
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746.701437945,715,680,668.298562055,637,880.298562055,789,804,654,632,654,0.401229997253,0.00456941806923,0.0499416950971,0.999999990446,9.84839562063e-05,-9.248141135e-05,-2.92640679752e-05,1793238237032252928
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746.724470779,715,679.724470779,668,637,880.275529221,789,804,654,632,654,0.401296296604,0.00456939551808,0.0499528565366,0.999999992033,9.85730338931e-05,-7.3516983475e-05,-2.85063595544e-05,1793238237048919552
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746.153143118,715,679.153143118,668,637,880.846856882,789,804,654,632,654,0.401366734784,0.00456929616128,0.049960188369,0.999999992676,9.86006484549e-05,-6.46437385816e-05,-2.7334294661e-05,1793238237065586432
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746.433048268,715,679.433048268,668.433048268,636.566951732,881,789,804,654,632,654,0.401444195359,0.00456710529088,0.0499616964729,0.999999993106,9.53939009471e-05,-6.30848080756e-05,-2.66221867465e-05,1793238237082253056
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746.975963978,715,680,668.951927956,636.024036022,881,789,803.975963978,654,632,654,0.401525027227,0.00456425320102,0.0499610473549,0.999999993438,9.1179696865e-05,-6.42715938086e-05,-2.60685714388e-05,1793238237098919680
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746.399834158,715,680,667.799668315,636.600165842,881,789,803.399834158,654,632,654,0.401624226098,0.00456380629683,0.0499598350786,0.999999993292,9.10310177614e-05,-6.70006728018e-05,-2.52864566691e-05,1793238237115586304
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746.177179117,715,679.822820883,667.177179117,636.822820883,880.822820883,789,803.177179117,654,632,654,0.401730874938,0.00456294748618,0.0499596117001,0.999999993291,9.03920091838e-05,-6.8222900264e-05,-2.43419355592e-05,1793238237132252928
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746.756195964,715,679.243804036,667.756195964,636.243804036,880.243804036,789,803.756195964,654,632,654,0.401854420104,0.00456115448221,0.0499616311164,0.999999993626,8.8640945853e-05,-6.60276264143e-05,-2.30290811085e-05,1793238237148919552
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746.659722395,715,679.340277605,668,636,880.340277605,789,803.659722395,654,632,654,0.401994441722,0.0045601788165,0.0499639849935,0.999999994071,8.62939560531e-05,-6.26359200622e-05,-2.20760347823e-05,1793238237165586176
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746.071957011,715,679.928042989,668,636,880.928042989,789,803.071957011,654,632,654,0.402146446864,0.00455979761005,0.0499665821279,0.99999999458,8.35135419593e-05,-5.83740344905e-05,-2.13846808685e-05,1793238237182252800
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668,636.508659883,881,789,803.508659883,654,632,654,0.40231057882,0.00455809631517,0.049961857725,0.999999994239,8.18313234332e-05,-6.64368312519e-05,-2.02873809645e-05,1793238237198919680
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.91166402,746,715,679.91166402,668,637,881,789,803.91166402,654,632,654,0.402482374231,0.00455597617706,0.0499571490478,0.999999993898,7.95598491362e-05,-7.42450448645e-05,-1.904730869e-05,1793238237215586304
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.331673551,746,715,679.331673551,668,637,881,789,803.331673551,654,632,654,0.402687406731,0.00455254983613,0.0499582126176,0.999999994649,7.31560525223e-05,-7.1066961703e-05,-1.73277951867e-05,1793238237232252928
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.245829358,746.245829358,715,679.245829358,668,636.754170642,881,789,803.245829358,654,632.245829358,654,0.402907826888,0.00455049990002,0.0499623597186,0.99999999559,6.86915442035e-05,-6.20506612566e-05,-1.58350702752e-05,1793238237248919552
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.820009635,746.820009635,715,679.820009635,668,636.179990365,881,789,803.820009635,654,632.820009635,654,0.403148800118,0.00455028840927,0.0499706254501,0.999999996637,6.68173171645e-05,-4.52363338523e-05,-1.46452638911e-05,1793238237265586176
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746.595687722,715,679.595687722,667.595687722,636.404312278,881,788.595687722,803.595687722,654,632.595687722,653.595687722,0.403413601934,0.00454728874089,0.0499768017636,0.999999997457,6.20900461944e-05,-3.2639389867e-05,-1.28728429327e-05,1793238237282252800
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746.006763139,715,679.006763139,667.006763139,636.993236861,881,788.006763139,803.006763139,654,632.006763139,653.006763139,0.403689284073,0.00454301596772,0.0499820240314,0.999999998129,5.60600519897e-05,-2.19681382368e-05,-1.08343954081e-05,1793238237298919424
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667.573053577,636.426946423,881,788,803.573053577,654,632,653.573053577,0.403998263747,0.00454111614825,0.0499892027272,0.999999998553,5.24000200468e-05,-8.73458013702e-06,-8.50697070107e-06,1793238237315586304
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.848686481,746,715,679,668,636.151313519,881,788.151313519,804,654,632,654,0.404314694359,0.00453868374877,0.0499957320934,0.999999998805,4.83877678974e-05,3.18676540944e-06,-6.1342004523e-06,1793238237332252672
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.274481799,746,715,679,668,636.725518201,881,788.725518201,804,654,632,654,0.404650867703,0.00453468584936,0.0500003831903,0.999999998991,4.33141830529e-05,1.13575428344e-05,-3.64408135641e-06,1793238237348919296
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.301039271,746,715,679,668,637,881,788.698960729,803.698960729,654,632,654,0.40500289744,0.00453049227046,0.0500029977991,0.999999999175,3.72823578794e-05,1.61110518598e-05,-1.12351771315e-06,1793238237365586176
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.877765935,746,715,679,668,637,881,788.122234065,803.122234065,654,632,654,0.40536944827,0.00452611949065,0.0500037474222,0.99999999938,3.03729895424e-05,1.77350770362e-05,1.42492689072e-06,1793238237382252800
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,715,679.463339878,668,637,881,788.463339878,803.463339878,654,632,654,0.405736216589,0.00452326038674,0.0499885335379,0.999999999574,2.59136944546e-05,-1.28064096686e-05,4.00325357593e-06,1793238237398919424
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746.05068897,715,679.94931103,668,637,881,789,803.94931103,654,632.05068897,654,0.40610764437,0.00452057626453,0.049969737162,0.999999998483,2.21424256143e-05,-5.00006181059e-05,6.60928813155e-06,1793238237415586304
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746.631715987,715,679.368284013,668,637,881,789,803.368284013,654,632.631715987,654,0.406527210472,0.00451546360851,0.0499583779326,0.999999997584,1.86754937162e-05,-6.62898507432e-05,9.42113624834e-06,1793238237432252928
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746.790221808,715,679.209778192,668,637,880.790221808,788.790221808,803,654,632.790221808,654,0.406960335438,0.00451102137433,0.0499505598101,0.999999996807,1.57653163283e-05,-7.73576268003e-05,1.23496246464e-05,1793238237448919552
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746.217292085,715,679.782707915,668,637,880.217292085,788.217292085,803,654,632.217292085,654,0.407416932418,0.0045077397221,0.0499488717741,0.999999996634,1.38189488382e-05,-7.93864263495e-05,1.54800313741e-05,1793238237465586176
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.640638016,746,715,680,668,636.640638016,880,788,803.359361984,654,632,654,0.407916913826,0.00450216316024,0.0499601973875,0.999999998168,8.93220405089e-06,-5.68361297055e-05,1.88302607317e-05,1793238237482252800
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.061708417,746,715,680,668,636.061708417,880,788,803.938291583,654,632,654,0.408443402795,0.00449518442505,0.0499794742481,0.999999999563,2.24890972955e-06,-1.9268180136e-05,2.23148000144e-05,1793238237498919680
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.526652286,746,715,679.473347714,668,636.526652286,880.526652286,788.526652286,804,653.473347714,632,654,0.408996505429,0.00448707502625,0.0499969912619,0.999999998251,5.28306336581e-05,4.46979206485e-06,2.62259636541e-05,1793238237515586304
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,715,679.113887045,668,636.886112955,881,788.886112955,803.886112955,653.113887045,632,654,0.409551901753,0.00447941817376,0.050010569143,0.99999999472,9.605468026e-05,2.08427880343e-05,2.99735034416e-05,1793238237532252928
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,715,679.691946586,668,636.308053414,881,788.308053414,803.308053414,653.691946586,632,654,0.410103705078,0.0044741555811,0.0500089479419,0.999999996047,8.14448434039e-05,1.39231828501e-05,3.28467037648e-05,1793238237548919552
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.73355575,746,715,679.73355575,668,636.26644425,881,788.26644425,803,653.73355575,632,654,0.410651577583,0.00446842722703,0.0499984593836,0.99999999751,6.12760398945e-05,-8.41630110029e-06,3.39636759062e-05,1793238237565586688
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.163121802,746,715,679.163121802,668,636.836878198,881,788.836878198,803,653.163121802,632,654,0.411194965436,0.00446216747906,0.0499778539422,0.99999999768,3.47649373039e-05,-4.83485254904e-05,3.30769448715e-05,1793238237582254080
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,715,679,668,637,881,788.575555672,803,653.424444328,632,654,0.411780842644,0.00445233079376,0.0499633154974,0.999999996994,-1.68572434719e-05,-7.11808737926e-05,2.57158758978e-05,1793238237598920960
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.018391747,746,715,679.018391747,668,636.981608253,881,788,803.018391747,653.981608253,631.981608253,654,0.412387374062,0.00444119586404,0.0499525641872,0.999999993377,-7.62629315469e-05,-8.46591161769e-05,1.61946760435e-05,1793238237615587840
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.597704988,746,715,679.597704988,668,636.402295012,881,788,803.597704988,653.402295012,631.402295012,654,0.413104857982,0.00443415564856,0.049983211651,0.999999997366,-6.63435450732e-05,-2.1711479559e-05,1.98712396949e-05,1793238237632253952
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.824420894,746,715,679.824420894,668,636.175579106,881,788,804,653,631.175579106,654,0.413803568386,0.00442844630696,0.0500044007988,0.999999997859,-5.81889732034e-05,1.88768981355e-05,2.32306767223e-05,1793238237648920576
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.249817388,746,715,679.249817388,668,636.750182612,881,788,804,653,631.750182612,654,0.414459613697,0.00442576153494,0.0500040947968,0.999999998168,-5.40451534994e-05,8.65119704571e-06,2.58694057184e-05,1793238237665587712
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,679,668,636.676078376,881,788,804,653,632,654,0.41510863472,0.0044252202279,0.049984099767,0.999999997896,-5.1465821017e-05,-2.77292398923e-05,2.81186694755e-05,1793238237682254336
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,679,668,636.103004337,881,788,804,653,632,654,0.415752252806,0.00442632762065,0.0499489604293,0.999999994746,-5.00898530578e-05,-8.42272452443e-05,3.00683661182e-05,1793238237698920192
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.488044027,746,715,679,668,636,881,788,804,653.488044027,631.511955973,654,0.416449734386,0.00445073301355,0.0499433505343,0.999999995267,-2.43363137052e-05,-9.01147435792e-05,2.74567101484e-05,1793238237715587072
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.919767631,746,715,679.080232369,668,636,881,788.080232369,803.919767631,653.919767631,631.160464737,653.919767631,0.417169133103,0.00447665577293,0.0499487044102,0.999999996672,3.41692209727e-06,-7.77734100294e-05,2.44150439093e-05,1793238237732253952
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.34483563,746,715,679.65516437,668,636,881,788.65516437,803.34483563,653.34483563,632.310328741,653.34483563,0.417950894381,0.00448045658847,0.0499817620779,0.999999999405,1.05635796478e-05,-2.14155885545e-05,2.48848178219e-05,1793238237748920832
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715,679.769584344,668,636,880.769584344,789,803.230415656,653,632.769584344,653.230415656,0.418709064062,0.00447955188265,0.050000275634,0.999999999623,8.77460800598e-06,6.68491389037e-06,2.51601690555e-05,1793238237765587456
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715,679.193854473,668,636,880.193854473,789,803.806145527,653,632.193854473,653.806145527,0.419431878131,0.00447159521127,0.0499969925494,0.999999999635,-6.40581265229e-06,-7.5626260245e-06,2.51441473896e-05,1793238237782253568
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,679,668,636,880.390408653,788.609591347,804,653,632,654,0.420154943116,0.00446697365387,0.0499852940753,0.999999999318,-1.24505029177e-05,-2.4058640858e-05,2.51046393454e-05,1793238237798919936
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,679,668,636,880.979003548,788.020996452,804,653,632,654,0.420878135431,0.00446404512731,0.0499693236304,0.999999998721,-1.38575489568e-05,-4.16960659978e-05,2.50532087229e-05,1793238237815586560
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,679.559202703,668,636.559202703,881,788.559202703,804,653,632,654,0.421706406347,0.00446016467008,0.0499972250757,0.999999999442,-1.60675692719e-05,1.47798296289e-05,2.52923478726e-05,1793238237832253184
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746.138019171,715,679.861980829,668,636.861980829,881,788.861980829,804,653,632,654,0.42252597312,0.00445780057809,0.0500184704147,0.99999999785,-1.72452907208e-05,5.78238742255e-05,2.56599652101e-05,1793238237848920064
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746.71343795,715,679.28656205,668,636.28656205,881,788.28656205,804,653,632,654,0.423305636853,0.00446035362901,0.0500134785784,0.999999998307,-1.50573972971e-05,4.96123365051e-05,2.64006819605e-05,1793238237865587200
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746.71136547,715,679,668,636,881,788,804,653,632.28863453,654,0.424072213114,0.0044662949468,0.050001331376,0.999999999188,-9.14388826823e-06,2.89330705871e-05,2.65366039935e-05,1793238237882253568
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746.136389357,715,679,668,636,881,788,804,653,632.863610643,654,0.424825805826,0.0044755976145,0.0499820856509,0.999999999652,4.65639509237e-07,-4.11487794726e-06,2.60725358045e-05,1793238237898920192
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715.452175103,679,668,636,881,788.452175103,804,653,632.547824897,654,0.425611183104,0.00447442675984,0.0499948381643,0.999999999542,-1.25928094669e-06,1.33659361324e-05,2.71240504553e-05,1793238237915586560
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715.95625549,679,668,636,881,788.95625549,804,653,632,654,0.426405016823,0.00446989652058,0.0500161193493,0.999999998621,-7.08918152156e-06,4.34498244601e-05,2.8625868494e-05,1793238237932252928
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715.37955862,679,668,636,881,788.37955862,804,653,632,654,0.427181455053,0.00446411890107,0.0500200762425,0.999999998719,-1.99884866064e-05,3.56425394919e-05,2.98717820702e-05,1793238237948919552
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,679.196284527,668.196284527,636,881,788.196284527,804,653,632,654,0.427946296196,0.00446004766753,0.0500095906836,0.999999999089,-2.81547084693e-05,9.5792085072e-06,3.0616619576e-05,1793238237965586176
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,679.770484066,668.770484066,636,881,788.770484066,804,653,632,654,0.428688809106,0.00445926181103,0.0499712984537,0.999999997835,-2.72081245776e-05,-5.16332716443e-05,3.03967140033e-05,1793238237982252800
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680,669,636,881,788.649279837,804,653,632,654,0.429455153326,0.00445790004767,0.0499648305012,0.999999997731,-2.02811517851e-05,-5.66204630383e-05,3.03387629693e-05,1793238237998919680
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680,669,636,881,788.065024186,804,653,632,654,0.430237366156,0.00445615480288,0.0499795535144,0.999999999202,-9.37199273833e-06,-2.41686848258e-05,3.03886533128e-05,1793238238015586304
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668.481164288,636,881,788,804,653.518835712,632,653.481164288,0.431000443437,0.00445937377038,0.0499837919955,0.999999999302,-8.99903347185e-06,-1.94369918614e-05,3.0598297885e-05,1793238238032252672
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.10132938,746,715,680.10132938,668,636,881,788,804,653.89867062,632,653.10132938,0.431754275491,0.00446279541276,0.0499817642457,0.999999999141,-1.01105507514e-05,-2.56779823532e-05,3.0932510598e-05,1793238238048919552
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.677651012,746,715,680.677651012,668,636,881,788,804,653.322348988,632,653.677651012,0.432476002812,0.00446425294161,0.0499565176745,0.999999997174,-1.19955765404e-05,-6.70818938005e-05,3.17568681219e-05,1793238238065587200
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.745812548,746,715,680.745812548,668,636,881,788,804,653,632,654,0.433220385117,0.00446414803046,0.0499515830274,0.999999996598,-1.37833071678e-05,-7.44917032218e-05,3.26492115635e-05,1793238238082254080
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.16900351,746,715,680.16900351,668,636,881,788,804,653,632,654,0.433993521687,0.00446206002809,0.0499724288253,0.999999998564,-1.54475480111e-05,-3.87552761997e-05,3.36278445313e-05,1793238238098919936
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668.416529863,636,881,788,804,653.416529863,632,654,0.434724525122,0.00446239286867,0.0499909250934,0.9999999993,-9.32073276084e-06,-1.20522070916e-05,3.41856181191e-05,1793238238115586304
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668.994428352,636.005571648,881,788.005571648,804,653.994428352,632,654,0.43543740319,0.00446369185918,0.0500080654465,0.99999999935,-1.24278788406e-07,1.02094541625e-05,3.45748559878e-05,1793238238132253440
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668.416400147,636.583599853,881,788.583599853,804,653.416400147,632,654,0.436082003716,0.00446117899238,0.0499859347795,0.999999998572,-7.27918413472e-06,-3.92229214863e-05,3.55679817575e-05,1793238238148920064
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715,679.838807833,668.161192167,637,881.161192167,789,804,653,632,654,0.436737578562,0.0044585700496,0.0499699405675,0.999999996597,-1.65382698634e-05,-7.24040237745e-05,3.59068809254e-05,1793238238165586944
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715,679.262338377,668.737661623,637,881.737661623,789,804,653,632,654,0.437421426544,0.00445571358704,0.0499697556201,0.999999996886,-3.12183297916e-05,-6.37171921151e-05,3.45603049881e-05,1793238238182253824
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.320381322,746,715,679.320381322,669,636.679618678,882,789,804,653,632,654,0.438109890363,0.00445254145991,0.0499848388481,0.999999998255,-3.76381729538e-05,-3.0019684272e-05,3.42404705849e-05,1793238238198920448
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.908320714,746,715,679.908320714,669,636.091679286,882,789,804,653,632,654,0.438802208936,0.00444910571397,0.050012672893,0.999999998403,-3.71597114687e-05,2.45648342791e-05,3.47780924904e-05,1793238238215586816
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,715,680,669,636,882,788.51070945,804,653,632,654,0.439415440634,0.00444884032551,0.050004709939,0.999999999209,-1.379785901e-05,9.75780079661e-06,3.60143791954e-05,1793238238232253440
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668.931512644,636.068487356,882,788.068487356,804,653,632.068487356,654,0.440009243275,0.00444978996546,0.0499890439475,0.999999999077,1.0494357356e-05,-1.86961396934e-05,3.72284021964e-05,1793238238248919808
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668.355910499,636.644089501,882,788.644089501,804,653,632.644089501,654,0.440567367222,0.00445539952028,0.0499653078922,0.999999997831,1.03730215746e-05,-5.32771918653e-05,3.7321862796e-05,1793238238265586432
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.780668876,746,715,680,668.219331124,636.780668876,882,788.780668876,804,653,633,653.780668876,0.441132993545,0.00446004171676,0.0499559804447,0.999999997056,1.07433044404e-05,-6.5793958818e-05,3.80012347481e-05,1793238238282253312
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.206011368,746,715,680,668.793988632,636.206011368,882,788.206011368,804,653,633,653.206011368,0.441710774003,0.00446311674823,0.0499699955986,0.999999998238,1.19100318694e-05,-4.25655782087e-05,3.96298097395e-05,1793238238298920704
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668.622301633,636,881.622301633,788,804,653,633,653,0.442281367539,0.00446299801844,0.0499895687506,0.999999999085,1.0081526141e-05,-7.14108817352e-06,4.09641559839e-05,1793238238315587840
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668.033533166,636,881.033533166,788,804,653,633,653,0.442847944845,0.00446109451156,0.0500122478936,0.999999998475,6.57918705679e-06,3.50989856245e-05,4.213407776e-05,1793238238332254976
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668.548153012,636,881,788.548153012,804,653,633,653.548153012,0.44334547083,0.00446024348142,0.0500130273859,0.999999998418,5.82696998719e-06,3.56140987822e-05,4.31526972982e-05,1793238238348921344
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668.871597936,636,881.128402064,788.871597936,804,653,632.871597936,653.871597936,0.443822599796,0.00445936620327,0.0500057227737,0.999999998775,4.73125162142e-06,2.21736533445e-05,4.39882329313e-05,1793238238365587200
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668.294873088,636,881.705126912,788.294873088,804,653,632.294873088,653.294873088,0.44424307249,0.00445817534207,0.0499748100667,0.999999998534,1.85625941081e-06,-3.11948112562e-05,4.42164265593e-05,1793238238382253568
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715,680.280361756,668.280361756,636,882,788,804.280361756,653,632,653.280361756,0.444667093179,0.00445618726774,0.0499559080195,0.999999997092,-3.83458167159e-06,-6.21365561941e-05,4.40395418876e-05,1793238238398919936
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715,680.854037724,668.854037724,636,882,788,804.854037724,653,632,653.854037724,0.44509482575,0.00445336514984,0.0499495715157,0.999999996556,-1.24713610912e-05,-6.96154844354e-05,4.34388647514e-05,1793238238415586816
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.44047097,746,715,681,669,636,881.55952903,788,804.55952903,653,632.44047097,654,0.445527816006,0.00444910488911,0.0499623898416,0.999999997264,-5.11822954496e-05,-4.06197257496e-05,3.46807670263e-05,1793238238432253696
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.969463169,746,715.030536831,680.969463169,669,636,881.030536831,788.030536831,804.030536831,653,633,653.969463169,0.445959685088,0.00444446730529,0.0499811283098,0.999999994959,-9.75512125626e-05,-4.16046678783e-07,2.38018165578e-05,1793238238448920576
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.392302552,746,715.607697448,680.392302552,669,636,881.607697448,788.607697448,804.607697448,653,633,653.392302552,0.446339366906,0.00444186070585,0.0499888281656,0.999999994806,-9.72863193098e-05,1.76001636838e-05,2.47901992306e-05,1793238238465587456
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,715.815352853,680,668.815352853,635.815352853,882,788.815352853,804.815352853,653,633,653.184647147,0.446690630361,0.00444048639932,0.0499874184175,0.999999994832,-9.66400714034e-05,1.82860547689e-05,2.57416609192e-05,1793238238482254080
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,715.238850835,680,668.238850835,635.238850835,882,788.238850835,804.238850835,653,633,653.761149165,0.446981584827,0.00444172724308,0.0499666764305,0.999999994957,-9.51845194848e-05,-1.78061497812e-05,2.66147694233e-05,1793238238498920192
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.34448702,746,715,680.34448702,668,635.34448702,881.65551298,788,804,653,633,654,0.447242472536,0.00444496647843,0.049931869952,0.999999995385,-5.49072875982e-05,-7.42202296582e-05,2.65981834424e-05,1793238238515586816
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.932660533,746,715,680.932660533,668,635.932660533,881.067339467,788,804,653,633,654,0.447482091368,0.00444961935507,0.0498871143982,0.999999989067,1.28319926887e-05,-0.00014500979348,2.59522368506e-05,1793238238532253184
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.486818104,746,715,681,668,635.486818104,881.513181896,788,804,653,632.486818104,653.486818104,0.447719403017,0.00445273746974,0.0498599674908,0.999999982634,1.96305798438e-05,-0.000183432662103,2.64560866148e-05,1793238238548919808
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,715,681,668,635,882,788.09204746,804,653,632.09204746,653.09204746,0.447955607559,0.0044571851668,0.0498392498302,0.999999976999,2.01336798234e-05,-0.000211803487778,2.7127897476e-05,1793238238565586176
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746,715,681,668,635,882,788.66741393,804,653,632.66741393,653.66741393,0.448187565337,0.00446965609911,0.049840336445,0.999999977274,2.8952051458e-05,-0.000209366543224,2.79010592365e-05,1793238238582253056
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,715.242862379,681,667.757137621,635,882,789,804.242862379,653,632.757137621,654,0.448408497466,0.00448616023254,0.0498423431973,0.999999977602,4.32753392378e-05,-0.000205336698928,2.7575256806e-05,1793238238598919680
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,715.818423098,681,667.181576902,635,882,789,804.818423098,653,632.181576902,654,0.448614325493,0.00450818946682,0.0498456104504,0.999999977722,6.51398375572e-05,-0.000199124733711,2.57439779954e-05,1793238238615586048
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,716,680.59496354,667,635,882.40503646,789,805,653,632.40503646,653.59496354,0.448798870731,0.00451408449649,0.0498446473981,0.999999976967,6.77732891166e-05,-0.000202049571522,2.54714488225e-05,1793238238632252672
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,716,680.003256319,667,635,882.996743681,789,805,653,632.996743681,653.003256319,0.44897360728,0.00451254369065,0.049841734708,0.999999975891,6.15436512409e-05,-0.000209185324189,2.59173068336e-05,1793238238648919296
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.575403943,746.575403943,715.424596057,680.575403943,667,635,882.424596057,788.424596057,805,653,632.424596057,653.575403943,0.449117817093,0.00451114919397,0.0498392489386,0.99999997451,5.90881638802e-05,-0.00021632762684,2.62976144019e-05,1793238238665586176
+221,3.683333333,POSE1_TO_POSE2_PRESS,766.847349384,746.847349384,715,681,667,635,882,788,804.847349384,653,632,654,0.449253984782,0.0045104464522,0.0498361921195,0.999999972857,5.73499783715e-05,-0.000224257470841,2.65438628945e-05,1793238238682252800
+222,3.700000000,POSE1_TO_POSE2_PRESS,766.273801368,746.273801368,715,681,667,635,882,788,804.273801368,653,632,654,0.449368444001,0.00451164882632,0.0498315542543,0.999999970534,5.75319952482e-05,-0.000234358669807,2.64214757919e-05,1793238238698919424
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,746,715,681,667,635,882,788,804,653,632.300653192,654,0.449471716888,0.00451321096403,0.0498254998257,0.99999996792,5.90675532483e-05,-0.000244915555985,2.62189301135e-05,1793238238715586304
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746,715,681,667,635,882,788,804,653,632.875935893,654,0.449564771715,0.00451510172536,0.0498181514468,0.999999965012,6.18394937294e-05,-0.000255888687542,2.59431641423e-05,1793238238732252928
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,746,715.466601285,680.533398715,667,635,881.533398715,788.466601285,804,653,633,654,0.449650702029,0.004515409536,0.0498155666088,0.999999963718,6.17500777191e-05,-0.000260891344096,2.61860073106e-05,1793238238748919552
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,715.940557502,680.059442498,667,634.940557502,881.059442498,788.940557502,804.059442498,653.059442498,633,654,0.449732984498,0.00451534650352,0.0498144447667,0.999999963004,6.073266829e-05,-0.000263822713722,2.64926406083e-05,1793238238765586176
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,715.365529136,680.634470864,667,634.365529136,881.634470864,788.365529136,804.634470864,653.634470864,633,654,0.449800617695,0.00451584201017,0.0498146521148,0.999999963357,5.84900683164e-05,-0.000263027136782,2.61157591583e-05,1793238238782253056
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,715,681,667,634,882,788.209232066,805,653.790767934,633,654,0.449861898518,0.00451612367722,0.0498144199444,0.999999963251,5.78826469136e-05,-0.000263580487451,2.59317940579e-05,1793238238798919424
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,715,681,667,634,882,788.783527095,805,653.216472905,633,654,0.449912095872,0.00451603224218,0.0498134209132,0.999999962344,6.01282449939e-05,-0.000266487413881,2.60844246819e-05,1793238238815586048
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680.632499531,667.367500469,634,882,788.632499531,804.632499531,653,633,654,0.449954059666,0.00451750885101,0.0498128555841,0.999999962112,6.17673384828e-05,-0.000267017274093,2.57273334357e-05,1793238238832252928
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680.042671035,667.957328965,634,882,788.042671035,804.042671035,653,633,654,0.449991042373,0.00451993408475,0.0498125526335,0.999999962292,6.30395127175e-05,-0.000266109072257,2.50618739875e-05,1793238238848919808
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.536121408,746,715,680.536121408,666.927757184,634,882,788,804,653,633,654,0.450017223806,0.00451977139303,0.0498112771274,0.999999961512,6.29616249618e-05,-0.000269027182345,2.52383836617e-05,1793238238865586176
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,715,680.886425858,666.113574142,634,882,788,804.113574142,653.113574142,633,654,0.450041209527,0.00451960771602,0.0498101037673,0.999999960816,6.30335092036e-05,-0.000271576191267,2.53216131368e-05,1793238238882253056
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746,715,680.310921646,666.689078354,634,882,788,804.689078354,653.689078354,633,654,0.450059690864,0.00452026089228,0.04980965434,0.999999960805,6.41427722259e-05,-0.000271410324134,2.47583892019e-05,1793238238898919936
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.728863356,746,715,680.271136644,666.728863356,634,882,788,805,653.728863356,633,654,0.450074515965,0.00452112616014,0.0498097973533,0.999999960752,6.63251396885e-05,-0.000271082025044,2.47158375635e-05,1793238238915586560
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.139103027,746,715,680.860896973,666.139103027,634,882,788,805,653.139103027,633,654,0.450085044477,0.00452224066555,0.0498106365676,0.999999960644,6.97685559157e-05,-0.000270562845536,2.52851490182e-05,1793238238932253184
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,715,681,666,634,881.556936099,788,804.556936099,652.556936099,632.556936099,654,0.450091374894,0.00452253676684,0.0498095174081,0.999999959869,7.16300921201e-05,-0.000272946588642,2.5122347037e-05,1793238238948919808
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680.977319278,666,634,881.022680722,788.022680722,804,652.022680722,632,654,0.450096396354,0.00452267488937,0.0498078535465,0.999999958916,7.30533916669e-05,-0.000276077192444,2.47494484295e-05,1793238238965586432
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680.402721127,666,634,881.597278873,788.597278873,804,652.597278873,632,654,0.450101097986,0.00452511589351,0.0498076444639,0.999999958857,7.56943155022e-05,-0.000275577729795,2.4763040106e-05,1793238238982253056
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666.171858865,634,882,788.828141135,804,653,632,654,0.450104212019,0.0045267240552,0.0498069124428,0.999999958621,7.71529036066e-05,-0.000276041327273,2.46424925157e-05,1793238238998919680
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666.746396271,634,882,788.253603729,804,653,632,654,0.450103606184,0.00452638080277,0.0498049551367,0.999999957977,7.58411879762e-05,-0.000278761448753,2.42076463028e-05,1793238239015586304
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680.329779581,667,634,882,788,804,653,632,653.670220419,0.450104880327,0.00452553755403,0.0498045160686,0.999999957899,7.52583247721e-05,-0.000279197612028,2.42291186568e-05,1793238239032252928
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680.920152948,667,634,882,788,804,653,632,653.079847052,0.450107640038,0.00452429920525,0.0498052767213,0.999999958271,7.52514051532e-05,-0.000277828977815,2.4611176677e-05,1793238239048919552
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,681,666.498956336,634,882,788,804,653,632,653,0.450108500067,0.00452414474652,0.0498053872972,0.99999995823,7.59166648874e-05,-0.000277794125106,2.46265675427e-05,1793238239065586432
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.079659068,746,715,681,666.079659068,634,882,788,804,653.079659068,632,653.079659068,0.450109036937,0.00452403580224,0.0498053594521,0.999999958156,7.62685318199e-05,-0.000277969578451,2.45944326455e-05,1793238239082253056
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.65336096,746,715,681,666.65336096,634,882,788,804,653.65336096,632,653.65336096,0.450109412277,0.00452315776756,0.0498051036969,0.999999958272,7.40247354033e-05,-0.000278155579413,2.4623210428e-05,1793238239098919424
+247,4.116666667,POSE1_TO_POSE2_PRESS,766.772661766,746,715.227338234,681.227338234,666.772661766,634,882,788,804,653.772661766,632,654,0.450109987824,0.00452388540781,0.0498051241154,0.999999958202,7.43946720543e-05,-0.00027830760807,2.46300750374e-05,1793238239115586048
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+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,716,681.610526227,666.389473773,634,881.610526227,788,804.389473773,653,632.389473773,653.610526227,0.450110777932,0.00452888053201,0.0498050452644,0.999999957463,8.10664725773e-05,-0.000279135972823,2.41933793454e-05,1793238239148919552
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,716,681.015756834,666.984243166,634,881.015756834,788,804.984243166,653,632.984243166,653.015756834,0.450110174359,0.00452997847838,0.0498040168205,0.999999957081,8.22984024115e-05,-0.00028019521445,2.35811155554e-05,1793238239165586176
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,715.437376415,681,666.437376415,633.437376415,881,788,804.437376415,653,633,653,0.450109310581,0.00452860175779,0.0498027270593,0.99999995682,8.08849243337e-05,-0.000281528246383,2.36386181883e-05,1793238239182253056
+252,4.200000000,POSE1_TO_POSE2_PRESS,766.139826579,746,715,680.860173421,666,633.139826579,881.139826579,788,804.139826579,653,632.860173421,653.139826579,0.450108787515,0.00452748032619,0.0498018012438,0.999999956647,7.97381779926e-05,-0.000282463405929,2.37061356722e-05,1793238239198919680
+253,4.216666667,POSE1_TO_POSE2_PRESS,766.714753549,746,715,680.285246451,666,633.714753549,881.714753549,788,804.714753549,653,632.285246451,653.714753549,0.450109346686,0.00452736283586,0.0498020300517,0.999999956746,7.96454378038e-05,-0.00028213731559,2.3748100708e-05,1793238239215586304
+254,4.233333333,POSE1_TO_POSE2_PRESS,766.705492436,746,715,680.294507564,666,634,881.705492436,788,804.705492436,653,632.294507564,654,0.450109894286,0.00452750561928,0.0498025024693,0.99999995686,7.98305835829e-05,-0.000281692450983,2.35937863974e-05,1793238239232252928
+255,4.250000000,POSE1_TO_POSE2_PRESS,766.120985295,746,715,680.879014705,666,634,881.120985295,788,804.120985295,653,632.879014705,654,0.450110430493,0.00452790469248,0.0498032147675,0.999999956989,8.02893617722e-05,-0.000281130630188,2.32461971594e-05,1793238239248919552
+256,4.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680.538725978,666,634,881.461274022,788,804,653,633,653.538725978,0.450110349574,0.00452788711766,0.0498031868413,0.999999956791,8.05831609638e-05,-0.000281717584659,2.36421708005e-05,1793238239265586176
+257,4.283333333,POSE1_TO_POSE2_PRESS,766,746,715,680.042747117,666.042747117,634,881.957252883,788,804,653,633,653.042747117,0.450110181065,0.00452773013147,0.0498029482573,0.999999956536,8.0675197084e-05,-0.000282552552745,2.41616381856e-05,1793238239282253056
+258,4.300000000,POSE1_TO_POSE2_PRESS,766,746,715,680.621716998,666.621716998,634,881.378283002,788,804,653,633,653.621716998,0.450110934396,0.00452718853497,0.0498024907864,0.999999956644,7.87764719381e-05,-0.000282737337964,2.3795670113e-05,1793238239298919680
+259,4.316666667,POSE1_TO_POSE2_PRESS,766,746,715,681,666.80149373,634,881,788.19850627,804.19850627,653,632.80149373,653.80149373,0.450111082296,0.00452728036873,0.0498021348506,0.999999956586,7.82043734018e-05,-0.000283126144853,2.34907370511e-05,1793238239315586304
+260,4.333333333,POSE1_TO_POSE2_PRESS,766,746,715,681,666.228814678,634,881,788.771185322,804.771185322,653,632.228814678,653.228814678,0.450110088995,0.0045285661816,0.0498019703023,0.999999956218,8.01328885983e-05,-0.000283899520763,2.33008513738e-05,1793238239332252928
+261,4.350000000,HOLD_POSE2,766,746,715,681,667,634,882,789,804,653,632,653,0.450111094143,0.00453056016754,0.0498031356397,0.999999956286,8.3176741599e-05,-0.000282732424898,2.39256402313e-05,1793238239367098880
+262,4.366666667,HOLD_POSE2,766,746,715,681,666.420433878,634,882,788.420433878,804,653,632.579566122,653.579566122,0.450112305631,0.00452943362261,0.0498033653651,0.999999956504,8.27441798495e-05,-0.000282097307236,2.38202641005e-05,1793238239383765248
+263,4.383333333,HOLD_POSE2,766,746,715,680.84214303,666,634,882,788,804,653,633,654,0.450113200161,0.00452870903799,0.0498034982147,0.999999956693,8.2260524637e-05,-0.000281585069701,2.36212688361e-05,1793238239400431872
+264,4.400000000,HOLD_POSE2,766,746,715,680.267221381,666,634,882,788,804,653,633,654,0.450113257273,0.00452904644897,0.0498033751148,0.999999956806,8.16418782757e-05,-0.000281397486429,2.31749279043e-05,1793238239417098496
+265,4.416666667,HOLD_POSE2,765.691380125,746,715.308619875,680.308619875,666.308619875,634,882,788,804.308619875,653,632.691380125,654,0.450112837001,0.00452996462339,0.049802978197,0.999999956579,8.32331834081e-05,-0.000281747322192,2.3071817694e-05,1793238239433765120
+266,4.433333333,HOLD_POSE2,765.114740275,746,715.885259725,680.885259725,666.885259725,634,882,788,804.885259725,653,632.114740275,654,0.450112002147,0.00453138715999,0.049802343483,0.999999956046,8.67437141182e-05,-0.000282563877863,2.32667851692e-05,1793238239450431744
+267,4.450000000,HOLD_POSE2,765.473955997,746,715.526044003,680.526044003,667,633.526044003,882,788,805,653,632.473955997,653.526044003,0.450111491773,0.00453057414403,0.0498018678247,0.99999995581,8.51666604086e-05,-0.000283862016142,2.34274672343e-05,1793238239467098368
+268,4.466666667,HOLD_POSE2,766,746,715,680,666.936029092,633.063970908,882,788.063970908,804.936029092,653,632.936029092,653.063970908,0.450111169405,0.00452947949124,0.0498015788173,0.999999955671,8.28901794768e-05,-0.000285007975617,2.36060288926e-05,1793238239483764992
+269,4.483333333,HOLD_POSE2,766,746,715,680,666.359446594,633.640553406,882,788.640553406,804.359446594,653,632.359446594,653.640553406,0.450111707669,0.00453057801732,0.0498024688716,0.999999955767,8.51361668335e-05,-0.000283975879444,2.39961102931e-05,1793238239500431616
+270,4.500000000,HOLD_POSE2,766.216236348,746.216236348,715,680.216236348,666,634,881.783763652,788.783763652,804,653,632.216236348,654,0.450111620669,0.00453203498689,0.049802714979,0.999999955662,8.6956932894e-05,-0.000283799757852,2.39306868799e-05,1793238239517098752
+271,4.516666667,HOLD_POSE2,766.79043011,746.79043011,715,680.79043011,666,634,881.20956989,788.20956989,804,653,632.79043011,654,0.450110498608,0.00453408532331,0.0498018950975,0.99999995523,8.8073787863e-05,-0.000285040615751,2.31112212577e-05,1793238239533765888
+272,4.533333333,HOLD_POSE2,766.635228726,746.635228726,715,680.635228726,666.364771274,634,881.364771274,788.364771274,804,653,633,654,0.450110492676,0.00453322239495,0.0498016619305,0.999999955283,8.67924595008e-05,-0.000285254080812,2.30333828665e-05,1793238239550432512
+273,4.550000000,HOLD_POSE2,766.060802789,746.060802789,715,680.060802789,666.939197211,634,881.939197211,788.939197211,804,653,633,654,0.450111128247,0.00453068504889,0.0498017659814,0.99999995561,8.41327597648e-05,-0.000284877045268,2.33817994759e-05,1793238239567098624
+274,4.566666667,HOLD_POSE2,766,746.530569458,715,680.530569458,667,634,882,788.469430542,804,653,632.469430542,653.469430542,0.450111387748,0.00452984622665,0.0498017842021,0.999999955727,8.37569434077e-05,-0.000284592014728,2.32187847699e-05,1793238239583765248
+275,4.583333333,HOLD_POSE2,766.120640129,747,715,680.879359871,667,634,882,788.120640129,804,653.120640129,632,653,0.45011153875,0.00452936244185,0.0498017202001,0.99999995573,8.38599519397e-05,-0.000284559661115,2.30871992955e-05,1793238239600431872
+276,4.600000000,HOLD_POSE2,766.698183704,747,715,680.301816296,667,634,882,788.698183704,804,653.698183704,632,653,0.450111447441,0.00452946177592,0.0498013832751,0.999999955398,8.4752460329e-05,-0.000285443027296,2.33039437488e-05,1793238239617098752
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,747,715,681,666,634,882,788,805,653,632,653,0.450112534865,0.00453329563785,0.049801250945,0.99999995547,8.6987508365e-05,-0.000284558332428,2.28045771452e-05,1793238239654942464
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,747,715,681,666,634,881.406312054,788,804.406312054,653,632.593687946,653,0.450111188281,0.00453127486514,0.0498010835975,0.99999995505,8.64364227277e-05,-0.000286172803233,2.31232627083e-05,1793238239671609344
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746.817185058,715,680.817185058,666,634,881,788,804,653,632.817185058,653,0.450110486423,0.00453025803127,0.049801022965,0.999999954864,8.5829199238e-05,-0.000286991019578,2.32501763399e-05,1793238239688275968
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746.237948062,715,680.237948062,666,634,881,788,804,653,632.237948062,653,0.450111182609,0.00453141817168,0.0498011937371,0.999999955194,8.51002444415e-05,-0.000286082611353,2.29612453436e-05,1793238239704941824
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.338159521,666,633.661840479,881.338159521,788,804,653.338159521,632.338159521,653.338159521,0.450111228425,0.00453127223684,0.0498007406678,0.999999955294,8.40200714785e-05,-0.000286059016306,2.2856219612e-05,1793238239721607936
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.91208523,666,633.08791477,881.91208523,788,804,653.91208523,632.91208523,653.91208523,0.450110820799,0.00453021570097,0.0497998526537,0.999999955234,8.26950278299e-05,-0.000286652316649,2.28794133936e-05,1793238239738274560
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,666.486332954,633.486332954,882,788,804.486332954,653.513667046,633,654,0.450111023734,0.00453069903948,0.0498003364059,0.999999955285,8.36669571249e-05,-0.000286223412037,2.24996235484e-05,1793238239754941440
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.937479425,666.937479425,633.937479425,881.937479425,788,804.937479425,653,633,654,0.450111310591,0.00453147810195,0.0498011291617,0.999999955357,8.50724373936e-05,-0.000285584612913,2.21469673065e-05,1793238239771608320
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.345352515,666.345352515,633.345352515,881.345352515,788,804.345352515,653,633,654,0.450111372776,0.00453240265474,0.0498024374926,0.999999955454,8.66308206484e-05,-0.000284734148292,2.26416523858e-05,1793238239788275200
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,666.240466672,633.240466672,881.240466672,788,804,653,632.759533328,653.759533328,0.450109839439,0.0045326081111,0.0498024175716,0.999999955267,8.68011262044e-05,-0.000285315277095,2.29357702108e-05,1793238239804942080
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,666.817458365,633.817458365,881.817458365,788,804,653,632.182541635,653.182541635,0.450106073225,0.00453180721611,0.0498005388067,0.999999954679,8.50288635732e-05,-0.000287899872818,2.29492008671e-05,1793238239821608704
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,666.606512559,634,882,788,804,653,632.393487441,653,0.450091706545,0.00453054448312,0.0497934511918,0.99999995122,8.39045487622e-05,-0.000299982744262,2.30266000725e-05,1793238239838275072
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,666.030928906,634,882,788,804,653,632.969071094,653,0.450072434234,0.00452906802291,0.0497839530505,0.999999946207,8.30800879277e-05,-0.000316461181858,2.31336023288e-05,1793238239854941440
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,666.558192913,634,882,788,804,653,633,653,0.450036810426,0.00452947116032,0.0497691034675,0.999999937375,8.38375259149e-05,-0.000343061785077,2.30316308854e-05,1793238239871608064
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766.145470994,746,715,680.145470994,666.854529006,634,882,788,804.145470994,653,632.854529006,653,0.44999412108,0.00453030492368,0.0497528564198,0.999999926828,8.49044834204e-05,-0.000372307261915,2.28401474004e-05,1793238239888274944
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.724954759,746,715,680.724954759,666.275045241,634,882,788,804.724954759,653,632.275045241,653,0.44993312199,0.00453210501498,0.0497333466833,0.999999912875,8.66268846335e-05,-0.000407728811314,2.24170094063e-05,1793238239904941568
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766.697905414,746,715,681,666.302094586,634,882,788,804.697905414,653,632,653,0.449869415027,0.00453286946181,0.0497172112681,0.999999902008,8.77374241664e-05,-0.000433359367032,2.20332155811e-05,1793238239921608192
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.122883253,746,715,681,666.877116747,634,882,788,804.122883253,653,632,653,0.449803261639,0.00453269825479,0.0497041243871,0.999999894552,8.82951767676e-05,-0.000450144240476,2.16849673136e-05,1793238239938275072
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766.451540703,746,715,681,666.548459297,634,882,788,804.451540703,653,632,653,0.449728384881,0.00453582515725,0.0496972540409,0.999999889952,9.22912923135e-05,-0.000459514512741,2.05860545382e-05,1793238239954941696
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.973448037,746,715,681,666,634,882,788,804.973448037,653,632.026551963,653.026551963,0.449650112066,0.0045396707758,0.0496920643567,0.999999886053,9.70488119383e-05,-0.000467013379383,1.93293883605e-05,1793238239971608320
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766.382496748,746,715,681,666,634,882,788,804.382496748,653,632.617503252,653.617503252,0.449550047114,0.00453974017444,0.0496866858993,0.999999880968,9.81272453072e-05,-0.000477567859096,1.90561231101e-05,1793238239988274944
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,746,715.204280451,680.795719549,666.204280451,634,882,788.204280451,804,653,633,654,0.449442923837,0.00453973739048,0.0496812519361,0.999999875934,9.92598499353e-05,-0.000487778678872,1.87611973216e-05,1793238240004941312
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,746,715.783398477,680.216601523,666.783398477,634,882,788.783398477,804,653,633,654,0.449322849133,0.00453960215745,0.0496757161251,0.999999871098,0.000100491854194,-0.000497358910238,1.84265262861e-05,1793238240021607936
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,746,715.639832069,680.360167931,667,634,881.639832069,789,804.360167931,653,632.639832069,653.639832069,0.44919087568,0.0045409944877,0.0496715128919,0.999999866847,0.000102296224476,-0.000505494538645,1.77942626323e-05,1793238240038274816
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746,715.064465817,680.935534183,667,634,881.064465817,789,804.935534183,653,632.064465817,653.064465817,0.449051792781,0.00454329952843,0.0496681058659,0.999999862937,0.000104442580364,-0.000512767025798,1.69841890252e-05,1793238240054941440
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,746.522511948,715,680.477488052,667,634,881,789,804.477488052,653,632.522511948,653.522511948,0.44890583977,0.00454597977851,0.0496719211356,0.999999867708,0.000109639319747,-0.000502302470212,1.59737276194e-05,1793238240071608320
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,746.890759824,715,680,666.890759824,634,881.109240176,788.890759824,804,653,632.890759824,654,0.448752079763,0.00454866973855,0.0496773996531,0.999999873463,0.0001151997237,-0.000489465334857,1.50364594653e-05,1793238240088274944
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746.311410476,715,680,666.311410476,634,881.688589524,788.311410476,804,653,632.311410476,654,0.448568453276,0.0045511977425,0.0496861140743,0.999999879303,0.000120668744923,-0.000476049357258,1.45229871909e-05,1793238240104941824
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,666.267233054,634.267233054,882,788.267233054,804.267233054,653,632.267233054,654,0.448370805546,0.00455342404082,0.0496910370295,0.999999882768,0.000125266444398,-0.000467526947616,1.38174139692e-05,1793238240121608448
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,666.845056216,634.845056216,882,788.845056216,804.845056216,653,632.845056216,654,0.448156861717,0.00455529968332,0.0496915533742,0.999999883646,0.000128851454777,-0.000464692060609,1.28885725387e-05,1793238240138275072
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,746.419240665,715,680.419240665,667,635,881.580759335,789,804.580759335,653,632.580759335,654,0.447923449272,0.00455736529712,0.0496944411085,0.999999886086,0.000133454986524,-0.00045812493845,1.18421930335e-05,1793238240154941440
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,746.992091869,715,680.992091869,667,635,881.007908131,789,804.007908131,653,632.007908131,654,0.447682903495,0.00455950051672,0.0496981977243,0.999999889025,0.00013843170626,-0.000450190318591,1.0752747384e-05,1793238240171608064
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,746.418739626,715,680.418739626,667,635,881,789,804.581260374,653,632,653.418739626,0.447422712904,0.00456265961583,0.0497062730954,0.999999894494,0.000143500042154,-0.000436272429657,9.31306693989e-06,1793238240188274944
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766.167505933,746,715,680.167505933,667.167505933,635.167505933,881.167505933,789,805,653,632.167505933,653.167505933,0.447149736991,0.00456515320368,0.0497158052569,0.999999900501,0.000148475736059,-0.000420578251504,8.14863158836e-06,1793238240204941824
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.957240495,746,715,680.042759505,668.042759505,636,881.042759505,788,804,653,633,653.042759505,0.443204346751,0.00460522641774,0.0497782607715,0.999999917225,0.000219680238176,-0.000342407076385,-6.984168277e-06,1793238240371609344
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.333541881,668,636,880.666458119,789,803.333541881,653.666458119,633,654,0.411166147479,0.00461588419832,0.0498361931285,0.999999949466,0.000149063423119,-0.000277544479617,-4.26250050938e-05,1793238241138275584
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,668,636,880.75536068,788.75536068,803.24463932,654,633,654,0.410561998614,0.00461268610949,0.0498307436248,0.999999945671,0.000144648223593,-0.000293177805989,-4.22166113834e-05,1793238241154941696
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,668,636,880.179740013,788.179740013,803.820259987,654,633,654,0.409952278874,0.0046095123135,0.0498041104553,0.99999992868,0.00013892367826,-0.000348696997831,-4.18506150861e-05,1793238241171608320
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667.604849912,636,880.395150088,788.395150088,804,654,633,654,0.409408019777,0.00460959377936,0.0498010134258,0.999999927673,0.000140118247904,-0.000351028802388,-4.24169484054e-05,1793238241188274944
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667.030291457,636,880.969708543,788.969708543,804,654,633,654,0.408893481452,0.0046111532181,0.0498086024108,0.999999934434,0.000144454274406,-0.000329212161483,-4.34065834917e-05,1793238241204941568
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.438788716,746,715,679.561211284,667.561211284,636.561211284,880.438788716,789,804,654,632.438788716,654,0.408402736941,0.00460954143621,0.0498318899455,0.999999946629,0.000144637133253,-0.000289791033997,-4.29261890467e-05,1793238241221608192
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.150129513,746,714.849870487,679.849870487,668,637,880.150129513,789,803.849870487,653.849870487,632,654,0.407914335874,0.00460878903654,0.0498488228409,0.999999954112,0.000145003671182,-0.000262586828914,-4.23951837481e-05,1793238241238275072
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.728974462,746,714.271025538,679.271025538,668,637,880.728974462,789,803.271025538,653.271025538,632,654,0.40742884512,0.00461099472868,0.0498451141957,0.999999951098,0.000146554801508,-0.000273067630314,-4.19532868964e-05,1793238241254941952
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746.305957229,714.305957229,679.305957229,668,637,881,789,803.305957229,653.305957229,632.305957229,654,0.406944519458,0.00461226187595,0.0498301962624,0.99999994245,0.000145389997711,-0.000303684493132,-4.16780714492e-05,1793238241271608832
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746.881300366,714.881300366,679.881300366,668,637,881,789,803.881300366,653.881300366,632.881300366,654,0.406461219654,0.00461270266328,0.0498054088969,0.999999927116,0.000141833897289,-0.00035203053621,-4.15496137954e-05,1793238241288275456
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746.535722939,715,680,668,636.535722939,881,789,804.464277061,654,633,654,0.406030628062,0.00461611089929,0.0497903638371,0.999999918059,0.000144964331404,-0.000375557619996,-4.27114448304e-05,1793238241304941824
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.048772134,881,789,804.951227866,654,633,654,0.405617200112,0.00462015230467,0.0497800547716,0.999999912,0.000149589015127,-0.000389459756978,-4.40904622547e-05,1793238241321607936
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.628198307,881,789,804.371801693,654,633,654,0.405241447258,0.00462269019373,0.0497937213082,0.99999991952,0.000151560609196,-0.000368833119618,-4.4183317864e-05,1793238241338274560
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.79313377,637,880.79313377,789,803.79313377,654,632.79313377,654,0.404888264644,0.00462449484723,0.0498099974523,0.999999928965,0.000153437542698,-0.000341400509363,-4.44225956554e-05,1793238241354941440
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.215823737,637,880.215823737,789,803.215823737,654,632.215823737,654,0.404575499522,0.00462498646562,0.0498309467252,0.99999994142,0.000155144963377,-0.000301780167662,-4.49240775962e-05,1793238241371608064
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.639159501,667,636.639159501,880,789,803.360840499,654,632.360840499,654,0.404269570067,0.00462602109825,0.0498500952762,0.999999949108,0.000158495585337,-0.0002732303814,-4.48150017206e-05,1793238241388274944
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.062880778,667,636.062880778,880,789,803.937119222,654,632.937119222,654,0.403967721787,0.00462737993517,0.0498681687161,0.999999954187,0.00016282727355,-0.000251290217547,-4.43413950617e-05,1793238241404941568
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.525291715,667,636,880.525291715,788.474708285,804,654,633,654,0.403683054458,0.00462950684557,0.0498655366258,0.99999995185,0.000166100994746,-0.00025822918665,-4.50244509134e-05,1793238241421608192
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.887086411,667.112913589,636.112913589,881,788,804,654,632.887086411,654,0.403402709775,0.00463137742386,0.0498594959114,0.999999948221,0.00016894112015,-0.000270036387416,-4.57948607163e-05,1793238241438274816
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.307756255,667.692243745,636.692243745,881,788,804,654,632.307756255,654,0.40313152835,0.00463180056936,0.0498498506339,0.999999943104,0.000170525434091,-0.000287342128915,-4.6340915395e-05,1793238241454941440
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.269200111,667.730799889,637,880.730799889,788.269200111,804,654,632,654,0.402878305206,0.00463167684288,0.0498404729387,0.999999937768,0.000171433636442,-0.000304848847599,-4.62880711621e-05,1793238241471608064
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.843466389,667.156533611,637,880.156533611,788.843466389,804,654,632,654,0.402645432976,0.00463093338359,0.0498313984771,0.999999932213,0.00017157564745,-0.000322583319017,-4.55565355191e-05,1793238241488274688
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.584452171,667,636.584452171,880.415547829,789,804,654,632,654,0.402442323217,0.00463061273394,0.0498266655511,0.999999929719,0.000171948117413,-0.000330858212363,-3.90885032426e-05,1793238241504941312
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.013189451,667,636.013189451,880.986810549,789,804,654,632,654,0.402250366115,0.00463045052035,0.0498235594939,0.999999928364,0.0001724069454,-0.000335588393779,-3.04708797852e-05,1793238241521607936
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.582941286,667.582941286,636.582941286,881,789,803.417058714,654,632.582941286,654,0.402095784107,0.00461163946621,0.0498271301728,0.999999934827,0.000148342493319,-0.000327659130103,-3.13018917439e-05,1793238241538274816
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,637,881,789,803.172881568,654,632.827118432,654,0.401948871848,0.00459552162588,0.0498314673891,0.999999940536,0.000127706421211,-0.000318744924664,-3.19425380915e-05,1793238241554941440
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,637,881,789,803.747087021,654,632.252912979,654,0.401817713497,0.00458667889871,0.049837217722,0.999999945223,0.000116374354591,-0.000308238834983,-3.16228901573e-05,1793238241571608064
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.677684378,667.677684378,637,881,789,804,654,632,654,0.401701341455,0.00458835021454,0.0498433423898,0.999999948254,0.00011925449542,-0.000296973329222,-3.28211542221e-05,1793238241588274688
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.10165032,667.10165032,637,881,789,804,654,632,654,0.401596608795,0.00459829790932,0.0498497617247,0.999999949849,0.000133322113329,-0.000285110029802,-3.52142789078e-05,1793238241604941312
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,637,881,789,804,654,632,654,0.40150415652,0.00459704249862,0.0498516091745,0.999999950374,0.000134142289081,-0.000282896753239,-3.50307728802e-05,1793238241621607936
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.074252517,667.074252517,637,881,789,804,654.074252517,632.074252517,654,0.401416347822,0.00459396763311,0.0498522307571,0.999999950682,0.000132417382693,-0.000282688927513,-3.44778346613e-05,1793238241638274560
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.65345662,667.65345662,637,881,789,804,654.65345662,632.65345662,654,0.401342222646,0.00459484473212,0.0498511780001,0.9999999508,0.000132688834966,-0.00028205713821,-3.51672377679e-05,1793238241654941184
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.769807395,668,637,881,789,804,654.769807395,632.769807395,654,0.401275787284,0.004595362487,0.0498509301722,0.999999951237,0.000133075701262,-0.000280261562514,-3.56484182805e-05,1793238241671608064
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.196747657,668,637,881,789,804,654.196747657,632.196747657,654,0.401220805744,0.00459534500614,0.0498518812695,0.999999952139,0.000133634474346,-0.000276732551041,-3.58194554959e-05,1793238241688274944
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.379739396,667.620260604,637,880.620260604,789,803.620260604,654,632,654,0.401174631252,0.00459432729297,0.0498526089892,0.999999952931,0.000131009903706,-0.000275091103717,-3.60403345057e-05,1793238241704941824
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.958018338,667.041981662,637,880.041981662,789,803.041981662,654,632,654,0.40113306136,0.0045927866273,0.0498532199203,0.999999953655,0.000126720982124,-0.000274436533635,-3.62872723473e-05,1793238241721608960
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.451992988,667.548007012,637,880.548007012,789,803.548007012,654,632,654,0.401103215294,0.00459677307491,0.0498541501541,0.999999953554,0.000131298866592,-0.000272554427422,-3.69605702889e-05,1793238241738275584
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.13619763,668,636.86380237,880.86380237,789,803.86380237,654,632.13619763,654,0.401076299254,0.00459942476653,0.0498548594686,0.999999953606,0.000134562321165,-0.000270724782937,-3.72754621835e-05,1793238241754942208
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.715555033,668,636.284444967,880.284444967,789,803.284444967,654,632.715555033,654,0.401055930775,0.0045963256217,0.0498547686266,0.99999995444,0.000131290425313,-0.000269378503709,-3.63155746464e-05,1793238241771608320
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.292753905,880.292753905,789,803,654,632.707246095,654,0.40104004912,0.00459576235766,0.0498556000682,0.999999955281,0.000130235066331,-0.000266786303647,-3.60790427957e-05,1793238241788274688
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.867870927,880.867870927,789,803,654,632.132129073,654,0.401028495035,0.0045976449674,0.0498573210584,0.999999956128,0.000131317571729,-0.000262992404376,-3.65401922716e-05,1793238241804941312
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.547355792,668,637,881,789,803.452644208,654,631.547355792,654,0.401018931382,0.00459673616962,0.0498571693233,0.999999956282,0.00013005357892,-0.000263026992883,-3.65952381021e-05,1793238241821608192
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,668,637,881,788.960243193,804,654,631.039756807,654,0.40101043757,0.00459508530503,0.0498565914334,0.999999956293,0.000128207490019,-0.000263901143224,-3.65172788886e-05,1793238241838274816
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,668,637,881,788.380476129,804,654,631.619523871,654,0.401008411357,0.00459466396251,0.0498578121697,0.999999957181,0.000127961307409,-0.000260668481943,-3.62779911732e-05,1793238241854941696
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.198294208,668,637,881,788.198294208,804,654,632.198294208,654,0.401007419046,0.00459429409046,0.049859396449,0.999999958168,0.0001274359738,-0.000257130444612,-3.61593500946e-05,1793238241871608576
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.775161607,668,637,881,788.775161607,804,654,632.775161607,654,0.401008400607,0.00459402248326,0.0498616747859,0.99999995935,0.000126377699349,-0.000253009399091,-3.62710414384e-05,1793238241888274944
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,714.649777114,680,668,637,881,789,803.649777114,654,632.649777114,654,0.401008507368,0.00459438799507,0.0498632338155,0.999999959844,0.000127877672436,-0.000250300418506,-3.61882462998e-05,1793238241904941312
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,714.075869414,680,668,637,881,789,803.075869414,654,632.075869414,654,0.401008055402,0.00459516043018,0.0498643334286,0.999999959896,0.000131011579691,-0.000248493313703,-3.59812340525e-05,1793238241921607936
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,714.513368376,680,667.486631624,636.486631624,881,788.486631624,803,654,632,654,0.40100653036,0.00459628780675,0.0498639528311,0.999999959706,0.000132428408124,-0.000248523697342,-3.58608555301e-05,1793238241938274816
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.897776883,667.102223117,636,881,788.102223117,803.102223117,654,632.102223117,654,0.401005022686,0.00459702439666,0.0498634227674,0.99999995957,0.000132780664765,-0.000248893671863,-3.58077854114e-05,1793238241954941440
+416,6.933333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.321527929,667.678472071,636,881,788.678472071,803.678472071,654,632.678472071,654,0.401004353577,0.00459569810828,0.0498632452396,0.999999959843,0.000129409283849,-0.000249540366116,-3.60056368131e-05,1793238241971608320
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.254015059,668,636,881,788.745984941,804,654,632.745984941,654,0.401003726613,0.00459557968242,0.0498633108151,0.99999995988,0.00012862675533,-0.000249779852948,-3.61252447317e-05,1793238241988274944
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.828666999,668,636,881,788.171333001,804,654,632.171333001,654,0.401003152848,0.00459698591118,0.0498636832537,0.999999959625,0.000131112070254,-0.000249505332085,-3.61460878776e-05,1793238242004941824
+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.597840918,667.597840918,636.402159082,881,788.402159082,804,654,632,654,0.401004594182,0.00459704835599,0.04986480332,0.999999960286,0.00013053208158,-0.000247130597671,-3.62855635218e-05,1793238242021608192
+420,7.000000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.024841585,667.024841585,636.975158415,881,788.975158415,804,654,632,654,0.401006891545,0.00459653995104,0.0498662409843,0.999999961325,0.000128649928368,-0.000243863676509,-3.64754351562e-05,1793238242038274560
+421,7.016666667,POSE2_TO_POSE3_RETREAT,766.430522659,746,715,679.569477341,667.569477341,637,880.430522659,789,804,654.569477341,632,654,0.401006276864,0.00459591391716,0.0498660948995,0.999999960933,0.000130459823393,-0.000244578609671,-3.59979601557e-05,1793238242054941440
+422,7.033333333,POSE2_TO_POSE3_RETREAT,766.159632423,746.159632423,715,680,668,637,880,789,804,654.840367577,632.159632423,654,0.401005846011,0.00459538069161,0.0498661802592,0.999999960711,0.000131547669975,-0.000244952325856,-3.56457819253e-05,1793238242071607808
+423,7.050000000,POSE2_TO_POSE3_RETREAT,766.736382802,746.736382802,715,680,668,637,880,789,804,654.263617198,632.736382802,654,0.401006240336,0.0045951039025,0.0498670579231,0.999999961113,0.000130311612211,-0.000243962928885,-3.57000276809e-05,1793238242088274688
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..23bfded7f520d45509a923dd0af01d8cd8e4eea7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,437 @@
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+384,6.400000000,pose2_to_pose3_retreat,0.580495723217,0.0100012125035,1.04001172441,0.551066999758,0.0186748706966,1.03966125017
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+390,6.500000000,pose2_to_pose3_retreat,0.57927622355,0.0100012589959,1.04001162146,0.549847500114,0.0186749134424,1.0396611524
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+392,6.533333333,pose2_to_pose3_retreat,0.579015753712,0.0100011298079,1.0400119059,0.549587032777,0.018674791877,1.03966143641
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+395,6.583333333,pose2_to_pose3_retreat,0.57871788781,0.0100013484174,1.04001162793,0.549289163341,0.0186749979439,1.03966116511
+396,6.600000000,pose2_to_pose3_retreat,0.578638909294,0.0100012820044,1.04001159742,0.549210184455,0.0186749295503,1.03966112715
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+410,6.833333333,pose2_to_pose3_retreat,0.57825835084,0.01000128411,1.04001179344,0.548829626139,0.0186749310043,1.03966132381
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+416,6.933333333,pose2_to_pose3_retreat,0.57825517074,0.0100012557103,1.04001169947,0.548826447684,0.0186749081341,1.03966122858
+417,6.950000000,pose2_to_pose3_retreat,0.578254888733,0.0100012430318,1.04001167522,0.548826165856,0.0186748960834,1.03966120485
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+420,7.000000000,pose2_to_pose3_retreat,0.578254076395,0.0100011799855,1.04001156381,0.54882535412,0.0186748352042,1.03966109654
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+422,7.033333333,pose2_to_pose3_retreat,0.578253528863,0.010001137491,1.04001148872,0.548824806994,0.0186747941704,1.03966102353
+423,7.050000000,pose2_to_pose3_retreat,0.578253101206,0.0100011043001,1.04001143007,0.548824379654,0.0186747621205,1.03966096651
+424,7.066666667,pose2_to_pose3_retreat,0.578252900545,0.0100011825901,1.04001152208,0.548824177769,0.018674836248,1.03966105824
+425,7.083333333,pose2_to_pose3_retreat,0.578252820884,0.0100012213273,1.04001156836,0.54882409751,0.0186748729496,1.03966110433
+426,7.100000000,pose2_to_pose3_retreat,0.578252705141,0.0100012776104,1.0400116356,0.548823980898,0.0186749262749,1.03966117128
+427,7.116666667,pose2_to_pose3_retreat,0.578252652563,0.0100013031776,1.04001166614,0.548823927926,0.0186749504986,1.0396612017
+428,7.133333333,pose2_to_pose3_retreat,0.578252560396,0.0100013479963,1.04001171968,0.548823835067,0.018674992962,1.03966125501
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+430,7.166666667,pose2_to_pose3_retreat,0.578252443836,0.0100014046767,1.04001178739,0.548823717632,0.0186750466639,1.03966132244
+431,7.183333333,pose2_to_pose3_retreat,0.578252301609,0.0100013315969,1.04001168932,0.548823576672,0.0186749777931,1.03966122222
+432,7.200000000,pose2_to_pose3_retreat,0.578252153702,0.0100012472338,1.04001161178,0.548823430279,0.0186748985028,1.03966114316
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..046a2e0df6f3006a7d5f336dfc6b1d44db2f23de
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f75573bacead899fd19da27875a3fffa6df0f1a340ae07ef0facc378ed5b0268
+size 27809363
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..43624dd9db9b9166c76d88acd2cff877e872d696
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_03/franka_data.csv
@@ -0,0 +1,439 @@
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+7,0.116666667,BASELINE,767,746,715,679,667.941857136,637,880.941857136,789,804,654,632.058142864,654,0.401003865194,0.00459584289069,0.0498674764224,0.999999961528,0.000129996132701,-0.000242411797391,-3.58109371774e-05,1793238242528442112
+8,0.133333333,BASELINE,767,746,715,679,667.353428217,637,880.353428217,789,804,654,632.646571783,654,0.401003344161,0.00459518837763,0.049866726016,0.999999961797,0.000127321571648,-0.000242748280419,-3.56181535047e-05,1793238242545108736
+9,0.150000000,BASELINE,767,746,715,679.231451508,667,637,880.231451508,789,804,654,632.768548492,654,0.401003330105,0.00459435805188,0.0498664660799,0.999999961999,0.000126219821888,-0.000242518221125,-3.5422881908e-05,1793238242561775360
+10,0.166666667,BASELINE,767,746,715,679.810993385,667,637,880.810993385,789,804,654,632.189006615,654,0.401004078512,0.00459326331355,0.049866943784,0.999999962108,0.000127483494269,-0.00024143611323,-3.52238686277e-05,1793238242578441984
+11,0.183333333,BASELINE,767,746,715,679.611812724,667,637,881,789,804,654,632,654,0.40100473941,0.00459374027341,0.0498677652085,0.999999962224,0.000128579569489,-0.000240370495266,-3.52381933643e-05,1793238242595108864
+12,0.200000000,BASELINE,767,746,715,679.035755134,667,637,881,789,804,654,632,654,0.401005357956,0.00459497788518,0.0498687529829,0.999999962342,0.000129594533116,-0.000239312857806,-3.53557669088e-05,1793238242611775488
+13,0.216666667,BASELINE,767,746,715,679,667,637,881,789,804,654,632,654,0.401005180437,0.00459456423343,0.0498690302135,0.999999962467,0.000128869929241,-0.000239172095446,-3.54228055587e-05,1793238242628441856
+14,0.233333333,BASELINE,767,746,714.884898591,679.115101409,667.115101409,636.884898591,881,789,803.884898591,654,632,654,0.401005093028,0.00459408823804,0.0498691249168,0.99999996256,0.000128192921338,-0.000239140961557,-3.54583668012e-05,1793238242645108736
+15,0.250000000,BASELINE,767,746,714.295602295,679.704397705,667.704397705,636.295602295,881,789,803.295602295,654,632,654,0.401005593884,0.00459380558728,0.049868661361,0.999999962523,0.00012818626181,-0.000239311505128,-3.53780248693e-05,1793238242661775360
+16,0.266666667,BASELINE,767,746,714.290415745,679.709584255,667.709584255,636,880.709584255,789,803,654,632.290415745,654,0.401005406929,0.00459357851061,0.0498684005343,0.99999996254,0.000127681362617,-0.000239534025276,-3.52320248448e-05,1793238242678441984
+17,0.283333333,BASELINE,767,746,714.873134194,679.126865806,667.126865806,636,880.126865806,789,803,654,632.873134194,654,0.401004527695,0.00459340736912,0.0498683437539,0.999999962609,0.000126674986477,-0.000239808859706,-3.50199401229e-05,1793238242695108608
+18,0.300000000,BASELINE,767,746,715,679,667,636.449990614,880.449990614,789,803.449990614,654,632.550009386,654.449990614,0.401004008296,0.00459409098653,0.0498675198669,0.999999962418,0.000126235591614,-0.000240788310948,-3.5337086165e-05,1793238242711775232
+19,0.316666667,BASELINE,767,746,715,679.025070885,667,637,881,789,804,654,632.025070885,654.974929115,0.401003698316,0.00459493777087,0.0498666045076,0.999999962183,0.000126054471552,-0.000241794033895,-3.57689616714e-05,1793238242728442112
+20,0.333333333,BASELINE,767,746,715,679.596994628,667,637,881,789,804,654,632.596994628,654.403005372,0.401005771914,0.00459415482475,0.0498683506109,0.999999962587,0.00012806507876,-0.000239095461034,-3.54906779037e-05,1793238242745108480
+21,0.350000000,BASELINE,767,746,715,679.824980192,667.175019808,637,881,789,804,654,633,654.175019808,0.401006434653,0.00459369098321,0.0498690589596,0.999999962725,0.000128892120802,-0.000238096204398,-3.53231367641e-05,1793238242761775104
+22,0.366666667,BASELINE,767,746,715,679.232398291,667.767601709,637,881,789,804,654,633,654.767601709,0.401003731366,0.00459398846118,0.0498672914338,0.999999962245,0.000126895413892,-0.000241151175215,-3.54198053232e-05,1793238242778441728
+23,0.383333333,BASELINE,767,746,715,679.35169752,668,637,881,788.64830248,804,654,632.64830248,654.64830248,0.401003718918,0.00459350916339,0.0498672093638,0.999999962321,0.000125971219447,-0.000241332685546,-3.53168792468e-05,1793238242795108608
+24,0.400000000,BASELINE,767,746,715,679.930317978,668,637,881,788.069682022,804,654,632.069682022,654.069682022,0.401005442658,0.0045925286729,0.0498682147865,0.999999962761,0.000125739033327,-0.000239660176573,-3.50851703521e-05,1793238242811775232
+25,0.416666667,BASELINE,767,746,715,680,668,637,881.50590113,788.50590113,804,654,632,654,0.401004845616,0.00459296347141,0.0498678475462,0.999999962638,0.000126861318434,-0.000239586275004,-3.50387469275e-05,1793238242828441856
+26,0.433333333,BASELINE,767,746,715,680,668,637,881.839751696,789,803.919875848,654,632,654,0.401004193175,0.00459362451572,0.0498674685736,0.999999962464,0.000128146043452,-0.000239629108025,-3.50466296084e-05,1793238242845108480
+27,0.450000000,BASELINE,767,746,715,680,668,637,880.702815551,789,803.351407775,654,632,654,0.401005139744,0.00459448345676,0.0498681635593,0.999999962449,0.000129290530267,-0.000239049408065,-3.52308816299e-05,1793238242861775360
+28,0.466666667,BASELINE,767,746,715,679.770437841,668,637,880.229562159,789,803.229562159,654.229562159,632,654,0.401005633996,0.00459514677753,0.0498685186321,0.999999962375,0.000130126701549,-0.000238881342508,-3.5397091083e-05,1793238242878442240
+29,0.483333333,BASELINE,767,746,715,679.169228169,668,637,880.830771831,789,803.830771831,654.830771831,632,654,0.401005395976,0.00459549340066,0.0498683234058,0.999999962207,0.00013046372821,-0.00023937968866,-3.55340906773e-05,1793238242895108608
+30,0.500000000,BASELINE,767,746,715,679.413742326,668,636.586257674,880.586257674,789,804,654.586257674,632,654,0.401005275954,0.0045946314442,0.049868505173,0.999999962455,0.000129115320004,-0.00023909871543,-3.53665627205e-05,1793238242911775232
+31,0.516666667,BASELINE,767,746,715,679.989567635,668,636.010432365,880.010432365,789,804,654.010432365,632,654,0.401005202159,0.00459329602835,0.0498688346268,0.999999962863,0.000127106645018,-0.000238512444901,-3.50797365147e-05,1793238242928441856
+32,0.533333333,BASELINE,767,746,715,680,668,636.562592016,880.562592016,789,804,654,632,654,0.401005029015,0.00459596932799,0.0498687503834,0.999999962396,0.0001309945272,-0.000238321267937,-3.53625733737e-05,1793238242945108736
+33,0.550000000,BASELINE,767.14032342,746,715,679.85967658,667.85967658,636.85967658,881,789,804,654,632,654,0.401004632228,0.00459764538422,0.0498686794438,0.999999962058,0.000133292464852,-0.00023843801512,-3.5545350439e-05,1793238242961775360
+34,0.566666667,BASELINE,767.733408966,746,715,679.266591034,667.266591034,636.266591034,881,789,804,654,632,654,0.401003519756,0.00459586511401,0.0498686760594,0.999999962224,0.000130109296647,-0.000239524776606,-3.53713634966e-05,1793238242978441984
+35,0.583333333,BASELINE,767.68312326,746,715,679,667,636.31687674,881,789,803.68312326,654,632,654.31687674,0.40100438335,0.00459473520016,0.0498690745002,0.999999962737,0.000128014823946,-0.000238533962883,-3.52194913445e-05,1793238242995109120
+36,0.600000000,BASELINE,767.107508577,746,715,679,667,636.892491423,881,789,803.107508577,654,632,654.892491423,0.401006860453,0.00459413631867,0.0498698010416,0.999999963532,0.000126809298553,-0.000235846756115,-3.5085676464e-05,1793238243011776768
+37,0.616666667,BASELINE,767,746,715,679,667,637,880.531267834,789,803,654,632.468732166,654.531267834,0.401006294295,0.00459390464481,0.0498690424969,0.999999963166,0.000126617273104,-0.000237508868571,-3.50166296765e-05,1793238243028443136
+38,0.633333333,BASELINE,767,746,715,679,667.045169243,637,880.090338485,789,803.045169243,654,632.954830757,654,0.401005032524,0.00459381500126,0.0498680083906,0.999999962567,0.000126687771951,-0.000239982448524,-3.4997538799e-05,1793238243045108992
+39,0.650000000,BASELINE,767,746,715,679,667.622225542,637,881.244451084,789,803.622225542,654,632.377774458,654,0.401003809901,0.00459440473853,0.0498677457375,0.999999962436,0.000127108668546,-0.000240248985096,-3.53915393434e-05,1793238243061775360
+40,0.666666667,BASELINE,767,746,715,679,668,636.795205081,881.795205081,789,803.795205081,654,632,654,0.401004044606,0.00459478695098,0.0498683381525,0.999999962708,0.000126956323143,-0.000239158247285,-3.56176234234e-05,1793238243078441984
+41,0.683333333,BASELINE,767,746,715,679,668,636.202184716,881.202184716,789,803.202184716,654,632,654,0.40100704194,0.00459477576295,0.0498705515024,0.999999963738,0.000125717294835,-0.000235494552772,-3.55253917471e-05,1793238243095108864
+42,0.700000000,BASELINE,767,746,715,679.378505531,667.621494469,636.378505531,880.621494469,789,803.378505531,654,632.378505531,654,0.401007055081,0.00459425512242,0.0498702966054,0.999999963868,0.000124615242733,-0.000235542430668,-3.54266597392e-05,1793238243111775744
+43,0.716666667,BASELINE,767,746,715,679.952817218,667.047182782,636.952817218,880.047182782,789,803.952817218,654,632.952817218,654,0.401005524455,0.00459347093504,0.0498687648499,0.999999963534,0.000123584050359,-0.00023751035651,-3.53245650226e-05,1793238243128442368
+44,0.733333333,BASELINE,767,746.529044059,715,679.470955941,667.529044059,637,880,789,804,654,632.470955941,654,0.401005965065,0.00459333552511,0.049869432456,0.999999963508,0.000124595869692,-0.000237104878556,-3.52205679377e-05,1793238243145108736
+45,0.750000000,BASELINE,767,746.892286081,715,679,667.892286081,637,880,789,804,654,632,654,0.401006383193,0.00459322723253,0.0498700400256,0.999999963505,0.000125479598362,-0.000236670382827,-3.51063601777e-05,1793238243161775616
+46,0.766666667,BASELINE,767,746.303470355,715,679,667.303470355,637,880,789,804,654,632,654,0.401005912826,0.00459298068432,0.0498695001604,0.999999963482,0.00012497443705,-0.000237055143033,-3.49473072448e-05,1793238243178442240
+47,0.783333333,BASELINE,767,746,715,679,667.280962033,636.719037967,880.280962033,789,803.719037967,654,632,654,0.401006104163,0.00459305298879,0.0498697918162,0.999999963512,0.000125765555545,-0.000236523013716,-3.48733763322e-05,1793238243195108864
+48,0.800000000,BASELINE,767,746,715,679,667.860732728,636.139267272,880.860732728,789,803.139267272,654,632,654,0.401006999235,0.00459346439936,0.0498709678107,0.999999963591,0.000127935293111,-0.000235015754356,-3.48899743464e-05,1793238243211775488
+49,0.816666667,BASELINE,767,746,715,679.437791391,667.562208609,636.437791391,880.562208609,789,803.437791391,654,632,654,0.40100749529,0.00459360468494,0.049871166638,0.999999963745,0.00012739077208,-0.000234644414156,-3.49673045056e-05,1793238243228441856
+50,0.833333333,BASELINE,767,746,715,679.98575643,667.01424357,637,880.01424357,789,803.98575643,654,632,654,0.401007810212,0.00459365960616,0.0498710277586,0.999999963905,0.00012604525021,-0.000234676323351,-3.506339779e-05,1793238243245108480
+51,0.850000000,BASELINE,767,746,715,679.399220402,667.600779598,637,880.600779598,789,803.399220402,654,632,654,0.401005916069,0.00459372871539,0.0498697329061,0.999999963357,0.000126994952609,-0.000236481054698,-3.5141907604e-05,1793238243261775360
+52,0.866666667,BASELINE,767,746,715,679,667.814783685,637,881,788.814783685,803.185216315,654.185216315,632,654,0.401004995462,0.00459363883039,0.0498689985411,0.999999963051,0.000127422713472,-0.00023753695755,-3.51666571169e-05,1793238243278442240
+53,0.883333333,BASELINE,767,746,715,679,667.234821204,637,881,788.234821204,803.765178796,654.765178796,632,654,0.40100614972,0.00459321008561,0.049869458727,0.99999996327,0.000126738075408,-0.000236996903821,-3.50768288528e-05,1793238243295108864
+54,0.900000000,BASELINE,767,746,715,679.343483994,667.343483994,636.656516006,881,788.343483994,803.656516006,654.656516006,632,654,0.401006752458,0.0045926841332,0.0498699130284,0.999999963561,0.00012548923922,-0.000236426050869,-3.51089798055e-05,1793238243311775488
+55,0.916666667,BASELINE,767,746,715,679.920661616,667.920661616,636.079338384,881,788.920661616,803.079338384,654.079338384,632,654,0.401006979961,0.00459209204439,0.0498703633261,0.999999963901,0.000123856543817,-0.000235834243301,-3.5224120846e-05,1793238243328442112
+56,0.933333333,BASELINE,767,746,715,680,668,636.493161739,881,788.506838261,803.493161739,654,632,654,0.401006831604,0.00459413507901,0.0498698282466,0.999999963423,0.000126976285489,-0.000236149891099,-3.55634532499e-05,1793238243345108992
+57,0.950000000,BASELINE,767,746.064979091,715,679.935020909,667.935020909,636.935020909,881,788.064979091,804,654,632,654,0.401006633835,0.00459629294233,0.0498692756123,0.999999962892,0.000130333860887,-0.00023651679356,-3.58872999402e-05,1793238243361775616
+58,0.966666667,BASELINE,767,746.637285356,715,679.362714644,667.362714644,636.362714644,881,788.637285356,804,654,632,654,0.40100651795,0.00459606857419,0.0498698119778,0.999999963072,0.000129635097273,-0.000236154764763,-3.58112902357e-05,1793238243378442240
+59,0.983333333,BASELINE,767,746.780820819,715,679.219179181,667.219179181,636,880.780820819,789,803.780820819,654,632,654,0.40100616534,0.00459541495433,0.0498700248926,0.999999963124,0.000129101140124,-0.000236268199944,-3.55397773499e-05,1793238243395108864
+60,1.000000000,BASELINE,767,746.182334879,715,679.817665121,667.817665121,636,880.182334879,789,803.182334879,654,632,654,0.401005403057,0.00459401848066,0.0498696780507,0.999999962956,0.000128852393372,-0.000237204462762,-3.49299308646e-05,1793238243411775488
+61,1.016666667,BASELINE,767,746,715,679.598763739,667.598763739,636.401236261,880,789,803.401236261,654,632,654,0.40100592253,0.00459409562907,0.0498700916972,0.999999963189,0.000128515255667,-0.000236419269368,-3.48214509177e-05,1793238243428442112
+62,1.033333333,BASELINE,767,746,715,679.021727493,667.021727493,636.978272507,880,789,803.978272507,654,632,654,0.4010070036,0.0045948184389,0.0498708385487,0.999999963596,0.000128139389851,-0.000234879827096,-3.49326426537e-05,1793238243445108736
+63,1.050000000,BASELINE,767,746,715,679.560784682,667,637,880.560784682,789,803.439215318,654,632,654,0.40100787066,0.0045935090299,0.0498713928877,0.999999963972,0.000126925642628,-0.000233946945824,-3.48489833161e-05,1793238243461775616
+64,1.066666667,BASELINE,767,746,715,680,667,636.856563402,880.856563402,789,803.143436598,654,632,654,0.401008219639,0.00459263362509,0.0498715624607,0.999999964149,0.000126112944156,-0.000233641828414,-3.47653724801e-05,1793238243478441984
+65,1.083333333,BASELINE,767,746,715,680,667,636.27413957,880.27413957,789,803.72586043,654,632,654,0.401007008662,0.00459332984218,0.0498705775116,0.999999963724,0.000126627988461,-0.000235185346012,-3.47052430463e-05,1793238243495108608
+66,1.100000000,BASELINE,767,746,715,680,667,636,880.306519733,789,804,654,632,654.306519733,0.401007136234,0.00459355636368,0.04987059882,0.999999963723,0.000126989260365,-0.000234982829979,-3.47943911351e-05,1793238243511775232
+67,1.116666667,BASELINE,767,746,715,680,667,636,880.885609911,789,804,654,632,654.885609911,0.401008454099,0.00459336521177,0.0498715149357,0.999999964098,0.00012721379125,-0.000233227666145,-3.5016283179e-05,1793238243528441856
+68,1.133333333,BASELINE,767,746,715,679.538301388,667,636,881,788.538301388,804,654,632,654.538301388,0.40100784817,0.00459319017816,0.049870787825,0.99999996394,0.00012630737631,-0.000234406139232,-3.49337621297e-05,1793238243545108736
+69,1.150000000,BASELINE,767,746,715,679.037880171,667,636.037880171,880.962119829,788,804,654,632,654,0.401006747232,0.00459299331412,0.0498697187722,0.999999963656,0.000125173314432,-0.000236239167777,-3.4790222067e-05,1793238243561775360
+70,1.166666667,BASELINE,767,746,715,679.626145361,667,636.626145361,880.373854639,788,804,654,632,654,0.401005334625,0.00459242161349,0.0498695585874,0.999999963502,0.000124776567501,-0.000237090200945,-3.48488619805e-05,1793238243578442240
+71,1.183333333,BASELINE,767,746,715,680,667,636.788769098,880.211230902,788.211230902,804,654,632,654,0.401004724022,0.00459223892061,0.0498695857113,0.999999963421,0.000124991088584,-0.000237320334174,-3.48515160223e-05,1793238243595108864
+72,1.200000000,BASELINE,767,746,715,680,667,636.209227624,880.790772376,788.790772376,804,654,632,654,0.401005511825,0.00459273451696,0.0498699394337,0.999999963465,0.000126271440741,-0.000236467841803,-3.4756550889e-05,1793238243611775488
+73,1.216666667,BASELINE,767,746,715,680,667.367999405,636,880.632000595,789,804,654,632,654,0.40100616468,0.00459426290818,0.0498702450503,0.999999963348,0.000128361024494,-0.000235811655951,-3.49459895874e-05,1793238243628441856
+74,1.233333333,BASELINE,767,746,715,680,667.943918736,636,880.056081264,789,804,654,632,654,0.401006741289,0.00459637482922,0.0498705234872,0.999999963134,0.000130907824595,-0.000235266383473,-3.52961166586e-05,1793238243645108480
+75,1.250000000,BASELINE,767,746,715,679.481350166,667.481350166,636.518649834,880.518649834,789,804,654,632,654,0.401006545347,0.00459547210343,0.0498706109952,0.999999963395,0.000129347444041,-0.000235040837378,-3.51323790198e-05,1793238243661775104
+76,1.266666667,BASELINE,767,745.90397225,715,679.09602775,667.09602775,637,881,789,804,654,632,654,0.401006528627,0.00459419279799,0.0498707784465,0.99999996374,0.000127299712526,-0.000234721908969,-3.49286468671e-05,1793238243678441728
+77,1.283333333,BASELINE,767,745.312270379,715,679.687729621,667.687729621,637,881,789,804,654,632,654,0.401007867218,0.00459264841983,0.0498714648689,0.999999964261,0.000125023524022,-0.000233742917473,-3.48046246397e-05,1793238243695108352
+78,1.300000000,BASELINE,767,745.272891501,715,680,668,637,881,789,804,654,632,654,0.401007207164,0.0045918780128,0.049870982314,0.999999964167,0.000123958518611,-0.000234720143498,-3.47331288991e-05,1793238243711774976
+79,1.316666667,BASELINE,767,745.850744768,715,680,668,637,881,789,804,654,632,654,0.401004313583,0.00459197253425,0.0498691934034,0.999999963384,0.000124247034936,-0.000237883482202,-3.47203325775e-05,1793238243728441600
+80,1.333333333,BASELINE,767,746,715,679.573724182,668,636.573724182,881,789,804,654,632,654,0.401004286699,0.00459350751918,0.0498694964627,0.999999963217,0.000126178043727,-0.000237548229522,-3.4876776448e-05,1793238243745108224
+81,1.350000000,BASELINE,767,746,715,679.000998255,667.999001745,636.000998255,880.999001745,788.999001745,804,654,632.000998255,654,0.401005258046,0.00459553917804,0.0498705263643,0.999999963258,0.000128675236698,-0.000235996362668,-3.50913782787e-05,1793238243761775104
+82,1.366666667,BASELINE,767,746,715,679.575738319,667.424261681,636.575738319,880.424261681,788.424261681,804,654,632.575738319,654,0.401006189291,0.00459472349898,0.0498705983836,0.999999963504,0.000127839734233,-0.000235443096614,-3.48586211685e-05,1793238243778441728
+83,1.383333333,BASELINE,767,746,715,679.845234342,667,636.845234342,880.154765658,788.154765658,803.845234342,654,633,654,0.401006748339,0.0045936871863,0.0498706789712,0.999999963756,0.000126568685075,-0.000235084828385,-3.46841598004e-05,1793238243795108608
+84,1.400000000,BASELINE,767,746,715,679.254119242,667,636.254119242,880.745880758,788.745880758,803.254119242,654,633,654,0.401006258007,0.00459202881455,0.0498707837163,0.999999964025,0.000124069646526,-0.000235276340865,-3.467405858e-05,1793238243811775232
+85,1.416666667,BASELINE,767,746.331018453,715,679,667,636.331018453,881.331018453,789,803,654,632.668981547,654,0.40100634633,0.00459206782918,0.0498707884195,0.999999964108,0.000123479035471,-0.000235215807805,-3.47852506653e-05,1793238243828441856
+86,1.433333333,BASELINE,767,746.911648717,715,679,667,636.911648717,881.911648717,789,803,654,632.088351283,654,0.401006871001,0.00459338679579,0.0498707176837,0.999999964055,0.000124327516674,-0.0002349652142,-3.498790666e-05,1793238243845108480
+87,1.450000000,BASELINE,767,746.516551514,715,679.483448486,667.483448486,637,881.516551514,789,803.483448486,654,632,654,0.401006356766,0.00459368155065,0.0498704390717,0.99999996382,0.000125199120849,-0.000235500935638,-3.49841973208e-05,1793238243861775104
+88,1.466666667,BASELINE,767,746,715,680,668,636.944299043,881,789,804,654,632,654,0.401005596602,0.00459382269407,0.0498700730202,0.999999963537,0.00012602206703,-0.000236263845073,-3.49756237224e-05,1793238243878441984
+89,1.483333333,BASELINE,767,746,715,680,668,636.35243359,881,789,804,654,632,654,0.40100426397,0.00459425461207,0.0498692244179,0.99999996311,0.000126336696022,-0.000237855195172,-3.5276739522e-05,1793238243895108608
+90,1.500000000,BASELINE,767,746,715,680,668,636.233876837,881,789,804,654,632,654,0.401004464226,0.00459405138801,0.0498692578178,0.999999963196,0.000125932405132,-0.000237703892879,-3.52911894953e-05,1793238243911775232
+91,1.516666667,BASELINE,767,746,715,680,668,636.812010448,881,789,804,654,632,654,0.40100692083,0.00459291326178,0.0498705894873,0.999999964036,0.000124469894669,-0.000234987480104,-3.4883679516e-05,1793238243928441856
+92,1.533333333,BASELINE,767,746,715,679.611753841,668,637,881,789,804,654.388246159,632,654,0.401007459642,0.00459328974961,0.049870984963,0.999999964166,0.000125088582295,-0.000234095270625,-3.49332539971e-05,1793238243945108480
+93,1.550000000,BASELINE,767,746,715,679.036432575,668,637,881,789,804,654.963567425,632,654,0.401007074373,0.00459439604903,0.049870929337,0.999999963955,0.000126710088095,-0.000234082047128,-3.52030730525e-05,1793238243961775104
+94,1.566666667,BASELINE,767,746,715,679,668,637,881,789,804,654.461306932,632,654,0.40100677287,0.00459367885753,0.0498712511113,0.999999963925,0.000128021094843,-0.000233529941769,-3.49780797345e-05,1793238243978441728
+95,1.583333333,BASELINE,767,746,715,679,667.882488057,637,881,789,804,654,632,654,0.401006209159,0.00459321041407,0.0498713355717,0.999999963786,0.000129118427372,-0.000233545149979,-3.48197902051e-05,1793238243995108352
+96,1.600000000,BASELINE,767,746,715,679,667.288644993,637,881,789,804,654,632,654,0.401004559639,0.00459424997681,0.049870354664,0.999999963159,0.000129434728191,-0.000236007622932,-3.50674819592e-05,1793238244011774976
+97,1.616666667,BASELINE,767,746,715,679,667.296529373,637,881,789,804,654.296529373,632,654,0.401003897345,0.00459480534301,0.0498697728598,0.999999962913,0.000129172163354,-0.00023716283866,-3.5248204051e-05,1793238244028441856
+98,1.633333333,BASELINE,767,746,715,679,667.873505171,637,881,789,804,654.873505171,632,654,0.401004168733,0.0045949027741,0.0498695685128,0.999999963032,0.000128362128941,-0.000237081699094,-3.53655887183e-05,1793238244045108736
+99,1.650000000,BASELINE,767,746,715,679,667.552528582,636.552528582,881,788.552528582,803.552528582,654.552528582,632,654,0.401005060295,0.00459400937106,0.0498701169561,0.999999963428,0.00012742205856,-0.000235967106079,-3.50284822948e-05,1793238244061775104
+100,1.666666667,BASELINE,767,746,715,679,667.021156347,636.021156347,881,788.021156347,803.021156347,654,632,654,0.401006096603,0.0045929164724,0.0498708638141,0.999999963877,0.000126539944268,-0.000234599828424,-3.45888593024e-05,1793238244078441984
+101,1.683333333,BASELINE,767,746,715,679,667.609968065,636.609968065,881,788.609968065,803.609968065,654,632,654,0.401006344116,0.0045939360155,0.0498712627132,0.999999963743,0.000128192599514,-0.000234238959283,-3.4822820775e-05,1793238244095108608
+102,1.700000000,BASELINE,767.195703047,746,715,679.195703047,667.804296953,637,881,789,803.804296953,654,632.195703047,654,0.40100637359,0.00459490593753,0.0498713801133,0.999999963555,0.000129536643619,-0.000234265733888,-3.50830131032e-05,1793238244111775232
+103,1.716666667,BASELINE,767.775401005,746,715,679.775401005,667.224598995,637,881,789,803.224598995,654,632.775401005,654,0.401005975244,0.0045957784964,0.0498709451757,0.999999963263,0.000130275152208,-0.00023505311614,-3.53946737647e-05,1793238244128441856
+104,1.733333333,BASELINE,767.647762844,746.352237156,715,680,667.352237156,637,881,788.647762844,803,654,632.647762844,654,0.401006246827,0.00459504543236,0.0498709519557,0.999999963449,0.000129008262166,-0.000234961524146,-3.53875607042e-05,1793238244145108480
+105,1.750000000,BASELINE,767.072736721,746.927263279,715,680,667.927263279,637,881,788.072736721,803,654,632.072736721,654,0.401006942137,0.00459329681661,0.0498712381206,0.999999963932,0.000126472963443,-0.000234313983597,-3.51788242298e-05,1793238244161775104
+106,1.766666667,BASELINE,767,746.49764893,715,680,668,637,881,788.50235107,803.50235107,654,632,654,0.401007612787,0.00459422258644,0.0498721485724,0.999999964233,0.000127077759395,-0.000232657237041,-3.54291263753e-05,1793238244178441984
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,637,881,788,803,654,632,654,0.401003954949,0.00459227188456,0.0498695135236,0.999999963439,0.00012342089592,-0.000238040179102,-3.50052376689e-05,1793238244222072320
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667.601671306,637,881,788.601671306,803.601671306,654,632,654,0.40100455571,0.00459342848739,0.0498696017739,0.999999963226,0.00012614285436,-0.000237516116456,-3.49460890157e-05,1793238244238738944
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715,679.194476183,668,637,881,789,803.805523817,654,632,654,0.401005013428,0.00459463202187,0.049869868009,0.999999963072,0.00012868803579,-0.000236793020981,-3.49784296097e-05,1793238244255405824
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,715,679.769912677,668,637,881,789,803.230087323,654,632,654,0.401005190938,0.00459592749117,0.0498704828994,0.999999963043,0.000130886928384,-0.000235680039065,-3.51899889116e-05,1793238244272072192
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668,636.647461424,881,789,803.352538576,654,632,654,0.40100496418,0.00459499572317,0.0498702223303,0.999999963188,0.000129187467903,-0.000236036861953,-3.49438647941e-05,1793238244288739072
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668,636.060045654,881,789,803.939954346,654,632,654,0.40100446808,0.00459258006855,0.0498693784904,0.999999963437,0.000124890747588,-0.000237372935555,-3.4392811203e-05,1793238244305405952
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.479359744,746,715,680,668,636.520640256,881,789,803.479359744,654,632,654,0.401003394419,0.00459297934922,0.0498688658939,0.999999963045,0.000126026298537,-0.000238401502485,-3.45124991657e-05,1793238244322072576
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.100027654,746,715,679.899972346,667.899972346,637,880.899972346,788.899972346,803.100027654,654,632,654,0.401002795025,0.00459366974461,0.0498686629683,0.999999962718,0.000127624095501,-0.000238905339052,-3.46464867905e-05,1793238244338738944
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.676877803,746,715,679.323122197,667.323122197,637,880.323122197,788.323122197,803.676877803,654,632,654,0.401004769884,0.00459422004045,0.0498697564319,0.99999996305,0.000128476991234,-0.000237074735267,-3.44845921693e-05,1793238244355405824
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715,679.252845276,667,637,880,788.252845276,804,654,632,654,0.401006472319,0.00459388865714,0.0498704320515,0.999999963485,0.000127064656933,-0.000235994652021,-3.4501128528e-05,1793238244372072448
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715,679.827688619,667,637,880,788.827688619,804,654,632,654,0.401007827823,0.00459243445673,0.0498705755476,0.999999964043,0.000122767555638,-0.000235870355653,-3.47448964746e-05,1793238244388739072
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,715,679.586361625,667.413638375,637,880,789,804,654,632,654.413638375,0.401019787156,0.00459251729304,0.0498756122478,0.999999966147,0.000123863613643,-0.000226167596307,-3.4804892803e-05,1793238244405405696
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,880.004260256,789,804,654,632,654.995739744,0.401036460771,0.00459325357342,0.0498828011752,0.999999968775,0.000127252650201,-0.000212244276298,-3.47835883963e-05,1793238244422072320
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,880.583778073,789,804,654,632,654.416221927,0.401076779577,0.0045933804029,0.0498977675471,0.999999974573,0.00012852645349,-0.000182074534531,-3.44066410523e-05,1793238244438738944
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,881,789,804,654,632,654.162272394,0.401122742299,0.00459326896375,0.0499132051899,0.999999979884,0.000128744405603,-0.00014995171601,-3.42108361954e-05,1793238244455405568
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,881,789,804,654,632,654.738158069,0.401183090708,0.00459255020585,0.0499298440504,0.999999985066,0.000126271117446,-0.000112850727941,-3.44767422284e-05,1793238244472072192
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667.68744281,636.68744281,881,789,804,654,632,654.68744281,0.40124816125,0.00459165103549,0.0499435359699,0.999999987868,0.000124066005465,-8.78696474119e-05,-3.39220568939e-05,1793238244488738816
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667.114283175,636.114283175,881,789,804,654,632,654.114283175,0.401317168985,0.00459060144174,0.0499547708018,0.99999998935,0.000122084492373,-7.2993847952e-05,-3.26831828045e-05,1793238244505405440
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667.472961013,636.472961013,881,789,804,654,632,654,0.401391012502,0.00459082293361,0.04995978653,0.999999989982,0.000121935311163,-6.42593974295e-05,-3.22234771852e-05,1793238244522072064
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715,679.062435051,668,637,881,789,804,654,632,654,0.401467250808,0.00459110810183,0.0499626004,0.999999990334,0.000121969963846,-5.86563728262e-05,-3.18678498944e-05,1793238244538738944
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715,679.641338172,668,637,881,789,804,654,632,654,0.401553336516,0.00458930136309,0.0499600126772,0.999999990158,0.000119750404367,-6.63045919061e-05,-3.07679535693e-05,1793238244555405568
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667.781652474,637,881,789,804,654.218347526,632,654,0.401648486489,0.00458789475412,0.0499580782959,0.999999990072,0.000117517135737,-7.17602047466e-05,-2.99234888833e-05,1793238244572072192
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667.207727165,637,881,789,804,654.792272835,632,654,0.401758397559,0.00458713975453,0.0499572078781,0.999999990211,0.000115261542052,-7.36451692729e-05,-2.94949933699e-05,1793238244588738816
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746.376670443,715,680,667.376670443,637,880.623329557,788.623329557,804,654.623329557,632.376670443,654,0.401891066291,0.0045851747711,0.0499607284353,0.999999990939,0.000112887726475,-6.76973740541e-05,-2.82061835799e-05,1793238244605405696
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746.967008554,715,680,667.967008554,637,880.032991446,788.032991446,804,654.032991446,632.967008554,654,0.4020366444,0.0045825234199,0.0499667397889,0.999999991909,0.000110446848881,-5.73064177693e-05,-2.64293573684e-05,1793238244622072320
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746.452876349,715,679.452876349,668,637,880.547123651,788.547123651,803.452876349,654,632.452876349,654,0.402190375217,0.00458115673606,0.0499635839445,0.99999999198,0.000105775636388,-6.4743865311e-05,-2.5680984258e-05,1793238244638738944
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,881,789,803,654,632,654,0.402352081239,0.00457969670302,0.0499607573094,0.999999992027,0.000101455011774,-7.097147185e-05,-2.48293144652e-05,1793238244655405312
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,881,789,803,654,632,654,0.402540582956,0.00457763087202,0.0499610486496,0.999999992452,9.88603308115e-05,-6.90982070925e-05,-2.33905107827e-05,1793238244672072192
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667.722915928,637,880.722915928,789,803.277084072,654,632.277084072,654,0.40274443238,0.00457600858207,0.0499620091966,0.999999992926,9.65690985829e-05,-6.58381079824e-05,-2.21023797868e-05,1793238244688739072
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667.1491405,637,880.1491405,789,803.8508595,654,632.8508595,654,0.402964715551,0.00457486121956,0.0499636863055,0.999999993439,9.4602788169e-05,-6.10930381521e-05,-2.09755836063e-05,1793238244705405696
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,715,679.435751333,667.435751333,637,880.435751333,789,803.564248667,654,632.564248667,654,0.403214609305,0.00457342798443,0.0499696300716,0.999999994389,9.16454471794e-05,-4.95531105912e-05,-1.91490338306e-05,1793238244722072320
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,881.024244687,789,803,654,632,654,0.403476517279,0.00457182573488,0.0499771391639,0.999999995333,8.82553672645e-05,-3.53959992346e-05,-1.70937346715e-05,1793238244738738688
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,881.605778377,789,803,654,632,654,0.403775533391,0.0045686464116,0.0499861834655,0.999999996316,8.29190905129e-05,-1.59362284493e-05,-1.54296209743e-05,1793238244755405312
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.814969276,746,714.814969276,679.814969276,668,636.814969276,881.814969276,788.814969276,803.185030724,654,632,654,0.404080690535,0.00456534769711,0.0499939698597,0.999999996892,7.76999668935e-05,-6.41899550359e-07,-1.33271722868e-05,1793238244772072192
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.240518372,746,714.240518372,679.240518372,668,636.240518372,881.240518372,788.240518372,803.759481628,654,632,654,0.404398772208,0.00456179770937,0.0499991088301,0.999999997285,7.27274073461e-05,5.88573619779e-06,-1.03021932983e-05,1793238244788738816
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,714.330572663,679,668,636,880.669427337,788.330572663,803.669427337,654,632,654,0.404737620806,0.00455843943189,0.0500035041522,0.999999997572,6.76740520582e-05,1.46161078658e-05,-7.97103864703e-06,1793238244805405696
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,714.899243775,679,668,636,880.100756225,788.899243775,803.100756225,654,632,654,0.405091427034,0.00455521923539,0.0500073638544,0.999999997713,6.25625022674e-05,2.49330240083e-05,-6.13961798697e-06,1793238244822072320
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.492054704,746,715,679,668,636.492054704,880.984109407,789,803,654,632,654,0.405459520585,0.00455136568352,0.0499977090917,0.999999998307,5.7714525631e-05,6.4777966736e-06,-3.65833722158e-06,1793238244838738944
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,714.912916098,679.087083902,668,636.912916098,881.825832195,788.912916098,803,653.912916098,632,653.912916098,0.405833107953,0.00454717519149,0.0499845396349,0.999999998402,5.30370477602e-05,-1.95265771499e-05,-8.91100191395e-07,1793238244855405568
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,714.334692067,679.665307933,668,636.334692067,880.669384135,788.334692067,803,653.334692067,632,653.334692067,0.40622032882,0.0045418535719,0.0499679602008,0.999999997383,4.90010643398e-05,-5.31652530249e-05,2.69967851418e-06,1793238244872072192
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.757764661,746,714.242235339,679.757764661,668,636,880.242235339,788.242235339,803.242235339,653.242235339,632,653.242235339,0.406627486606,0.00453773882829,0.0499548523788,0.999999996075,4.50832965957e-05,-7.60671124939e-05,5.53413959111e-06,1793238244888738816
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.182619274,746,714.817380726,679.182619274,668,636,880.817380726,788.817380726,803.817380726,653.817380726,632,653.817380726,0.407062044174,0.00453528272468,0.0499465156808,0.999999995573,4.13279958958e-05,-8.42130962382e-05,7.32917433228e-06,1793238244905405440
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.597704993,715,679.402295007,668,636.402295007,880.597704993,788.597704993,804,653.597704993,631.597704993,653.597704993,0.407546914752,0.00452974910673,0.0499520656914,0.999999996839,3.57755918871e-05,-7.02446972307e-05,1.04082107096e-05,1793238244922072064
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.008245838,715,679.991754162,668,636.991754162,880.008245838,788.008245838,804,653.008245838,631.008245838,653.008245838,0.408055192996,0.00452278370288,0.0499640763691,0.999999998412,2.93871017527e-05,-4.59877795313e-05,1.40846172879e-05,1793238244938738944
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.571268927,715,680,668,636.428731073,880.571268927,788,804,653,631.571268927,653.571268927,0.408595790112,0.00451702611399,0.0499840621262,0.9999999995,2.25750012098e-05,-1.34343392374e-05,1.76079382478e-05,1793238244955405312
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715,679.850717287,668,636,881,788,804,653.149282713,632,654,0.409139219082,0.00451116807907,0.0500008715043,0.999999999009,3.71096594684e-05,1.24700046674e-05,2.1212244604e-05,1793238244972072448
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715,679.276573885,668,636,881,788,804,653.723426115,632,654,0.409689402508,0.00450497540609,0.0500083188484,0.999999993185,0.000112414597305,1.91159311154e-05,2.50532170691e-05,1793238244988740096
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.305019733,746,715,679,668,636.305019733,881,788,803.694980267,653.694980267,632,653.694980267,0.410235014025,0.00449916215095,0.0500065636696,0.99999998889,0.000145790097439,1.27384623166e-05,2.83395337761e-05,1793238245005406976
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.893537971,746,715,679,668,636.893537971,881,788,803.106462029,653.106462029,632,653.106462029,0.410776376276,0.00449370154241,0.0499962552695,0.999999989672,0.000140194577726,-5.7435112577e-06,3.11103300224e-05,1793238245022073088
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,715,679,668,637,881,788.474550707,803,653,632,653.474550707,0.411353560692,0.00448730468805,0.049975491996,0.999999990465,0.000124886338402,-4.79513177601e-05,3.42684023247e-05,1793238245038739968
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.946354932,746,715,679.053645068,668,636.946354932,881,789,803,653,632,653.946354932,0.411945415529,0.00448068582961,0.0499557825576,0.999999990018,0.000104616617297,-8.76859367947e-05,3.64636380172e-05,1793238245055407360
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.369802239,746,715,679.630197761,668,636.369802239,881,789,803,653,632,653.369802239,0.412603155393,0.0044739184693,0.0499688520661,0.999999996613,5.68936197695e-05,-5.22374581809e-05,2.84398788552e-05,1793238245072073728
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715,679.793491092,668,636.206508908,881,788.793491092,803,653,632,653.206508908,0.413273848058,0.00446436569301,0.0499849835824,0.999999999624,2.42931035724e-06,-1.84613577241e-05,2.01374586867e-05,1793238245088739840
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,679.217612018,668,636.782387982,881,788.217612018,803,653,632,653.782387982,0.413967708585,0.00444983080972,0.0500065919287,0.999999997806,-6.40927784681e-05,1.2323457406e-05,1.1336614739e-05,1793238245105405952
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,679,668.364845264,636.635154736,881,788,803,653,632,654,0.414622003021,0.00444264738015,0.0500008361595,0.999999996863,-7.85743244434e-05,7.07751932765e-07,1.00131720927e-05,1793238245122072576
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,679,668.951298139,636.048701861,881,788,803,653,632,654,0.415252264923,0.00443992923619,0.0499784593809,0.999999997353,-6.14463569713e-05,-3.6662100398e-05,1.32315155914e-05,1793238245138739200
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.534381154,746,715,679.534381154,668.465618846,636.534381154,881,788,803.534381154,653.534381154,632,654,0.415952590966,0.0044531798574,0.0499571708946,0.999999996837,-3.73908593941e-05,-6.81142437764e-05,1.69981550029e-05,1793238245155405824
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,715,679.884512772,668,637,881,788.115487228,804,653.884512772,632,654,0.416666114496,0.00447045958988,0.0499446405211,0.999999996113,-9.94082529354e-06,-8.53637538115e-05,1.96875391984e-05,1793238245172072448
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,715,679.31005078,668,637,881,788.68994922,804,653.31005078,632,654,0.417406869663,0.00449800434916,0.0499665253458,0.999999998267,2.85064962917e-05,-4.82984504552e-05,1.78982955607e-05,1793238245188739584
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.734965276,746,715,679.265034724,668,636.734965276,880.734965276,788.734965276,803.734965276,653,632,654,0.418157272406,0.004509047386,0.0499876604638,0.999999998856,4.32746330235e-05,-1.04734665614e-05,1.7491642366e-05,1793238245205406464
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.159148562,746,715,679.840851438,668,636.159148562,880.159148562,788.159148562,803.159148562,653,632,654,0.418918988075,0.00450074036518,0.0500079164721,0.999999998968,3.02763595435e-05,2.82423299984e-05,1.87062263743e-05,1793238245222073088
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636,880.425879314,788,803,653,632.425879314,654,0.4196336294,0.0044915585687,0.0499977731159,0.999999999648,1.73157674573e-05,3.30582953593e-06,1.9814434361e-05,1793238245238739456
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.014201795,746.014201795,715,679.985798205,668,636,881,788,803.014201795,653,632.985798205,654,0.420333312737,0.00448217760435,0.0499768450517,0.999999998808,4.70389345375e-06,-4.3906858838e-05,2.08523902314e-05,1793238245255406080
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.593624739,746.593624739,715,679.406375261,668,636,881,788,803.593624739,653,632.406375261,654,0.42115328318,0.00447816781575,0.0499888105126,0.99999999972,5.39790051914e-06,-1.00828883508e-05,2.0711446134e-05,1793238245272072448
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.828240751,746.828240751,715,679.171759249,668,636,881.171759249,788,804,653,632,654,0.42196549736,0.00447435407364,0.0500015605133,0.999999999514,4.39949589771e-06,2.26716309817e-05,2.09230396425e-05,1793238245288739072
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.253131959,746.253131959,715,679.746868041,668,636,881.746868041,788,804,653,632,654,0.422759497132,0.00447100071606,0.0500161528813,0.999999998359,-5.73271014772e-07,5.29147106806e-05,2.19625122297e-05,1793238245305405696
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.321642838,881.678357162,788.321642838,804,653.321642838,632,654,0.42352887952,0.00447312013641,0.0500115784681,0.999999998727,-1.63203581107e-06,4.51065976347e-05,2.25490249158e-05,1793238245322072320
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.896155028,881.103844972,788.896155028,804,653.896155028,632,654,0.424278908162,0.00447954214863,0.0499919355031,0.999999999713,3.863120757e-07,7.38337441834e-06,2.27794292629e-05,1793238245338738944
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.486099428,746,715,680,668,637,881,789,804,653.513900572,632,654,0.425055807278,0.00448741191305,0.0499909031847,0.999999999695,9.15327430323e-06,4.69971674512e-06,2.24441494795e-05,1793238245355405568
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.922595327,746,715,680,668,637,881,789,804,653,632,654,0.425844701126,0.00449359860245,0.0499963487174,0.999999999531,1.68060116294e-05,1.26645268901e-05,2.2265399461e-05,1793238245372072192
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.344511747,746,715,680,668,637,881,789,804,653,632,654,0.42667283281,0.00448683247357,0.050017135304,0.999999998905,7.62041834523e-06,3.9501102992e-05,2.39064406743e-05,1793238245388739072
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.768478472,881,789,804,653,632,654,0.427457598083,0.0044797302658,0.0500173100943,0.999999999189,-2.99869583701e-06,3.09834043574e-05,2.55595975942e-05,1793238245405405440
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.195469255,881,789,804,653,632,654,0.428178399253,0.0044721323502,0.0499870830723,0.999999999065,-1.57322140676e-05,-2.96808433923e-05,2.72306250369e-05,1793238245422072064
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.389516068,746,715,680,668,636,881,789,804,653,632,654,0.428928103019,0.0044716174658,0.0499699427366,0.999999998028,-1.03637760216e-05,-5.56934836619e-05,2.71247444355e-05,1793238245438738688
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.980701919,746,715,680,668,636,881,789,804,653,632,654,0.429692770901,0.00447476978196,0.0499595779618,0.999999997617,4.37685019464e-06,-6.37654428268e-05,2.60988794833e-05,1793238245455405312
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,715,680,668.560097418,636.560097418,881,789,804,653,632,654,0.430500290095,0.00447303999768,0.0499797988123,0.999999999304,6.92716359219e-06,-2.56187942457e-05,2.62139668755e-05,1793238245472072192
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668.861464983,637,881,789,804,653,632,654,0.431293059411,0.00447258564595,0.0499900756656,0.999999999596,7.94011804951e-06,-6.49356285232e-06,2.65031030039e-05,1793238245488738816
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668.284798597,637,881,789,804,653,632,654,0.432034607546,0.00447668600265,0.0499656394796,0.999999998239,5.39197218735e-06,-5.24580156402e-05,2.72209233239e-05,1793238245505405440
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.289787028,715,680,668.289787028,636.710212972,881,788.710212972,804,653,632,654,0.432776321811,0.00447927868819,0.0499542275747,0.99999999701,1.91935266747e-06,-7.21290828127e-05,2.78269012659e-05,1793238245522072064
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746.862342256,715,680,668.862342256,636.137657744,881,788.137657744,804,653,632,654,0.433518198138,0.00448040021911,0.0499555244958,0.999999997408,-2.45534900635e-06,-6.61436045057e-05,2.83237457236e-05,1793238245538738688
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.564345952,715,680,669,636,881,788,804.435654048,653,632,654,0.434265251561,0.00447989071896,0.0499737606428,0.999999998786,7.10257168025e-06,-3.91977294914e-05,2.90118647672e-05,1793238245555405568
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,715,680.009582801,669,636,881.009582801,788.009582801,804.990417199,653,632,654,0.435012829181,0.00447882109173,0.0499968780877,0.999999999323,2.06578682363e-05,-6.45475639853e-06,2.97596934111e-05,1793238245572072192
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,715,680.606651008,669,636,881.606651008,788.606651008,804.393348992,653,632,654,0.43569207709,0.00447506269202,0.0499905401431,0.999999999183,8.91166859819e-06,-2.50546362382e-05,3.0456367286e-05,1793238245588738816
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.803930869,746,715,680.607861738,668.803930869,636,881.803930869,788.803930869,804,653,632.196069131,654,0.436372605205,0.00447126565661,0.0499800224788,0.999999998296,-3.51278019553e-06,-4.93917564931e-05,3.09175965751e-05,1793238245605405696
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.229283724,746,715,679.458567447,668.229283724,636,881.229283724,788.229283724,804,653,632.770716276,654,0.43705560531,0.00446739402122,0.0499614344457,0.999999995777,-1.72468212825e-05,-8.48065701819e-05,3.09242202838e-05,1793238245622072320
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,679.352766465,668.352766465,636,881.352766465,788.352766465,804,653,632.647233535,654,0.43774992708,0.00446419765729,0.049972762746,0.999999997523,-2.35477257998e-05,-5.8597772544e-05,3.10833115179e-05,1793238245638738944
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715,679.939731433,668.939731433,636,881.939731433,788.939731433,804,653,632.060268567,654,0.43845176516,0.0044614496003,0.0500039522337,0.999999999162,-2.49138364826e-05,8.52239223925e-06,3.13436244881e-05,1793238245655405568
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.521073816,746,715,680,669,636,881.478926184,789,804.521073816,653.521073816,632.521073816,654,0.439094461596,0.00446100027849,0.0500056896948,0.99999999942,-1.85951055178e-06,8.59161945059e-06,3.29020736136e-05,1793238245672072192
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.89886367,746,715,680,669,636.10113633,881.10113633,789,805,653.89886367,632.89886367,653.89886367,0.439720933248,0.00446176437968,0.0499993169936,0.999999999208,1.96120864218e-05,-4.68849797497e-06,3.43191591106e-05,1793238245688738816
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.321796396,746,715,680,669,636.678203604,881.678203604,789,805,653.321796396,632.321796396,653.321796396,0.440302900138,0.00446700083365,0.0499706384451,0.999999998201,2.04857734571e-05,-4.46830396836e-05,3.4371993937e-05,1793238245705405440
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746.253761427,715,680,669,636.746238573,882,789,804.492477146,653,632.253761427,653.253761427,0.440892372432,0.00447206824252,0.0499560492145,0.999999997024,2.25732428289e-05,-6.50083985095e-05,3.48674958973e-05,1793238245722072832
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746.827416381,715,680,669,636.172583619,882,789,803.345167238,653,632.827416381,653.827416381,0.44149130605,0.00447692255148,0.0499592210845,0.999999997179,2.61908151378e-05,-6.05386372896e-05,3.59210273628e-05,1793238245738740480
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.413523651,746.586476349,715,680,669,636,882,788.586476349,803.413523651,653,633,653.586476349,0.442080483773,0.00447873838581,0.0499802576004,0.999999998665,2.69823738188e-05,-2.35380901916e-05,3.72533107775e-05,1793238245755407616
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.995122581,746,715,680.004877419,669,636,882,788,804,653,632.995122581,653.004877419,0.442664949435,0.00447920083937,0.0500087942499,0.999999998531,2.65332261638e-05,2.71194545635e-05,3.87119182502e-05,1793238245772074240
+201,3.350000000,POSE1_TO_POSE2_PRESS,766.416918249,746,715,680.583081751,669,636,882,788,804,653,632.416918249,653.583081751,0.443188985777,0.00447426725418,0.0500153327888,0.999999998185,2.31860596921e-05,3.76679331302e-05,4.09199157684e-05,1793238245788740864
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,715,681,669,636,881.839506235,788,804,653,632.160493765,654,0.443692203979,0.00447075948881,0.05001178505,0.999999998394,2.10943531629e-05,3.05999781111e-05,4.27830274906e-05,1793238245805407232
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715,681,669,636,881.264142209,788,804,653,632.735857791,654,0.444141608197,0.00447093741223,0.0499821646694,0.999999998553,2.22479619699e-05,-2.20057838997e-05,4.37546229912e-05,1793238245822073856
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715,680.68805683,669,636,881.31194317,788,804,653,632.68805683,654,0.444596087086,0.0044710824576,0.0499625087662,0.999999997246,2.284357126e-05,-5.48291218296e-05,4.44862098189e-05,1793238245838739968
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715,680.111359256,669,636,881.888640744,788,804,653,632.111359256,654,0.445054872957,0.00447119959848,0.0499513099799,0.999999996212,2.29655915924e-05,-7.08625910215e-05,4.50140949574e-05,1793238245855406080
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,715,680.478121673,669,636,882,788,804.478121673,653,632,654,0.445503858535,0.0044687156898,0.0499627320703,0.999999997855,1.91911987939e-05,-4.30953916218e-05,4.54428416665e-05,1793238245872072448
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746.068764254,715.068764254,681,669,636,882,788,805,653,632,654,0.445946152229,0.00446561508648,0.0499790805697,0.99999999883,1.43499077029e-05,-6.0012889426e-06,4.57987294986e-05,1793238245888739072
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746.645392653,715.645392653,681,669,636,882,788,805,653,632,654,0.446356343805,0.00446255700737,0.0499918326497,0.999999998661,8.51558912291e-06,2.25628050089e-05,4.5791732686e-05,1793238245905405952
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746.779356168,715.779356168,680.779356168,668.779356168,636,882,788.220643832,804.779356168,653,632.220643832,653.779356168,0.446729548963,0.00446137132143,0.0499906804126,0.99999999882,-1.71858853858e-05,2.40273738202e-05,3.85748075164e-05,1793238245922072832
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746.20630471,715.20630471,680.20630471,668.20630471,636,882,788.79369529,804.20630471,653,632.79369529,653.20630471,0.44704368016,0.00446317618227,0.0499673204952,0.999999996861,-7.4618757318e-05,-1.77908441471e-05,1.98423383371e-05,1793238245938739456
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,715,680.377299731,668,635.622700269,882.377299731,788.622700269,804,653,632.622700269,653.377299731,0.447321948595,0.00446408679882,0.0499269599319,0.999999992687,-8.69311059258e-05,-8.30227879416e-05,1.3248758908e-05,1793238245955406080
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,715,680.966840558,668,635.033159442,882.966840558,788.033159442,804,653,632.033159442,653.966840558,0.447580043307,0.00446449437942,0.0498770360527,0.999999984152,-7.38619697557e-05,-0.00016142557648,1.34836248034e-05,1793238245972072448
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746,715,681,668,635.546864592,881.906270817,788.546864592,804,653,632,654,0.447839688368,0.00446612419017,0.0498497274801,0.999999979652,-2.4531696347e-05,-0.00019975261655,1.39302428916e-05,1793238245988739072
+214,3.566666667,POSE1_TO_POSE2_PRESS,766.120899307,746,715,680.879100693,667.879100693,635.879100693,881.120899307,788.879100693,804,653,632.120899307,653.879100693,0.448098891709,0.0044684322507,0.0498299031188,0.999999973962,1.63941605586e-05,-0.000227131969455,1.47469368132e-05,1793238246005405952
+215,3.583333333,POSE1_TO_POSE2_PRESS,766.67548411,746,715,680.32451589,667.32451589,635.32451589,881.67548411,788.32451589,804,653,632.67548411,653.32451589,0.44835617915,0.00447291200446,0.0498320909265,0.999999974625,1.94197825879e-05,-0.000223807959759,1.68458829532e-05,1793238246022072576
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746,715.253138628,680.253138628,667.253138628,635,882,788.253138628,804,653,633,653.253138628,0.448604686624,0.00448350277358,0.0498357418789,0.999999975857,2.93518975174e-05,-0.000216996973121,1.83438992698e-05,1793238246038738944
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746,715.863333312,680.863333312,667.863333312,635,882,788.863333312,804,653,633,653.863333312,0.448840809798,0.00450271322666,0.0498414566198,0.99999997755,4.90257302063e-05,-0.000205267550238,1.89942943923e-05,1793238246055405824
+218,3.633333333,POSE1_TO_POSE2_PRESS,766.550040627,746,715.550040627,681,667.550040627,635,882,788.550040627,804,653,632.550040627,653.550040627,0.449040596316,0.00451814577138,0.0498417506939,0.999999975878,6.3676157424e-05,-0.000209385322234,1.86288745578e-05,1793238246072072448
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,715.029587473,681,667,634.970412527,882,788.029587473,804.029587473,653,632,653.029587473,0.449228322877,0.00453141943312,0.0498401531607,0.999999973147,7.58041997086e-05,-0.000218247675248,1.80954236758e-05,1793238246088739328
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,715.605600911,681,667,634.394399089,882,788.605600911,804.605600911,653,632,653.605600911,0.44938700463,0.00452495938424,0.0498325141735,0.999999970971,6.81240239858e-05,-0.000230265550737,1.98732086034e-05,1793238246105405952
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,715.818848961,681,667,634,882,789,805,653,632.181151039,653.818848961,0.449538150771,0.00452104456401,0.0498251130958,0.999999968455,6.32256303021e-05,-0.000242169790322,2.11214249343e-05,1793238246122072576
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,715.244305043,681,667,634,882,789,805,653,632.755694957,653.244305043,0.449672932338,0.00452265703736,0.0498182286702,0.999999965489,6.43682366215e-05,-0.00025382725336,2.12196144347e-05,1793238246138738944
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,746,715,681,667,634,882,789,804.659795328,653,633,653.340204672,0.449799473094,0.00452447771177,0.0498147495798,0.999999963476,6.63419569914e-05,-0.000261120531149,2.14902039602e-05,1793238246155405568
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746,715,681,667,634,882,789,804.067913024,653,633,653.932086976,0.449919917451,0.00452645240993,0.0498137896978,0.999999962223,6.89305215248e-05,-0.000265185260139,2.18883321039e-05,1793238246172072192
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,746,715,680.48849893,667,634,882,788.48849893,804,653.51150107,632.48849893,654,0.450026262446,0.00452698995697,0.0498155372596,0.999999963103,6.95714881685e-05,-0.000261680302459,2.18333284356e-05,1793238246188739072
+226,3.766666667,POSE1_TO_POSE2_PRESS,766.088984186,746,715,680.177968373,667,634,882,788,804,653.911015814,632.088984186,654,0.450126660206,0.00452723273491,0.0498171380023,0.999999963956,6.96852645207e-05,-0.000258378235007,2.17504826398e-05,1793238246205405696
+227,3.783333333,POSE1_TO_POSE2_PRESS,766.664744686,746,715,681.329489372,667,634,882,788,804,653.335255314,632.664744686,654,0.450204521295,0.00452688199876,0.0498160159352,0.999999963224,6.82960186329e-05,-0.000261553175695,2.18366135808e-05,1793238246222072832
+228,3.800000000,POSE1_TO_POSE2_PRESS,766.759516871,746,715,681.759516871,667,634,882,788,804.240483129,653,633,653.759516871,0.450275796255,0.00452703080165,0.0498158629948,0.99999996294,6.88065108594e-05,-0.000262477702406,2.2160083607e-05,1793238246238739968
+229,3.816666667,POSE1_TO_POSE2_PRESS,766.183809209,746,715,681.183809209,667,634,882,788,804.816190791,653,633,653.183809209,0.450337890391,0.0045278759434,0.0498170609809,0.999999963281,7.19651674105e-05,-0.00026026523558,2.28143954814e-05,1793238246255406848
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680.596794826,666.596794826,634,882,788,804.596794826,653,632.596794826,653.403205174,0.450388815522,0.0045284707463,0.0498159179022,0.999999962625,7.25118498088e-05,-0.000262610048301,2.29818942577e-05,1793238246272073472
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680.004477351,666.004477351,634,882,788,804.004477351,653,632.004477351,653.995522649,0.450434502137,0.00452894813462,0.0498136768115,0.999999961488,7.1833457463e-05,-0.000267092327738,2.29210667177e-05,1793238246288739584
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680.574954919,666,634,882,788,804,653,632.574954919,654,0.450469232664,0.00453215194067,0.0498132950794,0.999999960938,7.68654928844e-05,-0.000267779883424,2.2589762106e-05,1793238246305405952
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.152291394,746,715,680.847708606,666,634,881.847708606,788,804,653,633,653.847708606,0.450501224375,0.00453443903478,0.0498129213448,0.999999960399,8.05222563142e-05,-0.000268729916088,2.2407947724e-05,1793238246322072576
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.724124515,746,715,680.275875485,666,634,881.275875485,788,804,653,633,653.275875485,0.450525900912,0.00453414350607,0.0498125306279,0.999999959942,8.02705144931e-05,-0.00027048266005,2.2643633649e-05,1793238246338739200
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.702315235,746.297684765,715,680.297684765,666.59536953,633.702315235,881.297684765,788,804.297684765,653,632.702315235,653.297684765,0.45054518414,0.00453398431097,0.0498116865853,0.999999959449,7.95271746786e-05,-0.000272503738372,2.27962429165e-05,1793238246355406080
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.127144982,746.872855018,715,680.872855018,667.745710035,633.127144982,881.872855018,788,804.872855018,653,632.127144982,653.872855018,0.450559440023,0.00453395219857,0.0498104199771,0.99999995892,7.83255940208e-05,-0.000274774943539,2.28714126862e-05,1793238246372072960
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746.537992565,715,681,667.075985129,633.462007435,882,788.462007435,804.537992565,653,632.462007435,653.537992565,0.450569012746,0.00453459923982,0.0498087739585,0.999999958162,7.9272975597e-05,-0.000277257812627,2.28014692781e-05,1793238246388739328
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715,681,666.053612837,633.946387163,882,789,804.053612837,653.053612837,633,653.053612837,0.45057704588,0.0045353329524,0.0498071547873,0.999999957409,8.0579224405e-05,-0.000279597609101,2.26787979777e-05,1793238246405405952
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681,666.630433613,633.369566387,882,789,804.630433613,653.630433613,633,653.630433613,0.4505830242,0.00453503157164,0.0498068483981,0.999999957406,7.94360982858e-05,-0.000279954956455,2.24434466077e-05,1793238246422072576
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.206456985,746,715,681,666.793543015,633.206456985,881.793543015,788.793543015,805,653.793543015,633,653.793543015,0.450587688914,0.00453494339829,0.0498065239009,0.999999957347,7.91013206594e-05,-0.000280273094744,2.22867913504e-05,1793238246438739200
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.78105843,746,715,681,666.21894157,633.78105843,881.21894157,788.21894157,805,653.21894157,633,653.21894157,0.450590011264,0.00453523540645,0.049806167114,0.999999957189,8.02079524068e-05,-0.000280521317241,2.22704633424e-05,1793238246455406080
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,715.365549683,681,666,633.634450317,881.365549683,788,805,653,632.634450317,653,0.450590260852,0.00453622596562,0.0498049159542,0.99999995629,8.23702475494e-05,-0.00028308831624,2.22736031496e-05,1793238246472072448
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746,715.956129005,681,666,633.043870995,881.956129005,788,805,653,632.043870995,653,0.450589234463,0.00453764654752,0.0498031142251,0.999999954915,8.5182401108e-05,-0.000287082736627,2.22887271977e-05,1793238246488739072
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680.462998554,666,633,882,788.537001446,804.462998554,653,632.537001446,653.537001446,0.450590215505,0.00453839800915,0.0498019538174,0.999999954794,8.4116796768e-05,-0.000287856940092,2.17702115849e-05,1793238246505406208
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.883932514,746,715.883932514,680,666,633.116067486,882,788.883932514,804,653,632.883932514,653.883932514,0.450591342835,0.00453878401701,0.0498012458962,0.9999999548,8.31189921325e-05,-0.000288153733741,2.14024871612e-05,1793238246522072832
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.308929264,746,715.308929264,680,666,633.691070736,882,788.308929264,804,653,632.308929264,653.308929264,0.450592411646,0.00453793731351,0.0498021236385,0.999999954914,8.36196636522e-05,-0.000287584587065,2.18003187977e-05,1793238246538739456
+247,4.116666667,POSE1_TO_POSE2_PRESS,766.272131315,746,715,680,666,633.727868685,882,788.272131315,804.272131315,653,632.272131315,653.272131315,0.450592926675,0.00453799987932,0.0498021039353,0.9999999547,8.51339928167e-05,-0.000287862020696,2.20727325317e-05,1793238246555406080
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.860224925,746,715,680,666,633.139775075,882,788.860224925,804.860224925,653,632.860224925,653.860224925,0.450592798727,0.00453911816629,0.0498010422394,0.999999954101,8.78252450189e-05,-0.000289122389486,2.21995279109e-05,1793238246572072448
+249,4.150000000,POSE1_TO_POSE2_PRESS,767,746,715.441634065,680.441634065,666.441634065,633,881.558365935,789,804.558365935,653.441634065,633,654,0.450593571029,0.00453887878324,0.0498014286709,0.999999954146,8.70941874112e-05,-0.00028919237418,2.21515753699e-05,1793238246588739072
+250,4.166666667,POSE1_TO_POSE2_PRESS,766.979154403,746.020845597,715.979154403,681,666.979154403,633,881.020845597,789,804,653.979154403,633,654,0.450594630847,0.00453822479832,0.0498022665045,0.999999954396,8.53636870489e-05,-0.000288849291456,2.2056847398e-05,1793238246605405696
+251,4.183333333,POSE1_TO_POSE2_PRESS,766.402966967,746.597033033,715.402966967,681,666.402966967,633,881.597033033,789,804,653.402966967,633,654,0.450595872853,0.00453780225098,0.0498031019481,0.999999954809,8.54328232189e-05,-0.000287389058258,2.21674345912e-05,1793238246622072576
+252,4.200000000,POSE1_TO_POSE2_PRESS,766.172910191,746.827089809,715.172910191,681,666.172910191,633,882,788.827089809,804,653,633,653.827089809,0.450596871055,0.00453822715841,0.0498035265189,0.999999954998,8.59970081607e-05,-0.000286567748251,2.20912444005e-05,1793238246638739200
+253,4.216666667,POSE1_TO_POSE2_PRESS,766.748065502,746.251934498,715.748065502,681,666.748065502,633,882,788.251934498,804,653,633,653.251934498,0.450597302094,0.00454062352019,0.0498029952668,0.999999954669,8.77128369227e-05,-0.000287232780671,2.15805494981e-05,1793238246655406080
+254,4.233333333,POSE1_TO_POSE2_PRESS,767,746.32459978,715.67540022,681,667,633.32459978,882,788.32459978,804.64919956,653,633,653,0.450596813142,0.00454018319005,0.0498021343719,0.999999954348,8.68230546379e-05,-0.000288611308839,2.16590921117e-05,1793238246672072960
+255,4.250000000,POSE1_TO_POSE2_PRESS,767,746.902208866,715.097791134,681,667,633.902208866,882,788.902208866,805.804417732,653,633,653,0.450595607104,0.00453753180022,0.0498010165372,0.999999954025,8.39023286847e-05,-0.000290545971252,2.21969159437e-05,1793238246688739584
+256,4.266666667,POSE1_TO_POSE2_PRESS,766.509451294,746.509451294,715,681,666.509451294,634,881.509451294,789,805.509451294,653,633,653.490548706,0.450594775451,0.00453773170586,0.0497997779184,0.999999953417,8.59976547717e-05,-0.000292026605582,2.2141856564e-05,1793238246705405952
+257,4.283333333,POSE1_TO_POSE2_PRESS,766,746,715,681,666,634,881.079130711,788.920869289,805,653.079130711,632.920869289,654,0.450594246557,0.00453850424685,0.0497988189535,0.999999952889,8.85764784405e-05,-0.000293077091924,2.1956508798e-05,1793238246722072576
+258,4.300000000,POSE1_TO_POSE2_PRESS,766,746,715,681,666,634,881.655491639,788.344508361,805,653.655491639,632.344508361,654,0.450595140629,0.00453922347785,0.0497997719212,0.999999953279,8.77695527786e-05,-0.000292006133131,2.17117582229e-05,1793238246738739968
+259,4.316666667,POSE1_TO_POSE2_PRESS,766,746.230878171,715,681,666.230878171,634,882,788.230878171,805,653.769121829,632.230878171,654,0.450596015842,0.0045395073975,0.0498006040893,0.999999953642,8.69573637026e-05,-0.000291014162271,2.15570189196e-05,1793238246755406592
+260,4.333333333,POSE1_TO_POSE2_PRESS,766,746.804816939,715,681,666.804816939,634,882,788.804816939,805,653.195183061,632.804816939,654,0.450596863034,0.00453914449053,0.0498012567622,0.999999953968,8.61373536281e-05,-0.000290139558981,2.15360268301e-05,1793238246772072448
+261,4.350000000,HOLD_POSE2,766,747,716,680,666,634,882,788,804,653,633,654,0.450595512255,0.00454303181982,0.0498002879654,0.999999953278,9.12293780218e-05,-0.000291022649242,2.06637894484e-05,1793238246805879296
+262,4.366666667,HOLD_POSE2,766.577743277,746.422256723,716,680.577743277,666.577743277,633.422256723,882,788,804.577743277,653,633,653.422256723,0.450598248558,0.00453985128698,0.0498018701697,0.999999954077,8.88272944911e-05,-0.000288971312655,2.12312184073e-05,1793238246822546176
+263,4.383333333,HOLD_POSE2,766.845252172,746,716,680.845252172,666.845252172,633.154747828,882,788,805,653,632.845252172,653.154747828,0.450599701516,0.00453791493778,0.0498025460838,0.999999954487,8.72279560996e-05,-0.00028801003743,2.16164741973e-05,1793238246839212800
+264,4.400000000,HOLD_POSE2,766.270253664,746,716,680.270253664,666.270253664,633.729746336,882,788,805,653,632.270253664,653.729746336,0.45059766928,0.00453935743348,0.0498007607746,0.999999953861,8.78086425545e-05,-0.000290009055526,2.15070000784e-05,1793238246855878912
+265,4.416666667,HOLD_POSE2,766,746,716,680,666.304487404,633.695512596,882,788,805,653,632.304487404,654,0.450596204061,0.00454033447666,0.0497995595928,0.99999995321,8.846009321e-05,-0.000292056983956,2.1388206755e-05,1793238246872545280
+266,4.433333333,HOLD_POSE2,766,746,716,680,666.879000134,633.120999866,882,788,805,653,632.879000134,654,0.450595241683,0.00454089874745,0.0497988764268,0.999999952536,8.9174298894e-05,-0.000294148286899,2.12611489872e-05,1793238246889211392
+267,4.450000000,HOLD_POSE2,766.467093557,746,715.532906443,680.467093557,666.532906443,633,881.532906443,788,805,653,632.532906443,654,0.450595744827,0.00453987568634,0.0497994888978,0.999999952761,8.96524216193e-05,-0.000293221635637,2.14970113142e-05,1793238246905878016
+268,4.466666667,HOLD_POSE2,766.94260324,746.05739676,715,681,666.05739676,633.05739676,881,788,804.94260324,653,632.05739676,653.94260324,0.450596666045,0.00453853001222,0.0498004075079,0.999999953226,8.98698640563e-05,-0.000291537621819,2.18300063978e-05,1793238246922544896
+269,4.483333333,HOLD_POSE2,766.365109489,746.634890511,715,681,666.634890511,633.634890511,881,788,804.365109489,653,632.634890511,653.365109489,0.450597832505,0.00453809860388,0.0498009677892,0.999999953723,8.82959335235e-05,-0.000290287153565,2.21657522689e-05,1793238246939212288
+270,4.500000000,HOLD_POSE2,766.211695048,747,715,681,666.788304952,633.788304952,881.211695048,788.211695048,804.211695048,653,633,653.211695048,0.450598527902,0.00453846298979,0.0498012063528,0.999999953845,8.82509082924e-05,-0.000289887617997,2.20649837093e-05,1793238246955879424
+271,4.516666667,HOLD_POSE2,766.787314702,747,715,681,666.212685298,633.212685298,881.787314702,788.787314702,804.787314702,653,633,653.787314702,0.450598413496,0.00454019542431,0.0498008918518,0.999999953323,9.0834221777e-05,-0.000290950919511,2.12138038856e-05,1793238246972546560
+272,4.533333333,HOLD_POSE2,766.628116264,746.628116264,715,681,666.371883736,633,882,788.628116264,805,653,633,654,0.450598460513,0.00454054000541,0.0498012015326,0.999999953384,9.06011267886e-05,-0.000290826682891,2.10419933343e-05,1793238246989213184
+273,4.550000000,HOLD_POSE2,766.038302693,746.038302693,715,681,666.961697307,633,882,788.038302693,805,653,633,654,0.450598602128,0.0045400712823,0.049801876994,0.999999953787,8.87175715061e-05,-0.000290006529975,2.12683039924e-05,1793238247005879552
+274,4.566666667,HOLD_POSE2,766,746.541900711,715.541900711,681,667,633,882,788,805,653,633,654,0.450598762766,0.00453982644334,0.0498010564812,0.999999953619,8.7930780206e-05,-0.000290805061923,2.15016348001e-05,1793238247022545920
+275,4.583333333,HOLD_POSE2,766,747,715.879496688,680.879496688,666.879496688,633,882,788,804.879496688,653,633,654,0.450598663275,0.00453942133523,0.0498001011819,0.999999953379,8.73126907265e-05,-0.000291798257904,2.17150794424e-05,1793238247039212544
+276,4.600000000,HOLD_POSE2,766,747,715.30441491,680.30441491,666.30441491,633,882,788,804.30441491,653,633,654,0.450597577503,0.00453835298318,0.0497990293535,0.999999953019,8.70436588202e-05,-0.000293101711833,2.18516677291e-05,1793238247055879424
+277,4.616666667,HOLD_POSE2,766,746.723351509,715,680,666,633,882,788,804,653,632.723351509,654,0.450597519662,0.0045382236486,0.0497989220657,0.999999952965,8.70297614526e-05,-0.000293307874759,2.15930617286e-05,1793238247072546304
+278,4.633333333,HOLD_POSE2,766,746.135560706,715,680,666,633,882,788,804,653,632.135560706,654,0.450598617919,0.00453915041264,0.0497998995821,0.999999953257,8.7302810003e-05,-0.00029227993125,2.08899867677e-05,1793238247089213440
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,666,634,882,789,805,653,633,654,0.45059621215,0.004539991477,0.0497983948229,0.999999952502,8.96981317946e-05,-0.000294112742573,2.11578097043e-05,1793238247121789184
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766.57829718,746.57829718,715.42170282,680,666,634,882,788.42170282,805,653,632.42170282,654,0.450596959649,0.0045405024719,0.0497982769288,0.999999952613,8.87811886015e-05,-0.000294032865394,2.08878817389e-05,1793238247138456832
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.844571341,747,715,680.155428659,666.155428659,634,882,788,804.844571341,653,632.155428659,654,0.450597494713,0.00454147193102,0.0497983878364,0.999999952624,8.92761900635e-05,-0.000293863378621,2.06539941969e-05,1793238247155124224
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.270578928,747,715,680.729421072,666.729421072,634,882,788,804.270578928,653,632.729421072,654,0.450597457697,0.00454367601783,0.0497991148986,0.999999952354,9.35735071914e-05,-0.000293452576429,2.05171621512e-05,1793238247171790336
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746.688176543,715,681,667,633.688176543,881.688176543,788,804.311823457,653,632.688176543,654,0.450597385149,0.00454350857581,0.0497992788704,0.999999952438,9.32310364027e-05,-0.000293272376516,2.05655626165e-05,1793238247188456960
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746.098274327,715,681,667,633.098274327,881.098274327,788,804.901725673,653,632.098274327,654,0.450597280915,0.0045412262453,0.0497989406877,0.999999952834,8.87508828255e-05,-0.000293297823745,2.0779150236e-05,1793238247205123328
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746.48227524,715,680.51772476,666.51772476,633,881.48227524,788.48227524,805,653,632,654,0.450596527872,0.0045394308775,0.0497986125857,0.999999952571,8.75859410143e-05,-0.000294496348865,2.14117645082e-05,1793238247221790464
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.060781384,747,715.060781384,680,666,633.060781384,882,788.939218616,804.939218616,653,632.060781384,654,0.450595604719,0.00453798985918,0.0497982740825,0.999999952194,8.72805405971e-05,-0.000295820264429,2.20281785157e-05,1793238247238457344
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.637810798,747,715.637810798,680,666,633.637810798,882,788.362189202,804.362189202,653,632.637810798,654,0.450594338285,0.00453873174134,0.0497978301214,0.999999951961,8.86470444723e-05,-0.000296217512618,2.17955638354e-05,1793238247255124224
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746.786931208,715.786931208,680.213068792,666,634,882,788,804,653,632.786931208,654,0.450590966485,0.00453980742802,0.0497959997364,0.999999951103,9.01462601824e-05,-0.000298682284311,2.13785820592e-05,1793238247271790848
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746.214659627,715.214659627,680.785340373,666,634,882,788,804,653,632.214659627,654,0.450584045348,0.00454144586018,0.0497918320436,0.999999949166,9.18692084763e-05,-0.000304632597891,2.06507843739e-05,1793238247288457216
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766.630877222,746.369122778,715,681,666,634,882,788,804,653,632,654,0.450568830447,0.0045412327369,0.0497850831456,0.999999945494,9.07295093388e-05,-0.000316783449907,2.070535057e-05,1793238247305123584
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766.040185291,746.959814709,715,681,666,634,882,788,804,653,632,654,0.450548637143,0.00453990820155,0.0497767848563,0.999999940584,8.7871481366e-05,-0.000332656229478,2.12295374069e-05,1793238247321790208
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746.459542437,715,681,666,634,882,788,804,653,632,654,0.450510218031,0.00454096570668,0.0497614368835,0.999999930906,8.98689972846e-05,-0.000360114181006,2.07330127075e-05,1793238247338456576
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766.119320481,746,715,681,666,633.880679519,882,788,804.119320481,653,632,654,0.45046654526,0.00454221517841,0.0497451034926,0.999999919828,9.20010404694e-05,-0.000389193251666,2.02182092658e-05,1793238247355123200
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.694188628,746,715,681,666,633.305811372,882,788,804.694188628,653,632,654,0.450407894166,0.00454353369618,0.0497269726047,0.999999906731,9.32934916354e-05,-0.000421232833999,1.99180836186e-05,1793238247371790592
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766.731536042,746,715.268463958,681,666,633,882,788,804.731536042,653,632,654,0.450345179,0.00454438755719,0.0497113975895,0.999999896496,9.44686846815e-05,-0.000444639503085,1.94538054421e-05,1793238247388457728
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.157934547,746,715.842065453,681,666,633,882,788,804.157934547,653,632,654,0.450277844592,0.00454471328682,0.0496987275938,0.999999890273,9.55106015287e-05,-0.000458233956243,1.88029506757e-05,1793238247405124352
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,746,715.569978855,681,666.430021145,633.430021145,882,788,804,653,632.430021145,654,0.450200590724,0.004544467953,0.0496920466454,0.999999885478,9.59987972072e-05,-0.000468498018402,1.83737063563e-05,1793238247421790976
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.022688652,746,715.022688652,681,666.977311348,634,882,788,804,653,633,654,0.450118951787,0.00454415124441,0.0496876680877,0.999999881222,9.64446155634e-05,-0.000477420383411,1.80120961033e-05,1793238247438457344
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766.59730337,746,715.59730337,681,666.40269663,634,882,788,804,653,633,654,0.450022324867,0.00454737649623,0.0496839420741,0.999999877389,0.000100977497454,-0.000484486674163,1.72474552232e-05,1793238247455124224
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766.827522694,746,715.827522694,680.827522694,666.172477306,634,882,788,804,653,632.827522694,653.827522694,0.449917866428,0.00455005579855,0.0496789952674,0.999999872678,0.000104998478692,-0.000493301149077,1.65169128082e-05,1793238247471790848
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+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.0034637,746,715,680,668,636,881.9965363,788,803.0034637,653,632,654,0.41668069112,0.00460797829042,0.0498069978307,0.999999937682,0.000139664523082,-0.000321615029257,-4.11597429908e-05,1793238248471789824
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.579261456,746,715,680,668,636,881.420738544,788,803.579261456,653,632,654,0.416006518031,0.00460982737549,0.049827884722,0.9999999478,0.000147145476913,-0.000284734458672,-4.09309393783e-05,1793238248488456192
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.845342308,746,715,680,668,636,881,788.154657692,803.845342308,653,632,654,0.41532490006,0.00461229025272,0.0498392678406,0.999999952374,0.000153597136648,-0.00026454091794,-4.09746837702e-05,1793238248505122560
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.27103543,746,715,680,668,636,881,788.72896457,803.27103543,653,632,654,0.41462308095,0.00461641859803,0.049824863365,0.999999944822,0.000157255905189,-0.000289626065044,-4.17579617568e-05,1793238248521789440
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,668,636,881,789,803.312523605,653,632,654,0.413923944562,0.00461979368267,0.0498063595737,0.999999934986,0.000157759235571,-0.000321490010642,-4.22295002136e-05,1793238248538456320
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,668,636,881,789,803.904351312,653,632,654,0.413227205779,0.00462249557376,0.0497841922016,0.99999992243,0.000155442532817,-0.000359412204808,-4.24224352256e-05,1793238248555123200
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.483198018,746,715,680,668,636.483198018,880.516801982,789,804,653.483198018,632.483198018,653.516801982,0.412607549297,0.00462025783736,0.0497993216358,0.999999932071,0.000152603568557,-0.000332802667004,-4.25774349496e-05,1793238248571790080
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.940420936,746,715,680,668,636.940420936,880.059579064,789,803.940420936,653.940420936,633,653.059579064,0.412004034358,0.00461730425338,0.0498210827117,0.999999944187,0.000150154717818,-0.000295395819555,-4.26645402085e-05,1793238248588456960
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.363721387,746,715,680,668,636.363721387,880.636278613,789,803.363721387,653.363721387,633,653.636278613,0.411411649615,0.00461640223252,0.0498379998674,0.999999950503,0.000151965714507,-0.000272245215167,-4.22258233044e-05,1793238248605123840
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.215668085,746,715,679.784331915,668,636,881,788.784331915,803.215668085,653.215668085,632.784331915,654,0.410809513151,0.00461438607894,0.0498396364581,0.99999994961,0.000151121571726,-0.00027603583699,-4.17876773674e-05,1793238248621790720
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.799651313,746,715,679.200348687,668,636,881,788.200348687,803.799651313,653.799651313,632.200348687,654,0.410190722886,0.00461046722414,0.0498151770977,0.99999993544,0.000145743016058,-0.000325836335648,-4.13505065251e-05,1793238248638457600
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.617654287,746,715,679,668,636,881,788.382345713,803.617654287,653.617654287,632.382345713,654,0.409619643615,0.00460737348227,0.0498042474135,0.999999930102,0.000142140763041,-0.000343363792032,-4.11475667727e-05,1793238248655124224
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.035632908,746,715,679,668,636,881,788.964367092,803.035632908,653.035632908,632.964367092,654,0.409073480807,0.00460471064581,0.0498003834454,0.999999930251,0.000139466163348,-0.000344037026963,-4.10669515173e-05,1793238248671790848
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.541459883,746,715,679.541459883,668,636,881,789,803.541459883,653.541459883,632.458540117,654,0.408583794994,0.00460663177712,0.0498206525294,0.999999941914,0.000141488739468,-0.000307358567695,-4.10266719049e-05,1793238248688457728
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.117886988,881,789,803.882113012,654,632,654,0.408100922178,0.00460826657688,0.0498398267913,0.999999951503,0.000142304897211,-0.000273971250344,-4.10316716436e-05,1793238248705124608
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.692979085,881,789,803.307020915,654,632,654,0.407630187752,0.00460763147933,0.0498486510771,0.999999955201,0.000137254121084,-0.000262795317084,-4.12020780566e-05,1793238248721790720
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.724665486,668,637,880.724665486,789,803,654,632,654,0.407147162785,0.00460831622798,0.0498424865201,0.999999950969,0.000135784606549,-0.000279158872242,-4.11716602599e-05,1793238248738456832
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.133991427,668,637,880.133991427,789,803,654,632,654,0.406650061536,0.00461051259138,0.0498191552994,0.999999936098,0.000138416697065,-0.000327063296488,-4.09112392036e-05,1793238248755123712
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.448209039,668,637,880.448209039,789,803,654,632,654,0.406195990867,0.00461371272622,0.0497998464506,0.999999924461,0.000141161555624,-0.000359690813879,-4.21138922928e-05,1793238248771789824
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.972355856,880.972355856,788.972355856,803.027644144,654,632,654,0.405757571748,0.00461724076919,0.0497829451835,0.999999914165,0.000144045803542,-0.000386019785264,-4.36888450971e-05,1793238248788455936
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.398437756,880.398437756,788.398437756,803.601562244,654,632,654,0.405378955166,0.00462142882763,0.0497902986971,0.999999917061,0.00014903069969,-0.000376457452392,-4.41380458044e-05,1793238248805122816
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636,880,788.176040462,804,654,632,654,0.405020522527,0.00462458096122,0.0498021750512,0.999999923827,0.000153464838861,-0.000356100458016,-4.45853076421e-05,1793238248821789440
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636,880,788.751790381,804,654,632,654,0.404707918679,0.00462538097044,0.0498243207599,0.999999938284,0.000156648453475,-0.000311233597786,-4.5028167061e-05,1793238248838456064
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,714.662612921,679.662612921,667.662612921,636.337387079,880.337387079,789,804,654,632,654,0.404396413616,0.00462548434703,0.0498458604696,0.999999947723,0.000158911278304,-0.000277980723264,-4.50401215854e-05,1793238248855122944
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,714.069554283,679.069554283,667.069554283,636.930445717,880.930445717,789,804,654,632,654,0.404085741176,0.00462505981628,0.0498669409564,0.999999953985,0.000160476330076,-0.000253528909863,-4.47255369277e-05,1793238248871790080
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,714.508316923,679.508316923,667.508316923,637,881,789,803.491683077,654,632,654,0.403793122056,0.00462679213126,0.0498669173027,0.999999953379,0.000162513694903,-0.000254444399005,-4.57014747922e-05,1793238248888456448
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.91568905,668,636.91568905,881,789,803.08431095,654,632.08431095,654,0.403505999363,0.00462886509612,0.0498630735472,0.999999951381,0.000164699126431,-0.000260607317453,-4.68510630009e-05,1793238248905123072
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.338873085,668,636.338873085,881,789,803.661126915,654,632.661126915,654,0.403236972516,0.00463125400206,0.0498532939458,0.99999994627,0.000167382922194,-0.000277735124291,-4.80134319827e-05,1793238248921789440
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.235015565,667.764984435,636.235015565,881,789,804,654.235015565,632.764984435,654,0.402985149853,0.00463268337218,0.04984471289,0.999999941326,0.000169026287629,-0.000293949650882,-4.87039541494e-05,1793238248938456064
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.804735163,667.195264837,636.804735163,881,789,804,654.804735163,632.195264837,654,0.40275782903,0.0046327461922,0.0498378387771,0.999999936802,0.000169187894792,-0.000308863502723,-4.87224823296e-05,1793238248955122944
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,881,789,803.60801377,655,632,654.39198623,0.402537238174,0.00463186306102,0.0498327094277,0.999999933733,0.00016316813316,-0.000321702191808,-4.91657942247e-05,1793238248971789312
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,637,881,789,803.011620683,655,632,654.988379317,0.402320156763,0.00463048665,0.0498284899105,0.999999931315,0.000153925007874,-0.000333458756937,-4.98306156896e-05,1793238248988455936
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.434291295,667,637,881,788.434291295,803.565708705,654.434291295,632,654.434291295,0.402158524373,0.00462979658618,0.0498298563591,0.999999939462,0.000107862107978,-0.000327078483656,-4.9602832068e-05,1793238249005123072
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.141540754,667,637,881,788.141540754,804,654,632.141540754,654,0.402004581803,0.00462629145556,0.0498321079057,0.999999944182,8.49092365571e-05,-0.000319837169911,-4.6153626725e-05,1793238249021789952
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.713967689,667,637,881,788.713967689,804,654,632.713967689,654,0.401870694598,0.00461417502204,0.0498367159879,0.999999942024,0.000134536644462,-0.000311071836005,-3.29515906364e-05,1793238249038457088
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746.29668724,715,680,667,637,881,789,804,654,633,654,0.401749369094,0.00460066925608,0.0498418013388,0.999999942879,0.000150259277913,-0.000301650635362,-2.58882830137e-05,1793238249055123712
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746.889686457,715,680,667,637,881,789,804,654,633,654,0.401640589384,0.0045857759135,0.0498473633552,0.999999948453,0.00013212002721,-0.000291574397027,-2.49559378191e-05,1793238249071790080
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746.529777343,715,680,667,637,880.529777343,789,804,654,633,654,0.401541238616,0.00458949083155,0.0498498164585,0.99999994931,0.000136498447881,-0.000286419093188,-2.66781436286e-05,1793238249088456448
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.952299942,667.047700058,636.952299942,880.047700058,789,803.952299942,654,632.952299942,654,0.401445618082,0.0045964975985,0.0498511730801,0.99999994903,0.000145039916595,-0.000282970974471,-2.88161614087e-05,1793238249105122560
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.377149597,667.622850403,636.377149597,880.622850403,789,803.377149597,654,632.377149597,654,0.401367416948,0.00459287903063,0.0498482618147,0.999999948513,0.000142709885019,-0.000285964473258,-2.88436946499e-05,1793238249121789440
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667.797184863,636.202815137,881,789,803.202815137,654,632,654,0.401296513298,0.00459111652401,0.0498463896765,0.999999948354,0.000140831709458,-0.00028740845134,-2.92259019205e-05,1793238249138456320
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667.208049768,636.791950232,881,789,803.791950232,654,632,654,0.401239509817,0.00459288942187,0.0498464968563,0.999999948898,0.000139814224213,-0.000285900919906,-3.02836882306e-05,1793238249155123200
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.375072729,667.375072729,637,881,789,804,654,632,654,0.401192079808,0.0045943824956,0.0498479669358,0.999999950041,0.000141142450273,-0.000281130255107,-3.10100289588e-05,1793238249171789824
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.954912689,667.954912689,637,881,789,804,654,632,654,0.401149876343,0.00459572280207,0.0498501810769,0.999999951473,0.000143751294146,-0.000274578115102,-3.15554202284e-05,1793238249188456448
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.468566565,881,789,804,654,632,654,0.40111633558,0.00459398859874,0.0498519191091,0.999999952472,0.000139272992115,-0.000273242967472,-3.15755640278e-05,1793238249205123072
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.890397964,668,636.109602036,881,788.890397964,804,654,632,654,0.401085759097,0.00459274583229,0.0498533971198,0.999999953249,0.000135757479869,-0.000272156065852,-3.1657074523e-05,1793238249221789696
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.303840695,668,636.696159305,881,788.303840695,804,654,632,654,0.401064903846,0.00459476972307,0.0498539182838,0.999999953303,0.000139032091528,-0.000270235286434,-3.21983534262e-05,1793238249238456064
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.279255165,668,637,881,788,804.279255165,654,632,654.279255165,0.401045819883,0.00459494513991,0.0498533926431,0.999999953223,0.000139356230827,-0.000270342947679,-3.23865987079e-05,1793238249255122688
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.858631057,668,637,881,788,804.858631057,654,632,654.858631057,0.401028639553,0.00459313396764,0.0498517419823,0.999999953001,0.000136509442934,-0.000272630611643,-3.21954322489e-05,1793238249271789312
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.564658047,668,637,881,788.435341953,804.129316095,654.435341953,632.435341953,654.564658047,0.401018603741,0.00459240306396,0.0498527607081,0.999999953561,0.000135931144497,-0.000270878593506,-3.2030642823e-05,1793238249288455936
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.011213012,667.988786988,637,881,789,803.011213012,654.988786988,632.988786988,654,0.401010945889,0.00459204825762,0.0498546181532,0.999999954364,0.000136084075349,-0.000267837426701,-3.18857083806e-05,1793238249305123072
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.588110177,667.411889823,637,881,789,803.588110177,654.411889823,632.411889823,654,0.401006921932,0.00459307752719,0.049855323423,0.999999954949,0.000136189732109,-0.000265536791158,-3.23129479724e-05,1793238249321789696
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767.164498211,746,715,680,667.164498211,637,880.835501789,789,804,654,632,653.835501789,0.401003506595,0.00459393861483,0.0498559276823,0.999999955409,0.000136509337135,-0.000263598129009,-3.26222931658e-05,1793238249338456064
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767.739615317,746,715,680,667.739615317,637,880.260384683,789,804,654,632,653.260384683,0.401001610487,0.00459437988825,0.0498562797999,0.999999955563,0.000137362997819,-0.000262563021604,-3.26373514386e-05,1793238249355122688
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767.67482656,746,715,680,667.67482656,636.67482656,880,789,804,654,632.32517344,653.32517344,0.40099960646,0.00459457034605,0.0498565327038,0.999999955784,0.000136779899323,-0.000262006226944,-3.28062252693e-05,1793238249371789312
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767.080630397,746,715,680,667.080630397,636.080630397,880,789,804,654,632.919369603,653.919369603,0.40099751315,0.00459455329886,0.0498567035259,0.999999956057,0.000135008140151,-0.000261845150378,-3.3102353897e-05,1793238249388456192
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..26ed07b16337a4c5d2c45a0bf83cd8de258cb478
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,439 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6e89b032cdaee84bbb29410b11cd44f20bba328
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
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+oid sha256:f2707fd0692c0fe87f495eac026bd928a405770ad9d13f01a1dd84232c34b21a
+size 27947145
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc0a0052e501a821c58261562003e7abb69407fb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_04/franka_data.csv
@@ -0,0 +1,441 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+60,1.000000000,BASELINE,767,746,715,679,668,637,880.930823001,789,803.930823001,654,632.930823001,654,0.401001301279,0.00459036491866,0.0498655467967,0.999999962047,0.000126729608457,-0.000242454003405,-3.25924488878e-05,1793238250882746112
+61,1.016666667,BASELINE,767,746,715,679.503985016,668,637,880.496014984,789,804,654,632.496014984,654,0.401000880677,0.00459076481446,0.0498651516468,0.999999961755,0.000126712079626,-0.000243674591154,-3.25061110735e-05,1793238250899412480
+62,1.033333333,BASELINE,767,746,715,679.919761716,668,637,880,789,803.919761716,654,632,654,0.401000071789,0.00459120902602,0.0498646123367,0.999999961385,0.000126721143245,-0.000245191050295,-3.24527086364e-05,1793238250916079360
+63,1.050000000,BASELINE,767,746,715,679.324363553,668,637,880,789,803.324363553,654,632,654,0.400999516482,0.00459032692543,0.0498646472443,0.999999961463,0.000126263184172,-0.000245101228762,-3.25105771727e-05,1793238250932746240
+64,1.066666667,BASELINE,767,746,715,679.263218026,668,637,880.263218026,789,803.263218026,654,632,654,0.400999463014,0.00459036353937,0.0498646490156,0.99999996156,0.000126465421831,-0.000244586796567,-3.26038701729e-05,1793238250949412608
+65,1.083333333,BASELINE,767,746,715,679.841444991,668,637,880.841444991,789,803.841444991,654,632,654,0.401000010125,0.00459149963463,0.0498646111307,0.99999996168,0.000127457756894,-0.000243564207108,-3.27395577688e-05,1793238250966079488
+66,1.100000000,BASELINE,767,746,715,679.582451019,667.582451019,636.582451019,881,789,803.582451019,654,632,654,0.400999285262,0.00459256943928,0.0498644363802,0.999999961383,0.000129171916659,-0.000243851028051,-3.29465511506e-05,1793238250982746112
+67,1.116666667,BASELINE,767,746,715,679.007149116,667.007149116,636.007149116,881,789,803.007149116,654,632,654,0.400998079839,0.00459361419886,0.0498642099209,0.999999960926,0.000131158786814,-0.000244632553414,-3.31804843532e-05,1793238250999412736
+68,1.133333333,BASELINE,767,746,715,679,667.581423462,636,880.418576538,789,803,654.581423462,632,654,0.400998542062,0.00459291509939,0.04986440648,0.999999961182,0.000129340847065,-0.000244581352903,-3.29809274821e-05,1793238251016079104
+69,1.150000000,BASELINE,767,746,715,679,668,636.16756446,880.16756446,789,803,654.83243554,632.16756446,654,0.400998826336,0.00459195528714,0.0498647269804,0.999999961468,0.000127382516892,-0.000244463662085,-3.27803766396e-05,1793238251032745984
+70,1.166666667,BASELINE,767,746,715,679,668,636.747313273,880.747313273,789,803,654.252686727,632.747313273,654,0.400998621266,0.0045904081362,0.049865339265,0.999999961813,0.000125196615509,-0.000244208189745,-3.25907984352e-05,1793238251049413120
+71,1.183333333,BASELINE,767,746,715,679,668,637,881,789,803,654,632.674731131,654,0.400999167436,0.00459001646489,0.049865675891,0.999999961991,0.000125003538961,-0.000243575386617,-3.25939995159e-05,1793238251066079488
+72,1.200000000,BASELINE,767,746,715,679,668,637,881,789,803,654,632.098160906,654,0.401000294011,0.00459051751211,0.0498657995444,0.999999962042,0.000126350110247,-0.000242651059289,-3.27461410392e-05,1793238251082745856
+73,1.216666667,BASELINE,767,746,715,679.47429983,667.52570017,637,881,789,803.47429983,654,632,654,0.4010000686,0.00459206155367,0.0498651438201,0.999999961895,0.000126414938158,-0.000243178175911,-3.30808558442e-05,1793238251099412480
+74,1.233333333,BASELINE,767,746,715,680,667.047780902,636.952219098,881,789,804,654,632,654,0.400999629481,0.00459353571094,0.0498644749914,0.999999961729,0.000126220864261,-0.000243921946661,-3.33597861061e-05,1793238251116079104
+75,1.250000000,BASELINE,767,746,715,680,667.642597646,636.357402354,881,789,804,654,632,654,0.400999919591,0.00459175968405,0.0498654869628,0.999999961819,0.00012607360061,-0.000243736578171,-3.25711666475e-05,1793238251132745984
+76,1.266666667,BASELINE,767.230273557,746,715,680,668,636,881,789,803.769726443,654,632,654.230273557,0.400999363293,0.0045914627012,0.049865552651,0.999999961633,0.00012625964992,-0.000244420823882,-3.24311120148e-05,1793238251149412608
+77,1.283333333,BASELINE,767.807199664,746,715,680,668,636,881,789,803.192800336,654,632,654.807199664,0.400997532818,0.00459339226324,0.0498641938096,0.999999961029,0.000126947466742,-0.000246414182054,-3.32674033615e-05,1793238251166079232
+78,1.300000000,BASELINE,767.61681252,746,715,679.61681252,668,636.38318748,881,789,803.38318748,654,632,654.61681252,0.400998325382,0.00459270137036,0.0498643578029,0.99999996129,0.0001269480439,-0.00024536621993,-3.31513470287e-05,1793238251182745856
+79,1.316666667,BASELINE,767.04129567,746,715,679.04129567,668,636.95870433,881,789,803.95870433,654,632,654.04129567,0.401000434501,0.00459069521929,0.0498652861372,0.999999961982,0.000126603681863,-0.000242791758965,-3.25572885435e-05,1793238251199412480
+80,1.333333333,BASELINE,767,746.531722519,715,679.531722519,667.468277481,637,881,789,804,654,632,654,0.40099943705,0.00459134567849,0.0498645561204,0.999999961721,0.000126804645484,-0.000243749952778,-3.26377848571e-05,1793238251216079360
+81,1.350000000,BASELINE,767,747,715,680,667.10839833,637,881,789,804.10839833,654,632.10839833,654,0.400998472161,0.00459198179626,0.049863984832,0.999999961475,0.00012698623545,-0.000244642857891,-3.27832782445e-05,1793238251232745728
+82,1.366666667,BASELINE,767,747,715,680,667.702321893,637,881,789,804.702321893,654,632.702321893,654,0.40099872873,0.00459163386233,0.0498646986833,0.999999961632,0.000126892237573,-0.000244020195664,-3.29863435796e-05,1793238251249412352
+83,1.383333333,BASELINE,767,746.713034915,715,680,668,636.713034915,881,788.713034915,804.713034915,654,632.713034915,654,0.400999583427,0.00459111496429,0.0498652116246,0.999999961931,0.000126230142643,-0.000243142245348,-3.29532304009e-05,1793238251266079232
+84,1.400000000,BASELINE,767,746.137716907,715,680,668,636.137716907,881,788.137716907,804.137716907,654,632.137716907,654,0.401001039145,0.00459042427527,0.0498655226842,0.99999996237,0.000124997203181,-0.000242007772225,-3.26827965105e-05,1793238251282745856
+85,1.416666667,BASELINE,767.432971986,746,714.567028014,679.567028014,667.567028014,636.432971986,881,788.432971986,803.567028014,654,632,654,0.400999597234,0.0045909279154,0.0498646262482,0.999999961828,0.000126214566832,-0.000243598599651,-3.27574189329e-05,1793238251299412480
+86,1.433333333,BASELINE,767.9976733,746,714.0023267,679,667.0023267,637,880.9976733,789,803.0023267,654,632,654,0.400997256542,0.00459180060733,0.0498633599405,0.999999960975,0.000128192656794,-0.000246030377784,-3.29386962417e-05,1793238251316079104
+87,1.450000000,BASELINE,767.396757072,746,714.603242928,679,667.603242928,637,880.396757072,789,803.603242928,654,632,654,0.400998293315,0.00459092025921,0.0498647017374,0.999999961534,0.000127493735996,-0.000244159281924,-3.26215514988e-05,1793238251332745728
+88,1.466666667,BASELINE,767,746,715,679.194801831,668,636.805198169,880,789,804,654,632,654,0.40099884644,0.00459033068047,0.0498654372558,0.999999961836,0.000127098278637,-0.000243167121759,-3.23199135021e-05,1793238251349412608
+89,1.483333333,BASELINE,767,746,715,679.76817594,668,636.23182406,880,789,804,654,632,654,0.400998459657,0.00459030617465,0.04986499455,0.999999961645,0.000127292563444,-0.000243883060063,-3.20484108891e-05,1793238251366079232
+90,1.500000000,BASELINE,767,746,715,680,668,636.343323174,880.343323174,788.656676826,804,654,632,654,0.400998185315,0.00458994077231,0.0498644081728,0.999999961552,0.000126309872847,-0.000244771965772,-3.20654867855e-05,1793238251382745856
+91,1.516666667,BASELINE,767,746,715,680,668,636.919673877,880.919673877,788.080326123,804,654,632,654,0.400997987291,0.00458934398952,0.0498637242799,0.999999961522,0.000124528320725,-0.000245778271527,-3.2278432772e-05,1793238251399412992
+92,1.533333333,BASELINE,767,746,715,680,667.494586935,637,881,788.505413065,804,654,632,654,0.400998099943,0.00458942323666,0.0498642246195,0.999999961341,0.000125903650482,-0.000245849259262,-3.20071385997e-05,1793238251416079360
+93,1.550000000,BASELINE,766.90829596,746.09170404,715,679.90829596,667.09170404,637,880.90829596,789,804,654,632,654.09170404,0.400998391736,0.00458981375343,0.0498648228728,0.999999961191,0.000127741012698,-0.000245546019443,-3.17357474434e-05,1793238251432745984
+94,1.566666667,BASELINE,766.327174457,746.672825543,715,679.327174457,667.672825543,637,880.327174457,789,804,654,632,654.672825543,0.400999371084,0.00459128122657,0.0498649201988,0.999999961349,0.000129315838291,-0.00024405391404,-3.18823484013e-05,1793238251449412608
+95,1.583333333,BASELINE,766.25213054,746.74786946,715,679.25213054,668,637,880,789,804,654,632,654.74786946,0.40099967993,0.00459213655216,0.049864923989,0.999999961489,0.000129417965804,-0.000243386319114,-3.21848450815e-05,1793238251466079232
+96,1.600000000,BASELINE,766.829095308,746.170904692,715,679.829095308,668,637,880,789,804,654,632,654.170904692,0.400999124931,0.00459220321319,0.0498648072715,0.999999961607,0.000127622732184,-0.000243780988094,-3.26881911772e-05,1793238251482746112
+97,1.616666667,BASELINE,767,746,715,679.587706525,668,637,880.412293475,789,804,654,632.412293475,654,0.400998717911,0.004591706104,0.0498648102323,0.999999961651,0.000126720425322,-0.00024407732896,-3.26674672651e-05,1793238251499412992
+98,1.633333333,BASELINE,767,746,715,679.001884846,668,637,880.998115154,789,804,654,632.998115154,654,0.400998373174,0.00459097171228,0.0498648635638,0.999999961663,0.000126193938184,-0.00024433228496,-3.24261700368e-05,1793238251516079616
+99,1.650000000,BASELINE,767,746,715,679,668,636.42214369,881,789,804,654,632.42214369,654,0.401000507629,0.00459148833925,0.049865803717,0.999999961932,0.000127639378043,-0.000242450708717,-3.25877654089e-05,1793238251532745984
+100,1.666666667,BASELINE,766.842708503,746,715,679,668,636,881,788.842708503,804,654,632,654,0.401001710215,0.00459165033624,0.0498662432086,0.999999962095,0.000128197416591,-0.000241472113651,-3.26661100894e-05,1793238251549412608
+101,1.683333333,BASELINE,766.264040446,746,715,679,668,636,881,788.264040446,804,654,632,654,0.401000394931,0.00459085147828,0.0498653337826,0.99999996198,0.000126361096836,-0.00024293103802,-3.25179461643e-05,1793238251566079232
+102,1.700000000,BASELINE,766.311928277,746,715,679.311928277,668,636.311928277,881,788.311928277,803.688071723,654,632,654,0.400999112154,0.0045909742328,0.0498646274985,0.999999961729,0.000125969848185,-0.000244174805579,-3.24508873393e-05,1793238251582745856
+103,1.716666667,BASELINE,766.88563165,746,715,679.88563165,668,636.88563165,881,788.88563165,803.11436835,654,632,654,0.400997856657,0.00459187041899,0.0498640916943,0.999999961365,0.000126791325927,-0.000245238010098,-3.24518931918e-05,1793238251599412736
+104,1.733333333,BASELINE,767,746,715,679.540416165,667.540416165,637,881,788.540416165,803.459583835,654,632,654.459583835,0.400999049521,0.0045918873863,0.0498649006569,0.999999961564,0.000128191682998,-0.000243713011513,-3.23010986972e-05,1793238251616079360
+105,1.750000000,BASELINE,767,746,715,679,667,636.965251172,881,788.034748828,804,654,632,655,0.401000703867,0.00459164361315,0.0498659726446,0.999999961888,0.000129468389545,-0.000241721414423,-3.21359930847e-05,1793238251632745984
+106,1.766666667,BASELINE,767,746,715,679,667,636.371575598,881,788.628424402,804,654,632,655,0.400999975615,0.00459072706956,0.0498658896796,0.999999962059,0.000126437854243,-0.000242590171632,-3.234864103e-05,1793238251649412864
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,667,637,881,789,803,654,632,654,0.401002025832,0.00458847646297,0.0498668850835,0.999999962934,0.000123602979161,-0.000240494903,-3.18682308389e-05,1793238251688537600
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.566402245,746.566402245,715,680,667.566402245,637,881,789,803.566402245,654,632,654,0.401000556603,0.00458893320632,0.0498659874603,0.999999962421,0.000124282471312,-0.000242284331252,-3.1779336929e-05,1793238251705204224
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746.726784191,715,679.863392095,667.863392095,637,881.136607905,788.863392095,804,654,632,654,0.400999422071,0.0045895163748,0.0498653106227,0.999999962041,0.000124750941269,-0.000243600398582,-3.18393902868e-05,1793238251721870848
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.56153679,715,679.280768395,667.280768395,637,881.719231605,788.280768395,804,654,632,654,0.400999380304,0.0045905123131,0.0498653546356,0.999999962107,0.000124530437857,-0.00024337097419,-3.2385746625e-05,1793238251738537472
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745.306121062,715,679,667.306121062,637,881.693878938,788.306121062,803.693878938,654,632,654,0.400998302357,0.00459072719606,0.0498648924059,0.999999961933,0.0001242557158,-0.000244188036045,-3.26733826657e-05,1793238251755204352
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745.896978244,715,679,667.896978244,637,881.103021756,788.896978244,803.103021756,654,632,654,0.400996260613,0.00459021558642,0.0498639592988,0.999999961533,0.000123930562704,-0.000245978478939,-3.27203720054e-05,1793238251771870720
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.52185481,746,715,679,667.52185481,637,881,789,803.47814519,654,632,654,0.400998068713,0.00459005559128,0.0498647286416,0.999999961888,0.000124679105438,-0.000244186235593,-3.2442548684e-05,1793238251788538112
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.056910919,746,715,679,667.056910919,637,881,789,804,654,632,654,0.401000266577,0.00459000301924,0.049865628172,0.999999962273,0.000125751023268,-0.000242092776327,-3.21273150337e-05,1793238251805205504
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.632443256,746,715,679,667.632443256,637,881,789,804,654,632,654,0.400998607416,0.00459025270879,0.0498644377759,0.999999961526,0.000127703522009,-0.000244149138847,-3.20962573981e-05,1793238251821871616
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636.78760694,880.78760694,789,803.78760694,654,632,654,0.400998540084,0.00459105617307,0.0498642914588,0.999999961233,0.000129413083503,-0.000244441989002,-3.21621667802e-05,1793238251838537984
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636.199850178,880.199850178,789,803.199850178,654,632,654,0.401001286001,0.00459283832716,0.0498659903498,0.999999961745,0.000130693300142,-0.000241618171535,-3.23994466359e-05,1793238251855204096
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,715,679.381899712,668,636.381899712,880.381899712,789,803.381899712,654,632,654,0.40100767016,0.00459215629889,0.0498685787239,0.999999962954,0.0001297694334,-0.00023709145002,-3.22414406703e-05,1793238251871870464
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,715,679.960554905,668,636.960554905,880.960554905,789,803.960554905,654,632,654,0.401015928747,0.00459020471921,0.0498716253617,0.999999964497,0.000127710018693,-0.000231687388737,-3.18797826955e-05,1793238251888537088
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,881.537176049,788.462823951,804,654,632,654,0.401048958317,0.00459023309161,0.0498842857563,0.999999970283,0.000126697138554,-0.000205776266622,-3.22123212567e-05,1793238251905203968
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,881.884285689,788,804,654,632,654,0.401087657707,0.00459019901761,0.0498986054538,0.999999976075,0.000125575884664,-0.000176147977371,-3.24404223767e-05,1793238251921870848
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,881.297333977,788,804,654,632,654,0.401142067436,0.00458932078453,0.049916818484,0.999999982384,0.000123701512194,-0.000137491105211,-3.20364011098e-05,1793238251938537472
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,715,679.71397355,667.71397355,637,880.71397355,788.28602645,803.71397355,654,632,654,0.40120096647,0.00458873431596,0.0499326092854,0.99999998632,0.000122877143173,-0.000106120395148,-3.16275665847e-05,1793238251955204096
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,715,679.134300124,667.134300124,637,880.134300124,788.865699876,803.134300124,654,632,654,0.401264474414,0.00458844738538,0.0499459133222,0.999999988551,0.000123130752765,-8.22299728778e-05,-3.12137906106e-05,1793238251971870976
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667.443704619,637,880,789,803.443704619,654,632,654,0.401333182444,0.00458886130663,0.0499528860409,0.999999989325,0.00012294558665,-7.28643211728e-05,-3.0424009667e-05,1793238251988537344
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715,679,667.978942468,637,880.021057532,789,804,654,632,654,0.401403941951,0.00458943552758,0.0499577458234,0.999999989729,0.000122591500242,-6.81219590467e-05,-2.95328914443e-05,1793238252005203968
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715,679,667.405488716,637,880.594511284,789,804,654,632,654,0.401487382851,0.00458867086446,0.049957260471,0.999999989793,0.00012127704315,-6.97650725284e-05,-2.89577501907e-05,1793238252021870592
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715,679.17323926,667.17323926,636.82676074,881,788.82676074,804,654,632,654,0.401575527545,0.00458724382066,0.0499564678653,0.999999989918,0.000119213153122,-7.18141768681e-05,-2.8184575567e-05,1793238252038537216
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715,679.764699793,667.764699793,636.235300207,881,788.235300207,804,654,632,654,0.401675027775,0.00458421770705,0.0499549335118,0.999999990185,0.000115340038298,-7.48433937551e-05,-2.69333236652e-05,1793238252055203840
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,715,679.650794442,668,636.349205558,881,788.349205558,804,654,632,654,0.40179247533,0.00458297738148,0.0499564511334,0.99999999055,0.000113810604789,-7.2614091301e-05,-2.59870531878e-05,1793238252071870464
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,715,679.070883344,668,636.929116656,881,788.929116656,804,654,632,654,0.401921779944,0.00458291685124,0.0499599850674,0.999999990964,0.000113829543341,-6.6910704845e-05,-2.52422710862e-05,1793238252088537600
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,715,679.503025585,668,637,880.496974415,789,804,654,632,654,0.402072560029,0.00458124267564,0.0499632858746,0.99999999158,0.000110867055368,-6.30330806712e-05,-2.40009385176e-05,1793238252105204480
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,880.076727419,789,804,654,632,654,0.402230075966,0.00457933746006,0.0499660175715,0.999999992166,0.000107443241739,-6.00553368281e-05,-2.27253481458e-05,1793238252121871104
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,880.654535471,789,804,654,632,654,0.402412051507,0.00457739086552,0.049965244612,0.999999992508,0.00010371800523,-6.12940366171e-05,-2.16775991425e-05,1793238252138537472
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,715,679.770604042,668,637,880.770604042,789,804,654,632,654,0.402601124345,0.00457571786971,0.0499640604259,0.999999992729,0.000100689662172,-6.31230187129e-05,-2.0453685358e-05,1793238252155204096
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,715,679.200126235,668,637,880.200126235,789,804,654,632,654,0.402800749924,0.00457445167961,0.0499622647998,0.999999992783,9.86975089377e-05,-6.58296734801e-05,-1.89678376001e-05,1793238252171870720
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636.611735029,880,789,803.611735029,654,632,654,0.40303012289,0.00457297434445,0.0499658505085,0.999999993538,9.64442746075e-05,-5.76370181897e-05,-1.73537096031e-05,1793238252188537088
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636.013664009,880,789,803.013664009,654,632,654,0.403275570392,0.00457138291323,0.0499723441195,0.999999994506,9.40499604004e-05,-4.35547220997e-05,-1.56702630877e-05,1793238252205203968
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636,880.561966816,789,803,654,632,654,0.403558305929,0.00456797056294,0.0499816564588,0.999999995871,8.63961529294e-05,-2.456246503e-05,-1.38296548998e-05,1793238252221871104
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.859795906,746,714.859795906,679,667.859795906,636,880.859795906,789,803,654,632,654,0.403847541036,0.00456459400336,0.0499898726041,0.999999996701,7.99168965367e-05,-8.48673365603e-06,-1.17948735964e-05,1793238252238537728
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.271552849,746,714.271552849,679,667.271552849,636,880.271552849,789,803,654,632,654,0.404154760201,0.00456146787108,0.0499943751224,0.999999996946,7.75840323881e-05,-2.09796912838e-06,-9.15133184795e-06,1793238252255204096
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.312228798,746,714.312228798,679,667.312228798,636,880,789,803.312228798,654,632,654,0.404481810644,0.00455805580368,0.0499988612836,0.999999997298,7.29786065751e-05,5.62994284561e-06,-6.87013940319e-06,1793238252271870720
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.892184977,746,714.892184977,679,667.892184977,636,880,789,803.892184977,654,632,654,0.404825865882,0.00455439855463,0.0500033334195,0.999999997677,6.64245230181e-05,1.45061366662e-05,-4.89965096326e-06,1793238252288537088
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636,880.469269023,788.530730977,803.530730977,654,632,654,0.405188261232,0.00455087399685,0.0500038469596,0.999999997826,6.41515893735e-05,1.51223573571e-05,-2.02268454068e-06,1793238252305203712
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.954305613,746,715,679,668,636,881,788.045694387,803.045694387,653.954305613,632,654,0.405555239494,0.00454733149602,0.0500019978191,0.99999999798,6.25997308512e-05,1.09839162828e-05,1.02544571001e-06,1793238252321870336
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.377912573,746,715,679,668,636,881,788.622087427,803.622087427,653.377912573,632,654,0.405926804282,0.00454322868765,0.0499832069521,0.999999997957,5.80683944787e-05,-2.64691792077e-05,3.65740518485e-06,1793238252338536960
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.201835462,746,715,679,668,636.201835462,881.201835462,788.798164538,803.798164538,653.201835462,632,654,0.406315244101,0.00453842939268,0.0499663354814,0.999999997009,5.26186468573e-05,-5.63445735655e-05,6.24730227827e-06,1793238252355203840
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.787971469,746,715,679,668,636.787971469,881.787971469,788.212028531,803.212028531,653.787971469,632,654,0.406735814443,0.00453230396735,0.0499531185976,0.999999996353,4.54202180948e-05,-7.17918040096e-05,8.75711123292e-06,1793238252371870464
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746.370810555,715,679,668,636.629189445,881.25837889,788,803,653.629189445,632,654,0.407184373355,0.00452823582026,0.0499468831499,0.999999995794,4.02068269794e-05,-8.16686105882e-05,1.1237596219e-05,1793238252388536832
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746.951781064,715,679,668,636.048218936,880.096437872,788,803,653.048218936,632,654,0.407648795008,0.00452533365286,0.0499446044894,0.999999995348,3.61184726428e-05,-8.83883327726e-05,1.37014615182e-05,1793238252405203712
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746.47060942,715,679,668,636.52939058,880.52939058,788,803,653.52939058,632,654,0.408176017938,0.0045189891607,0.0499656753685,0.999999998408,2.69554863503e-05,-4.66306464856e-05,1.68491903853e-05,1793238252421870592
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,715,679.105995535,668,637,881,788.105995535,803,653.894004465,632,654,0.408713537928,0.00451245071178,0.0499881091507,0.999999999618,1.84056087666e-05,-3.91286559724e-06,2.02410773698e-05,1793238252438536960
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,715,679.679511204,668,637,881,788.679511204,803,653.320488796,632,654,0.409271404412,0.00450643099317,0.0500072328945,0.999999999315,1.45858688194e-05,2.36867875424e-05,2.44368769059e-05,1793238252455203584
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.739695757,746,715,679.739695757,668,636.739695757,881,789,803,653.260304243,632,654,0.409825984334,0.00450038930858,0.0500149336901,0.999999997698,5.31080905727e-05,3.13618685451e-05,2.82898871485e-05,1793238252471870464
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.149684977,746,715,679.149684977,668,636.149684977,881,789,803,653.850315023,632,654,0.410376401507,0.00449431980059,0.0500081659545,0.999999988852,0.000145261483382,1.38000933131e-05,3.17087140631e-05,1793238252488537088
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,715,679,668,636,881.431183091,789,803.431183091,653.568816909,632.431183091,654,0.410927647921,0.00448933098345,0.0499888463042,0.999999986304,0.000159910433419,-2.45442505678e-05,3.49092850299e-05,1793238252505203712
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.00889947,746,715,679.00889947,668,636,881.99110053,788.99110053,803.99110053,653.00889947,632.99110053,654,0.411480220967,0.00448465857424,0.0499655616445,0.999999985913,0.000148092379349,-6.92552299617e-05,3.80261593516e-05,1793238252521870592
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.583838512,746,715,679.583838512,668,636,881.416161488,788.416161488,803.416161488,653.583838512,632.416161488,654,0.4120992454,0.0044767446681,0.0499614792586,0.999999988485,0.000128639655731,-6.95569668164e-05,4.0538657273e-05,1793238252538537216
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.837130121,746,715,680,668,636.162869879,881,788.162869879,803.162869879,653.837130121,632,654,0.412742414993,0.00446801858769,0.0499662976553,0.999999994664,7.96383935876e-05,-5.55164463559e-05,3.53101234888e-05,1793238252555203584
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.247372666,746,715,680,668,636.752627334,881,788.752627334,803.752627334,653.247372666,632,654,0.413448869846,0.00445716377094,0.0499944453109,0.999999998849,-4.68106087672e-05,-3.8843732901e-06,9.79207760464e-06,1793238252571870208
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.663602881,881,788.663602881,803.663602881,653,632,654,0.414129669915,0.00444705731982,0.0500038079469,0.999999994935,-0.00010006630153,1.06047093632e-05,2.06550844526e-06,1793238252588536832
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668,636.084159209,881,788.084159209,803.084159209,653,632,654,0.414791934398,0.00443749156254,0.0499995984253,0.999999994929,-0.000100439902569,-1.74198053109e-06,7.19326311486e-06,1793238252605203456
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.492791605,746,715,680,668,636,881,788,803.492791605,653.492791605,632,654,0.41544391726,0.00443696887167,0.0499678910457,0.999999995227,-7.94679352224e-05,-5.56405435703e-05,1.16489814569e-05,1793238252621870080
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.930701928,746,715,680,668,636,881,788.069298072,803.930701928,653.930701928,632,654,0.416102872529,0.00444154621624,0.0499368337513,0.999999992741,-5.25196729865e-05,-0.000107303589812,1.56644741947e-05,1793238252638536960
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.354347637,746,715,680,668,636,881,788.645652363,803.354347637,653.354347637,632,654,0.416825628115,0.00447219728448,0.0499447217263,0.99999999568,-8.38199350066e-06,-9.09471044875e-05,1.7294374361e-05,1793238252655203584
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715,679.772871968,668.227128032,636,881.454256064,789,803.227128032,653,632,654,0.417571148757,0.00449571717643,0.0499616840706,0.999999997775,2.54590252639e-05,-5.88476385528e-05,1.83844199558e-05,1793238252671870464
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715,679.183221911,668.816778089,636,882.633556177,789,803.816778089,653,632,654,0.418353005114,0.00450785490937,0.0499931301356,0.999999998907,4.28654158931e-05,-1.62059272104e-06,1.86127968609e-05,1793238252688537088
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,679.397427485,669,636.397427485,882.602572515,788.602572515,803.602572515,653.397427485,632,654,0.419094294415,0.00450057152813,0.0499981439349,0.999999999364,2.96856715281e-05,5.39589537228e-07,1.97374323228e-05,1793238252705204224
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,679.974019258,669,636.974019258,882.025980742,788.025980742,803.025980742,653.974019258,632,654,0.419817295632,0.00448453291352,0.0499912418025,0.999999999525,2.71739034583e-06,-2.21249248826e-05,2.12661100983e-05,1793238252721871872
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668.45079831,637,881.45079831,788.54920169,803.54920169,653.45079831,632,654,0.420576434791,0.00447941060199,0.0499812446373,0.999999999465,-1.50954778746e-06,-2.55446346153e-05,2.03635376567e-05,1793238252738538496
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,679.872352177,668,636.872352177,881,789,803.872352177,653,632,654,0.421347962905,0.00447518264732,0.0499798854436,0.999999999675,-3.31212244955e-06,-1.56497293241e-05,1.98403225935e-05,1793238252755204864
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,679.281830162,668,636.281830162,881,789,803.281830162,653,632,654,0.422158232294,0.00447232998717,0.0500103786715,0.999999999008,-2.14613848784e-07,3.92335558949e-05,2.11087191503e-05,1793238252771870976
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.302865184,746,715.302865184,679,668,636,881.302865184,789,803.302865184,653,632,654,0.422957115004,0.00447220817467,0.0500193690009,0.999999998135,-6.66001425964e-07,5.70146469453e-05,2.1866445876e-05,1793238252788537344
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.882240854,746,715.882240854,679,668,636,881.882240854,789,803.882240854,653,632,654,0.423745601837,0.00447457957729,0.0500087275676,0.999999998908,-4.35746779154e-06,4.09220966199e-05,2.21579401659e-05,1793238252805203968
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,715.541720741,679.458279259,668,636,881.541720741,788.541720741,804,653,632,654,0.424515626146,0.00448216976112,0.0499943221378,0.999999999619,2.92502157826e-06,1.64058993598e-05,2.20103966506e-05,1793238252821870848
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,715,679.966561164,668.033438836,636,881,788,804,653,632,654,0.425283703721,0.00449044516714,0.0499811665162,0.999999999659,1.25254399932e-05,-6.87785675915e-06,2.18691350143e-05,1793238252838537472
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,715,679.391847181,668.608152819,636,881,788,804,653,632,654,0.426096506491,0.00448826216647,0.050003784393,0.999999999316,1.4331061029e-05,2.45720403408e-05,2.36424934987e-05,1793238252855204096
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.819698059,746,715,679.180301941,668.819698059,636,881,788.180301941,804,653.180301941,632,654,0.426886358523,0.00448476390923,0.0500165698138,0.999999998961,1.14373360501e-05,3.61692011884e-05,2.52835059589e-05,1793238252871870720
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.253044815,746,715,679.746955185,668.253044815,636,881,788.746955185,804,653.746955185,632,654,0.427627031826,0.00447844731755,0.0500082862357,0.99999999963,-1.52615509543e-06,5.22589144456e-06,2.66409274953e-05,1793238252888537600
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.333967415,746.333967415,715,680,668.333967415,636,881,789,804,654,632,654,0.428392055735,0.00447522526442,0.0499880915725,0.999999999108,-9.18363037496e-06,-3.13932884693e-05,2.67047951691e-05,1793238252905204224
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.937406898,746.937406898,715,680,668.937406898,636,881,789,804,654,632,654,0.429176727647,0.00447450013697,0.0499582860776,0.999999996955,-1.2559779822e-05,-7.25922200665e-05,2.57249183051e-05,1793238252921870848
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.484235229,747,715,680,669,636,881,789,804.515764771,653.484235229,632,654,0.429988626993,0.00447056444203,0.0499720367753,0.999999998918,6.88287972646e-07,-3.85403074926e-05,2.60443338248e-05,1793238252938537472
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.093105024,747,715,680,668.906894976,636,881,789,804.906894976,653,632.093105024,654,0.430790047959,0.00446748515859,0.0499867404118,0.999999999555,1.22002562617e-05,-5.97544102608e-06,2.65661359717e-05,1793238252955203840
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.680452295,747,715,680,668.319547705,636,881,789,804.319547705,653,632.680452295,654,0.431519117778,0.00447092451031,0.0499797437051,0.999999999237,4.28307904644e-06,-2.75351896215e-05,2.73640685992e-05,1793238252971870976
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.471468174,715,680.264265913,668,636.264265913,881,789,804,653,633,654,0.432256662953,0.00447471812809,0.0499672048538,0.99999999826,-7.31033455926e-07,-5.20120448073e-05,2.78138742387e-05,1793238252988537856
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,745.312273975,715,680.843863013,668,636.843863013,881,789,804,653,633,654,0.433004321162,0.00447893446811,0.0499480529251,0.999999996412,-2.28110861205e-06,-7.99696904686e-05,2.78482827092e-05,1793238253005204480
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,745.421823166,715,680.578176834,668.421823166,636.578176834,881.421823166,789,804,653,632.578176834,654,0.43378088817,0.00447969940946,0.0499605067108,0.999999997926,3.59192196068e-07,-5.80044167094e-05,2.79874659139e-05,1793238253021871104
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,745.999179796,715,680.000820204,668.999179796,636.000820204,881.999179796,789,804,653,632.000820204,654,0.43456811441,0.00447919176103,0.0499846140662,0.999999999438,4.544556646e-06,-1.76317051904e-05,2.81652813354e-05,1793238253038537728
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,715.573666048,680,668.426333952,636.573666048,881.426333952,789,804.573666048,653,632,654,0.435285877872,0.00447692947163,0.0499946385208,0.999999999499,6.29360321676e-06,-1.06932540622e-05,2.91131788351e-05,1793238253055204096
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,715.848545209,680,668.151454791,636.848545209,881.151454791,789,804.848545209,653,632.151454791,654,0.435983608266,0.00447449992528,0.0499943494066,0.999999999309,4.55973707505e-06,-2.13063030144e-05,3.01197157065e-05,1793238253071870464
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,715.261240829,680,668.738759171,636.261240829,881.738759171,789,804.261240829,653,632.738759171,654,0.436623972969,0.00447159623765,0.0499644380389,0.999999996099,-7.18711945101e-06,-8.22913651356e-05,3.12918496776e-05,1793238253088537344
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.676365761,746,715,679.676365761,669,636,881.676365761,788.676365761,804,653,633,654,0.437316377342,0.00446942600317,0.0499619196279,0.99999999605,-1.46098411567e-05,-8.18168385116e-05,3.15130585076e-05,1793238253105204224
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.093437082,746,715,679.093437082,669,636,881.093437082,788.093437082,804,653,633,654,0.438050475649,0.00446784340857,0.0499813483443,0.999999998833,-1.85680828753e-05,-3.21011350682e-05,3.0972389911e-05,1793238253121871104
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.481986843,746,715,679.481986843,669,636,881.481986843,788.481986843,804,653,632.518013157,654,0.438753101933,0.00446597669808,0.0500001511766,0.999999999486,7.97487785894e-07,-1.94679231533e-06,3.20070788723e-05,1793238253138537984
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,715.056004779,680,669,636,882,789,804,653,632,653.943995221,0.439439538529,0.00446428256014,0.0500141872587,0.999999999045,2.1911138082e-05,1.79262095671e-05,3.32884930544e-05,1793238253155204864
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,715.630268563,680,669,636,882,789,804,653,632,653.369731437,0.440031751495,0.00446468725009,0.0499852181987,0.999999998998,1.80014091805e-05,-2.27888992642e-05,3.40703073177e-05,1793238253171871232
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,715.789345981,680,669,636.210654019,882,789,804,653.210654019,632.210654019,653.210654019,0.440621682775,0.00446618226791,0.0499642744153,0.999999997845,1.64717945606e-05,-5.30052303121e-05,3.50524742246e-05,1793238253188537856
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,715.197894494,680,669,636.802105506,882,789,804,653.802105506,632.802105506,653.802105506,0.441207489409,0.00446964826203,0.0499578378588,0.999999997089,1.92446926349e-05,-6.4243006214e-05,3.63968168883e-05,1793238253205204480
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,715,680,669,636.61522188,882,788.61522188,804,653.61522188,632.61522188,654,0.441811554618,0.00447327191596,0.0499718070166,0.99999999826,2.23628150254e-05,-3.92992678867e-05,3.78877859574e-05,1793238253221871104
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,715,680,669,636.036963544,882,788.036963544,804,653.036963544,632.036963544,654,0.442424800946,0.0044769748472,0.0499960368976,0.999999998885,2.56545287796e-05,3.83783036035e-06,3.94524840972e-05,1793238253238537984
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,715.538854556,680,669,636,881.461145444,788,804,653,632,654,0.442999183613,0.00447671268633,0.0500098324825,0.999999998457,2.62323686864e-05,2.68477378749e-05,4.09641535699e-05,1793238253255204864
+202,3.366666667,POSE1_TO_POSE2_PRESS,766.882944774,746,715.882944774,680.117055226,669,636,881,788,804.117055226,653,632.117055226,653.882944774,0.443549933186,0.00447577518556,0.0500158136206,0.999999998099,2.6261714564e-05,3.62268766709e-05,4.24293710387e-05,1793238253271871744
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.294477612,746,715.294477612,680.705522388,669,636,881,788,804.705522388,653,632.705522388,653.294477612,0.444016194216,0.0044732083572,0.0499931934891,0.999999998729,2.48284762344e-05,-3.75344827486e-06,4.37220980878e-05,1793238253288537600
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715.289551742,680.710448258,668.710448258,636,881.289551742,788.289551742,804.710448258,653.289551742,633,653.289551742,0.444477687319,0.00447211327695,0.0499707426067,0.999999997851,2.4430703409e-05,-4.1567516579e-05,4.44276501609e-05,1793238253305203968
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715.869135888,680.130864112,668.130864112,636,881.869135888,788.869135888,804.130864112,653.869135888,633,653.869135888,0.444934404552,0.00447249238809,0.0499484612557,0.999999995713,2.50701150706e-05,-7.72117298027e-05,4.45450524708e-05,1793238253321870336
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,715.552959987,680.447040013,668.447040013,636,882,788.552959987,804,653.552959987,632.552959987,653.552959987,0.445407952702,0.00446943819388,0.0499544827963,0.999999997083,2.22239953e-05,-5.73712249571e-05,4.52655905374e-05,1793238253338537728
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.024571696,746,715,680.975428304,669,636,882.024571696,788.024571696,804,653,632,653.024571696,0.445884516247,0.00446558043343,0.0499687789067,0.999999998531,1.85471890702e-05,-2.16193492763e-05,4.61128451708e-05,1793238253355205376
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.604760842,746,715,680.395239158,669,636,882.604760842,788.604760842,804,653,632,653.604760842,0.446318271875,0.00446619349746,0.049983535231,0.999999998735,1.90723708055e-05,8.02459561652e-06,4.58480125177e-05,1793238253371871232
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,715,680.18636894,668.81363106,636,882.62726212,789,804.18636894,653,632.18636894,654,0.446724500737,0.0044671849671,0.0499867191857,0.999999998672,1.876925066e-05,1.68715074256e-05,4.49302965704e-05,1793238253388537600
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,715,680.771009272,668.228990728,636,881.457981456,789,804.771009272,653,632.771009272,654,0.447071904701,0.00446898509141,0.0499651729245,0.999999998777,1.66960450467e-05,-1.87249521161e-05,4.26173657056e-05,1793238253405204736
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.647854744,746,715.352145256,681,668,635.647854744,881.352145256,788.647854744,805,653.352145256,633,654,0.447378637263,0.00446866359274,0.0499267229607,0.999999996087,-2.1007006353e-05,-8.00810430755e-05,3.11784478509e-05,1793238253421871360
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.068975033,746,715.931024967,681,668,635.068975033,881.931024967,788.068975033,805,653.931024967,633,654,0.447659182915,0.00446697605275,0.0498773892708,0.999999984085,-8.16509139137e-05,-0.000158022894911,1.38636142765e-05,1793238253438537728
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.506797155,746.506797155,715.493202845,680.493202845,667.493202845,635,882,788.506797155,804.493202845,653.493202845,633,654,0.447937822835,0.0044693592677,0.0498467014083,0.999999976127,-8.22700631788e-05,-0.000202096048933,1.16413359851e-05,1793238253455204352
+214,3.566666667,POSE1_TO_POSE2_PRESS,766.916464179,746.916464179,715,680.083535821,667.083535821,635,882,789,804.083535821,653,632.916464179,654,0.448216857102,0.00447246715487,0.0498232088388,0.999999970127,-6.65139022697e-05,-0.000234913368216,1.17209161602e-05,1793238253471870976
+215,3.583333333,POSE1_TO_POSE2_PRESS,766.331399038,746.331399038,715,680.668600962,667.668600962,635,882,789,804.668600962,653,632.331399038,654,0.448499806755,0.00447661981444,0.0498277722265,0.999999973996,-1.19226094143e-06,-0.000227659179437,1.33631666575e-05,1793238253488537344
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,715,681,667.747327924,635,882,788.747327924,805,653,632.252672076,654,0.448771133838,0.00448183820215,0.0498334037847,0.999999974852,3.84929837629e-05,-0.000220413335102,1.52078085739e-05,1793238253505204224
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,715,681,667.16455548,635,882,788.16455548,805,653,632.83544452,654,0.449027276737,0.00448844889721,0.049840430841,0.999999976129,4.46858652321e-05,-0.000213178393688,1.73168622651e-05,1793238253521870848
+218,3.633333333,POSE1_TO_POSE2_PRESS,766.411541799,746,715.411541799,681,667,635,882,788.411541799,805,653,632.588458201,654,0.449247750162,0.00450252877587,0.0498404905261,0.999999974676,5.85468793186e-05,-0.000216540499175,1.81669252269e-05,1793238253538537472
+219,3.650000000,POSE1_TO_POSE2_PRESS,766.985012593,746,715.985012593,681,667,635,882,788.985012593,805,653,632.014987407,654,0.449454188743,0.00451954754757,0.0498378087656,0.99999997188,7.54250667401e-05,-0.000224072215635,1.85216141424e-05,1793238253555204352
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.440296298,746,715.440296298,680.440296298,667,635,882,788.440296298,804.440296298,653,632,654,0.449633175678,0.00452884125999,0.0498283445818,0.999999967747,8.19913865824e-05,-0.000239711132529,1.79286824277e-05,1793238253571870976
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,715,680.138245504,667,635,882,788,804,653,632,654,0.449806391783,0.00453490988012,0.0498189842176,0.9999999637,8.53740989434e-05,-0.000254943363074,1.77559370082e-05,1793238253588537856
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,715,680.729292266,667,635,882,788,804,653,632,654,0.449963119327,0.00453109422688,0.0498105600531,0.999999960732,7.923578757e-05,-0.000268130957235,1.9042738182e-05,1793238253605204480
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,746,715,681,667,634.685839522,882,788,804.314160478,653,632,653.685839522,0.450109924857,0.00452975869563,0.0498076097147,0.999999959462,7.66350593904e-05,-0.000273508804949,1.99037658915e-05,1793238253621871104
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746,715,681,667,634.106192532,882,788,804.893807468,653,632,653.106192532,0.450248345643,0.00453051903211,0.0498092851229,0.999999959755,7.7023823781e-05,-0.000272286898637,2.04049868315e-05,1793238253638537728
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,746,715,681,666.528987953,634,882,788.471012047,805,653,632.471012047,653.471012047,0.450368000086,0.00453239900986,0.0498120042828,0.999999960274,8.01124628268e-05,-0.000269412437547,2.12150786404e-05,1793238253655204096
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,715,681,666.048470047,634,882,788.951529953,804.951529953,653,632.951529953,654,0.450481896201,0.00453420695314,0.0498146850987,0.999999960791,8.32418718598e-05,-0.000266465292014,2.20264494603e-05,1793238253671870720
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,715,681,666.634819907,634,882,788.365180093,804.365180093,653,632.365180093,654,0.450578601025,0.00453242871563,0.049814342494,0.99999996095,8.01036852696e-05,-0.000266824787514,2.20832299917e-05,1793238253688537344
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,715.218434901,680.781565099,666.781565099,633.781565099,882,788,804.218434901,653,632,653.781565099,0.450665260915,0.00453307147162,0.04981314043,0.99999996029,7.99440639112e-05,-0.000269346260062,2.19348786375e-05,1793238253705204736
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,715.797534239,680.202465761,666.202465761,633.202465761,882,788,804.797534239,653,632,653.202465761,0.450735335307,0.00453771160291,0.049810519287,0.99999995825,8.4702441416e-05,-0.000275437437938,2.14478278511e-05,1793238253721872384
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,715.623467467,680.376532533,666,633.376532533,882,788.376532533,805,653,632,653.376532533,0.450796116261,0.00453841660559,0.0498092476302,0.999999957042,8.62984923431e-05,-0.000279278795746,2.17050517636e-05,1793238253738539008
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,715.04452351,680.95547649,666,633.95547649,882,788.95547649,805,653,632,653.95547649,0.450851901368,0.00453700621326,0.0498087014125,0.999999956298,8.619458104e-05,-0.000281910724572,2.23623731309e-05,1793238253755204864
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.52952294,746,715.52952294,681,666,633.47047706,882,788.47047706,804.47047706,653,632,654,0.450891055957,0.00453673369191,0.0498043350296,0.99999995452,8.47029540431e-05,-0.000288604991183,2.21925286586e-05,1793238253771871488
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.894508661,746,715.894508661,681,666,633,882,788,804,653,632.105491339,654,0.450927326115,0.00453665030328,0.0497999751247,0.99999995271,8.3797742227e-05,-0.000295079347355,2.20669229967e-05,1793238253788537856
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.307914398,746,715.307914398,681,666,633,882,788,804,653,632.692085602,654,0.45095676033,0.00453699713675,0.0497970962403,0.999999951339,8.60941950012e-05,-0.000299007290706,2.24573550017e-05,1793238253805204736
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,715,681,666,633,882,788,804,653,632.724632486,653.724632486,0.45098014056,0.00453790404214,0.0497940218363,0.999999949411,8.85228458407e-05,-0.000304678182018,2.26532049303e-05,1793238253821871616
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,715,681,666,633,882,788,804,653,632.145010331,653.145010331,0.450996831723,0.00453942977323,0.0497907314015,0.999999946837,9.10975631257e-05,-0.000312274863823,2.26340604113e-05,1793238253838538240
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746.432736021,715,680.567263979,666,633,881.567263979,788,804,653,632,653,0.451010771954,0.00454041150213,0.0497886627785,0.999999945468,9.20429980602e-05,-0.000316356396944,2.25924669349e-05,1793238253855204864
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746.990181526,715,680,666,633,881,788.009818474,804.009818474,653,632,653.009818474,0.451023719906,0.00454122391475,0.0497870248394,0.999999944519,9.24664106424e-05,-0.000319223657039,2.25404937115e-05,1793238253871871744
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746.415285637,715,680,666,633,881,788.584714363,804.584714363,653,632,653.584714363,0.451032385021,0.00454273804872,0.0497867117796,0.999999944214,9.41327025801e-05,-0.0003197067179,2.2322219914e-05,1793238253888538112
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666,633,881.163934741,788.836065259,805,653,632.163934741,654,0.451040025626,0.00454380334503,0.0497863815248,0.999999944002,9.52004612123e-05,-0.000320072461315,2.20365781604e-05,1793238253905204480
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666,633,881.754406859,788.245593141,805,653,632.754406859,654,0.451045000588,0.00454370082268,0.0497860065303,0.99999994404,9.47109120963e-05,-0.000320132959611,2.15756535537e-05,1793238253921871104
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666,633,881.661387161,788,805,653,632.661387161,654,0.451047987451,0.00454376370956,0.0497853919088,0.999999943806,9.4141488691e-05,-0.000321042171344,2.14004146806e-05,1793238253938537728
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666,633,881.081643409,788,805,653,632.081643409,654,0.451049558562,0.00454394438666,0.0497846066455,0.999999943377,9.35151857139e-05,-0.000322555763717,2.14286166113e-05,1793238253955204352
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.494053321,746,715,680.494053321,666,633,881.494053321,788,804.505946679,653,632.494053321,654,0.451049829864,0.00454394754482,0.0497831860046,0.999999942279,9.62870271339e-05,-0.000325121801781,2.1595885428e-05,1793238253971870720
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.929353878,746,715.070646122,681,666,633,882,788,804,653,633,654,0.451050013333,0.00454398231808,0.0497819192255,0.999999941296,9.89791696775e-05,-0.000327323803077,2.17003834151e-05,1793238253988537344
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.341341207,746,715.658658793,681,666,633,882,788,804,653,633,654,0.451051113821,0.00454446170792,0.0497825419184,0.999999942064,9.70086246194e-05,-0.000325596511119,2.11782569107e-05,1793238254005204224
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,715.757671958,681,666,633,881.757671958,788,804,653,632.757671958,654,0.451051245764,0.00454458925852,0.0497822995576,0.999999942052,9.64083949439e-05,-0.00032581337473,2.1136016093e-05,1793238254021870848
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,715.180013003,681,666,633,881.180013003,788,804,653,632.180013003,654,0.451050037447,0.00454422993788,0.0497808601449,0.999999940962,9.77043925286e-05,-0.000328720539454,2.17578358012e-05,1793238254038537472
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746.393874518,715,680.606125482,666,633,881.393874518,788,804,653,632,654,0.45105059199,0.00454531765714,0.0497802887234,0.999999940649,9.81687025897e-05,-0.000329539380464,2.16463724807e-05,1793238254055204096
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746.966054689,715,680.033945311,666,633,881.966054689,788,804,653,632,654,0.451051944573,0.00454706044645,0.0497801102386,0.999999940692,9.82565104636e-05,-0.000329412844266,2.12029543931e-05,1793238254071870976
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746.456495331,715,680.543504669,666.543504669,633,881.456495331,788,804,653,632.543504669,654,0.451053037445,0.00454691156231,0.0497802349973,0.9999999409,0.000100536998405,-0.000328098333973,2.10761835446e-05,1793238254088537344
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,746,715,681,666.875750034,633,881,788.124249966,804,653.124249966,633,653.875750034,0.451053658607,0.00454645007561,0.0497802388088,0.99999994097,0.000101946036898,-0.000327445247141,2.11311413387e-05,1793238254105204224
+253,4.216666667,POSE1_TO_POSE2_PRESS,766,746,715,681,666.283852884,633,881,788.716147116,804,653.716147116,633,653.283852884,0.451052566014,0.00454526105846,0.0497797154226,0.999999940501,9.95546662746e-05,-0.000329563592392,2.17949190499e-05,1793238254121870848
+254,4.233333333,POSE1_TO_POSE2_PRESS,766.30183797,746,715,681,666,633,881.30183797,789,804,653.69816203,633,653,0.451052534785,0.00454587007775,0.0497794208581,0.999999940247,9.98176571565e-05,-0.000330254958488,2.17596722286e-05,1793238254138537472
+255,4.250000000,POSE1_TO_POSE2_PRESS,766.881809891,746,715,681,666,633,881.881809891,789,804,653.118190109,633,653,0.451053481571,0.00454813592967,0.0497793371454,0.999999940194,0.000102526556648,-0.00032963140922,2.10802968198e-05,1793238254155204352
+256,4.266666667,POSE1_TO_POSE2_PRESS,766.539819191,746,715,680.539819191,666,633,882,788.539819191,804.460180809,653,633,653.460180809,0.451053100496,0.00454562888217,0.049778988779,0.999999940135,9.8906730548e-05,-0.000330897774683,2.13248804963e-05,1793238254171871232
+257,4.283333333,POSE1_TO_POSE2_PRESS,766,746,715.037899557,680.037899557,666,633,882,788.037899557,804.962100443,653,633,653.962100443,0.451052441911,0.00454231586636,0.0497785746782,0.999999940048,9.4239273046e-05,-0.000332491026323,2.1732943925e-05,1793238254188537856
+258,4.300000000,POSE1_TO_POSE2_PRESS,766,746,715.612186962,680.612186962,666,633,882,788.612186962,804.387813038,653,633,653.387813038,0.451052665738,0.00454488514286,0.049778188912,0.99999993994,9.76696109892e-05,-0.000331864744643,2.11078228616e-05,1793238254205204224
+259,4.316666667,POSE1_TO_POSE2_PRESS,766,746,715.808433851,681,666,633,882,788.808433851,804,653,632.808433851,653,0.451053153893,0.00454622733297,0.0497780945918,0.999999939897,0.000100043144911,-0.0003313062914,2.08195816739e-05,1793238254221870592
+260,4.333333333,POSE1_TO_POSE2_PRESS,766,746,715.218465113,681,666,633,882,788.218465113,804,653,632.218465113,653,0.451054191773,0.00454501753619,0.0497786063956,0.999999940009,0.000100218830529,-0.000330888901728,2.12319537891e-05,1793238254238537472
+261,4.350000000,POSE1_TO_POSE2_PRESS,766,746,715,680.635170018,666,633,882,788.364829982,804,653,632.364829982,653.364829982,0.451055024974,0.00454622523762,0.0497796530607,0.999999940205,0.000101311972838,-0.000329965693264,2.11976272793e-05,1793238254255204096
+262,4.366666667,POSE1_TO_POSE2_PRESS,766,746,715,680.055799438,666,633,882,788.944200562,804,653,632.944200562,653.944200562,0.451055737812,0.00454885456437,0.0497810142543,0.999999940446,0.000102944631398,-0.000328745034858,2.09006167686e-05,1793238254271870464
+263,4.383333333,HOLD_POSE2,767,746,715,681,666,633,882,789,805,653,632,654,0.451057118321,0.00454639300726,0.049780034568,0.999999940782,0.000101774843383,-0.000328071527963,2.11446196307e-05,1793238254302453248
+264,4.400000000,HOLD_POSE2,766.411357298,746,715,681,665.411357298,633,882,788.411357298,804.411357298,653,632,653.411357298,0.451056492935,0.00454709934156,0.0497793735148,0.999999940389,0.000101513185843,-0.000329391065558,2.04375282034e-05,1793238254319119872
+265,4.416666667,HOLD_POSE2,766,746,715,681,665.174682218,633,881.825317782,788,804,653,632.174682218,653.174682218,0.451056051845,0.00454759774143,0.0497792245581,0.999999940265,0.000100622860571,-0.00033007193482,1.99604010253e-05,1793238254335786496
+266,4.433333333,HOLD_POSE2,766,746,715,681,665.754681648,633,881.245318352,788,804,653,632.754681648,653.754681648,0.451056038375,0.00454761366873,0.0497802638245,0.999999940761,9.82738300876e-05,-0.000329270894677,2.0016862468e-05,1793238254352453120
+267,4.450000000,HOLD_POSE2,766.331344989,746,715.331344989,681,666,633,881.662689977,788,804.331344989,653,632.668655011,654,0.451055763426,0.00454775331007,0.0497801688504,0.999999940524,9.96702173569e-05,-0.000329551928943,2.03441402032e-05,1793238254369119744
+268,4.466666667,HOLD_POSE2,766.90556297,746,715.90556297,681,666,633,882.81112594,788,804.90556297,653,632.09443703,654,0.451055296814,0.00454798363271,0.0497792424878,0.999999939737,0.000103811963379,-0.000330626114375,2.08699239201e-05,1793238254385786368
+269,4.483333333,HOLD_POSE2,766.519609775,746.480390225,715.519609775,681,666,633,882.519609775,788.480390225,804.519609775,653,632.480390225,654,0.4510562401,0.00454651417272,0.0497794082036,0.999999940096,0.000102164265796,-0.000330042385628,2.1014485089e-05,1793238254402453248
+270,4.500000000,HOLD_POSE2,766,746.943249615,715,680.943249615,666,633,882,788.943249615,804,653,633,654,0.451057167277,0.00454499531145,0.0497797052463,0.999999940544,9.97472499153e-05,-0.000329419605635,2.11017529817e-05,1793238254419119872
+271,4.516666667,HOLD_POSE2,766,746.353621768,715,680.353621768,666,633,882,788.353621768,804,653,633,654,0.451055337376,0.00454615418215,0.0497792170082,0.999999939747,0.000100806721138,-0.000331494360081,2.13556356914e-05,1793238254435786496
+272,4.533333333,HOLD_POSE2,766.2315444,746,715.2315444,680.2315444,666,633,882,788,804.2315444,653,632.7684556,653.7684556,0.451055023301,0.00454728053761,0.0497792220055,0.999999939493,0.000102394486116,-0.000331777515519,2.12851093217e-05,1793238254452453120
+273,4.550000000,HOLD_POSE2,766.810025319,746,715.810025319,680.810025319,666,633,882,788,804.810025319,653,632.189974681,653.189974681,0.451056980477,0.00454835817349,0.0497799660464,0.999999940052,0.000104773824443,-0.000329376213162,2.07285018267e-05,1793238254469119744
+274,4.566666667,HOLD_POSE2,767,746,715.612921512,680.612921512,666,633,882,788,804.612921512,653,632,653.387078488,0.451057333224,0.00454825254481,0.0497797168653,0.999999940052,0.000103547626472,-0.000329781826007,2.04584278433e-05,1793238254485787392
+275,4.583333333,HOLD_POSE2,767,746,715.036566443,680.036566443,666,633,882,788,804.036566443,653,632,653.963433557,0.451056901426,0.00454756831452,0.0497789820111,0.999999939771,0.000100558366185,-0.000331559985356,2.03284651432e-05,1793238254502455040
+276,4.600000000,HOLD_POSE2,767,746.549946564,715,680.549946564,666,633,881.450053436,788,804.549946564,653,632,653.450053436,0.451057094917,0.00454691746533,0.0497790758263,0.999999939804,0.000101451499386,-0.000331170265699,2.06355250705e-05,1793238254519120640
+277,4.616666667,HOLD_POSE2,766.864663906,746.864663906,715,681,666,633,881,788,805,653,632.135336094,653,0.451057307391,0.00454646843385,0.0497792817983,0.999999939845,0.00010241701624,-0.000330728684267,2.09569089528e-05,1793238254535786752
+278,4.633333333,HOLD_POSE2,766.285219024,746.285219024,715,681,666,633,881,788,805,653,632.714780976,653,0.451057443153,0.00454667425157,0.0497796716045,0.999999939847,0.00010275701552,-0.000330598831221,2.12281482708e-05,1793238254552453376
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,666,633,882,788,805,653,633,654,0.451056118182,0.00454858914124,0.0497786399846,0.999999938747,0.0001096410215,-0.000331707655989,2.13320211442e-05,1793238254590517760
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,666,633,882,788,804.405514045,653,632.405514045,654,0.451057454455,0.0045480181816,0.0497792440935,0.999999939611,0.000104190773789,-0.000330886726684,2.09029608766e-05,1793238254607184384
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.811972521,666,633,882,788,804,653,632.188027479,654,0.451057496242,0.00454747623293,0.0497790305007,0.999999939872,0.00010045490775,-0.00033127044508,2.05885372032e-05,1793238254623851008
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.220457536,666,633,882,788,804,653,632.779542464,654,0.451054760196,0.00454699653871,0.0497770622046,0.999999938892,0.000100397926292,-0.000334239212605,2.05201117141e-05,1793238254640517376
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.36284497,666,633,881.63715503,788.36284497,804,653,633,654,0.45105443067,0.00454773360406,0.0497766371825,0.999999938532,0.00010203749545,-0.000334822703421,2.04433912269e-05,1793238254657184000
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.941268136,666,633,881.058731864,788.941268136,804,653,633,654,0.451055530939,0.00454919358653,0.0497771290707,0.999999938539,0.000104685041432,-0.000333989022293,2.03617424112e-05,1793238254673850624
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,666,633,881.517426984,788.482573016,804,653,632.482573016,654,0.451055647115,0.00454847908883,0.0497775038425,0.999999938881,0.000103055742825,-0.000333475068546,2.03082416765e-05,1793238254690517504
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,666,633.092557107,881.907442893,788,804.092557107,653,632,654,0.451055637449,0.00454746284842,0.0497777465012,0.99999993919,0.000101192366667,-0.000333116693499,2.0343900427e-05,1793238254707184384
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,666,633.663691218,881.336308782,788,804.663691218,653,632,654,0.451055552143,0.00454615706288,0.0497773744905,0.999999939151,0.000100617824945,-0.00033337592422,2.08241201654e-05,1793238254723852032
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746.245320298,715,681,666.245320298,633.754679702,881.245320298,788,805,653,632,654,0.45105472085,0.00454596126436,0.049776982863,0.999999938976,0.000100473351503,-0.000333937637461,2.09486951497e-05,1793238254740519168
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746.841979861,715,681,666.841979861,633.158020139,881.841979861,788,805,653,632,654,0.451052821179,0.00454735515108,0.0497765631412,0.999999938604,0.000100944807061,-0.000334932555708,2.05639279474e-05,1793238254757185280
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746.577313328,715,680.577313328,666.577313328,633,882,788,805,653.422686672,632,654,0.451044742012,0.00454782067551,0.049772422613,0.99999993619,0.000101852317968,-0.000341821850134,2.01031580121e-05,1793238254773851648
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746.00235346,715,680.00235346,666.00235346,633,882,788,805,653.99764654,632,654,0.451034436676,0.00454795175684,0.0497669416614,0.999999932969,0.000102916918179,-0.000350834598137,1.96150080013e-05,1793238254790517760
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.582242141,746.582242141,715,680.582242141,666,633,882,788,805,653.417757859,632,654,0.451008064516,0.00454794720542,0.049756051268,0.999999925666,0.000103822287973,-0.000370796400868,1.9968376605e-05,1793238254807184384
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766.834550729,747,715,680.834550729,666,633,881.834550729,787.834550729,804.834550729,653,632.165449271,654,0.450973949175,0.00454780371812,0.0497422600488,0.999999916028,0.000104558339882,-0.000395733696938,2.01749601412e-05,1793238254823851264
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.254918495,747,715,680.254918495,666,633,881.254918495,787.254918495,804.254918495,653,632.745081505,654,0.450920614991,0.0045473138166,0.0497212626067,0.99999990055,0.000104872162732,-0.000433013908676,2.00054259645e-05,1793238254840518144
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766.325540285,746.674459715,715,680,666,633,881,787.325540285,804,653,632.674459715,654,0.450864369471,0.00454849491328,0.049703746512,0.99999988795,0.000105816556817,-0.000461004613794,1.9408103172e-05,1793238254857184768
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.906647915,746.093352085,715,680,666,633,881,787.906647915,804,653,632.093352085,654,0.450805838393,0.00455098783711,0.0496889634712,0.999999878059,0.000107255984648,-0.000481702534193,1.847494239e-05,1793238254873851392
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.386725419,666,633,882,788.386725419,804,653,632.613274581,653.613274581,0.450273153879,0.00455754074609,0.049660308724,0.999999855013,0.000120523823668,-0.000524597981178,1.56578611409e-05,1793238254973850880
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,766.473534472,746,715,680.526465528,668,636,882,788.526465528,805,653,632,654,0.436910096715,0.00458419513716,0.0497927558215,0.999999944539,-2.24311537911e-05,-0.000330040963633,-3.86213281387e-05,1793238255523851008
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.973421341,746,715,680,668,636,880.973421341,789,804,653,632,654,0.423266740522,0.00461765830043,0.0498572759929,0.999999962932,0.000168115442836,-0.000210636033915,-3.88097055018e-05,1793238255823851008
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.452943288,746,715,680,668,636,880.452943288,788.452943288,804,653,632.547056712,653.452943288,0.422436653341,0.00462004489975,0.0498303287241,0.999999951232,0.000162940031515,-0.000263538882039,-3.91663484776e-05,1793238255840517632
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,668.124775566,636,880.124775566,788.124775566,804,653,632.875224434,653.124775566,0.421617696857,0.00462138556771,0.0498060226894,0.99999993907,0.000156243030067,-0.000309640030411,-3.96387070919e-05,1793238255857184256
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,668.718280349,636,880.718280349,788.718280349,804,653,632.281719651,653.718280349,0.42085130505,0.00461907701438,0.0497996812333,0.999999938652,0.000146946451906,-0.000315381784195,-4.04508795068e-05,1793238255873850880
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,669,636,881,789,804,653,632,654,0.419359717982,0.00461192874794,0.0498343989424,0.999999949183,0.000150811737203,-0.000278207879756,-3.8597672499e-05,1793238255907184128
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.457425114,746,715,680,668.542574886,636,880.542574886,789,803.542574886,653,632.457425114,654,0.418592605757,0.00461241366199,0.0498218161063,0.999999941276,0.000149596663453,-0.000305877612697,-3.88406477918e-05,1793238255923850752
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.606758673,880.606758673,789,803.606758673,653,632.393241327,654,0.417102050924,0.0046133561901,0.0498051964539,0.999999934376,0.000145555086298,-0.000329245205885,-4.07359193979e-05,1793238255957184000
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.812580832,746,715,680,668,636.812580832,880.812580832,789,804,653.187419168,632.187419168,654,0.416398602199,0.00461267911654,0.0498148168128,0.999999941676,0.000145742707828,-0.000306067323778,-4.15802043373e-05,1793238255973850880
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,668,636,880.362786235,788.637213765,804,653.637213765,632.637213765,654,0.41504299184,0.00461364112114,0.0498340485432,0.99999995143,0.000151373333143,-0.000269201667226,-4.19120889261e-05,1793238256007184128
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,668,636,880.935669246,788.064330754,804,653.064330754,632.064330754,654,0.414345697993,0.00461715225057,0.0498176722771,0.999999942494,0.000153287104555,-0.000299556559327,-4.22059630324e-05,1793238256023850752
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.514951756,746,715,680,668,636,881,788.514951756,803.485048244,653,632.514951756,654,0.413644602289,0.00462028129875,0.0497951102327,0.999999928985,0.000155905656868,-0.000340499661177,-4.22343615568e-05,1793238256040517376
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.096057131,881,789,803,653.096057131,632.903942869,654,0.412959002076,0.00462327410992,0.0497794322414,0.999999918374,0.000158395665419,-0.00036928026144,-4.23624314667e-05,1793238256057184000
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.682334002,881,789,803,653.682334002,632.317665998,654,0.412354936218,0.00462581830727,0.0498028798164,0.999999932133,0.000159774675974,-0.0003291550823,-4.31705498797e-05,1793238256073850624
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.734030692,746,715,680,668,636.734030692,881,788.734030692,803.265969308,654,632.265969308,654,0.411754660494,0.0046253804259,0.0498240952516,0.999999943171,0.000158600346924,-0.000294311156665,-4.34126451625e-05,1793238256090517504
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.15351941,746,715,680,668,636.15351941,881,788.15351941,803.84648059,654,632.84648059,654,0.411158867121,0.00462141586324,0.0498426709006,0.999999951854,0.000154406374454,-0.00026571297703,-4.29853472738e-05,1793238256107184128
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.424648149,746,715,680,668,636.424648149,881,788.424648149,804,654,632.575351851,654,0.410550766933,0.00461590944657,0.0498297677258,0.999999944104,0.000151499487238,-0.000295138507257,-4.1642033981e-05,1793238256123850752
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.998034906,880.998034906,788.998034906,804,654,632,654,0.409938490625,0.00460986158106,0.0498056199909,0.999999928496,0.00014904783433,-0.000345245687308,-3.99762663017e-05,1793238256140517632
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.423052604,880.423052604,788.423052604,804,654,632,654,0.409398730832,0.00460757688571,0.0498028306967,0.999999929986,0.000144403347302,-0.000342856866159,-4.03188307219e-05,1793238256157184000
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.155614524,880.155614524,788.155614524,804,654,632,654,0.408873267796,0.00460578296755,0.0498065428073,0.999999934841,0.000139180602536,-0.000330595663129,-4.06494196937e-05,1793238256173850880
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636.744542292,880.744542292,788.744542292,804,654,632,654,0.408387614379,0.00460535563247,0.0498283582711,0.999999948108,0.000132347680815,-0.000290844520096,-4.09466627136e-05,1793238256190517760
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,637,880.671802198,788.671802198,804,654,632,654,0.407906392161,0.00460631972547,0.0498430442151,0.999999954775,0.000131141813356,-0.000267478044647,-4.13237809395e-05,1793238256207184896
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,637,880.092185581,788.092185581,804,654,632,654,0.407428564531,0.00460834973421,0.0498522685266,0.999999957179,0.000134246600844,-0.000256663190593,-4.17620882847e-05,1793238256223852544
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746.480881287,715,679.519118713,668,636.519118713,880,788.480881287,804,654,632,654,0.406948596733,0.00461068929297,0.0498345673858,0.999999946261,0.000140273573722,-0.000293369481919,-4.16541455688e-05,1793238256240518912
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746.945470842,715,679.054529158,668,636.054529158,880.054529158,789,803.945470842,654,632,654,0.406470968847,0.00461318414416,0.0498119823303,0.999999931357,0.000146273315936,-0.000337870014475,-4.16392142977e-05,1793238256257185024
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746.35390101,715,679.64609899,668,636.64609899,880.64609899,789,803.35390101,654,632,654,0.406020372373,0.00461663184308,0.0497914494611,0.999999919632,0.000146561904313,-0.0003706189668,-4.3557789982e-05,1793238256273851392
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.767304852,668,636.767304852,881,788.767304852,803,654,632,654,0.405599751373,0.00461969141112,0.04978363659,0.999999914165,0.000148328330279,-0.000384282622439,-4.46608525713e-05,1793238256290517760
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.188114798,668,636.188114798,881,788.188114798,803,654,632,654,0.405223765417,0.00462217303224,0.0497947644445,0.999999919136,0.000152295331691,-0.000369527298507,-4.45495745791e-05,1793238256307184640
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.390660122,668,636,881,788.390660122,803,654,632,654,0.404889568331,0.00462485066216,0.0498143291489,0.999999931252,0.000156611075075,-0.000333060748829,-4.51563134894e-05,1793238256323851264
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.969235405,668,636,881,788.969235405,803,654,632,654,0.404575472474,0.00462762257636,0.049837952144,0.99999994502,0.000161094570244,-0.000286150672887,-4.61084324871e-05,1793238256340517888
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.457208603,667.457208603,636.542791397,881,789,803.542791397,654,632,654,0.40427403337,0.00462722762863,0.0498553386654,0.999999950874,0.000162050915383,-0.000264390433626,-4.57095104293e-05,1793238256357184768
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746.119566114,715,679.119566114,667,636.880433886,881,789,804,654,632,654,0.403974020781,0.0046272069398,0.0498681576141,0.999999954491,0.000163445169236,-0.000249463187334,-4.55135697479e-05,1793238256373851392
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746.710130683,715,679.710130683,667,636.289869317,881,789,804,654,632,654,0.403676827497,0.00462936112836,0.0498643635037,0.999999952181,0.000167344736685,-0.00025588892293,-4.64161019454e-05,1793238256390517760
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767.294706743,746.705293257,715,679.705293257,667.294706743,636.294706743,880.705293257,789,804,654,632.294706743,654,0.403393892987,0.0046313726773,0.0498571834868,0.999999948464,0.000170008014594,-0.000268171361655,-4.74606823076e-05,1793238256407184128
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767.873509866,746.126490134,715,679.126490134,667.873509866,636.873509866,880.126490134,789,804,654,632.873509866,654,0.403124703906,0.00463324672197,0.049846739467,0.999999943188,0.000171479512984,-0.000286099643438,-4.86421965925e-05,1793238256423850752
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767.54934433,746,715,679.45065567,668,637,880.45065567,789,804,654,632.54934433,654,0.402883328391,0.00463396706345,0.0498410409628,0.999999939506,0.00017148351453,-0.000298620628298,-4.90674124748e-05,1793238256440517376
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.973143088,637,880.973143088,789,804,654,632,654,0.402651504386,0.00463430700315,0.0498368016046,0.99999993648,0.00016986138639,-0.000309447087712,-4.92848721969e-05,1793238256457184000
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.406608992,637,880.406608992,789,804,654,632,654,0.402455315922,0.00463348614945,0.0498352158108,0.99999993831,0.000143809495896,-0.000316609006191,-4.9577566724e-05,1793238256473850880
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.168476335,637,880.168476335,789,804,654,632.168476335,654,0.402266986278,0.00463310669856,0.0498335772546,0.999999940238,0.000116333876577,-0.000321726525485,-4.98248012847e-05,1793238256490517760
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.765303045,637,880.765303045,789,804,654,632.765303045,654,0.402098637683,0.00463384951257,0.0498318045504,0.999999943391,8.52384368001e-05,-0.00032164616762,-4.99564540742e-05,1793238256507184384
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.647865289,668,636.647865289,881,789,804,654,633,654,0.401949268109,0.00463299469641,0.0498329706667,0.999999944451,8.68208745585e-05,-0.000318315392119,-4.72780160409e-05,1793238256523851008
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.067511374,668,636.067511374,881,789,804,654,633,654,0.401812198859,0.00463110445306,0.0498360414383,0.999999944135,0.000109581906527,-0.000312878014484,-4.27783525806e-05,1793238256540517632
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667.494473379,636.505526621,881,788.494473379,803.494473379,654,633,654,0.401703084409,0.00461633402252,0.0498424367003,0.999999945706,0.000136835802615,-0.000297891684472,-3.35435497263e-05,1793238256557184256
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.080069501,667,637,881,788.080069501,803.080069501,654,633,654,0.401599445315,0.00460033657333,0.0498484672349,0.999999946859,0.000158813790658,-0.000283616989928,-2.49448087176e-05,1793238256573850880
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.670338387,667,637,881,788.670338387,803.670338387,654,633,654,0.401507246027,0.0045873246896,0.0498493851164,0.99999994969,0.000143405256841,-0.000281886596071,-2.4370923672e-05,1793238256590517760
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.255892216,637,881,789,804,654,633,654,0.401419680416,0.0045837561513,0.0498484856315,0.999999950229,0.000138803106813,-0.000282213178958,-2.51086503887e-05,1793238256607184640
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.835481581,637,881,789,804,654,633,654,0.401337976295,0.00459213320575,0.0498452872244,0.999999948036,0.000147870758589,-0.000285141785298,-2.75055326893e-05,1793238256623851776
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.587096361,667.587096361,636.587096361,880.587096361,789,804,654,632.587096361,654,0.4012737834,0.00459275820632,0.0498449268621,0.999999948117,0.000147885602276,-0.000284793295846,-2.80656278842e-05,1793238256640518400
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.010533356,667.010533356,636.010533356,880.010533356,789,804,654,632.010533356,654,0.401216531294,0.00459031058609,0.0498456913934,0.999999949112,0.000144312255448,-0.00028314588966,-2.78976901722e-05,1793238256657184768
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.566091811,667.566091811,636,880.566091811,789,804,654,632,654,0.401175797135,0.00459248221684,0.0498492375842,0.999999950932,0.000145290232331,-0.000276049827905,-2.86997006105e-05,1793238256673851648
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636,881,788.854801106,804,654,632,654,0.401137928136,0.00459421046318,0.0498523295922,0.999999952381,0.000146738000786,-0.000269897211888,-2.93347184297e-05,1793238256690518272
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636,881,788.268151837,804,654,632,654,0.401107835585,0.00459432933372,0.0498538833603,0.99999995279,0.000149356579472,-0.000266921242489,-2.94071483905e-05,1793238256707184384
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.684459946,668,636,881,788.315540054,804,654,632,654,0.401082810438,0.00459406038427,0.04985474833,0.999999953453,0.000149201635712,-0.00026449670323,-2.95687908391e-05,1793238256723851264
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.10325789,668,636,881,788.89674211,804,654,632,654,0.401062051676,0.00459346491834,0.0498550333812,0.999999954331,0.000146711586064,-0.000262536428111,-2.98055437865e-05,1793238256740518656
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.473195137,667.526804863,636,880.526804863,789,804,654,632,654,0.401044203577,0.00459426137209,0.0498547027578,0.999999954185,0.000146402326052,-0.000263214166432,-3.02403454516e-05,1793238256757185280
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,667,636,880.049529396,789,804,654,632,654,0.401027817852,0.00459518646747,0.0498543026473,0.999999953897,0.000146374850443,-0.000264273742272,-3.06696612542e-05,1793238256773851136
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2fd33265855f9017f65af0e53333ed8afecf580
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,441 @@
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+191,3.183333333,pose1_to_pose2_press,0.612585438068,0.0100011395459,1.04001172975,0.583156673879,0.0186748087164,1.03966126472
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+429,7.150000000,pose2_to_pose3_retreat,0.578253394859,0.0100011670903,1.04001153195,0.548824673475,0.0186748256517,1.03966106031
+430,7.166666667,pose2_to_pose3_retreat,0.578253094395,0.0100012054914,1.04001158585,0.548824372043,0.0186748608506,1.03966111622
+431,7.183333333,pose2_to_pose3_retreat,0.578252778685,0.0100012458411,1.04001164248,0.548824055316,0.0186748978356,1.03966117495
+432,7.200000000,pose2_to_pose3_retreat,0.57825255735,0.0100012623397,1.04001167386,0.548823833458,0.0186749126293,1.03966120814
+433,7.216666667,pose2_to_pose3_retreat,0.578252434592,0.0100012380971,1.0400116677,0.548823710943,0.0186748892936,1.0396612039
+434,7.233333333,pose2_to_pose3_retreat,0.578252386441,0.0100012285882,1.04001166528,0.548823662889,0.0186748801405,1.03966120224
+435,7.250000000,pose2_to_pose3_retreat,0.578252286967,0.0100012089438,1.04001166029,0.548823563613,0.018674861231,1.03966119881
+436,7.266666667,pose2_to_pose3_retreat,0.578252198609,0.0100012171574,1.0400116658,0.548823475241,0.0186748693445,1.03966120309
+437,7.283333333,pose2_to_pose3_retreat,0.57825217908,0.0100012272091,1.04001167021,0.548823455647,0.0186748791326,1.03966120638
+438,7.300000000,pose2_to_pose3_retreat,0.578252138494,0.0100012480987,1.04001167938,0.548823414927,0.0186748994741,1.03966121324
+439,7.316666667,pose2_to_pose3_retreat,0.578252116546,0.0100012593952,1.04001168434,0.548823392907,0.0186749104736,1.03966121695
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a6ff26a68119c9c1b53dfa41fd98f042e775c70f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef89f4e5fd5a7c79ef21081a8763202dfb4f6443798d1effd0946ae9423afaca
+size 28004850
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc2d0e739299dc7deb62f354f0a6b60267b13400
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_05/franka_data.csv
@@ -0,0 +1,442 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,746,715,679,668,636,880,789,804,654,632,654,0.401004862454,0.00459334249271,0.0498644172654,0.999999960669,0.000137890091669,-0.000242268987176,-3.08747102993e-05,1793238257375483648
+1,0.016666667,BASELINE,767,746.574335159,715,679.574335159,667.425664841,636.574335159,880.574335159,789,804,654,632,654,0.401003373959,0.0045920002613,0.0498641088615,0.999999960745,0.000136675854724,-0.000242685465866,-3.05679378644e-05,1793238257392150784
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+3,0.050000000,BASELINE,767,746.256021585,715,680,667,637,881,788.256021585,803.256021585,654,632,654,0.401003309044,0.00459107335052,0.0498640636825,0.999999960879,0.000135803703745,-0.000242646107679,-3.03559686278e-05,1793238257425483520
+4,0.066666667,BASELINE,767,746,715,679.671760449,667.328239551,637,881,788,803,654,632,654,0.401003280807,0.00459142160346,0.0498637457656,0.999999960852,0.000135214279056,-0.000243061650653,-3.05494101117e-05,1793238257442149632
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+6,0.100000000,BASELINE,767,746,715,679.482860507,667.517139493,636.517139493,880.517139493,788.482860507,803.482860507,654,632,654,0.40100224319,0.00459123542785,0.0498633494068,0.999999960934,0.000133168544562,-0.000243831199317,-3.0741892193e-05,1793238257475483136
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+12,0.200000000,BASELINE,767,746,715,679,668,636.967166398,880.967166398,789,803,654,632,654,0.401003729748,0.00458954980384,0.0498639368516,0.999999961739,0.000132875234405,-0.000240677808357,-3.06606099798e-05,1793238257575483136
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+19,0.316666667,BASELINE,767,746,715,679,667.97531529,636.02468471,880.97531529,789,803.97531529,654.02468471,632,654,0.401003757005,0.00458961915447,0.0498649935021,0.999999961742,0.000131877359813,-0.000241230731953,-3.05287853262e-05,1793238257692149760
+20,0.333333333,BASELINE,767,746,715,679,667.401373493,636.598626507,880.401373493,789,803.401373493,654.598626507,632,654,0.401003776426,0.00459132517446,0.0498649228192,0.999999961442,0.000134294630758,-0.000241145812329,-3.04860622201e-05,1793238257708816384
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+22,0.366666667,BASELINE,767.768856916,746,715,679.768856916,667.768856916,637,880.768856916,789,803.768856916,654.231143084,632,654,0.401001464246,0.00459161251566,0.0498636945602,0.999999960591,0.000136636135727,-0.000243348742204,-3.04827968889e-05,1793238257742149376
+23,0.383333333,BASELINE,767.647617854,746,715,680,668,637,880.647617854,789,803.647617854,654,632,654,0.40100181487,0.00459200257425,0.0498642192859,0.999999960879,0.000136160632139,-0.00024241473899,-3.06268569403e-05,1793238257758816256
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+25,0.416666667,BASELINE,767,746,715,680,667.49359244,636.49359244,880.50640756,789,803.50640756,654,632,654,0.401002750751,0.00459225557902,0.0498649130541,0.999999961285,0.000134736299983,-0.000241522006507,-3.06992797857e-05,1793238257792149504
+26,0.433333333,BASELINE,767,745.916751943,715,680,667,636.083248057,880.916751943,788.916751943,804,654,632,654,0.401002030788,0.00459135981685,0.0498640409932,0.999999960917,0.000134440162337,-0.000243225207505,-3.05510497102e-05,1793238257808816384
+27,0.450000000,BASELINE,767,745.328355998,715,680,667,636.671644002,880.328355998,788.328355998,804,654,632,654,0.40100378654,0.0045916716188,0.0498642283775,0.99999996156,0.000133661042117,-0.00024097703348,-3.07270856827e-05,1793238257825483264
+28,0.466666667,BASELINE,767,745.25638883,715,680,667,636.74361117,880.25638883,788,804,654,632,654,0.401004471427,0.00459209671716,0.0498644596082,0.999999961795,0.000133339052249,-0.000240161175455,-3.08857092427e-05,1793238257842149632
+29,0.483333333,BASELINE,767,745.836523307,715,680,667,636.163476693,880.836523307,788,804,654,632,654,0.40100380412,0.0045926648764,0.0498647462043,0.999999961517,0.000133594287114,-0.000241153922373,-3.1022345903e-05,1793238257858816256
+30,0.500000000,BASELINE,767,746,715,679.585810653,667.828378694,636.414189347,880.585810653,788.414189347,803.585810653,654,632,654,0.401002988031,0.00459350896276,0.0498645641434,0.999999960963,0.000136231549432,-0.000241941697564,-3.12970518319e-05,1793238257875482880
+31,0.516666667,BASELINE,767,746,715,679.009113124,668.981773752,636.990886876,880.009113124,788.990886876,803.009113124,654,632,654,0.401002113569,0.00459446130978,0.0498641982038,0.999999960288,0.000139803405913,-0.000242649051581,-3.1625929565e-05,1793238257892149504
+32,0.533333333,BASELINE,767,746,715,679.560032927,667.879934145,636.439967073,880,788.439967073,803,654,632.560032927,654,0.401001613643,0.00459203638918,0.0498634213186,0.999999960642,0.000135718520705,-0.000243567749271,-3.11572192448e-05,1793238257908816128
+33,0.550000000,BASELINE,767,746,715,679.865367907,667.134632093,636,880.134632093,788.134632093,803,654,632.865367907,654,0.401001391285,0.00459042937265,0.0498630240205,0.999999960925,0.000132850754082,-0.00024403142457,-3.07957704612e-05,1793238257925483008
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+39,0.650000000,BASELINE,767,746,715,679.363997855,667.636002145,636,880.363997855,789,803.636002145,654,632,654,0.401003136221,0.00459196811769,0.0498651708071,0.999999961258,0.000136756886598,-0.000240524620378,-3.04899467557e-05,1793238258025483008
+40,0.666666667,BASELINE,767,746,715,679,668,636.219002288,880.219002288,788.780997712,804,654,632,654,0.4010032262,0.00459218686958,0.049865301649,0.999999961326,0.000137376757523,-0.000239877393836,-3.05598716222e-05,1793238258042149632
+41,0.683333333,BASELINE,767,746,715,679,668,636.798331282,880.798331282,788.201668718,804,654,632,654,0.401002875995,0.00459020478315,0.0498654035435,0.999999961543,0.000135864874449,-0.000239854789339,-3.04047171648e-05,1793238258058816256
+42,0.700000000,BASELINE,767,746,715,679.377163948,668,637,880.622836052,788,804,654,632,654,0.401002485883,0.0045906027413,0.0498653383552,0.999999961644,0.00013487166106,-0.000239963370602,-3.06410680724e-05,1793238258075485184
+43,0.716666667,BASELINE,767,746,715,679.95573156,668,637,880.04426844,788,804,654,632,654,0.401002074462,0.00459227163143,0.0498651839454,0.999999961684,0.000134155414738,-0.000240142004405,-3.10864808925e-05,1793238258092155136
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+48,0.800000000,BASELINE,767,746,715,679.856764416,668,637,880.856764416,789,803,654,632,654.856764416,0.401003893561,0.00459088199545,0.0498661561822,0.999999962147,0.000132869159697,-0.000238975140927,-3.06941075817e-05,1793238258175484672
+49,0.816666667,BASELINE,767,746,715,679.563520512,668,636.563520512,880.563520512,789,803,654,632,654.563520512,0.401002608296,0.00459165229935,0.0498652729855,0.999999961594,0.000133523130422,-0.000240917681178,-3.07099640206e-05,1793238258192150784
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+51,0.850000000,BASELINE,767,746,715,679,667.412876534,636,880.587123466,789,803,654,632,654,0.401002667553,0.00459125666106,0.0498648936926,0.999999961186,0.000135132480938,-0.000241722070208,-3.06225712543e-05,1793238258225483264
+52,0.866666667,BASELINE,767,746,715,679,667.166321486,636.166321486,881,789.166321486,803.166321486,654,632,654,0.4010034596,0.00459047497282,0.0498651000064,0.999999961357,0.000134932170004,-0.000241123978634,-3.06436726865e-05,1793238258242149888
+53,0.883333333,BASELINE,767,746,715,679,667.756414661,636.756414661,881,789.756414661,803.756414661,654,632,654,0.401001036739,0.00459162665101,0.0498631624555,0.999999960629,0.000134251690359,-0.000244458710626,-3.09666842608e-05,1793238258258816768
+54,0.900000000,BASELINE,767.34002091,746,715,679.34002091,668,637,880.65997909,789.65997909,804,654,632,654,0.401001597514,0.0045917230914,0.0498639501495,0.99999996113,0.000134192516381,-0.000242442146525,-3.08933438355e-05,1793238258275483392
+55,0.916666667,BASELINE,767.919067007,746,715,679.919067007,668,637,880.080932993,789.080932993,804,654,632,654,0.401004255702,0.00459107772908,0.0498666536144,0.999999962474,0.000134570102926,-0.000236663770856,-3.05413790303e-05,1793238258292150016
+56,0.933333333,BASELINE,767.505474688,746,715,680,668,636.505474688,880,789,804,654,631.505474688,654,0.40100415239,0.00459117270017,0.0498663128322,0.999999962124,0.000135617470529,-0.000237523008592,-3.07147498373e-05,1793238258308816640
+57,0.950000000,BASELINE,767,746,715,680,667.928961866,636,880,789,804,654,631.071038134,654,0.401003482889,0.00459134737156,0.0498654585213,0.999999961578,0.000136277410173,-0.0002394081332,-3.09378059727e-05,1793238258325483264
+58,0.966666667,BASELINE,767,746,715,680,667.340523043,636,880,789,804,654,631.659476957,654,0.401001957574,0.00459122642011,0.049864466539,0.999999961616,0.00013332292632,-0.000240910244188,-3.09010568231e-05,1793238258342149632
+59,0.983333333,BASELINE,767,746,715,679.755872416,667.244127584,636,880.244127584,789,804,654,632,654,0.401002409586,0.00459110311486,0.0498646240306,0.999999961999,0.000131463080731,-0.000240341456665,-3.09124711947e-05,1793238258358816256
+60,1.000000000,BASELINE,767,746,715,679.176424956,667.823575044,636,880.823575044,789,804,654,632,654,0.401005577542,0.00459097657654,0.0498663603745,0.999999962858,0.000131106768082,-0.0002369282,-3.09900402564e-05,1793238258375483136
+61,1.016666667,BASELINE,767,746,715,679,668,636,880.598975671,789,804,654,632.401024329,654,0.40100511984,0.00459100179834,0.049865969265,0.999999962565,0.000131925910107,-0.000237713652605,-3.09346821598e-05,1793238258392150016
+62,1.033333333,BASELINE,767,746,715,679,668,636,880.022401133,789,804,654,632.977598867,654,0.401003074991,0.00459109345382,0.0498646468531,0.999999961765,0.000133259612741,-0.000240337109354,-3.08211345948e-05,1793238258408816640
+63,1.050000000,BASELINE,767,746,715,679,668,636,880.552318498,789,804,654,632.447681502,654,0.401003918262,0.00459116039717,0.0498654030336,0.999999961822,0.000134690276052,-0.000239324068228,-3.06377036245e-05,1793238258425483264
+64,1.066666667,BASELINE,767,746,715,679.130761272,668,636,881,789,804,654,632,654,0.401004671343,0.00459137633108,0.049866195153,0.999999961953,0.000135581143276,-0.000238288616472,-3.05131452707e-05,1793238258442149888
+65,1.083333333,BASELINE,767,746,715,679.722596481,668,636,881,789,804,654,632,654,0.401004694754,0.00459212113908,0.0498668177269,0.99999996223,0.000134554829305,-0.000237692464543,-3.06061368344e-05,1793238258458816512
+66,1.100000000,BASELINE,767,746,715,679.69226898,667.69226898,636,881,789,804,654,632,654,0.401004326576,0.00459281287283,0.0498665095331,0.999999962156,0.000134447145581,-0.000238038987384,-3.08129731006e-05,1793238258475483136
+67,1.116666667,BASELINE,767,746,715,679.113046055,667.113046055,636,881,789,804,654,632,654,0.401003612924,0.00459345778243,0.0498653801808,0.999999961771,0.000135149912138,-0.000239217173467,-3.11202474492e-05,1793238258492149760
+68,1.133333333,BASELINE,767,746,715,679.46203771,667.46203771,636,881.46203771,788.53796229,803.53796229,654,632,654,0.40100270373,0.00459245968381,0.0498646651789,0.999999961559,0.000134674365877,-0.000240384373746,-3.09739555607e-05,1793238258508816640
+69,1.150000000,BASELINE,767.03593194,746,715,679.96406806,668,636.03593194,881.92813612,788.03593194,803,654,632,654,0.401001958875,0.00459107470842,0.0498641826702,0.999999961459,0.000133807867146,-0.000241317509931,-3.07127521318e-05,1793238258525483264
+70,1.166666667,BASELINE,767.607058022,746,715,679.392941978,668,636.607058022,880.785883957,788.607058022,803,654,632,654,0.401004368073,0.00458986171226,0.0498656664796,0.999999962395,0.000131374208628,-0.000238804018571,-3.03782149109e-05,1793238258542150144
+71,1.183333333,BASELINE,767.814374523,746,715,679,667.814374523,637,880,789,803,654,632,654,0.401005385716,0.00458954049872,0.049866469155,0.99999996277,0.000130610285988,-0.000237671022531,-3.02156466088e-05,1793238258558817024
+72,1.200000000,BASELINE,767.219396804,746,715,679,667.219396804,637,880,789,803,654,632,654,0.401003334621,0.00459118589657,0.049865769754,0.999999961922,0.000133528562867,-0.000239582375667,-3.04323142394e-05,1793238258575483648
+73,1.216666667,BASELINE,767,746,715,679,667.364997314,637,880.364997314,788.635002686,803.364997314,654,632,654,0.401002329644,0.00459131379179,0.0498650901335,0.999999961652,0.000133474558318,-0.000240703034717,-3.0710516512e-05,1793238258592150016
+74,1.233333333,BASELINE,767,746,715,679,667.943208953,637,880.943208953,788.056791047,803.943208953,654,632,654,0.401001935759,0.00459055523298,0.0498644220678,0.999999961721,0.000131684286089,-0.000241361807227,-3.10246644256e-05,1793238258608816384
+75,1.250000000,BASELINE,767,746,715,679,667.48168291,636.48168291,880.48168291,788.51831709,803.48168291,654,632,654,0.401002030773,0.00459150187887,0.0498650085885,0.999999961655,0.000133536636756,-0.0002406439278,-3.0783552206e-05,1793238258625483008
+76,1.266666667,BASELINE,767,746.095432476,715,679.095432476,667,636.095432476,880.095432476,789,803,654,632,654,0.401002197821,0.00459216163856,0.0498655744063,0.999999961629,0.000135071629312,-0.000239932885764,-3.05074432435e-05,1793238258642149632
+77,1.283333333,BASELINE,767,746.684683525,715,679.684683525,667,636.684683525,880.684683525,789,803,654,632,654,0.401002462077,0.00459037586029,0.0498653260249,0.999999961898,0.000132911497342,-0.000240033090697,-3.03631812682e-05,1793238258658816256
+78,1.300000000,BASELINE,767.269372162,746.730627838,715,679.730627838,667.269372162,636.730627838,881,789,803,654,632,654,0.401002764247,0.00459015529633,0.0498654316133,0.999999962053,0.000132144737963,-0.000239793819572,-3.0495435103e-05,1793238258675482880
+79,1.316666667,BASELINE,767.848809127,746.151190873,715,679.151190873,667.848809127,636.151190873,881,789,803,654,632,654,0.40100311006,0.00459173639552,0.049865944644,0.999999962079,0.000132981840818,-0.000239163789512,-3.09459765519e-05,1793238258692149760
+80,1.333333333,BASELINE,767.150163301,746,715,679.42491835,667.57508165,636.42491835,881,789,803.42491835,654,632,654,0.401002813477,0.00459211981321,0.0498654195656,0.999999962065,0.00013292450032,-0.000239234794364,-3.11240599959e-05,1793238258708817152
+81,1.350000000,BASELINE,766.000294458,746,715,679.999852771,667.000147229,636.999852771,881,789,803.999852771,654,632,654,0.401002290098,0.00459208039337,0.0498645279861,0.999999962035,0.000132551379508,-0.00023955329731,-3.12059530444e-05,1793238258725484800
+82,1.366666667,BASELINE,766.576232603,746,715,679.423767397,667.576232603,637,881.576232603,789,804,654.576232603,632,654,0.401002933529,0.00459002764777,0.0498651200536,0.999999962224,0.00013183675082,-0.000239224725701,-3.06866515252e-05,1793238258742150400
+83,1.383333333,BASELINE,767,746,715,679,668,636.844346225,881.844346225,789,804,654.844346225,632,654,0.401003531789,0.00458917399581,0.0498657042306,0.999999962272,0.000132165434073,-0.000238883931122,-3.03742425246e-05,1793238258758816256
+84,1.400000000,BASELINE,767,746,715,679,668,636.256480915,881.256480915,789,804,654.256480915,632,654,0.401004003794,0.00459165135801,0.049866265442,0.999999961922,0.000135391375941,-0.000238509656575,-3.06367496987e-05,1793238258775483136
+85,1.416666667,BASELINE,767,746,715,679.327393545,668,636.327393545,881,788.672606455,803.672606455,654,632,654,0.40100343553,0.00459164810046,0.0498661670528,0.999999961865,0.000134896395406,-0.000239036801227,-3.05759198375e-05,1793238258792149760
+86,1.433333333,BASELINE,767,746,715,679.908179181,668,636.908179181,881,788.091820819,803.091820819,654,632,654,0.40100206213,0.00458972492275,0.0498655581538,0.99999996203,0.00013152154023,-0.000240261615411,-3.0264837479e-05,1793238258808816384
+87,1.450000000,BASELINE,767,746,715,679.516778489,668,636.516778489,880.516778489,788.483221511,803.483221511,654,632.483221511,654,0.401001886531,0.00459068483086,0.0498654934454,0.999999962004,0.000131551471901,-0.000240298427681,-3.06899941463e-05,1793238258825483520
+88,1.466666667,BASELINE,767,746,715,679.058550249,667.941449751,636.058550249,880.058550249,789,804,654,633,654,0.401002009096,0.00459203335294,0.0498655010712,0.999999961946,0.000132192029592,-0.000240123347954,-3.12133741231e-05,1793238258842150912
+89,1.483333333,BASELINE,767,746,715,679.646213675,667.353786325,636.646213675,880.646213675,789,804,654,633,654,0.401002793461,0.00459200112956,0.0498652388795,0.999999961908,0.000132572814339,-0.000240049466272,-3.1374987021e-05,1793238258858817792
+90,1.500000000,BASELINE,766.769252477,746.230747523,715,679.769252477,667.230747523,637,880.769252477,789,803.769252477,654,633,654,0.401003201245,0.00459182933321,0.0498652885521,0.999999961849,0.000133416715292,-0.000239841216437,-3.12903266642e-05,1793238258875484160
+91,1.516666667,BASELINE,766.189452799,746.810547201,715,679.189452799,667.810547201,637,880.189452799,789,803.189452799,654,633,654,0.401003039375,0.00459144640459,0.0498658099827,0.999999961754,0.000134961172848,-0.000239429707685,-3.08331283385e-05,1793238258892150272
+92,1.533333333,BASELINE,766.389103942,746.610896058,715,679,668,636.610896058,880.389103942,789,803.389103942,654,632.610896058,654,0.401002101252,0.0045914167765,0.0498651969006,0.999999961598,0.000134403353846,-0.000240395530341,-3.08223691159e-05,1793238258908816640
+93,1.550000000,BASELINE,766.967057481,746.032942519,715,679,668,636.032942519,880.967057481,789,803.967057481,654,632.032942519,654,0.40100078638,0.00459155862096,0.0498640331886,0.999999961408,0.000132825205861,-0.000242029833681,-3.10282867765e-05,1793238258925483264
+94,1.566666667,BASELINE,767,746,715,679.541010146,668,636.541010146,881,789,804,654,632,654,0.401002197062,0.00459164068924,0.0498648563598,0.999999961862,0.000133240536127,-0.000239919177805,-3.10185023882e-05,1793238258942149888
+95,1.583333333,BASELINE,767,746,715,679.881784544,668,636.881784544,881,789,804,654,632,654,0.401003306081,0.00459160433901,0.0498656186324,0.999999962183,0.000133808169989,-0.00023827387071,-3.09166158766e-05,1793238258958816768
+96,1.600000000,BASELINE,767,746,715,679.290597945,668,636.290597945,881,789,804,654,632,654,0.401002549043,0.00459110866096,0.0498656567646,0.999999961834,0.000134503074478,-0.00023939603548,-3.04983991263e-05,1793238258975483392
+97,1.616666667,BASELINE,767,746,715,679,668,636.294226565,881,789,804,654,632.294226565,654,0.401002537541,0.00459115216989,0.0498658753697,0.999999961851,0.00013406778205,-0.000239568970079,-3.05040733043e-05,1793238258992150016
+98,1.633333333,BASELINE,767,746,715,679,668,636.872900408,881,789,804,654,632.872900408,654,0.401003246796,0.00459171694472,0.0498662684493,0.99999996222,0.00013253985732,-0.000238824224259,-3.0919549459e-05,1793238259008816896
+99,1.650000000,BASELINE,767,746,715.449123507,679.449123507,668,637,880.550876493,789,803.550876493,654,632.550876493,654,0.401002997465,0.00459115258831,0.0498662964488,0.99999996214,0.000132875934251,-0.000239011867529,-3.06317386228e-05,1793238259025483520
+100,1.666666667,BASELINE,767,746,715.975405438,680,667.975405438,637,880.024594562,789,803,654,631.975405438,654,0.401002567811,0.00459031282971,0.0498662423536,0.99999996197,0.000133628278783,-0.000239357935241,-3.01930870806e-05,1793238259042149632
+101,1.683333333,BASELINE,767,746,715.401325216,680,667.401325216,637,880.598674784,789,803,654,631.401325216,654,0.401004137281,0.00459042040218,0.0498666498468,0.999999962644,0.000131959397299,-0.000237380354211,-3.08068588519e-05,1793238259058816256
+102,1.700000000,BASELINE,767,746,715,680,667.178967311,637,881,789,803,654,631.178967311,654,0.401005088326,0.00459070863044,0.049866978016,0.999999962983,0.000131273593784,-0.000236287929451,-3.11225361412e-05,1793238259075483136
+103,1.716666667,BASELINE,767,746,715,680,667.773691491,637,881,789,803,654,631.773691491,654,0.401004602712,0.00459141653801,0.0498671219089,0.999999962556,0.000132871567449,-0.000237251801159,-3.07457135365e-05,1793238259092149760
+104,1.733333333,BASELINE,767,746,715,679.642965535,667.642965535,636.642965535,881,789,803,654,632,654,0.401004429499,0.00459176929824,0.0498670446251,0.999999962379,0.00013336642996,-0.00023772609267,-3.06747781842e-05,1793238259108816640
+105,1.750000000,BASELINE,767,746,715,679.066613695,667.066613695,636.066613695,881,789,803,654,632,654,0.401004448186,0.00459190390038,0.0498668314781,0.999999962359,0.000133183678933,-0.00023789964736,-3.07917417119e-05,1793238259125483520
+106,1.766666667,BASELINE,767,746,715,679.507100522,667.507100522,636.507100522,881,789,803.507100522,654,632,654,0.401003852837,0.00459050304542,0.0498667771326,0.999999962471,0.00013249166225,-0.000237846281597,-3.05502858126e-05,1793238259142150144
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,880,789,804,654,632,654,0.401003313099,0.00459011446269,0.0498660885591,0.999999962205,0.000132735753484,-0.0002387996142,-3.0755663977e-05,1793238259184737280
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668,636.420494615,880.579505385,789,804,654,632,654,0.401002672509,0.0045911287811,0.0498658297032,0.999999962077,0.000132844148753,-0.000239271809196,-3.07917988285e-05,1793238259201404672
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667.841921495,636.158078505,881,789,804,654,632,654,0.401002810566,0.00459197711167,0.0498659387258,0.999999962089,0.000133069268688,-0.000239091573144,-3.08064699753e-05,1793238259218071296
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667.265813566,636.734186434,881,789,804,654,632,654,0.401005007705,0.00459238649726,0.0498670205819,0.999999962473,0.000133603060244,-0.000237186021186,-3.07643816092e-05,1793238259234737152
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.3159733,746,715,680,667.3159733,637,880.6840267,789,804,654.3159733,632,654,0.401005837841,0.00459207597998,0.0498673734502,0.999999962562,0.00013412826637,-0.000236529991419,-3.06490223491e-05,1793238259251403776
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.902624991,746,715,680,667.902624991,637,880.097375009,789,804,654.902624991,632,654,0.401005496935,0.00459114875819,0.0498671018315,0.9999999624,0.00013464611776,-0.000236944364411,-3.04708956121e-05,1793238259268070400
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.516753309,746,715,680,668,637,880.483246691,789,804,654.516753309,632,654,0.401006178605,0.00459064689295,0.0498675805609,0.999999962805,0.00013344099408,-0.000235931572214,-3.03440705814e-05,1793238259284737792
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,881,789,804,654,632,654,0.401006732525,0.00459035666035,0.0498680199589,0.9999999632,0.000132072885457,-0.00023503143814,-3.02658836551e-05,1793238259301404672
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668,637,881,789,804,654,632,654,0.401004554906,0.00459111347628,0.0498669036585,0.999999962618,0.000132188358184,-0.000237402350012,-3.05045691871e-05,1793238259318070784
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.78162391,715,679.78162391,668,636.78162391,881,789,804,654,632,654,0.401003881927,0.00459146011693,0.04986659283,0.999999962393,0.000132485708367,-0.000238169926129,-3.06141509674e-05,1793238259334736896
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.206882973,715,679.206882973,668,636.206882973,881,789,804,654,632,654,0.401005664348,0.00459113739827,0.04986759644,0.999999962756,0.000133079861783,-0.000236321041126,-3.05130501424e-05,1793238259351403520
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.375589667,715,679.375589667,668,636.375589667,881,789,804.375589667,654,632,654,0.401014717997,0.004590700463,0.0498711741618,0.999999964494,0.000132075111647,-0.000229438104669,-3.04345877226e-05,1793238259368069888
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.962410665,715,679.962410665,668,636.962410665,881,789,804.962410665,654,632,654,0.40102786098,0.00459019929235,0.049876199562,0.999999966927,0.000130171139465,-0.00021972402147,-3.03688571122e-05,1793238259384736768
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715,679.457521427,668,636.457521427,881,789,803.915042855,654,632.542478573,654,0.401061941452,0.00458922776525,0.0498896377547,0.999999972326,0.000130559536826,-0.000193434198087,-2.97403834293e-05,1793238259401403392
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715.121608074,679.121608074,668,636.121608074,881,789,803.121608074,654,632.878391926,654,0.401102708064,0.00458842444878,0.0499045562837,0.999999977644,0.00013068401171,-0.000163631751646,-2.93118983886e-05,1793238259418070528
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715.698953044,679.698953044,668,636.698953044,881,789,803.698953044,654,632.301046956,654,0.401163161443,0.00458837215518,0.0499228647566,0.999999983404,0.000129231457479,-0.000124916853231,-2.97772229222e-05,1793238259434737664
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,715.725478846,680,668,637,881,789,804,654,632,654,0.401224655786,0.00458822785366,0.0499375238083,0.999999986522,0.000128669939964,-9.76068098619e-05,-2.95338073556e-05,1793238259451404800
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,715.15184679,680,668,637,881,789,804,654,632,654,0.401287284334,0.00458798330276,0.0499482065472,0.999999987841,0.000129079272434,-8.27231937856e-05,-2.8518167547e-05,1793238259468071424
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,715,680,667.564440097,636.564440097,881,789,804,654,632,654,0.401356309768,0.00458825826406,0.049954075621,0.999999988518,0.00012937574574,-7.37591620441e-05,-2.80254544056e-05,1793238259484737536
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715,680,667,636.027302648,880.972697352,789,804,654,632,654,0.401428262908,0.0045885029849,0.0499579566762,0.999999988969,0.00012941867013,-6.74251500602e-05,-2.76753414371e-05,1793238259501403392
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715,680,667,636.606454326,880.393545674,789,804,654,632,654,0.401512844,0.00458435618375,0.0499566825383,0.999999989286,0.000125158023716,-7.11752882202e-05,-2.64023654325e-05,1793238259518070272
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715.183938028,679.816061972,667.183938028,636.816061972,880.183938028,789,804,654,632,654,0.401606024329,0.00458179733189,0.049956145202,0.999999989547,0.000122061695162,-7.32574178892e-05,-2.53216630479e-05,1793238259534737152
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715.757884998,679.242115002,667.757884998,636.242115002,880.757884998,789,804,654,632,654,0.40171743785,0.0045826054538,0.0499571701269,0.999999989745,0.000121434102869,-7.18028220503e-05,-2.46486439585e-05,1793238259551403776
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,715.668243491,679,668,636.331756509,880.668243491,788.668243491,804.331756509,654,632,654,0.401843488607,0.00458157254141,0.0499609777682,0.99999999037,0.000119472868184,-6.66240109691e-05,-2.34186455171e-05,1793238259568070656
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,715.094426979,679,668,636.905573021,880.094426979,788.094426979,804.905573021,654,632,654,0.401980219166,0.00457919635247,0.0499668157672,0.999999991248,0.00011653856591,-5.87278949282e-05,-2.17822573165e-05,1793238259584737280
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,715,679.494813136,668,637,880.494813136,788.494813136,804.505186864,654,632.494813136,654,0.402126856004,0.00457896469564,0.0499660675789,0.999999991163,0.000116557232653,-6.04388925235e-05,-2.08918990602e-05,1793238259601403648
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,715,679.914823614,668,636.914823614,881,789,804,654,632.914823614,654,0.402280203162,0.00457884109277,0.0499640508671,0.99999999097,0.000116490971615,-6.39205207994e-05,-2.00799707378e-05,1793238259618070272
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,715,679.335567836,668,636.335567836,881,789,804,654,632.335567836,654,0.402461156002,0.00457689398357,0.0499622010981,0.999999991263,0.000112558082099,-6.66961229024e-05,-1.88705917427e-05,1793238259634737408
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,715,679.241698071,667.758301929,636.241698071,881,789,804,654,632,654,0.402656908504,0.00457502686416,0.0499618207749,0.999999991627,0.000109118609479,-6.73324656021e-05,-1.74716276022e-05,1793238259651404032
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,715,679.816223812,667.183776188,636.816223812,881,789,804,654,632,654,0.402873040705,0.00457326989396,0.0499634639359,0.999999992105,0.000106358591408,-6.50229645059e-05,-1.58115973958e-05,1793238259668070400
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,715,679.599102036,667.400897964,637,881,789,804,654,632,654,0.403115356042,0.00457071402853,0.0499708494816,0.999999993492,0.000101436670425,-5.02243283553e-05,-1.42649918864e-05,1793238259684737024
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,715,679.009654931,667.990345069,637,881,789,804,654,632,654,0.403369985746,0.00456778242911,0.0499809357687,0.999999994922,9.54979697155e-05,-2.95518392885e-05,-1.27717319856e-05,1793238259701403648
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.430696702,746,715,679.569303298,668,636.430696702,881,789,803.430696702,654,632,654,0.403650914482,0.0045654286847,0.0499863335045,0.999999995619,9.12135229602e-05,-1.80906495318e-05,-1.06914828799e-05,1793238259718070528
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.147242951,746,715,679.852757049,668,636,881,788.852757049,803,654,632,654,0.40394046152,0.0045627285361,0.0499914971164,0.999999996159,8.6866732462e-05,-7.94459810476e-06,-8.51457246186e-06,1793238259734737664
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.722728066,746,715,679.277271934,668,636,881,788.277271934,803,654,632,654,0.404253800312,0.00455899291754,0.0499962068761,0.999999996598,8.22585031761e-05,-1.1773828706e-06,-6.08496117314e-06,1793238259751404288
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,715,679.297701419,668,636.297701419,880.702298581,788,803.297701419,653.702298581,632,654,0.404589120826,0.00455538860704,0.0500004811482,0.999999996987,7.71150901772e-05,8.06812784402e-06,-3.84185644751e-06,1793238259768070656
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,715,679.872199014,668,636.872199014,880.127800986,788,803.872199014,653.127800986,632,654,0.404944879493,0.00455190638345,0.0500043505141,0.999999997252,7.14740746938e-05,1.9617903506e-05,-1.77216110556e-06,1793238259784737024
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.540908752,746.459091248,715,680,668,637,880.459091248,788.459091248,804,653.459091248,632,654,0.405304001191,0.00454817729518,0.0500007051506,0.999999997683,6.71243368011e-05,1.12583503179e-05,1.06278320861e-06,1793238259801403392
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746.951471932,715,680,668,637,880.951471932,789,803.951471932,654,632,654,0.405665185518,0.00454437986966,0.0499938612162,0.999999997984,6.32006739134e-05,-4.68044168927e-06,4.08355467674e-06,1793238259818070272
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746.372972539,715,680,668,637,880.372972539,789,803.372972539,654,632,654,0.406038388117,0.00454060746488,0.0499755657225,0.999999997335,5.98955403801e-05,-4.11847780199e-05,6.74270993116e-06,1793238259834737408
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,679.79753181,668,636.79753181,880.20246819,789,803,654,632,654,0.406431071452,0.00453679160376,0.0499600262014,0.999999996072,5.59623378753e-05,-6.81308872596e-05,9.12873233358e-06,1793238259851404544
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715,679.227641718,668,636.227641718,880.772358282,789,803,654,632,654,0.406859106734,0.00453289688201,0.049949487984,0.999999995623,5.08893699886e-05,-7.77315437426e-05,1.10190965185e-05,1793238259868071424
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,679,667.642580379,636.357419621,881,789,803.357419621,654,632,654,0.407319590804,0.00452881888655,0.0499463326813,0.999999995725,4.51012091625e-05,-7.95877457087e-05,1.34801850596e-05,1793238259884738048
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,679,667.047428123,636.952571877,881,789,803.952571877,654,632,654,0.407801657712,0.0045246189893,0.0499480880209,0.999999996202,3.88373480111e-05,-7.62928322536e-05,1.63208828069e-05,1793238259901404672
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.533008504,746,715,679,667.533008504,637,880.466991496,789,804,654,632,654,0.408340311517,0.00451799876847,0.0499706685371,0.999999998754,3.05721547789e-05,-3.42186370746e-05,1.9643691251e-05,1793238259918071552
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,715,679.111512568,668,636.888487432,880.111512568,788.888487432,803.888487432,654,632,653.888487432,0.408885468553,0.00451119245458,0.0499933786664,0.999999999461,2.25270797478e-05,5.93935559229e-06,2.31487772712e-05,1793238259934738432
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,715,679.687275752,668,636.312724248,880.687275752,788.312724248,803.312724248,654,632,653.312724248,0.409437300318,0.00450448391891,0.050009120963,0.999999999208,1.61198822822e-05,2.41399262916e-05,2.72389230821e-05,1793238259951405056
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,715,679.738664078,668,636,881,788.261335922,803.261335922,653.738664078,632,653.261335922,0.409987778523,0.00449886647807,0.0500139476786,0.999999997264,6.12615324199e-05,2.77820452356e-05,3.07763164616e-05,1793238259968071424
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,715,679.166628529,668,636,881,788.833371471,803.833371471,653.166628529,632,653.833371471,0.410536647565,0.00449454622789,0.0500057969727,0.999999985274,0.000167689083265,1.41157707604e-05,3.36565483805e-05,1793238259984737280
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,715,679,668,636.41976957,881,789,803.58023043,653.41976957,632,653.58023043,0.411092827721,0.0044876972468,0.0499843271842,0.999999981372,0.000187183207167,-2.86186626873e-05,3.73998114788e-05,1793238260001403904
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,715,679.011817893,668,637,880.988182107,788.988182107,803,653.988182107,632,653.011817893,0.411653835326,0.00447981979423,0.0499580548516,0.999999981198,0.000170868829937,-8.17813555034e-05,4.14604302037e-05,1793238260018071040
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,715,679.591706292,668,637,880.408293708,788.408293708,803,653.408293708,632,653.591706292,0.412302448282,0.00447246510724,0.0499640751721,0.999999985753,0.000150827935425,-6.19181988503e-05,4.37250477046e-05,1793238260034737408
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,715,680,668,636.8299769,880,788.1700231,803.1700231,653,632,654,0.412962613085,0.00446442723023,0.0499750455442,0.999999994036,9.62253360005e-05,-3.57096895916e-05,3.73196516673e-05,1793238260051404288
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,715,680,668,636.255399582,880,788.744600418,803.744600418,653,632,654,0.413650264397,0.00445476376628,0.049997794105,0.999999999107,-4.06136393159e-05,5.59699783411e-06,1.02847608288e-05,1793238260068070656
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,715,679.672785963,668,636,880.327214037,789,804,653.327214037,632,654,0.414324330975,0.00444222614567,0.050002308852,0.999999994099,-0.000108219314414,9.40349371423e-06,1.62387960338e-06,1793238260084737024
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,715,679.083741885,668,636,880.916258115,789,804,653.916258115,632,654,0.414987527289,0.0044273886836,0.0499922332696,0.999999992578,-0.00012042590039,-1.67969053235e-05,7.66550975361e-06,1793238260101403648
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.502982093,746,715,679.497017907,668,636.497017907,881,788.502982093,803.502982093,653.502982093,632,653.502982093,0.415654379591,0.00443305261156,0.049964603373,0.999999994015,-8.95527067502e-05,-6.15275484897e-05,1.28423122798e-05,1793238260118071040
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715,679.923979809,668,636.923979809,881,788,803,653,632,653.076020191,0.41633118856,0.00444557131679,0.049940074772,0.9999999937,-4.93258586275e-05,-9.93484136083e-05,1.72455210837e-05,1793238260134738688
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715,679.347509555,668,636.347509555,881,788,803,653,632,653.652490445,0.41706955449,0.00448084889702,0.049955114081,0.999999997278,5.47731554493e-06,-7.14649272713e-05,1.749959118e-05,1793238260151405568
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715,679.228239046,668,636,881,788.228239046,803,653,632,654,0.417816725764,0.00450391563762,0.0499741100355,0.999999998385,3.93738690657e-05,-3.67841944648e-05,1.80859974965e-05,1793238260168071936
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715,679.802892433,668,636,881,788.802892433,803,653,632,654,0.418577261637,0.00450844913947,0.0499991112691,0.99999999892,4.15389925858e-05,8.21319800343e-06,1.91768137985e-05,1793238260184737792
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.386830897,746,715,680,668,636,881,789,803.386830897,653,632,654,0.419316980218,0.0044983549268,0.0499981129057,0.999999999464,2.58406543792e-05,-2.18965307862e-07,2.01020790743e-05,1793238260201403904
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.975616842,746,715,680,668,636,881,789,803.975616842,653,632,654,0.42004583055,0.00448062393822,0.0499835407804,0.999999999113,8.16235092812e-07,-3.65454089757e-05,2.09409140832e-05,1793238260218070272
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,715,679.444167963,668,636,880.444167963,788.444167963,804,653.555832037,632.555832037,654,0.420828760233,0.00447879941376,0.0499836327764,0.999999999544,3.1515665813e-06,-2.19385427773e-05,2.05226122508e-05,1793238260234737664
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.865023242,746,715,679.134976758,668,636,880.134976758,788,804,653.865023242,632.865023242,653.865023242,0.421621907932,0.00447711822256,0.0499901989327,0.999999999776,5.18364852294e-06,2.0686010215e-06,2.04061283669e-05,1793238260251404800
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.288170817,746,715,679.711829183,668,636,880.711829183,788,804,653.288170817,632.288170817,653.288170817,0.422440858034,0.00447365661086,0.0500158857078,0.999999998535,2.35348449581e-06,4.9646085834e-05,2.14555079563e-05,1793238260268070912
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,714.713649682,679.713649682,668.286350318,636,880.713649682,788.286350318,804,653,632,653.286350318,0.423223863916,0.00447302967017,0.0500196084055,0.999999998171,-7.65853014943e-07,5.61930799093e-05,2.23537694949e-05,1793238260284737536
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,714.141455745,679.141455745,668.858544255,636,880.141455745,788.858544255,804,653,632,653.858544255,0.423970989133,0.00447523238471,0.0500014058899,0.999999999487,-4.17385214078e-06,2.17821844295e-05,2.3101180342e-05,1793238260301404928
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,714.446967658,679.446967658,669,636,880.446967658,789,803.553032342,653,632,654,0.424761735039,0.00448396697955,0.0499937276951,0.999999999689,4.74683668696e-06,9.06907341567e-06,2.27632036788e-05,1793238260318071552
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680,669,636,881,789,803.03918642,653,632,654,0.425566702425,0.00449387523122,0.0499911123444,0.999999999595,1.69255208477e-05,5.40698482636e-06,2.22513731217e-05,1793238260334738176
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680,669,636,881,789,803.61056514,653,632,654,0.426370260744,0.00449059040543,0.0500103166325,0.999999999149,1.83645273073e-05,2.78938802448e-05,2.4219314671e-05,1793238260351404544
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.184936749,746,715,679.815063251,668.815063251,636,881,788.815063251,803.630126502,653,632,654,0.427158918436,0.00448596198659,0.0500169987973,0.999999999138,1.45715955954e-05,2.89142108327e-05,2.59877906644e-05,1793238260368070912
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.765714486,746,715,679.234285514,668.234285514,636,881,788.234285514,802.468571028,653,632,654,0.427915682783,0.00447845772335,0.0499968784527,0.999999999498,-4.19843373717e-07,-1.60127648649e-05,2.73293283812e-05,1793238260384737280
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.647858611,746,715,679.352141389,668.352141389,636,881,788,802.704282779,653,632,654,0.428679540365,0.0044747516507,0.0499793631285,0.999999998587,-7.30980341661e-06,-4.49796897296e-05,2.73927618599e-05,1793238260401404160
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.057611981,746,715,679.942388019,668.942388019,636,881,788,803.884776038,653,632,654,0.429448194089,0.00447361377728,0.0499636092259,0.999999997614,-8.72183624284e-06,-6.31550041977e-05,2.65919875337e-05,1793238260418071808
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,679.47733401,668.47733401,636,881.52266599,788,803.47733401,653,632,654,0.430282342544,0.00447133540023,0.0499806555953,0.999999999291,1.08374417545e-06,-2.63772351689e-05,2.68468183385e-05,1793238260434737920
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715,679.101207084,668,636,881.898792916,788.101207084,803.101207084,653,632,654,0.431105003729,0.00446987573984,0.0499938568116,0.999999999589,8.92626346596e-06,1.31926276111e-06,2.72199878224e-05,1793238260451404032
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715,679.676661903,668,636,881.323338097,788.676661903,803.676661903,653,632,654,0.431840640647,0.00447283057775,0.0499724152164,0.99999999876,1.88442110723e-06,-4.13911606414e-05,2.76126510379e-05,1793238260468070656
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.25190397,746,715,679.74809603,668,636,881.25190397,788.74809603,804,653,632,653.74809603,0.432584078654,0.00447542068098,0.049957137499,0.999999997223,-3.13294836784e-06,-6.9027273487e-05,2.79288953333e-05,1793238260484737536
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.826873141,746,715,679.173126859,668,636,881.826873141,788.173126859,804,653,632,653.173126859,0.433337521448,0.00447754301414,0.0499497649165,0.999999996598,-5.55394401522e-06,-7.73306780495e-05,2.81471328815e-05,1793238260501403904
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.587894765,746,715,679.412105235,668.412105235,636,881.587894765,788.412105235,804,653,632,653.412105235,0.434098480185,0.00447836390075,0.0499683299448,0.999999998546,4.24780381788e-06,-4.55572069634e-05,2.85355056575e-05,1793238260518070272
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680,669,636,881,788.998270532,804,653,632.001729468,654,0.434862568685,0.00447861862162,0.0499979724421,0.999999999389,1.92420229633e-05,3.28721530361e-06,2.89978958006e-05,1793238260534737152
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,715,680,669,636,881,788.418511495,804,653,632.581488505,654,0.435590421479,0.00447704852998,0.0499950923892,0.999999999425,9.67442082219e-06,-1.3204732092e-05,2.97001082491e-05,1793238260551403776
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668.83994412,636,881,788,804,653,632.83994412,654,0.43630582622,0.00447490423744,0.0499874180862,0.99999999887,-1.37213956945e-07,-3.64192986455e-05,3.05662048119e-05,1793238260568070400
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668.264469537,636,881,788,804,653,632.264469537,654,0.43698892269,0.00447126962884,0.0499673004961,0.999999996466,-1.05822278563e-05,-7.70821608493e-05,3.18576562528e-05,1793238260584737024
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668.317490796,636,881.317490796,788.317490796,804.317490796,653,632.317490796,653.682509204,0.437690667004,0.0044688001504,0.0499726559938,0.999999997541,-1.08719221102e-05,-6.14779098815e-05,3.19263582088e-05,1793238260601403392
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668.904966385,636,881.904966385,788.904966385,804.904966385,653,632.904966385,653.095033615,0.438408268855,0.00446732146445,0.0499996730539,0.999999999516,-2.52583194199e-06,1.97423419669e-06,3.09552699871e-05,1793238260618070272
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.485623047,746,715,680,669,636,881.514376953,788.514376953,804.514376953,653,633,653.485623047,0.43908260378,0.00446602988814,0.050004047775,0.999999999426,7.89438181093e-06,7.17496777063e-06,3.21593287162e-05,1793238260634737152
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.93517511,746,715,680,669,636,881.06482489,788.06482489,804,653,633,654,0.43974340491,0.00446473634161,0.0500007972756,0.999999999288,1.67139881132e-05,-2.89633064266e-06,3.37118087536e-05,1793238260651404288
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.357072816,746,715,680,669,636,881.642927184,788.642927184,804,653,633,654,0.440363159992,0.00446314128557,0.0499717692202,0.999999998344,9.69080718902e-06,-4.48801083655e-05,3.4699361132e-05,1793238260668070656
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,680,669,636,882,789,804,653,633,653.781074589,0.440980226825,0.00446382099799,0.0499567821796,0.999999997205,7.37837403867e-06,-6.52900501824e-05,3.56767645781e-05,1793238260684737024
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715,680,669,636,882,789,804,653,633,653.208475535,0.441592950739,0.00446817559531,0.0499644783781,0.999999997956,1.26761469177e-05,-5.0847491394e-05,3.66377724213e-05,1793238260701403648
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,669,636,882,788.623650257,804,653,633,653.376349743,0.442201136465,0.00447401657876,0.0499834787135,0.999999998957,2.07274525356e-05,-1.54417239293e-05,3.7647935835e-05,1793238260718070528
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,715,680,669,636,882,788.03182491,804,653,633,653.96817509,0.44280672395,0.0044807085794,0.0500089511297,0.99999999828,3.03552685965e-05,3.19663382848e-05,3.86862428433e-05,1793238260734737152
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,746,715,680,669,636,882,788,804,653,632.452327259,653.452327259,0.443357235657,0.00448017476532,0.0500118796986,0.999999998002,3.3465102847e-05,3.47294347037e-05,4.08540883698e-05,1793238260751404288
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668.874290777,636,882,788,804,653,632,653.125709223,0.443890853996,0.00447856998922,0.0500058382595,0.999999998267,3.40467121095e-05,2.1703564956e-05,4.28508006966e-05,1793238260768071424
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715,680,668.298974417,636,882,788,804,653,632,653.701025583,0.444375246784,0.00447460354343,0.0499722971969,0.99999999792,2.69107858967e-05,-3.87181714827e-05,4.40058583373e-05,1793238260784738304
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668.276406652,636,882,788.276406652,804,653,632,653.723593348,0.444861105738,0.00447217190809,0.04995341935,0.999999996493,2.26344304202e-05,-6.73560406278e-05,4.43337831423e-05,1793238260801405184
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668.851857696,636,882,788.851857696,804,653,632,653.148142304,0.445348550907,0.00447140078458,0.0499504056399,0.999999996914,2.14518453767e-05,-6.16069364015e-05,4.3766832896e-05,1793238260818072320
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.43805249,746,715,680,669,636,882,789,804,653,632.43805249,653,0.445826648849,0.00446928089657,0.0499651546875,0.999999998379,2.15288617808e-05,-2.88377875737e-05,4.41241964395e-05,1793238260834738432
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.972529144,746,715,680.027470856,668.972529144,636,881.972529144,788.972529144,804,653,633,653,0.446299006862,0.00446691296671,0.0499850993313,0.99999999869,2.20990541991e-05,1.15385482288e-05,4.470313779e-05,1793238260851403776
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.393178381,746,715,680.606821619,668.393178381,636,881.393178381,788.393178381,804,653,633,653,0.446721153631,0.00446895585953,0.0499857073415,0.999999998642,2.3804087821e-05,1.65509629227e-05,4.3295825106e-05,1793238260868070400
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,715,681,668,635.817549828,881.182450172,788,804,653,633,653.182450172,0.447108680022,0.00447175032094,0.0499710112374,0.999999999298,6.39987846942e-06,-6.47647530518e-06,3.63379530259e-05,1793238260884737024
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,715,681,668,635.249782301,881.750217699,788,804,653,633,653.750217699,0.447423091427,0.00447613202324,0.0499239943039,0.999999994589,-5.13612291589e-05,-8.8721408307e-05,1.76578289835e-05,1793238260901403648
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746.334001417,715.334001417,681,667.665998583,635,882,788,804,653,632.665998583,654,0.447727335269,0.00447806318016,0.0498798418653,0.999999984566,-7.54542006796e-05,-0.000158357091159,9.8845780665e-06,1793238260918070016
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746.930366164,715.930366164,681,667.069633836,635,882,788,804,653,632.069633836,654,0.448023592364,0.00447806939587,0.0498379395271,0.99999997349,-7.31003318135e-05,-0.000218088020145,1.06788443849e-05,1793238260934736896
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746.488114947,715.488114947,681,667,635,882,788,804.511885053,653,632,653.488114947,0.448323930533,0.00447785644363,0.0498253935,0.99999996923,-7.22320654962e-05,-0.000237022263491,1.19715872062e-05,1793238260951403520
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746.090869895,715,681,667,635,882,788,804.909130105,653,632.090869895,653.090869895,0.448623975492,0.00447810602783,0.0498192628517,0.999999967021,-7.07945118288e-05,-0.000246516910204,1.32729704341e-05,1793238260968069888
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746.666804684,715,681,667,635,882,788,804.333195316,653,632.666804684,653.666804684,0.448919575448,0.0044809793023,0.0498266612609,0.999999970294,-6.52697247216e-05,-0.000234412489137,1.426870904e-05,1793238260984736512
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746.758605784,715,680.758605784,667,634.758605784,881.758605784,788.241394216,804.241394216,653,632.758605784,653.758605784,0.449196099291,0.00448431415667,0.0498317739871,0.999999972411,-5.49325224703e-05,-0.000227860418605,1.55140503e-05,1793238261001403392
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746.185862846,715,680.185862846,667,634.185862846,881.185862846,788.814137154,804.814137154,653,632.185862846,653.185862846,0.44944643837,0.00448828259652,0.0498337492802,0.999999972928,-3.79895798209e-05,-0.000228929758627,1.71020074984e-05,1793238261018070016
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,715,680.401716911,667,634,881,788.598283089,805,653,632,653,0.449666022472,0.00449675408983,0.0498275123996,0.999999970341,1.62830649329e-05,-0.000242294631376,1.85924914406e-05,1793238261034736896
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,715,680.996424475,667,634,881,788.003575525,805,653,632,653,0.449870831427,0.00450738891546,0.0498173302711,0.999999961676,8.84894415285e-05,-0.000261566455926,2.003614768e-05,1793238261051403776
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,715.573383257,681,667,634,881.573383257,788,804.426616743,653,632,653,0.45005976498,0.00452741903455,0.0498113402727,0.999999957373,0.000109420353549,-0.000270043972954,1.89022968259e-05,1793238261068071424
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,715.850373885,681,667,634,881.850373885,788.149626115,804,653,632,653.149626115,0.450243232311,0.00454193521095,0.049807598428,0.999999954307,0.000123618848685,-0.000275260378595,1.8319807166e-05,1793238261084738816
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,715.275859259,681,667,634,881.275859259,788.724140741,804,653,632,653.724140741,0.450411450026,0.0045406322427,0.0498101685904,0.999999955834,0.000119580219765,-0.000271401712399,1.9347271883e-05,1793238261101404416
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,746,715,681,666.694578124,634,881.305421876,788.694578124,804,653,632.305421876,653.694578124,0.450563721323,0.00453901788386,0.0498109380078,0.999999956197,0.000115200484845,-0.000271881858545,2.03890632796e-05,1793238261118070272
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746,715,681,666.107046895,634,881.892953105,788.107046895,804,653,632.892953105,653.107046895,0.450701263393,0.00453711590238,0.0498100441294,0.999999955474,0.000110505679711,-0.000276369639724,2.14440879342e-05,1793238261134736896
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,746,715,681,666.47380294,633.52619706,882,788,804.47380294,653,632.52619706,653.47380294,0.450818993705,0.00453892893327,0.0498072651507,0.999999953575,0.000111397316905,-0.000282774375189,2.18840478962e-05,1793238261151403776
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,715.052927424,681,666.947072576,633,882,788.052927424,805,653,632.052927424,654,0.450929689967,0.00454133068934,0.0498037059533,0.999999951202,0.000113257926271,-0.000290303572396,2.21861679906e-05,1793238261168070400
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,715.629708476,681,666.370291524,633,882,788.629708476,805,653,632.629708476,654,0.451014452693,0.00454136751034,0.0497965812685,0.999999947,0.000112390477088,-0.000304735194204,2.24802725022e-05,1793238261184737280
+228,3.800000000,POSE1_TO_POSE2_PRESS,766.204502654,746.204502654,715.795497346,681.204502654,666.204502654,633,881.795497346,788.795497346,805,653,632.795497346,653.795497346,0.451094227596,0.00454176976701,0.049790251685,0.999999943452,0.000111656658229,-0.000316407268675,2.26869134135e-05,1793238261201404160
+229,3.816666667,POSE1_TO_POSE2_PRESS,766.775733798,746.775733798,715.224266202,681.775733798,666.775733798,633,881.224266202,788.224266202,805,653,632.224266202,653.224266202,0.451165057982,0.00454282734854,0.0497853479332,0.999999941356,0.000111162474715,-0.000323130728706,2.2736708456e-05,1793238261218071552
+230,3.833333333,POSE1_TO_POSE2_PRESS,766.638533857,746.638533857,715,681.638533857,666.638533857,633,881.361466143,788,804.638533857,653,632.361466143,653.361466143,0.451225639506,0.00454458447598,0.0497799564139,0.999999938587,0.000111116377777,-0.000331639436879,2.22157430637e-05,1793238261234738176
+231,3.850000000,POSE1_TO_POSE2_PRESS,766.043428458,746.043428458,715,681.043428458,666.043428458,633,881.956571542,788,804.043428458,653,632.956571542,653.956571542,0.451279596515,0.00454679376574,0.0497742496188,0.999999935329,0.00011135990857,-0.000341302067635,2.13258577966e-05,1793238261251404544
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680.464298123,666.535701877,633,881.464298123,788,804,653,632.464298123,654,0.451322708781,0.00454651233076,0.049771525912,0.999999933113,0.000113743444904,-0.000346914829651,2.2060467119e-05,1793238261268070400
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680.112328659,666.887671341,633,881,788.112328659,804.112328659,653,632.112328659,653.887671341,0.451363488141,0.00454645691771,0.0497698822769,0.999999931524,0.00011587380194,-0.000350729664178,2.2689240906e-05,1793238261284737024
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680.68386166,666.31613834,633,881,788.68386166,804.68386166,653,632.68386166,653.31613834,0.451398220465,0.00454812704224,0.0497716940218,0.999999932264,0.000116280466726,-0.00034849779786,2.23625691215e-05,1793238261301403648
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746.259391698,715,681,666,633,881,788.740608302,805,653.259391698,632.740608302,653,0.451428312404,0.00454853185492,0.0497732499163,0.999999932797,0.000116223677816,-0.000346975638317,2.24914081716e-05,1793238261318070016
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746.839869519,715,681,666,633,881,788.160130481,805,653.839869519,632.160130481,653,0.451452660279,0.00454737041078,0.0497744891084,0.999999933077,0.000115593206185,-0.00034633198383,2.31840979426e-05,1793238261334736640
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746.571272123,715,680.571272123,666,633,881,788,804.571272123,653.571272123,632.428727877,653.428727877,0.451469286185,0.00454730862688,0.0497734759228,0.99999993257,0.000114571974273,-0.000348137751389,2.30991433223e-05,1793238261351403776
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680.020231583,666,633,881.020231583,788.020231583,804,653,633,654,0.451482863523,0.00454765596475,0.0497716468225,0.999999931787,0.000113472965954,-0.000350761514236,2.27378764193e-05,1793238261368070912
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680.596692046,666,633,881.596692046,788.596692046,804,653,633,654,0.451493501875,0.00454773410169,0.0497709758446,0.999999931875,0.000114328245892,-0.000350220629625,2.29245407236e-05,1793238261384737280
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715,681,666,632.834562548,881.834562548,789,804.165437452,653,633,654,0.451501611604,0.00454827242591,0.0497700407391,0.999999931538,0.000115366465276,-0.000350837073362,2.29850076453e-05,1793238261401403648
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,681,666,632.28378714,881.28378714,789,804.71621286,653,633,654,0.451503831649,0.00454988262123,0.0497684904259,0.999999930206,0.000116830788321,-0.000354149173627,2.2751534815e-05,1793238261418070272
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746.298665787,715.298665787,681,666,632.298665787,881.597331574,788.701334213,804.701334213,653,633,654,0.451505451983,0.00455035990945,0.0497668678888,0.999999928927,0.000117322170488,-0.000357583336495,2.2712478948e-05,1793238261434736896
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746.914789338,715.914789338,681,666,632.914789338,882.829578676,788.085210662,804.085210662,653,633,654,0.451506434874,0.00454963300822,0.0497651685837,0.999999927706,0.000116779394486,-0.000361147241906,2.28800727261e-05,1793238261451403776
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.499314477,746.500685523,715.500685523,681,666,633,882.500685523,788.499314477,804.499314477,653,632.500685523,654,0.451507749862,0.00455099059345,0.0497650021127,0.999999927358,0.000118295045581,-0.000361659659455,2.22159087883e-05,1793238261468070144
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.921438029,746,715,680.921438029,666,633,882,788.921438029,804.921438029,653,632.078561971,653.921438029,0.45150907195,0.00455223546401,0.0497649888561,0.99999992721,0.0001195541653,-0.00036169212222,2.15725116511e-05,1793238261484737024
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.343501184,746,715,680.343501184,666,633,882,788.343501184,804.343501184,653,632.656498816,653.343501184,0.451510100367,0.00455063727773,0.0497643857023,0.999999927461,0.000117082650794,-0.000361786904151,2.19096764751e-05,1793238261501403904
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,715,680.232724503,666,633,882,788.232724503,804,653,633,653,0.451510768031,0.00454974297211,0.0497639048419,0.999999927453,0.000115782981171,-0.00036221118107,2.21486260369e-05,1793238261518070528
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680.806443043,666,633,882,788.806443043,804,653,633,653,0.451510907109,0.00454988001062,0.0497636031689,0.999999927074,0.000116200328989,-0.00036311824269,2.22436680749e-05,1793238261534736896
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,715.391747666,681,666,633,881.608252334,788.608252334,804,653,633,653.391747666,0.451511609206,0.00455082436366,0.0497637661895,0.999999926923,0.000116611705157,-0.00036342307094,2.19041006317e-05,1793238261551403776
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,715.982951237,681,666,633,881.017048763,788.017048763,804,653,633,653.982951237,0.45151259796,0.00455217975591,0.0497641658061,0.999999926888,0.000117020040869,-0.000363421275734,2.13432544482e-05,1793238261568070400
+251,4.183333333,POSE1_TO_POSE2_PRESS,766.562189988,746,715.437810012,681,666,633,881,788.562189988,804.562189988,653,633,654,0.451513715415,0.00455199141029,0.0497646345302,0.99999992696,0.000118184425895,-0.000362822256261,2.17366874733e-05,1793238261584737024
+252,4.200000000,POSE1_TO_POSE2_PRESS,766.85999635,746.14000365,715,681,666,633,881.14000365,788.85999635,805,653,632.85999635,654,0.451514064083,0.00455179854709,0.049764603691,0.99999992682,0.000119097372382,-0.000362887371174,2.21227526763e-05,1793238261601403648
+253,4.216666667,POSE1_TO_POSE2_PRESS,766.28550279,746.71449721,715,681,666,633,881.71449721,788.28550279,805,653,632.28550279,654,0.451512015028,0.00455173392232,0.0497630161296,0.999999926012,0.000119160328436,-0.000365068608377,2.23980137986e-05,1793238261618070272
+254,4.233333333,POSE1_TO_POSE2_PRESS,766.294515805,746.705484195,715.294515805,681,666,633,882,788,804.705484195,653,632.294515805,654,0.45151107484,0.00455278407582,0.0497624495423,0.999999925616,0.000119403712782,-0.000366085631949,2.22008779063e-05,1793238261634736896
+255,4.250000000,POSE1_TO_POSE2_PRESS,766.879992716,746.120007284,715.879992716,681,666,633,882,788,804.120007284,653,632.879992716,654,0.451511230136,0.00455493555263,0.0497628916064,0.999999925628,0.000119825347712,-0.000365952493404,2.15370466447e-05,1793238261651403776
+256,4.266666667,POSE1_TO_POSE2_PRESS,766.537126788,746.462873212,716,680.537126788,666,633,882,788.462873212,804,653,632.537126788,654,0.451512045032,0.00455391235229,0.0497627976672,0.999999925653,0.000118415490736,-0.000366354285518,2.13596275403e-05,1793238261668070400
+257,4.283333333,POSE1_TO_POSE2_PRESS,766,746.955420071,715.955420071,680.044579929,666,633,882,788.955420071,804,653,632,654,0.451512986785,0.00455225675387,0.0497625624674,0.999999925688,0.000116833568311,-0.000366769724823,2.13274153474e-05,1793238261684737024
+258,4.300000000,POSE1_TO_POSE2_PRESS,766,746.379722874,715.379722874,680.620277126,666,633,882,788.379722874,804,653,632,654,0.451513413845,0.00455281827785,0.0497622907108,0.999999925838,0.000118827335602,-0.000365704650809,2.15310995669e-05,1793238261701403648
+259,4.316666667,POSE1_TO_POSE2_PRESS,766,746,715.195366622,681,666,633,882,788.195366622,804,653,632,654,0.451513708675,0.00455325308969,0.0497622324634,0.999999925984,0.000119754025534,-0.000365001234113,2.15527205004e-05,1793238261718070528
+260,4.333333333,POSE1_TO_POSE2_PRESS,766,746,715.769278729,681,666,633,882,788.769278729,804,653,632,654,0.451513747292,0.00455344238213,0.0497625879149,0.999999926128,0.000118613129694,-0.000364998570226,2.12215727408e-05,1793238261734737664
+261,4.350000000,POSE1_TO_POSE2_PRESS,766.353170796,746,715.646829204,681,666,632.646829204,882,788.646829204,804.353170796,653,632.353170796,654,0.451513346879,0.00455334704779,0.0497620690627,0.999999925891,0.00011882188069,-0.000365572738933,2.13522878881e-05,1793238261751404288
+262,4.366666667,POSE1_TO_POSE2_PRESS,766.943772183,746,715.056227817,681,666,632.056227817,882,788.056227817,804.943772183,653,632.943772183,654,0.451512651314,0.00455306036379,0.0497609624314,0.999999925396,0.000119937975877,-0.000366534702172,2.17935054636e-05,1793238261768070400
+263,4.383333333,POSE1_TO_POSE2_PRESS,766.474464004,746,715,681,666,632.525535996,881.474464004,788,804.474464004,653,632.474464004,654,0.451512720794,0.00455216899577,0.0497605624255,0.999999925042,0.00011940765915,-0.000367659952086,2.19908874391e-05,1793238261784737280
+264,4.400000000,HOLD_POSE2,766,746,716,681,666,632,882,788,805,653,632,654,0.451514495783,0.00455442656377,0.0497606505836,0.999999924735,0.000121917476466,-0.000367738301851,2.08304075209e-05,1793238261827384320
+265,4.416666667,HOLD_POSE2,766.587786569,746,716,681,666,632.587786569,882,788,805,653,632.587786569,653.412213431,0.451513814407,0.0045537303281,0.0497610592522,0.999999924768,0.000121079885142,-0.000367910869932,2.10977280511e-05,1793238261844049664
+266,4.433333333,HOLD_POSE2,767,746,716,681,666,633,882,788,805,653,633,653.173142979,0.451513431682,0.0045536519978,0.0497614378996,0.999999924827,0.00012082702452,-0.000367829827134,2.11807019392e-05,1793238261860715520
+267,4.450000000,HOLD_POSE2,767,746,716,681,666,633,882,788,805,653,633,653.752793941,0.451513750135,0.00455502439594,0.0497617460628,0.999999924947,0.000121947004254,-0.000367153352504,2.08308637517e-05,1793238261877382400
+268,4.466666667,HOLD_POSE2,767,746.330831392,716,681,666,632.669168608,882,788.330831392,804.669168608,653,633,654,0.451513760726,0.00455553171589,0.0497615717024,0.999999924579,0.00012366142641,-0.000367580664226,2.08618421938e-05,1793238261894048768
+269,4.483333333,HOLD_POSE2,767,746.907669003,716,681,666,632.092330997,882,788.907669003,804.092330997,653,633,654,0.45151354239,0.00455539576364,0.0497610385375,0.999999923843,0.000125817875877,-0.000368828751504,2.11759958969e-05,1793238261910715392
+270,4.500000000,HOLD_POSE2,766.516449067,746.516449067,715.516449067,680.516449067,666,632.483550933,881.516449067,788.516449067,804.483550933,653,633,654,0.451513708456,0.00455616699569,0.0497610983063,0.999999924036,0.000125004320734,-0.000368597699026,2.09245006992e-05,1793238261927382016
+271,4.516666667,HOLD_POSE2,766.060730091,746.060730091,715,680,666,633,881.121460182,788,805.060730091,653,633,653.939269909,0.451513848564,0.00455684667101,0.049761223116,0.999999924334,0.000123665121177,-0.000368254030993,2.06930697343e-05,1793238261944048896
+272,4.533333333,HOLD_POSE2,766.650803774,746.650803774,715,680,666,633,882.301607548,788,805.650803774,653,633,653.349196226,0.45151312391,0.00455522143313,0.0497609299534,0.999999924019,0.000122677543668,-0.000369385686985,2.15760938504e-05,1793238261960715520
+273,4.550000000,HOLD_POSE2,767,746.763596348,715.236403652,680,666,633,882.763596348,788,805.763596348,653,633,653.236403652,0.451513549794,0.0045543553265,0.0497609841732,0.999999924061,0.000123241381666,-0.000369064575145,2.19099953785e-05,1793238261977382144
+274,4.566666667,HOLD_POSE2,767,746.184482125,715.815517875,680,666,633,882.184482125,788,805.184482125,653,633,653.815517875,0.451515643594,0.00455458972036,0.0497615419877,0.999999924614,0.00012605428185,-0.000366637409058,2.14478426493e-05,1793238261994049024
+275,4.583333333,HOLD_POSE2,767,746,715.608667308,680.391332692,665.608667308,633,882,788,804.608667308,653,633,654,0.451515811404,0.00455341904792,0.0497619457886,0.999999924749,0.000124802920295,-0.000366677961639,2.17582259591e-05,1793238262010716160
+276,4.600000000,HOLD_POSE2,767,746,715.034394843,680.965605157,665.034394843,633,882,788,804.034394843,653,633,654,0.451515078854,0.00455159153667,0.0497622775915,0.999999924684,0.00012165160241,-0.000367872120398,2.242975352e-05,1793238262027383808
+277,4.616666667,HOLD_POSE2,766.459544943,746,715.540455057,681,665.540455057,632.459544943,882,788,804,653,632.459544943,654,0.45151476648,0.00455109724669,0.0497614983149,0.999999924639,0.000120417636532,-0.000368406896144,2.23261947151e-05,1793238262044049664
+278,4.633333333,HOLD_POSE2,766.11845534,746,715.88154466,681,666,632.11845534,882,788,804.11845534,652.88154466,632.11845534,654,0.451514465553,0.00455115408837,0.0497608596358,0.999999924567,0.000119877683775,-0.000368791085102,2.2110386132e-05,1793238262060715776
+279,4.650000000,HOLD_POSE2,766.708860998,746,715.291139002,681,666,632.708860998,882,788,804.708860998,652.291139002,632.708860998,654,0.451514103582,0.00455306834227,0.0497610631487,0.999999924385,0.000121616143246,-0.000368742675537,2.16440900864e-05,1793238262077382400
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,633,882,788,805,653,632,654,0.451515807475,0.00455390822134,0.0497611691481,0.99999992506,0.000118428403733,-0.000367994394253,2.08567517732e-05,1793238262114371584
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.425413338,746,715.425413338,680,666,632.425413338,882,788,805,653,632.574586662,654,0.451515702137,0.00455327799192,0.049761257776,0.999999924728,0.000119883828614,-0.000368399820645,2.1287692642e-05,1793238262131037440
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,632,882,788,804.847049416,653,632.847049416,653.847049416,0.451515594584,0.0045526443256,0.0497612676741,0.999999924519,0.000120588562215,-0.000368716712892,2.16387952051e-05,1793238262147703296
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,632,882,788,804.257913349,653,632.257913349,653.257913349,0.451515480714,0.00455200085778,0.0497610530499,0.999999924665,0.000119152469808,-0.000368781122968,2.17622144609e-05,1793238262164369664
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766.32561908,746,715,680.32561908,666,632,882,788,804,653,632,653.32561908,0.451514991147,0.00455258731084,0.0497605812684,0.99999992445,0.000118990817729,-0.000369433267971,2.14537154045e-05,1793238262181036288
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746,715,680.519250081,665.519250081,632.480749919,882,788.480749919,804,653,632,654,0.451514383372,0.0045536949564,0.0497599520138,0.999999923992,0.000119772751693,-0.000370445002098,2.09839890666e-05,1793238262214369792
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746,715.055974518,680.055974518,665,633,882,788.944025482,804.055974518,653,632.055974518,654,0.451514604586,0.00455289574134,0.0497600633149,0.99999992408,0.000119601947227,-0.000370243933643,2.13316296481e-05,1793238262231036672
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,715.630215231,680.630215231,665,633,882,788.369784769,804.630215231,653,632.630215231,654,0.451513517603,0.00455234618813,0.0497595071209,0.999999923646,0.000119903424247,-0.000371289343763,2.17833289692e-05,1793238262247703296
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,715.78995146,680.78995146,665.21004854,633,882,788,805,653,633,654,0.451511919804,0.00455252994471,0.0497586244643,0.999999923142,0.000120559291293,-0.000372435641513,2.17541394173e-05,1793238262264370176
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,715.200003292,680.200003292,665.799996708,633,882,788,805,653,633,654,0.45150939813,0.00455403998581,0.0497571513586,0.999999922508,0.000121856117956,-0.000373764407318,2.08552008315e-05,1793238262281036544
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.038073229,746,715,680.961926771,666,633,882,788,805,653,633,654,0.451478962572,0.00455585281543,0.049742848126,0.999999912821,0.000123493550693,-0.000398345724332,2.06755601767e-05,1793238262314369792
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.284703456,746,715.284703456,681.284703456,665.715296544,632,881.715296544,788,804.715296544,653,632,654,0.451292631656,0.0045582142501,0.04967972409,0.999999864949,0.000127200122927,-0.000503533798484,1.93698509222e-05,1793238262381036544
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,633,882,788.073325018,804.073325018,653,632.926674982,653.073325018,0.450522429546,0.00456796904027,0.0496361662048,0.999999828663,0.000145103644498,-0.00056692887178,1.4544097611e-05,1793238262514370816
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746.620630262,715,681,667.379369738,635,881.379369738,788,804.379369738,652.379369738,633,654,0.446594767583,0.00460326139943,0.0497338257752,0.999999899514,0.000218146009445,-0.000391641380178,-1.00286598106e-06,1793238262764369664
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.447319784,746,715,680.447319784,668,636,881.447319784,788.447319784,804,653,632.447319784,654,0.431800328001,0.00460911685771,0.0498215754298,0.999999953018,6.17985796774e-05,-0.000294050470806,-6.06648249206e-05,1793238263164371456
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.869172175,668,636,881,788,804,653.130827825,632.130827825,653.869172175,0.431033984483,0.00461143167081,0.0498185856507,0.999999951352,8.2088028767e-05,-0.000295629860068,-5.62144976139e-05,1793238263181036800
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.305636182,668,636,881,788,803.694363818,653.694363818,632.694363818,653,0.429442841613,0.00461202715294,0.0497776959882,0.999999916937,0.000198687080949,-0.000355535813153,-1.55991193241e-05,1793238263214369792
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.884759259,668,636,881,788,803.115240741,653.115240741,632.115240741,653,0.428651635107,0.00460782227654,0.0497791714321,0.99999991821,0.000198833971377,-0.000351664074981,-1.94349841231e-05,1793238263231036416
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745.965414185,715,679.965414185,668,636,881,788.034585815,803.965414185,653,632.965414185,653.965414185,0.427038612171,0.00460377179587,0.0498063117989,0.999999929507,0.000181201293129,-0.000327765925527,-2.68680517153e-05,1793238263264370432
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745.390069603,715,679.390069603,668,636,881,788.609930397,803.390069603,653,632.390069603,653.390069603,0.42624170336,0.00460549185037,0.0497897007507,0.999999928111,0.000153380631892,-0.000345313407079,-3.17892401211e-05,1793238263281037056
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.783052342,715,679.783052342,668,636,881,789,803.783052342,653,632.783052342,653.783052342,0.424739133278,0.00460861228522,0.049819317276,0.999999951115,0.000144033131501,-0.000274911731463,-3.80518565068e-05,1793238263314370048
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.365563418,746,715,680,668,636,881,788.634436582,804,653,632.634436582,654,0.423976909483,0.00461244911996,0.0498390745981,0.99999995847,0.000155615357918,-0.000239448046346,-3.88349391624e-05,1793238263331036672
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.482478616,745.482478616,715,680,668,636,881,788.517521384,804,653.517521384,632,654,0.422363437412,0.00461834602986,0.0498263173168,0.999999949954,0.000162011677964,-0.00026894856571,-3.88795722333e-05,1793238263364370176
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.092112121,745.092112121,715,680,668,636,881,789,804,653.907887879,632,654,0.421538951166,0.00461769046074,0.049801116723,0.999999937774,0.00015191858544,-0.00031598784449,-3.90411722209e-05,1793238263381036288
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.66498501,745.66498501,715,680,668,636,881,789,804,653.33501499,632,654,0.420779125894,0.00461258270011,0.0498032027352,0.999999941054,0.0001420837601,-0.00031006961734,-3.95094466401e-05,1793238263397703424
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.752675586,746,715,680,668.247324414,636,880.752675586,789,803.752675586,653,632,654,0.420026965689,0.00461094678392,0.0498125824751,0.999999944269,0.00014178067865,-0.000299665229991,-3.95155284633e-05,1793238263414370304
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.157002957,746,715,680,668.842997043,636,880.157002957,789,803.157002957,653,632,654,0.419285601541,0.00461420084564,0.0498322351877,0.999999947219,0.000154902742373,-0.000282942235597,-3.88706273355e-05,1793238263431037184
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.004340219,746,715.004340219,679.004340219,668.004340219,636.004340219,880.004340219,789,803.995659781,653,633,653.004340219,0.417743609136,0.00461907418247,0.0497979826583,0.999999925991,0.000154407327556,-0.000350144748828,-3.9686457236e-05,1793238263464369664
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.576871077,746,715.576871077,679.576871077,668.576871077,636.576871077,880.576871077,789,803.423128923,653,633,653.576871077,0.417031193404,0.00461484841486,0.049805798204,0.999999935094,0.000148050178556,-0.000325940078513,-4.07018445978e-05,1793238263481036800
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.325523064,668,636,880.674476936,788.674476936,803,653,632,653.325523064,0.414975312607,0.00461257674986,0.0498307462933,0.999999950673,0.00015078419026,-0.000272347743505,-4.17808616136e-05,1793238263531036416
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.904607996,668,636,880.095392004,788.095392004,803,653,632,653.904607996,0.41426322698,0.00461907317006,0.0498084533781,0.999999937271,0.00015764100003,-0.000314352596928,-4.23073542305e-05,1793238263547703296
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.035771192,668,636,880,788.482114404,803.482114404,653,632.482114404,654,0.413567700445,0.00462313827738,0.049787777444,0.999999925386,0.000158636417898,-0.000349640486826,-4.26024176684e-05,1793238263564370176
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.058780761,746,715,679.058780761,668,636,880,788.941219239,804,653.058780761,632.941219239,654,0.412884113736,0.00462613123445,0.0497721805979,0.999999915971,0.000158368839303,-0.000375687286747,-4.28462775444e-05,1793238263581037056
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636,880,788.210334914,803.789665086,654,632,653.789665086,0.411677383866,0.00462203308134,0.0498213511349,0.99999994311,0.000156282785215,-0.000295807272935,-4.30482668285e-05,1793238263614370048
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636,880,788.803405475,803.196594525,654,632,653.196594525,0.411094804069,0.00462060099437,0.0498395179574,0.999999950358,0.00015597824037,-0.000270427738628,-4.27117830367e-05,1793238263631036672
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.613334297,746,715,679.613334297,668,636,880.773331407,789,803.386665703,654,632,653.386665703,0.410494605324,0.00461695093071,0.0498286538227,0.99999994346,0.000154612283255,-0.000295687807595,-4.17524612228e-05,1793238263647703040
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.034938517,746,715,679.034938517,668,636,881.930122966,789,803.965061483,654,632,653.965061483,0.409885670086,0.00461220107235,0.0498033945476,0.999999927641,0.000152720019364,-0.0003460577682,-4.04843020254e-05,1793238263664369664
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.541055934,746,715,679,668,636,880.917888133,789,804,653.458944066,632.541055934,654,0.409346345387,0.004609394618,0.0498007206423,0.999999930467,0.000140398759183,-0.000343073706774,-4.06825569707e-05,1793238263681037056
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.880694947,746,715,679,667.880694947,636,880,789,803.880694947,653,632.880694947,654,0.408822052588,0.00460738329855,0.0498043851307,0.999999936201,0.000130606452446,-0.000329930643844,-4.10562551213e-05,1793238263697704192
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.292987513,746,715,679,667.292987513,636,880,789,803.292987513,653,632.292987513,654,0.408339206125,0.0046080032231,0.0498272340456,0.999999948077,0.000133375379813,-0.000290369288677,-4.17486277254e-05,1793238263714370304
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.289032184,746,715,679.289032184,667.289032184,636,880.289032184,789,803,653.289032184,632.289032184,654,0.40785810711,0.00460842786982,0.0498407915877,0.999999953204,0.000136590487379,-0.000270513411792,-4.19142055356e-05,1793238263731036672
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,668,636,880.555763695,789,803,654,633,654,0.406896146995,0.00460952811751,0.0498259205694,0.999999942181,0.00014204419718,-0.000306134740706,-4.17386009742e-05,1793238263764370176
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.976401816,667.976401816,636,880.023598184,788.976401816,803.023598184,654,632.976401816,654,0.406414584842,0.00461070012486,0.049800020401,0.999999926821,0.000143385660818,-0.000352169542263,-4.21213364233e-05,1793238263781036800
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.402416099,667.402416099,636,880.597583901,788.402416099,803.597583901,654,632.402416099,654,0.405980189057,0.00461437966156,0.049784750453,0.999999916777,0.000147391876786,-0.00037794584596,-4.33318447722e-05,1793238263797703168
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.176964636,667,636,880.823035364,788.176964636,803.823035364,654,632,654,0.405565411833,0.00461825471302,0.0497784484247,0.999999911615,0.000152255239566,-0.000389396723095,-4.42655579631e-05,1793238263814369792
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.768999286,667,636,880.231000714,788.768999286,803.231000714,654,632,654,0.405196649948,0.00462258834323,0.0497931806274,0.999999918911,0.000159129037169,-0.000367247352557,-4.45500488265e-05,1793238263831036160
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.352316467,636,880.352316467,789,803,654,632,654,0.404861032694,0.00462467003018,0.0498111331101,0.999999930047,0.000162893065142,-0.000333685829605,-4.50053878151e-05,1793238263847702784
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,667.930056,636,880.930056,789,803,654,632,654,0.404546622373,0.00462531085402,0.0498311460299,0.999999942532,0.000164667366009,-0.000292822453042,-4.55700407413e-05,1793238263864369408
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.494081665,667.494081665,636.505918335,881,789,803,653.494081665,632,654,0.404245667267,0.00462523530429,0.0498490484104,0.999999949134,0.000164105193395,-0.000269638763999,-4.57913271722e-05,1793238263881036288
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636.916684024,880.916684024,788.916684024,803,653.083315976,632,654,0.403947083465,0.00462583680482,0.0498633563235,0.999999953341,0.000164298950226,-0.000253372881784,-4.61042749843e-05,1793238263897703168
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636.328413996,880.328413996,788.328413996,803,653.671586004,632,654,0.403651638843,0.00463113974363,0.0498576411047,0.999999949338,0.000171024677076,-0.000264274723053,-4.72594002198e-05,1793238263914370048
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636,880,788,803,654,632,654,0.403370243767,0.00463427361645,0.0498521683442,0.999999945496,0.000175742039747,-0.000275345509887,-4.80317994126e-05,1793238263931036928
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636,880,788,803,654,632,654,0.403106604952,0.00463466615733,0.04984700201,0.999999941926,0.000177921170261,-0.000286629814634,-4.83204977197e-05,1793238263947704320
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.586989349,715,679,667,636,880.413010651,788,803.413010651,654,632,654,0.402866829477,0.00463498678106,0.0498429798925,0.999999938867,0.000178352445177,-0.000296879284064,-4.81513206762e-05,1793238263964371200
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.010009061,715,679,667,636,880.989990939,788,803.989990939,654,632,654,0.40263652801,0.0046352788529,0.0498394120414,0.999999935962,0.000178089802709,-0.000306717912548,-4.78003622233e-05,1793238263981038080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767.563686684,745.563686684,715,679,667,636,880.436313316,788.563686684,804,654,632,654,0.402439999599,0.00463603901744,0.0498358257297,0.99999993991,0.000136088595348,-0.000315184770404,-4.81548810806e-05,1793238263997703936
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767.858300699,746,715,679,667,636.141699301,880.141699301,789,803.858300699,654,632,654,0.402251761865,0.00463642367248,0.0498326656121,0.999999942245,0.00010005460255,-0.000321180941221,-4.83907996078e-05,1793238264014370048
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767.26638821,746,715,679,667,636.73361179,880.73361179,789,803.26638821,654,632,654,0.40208797135,0.00463558898705,0.0498308606529,0.999999944189,8.53210147107e-05,-0.000319404079748,-4.82103261928e-05,1793238264031036416
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.682442055,746,715,679.317557945,667,637,881,789,803.317557945,654,632,654,0.401940426513,0.00463503799687,0.049831665835,0.99999994294,0.000112683797268,-0.000315875217399,-4.05618680445e-05,1793238264047702784
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.105014975,746,715,679.894985025,667,637,881,789,803.894985025,654,632,654,0.401806176083,0.00463471916467,0.0498346069896,0.999999936083,0.00017449555814,-0.000310912628313,-2.68020881304e-05,1793238264064369408
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,667,636.527763938,881,788.527763938,803.527763938,654,632,654,0.401692157147,0.00463197741721,0.0498381669439,0.999999936732,0.000186288034709,-0.000301878817029,-2.65087337725e-05,1793238264081036288
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.619418682,746,715,680,667,636,880.380581318,788.619418682,802.380581318,654,632,654,0.401497779196,0.00459790931471,0.0498461842842,0.999999947681,0.000151477874292,-0.000284684313753,-2.54355499109e-05,1793238264114369536
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.043700524,746,715,679,667,636,880.043700524,788.043700524,803.956299476,654,632,654,0.40121778143,0.00458970251746,0.0498460828484,0.999999950553,0.000141990421637,-0.000279179036426,-2.81518013937e-05,1793238264181036032
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.109324593,667.890675407,636,880.109324593,788.109324593,803.890675407,654,632,654,0.401136868165,0.00458668206326,0.0498499770264,0.999999953703,0.000135087732148,-0.000271176994238,-2.84438978358e-05,1793238264214369536
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.696732159,667.303267841,636,880.696732159,788.696732159,803.303267841,654,632,654,0.401108934748,0.00459120745028,0.0498531374287,0.999999954438,0.000139287509716,-0.000266144942551,-2.98325458481e-05,1793238264231036160
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+419,6.983333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.339072739,667,636.339072739,880,788.339072739,804,654,632,654,0.401003998146,0.00458959850269,0.049857475567,0.999999958443,0.000132641571276,-0.000254138528654,-3.05518558326e-05,1793238264431036672
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+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.724716088,667.724716088,636,881.275283912,788.275283912,804,654,632,654,0.401003339269,0.00459011811056,0.0498604161818,0.999999959404,0.00013613531222,-0.000248468623306,-3.03615093061e-05,1793238264547703040
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.690938391,667.690938391,636,880.690938391,788.309061609,804,654,632,654,0.40100354603,0.00458961848717,0.0498608967547,0.999999959626,0.000135427232687,-0.000247955261798,-3.04356108426e-05,1793238264564369920
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.114079362,667.114079362,636,880.114079362,788.885920638,804,654,632,654,0.401004233564,0.00459018614887,0.0498614858022,0.999999959933,0.000134140660021,-0.000247364199407,-3.08476289779e-05,1793238264581037056
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,667,636,880,788.539188683,803.539188683,654,632,654,0.401003414545,0.00458996674005,0.0498614714047,0.999999959981,0.000132927397446,-0.000247861218041,-3.05418624059e-05,1793238264597703936
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.035976506,667,636.035976506,880.035976506,788.035976506,803,654.035976506,632,654,0.401002414801,0.0045896653406,0.0498613988505,0.999999959986,0.000131925775406,-0.000248428999053,-3.01139636411e-05,1793238264614370816
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.622772835,667,636.622772835,880.622772835,788.622772835,803,654.622772835,632,654,0.401004334086,0.00459107917164,0.0498627133974,0.99999996032,0.000133887800225,-0.000245973568485,-3.05252089013e-05,1793238264631037440
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,714.793165484,680,667.206834516,637,881,789,803,654.793165484,632,654,0.401005721171,0.00459193812825,0.0498636228207,0.999999960531,0.000135776640235,-0.000244043429971,-3.07591832187e-05,1793238264647704576
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,746,714.214026107,680,667.785973893,637,881,789,803,654.214026107,632,654,0.40100615029,0.00459179830377,0.0498638030163,0.999999960533,0.000137533746957,-0.000243058823682,-3.06740675678e-05,1793238264664371456
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,746,714.365520484,679.634479516,667.634479516,637,881,789,803.365520484,654,632,653.634479516,0.40100388215,0.00459053695214,0.0498628192857,0.999999960171,0.000136456227074,-0.000245165256105,-3.05203835048e-05,1793238264681038336
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,746,714.945305746,679.054694254,667.054694254,637,881,789,803.945305746,654,632,653.054694254,0.401000032901,0.00458861817151,0.049861153272,0.999999959579,0.000133717074799,-0.000249083627308,-3.03265052681e-05,1793238264697704960
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.520919523,667,636.479080477,880.479080477,789,804,654,632,653.520919523,0.401000214043,0.00459068488744,0.0498609517481,0.999999959609,0.000133992238767,-0.000248770726941,-3.06775889545e-05,1793238264714371328
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.901714581,667,636.098285419,880,789,803.901714581,654,632,654,0.401000977833,0.00459248325731,0.0498610544179,0.999999959768,0.000134434061278,-0.000247859796869,-3.09331283649e-05,1793238264731037696
+438,7.300000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.313447724,667,636.686552276,880,789,803.313447724,654,632,654,0.401002553412,0.00459087427396,0.0498619131095,0.999999960242,0.000134141465211,-0.000246164709324,-3.04293664595e-05,1793238264747704320
+439,7.316666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,667.270888835,636.729111165,880.54177767,788.729111165,803.270888835,654,632,654,0.401003212545,0.00458992458276,0.0498621469437,0.999999960351,0.000134529596088,-0.000245547822366,-3.01042557275e-05,1793238264764370688
+440,7.333333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,667.850742614,636.149257386,881.701485227,788.149257386,803.850742614,654,632,654,0.401002826417,0.00458972685385,0.0498616680906,0.999999960047,0.000135694136845,-0.000246160687881,-2.99829073958e-05,1793238264781037312
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b50198b9403279bfbccc975c0a5176e0e8ac184a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,442 @@
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+396,6.600000000,pose2_to_pose3_retreat,0.579165228701,0.0100012831381,1.04001167639,0.549736520379,0.0186749386112,1.03966121983
+397,6.616666667,pose2_to_pose3_retreat,0.5790362838,0.0100012477152,1.04001141249,0.549607575517,0.0186749030215,1.0396609584
+398,6.633333333,pose2_to_pose3_retreat,0.578922291313,0.0100011328204,1.04001146811,0.549493584728,0.0186747929362,1.03966099936
+399,6.650000000,pose2_to_pose3_retreat,0.578820847925,0.0100011327505,1.04001161512,0.549392141644,0.0186747937579,1.03966115222
+400,6.666666667,pose2_to_pose3_retreat,0.578730708994,0.0100012076219,1.04001176031,0.549302001759,0.0186748646476,1.03966129382
+401,6.683333333,pose2_to_pose3_retreat,0.578650428707,0.0100012513344,1.0400117963,0.549221721188,0.018674906441,1.03966132596
+402,6.700000000,pose2_to_pose3_retreat,0.578580026801,0.0100012116446,1.0400116916,0.549151320525,0.0186748703888,1.03966122424
+403,6.716666667,pose2_to_pose3_retreat,0.578518328793,0.0100012278508,1.04001164048,0.549089622075,0.0186748852591,1.03966116451
+404,6.733333333,pose2_to_pose3_retreat,0.578465359339,0.0100010993013,1.04001178229,0.549036654021,0.0186747613694,1.03966130961
+405,6.750000000,pose2_to_pose3_retreat,0.578421866373,0.0100011095043,1.04001177225,0.548993161351,0.018674772198,1.0396613009
+406,6.766666667,pose2_to_pose3_retreat,0.578385956532,0.0100011865299,1.04001160448,0.548957250614,0.0186748458899,1.03966113605
+407,6.783333333,pose2_to_pose3_retreat,0.578356982405,0.010001257847,1.04001132163,0.548928274708,0.0186749111802,1.03966086053
+408,6.800000000,pose2_to_pose3_retreat,0.578332936638,0.0100012776982,1.04001160538,0.548904228676,0.0186749303154,1.03966113873
+409,6.816666667,pose2_to_pose3_retreat,0.578313210092,0.0100012773014,1.04001164896,0.548884502162,0.0186749301947,1.03966118141
+410,6.833333333,pose2_to_pose3_retreat,0.578297472447,0.0100012544393,1.0400116144,0.54886876511,0.0186749094528,1.0396611488
+411,6.850000000,pose2_to_pose3_retreat,0.578285262106,0.010001188173,1.04001175857,0.548856556824,0.0186748501352,1.03966129604
+412,6.866666667,pose2_to_pose3_retreat,0.578276039024,0.0100011967169,1.04001175356,0.548847333256,0.0186748567755,1.03966128681
+413,6.883333333,pose2_to_pose3_retreat,0.578269226755,0.0100012233763,1.04001173197,0.548840520014,0.0186748798582,1.03966126062
+414,6.900000000,pose2_to_pose3_retreat,0.578264700645,0.0100012481399,1.04001179622,0.548835993409,0.018674902719,1.03966132446
+415,6.916666667,pose2_to_pose3_retreat,0.578261479889,0.010001251067,1.04001183542,0.548832772464,0.0186749048504,1.03966136371
+416,6.933333333,pose2_to_pose3_retreat,0.578259563893,0.0100011931661,1.04001183229,0.548830857015,0.0186748487421,1.03966136199
+417,6.950000000,pose2_to_pose3_retreat,0.578258173047,0.0100011511351,1.04001183001,0.548829466565,0.0186748080124,1.03966136074
+418,6.966666667,pose2_to_pose3_retreat,0.578257410315,0.0100011280855,1.04001182876,0.54882870405,0.0186747856765,1.03966136006
+419,6.983333333,pose2_to_pose3_retreat,0.578257301417,0.0100011247947,1.04001182859,0.548828595184,0.0186747824875,1.03966135996
+420,7.000000000,pose2_to_pose3_retreat,0.578257231247,0.0100011226741,1.04001182847,0.548828525033,0.0186747804326,1.03966135989
+421,7.016666667,pose2_to_pose3_retreat,0.57825675986,0.0100011108736,1.04001182215,0.548828053775,0.0186747690555,1.03966135393
+422,7.033333333,pose2_to_pose3_retreat,0.578256667093,0.010001111647,1.04001181388,0.548827961027,0.01867476989,1.03966134573
+423,7.050000000,pose2_to_pose3_retreat,0.57825666312,0.0100011116802,1.04001181353,0.548827957054,0.0186747699257,1.03966134538
+424,7.066666667,pose2_to_pose3_retreat,0.57825632662,0.0100011144858,1.04001178352,0.54882762062,0.0186747729528,1.03966131566
+425,7.083333333,pose2_to_pose3_retreat,0.578256132373,0.0100011161053,1.0400117662,0.548827426412,0.0186747747001,1.0396612985
+426,7.100000000,pose2_to_pose3_retreat,0.578255942089,0.0100011176919,1.04001174923,0.548827236165,0.0186747764119,1.03966128169
+427,7.116666667,pose2_to_pose3_retreat,0.578255937837,0.0100011177273,1.04001174886,0.548827231914,0.0186747764501,1.03966128131
+428,7.133333333,pose2_to_pose3_retreat,0.578255744828,0.0100011193366,1.04001173165,0.548827038943,0.0186747781864,1.03966126426
+429,7.150000000,pose2_to_pose3_retreat,0.578255593944,0.0100011205946,1.04001171819,0.548826888089,0.0186747795437,1.03966125093
+430,7.166666667,pose2_to_pose3_retreat,0.57825526404,0.0100011233452,1.04001168878,0.548826558251,0.0186747825113,1.03966122179
+431,7.183333333,pose2_to_pose3_retreat,0.578254973331,0.010001125769,1.04001166285,0.548826267599,0.0186747851265,1.03966119611
+432,7.200000000,pose2_to_pose3_retreat,0.578254902409,0.0100011263604,1.04001165653,0.548826196691,0.0186747857645,1.03966118985
+433,7.216666667,pose2_to_pose3_retreat,0.578254541147,0.0100011293725,1.04001162432,0.5488258355,0.0186747890142,1.03966115793
+434,7.233333333,pose2_to_pose3_retreat,0.578253928621,0.0100011493205,1.04001156773,0.548825222781,0.0186748083249,1.03966110217
+435,7.250000000,pose2_to_pose3_retreat,0.578253275328,0.0100012341612,1.04001149892,0.548824567935,0.0186748880294,1.03966103563
+436,7.266666667,pose2_to_pose3_retreat,0.578252779934,0.0100012984959,1.04001144675,0.548824071365,0.0186749484694,1.03966098517
+437,7.283333333,pose2_to_pose3_retreat,0.57825268771,0.0100013104726,1.04001143703,0.548823978922,0.0186749597211,1.03966097578
+438,7.300000000,pose2_to_pose3_retreat,0.578252458537,0.010001377895,1.04001149577,0.548823749261,0.0186750263924,1.03966103864
+439,7.316666667,pose2_to_pose3_retreat,0.578252237519,0.010001371314,1.04001158625,0.548823528317,0.0186750205996,1.03966112921
+440,7.333333333,pose2_to_pose3_retreat,0.578252116546,0.0100012593952,1.04001168434,0.548823408206,0.0186749113675,1.0396612214
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4735c9171ad07fe70638a23b4e5f7b5631488ce3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed8d4a3e727b728c1dca158af409d565620fa6c52eae32d28705ccdc1dbaa585
+size 27654889
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..39cddfe50effd505453e20441986054c3dcdae4c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_01/franka_data.csv
@@ -0,0 +1,437 @@
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+30,0.500000000,BASELINE,767,746,715.539717876,680,666,636.539717876,880,789,803.539717876,653,632,654,0.401052054323,0.00448961569907,0.0698728358256,0.999999992456,2.10916267119e-05,-0.000119715630974,1.76264916331e-05,1793238266895653888
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+33,0.550000000,BASELINE,767,746,715.214736077,680,666.785263923,636,880.785263923,788,803,653,632,653.214736077,0.401053462403,0.00448875644556,0.0698736698448,0.999999992626,2.13629235119e-05,-0.000118193650419,1.79485790057e-05,1793238266945654528
+34,0.566666667,BASELINE,767,746,715.791835236,680,666.208164764,636,880.208164764,788,803,653,632,653.791835236,0.401053771699,0.00448922065697,0.069874430544,0.999999992716,1.99646785648e-05,-0.000117704857115,1.77757212147e-05,1793238266962320896
+35,0.583333333,BASELINE,767,746,716,680,666.368247978,636,880,788,803.368247978,653,632,654,0.401053591971,0.00448903215081,0.0698745525842,0.999999992734,1.9647915215e-05,-0.000117602063721,1.77806459576e-05,1793238266978987776
+36,0.600000000,BASELINE,767,746,716,680,666.944273474,636,880,788,803.944273474,653,632,654,0.40105313632,0.00448847536015,0.0698743142721,0.999999992713,1.99413589229e-05,-0.00011771706402,1.78858813883e-05,1793238266995654400
+37,0.616666667,BASELINE,767,746,716,679.46702667,667,636.53297333,880,788,804,653,632,654,0.401051914443,0.00448820365651,0.0698726525349,0.999999992452,1.94690041448e-05,-0.000120008513356,1.77571216513e-05,1793238267012321024
+38,0.633333333,BASELINE,767,746,716,679.120843398,667,636.879156602,880.120843398,788,803.879156602,653.120843398,632,654,0.401051111542,0.00448805971921,0.069871549974,0.999999992273,1.91555705806e-05,-0.000121561436733,1.76197940093e-05,1793238267028987136
+39,0.650000000,BASELINE,767,746,716,679.700410709,667,636.299589291,880.700410709,788,803.299589291,653.700410709,632,654,0.401052210606,0.00448828487704,0.0698731487819,0.99999999252,1.97567571149e-05,-0.000119426018595,1.75450782677e-05,1793238267045653760
+40,0.666666667,BASELINE,767,746,716,680,666.722128615,636,880.722128615,788,803,654,632.277871385,654,0.401052594161,0.00448890746972,0.0698737984458,0.99999999259,2.05192663578e-05,-0.000118721005719,1.74716830121e-05,1793238267062320384
+41,0.683333333,BASELINE,767,746,716,680,666.14692217,636,880.14692217,788,803,654,632.85307783,654,0.401052212089,0.00448995533584,0.0698734324825,0.999999992473,2.14543982238e-05,-0.000119546591866,1.7399700741e-05,1793238267078987264
+42,0.700000000,BASELINE,767,746,716,680,666,636,880,788,803.426916077,653.573083923,632.573083923,653.573083923,0.401051771468,0.00448937986345,0.069873212867,0.999999992468,2.03841218216e-05,-0.000119769428313,1.74382253914e-05,1793238267095654144
+43,0.716666667,BASELINE,767,746,715.999704901,679.999704901,666,636,880,788,803.999704901,653.000295099,632,653,0.401051312493,0.0044882478784,0.0698730444664,0.999999992499,1.86258902248e-05,-0.000119784050603,1.75145937397e-05,1793238267112321024
+44,0.733333333,BASELINE,767,746,715.405919525,679.405919525,666,636,880,788,803.405919525,653.594080475,632,653,0.401054331897,0.00448786151355,0.069874908416,0.999999992873,1.68607378297e-05,-0.000116898732057,1.74592190675e-05,1793238267128987648
+45,0.750000000,BASELINE,767,746,715.182602857,679.182602857,666.182602857,636,880,788,803,654,632,653,0.401055443146,0.00448799572506,0.0698756419402,0.999999992971,1.73418834054e-05,-0.000115971641091,1.75238741884e-05,1793238267145654528
+46,0.766666667,BASELINE,767,746,715.759753476,679.759753476,666.759753476,636,880,788,803,654,632,653,0.40105243147,0.00448925473962,0.0698739329678,0.99999999247,2.26765777929e-05,-0.00011927566891,1.78478762248e-05,1793238267162321920
+47,0.783333333,BASELINE,766.665679932,746,715.665679932,680,666.665679932,636,880,788,803,653.665679932,631.665679932,653.334320068,0.401051036466,0.00448932529423,0.0698732606568,0.999999992287,2.39884484937e-05,-0.000120544555236,1.78529573303e-05,1793238267178989056
+48,0.800000000,BASELINE,766.092955952,746,715.092955952,680,666.092955952,636,880,788,803,653.092955952,631.092955952,653.907044048,0.401050794312,0.00448854835721,0.0698733275896,0.999999992349,2.24316409078e-05,-0.000120362180855,1.7630615695e-05,1793238267195655680
+49,0.816666667,BASELINE,766.493915464,746,715,680,666.493915464,636,880,788.493915464,803,653.493915464,631.493915464,654,0.401052618479,0.00448884731134,0.069873591941,0.999999992477,2.1177973839e-05,-0.000119541863226,1.75054420391e-05,1793238267212321792
+50,0.833333333,BASELINE,766.917929348,746,715.082070652,680,666.917929348,636,880,788.917929348,803,653.917929348,632,653.917929348,0.401054358603,0.00448919810881,0.0698738944999,0.999999992592,2.00691548686e-05,-0.000118783689184,1.74449272635e-05,1793238267228988160
+51,0.850000000,BASELINE,766.338603622,746,715.661396378,680,666.338603622,636,880,788.338603622,803,653.338603622,632,653.338603622,0.401053163835,0.00448860001186,0.0698741968003,0.999999992556,1.94820889084e-05,-0.000119150926566,1.7662104824e-05,1793238267245654528
+52,0.866666667,BASELINE,766.239951075,746,716,680,666,636,880.239951075,788,803,653.239951075,632,653.239951075,0.401052277494,0.00448846666342,0.0698740987573,0.99999999248,1.9886007147e-05,-0.000119713357632,1.77147156617e-05,1793238267262320896
+53,0.883333333,BASELINE,766.817421196,746,716,680,666,636,880.817421196,788,803,653.817421196,632,653.817421196,0.401051824989,0.00448898703776,0.0698734375847,0.999999992345,2.1683859746e-05,-0.000120550351256,1.75358442854e-05,1793238267278987520
+54,0.900000000,BASELINE,767,746,716,679.622399687,666.377600313,636,881,788,803,654,632,654,0.401052815116,0.00448926703618,0.0698740573934,0.999999992481,2.1343609595e-05,-0.000119481808926,1.75058879831e-05,1793238267295654144
+55,0.916666667,BASELINE,767,746,716,679.070215115,666.929784885,636,881,788,803,654,632,654,0.401054472247,0.0044894358963,0.0698752694663,0.999999992739,2.00148033172e-05,-0.000117532238217,1.75447828676e-05,1793238267312320768
+56,0.933333333,BASELINE,766.461719677,746,715.461719677,679.538280323,667,636,881,788,803,653.461719677,632,654,0.40105370242,0.00448782902529,0.0698748377928,0.99999999264,1.90307561422e-05,-0.00011852578202,1.76039306924e-05,1793238267328987392
+57,0.950000000,BASELINE,766.14495005,746,715.14495005,680,667,636,881,788,803,653,632,654,0.401052590672,0.00448657209027,0.0698742387141,0.999999992503,1.84621181708e-05,-0.000119753008347,1.76505429997e-05,1793238267345654016
+58,0.966666667,BASELINE,766.721740064,746,715.721740064,680,667,636,881,788,803,653,632,654,0.401051513623,0.00448712840963,0.069873854325,0.999999992416,1.89814468248e-05,-0.000120399041391,1.76510187682e-05,1793238267362321408
+59,0.983333333,BASELINE,767,746,716,680,666.701417371,636,880.701417371,788,803.298582629,653.298582629,631.701417371,653.701417371,0.401050191812,0.00448742778363,0.0698730128996,0.999999992211,1.91747161048e-05,-0.000122062770279,1.76499829895e-05,1793238267378988032
+60,1.000000000,BASELINE,767,746,716,680,666.124525756,636,880.124525756,788,803.875474244,653.875474244,631.124525756,653.124525756,0.401048641859,0.00448748765884,0.0698717454705,0.999999991891,1.9064065375e-05,-0.000124675093933,1.76475382968e-05,1793238267395654400
+61,1.016666667,BASELINE,767,746,716,680,666,636,880,788,803.537870571,654,631.462129429,653.462129429,0.401049877306,0.00448831505019,0.0698722259369,0.999999992052,2.07227312087e-05,-0.000123132141165,1.7491885733e-05,1793238267412321280
+62,1.033333333,BASELINE,767,746,715.949370708,680,666,636,880,788,803,653.949370708,632,654,0.401051643837,0.00448919979242,0.0698730968296,0.999999992304,2.26731388764e-05,-0.000120737981385,1.73361211529e-05,1793238267428988160
+63,1.050000000,BASELINE,767,746,715.369679605,680,666,636,880,788,803,653.369679605,632,654,0.401050947665,0.00448847602714,0.0698730196361,0.999999992221,2.25826168524e-05,-0.00012140186216,1.7619898028e-05,1793238267445654016
+64,1.066666667,BASELINE,767,746,715.208331121,680,666,636,880.208331121,788,803,653.208331121,632,654,0.401050562744,0.0044884799536,0.0698731027269,0.999999992198,2.2083616946e-05,-0.000121672932011,1.76578102453e-05,1793238267462320384
+65,1.083333333,BASELINE,767,746,715.783383875,680,666,636,880.783383875,788,803,653.783383875,632,654,0.40105072571,0.00448976482317,0.0698734679635,0.999999992282,2.08655805621e-05,-0.000121252543611,1.72629311824e-05,1793238267478987264
+66,1.100000000,BASELINE,767,746,716,679.641682244,666,636,881,788,803.358317756,653.641682244,632,654,0.4010516702,0.00448949671761,0.0698738697133,0.999999992386,2.09833085897e-05,-0.0001203683208,1.72791381767e-05,1793238267495653888
+67,1.116666667,BASELINE,767,746,716,679.066820224,666,636,881,788,803.933179776,653.066820224,632,654,0.401053086994,0.00448829009348,0.0698742935292,0.999999992501,2.19082869768e-05,-0.000119203786243,1.75437792257e-05,1793238267512320512
+68,1.133333333,BASELINE,767,746,716,679.520840854,666,636,881,788,803.479159146,653.520840854,632,654,0.401052623773,0.00448960140444,0.0698740223852,0.999999992416,2.34303815436e-05,-0.000119640658235,1.74813244786e-05,1793238267528987136
+69,1.150000000,BASELINE,767,746,715.891782889,680,666,636,880.891782889,788,803,653.891782889,632,654,0.401051967681,0.00449065075352,0.0698736385504,0.99999999231,2.45789198633e-05,-0.000120304267528,1.74199126727e-05,1793238267545653760
+70,1.166666667,BASELINE,767,746,715.312965922,680,666,636,880.312965922,788,803,653.312965922,632,654,0.401051548153,0.00448912076417,0.0698731621495,0.999999992239,2.37614615786e-05,-0.000121037943256,1.75501214408e-05,1793238267562320128
+71,1.183333333,BASELINE,766.735305747,746,715,680,666,636,880.264694253,788,803,653,632,654,0.401051891056,0.00448827650146,0.0698734220251,0.999999992298,2.28315194224e-05,-0.000120714061672,1.76567559713e-05,1793238267578986752
+72,1.200000000,BASELINE,766.159007297,746,715,680,666,636,880.840992703,788,803,653,632,654,0.401053131511,0.00448823949181,0.0698745486625,0.999999992508,2.17691585443e-05,-0.000119145199255,1.77356383812e-05,1793238267595653632
+73,1.216666667,BASELINE,766.425307796,746,715.425307796,680,666.425307796,636,881,788,803,653,632,654,0.401053139943,0.00448709153151,0.0698744831398,0.999999992549,1.98376895781e-05,-0.00011912416501,1.78022935483e-05,1793238267612320256
+74,1.233333333,BASELINE,767,746.012503563,716,680,667,636,880.987496437,788,803,653.012503563,632,654,0.401052682039,0.00448555658835,0.0698739721301,0.999999992523,1.76267339285e-05,-0.000119682798459,1.78637601271e-05,1793238267628986624
+75,1.250000000,BASELINE,767,746.591811528,716,680,667,636,880.408188472,788,803,653.591811528,632,654,0.401052365582,0.00448566902597,0.0698738591883,0.999999992508,1.77586743439e-05,-0.000119782376607,1.7901226553e-05,1793238267645653248
+76,1.266666667,BASELINE,767,746.830471752,716,680,667,636,880.169528248,788,803,653.830471752,632,654,0.401051859373,0.00448602025239,0.0698735718963,0.999999992461,1.7844679577e-05,-0.000120178176104,1.77774097616e-05,1793238267662320128
+77,1.283333333,BASELINE,767,746.256550826,716,680,667,636,880.743449174,788,803,653.256550826,632,654,0.401050900527,0.00448694108559,0.0698728687097,0.999999992338,1.78211110194e-05,-0.000121280581993,1.72688679856e-05,1793238267678987520
+78,1.300000000,BASELINE,767,746,715.681131215,680,667,636,880.681131215,788,803,653,632,654,0.401050870191,0.00448776939046,0.0698728797335,0.999999992288,1.91392493515e-05,-0.000121500378215,1.71684270891e-05,1793238267695654400
+79,1.316666667,BASELINE,767,746,715.104500148,680,667,636,880.104500148,788,803,653,632,654,0.401051590431,0.00448852289863,0.0698734680999,0.999999992295,2.15419762198e-05,-0.000121006703852,1.73978805767e-05,1793238267712321024
+80,1.333333333,BASELINE,767,746,715.484513251,679.515486749,666.515486749,636,880.484513251,788.484513251,803,653,632,654,0.401052697458,0.00448766440933,0.0698743295851,0.999999992513,2.07623930177e-05,-0.000119317701835,1.74868820329e-05,1793238267728987648
+81,1.350000000,BASELINE,767,746,715.925383616,679.149232768,666,636,881,788.925383616,803,653,631.925383616,654,0.401053653165,0.00448678037572,0.0698751646264,0.999999992733,1.96648593134e-05,-0.000117639216286,1.75310751588e-05,1793238267745654272
+82,1.366666667,BASELINE,767,746,715.346439357,680.307121285,666,636,881,788.346439357,803,653,631.346439357,654,0.401053007473,0.00448813524745,0.069875412347,0.999999992682,2.11790709277e-05,-0.000117820028841,1.74825283464e-05,1793238267762320640
+83,1.383333333,BASELINE,767,746,715.231685341,680.768314659,666,636,881,788,803,653,631.231685341,654,0.401052382932,0.0044894437642,0.0698751848643,0.999999992608,2.25506221086e-05,-0.000118209145574,1.738402936e-05,1793238267778987008
+84,1.400000000,BASELINE,767,746,715.808588957,680.191411043,666,636,881,788,803,653,631.808588957,654,0.401051789906,0.00449068321083,0.0698742493144,0.999999992501,2.37096050883e-05,-0.000118908641957,1.72111000928e-05,1793238267795653632
+85,1.416666667,BASELINE,767,746,716,680,666.383506295,636,881,788,803.383506295,653,632,654,0.401052289535,0.00449000496818,0.0698740892036,0.999999992517,2.29105611381e-05,-0.000118914421956,1.73150608934e-05,1793238267812320256
+86,1.433333333,BASELINE,767,746,716,680,666.957437341,636,881,788,803.957437341,653,632,654,0.401053331707,0.00448837452336,0.0698743141266,0.999999992592,2.11392859122e-05,-0.000118575746632,1.755650764e-05,1793238267828986880
+87,1.450000000,BASELINE,767,746,716,680,666.451794115,636,880.451794115,788,803.451794115,653,632,654,0.401053929286,0.00448775539559,0.0698752654829,0.999999992717,2.0145445343e-05,-0.000117705094607,1.74909024452e-05,1793238267845653760
+88,1.466666667,BASELINE,767,746,716,680,666.136795747,636,880.136795747,788.136795747,803,653,632,654,0.401054031564,0.00448749470988,0.0698758041594,0.999999992764,1.9622039645e-05,-0.000117401279769,1.74107515924e-05,1793238267862320384
+89,1.483333333,BASELINE,767,746,716,680,666.714028626,636,880.714028626,788.714028626,803,653,632,654,0.401052653795,0.00448812727478,0.0698748267985,0.999999992553,2.04127817434e-05,-0.000119059688123,1.73629559529e-05,1793238267878987008
+90,1.500000000,BASELINE,767,746,716,680,666.70972623,636,880.70972623,788.70972623,803.29027377,653.29027377,632,653.70972623,0.40105210819,0.00448862193793,0.0698742919391,0.999999992483,2.00525872508e-05,-0.000119730459154,1.72204612265e-05,1793238267895653632
+91,1.516666667,BASELINE,767,746,716,680,666.134450916,636,880.134450916,788.134450916,803.865549084,653.865549084,632,653.134450916,0.401052379633,0.004488981204,0.069874191544,0.999999992552,1.85623605149e-05,-0.000119431531165,1.69849874299e-05,1793238267912320512
+92,1.533333333,BASELINE,767,746,716,679.550485398,666.449514602,636,880,788,803.550485398,653.550485398,632,653.449514602,0.401051441453,0.00448791515953,0.0698739238003,0.999999992465,1.8141349114e-05,-0.000120152378461,1.74174030962e-05,1793238267928986880
+93,1.550000000,BASELINE,767,746,715.964297904,679.035702096,666.964297904,636,880.035702096,788,803,653,632,654,0.401050278494,0.00448663176976,0.0698736352527,0.99999999234,1.82699124687e-05,-0.000121085740547,1.79892735988e-05,1793238267945653504
+94,1.566666667,BASELINE,767,746,715.384640129,679.615359871,666.384640129,636,880.615359871,788,803,653,632,654,0.401051311882,0.00448866026363,0.0698738074007,0.999999992345,2.18031849939e-05,-0.000120518123899,1.75822229807e-05,1793238267962320128
+95,1.583333333,BASELINE,767,746,715,680,666,636,880.806147629,788,803,653,632,654,0.401051807296,0.00448961110584,0.069873795268,0.999999992337,2.3453208853e-05,-0.00012030728972,1.73640279706e-05,1793238267978987008
+96,1.600000000,BASELINE,767,746,715,680,666,636,880.22995334,788,803,653,632,654,0.401051241646,0.00448843645775,0.069873419672,0.999999992321,2.13888351006e-05,-0.000120800150177,1.75183195124e-05,1793238267995653632
+97,1.616666667,BASELINE,767,746,715.345897329,680,666,636,880.345897329,788,803,653,632.345897329,654,0.401050805052,0.00448862314334,0.0698731576616,0.999999992268,2.100732421e-05,-0.000121307688056,1.75023777198e-05,1793238268012320512
+98,1.633333333,BASELINE,767,746,715.921519751,680,666,636,880.921519751,788,803,653,632.921519751,654,0.40105045417,0.00448971394846,0.0698729710882,0.999999992192,2.17434740713e-05,-0.000121824973805,1.73733767377e-05,1793238268028986880
+99,1.650000000,BASELINE,767,746,715.490679303,680,666.509320697,636,880.490679303,788,803,653,632.490679303,654,0.401051310076,0.00448883318167,0.0698736184939,0.999999992309,2.15568270857e-05,-0.000120832370305,1.77806944569e-05,1793238268045653504
+100,1.666666667,BASELINE,767,746,715.097304306,679.902695694,666.902695694,636,880,788,803.097304306,653,632,654,0.401052371032,0.00448778810348,0.0698744054035,0.999999992469,2.11422902733e-05,-0.000119525884134,1.81143603453e-05,1793238268062320640
+101,1.683333333,BASELINE,767,746,715.676668321,679.323331679,666.323331679,636,880,788,803.676668321,653,632,654,0.401053504037,0.00448747092023,0.0698752312008,0.999999992694,2.03204506332e-05,-0.000117845224507,1.76637027469e-05,1793238268078987520
+102,1.700000000,BASELINE,767,746,716,679.254050204,666,636,880.254050204,788,803.745949796,653.254050204,632,653.745949796,0.401053783101,0.00448737649212,0.0698754367683,0.999999992761,1.96201571945e-05,-0.000117432347843,1.73881632718e-05,1793238268095654400
+103,1.716666667,BASELINE,767,746,716,679.8289289,666,636,880.8289289,788,803.1710711,653.8289289,632,653.1710711,0.401052983765,0.00448756337141,0.0698748590756,0.999999992632,1.90733590083e-05,-0.000118620496965,1.73337725743e-05,1793238268112320768
+104,1.733333333,BASELINE,767,746,715.586682622,680,666.413317378,636,880.586682622,788,803.413317378,653.586682622,632,653.413317378,0.401051528307,0.00448802677164,0.0698736586867,0.999999992342,1.98152660006e-05,-0.000120920792929,1.73513467875e-05,1793238268128987136
+105,1.750000000,BASELINE,767,746,715.001699143,680,667,636.001699143,880.001699143,788,803.998300857,653,632,654,0.401049803194,0.00448860600271,0.0698722033809,0.999999991978,2.10981757468e-05,-0.000123676598259,1.73987053804e-05,1793238268145653760
+106,1.766666667,BASELINE,767,746,715.578062902,680,667,636.578062902,880.578062902,788,803.421937098,653,632,654,0.401050888261,0.00448874016949,0.0698737531644,0.9999999923,2.07066295085e-05,-0.000121140657683,1.72082343034e-05,1793238268162321408
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,637,881,788,804,653,632,654,0.401051539909,0.00448950351189,0.0698739128216,0.999999992353,2.0339633743e-05,-0.000120832852336,1.67225158657e-05,1793238268203283200
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666.426153477,636.426153477,881,788,803.426153477,653,632,654,0.401051856011,0.00448915463742,0.0698748830859,0.999999992565,2.06935583302e-05,-0.000118984956643,1.68733263536e-05,1793238268219950080
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.847794854,746,715.847794854,680,666,636.152205146,880.847794854,788,803,653,632,654,0.401052080508,0.00448889042626,0.0698754142656,0.999999992668,2.08024370251e-05,-0.000118071059151,1.70259022913e-05,1793238268236616960
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.256416883,746,715.256416883,680,666,636.743583117,880.256416883,788,803,653,632,654,0.401052040686,0.00448887050262,0.0698746785112,0.999999992466,2.02042602246e-05,-0.00011985212025,1.71835722937e-05,1793238268253283584
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680.327469865,666,636.672530135,880.327469865,788,803,653,632,654,0.401051951447,0.00448863830218,0.0698743881835,0.999999992396,2.08634460499e-05,-0.000120287235502,1.74019777837e-05,1793238268269950464
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680.905621952,666,636.094378048,880.905621952,788,803,653,632,654,0.40105182438,0.00448824360124,0.0698744388355,0.999999992428,2.2485158516e-05,-0.000119692012494,1.76668770292e-05,1793238268286617088
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.961290344,746,715.480645172,680.038709656,666,636,881,788,803,653,632,654,0.401051526051,0.00448790517942,0.0698744302077,0.999999992459,2.14866809869e-05,-0.000119640548394,1.75304525367e-05,1793238268303283456
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.944694064,746,715.944694064,679.055305936,666,636,880.944694064,788,803,653,632,653.944694064,0.401051257617,0.00448768780726,0.0698744470736,0.999999992478,2.01341499501e-05,-0.000119739224155,1.73266510232e-05,1793238268319949824
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.367694436,746,715.367694436,679.632305564,666,636,880.367694436,788,803,653,632,653.367694436,0.401051586343,0.00448850871428,0.0698748135068,0.999999992416,2.02636322505e-05,-0.000120253507872,1.72258190933e-05,1793238268336615936
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715.213765952,680,666.213765952,636,880.213765952,788,803,653,632,653,0.401051746858,0.00448860135828,0.0698751588309,0.999999992226,2.01169369787e-05,-0.000121818568922,1.73945759932e-05,1793238268353282048
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715.803062665,680,666.803062665,636,880.803062665,788,803,653,632,653,0.401051611871,0.00448741463492,0.0698754670717,0.999999991806,1.94850700714e-05,-0.000125229570336,1.8036929832e-05,1793238268369948672
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,715.617445617,680,666.617445617,636,880.617445617,788.382554383,803,653,632,653.382554383,0.401054950653,0.0044879247865,0.0698770735256,0.999999991436,2.08396858643e-05,-0.000127898123868,1.82989687435e-05,1793238268386615296
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,715.042875277,680,666.042875277,636,880.042875277,788.957124723,803,653,632,653.957124723,0.40106003303,0.00448928665233,0.0698793315933,0.999999991087,2.31913791225e-05,-0.000130194019994,1.83701158084e-05,1793238268403282688
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715.535867719,680,666,636,880,788.464132281,803,653,632,654,0.401086641552,0.00448879311066,0.0698920488736,0.999999992404,2.40777577664e-05,-0.000119365599422,1.90606249525e-05,1793238268419949312
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715.883183833,679.883183833,666.116816167,636,880.116816167,788,803,653,632,654,0.401118089062,0.00448813186215,0.0699056894902,0.999999993794,2.40333869583e-05,-0.000106976763972,1.97339496322e-05,1793238268436615936
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715.294688682,679.294688682,666.705311318,636,880.705311318,788,803,653,632,654,0.401162066423,0.0044873975742,0.0699196528009,0.999999995299,2.07079571764e-05,-9.25606114471e-05,2.01362213988e-05,1793238268453282560
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.710640888,746,715,679.289359112,666.710640888,636,880.710640888,788,803,653,632,653.710640888,0.401214622517,0.00448687577548,0.0699324207556,0.999999996664,1.86519418719e-05,-7.69980761373e-05,1.98663961984e-05,1793238268469949184
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.131053841,746,715,679.868946159,666.131053841,636,880.131053841,788,803,653,632,653.131053841,0.401275783098,0.00448656710407,0.0699439897644,0.999999997844,1.78691527636e-05,-6.02857167981e-05,1.89224559803e-05,1793238268486615552
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.446462747,746,715,680,666,636,880,788,803,653,632,653,0.401343811652,0.00448751684772,0.0699469549516,0.999999998112,1.70820436536e-05,-5.62486287726e-05,1.79237775956e-05,1793238268503281920
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,715,680,666,636,880,788,803,653.021415761,632,653.021415761,0.401414384165,0.00448878876967,0.0699472676793,0.999999998147,1.62974675806e-05,-5.61820407957e-05,1.68552937475e-05,1793238268519948544
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715,680,666,636,880,788,803,653.549986188,632,653.549986188,0.401497679607,0.00448898296776,0.0699442989288,0.999999997824,1.56027683848e-05,-6.24383674847e-05,1.45124698835e-05,1793238268536615168
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715.09648532,680,666.09648532,636,880.09648532,788,803,653.90351468,632,654,0.401584467835,0.00448880300077,0.0699415214284,0.999999997453,1.37917061908e-05,-6.89583461089e-05,1.22065474181e-05,1793238268553281792
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,715.745689321,680,666.745689321,636,880.745689321,788,803,653.254310679,632,654,0.401691264557,0.00448647961926,0.0699398395096,0.99999999697,5.58552957772e-06,-7.69886596055e-05,1.01120163885e-05,1793238268569948672
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746.352208639,716,679.647791361,666.647791361,636.352208639,880.647791361,788,803,653,632,654,0.401815256824,0.00448623163797,0.0699411981136,0.999999997045,2.59645319142e-06,-7.64507680375e-05,7.7001580918e-06,1793238268586615552
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746.931239144,716,679.068760856,666.068760856,636.931239144,880.068760856,788,803,653,632,654,0.401950323008,0.00448732021127,0.0699445148099,0.999999997505,2.96718118495e-06,-7.03949652845e-05,5.08394127628e-06,1793238268603282176
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746.491834812,716,679.508165188,666,636.491834812,880.508165188,788,803,653,632,654,0.402106073566,0.00448899654382,0.0699459734449,0.99999999759,-2.44501790999e-07,-6.94080653418e-05,1.4423445966e-06,1793238268619948544
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746.084514596,716,680,666,636,880.915485404,788,803,653,632,654,0.402269046282,0.00449058646821,0.0699471676343,0.999999997601,-3.80005281928e-06,-6.91200472703e-05,-2.33411914186e-06,1793238268636615168
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746.659164713,716,680,666,636,880.340835287,788,803,653,632,654,0.40245773866,0.00449121594552,0.0699482802576,0.999999997585,-6.55020524035e-06,-6.89238173499e-05,-6.09140610758e-06,1793238268653281792
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.759489275,746.759489275,716,680,666.240510725,636,880.240510725,788,803,653.240510725,632,654,0.402655882233,0.00449243162298,0.0699490762591,0.999999997575,-9.27334214973e-06,-6.82689594841e-05,-1.01261562348e-05,1793238268669948672
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.168382596,746.168382596,716,680,666.831617404,636,880.831617404,788,803,653.831617404,632,654,0.402867802941,0.00449450181283,0.0699494107163,0.999999997582,-1.19570979928e-05,-6.69455530556e-05,-1.45653681914e-05,1793238268686615040
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.412934081,746,716,680,666.587065919,636,880.587065919,788,803.412934081,654,632,654,0.403105149727,0.00449481628948,0.0699530944415,0.999999997806,-1.62727496955e-05,-6.13212824549e-05,-1.90280854436e-05,1793238268703281664
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.990351119,746,716,680,666.009648881,636,880.009648881,788,803.990351119,654,632,654,0.403352624412,0.00449443141741,0.0699581122718,0.999999998041,-2.12384301569e-05,-5.39838598653e-05,-2.35001653915e-05,1793238268719948800
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.438342782,746,716,680,666,636,880.561657218,788,803.438342782,653.438342782,632,654,0.403639260182,0.00449601809248,0.0699681511286,0.99999999873,-2.09017752504e-05,-3.74464194801e-05,-2.64829371917e-05,1793238268736616704
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715.861804389,680,666,636,880.861804389,788,803,653,632,654,0.403931324694,0.00449726199329,0.0699752758509,0.999999999115,-1.71583656602e-05,-2.59065023324e-05,-2.83708203954e-05,1793238268753284096
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715.267660588,680,666,636,880.267660588,788,803,653,632,654,0.404239104428,0.00449726443636,0.0699725044529,0.999999999148,-2.4723646319e-06,-3.13707365891e-05,-2.67298466123e-05,1793238268769950208
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.317070134,746,715,680,666,636,880.317070134,788,803,653,632,653.682929866,0.404567006229,0.00449717173435,0.0699729629487,0.999999999111,4.13113448259e-06,-3.23914942181e-05,-2.66873239597e-05,1793238268786616320
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.894083801,746,715,680,666,636,880.894083801,788,803,653,632,653.105916199,0.404911404732,0.00449700102959,0.0699760694072,0.999999999158,4.1083595963e-06,-2.97693580708e-05,-2.79552589381e-05,1793238268803282688
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,715.471100908,680,666.471100908,636,880.528899092,788,803.471100908,653,632,653.471100908,0.405282686899,0.00449795974556,0.0699804524023,0.99999999939,2.4379208333e-06,-1.9295966147e-05,-2.90084377247e-05,1793238268819949568
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,715.95211208,680,667,636,880.04788792,788.04788792,803.95211208,653.04788792,632,654,0.405661998121,0.0044993800323,0.0699846153189,0.999999999515,7.54073342668e-07,-8.33961557719e-06,-3.00133761168e-05,1793238268836616704
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,715.377862271,680,667,636,880.622137729,788.622137729,803.377862271,653.622137729,632,654,0.406063126018,0.00450308265391,0.0699832046444,0.999999999449,2.99456937352e-06,-1.14769191133e-05,-3.10187873233e-05,1793238268853283584
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.798185399,746,715,679.798185399,666.798185399,636,880.798185399,788.798185399,803,653.596370797,632,654,0.406471229601,0.00450755631641,0.0699768438556,0.999999999196,9.16439544478e-06,-2.24464366418e-05,-3.19275691887e-05,1793238268869950464
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.208066545,746,715,679.208066545,666.208066545,636,880.208066545,788.208066545,803,652.41613309,632,654,0.406892754831,0.00451351351087,0.0699609587287,0.999999998029,2.28945046915e-05,-4.84856366271e-05,-3.2650429919e-05,1793238268886617600
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.373416144,746,715.373416144,679.373416144,666,636,880,788,803,652.373416144,632,654,0.407349803802,0.00451980288638,0.0699521502882,0.999999997148,3.37249562906e-05,-5.83753626563e-05,-3.40531330813e-05,1793238268903283712
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.950195539,746,715.950195539,679.950195539,666,636,880,788,803,652.950195539,632,654,0.407826199068,0.00452627316823,0.0699471958271,0.999999996666,4.29762475284e-05,-5.94700488894e-05,-3.58260799086e-05,1793238268919949568
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666.52706225,636,880,788,803.52706225,653,632,654,0.408356845048,0.00453004235394,0.0699641494026,0.999999997697,4.8658646268e-05,-2.93500107115e-05,-3.71101065608e-05,1793238268936616192
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.896146371,746,715.896146371,680,666.896146371,636,880.103853629,788.103853629,803.896146371,653,632,654,0.408895030021,0.00453384870959,0.0699803356879,0.999999997883,5.2543597691e-05,2.03078529771e-09,-3.838379096e-05,1793238268953283072
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.31973549,746,715.31973549,680,666.31973549,636,880.68026451,788.68026451,803.31973549,653,632,654,0.40944418885,0.00453898578103,0.0699836092454,0.999999997891,4.97845345228e-05,1.24358577549e-05,-3.98206718758e-05,1793238268969948928
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666,636,881,788.736701177,803,653,632,654,0.409991311545,0.00454458158124,0.0699793556498,0.999999997802,5.17678048451e-05,7.39420509356e-06,-4.07612002911e-05,1793238268986615808
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666,636,881,788.145416106,803,653,632,654,0.410535897941,0.00455074881168,0.0699657256259,0.999999997188,5.96585078247e-05,-1.94163126661e-05,-4.10834321798e-05,1793238269003282944
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666.435022868,636.435022868,881,788,803.435022868,653,632,654,0.4111230313,0.00455774409428,0.0699659769417,0.999999996411,7.07298387959e-05,-2.11736069115e-05,-4.15478907115e-05,1793238269019949824
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.011823471,746,715.011823471,680,666.988176529,636.988176529,880.988176529,788,804,653,632,653.988176529,0.411725130469,0.00456493937995,0.0699712011539,0.999999995598,8.27154965236e-05,-1.39268549091e-05,-4.20541378761e-05,1793238269036616960
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.583839662,746,715.583839662,680,666.416160338,636.416160338,880.416160338,788,804,653,632,653.416160338,0.412378851847,0.00456881532959,0.0699975389099,0.999999994617,8.88731940703e-05,3.27950523893e-05,-4.23425680589e-05,1793238269053283584
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.838415823,746,715.838415823,680,666.161584177,636,880.161584177,788,804,653,632,653.161584177,0.413041504711,0.00457355025546,0.0700219347425,0.99999999181,9.47957551783e-05,7.45138751618e-05,-4.29013460823e-05,1793238269069950208
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.245375791,746,715.245375791,680,666.754624209,636,880.754624209,788,804,653,632,653.754624209,0.413728006043,0.00458057878638,0.0700411453244,0.999999988723,0.000100090464048,0.000102873651382,-4.41819966895e-05,1793238269086616576
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746.339671196,715,680,667,636,881,788,804,653,632,654,0.414386869507,0.00458594749036,0.0700375711082,0.999999989109,0.000107353515226,9.09859935225e-05,-4.44816363985e-05,1793238269103282688
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746.919076797,715,680,667,636,881,788,804,653,632,654,0.415026226583,0.0045901447152,0.0700179157511,0.999999991015,0.000116005790062,5.06923501288e-05,-4.4088894478e-05,1793238269119949056
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746.504677461,715,680,666.504677461,636,880.504677461,788,804,653,632,654,0.415674960438,0.00459614959792,0.0699753684084,0.999999991426,0.000121431949909,-1.63771872001e-05,-4.61887071114e-05,1793238269136615936
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746.072538937,715,680,666.072538937,636,880.072538937,788,804,653,632,653.927461063,0.416334903992,0.00460176126423,0.0699364926247,0.999999988039,0.000125416460833,-7.64253087362e-05,-4.84898787006e-05,1793238269153282560
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746.660292631,715,680,666.660292631,636,880.660292631,788,804,653,632,653.339707369,0.417063653486,0.00460249578782,0.0699500895945,0.99999998968,0.000122881328399,-5.57297264031e-05,-4.93472333152e-05,1793238269169949952
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.244374673,746.755625327,715.244374673,680,667,636,881.244374673,788,803.755625327,652.755625327,632,653.244374673,0.417811923894,0.00460106126791,0.0699695016504,0.99999999133,0.000119315320413,-2.46123834875e-05,-4.99721965944e-05,1793238269186616832
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.823428354,746.176571646,715.823428354,680,667,636,881.823428354,788,803.176571646,652.176571646,632,653.823428354,0.418586928926,0.004596656173,0.0699968776564,0.999999991984,0.00011433749458,2.07779001264e-05,-5.02788925052e-05,1793238269203282688
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.598788262,746,716,680,667,636,881.598788262,788,803.401211738,652,632,654,0.419347225482,0.00459256613854,0.0700104694276,0.99999999222,0.000107542163728,3.79365512014e-05,-5.05449707365e-05,1793238269219949056
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.0215622,746,716,680,667,636,881.0215622,788,803.9784378,652,632,654,0.420101069281,0.00458861432352,0.0700180139594,0.999999992803,9.99494813986e-05,4.27097900006e-05,-5.07932297234e-05,1793238269236615680
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715.445579826,680,667,635.445579826,881.554420174,788,804,652,631.445579826,654,0.420874208173,0.00458484995978,0.0700272280235,0.99999999264,9.18034222663e-05,5.97169469241e-05,-5.22079093973e-05,1793238269253282304
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666.866440412,635.133559588,881.866440412,788,804,652,631,654,0.421640815776,0.00458270794082,0.0700315688827,0.999999992406,8.74691693684e-05,6.83673123046e-05,-5.35017437941e-05,1793238269269948672
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666.276344604,635.723655396,881.276344604,788,804,652,631,654,0.422382538612,0.00458608659156,0.0700190305991,0.999999992802,9.62379150105e-05,4.682958304e-05,-5.42277858847e-05,1793238269286615296
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666.308264633,636,881,788,803.691735367,652,631.308264633,654,0.423111149743,0.0045912915006,0.0699809968712,0.999999992786,0.000105100674796,-1.70144309864e-05,-5.56003862791e-05,1793238269303282176
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666.888041398,636,881,788,803.111958602,652,631.888041398,654,0.423828212358,0.00459810493416,0.0699205073652,0.999999984865,0.000114046238753,-0.000118120809905,-5.75424593429e-05,1793238269319949312
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.462981295,746,715,680,667,636,881,788,803.462981295,652,632,654,0.424596313773,0.00460101462656,0.0699035663305,0.99999998281,0.000114699952732,-0.000132693503873,-6.01360793635e-05,1793238269336616192
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,715.036840178,680,667,636.036840178,881.036840178,788,804.036840178,652.036840178,632,653.963159822,0.425379981991,0.00460271973618,0.0699011635142,0.999999984259,0.000113107733615,-0.000121562980682,-6.25453459097e-05,1793238269353282816
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,715.611816628,680,667,636.611816628,881.611816628,788,804.611816628,652.611816628,632,653.388183372,0.426212615416,0.00460047595286,0.0699588868409,0.999999991699,0.000107695389117,-3.74848278608e-05,-5.99839970888e-05,1793238269369948928
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,715.807007825,680,667,636.807007825,881.807007825,788,804.807007825,652.807007825,632,653.192992175,0.42702886152,0.0045991183647,0.0700055250025,0.999999992376,0.000105805063935,2.67099466387e-05,-5.77966669443e-05,1793238269386615040
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,715.212949539,680,667,636.212949539,881.212949539,788,804.212949539,652.212949539,632,653.787050461,0.427811052516,0.00459960241994,0.0700291265725,0.999999990994,0.000111234012954,4.95841530592e-05,-5.63866028395e-05,1793238269403281664
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.631621306,746,715.368378694,680,667.368378694,636,881.368378694,788,804,652,632,654,0.428602991269,0.0045988924655,0.0700402124476,0.999999990027,0.000111145320226,6.59468304897e-05,-5.69459161777e-05,1793238269419949056
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.057406194,746,715.942593806,680,667.942593806,636,881.942593806,788,804,652,632,654,0.429400376662,0.00459751534249,0.0700443050129,0.999999989359,0.0001079735726,7.86711044572e-05,-5.86056450397e-05,1793238269436616704
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715.483539587,680.516460413,668.516460413,636,882,788,803.483539587,652,632,654,0.430148061116,0.00459573801417,0.0700333780724,0.99999999051,0.000107714212363,6.26432927664e-05,-5.87671391678e-05,1793238269453283840
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.093021066,746.093021066,715,681,668.813957867,636,881.906978934,788,803.186042133,652,632,654,0.430876676487,0.00459444303224,0.070013962534,0.999999991963,0.000107743651876,3.15658171995e-05,-5.8898422163e-05,1793238269469950720
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.684217005,746.684217005,715,681,667.631565991,636,881.315782995,788,804.368434009,652,632,654,0.431532733348,0.00459596933336,0.0699580210604,0.999999990442,0.000107587239222,-6.30061859141e-05,-5.97591786968e-05,1793238269486616320
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.730045427,746.730045427,715.269954573,680.730045427,667.269954573,636,881.269954573,788,804.730045427,652,632,654,0.43222954004,0.00459744773163,0.0699259201091,0.999999985861,0.000107409963161,-0.000114439597003,-6.03774409771e-05,1793238269503282176
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.150566357,746.150566357,715.849433643,680.150566357,667.849433643,636,881.849433643,788,804.150566357,652,632,654,0.432973069625,0.00459887120535,0.069921154226,0.999999985634,0.000107208766392,-0.000116411158028,-6.07176646228e-05,1793238269519948544
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.426261382,746,715.573738618,680.852522764,667.573738618,636.426261382,882,788,804,652,632,653.573738618,0.433766793192,0.00459610647459,0.0699645203661,0.999999992286,0.000100952833449,-3.88788076116e-05,-6.10274035131e-05,1793238269536614912
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.997810101,746,715,681.997810101,667.002189899,636.997810101,881.997810101,788,804,652.002189899,632,653.002189899,0.434577676029,0.00459189079274,0.0700246213754,0.999999991636,9.26198565172e-05,6.62497866657e-05,-6.13198240807e-05,1793238269553281536
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.413519185,746,715,681.413519185,667.586480815,636.413519185,881.413519185,788,804,652.586480815,632,653.586480815,0.435266022871,0.00459280122292,0.0700417950406,0.9999999896,9.71585734157e-05,8.81863450109e-05,-5.98535469595e-05,1793238269569948160
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715.170124159,681,667.829875841,636,881,788.170124159,804,652.829875841,632,654,0.435947836644,0.00459245684149,0.0700484096111,0.999999988634,9.99511014717e-05,9.61999230244e-05,-5.90616545828e-05,1793238269586614784
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715.752199546,681,667.247800454,636,881,788.752199546,804,652.247800454,632,654,0.436613830899,0.00458907396657,0.0700294556118,0.999999990868,9.85152796518e-05,7.04993708299e-05,-5.99027670615e-05,1793238269603281664
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715.6686611,681,667.3313389,636,881.3313389,788.6686611,804,652,632,654,0.43726737956,0.00458795343914,0.0700118225605,0.999999992248,9.66692995363e-05,4.95050728288e-05,-6.08891547829e-05,1793238269619948544
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715.091698285,681,667.908301715,636,881.908301715,788.091698285,804,652,632,654,0.437911702175,0.00458851000642,0.0699951687385,0.9999999931,9.45192662154e-05,3.19995565503e-05,-6.19832360453e-05,1793238269636615168
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.483826296,746,715,681.483826296,668,636,882,788,804,652,632,654,0.438536259466,0.00458969748072,0.0699749676723,0.999999993864,9.07661701153e-05,6.92902882135e-06,-6.31349778771e-05,1793238269653281536
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.940880753,746,715,682,668,636,881.940880753,788,804,652,632,653.940880753,0.439150332451,0.00459085081622,0.0699535126912,0.999999993905,8.72644467125e-05,-2.16132018473e-05,-6.40997537909e-05,1793238269669948160
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.365237019,746,715,682,668,636,881.365237019,788,804,652,632,653.365237019,0.439705436495,0.00459066425949,0.0699269587322,0.999999991757,8.86056072715e-05,-6.79979149113e-05,-6.33358128819e-05,1793238269686614784
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715.21619489,682,667.78380511,636,881.21619489,788,804,652,632,653,0.440272019271,0.00459029533353,0.0699166667918,0.999999990438,8.92908678354e-05,-8.50369324428e-05,-6.26084656046e-05,1793238269703281664
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715.80767421,682,667.19232579,636,881.80767421,788,804,652,632,653,0.440858527481,0.00458960983984,0.0699346034695,0.999999992828,8.88375767822e-05,-5.11358764648e-05,-6.19446400344e-05,1793238269719948288
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715.610098381,682,667.389901619,636,882,788,804,652.389901619,632,653.389901619,0.441454945019,0.00458771267689,0.0699735237362,0.999999994449,8.50577226995e-05,6.37320055814e-06,-6.18659662591e-05,1793238269736615168
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,715.032328807,682,667.967671193,636,882,788,804,652.967671193,632,653.967671193,0.442056137264,0.00458523169013,0.0700225546166,0.999999992068,7.96750162536e-05,7.52574337682e-05,-6.20692383786e-05,1793238269753282048
+201,3.350000000,POSE1_TO_POSE2_PRESS,766.543179234,746,715.543179234,681.456820766,668,636,881.456820766,788,804,652.456820766,632,654,0.442588038918,0.00458418539864,0.0700380022605,0.999999990753,7.50692541758e-05,9.45646476914e-05,-6.25754901411e-05,1793238269769948416
+202,3.366666667,POSE1_TO_POSE2_PRESS,766.878415073,746,715.878415073,681.121584927,667.878415073,636,881.121584927,788,804,652,632,654,0.443096253709,0.00458383789099,0.0700436973755,0.999999990437,7.31383883058e-05,9.92359019319e-05,-6.26847674521e-05,1793238269786615040
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.28832719,746,715.28832719,681.71167281,667.28832719,636,881.71167281,788,804,652,632,654,0.443529021296,0.0045858553372,0.0700194831274,0.999999993089,8.13372479454e-05,5.8833279369e-05,-6.1195186875e-05,1793238269803281664
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715.295899842,681.704100158,667,636,882,788,804,652,632,653.704100158,0.443943189206,0.00459015103458,0.0699902584212,0.999999993925,9.19366240787e-05,1.09380237404e-05,-5.98090748223e-05,1793238269819948288
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715.874526894,681.125473106,667,636,882,788,804,652,632,653.125473106,0.444339585417,0.00459662356164,0.0699562463099,0.99999999182,0.000104829651841,-4.41163115272e-05,-5.85218251834e-05,1793238269836614912
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,715.549866064,681.450133936,666.549866064,636,882,788,804.450133936,652,632,653,0.44471995596,0.00460088400094,0.0699268141905,0.999999987639,0.000112909896608,-9.24311319837e-05,-5.85635974725e-05,1793238269853281536
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,715,682,666,636,882,788,804.975157586,652,632,653,0.445095434242,0.00460452353502,0.0698990609952,0.999999981618,0.000119399420622,-0.000137929174458,-5.90173997721e-05,1793238269869948416
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,715,682,666,636,882,788,804.401825707,652,632,653,0.445460868192,0.00460797752904,0.0698803772404,0.999999977758,0.000120190057973,-0.000162437319232,-6.04435334769e-05,1793238269886615040
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,715.177132633,682,666,635.822867367,881.822867367,788,804,652,632,653,0.445813308758,0.00461142722735,0.0698647021675,0.999999974044,0.000121170668301,-0.000182852228625,-6.15944168407e-05,1793238269903281664
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,715.769273253,682,666,635.230726747,881.230726747,788,804,652,632,653,0.446135306787,0.00461486686064,0.0698560762053,0.999999971801,0.000122596370565,-0.000193677002556,-6.21004099275e-05,1793238269919948544
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,766.601453472,746.398546528,715,682,666,636,881.398546528,788,805,652,632.398546528,653,0.438253021274,0.00459154237156,0.0697504122966,0.99999990739,0.000200987644619,-0.000380086802305,1.89334145013e-05,1793238271954200576
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,715,682,666.187559692,636.187559692,881,788.187559692,805,652,632,653.187559692,0.437617515104,0.00458758254894,0.0697353740431,0.999999904056,0.000181639552695,-0.000398208758379,1.80276640145e-05,1793238271970867200
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,715,682,666.767019124,636.767019124,881,788.767019124,805,652,632,653.767019124,0.436979472109,0.00458337140319,0.0697524666533,0.99999991766,0.000157850572602,-0.000373348401915,1.93305204383e-05,1793238271987533824
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746,715,682,667,636.311287522,881.344356239,788.655643761,805,652,632,653.655643761,0.436329104764,0.00458002702204,0.0697814889086,0.999999935221,0.000144722168286,-0.00032884638811,2.17681973608e-05,1793238272004200448
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,715,682,667,635.159467539,881.920266231,788.079733769,805,652,632,653.079733769,0.435670450243,0.00457726547526,0.0698185329549,0.999999953303,0.00013876220257,-0.000271136832642,2.49689558881e-05,1793238272020867072
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766.494495554,746.505504446,715,681.494495554,666.494495554,635.505504446,881.494495554,788,804.494495554,652,632,653.505504446,0.434991612512,0.00457272639667,0.0698319871235,0.999999957704,0.000127270170693,-0.000260202607656,2.62556209559e-05,1793238272037533696
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766.091117049,746.908882951,715,681.091117049,666.091117049,636,881,788,804,652.091117049,632,654,0.434301668196,0.00456818302712,0.0698380113965,0.999999958573,0.000117797164618,-0.000261221884498,2.72360444954e-05,1793238272054200064
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766.670700463,746.329299537,715,681.670700463,666.670700463,636,881,788,804,652.670700463,632,654,0.433569570494,0.00456514795076,0.0698245270141,0.999999951019,0.000123913613797,-0.000286026637914,2.822368626e-05,1793238272070866688
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766.749979739,746.250020261,715.250020261,682,666.749979739,636,881.250020261,788,804,652.749979739,632,654,0.432840023636,0.00456173256722,0.0698203798623,0.999999949442,0.000126050709842,-0.000290525225108,2.86887777161e-05,1793238272087534080
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766.171006701,746.828993299,715.828993299,682,666.171006701,636,881.828993299,788,804,652.171006701,632,654,0.432113832831,0.0045578168114,0.069828517745,0.999999956042,0.000122952154037,-0.000268306902016,2.84663475376e-05,1793238272104201984
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746.595786982,716,681.595786982,666,636,881.595786982,788,804,652,632,654,0.431327584473,0.00455338867778,0.0698091778065,0.999999947227,0.00011680853682,-0.000301792746233,2.86771200102e-05,1793238272120868352
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,746.022140572,716,681.022140572,666,636,881.022140572,788,804,652,632,654,0.430516161919,0.00454874577174,0.0697783200286,0.999999929288,0.000109388525444,-0.000358628027063,2.90694773548e-05,1793238272137534464
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,746,715.437852982,681.562147018,666,636,881,788,804,652.562147018,632.562147018,653.437852982,0.429754270646,0.00454536512915,0.0697513609521,0.99999991494,0.000108710186251,-0.000396797645076,2.92231792816e-05,1793238272154201088
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,746,715.146742295,681.853257705,666.146742295,636,881.146742295,788,804.146742295,653,632.853257705,653,0.429003368334,0.00454134217073,0.0697437208383,0.999999911211,0.000104816396407,-0.000407085337603,2.95332800893e-05,1793238272170867456
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,715.730981234,681.269018766,666.730981234,636,881.730981234,788,804.730981234,653,632.269018766,653,0.428279300089,0.00453525313529,0.0697932115355,0.999999938833,9.05291690611e-05,-0.000336480108801,3.03382323124e-05,1793238272187534080
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,746,716,681.311100758,667,636,881.688899242,788,804.688899242,653,632.311100758,653.311100758,0.427545742862,0.00453042747102,0.0698350844761,0.999999959115,8.40840878191e-05,-0.000271442088101,3.19233503006e-05,1793238272204200448
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,746,716,681.887704614,667,636,881.112295386,788,804.112295386,653,632.887704614,653.887704614,0.42680408748,0.00452668000748,0.069870456183,0.999999973567,8.43317396573e-05,-0.000211155300447,3.41742860777e-05,1793238272220867072
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.459747115,746,716,681.540252885,666.540252885,636,881,788,804,653,633,653.540252885,0.426005410687,0.00451907691449,0.069861030322,0.999999969305,7.82964744844e-05,-0.000232404150244,3.53172826312e-05,1793238272237533696
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,715.377270274,681,666,636,881,788,804,653,633,653.622729726,0.424418549607,0.00450587524823,0.0698228758059,0.99999995287,6.53084449329e-05,-0.000297991381114,3.4570561636e-05,1793238272270867712
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,715.209611551,681,666.209611551,636,881,788.209611551,804.209611551,653,632.790388449,654,0.423626099848,0.00450098720403,0.0697995671233,0.999999941665,6.0068148686e-05,-0.000334501574225,3.41998621275e-05,1793238272287534848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,715.789281604,681,666.789281604,636,881,788.789281604,804.789281604,653,632.210718396,654,0.422805200754,0.00449605571746,0.0697669124017,0.999999921568,5.53594750969e-05,-0.00039053353343,3.58130081667e-05,1793238272304201216
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.63279146,746,715.63279146,681.36720854,666.63279146,636,881,789,804.63279146,653,632,654,0.422001704619,0.00449020853802,0.0697411443678,0.999999904216,4.96546130848e-05,-0.000433327063255,3.64591107538e-05,1793238272320867840
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.0558601,746,715.0558601,681.9441399,666.0558601,636,881,789,804.0558601,653,632,654,0.421208147839,0.00448383838169,0.0697193095112,0.999999888617,4.33808009721e-05,-0.000468559761451,3.65529083427e-05,1793238272337534464
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,746,715.519721637,680.960556726,666,636,881,788.480278363,804,653,632,654,0.420497158618,0.00447440703047,0.0697706337197,0.99999992593,1.84529498319e-05,-0.000382958313206,3.37943700424e-05,1793238272354201088
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,746.097506407,715.902493593,680.097506407,666,636,881,788.097506407,804,653,632,654,0.419796680678,0.00446557226984,0.06982609753,0.999999957058,-2.45368290583e-06,-0.000291312027501,3.18723472845e-05,1793238272370867712
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746.687140387,715.312859613,680.687140387,666,636,881,788.687140387,804,653,632,654,0.41910458018,0.0044614048843,0.0698628706675,0.999999971834,7.02834096232e-06,-0.000234535758476,3.57156273205e-05,1793238272387534336
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.272215121,746.727784879,715.272215121,681,666,636,881,788.727784879,804,653,632,654,0.418385082827,0.00445633931559,0.0698747343429,0.99999997519,9.80859351589e-06,-0.000219255493507,3.80804586046e-05,1793238272404201216
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.852136147,746.147863853,715.852136147,681,666,636,881,788.147863853,804,653,632,654,0.417634616727,0.00445025846096,0.0698584409154,0.999999967765,5.01331255131e-06,-0.000250881390793,3.87740841939e-05,1793238272420868096
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,716,681,666,636,880.572553041,788.427446959,804,653,632.427446959,654,0.416894452982,0.00444541496001,0.0698309383817,0.999999958892,-6.23684197354e-06,-0.000284277595763,3.69312074728e-05,1793238272437534976
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.42756001,746.57243999,715.42756001,681,666.57243999,636,880.57243999,788.42756001,804,653,633,654,0.41543871601,0.00443800150584,0.0697971834504,0.999999946271,-2.26993339486e-05,-0.000325142631077,3.49886982258e-05,1793238272470867968
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,746.849504743,715,680.849504743,666.849504743,636,881,788,804,653,632.849504743,654,0.414722413979,0.004437431346,0.0697904339346,0.999999941223,-2.33901068998e-05,-0.000340189976103,3.5742115011e-05,1793238272487534336
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,746.251246543,715,680.251246543,666.251246543,636,881,788,804,653,632.251246543,654,0.414014540499,0.004444079719,0.0697709685269,0.999999927207,-1.71367365756e-05,-0.000379422246828,3.6472081382e-05,1793238272504200960
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.334113185,746,715.334113185,680,666,636.334113185,880.665886815,788,804,653,632,654,0.413372722204,0.00445722546481,0.0697793944537,0.999999933749,1.04984897313e-06,-0.000362210374812,3.61069371861e-05,1793238272520867328
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.910134008,746,715.910134008,680,666,636.910134008,880.089865992,788,804,653,632,654,0.412778729822,0.00447507549663,0.069808014517,0.999999952753,2.78764281547e-05,-0.000304131302744,3.49489010388e-05,1793238272537534208
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.514641407,746,716,680,666.485358593,636.514641407,880,788,803.514641407,653,632,654,0.412198329845,0.00447615030244,0.069845589189,0.999999969679,3.25497084847e-05,-0.000241437927225,3.59254121421e-05,1793238272554201600
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.061709314,746,716,680,667,636,880,788,803.061709314,653,632.061709314,654,0.411617250113,0.00447309520041,0.0698800080591,0.999999981507,3.11507979103e-05,-0.000186118485488,3.70932528132e-05,1793238272570869248
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.648903,746,716,680,667,636,880,788,803.648903,653,632.648903,654,0.411008986241,0.0044612776877,0.0698734583962,0.999999979078,1.2915583139e-05,-0.000200854959854,3.65303856854e-05,1793238272587535360
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,715.76690416,680,666.76690416,636,880,788,804,653,632.76690416,654,0.410401185289,0.00445507421161,0.0698575401536,0.99999997304,2.98298444792e-06,-0.000229408130609,3.58149882726e-05,1793238272604201728
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,715.1871739,680,666.1871739,636,880,788,804,653,632.1871739,654,0.409794072793,0.00445721931257,0.0698276899931,0.999999960594,5.39712217489e-06,-0.000278507966594,3.48727646578e-05,1793238272620868096
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,715.391442521,680,666.391442521,636.391442521,880,788,803.608557479,653,632,653.608557479,0.409223728811,0.00445974028223,0.0698046150155,0.999999948696,9.14153305386e-06,-0.000318348722903,3.43379081121e-05,1793238272637534720
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,715.969527906,680,666.969527906,636.969527906,880,788,803.030472094,653,632,653.030472094,0.408670916291,0.00446244046921,0.0697847704957,0.999999936752,1.35202288115e-05,-0.00035377468166,3.39972872851e-05,1793238272654201600
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.456656875,636.456656875,880,788,803,653,632.543343125,653.543343125,0.408183923037,0.00446572186238,0.0697961324837,0.999999945767,1.27049459909e-05,-0.000327421903107,3.31600541267e-05,1793238272670868992
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.710168786,666.710168786,636.710168786,880,788.710168786,803.710168786,653,633,654,0.40724302296,0.00447432898473,0.0698271665863,0.99999996089,1.96300323152e-05,-0.000277036246958,3.29478019827e-05,1793238272704203776
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,715.705004579,680.705004579,666.705004579,637,880.294995421,788.705004579,804,653,632.705004579,654,0.406781489795,0.00447472264751,0.0698312192441,0.999999960759,1.90846952785e-05,-0.000277527273519,3.31053057475e-05,1793238272720869888
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,715.125094707,680.125094707,666.125094707,637,880.874905293,788.125094707,804,653,632.125094707,654,0.406320341381,0.00447070778008,0.0698226544378,0.999999954419,1.17513958917e-05,-0.000299887738092,3.30327890815e-05,1793238272737535232
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,715.973891416,680,666,636,881,788,804,653,632,654,0.405493235633,0.00447380655181,0.0698065219128,0.999999946558,1.45978275846e-05,-0.000324992433677,3.24217580928e-05,1793238272770868224
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,666.77934406,636,881,788,804,653,632,654,0.404491599234,0.00447148441261,0.0698521827419,0.999999969967,1.90709952127e-05,-0.000242309367141,3.14345506126e-05,1793238272820867328
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746.932788427,715.932788427,679.067211573,666.067211573,636,881,788,804,653,632,654,0.403862676565,0.00446764842593,0.0698522283139,0.999999970233,1.26096224057e-05,-0.000241745660015,3.05699631945e-05,1793238272854202368
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746.494017551,716,679.505982449,666,636,881,788,804,653,632,654,0.40357460279,0.00446963136973,0.0698411807171,0.999999965965,1.00355604844e-05,-0.000259057831637,2.92802017609e-05,1793238272870868992
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.081627724,666.081627724,636,880.918372276,788,804,653,632,654,0.403295317659,0.00447181977634,0.0698310998977,0.999999961767,7.78273242185e-06,-0.000274988541596,2.80371030173e-05,1793238272887535872
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,716,680.675022303,666.675022303,636,880.324977697,788,804,653,632,654,0.403049112922,0.00447201688806,0.0698330786844,0.999999962178,5.97316514645e-06,-0.000273574149711,2.76521468835e-05,1793238272904202240
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.476874416,666.738437208,636,880,788.261562792,803.738437208,653,632,654,0.402813756513,0.00447202053594,0.0698309020343,0.999999960842,4.73454983433e-06,-0.000278476400382,2.72836803046e-05,1793238272920868608
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,716,679.320390275,666.160195137,636,880,788.839804863,803.160195137,653,632,654,0.402591534405,0.00447178995328,0.0698236943138,0.99999995728,4.18719753703e-06,-0.000291026335983,2.69351779781e-05,1793238272937534208
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,716,679.41379514,666,636,880,788.58620486,803,653,632,654,0.402392648591,0.00447463030388,0.0698193445041,0.999999954614,7.18527465994e-06,-0.000299996294087,2.68816575539e-05,1793238272954200576
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,716,679.986156122,666,636,880,788.013843878,803,653,632,654,0.402202705224,0.00447864743273,0.0698160898428,0.999999952263,1.154195644e-05,-0.000307594408464,2.69411738767e-05,1793238272970867200
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,715.424366121,680,666,636,880,788,803,653,632,654,0.402051958047,0.00448452198548,0.0698184323948,0.999999953541,2.02398837661e-05,-0.00030291137195,2.74431429614e-05,1793238272987534080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,715.162337495,680,666,636,880,788,803,653,632,653.837662505,0.401905855669,0.00448956914156,0.0698198884041,0.999999954281,2.79550185109e-05,-0.000299822965493,2.76046952928e-05,1793238273004200960
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,715.740841606,680,666,636,880,788,803,653,632,653.259158394,0.40176917002,0.00449237716485,0.0698187160162,0.999999953617,3.28748186029e-05,-0.000301602920664,2.68654440007e-05,1793238273020867840
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.680783644,746,715.680783644,680,666,636,880,788,803,653,632,653,0.4016480398,0.00449283466155,0.0698186129776,0.999999953839,3.43846120775e-05,-0.000300723547629,2.65348879636e-05,1793238273037534464
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.102513812,746,715.102513812,680,666,636,880,788,803,653,632,653,0.401539533256,0.004491384637,0.0698193777474,0.999999954791,3.31270852675e-05,-0.000297686051614,2.65360000848e-05,1793238273054201088
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.473972359,746,715,680,666,636,880,788,803,653,632,653.473972359,0.401445467388,0.00449285900135,0.0698185464707,0.99999995411,3.27242123921e-05,-0.000300084820568,2.56465390017e-05,1793238273070867712
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745.948807448,715,680,666,636,880.051192552,788,803,653,632,654,0.401356692828,0.00449459346731,0.069817341146,0.999999953192,3.20234757871e-05,-0.000303295239923,2.45590409319e-05,1793238273087534080
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745.359838536,715,680,666,636,880.640161464,788,803,653,632,654,0.401290815836,0.00449244075006,0.0698158192121,0.99999995356,2.62591238073e-05,-0.000302726686687,2.34070395354e-05,1793238273104200448
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745.224978754,715.224978754,680,666,636,880.775021246,788,803,653,632,654,0.401230182345,0.00449081825168,0.0698156642327,0.999999954244,2.16047063633e-05,-0.000300890425738,2.2588933919e-05,1793238273120867072
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745.80327608,715.80327608,680,666,636,880.19672392,788,803,653,632,654,0.401177783532,0.00449002843727,0.0698176559914,0.999999955453,1.86933893567e-05,-0.000297063289373,2.22951960228e-05,1793238273137534208
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.619834006,746,716,680,666.380165994,636,880,788,803.380165994,653,632,653.619834006,0.401136568685,0.00448951362477,0.0698211755684,0.999999957212,1.75798647985e-05,-0.000291143235745,2.24217072145e-05,1793238273154201344
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.043669715,746,716,680,666.956330285,636,880,788,803.956330285,653,632,653.043669715,0.401101119843,0.00448914059221,0.0698254828269,0.999999959221,1.73932098129e-05,-0.000284144158258,2.27648819427e-05,1793238273170868480
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.529785336,746,715.470214664,680,666.470214664,636,880,788,804,653,632,653.529785336,0.401072996328,0.00448845312112,0.06982639888,0.99999995943,1.95992311525e-05,-0.000283246196162,2.2947081106e-05,1793238273187534848
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.893131064,746,715,680,666,636,880,788,804,653,632,654,0.401047638953,0.00448804609294,0.0698271121231,0.999999959618,2.13266970981e-05,-0.000282448945941,2.3074300439e-05,1793238273204201216
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.298471412,746,715,680,666,636,880,788,804,653,632,654,0.401032165264,0.00448903681548,0.0698281690724,0.999999960384,1.99742171837e-05,-0.000279827591883,2.30108276925e-05,1793238273220867328
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.712261795,666,636.287738205,880,788,803.712261795,653,632,654,0.40102032867,0.00448936132359,0.0698302325707,0.99999996142,2.01462390402e-05,-0.000276092213099,2.29705172557e-05,1793238273237533696
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.13456728,666,636.86543272,880,788,803.13456728,653,632,654,0.401012157207,0.00448901448171,0.0698333103773,0.999999962714,2.18545145199e-05,-0.000271234221523,2.29535476731e-05,1793238273254200320
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766.440351904,746,715.440351904,679.440351904,666,636.559648096,880,788,803.440351904,653,632,654,0.40100298343,0.00448908075522,0.0698333825736,0.999999962674,2.22719903702e-05,-0.000271347525579,2.29349310454e-05,1793238273270866944
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,880,788,804,653,632,653.985238545,0.400993674906,0.00448929064686,0.0698325882847,0.999999962255,2.22835524739e-05,-0.000272887967851,2.2907037858e-05,1793238273287533824
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,880,788,804,653,632,653.397904465,0.400990946054,0.00449020511897,0.0698335878643,0.999999962727,2.17548558795e-05,-0.000271227330968,2.25387228259e-05,1793238273304200704
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.187048245,880,788,804,653,632,653.187048245,0.400989056384,0.00449003673582,0.0698345935845,0.999999963227,2.0977868008e-05,-0.000269453557955,2.23872727729e-05,1793238273320867328
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.766998759,880,788,804,653,632,653.766998759,0.400988929451,0.00448759377211,0.0698356122031,0.999999963786,1.96793344792e-05,-0.00026744213811,2.26913562437e-05,1793238273337533952
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.654573316,746,715.654573316,680,666.345426684,636.654573316,880.345426684,788,804,653,632,654,0.400989094681,0.00448841367892,0.0698369469396,0.999999964293,2.07738984353e-05,-0.000265465895999,2.25959689828e-05,1793238273354200320
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.07716794,746,715.07716794,680,666.92283206,636.07716794,880.92283206,788,804,653,632,654,0.400989456119,0.00449142483643,0.0698384939719,0.999999964758,2.34755983311e-05,-0.000263513278331,2.2232308581e-05,1793238273370866944
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.498665464,745.501334536,715,680,666.501334536,636,880.501334536,788,804,653,632,654,0.400988926947,0.00449080689249,0.0698385843785,0.999999964847,2.27687078896e-05,-0.000263239866153,2.21721728465e-05,1793238273387533824
+417,6.950000000,POSE2_TO_POSE3_RETREAT,767,745.07590653,715,680,666,636,880,788,803.92409347,653,632,654,0.400988379548,0.00448987654517,0.0698386500066,0.999999964926,2.19642060962e-05,-0.00026300878761,2.21675196571e-05,1793238273404200704
+418,6.966666667,POSE2_TO_POSE3_RETREAT,767,745.664288204,715,680,666,636,880,788,803.335711796,653,632,654,0.400988636661,0.00449061670576,0.0698400654037,0.999999965321,2.40506987563e-05,-0.000261314647421,2.22213337974e-05,1793238273420867328
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766.751339721,746,715,680.248660279,666.248660279,636,880,788,803.248660279,653,632,654,0.400989219605,0.00449053660983,0.0698408833229,0.99999996559,2.48684964883e-05,-0.000260203509708,2.22433125334e-05,1793238273437533952
+420,7.000000000,POSE2_TO_POSE3_RETREAT,766.172294953,746,715,680.827705047,666.827705047,636,880,788,803.827705047,653,632,654,0.400990235467,0.00448936667357,0.0698409073986,0.9999999657,2.40006327366e-05,-0.000259866982715,2.22229929094e-05,1793238273454200576
+421,7.016666667,POSE2_TO_POSE3_RETREAT,766.404521165,746,715.404521165,680.595478835,666.595478835,636,880,788,804,653,632,654,0.4009894072,0.00449040551098,0.0698409180478,0.999999965728,2.45080960795e-05,-0.000259727936264,2.20281391941e-05,1793238273470867200
+422,7.033333333,POSE2_TO_POSE3_RETREAT,766.980393214,746,715.980393214,680.019606786,666.019606786,636,880,788,804,653,632,654,0.400987797779,0.00449237996162,0.0698409230098,0.999999965721,2.55981334789e-05,-0.000259672540503,2.17593546856e-05,1793238273487534080
+423,7.050000000,POSE2_TO_POSE3_RETREAT,766.432285735,746,715.432285735,680,666,636,880,788,803.432285735,653,632,653.432285735,0.400988726557,0.00449052500683,0.0698414984199,0.999999965928,2.4043138673e-05,-0.000258984925037,2.22066189002e-05,1793238273504200448
+424,7.066666667,POSE2_TO_POSE3_RETREAT,766.153378217,746,715,680,666,636,880,788,803,653,632,653.153378217,0.400989242511,0.00448931332081,0.0698418048766,0.999999966,2.30601873004e-05,-0.00025877256893,2.24736686355e-05,1793238273520867072
+425,7.083333333,POSE2_TO_POSE3_RETREAT,766.733311356,746,715,680,666,636,880,788,803,653,632,653.733311356,0.400988361564,0.00449026598422,0.0698413074381,0.999999965683,2.39274050825e-05,-0.000259943913608,2.21693395175e-05,1793238273537533952
+426,7.100000000,POSE2_TO_POSE3_RETREAT,766.689292671,746,715.310707329,680,666,636,880,788,803.310707329,653,632,654,0.40098760846,0.00449070706686,0.0698410090268,0.999999965502,2.42562867112e-05,-0.000260627434308,2.19156021573e-05,1793238273554200576
+427,7.116666667,POSE2_TO_POSE3_RETREAT,766.11405681,746,715.88594319,680,666,636,880,788,803.88594319,653,632,654,0.400986964198,0.00449071260223,0.0698408800623,0.99999996544,2.41268422117e-05,-0.000260895633681,2.1704937384e-05,1793238273570867456
+428,7.133333333,POSE2_TO_POSE3_RETREAT,766.460748716,746,715.539251284,680,666,636,880,788,803.539251284,653,632,654,0.400988378298,0.0044905977067,0.0698416888442,0.999999965951,2.22600408711e-05,-0.000259102641324,2.16381378493e-05,1793238273587533824
+429,7.150000000,POSE2_TO_POSE3_RETREAT,767,746,715.036502555,680,666,636,880.036502555,788,803.036502555,653,632,654,0.400990251668,0.00449043601396,0.0698427738812,0.999999966592,2.01469918882e-05,-0.000256794156468,2.16029703033e-05,1793238273604200704
+430,7.166666667,POSE2_TO_POSE3_RETREAT,767,746,715.628301024,680,666,636,880.628301024,788,803.628301024,653,632,654,0.400991367535,0.0044900155144,0.0698445333735,0.999999967193,2.08243470808e-05,-0.000254398544959,2.15077416261e-05,1793238273620867328
+431,7.183333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,881,788.207586692,804,653,632,654,0.400991815409,0.00448923028628,0.0698454184497,0.999999967481,2.06456232997e-05,-0.000253267745795,2.16224830074e-05,1793238273637533696
+432,7.200000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,881,788.765741118,804,653,632,654,0.400991135189,0.0044878291127,0.069844826832,0.999999967248,1.90211727144e-05,-0.000254272932878,2.20918170854e-05,1793238273654200320
+433,7.216666667,POSE2_TO_POSE3_RETREAT,766.652877795,746,715.652877795,680,666,636,880.652877795,789,804,653,632,654,0.400991317204,0.00448931863091,0.069844543474,0.999999967173,2.08580472765e-05,-0.000254438371106,2.19039650043e-05,1793238273670867200
+434,7.233333333,POSE2_TO_POSE3_RETREAT,766.054697961,746,715.054697961,680,666,636,880.054697961,789,804,653,632,654,0.400992122835,0.00449289885448,0.0698444830663,0.9999999672,2.51983402599e-05,-0.000253996457294,2.12408001739e-05,1793238273687533824
+435,7.250000000,POSE2_TO_POSE3_RETREAT,766.52247135,746,715.52247135,680,666,636,880,788.47752865,803.47752865,653,632,654,0.400990397462,0.00449182631422,0.069843626835,0.999999966858,2.46018648499e-05,-0.000255395384324,2.12800820474e-05,1793238273704200448
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70d6d0f248906d7dcd4ff30e3a93aa84ca2c12c7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,437 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+1,0.016666667,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+2,0.033333333,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+3,0.050000000,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+4,0.066666667,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+5,0.083333333,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+6,0.100000000,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+7,0.116666667,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+8,0.133333333,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+9,0.150000000,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+10,0.166666667,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+11,0.183333333,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+12,0.200000000,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+13,0.216666667,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
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+379,6.316666667,pose2_to_pose3_retreat,0.582550380801,0.0100013268243,1.06001159273,0.553121655331,0.0186749871935,1.05966111823
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+381,6.350000000,pose2_to_pose3_retreat,0.581875097392,0.01000131017,1.0600118253,0.552446373862,0.0186749758559,1.05966136179
+382,6.366666667,pose2_to_pose3_retreat,0.581565173218,0.0100012629072,1.06001163431,0.55213644902,0.0186749258281,1.0596611777
+383,6.383333333,pose2_to_pose3_retreat,0.581267150829,0.0100012219715,1.06001165784,0.551838429249,0.0186748927187,1.05966119456
+384,6.400000000,pose2_to_pose3_retreat,0.580980361373,0.0100013578696,1.06001175259,0.551551637915,0.018675021398,1.05966128753
+385,6.416666667,pose2_to_pose3_retreat,0.580706455609,0.0100013355009,1.060011715,0.551277731645,0.0186749967534,1.05966125196
+386,6.433333333,pose2_to_pose3_retreat,0.580447601169,0.0100012634176,1.06001168999,0.551018878739,0.0186749292499,1.05966122996
+387,6.450000000,pose2_to_pose3_retreat,0.580206388906,0.0100012337855,1.06001174066,0.550777668482,0.0186749056017,1.05966128022
+388,6.466666667,pose2_to_pose3_retreat,0.579982257467,0.0100011360703,1.06001166371,0.550553537261,0.0186748080288,1.05966119637
+389,6.483333333,pose2_to_pose3_retreat,0.579775185062,0.0100011796297,1.06001142989,0.550346464735,0.0186748512189,1.05966097233
+390,6.500000000,pose2_to_pose3_retreat,0.579586227057,0.0100011946729,1.06001140809,0.550157506237,0.0186748640974,1.05966094925
+391,6.516666667,pose2_to_pose3_retreat,0.579414402459,0.0100012334627,1.06001155455,0.549985680696,0.0186748991278,1.05966109262
+392,6.533333333,pose2_to_pose3_retreat,0.579258902663,0.0100012440323,1.06001166382,0.549830181082,0.0186749098659,1.05966119993
+393,6.550000000,pose2_to_pose3_retreat,0.579118214977,0.0100012105414,1.06001162989,0.549689494505,0.0186748799225,1.05966116801
+394,6.566666667,pose2_to_pose3_retreat,0.578993101409,0.0100011792335,1.0600115105,0.549564380874,0.0186748484747,1.05966105651
+395,6.583333333,pose2_to_pose3_retreat,0.578878744353,0.0100012832372,1.06001176651,0.549450022772,0.018674948088,1.05966129886
+396,6.600000000,pose2_to_pose3_retreat,0.578775427202,0.0100013259219,1.06001154114,0.549346704,0.0186749850526,1.0596610742
+397,6.616666667,pose2_to_pose3_retreat,0.578685531843,0.01000134259,1.06001158558,0.549256809414,0.0186750037897,1.05966111616
+398,6.633333333,pose2_to_pose3_retreat,0.578607165271,0.0100013448463,1.06001179036,0.549178444956,0.0186750127247,1.05966131907
+399,6.650000000,pose2_to_pose3_retreat,0.578539504747,0.0100013224173,1.06001186932,0.549110785256,0.0186749930822,1.05966140118
+400,6.666666667,pose2_to_pose3_retreat,0.578481847135,0.0100012613088,1.06001166727,0.54905312489,0.0186749230522,1.05966120537
+401,6.683333333,pose2_to_pose3_retreat,0.578434410025,0.01000129665,1.06001189535,0.549005689122,0.0186749625161,1.05966142709
+402,6.700000000,pose2_to_pose3_retreat,0.578394060701,0.010001212915,1.060011679,0.548965341321,0.0186748840573,1.05966121384
+403,6.716666667,pose2_to_pose3_retreat,0.578360433376,0.0100011916433,1.0600114793,0.548931713354,0.0186748607101,1.05966101775
+404,6.733333333,pose2_to_pose3_retreat,0.578333777245,0.0100012235951,1.0600114493,0.548905056031,0.018674888478,1.05966098586
+405,6.750000000,pose2_to_pose3_retreat,0.57831260444,0.0100012309974,1.06001158542,0.548883884151,0.0186748985748,1.05966111126
+406,6.766666667,pose2_to_pose3_retreat,0.578296648316,0.0100013072522,1.06001162717,0.54886792653,0.0186749701536,1.05966116437
+407,6.783333333,pose2_to_pose3_retreat,0.578284226941,0.0100012658675,1.06001160001,0.54885550576,0.0186749308355,1.05966113961
+408,6.800000000,pose2_to_pose3_retreat,0.57827475341,0.0100011671222,1.06001156248,0.548846033811,0.0186748372541,1.05966109887
+409,6.816666667,pose2_to_pose3_retreat,0.578267610168,0.0100011464264,1.0600117348,0.548838890109,0.0186748149862,1.05966126949
+410,6.833333333,pose2_to_pose3_retreat,0.578262339153,0.0100010931309,1.06001162678,0.548833619793,0.0186747641298,1.05966116263
+411,6.850000000,pose2_to_pose3_retreat,0.57825852674,0.0100010469731,1.06001141872,0.548829808259,0.0186747210566,1.05966095697
+412,6.866666667,pose2_to_pose3_retreat,0.578256422538,0.0100012533501,1.06001154698,0.548827700618,0.0186749158132,1.05966108707
+413,6.883333333,pose2_to_pose3_retreat,0.578255783375,0.0100013160383,1.06001158594,0.54882706041,0.0186749749717,1.05966112659
+414,6.900000000,pose2_to_pose3_retreat,0.578255477472,0.0100013460408,1.06001160459,0.548826754007,0.0186750032848,1.05966114551
+415,6.916666667,pose2_to_pose3_retreat,0.578255374929,0.0100013560981,1.06001161084,0.548826651296,0.0186750127759,1.05966115185
+416,6.933333333,pose2_to_pose3_retreat,0.57825533057,0.0100013604487,1.06001161355,0.548826606865,0.0186750168815,1.05966115459
+417,6.950000000,pose2_to_pose3_retreat,0.578255311644,0.010001362305,1.0600116147,0.548826587907,0.0186750186333,1.05966115576
+418,6.966666667,pose2_to_pose3_retreat,0.578255193569,0.0100013738856,1.0600116219,0.54882646964,0.0186750295618,1.05966116306
+419,6.983333333,pose2_to_pose3_retreat,0.578255120809,0.0100013810218,1.06001162633,0.548826396761,0.0186750362962,1.05966116756
+420,7.000000000,pose2_to_pose3_retreat,0.578255032669,0.0100013896665,1.0600116317,0.548826308476,0.0186750444541,1.05966117301
+421,7.016666667,pose2_to_pose3_retreat,0.578255019049,0.0100013910023,1.06001163253,0.548826294835,0.0186750457147,1.05966117386
+422,7.033333333,pose2_to_pose3_retreat,0.578255015579,0.0100013913426,1.06001163275,0.548826291359,0.0186750460359,1.05966117407
+423,7.050000000,pose2_to_pose3_retreat,0.578254762971,0.0100013683676,1.06001165804,0.548826039155,0.0186750243603,1.05966119752
+424,7.066666667,pose2_to_pose3_retreat,0.578254524767,0.0100013393785,1.0600116834,0.548825801457,0.0186749970097,1.05966122083
+425,7.083333333,pose2_to_pose3_retreat,0.578254414378,0.0100013259442,1.06001169516,0.548825691302,0.0186749843347,1.05966123163
+426,7.100000000,pose2_to_pose3_retreat,0.578254368258,0.0100013203316,1.06001170007,0.548825645281,0.0186749790393,1.05966123615
+427,7.116666667,pose2_to_pose3_retreat,0.578254234617,0.0100013040676,1.0600117143,0.548825511924,0.0186749636947,1.05966124922
+428,7.133333333,pose2_to_pose3_retreat,0.578253836542,0.0100012556223,1.06001175669,0.548825114694,0.0186749179876,1.05966128818
+429,7.150000000,pose2_to_pose3_retreat,0.578253279423,0.0100011878216,1.06001181602,0.548824558759,0.0186748540192,1.0596613427
+430,7.166666667,pose2_to_pose3_retreat,0.578252752295,0.010001254519,1.06001167853,0.548824031659,0.0186749211316,1.05966121317
+431,7.183333333,pose2_to_pose3_retreat,0.578252385848,0.0100013278977,1.06001154299,0.548823665005,0.0186749941359,1.05966108573
+432,7.200000000,pose2_to_pose3_retreat,0.578252227765,0.010001363236,1.06001157392,0.548823505967,0.0186750261432,1.05966111445
+433,7.216666667,pose2_to_pose3_retreat,0.578252171454,0.0100013776771,1.06001162992,0.548823448879,0.0186750378033,1.05966116678
+434,7.233333333,pose2_to_pose3_retreat,0.578252148746,0.0100013556429,1.0600115655,0.548823425721,0.0186750140495,1.05966109768
+435,7.250000000,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823455278,0.0186749799152,1.05966098146
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e1bad5568efb6fccb77c20429a974fb508438f23
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d12cbc2f0085f84c75583cd2d526f924441222e88a3c248ba6515316e82d6a30
+size 27756965
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9198e33cbfda8aeb928e6c16ef685f98116817f7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_02/franka_data.csv
@@ -0,0 +1,439 @@
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+27,0.450000000,BASELINE,766,746,715,680,666,636,879.346049714,788,803,653,632,654,0.400989667404,0.0044909916148,0.0698454356794,0.999999967531,2.51240631756e-05,-0.000252706609915,2.11073617414e-05,1793238274311215104
+28,0.466666667,BASELINE,766.233218651,746,715,680,666,636,879.233218651,788,803,653,632,654,0.4009896662,0.00449156833395,0.0698452739155,0.999999967524,2.57033950915e-05,-0.000252693134613,2.09245541305e-05,1793238274327882240
+29,0.483333333,BASELINE,766.824793395,746,715,680,666,636,879.824793395,788,803,653,632,654,0.400989233237,0.00449177144738,0.0698450930712,0.99999996726,2.58367519788e-05,-0.000253715754718,2.09856035037e-05,1793238274344549120
+30,0.500000000,BASELINE,767,746,715,680,666,636,880,788,803,653,632,654,0.400989453307,0.00449138830249,0.0698452039039,0.999999967261,2.48547049558e-05,-0.000253804521679,2.107970671e-05,1793238274361215488
+31,0.516666667,BASELINE,767,746,715,680,666,636,880,788,803,653,632,654,0.400989948171,0.00449075846168,0.0698454374735,0.99999996737,2.34032989746e-05,-0.000253500325733,2.11877188784e-05,1793238274377881856
+32,0.533333333,BASELINE,767,746,715,680,666,636,880,788,803,653,632,653.434065971,0.400988959349,0.00449140421727,0.0698446813999,0.999999967208,2.44560085325e-05,-0.000254049582564,2.10910957075e-05,1793238274394548480
+33,0.550000000,BASELINE,767,746,715.141068497,680,666.141068497,636,880,788,803,653,632,653,0.400988763463,0.00449187567132,0.0698446042124,0.999999967289,2.53225020923e-05,-0.000253650358889,2.10106612084e-05,1793238274411215104
+34,0.566666667,BASELINE,767,746,715.714076887,680,666.714076887,636,880,788,803,653,632,653,0.400991074909,0.00449174514028,0.0698466586974,0.99999996813,2.54847613653e-05,-0.000250301278359,2.09907501123e-05,1793238274427881728
+35,0.583333333,BASELINE,767,746,715.703331793,680,667,636,880.296668207,788,803,653,632,653.296668207,0.400990925978,0.00449189538816,0.0698468701752,0.999999968024,2.58471324725e-05,-0.00025068100697,2.10341271892e-05,1793238274444548608
+36,0.600000000,BASELINE,767,746,715.111196264,680,667,636,880.888803736,788,803,653,632,653.888803736,0.400988326627,0.00449232527839,0.0698452461066,0.999999966973,2.64088053983e-05,-0.000254774450433,2.11405362519e-05,1793238274461215488
+37,0.616666667,BASELINE,766.529543203,746,715,680.470456797,667,636,880.529543203,788,803.470456797,653,632,654,0.400988762128,0.00449233433577,0.0698455962172,0.999999967366,2.58517317993e-05,-0.000253288832116,2.10796894662e-05,1793238274477882112
+38,0.633333333,BASELINE,766.049296899,746,715.049296899,680.950703101,667,636,880,788,803.950703101,653.049296899,632,653.950703101,0.400989874631,0.00449230691452,0.0698463798022,0.999999968043,2.52454210206e-05,-0.000250674135919,2.09792509171e-05,1793238274494548992
+39,0.650000000,BASELINE,766.623987874,746,715.623987874,680.376012126,667,636,880,788,803.376012126,653.623987874,632,653.376012126,0.400990724157,0.00449292770442,0.0698469185943,0.999999968228,2.68711011125e-05,-0.000249773601021,2.08689951164e-05,1793238274511215360
+40,0.666666667,BASELINE,767,746,715.796599383,680,667,636,880,788,803.203400617,653.796599383,632,653.203400617,0.400991044392,0.00449321564563,0.0698468089494,0.99999996821,2.7610953053e-05,-0.000249775957913,2.07439998171e-05,1793238274527881984
+41,0.683333333,BASELINE,767,746,715.208250436,680,667,636,880,788,803.791749564,653.208250436,632,653.791749564,0.400990362914,0.00449287364995,0.0698454720974,0.999999967809,2.66743199764e-05,-0.000251487093778,2.05911091055e-05,1793238274544548608
+42,0.700000000,BASELINE,767,746,715.374413311,680,666.625586689,636,880,788,804,653,632,654,0.400989723,0.00449197318553,0.0698451662569,0.999999967619,2.58144046691e-05,-0.000252317341681,2.07654461555e-05,1793238274561214976
+43,0.716666667,BASELINE,767,746,715.953962202,680,666.046037798,636,880,788,804,653,632,654,0.400989105859,0.00449076674427,0.0698454252926,0.999999967545,2.49965219366e-05,-0.000252664963888,2.11190665174e-05,1793238274577881600
+44,0.733333333,BASELINE,767,746,716,680,666.530502607,636,880,788,803.469497393,653,632,654,0.400990497387,0.00448975926882,0.0698461435168,0.999999967985,2.42516585282e-05,-0.000250990195829,2.11244313348e-05,1793238274594548480
+45,0.750000000,BASELINE,767,746,715.893600876,680,666.893600876,636,879.893600876,788,803.106399124,653,631.893600876,654,0.40099198281,0.00448923265928,0.069846890913,0.999999968413,2.38711689591e-05,-0.000249323105175,2.10320569158e-05,1793238274611215104
+46,0.766666667,BASELINE,767,746,715.319394097,680,666.319394097,636,879.319394097,788,803.680605903,653,631.319394097,654,0.400993118966,0.00449074479688,0.0698475923529,0.999999968607,2.50650273232e-05,-0.000248457070716,2.06420790697e-05,1793238274627881728
+47,0.783333333,BASELINE,767,746,715.262740723,680,666,636,879.525481446,788,804,653,631.262740723,654,0.400992814018,0.00449164077118,0.069847564558,0.999999968459,2.57566323617e-05,-0.00024899246895,2.05457781878e-05,1793238274644548352
+48,0.800000000,BASELINE,767,746,715.854812999,680,666,636,880.709625997,788,804,653,631.854812999,654,0.400990702723,0.0044917644177,0.0698466227062,0.999999967878,2.58186896736e-05,-0.000251284488568,2.08175857419e-05,1793238274661214976
+49,0.816666667,BASELINE,767,746,715.563925758,679.563925758,666,636,880.563925758,788.436074242,803.127851516,653,632,653.563925758,0.400990092815,0.00449142388887,0.0698465093064,0.999999967861,2.50596842688e-05,-0.00025143219454,2.07644981557e-05,1793238274677881344
+50,0.833333333,BASELINE,766.986267017,746,715.013732983,679.013732983,666.013732983,636,880,788.986267017,802.027465966,653,632,653,0.400989945772,0.00449094823909,0.0698466483386,0.999999968018,2.40562820795e-05,-0.000250920978151,2.06091582801e-05,1793238274694548224
+51,0.850000000,BASELINE,766.412284329,746,715.587715671,679.587715671,666.587715671,636,880,788.412284329,803.175431342,653,632,653,0.400988782274,0.00449111240534,0.0698461052218,0.999999967762,2.39648874256e-05,-0.000251949244942,2.05885164266e-05,1793238274711214848
+52,0.866666667,BASELINE,766.16172414,746,716,680,666.83827586,636,880,788,803.83827586,653,631.83827586,653.16172414,0.400988053542,0.00449157969941,0.0698455992015,0.999999967539,2.47247898993e-05,-0.000252758118968,2.05773082335e-05,1793238274727881728
+53,0.883333333,BASELINE,766.735798311,746,716,680,666.264201689,636,880,788,803.264201689,653,631.264201689,653.735798311,0.400988433336,0.0044928198822,0.0698451877668,0.999999967399,2.76552551383e-05,-0.000253007604498,2.05901531611e-05,1793238274744549120
+54,0.900000000,BASELINE,767.321429198,746,716,680,666,636,880,788,803,653,631.321429198,654,0.400989278016,0.00449248790639,0.0698455803256,0.999999967553,2.80746190591e-05,-0.000252330415676,2.08716656238e-05,1793238274761216000
+55,0.916666667,BASELINE,767.916913474,746,716,680,666,636,880,788,803,653,631.916913474,654,0.400990519064,0.00449081548587,0.0698466583808,0.999999967958,2.63529823475e-05,-0.000250863131189,2.13822478246e-05,1793238274777882368
+56,0.933333333,BASELINE,767.503820881,746,716,680,666,636,880.496179119,788,803.496179119,653,632,654,0.400989036181,0.00449204368755,0.0698453286797,0.999999967398,2.61938103473e-05,-0.000253143960371,2.08832512704e-05,1793238274794548736
+57,0.950000000,BASELINE,767,746,716,680,666,636,880.927375195,788,804,653,632,654,0.40098748441,0.0044933454935,0.0698439595541,0.999999966833,2.63040703463e-05,-0.000255393371194,2.03840633027e-05,1793238274811215104
+58,0.966666667,BASELINE,767,746,716,680,666,636,880.352244916,788,804,653,632,654,0.400988512134,0.00449190218542,0.0698450190602,0.999999967367,2.65255536104e-05,-0.000253220139393,2.1016262988e-05,1793238274827881728
+59,0.983333333,BASELINE,766.771952464,746,716,680,666.228047536,636,880,788,804,653,632,654,0.400988875023,0.00449149454459,0.0698455802864,0.9999999676,2.66884808574e-05,-0.000252273966261,2.11285494562e-05,1793238274844548352
+60,1.000000000,BASELINE,766.183501696,746,716,680,666.816498304,636,880,788,804,653,632,654,0.400988187215,0.00449272365801,0.0698453540376,0.999999967361,2.67588670033e-05,-0.000253267019678,2.04191722236e-05,1793238274861214976
+61,1.016666667,BASELINE,766,746,715.601008535,680,667,636.398991465,880,788,804,653,632,653.601008535,0.400988497252,0.00449283587879,0.0698453237745,0.999999967371,2.70471688566e-05,-0.000253185471099,2.05646797423e-05,1793238274877882112
+62,1.033333333,BASELINE,766,746,715.021215084,680,667,636.978784916,880,788,804,653,632,653.021215084,0.40098925946,0.0044924419824,0.0698453823218,0.999999967493,2.74342186638e-05,-0.000252616969252,2.10975761917e-05,1793238274894549248
+63,1.050000000,BASELINE,766.553466238,746,715.553466238,680,666.446533762,636.446533762,880,788,804,653,631.446533762,653.553466238,0.400989816815,0.0044908338658,0.0698459001401,0.999999968036,2.50647777421e-05,-0.000250730364079,2.08318827868e-05,1793238274911215616
+64,1.066666667,BASELINE,766.869041051,746,715.869041051,680,666,636,880,788,803.869041051,653,631.130958949,654,0.400990055687,0.00449002849974,0.0698463783064,0.999999968355,2.37442774756e-05,-0.000249594628506,2.0685642286e-05,1793238274927882240
+65,1.083333333,BASELINE,766.281059554,746,715.281059554,680,666,636,880,788,803.281059554,653,631.718940446,654,0.400989210261,0.00449218552368,0.0698466572207,0.999999967864,2.64497453798e-05,-0.000251253997201,2.10621194076e-05,1793238274944548608
+66,1.100000000,BASELINE,766.302293457,746,715,680,666,636,880,788,803,653,632,654,0.400989313437,0.00449306617691,0.0698467039383,0.999999967778,2.78943199212e-05,-0.000251433777198,2.11595134668e-05,1793238274961215232
+67,1.116666667,BASELINE,766.881407961,746,715,680,666,636,880,788,803,653,632,654,0.400990285281,0.00449277801122,0.0698465380248,0.999999968068,2.81842486741e-05,-0.00025025864424,2.10013410552e-05,1793238274977881856
+68,1.133333333,BASELINE,766.539676912,746,715,679.539676912,666,636,879.539676912,788,803,653,632,653.539676912,0.400989355965,0.00449225482132,0.0698452391604,0.999999967654,2.66407014512e-05,-0.000252092017501,2.07623860783e-05,1793238274994548736
+69,1.150000000,BASELINE,766.038850262,746,715,679.038850262,666,636,879.038850262,788,803,653,632,653.038850262,0.400988095695,0.00449177900902,0.069843829693,0.999999967114,2.48981545936e-05,-0.000254425299174,2.05095502204e-05,1793238275011215104
+70,1.166666667,BASELINE,766.612741085,746,715,679.612741085,666,636,879.612741085,788,803,653,632,653.612741085,0.400989019981,0.00449278918397,0.0698449150071,0.999999967433,2.69173989702e-05,-0.000252973643248,2.03520427366e-05,1793238275027881984
+71,1.183333333,BASELINE,766.808426962,746,715,680,666.191573038,636,880,788,803,653,632,654,0.400989900548,0.00449267905781,0.0698460526907,0.999999967804,2.69328125846e-05,-0.000251496757743,2.03898241062e-05,1793238275044548608
+72,1.200000000,BASELINE,766.21934212,746,715,680,666.78065788,636,880,788,803,653,632,654,0.400990690398,0.00449024432017,0.0698472990409,0.999999968281,2.27903012619e-05,-0.00024996752089,2.08328275249e-05,1793238275061215488
+73,1.216666667,BASELINE,766,746,715,680,666.636207231,636,880,788,803,653,632,654,0.400990659721,0.00449027552028,0.0698476311476,0.999999968362,2.30443411436e-05,-0.000249610179012,2.09558199356e-05,1793238275077882368
+74,1.233333333,BASELINE,766,746,715,680,666.056602064,636,880,788,803,653,632,654,0.400990142284,0.00449176958617,0.0698474208984,0.999999968209,2.59065426952e-05,-0.000249948039243,2.08889725279e-05,1793238275094548736
+75,1.250000000,BASELINE,766.519594116,746,715,680,666,636,880,788,803,653.519594116,632,654,0.400989115454,0.00449079229017,0.0698458394443,0.999999967786,2.38889556013e-05,-0.000251842323524,2.07945918502e-05,1793238275111215360
+76,1.266666667,BASELINE,766.904982825,746,715,680,666,636,880,787.904982825,803,653.904982825,632,653.904982825,0.400988487857,0.00448990068415,0.069844698646,0.99999996751,2.18500917464e-05,-0.000253129091657,2.07009787609e-05,1793238275127881984
+77,1.283333333,BASELINE,766.331594671,746,715,680,666,636,880,787.331594671,803,653.331594671,632,653.331594671,0.400990147778,0.00449078705486,0.0698465234866,0.99999996816,2.23629455727e-05,-0.00025050923038,2.06262321322e-05,1793238275144548608
+78,1.300000000,BASELINE,766.249982162,746,715,680,666.249982162,636.249982162,880,787.249982162,803.249982162,653,632,653.249982162,0.400990441988,0.00449130266848,0.0698471402463,0.99999996832,2.35560365476e-05,-0.000249767559722,2.05370809445e-05,1793238275161215232
+79,1.316666667,BASELINE,766.842788873,746,715,680,666.842788873,636.842788873,880,787.842788873,803.842788873,653,632,653.842788873,0.400988863266,0.00449130982721,0.0698461002484,0.99999996781,2.5682002013e-05,-0.000251601632461,2.04281754077e-05,1793238275177881856
+80,1.333333333,BASELINE,767,746,715.424898901,680,666.575101099,636.575101099,880,788,803.575101099,653,632,654,0.400988754338,0.0044920817846,0.0698459785832,0.999999967712,2.59597826004e-05,-0.000251956131657,2.04919928001e-05,1793238275194548480
+81,1.350000000,BASELINE,767,746,716,680,666,636,880.003134019,788,803.003134019,653,632,654,0.400989176624,0.00449311705321,0.0698461875417,0.999999967766,2.55739724767e-05,-0.000251770169271,2.0618337243e-05,1793238275211215360
+82,1.366666667,BASELINE,767,746,716,680,666,636,880.578736894,788,803.578736894,653,632,654,0.40098973578,0.00449183014407,0.0698462480863,0.9999999681,2.58163589511e-05,-0.000250402821125,2.07792924661e-05,1793238275227881984
+83,1.383333333,BASELINE,767,746,716,680,666,636,880.84616932,788,804,653,632,653.84616932,0.400989994469,0.00449114782509,0.0698462319394,0.999999968259,2.59283595405e-05,-0.000249752340016,2.08005661501e-05,1793238275244548608
+84,1.400000000,BASELINE,767,746,716,680,666,636,880.272464941,788,804,653,632,653.272464941,0.400989433043,0.00449211570655,0.0698460064668,0.999999967946,2.56844779628e-05,-0.000251058513901,2.04405855928e-05,1793238275261215232
+85,1.416666667,BASELINE,767,746,715.687961888,680,666,636,880,788,803.687961888,653,632,653.312038112,0.400989492728,0.00449216810026,0.069846377086,0.999999967957,2.51647563719e-05,-0.000251067332468,2.04213162024e-05,1793238275277881856
+86,1.433333333,BASELINE,767,746,715.093691692,680,666,636,880,788,803.093691692,653,632,653.906308308,0.400990114194,0.00449139245397,0.0698472868581,0.999999968262,2.439554315e-05,-0.00024990271963,2.07102131098e-05,1793238275294548480
+87,1.450000000,BASELINE,767,746,715.485774842,680,666.485774842,636,880,788,803,653,632,654,0.400990887179,0.00449063900402,0.0698472266906,0.999999968368,2.45881305392e-05,-0.0002494540823,2.07897332585e-05,1793238275311215104
+88,1.466666667,BASELINE,766.937744641,746,715.937744641,679.937744641,667,636,880,788,803,653,632,654,0.400991508162,0.00449018270799,0.0698469986948,0.999999968406,2.50818910351e-05,-0.000249249355158,2.08144841215e-05,1793238275327881728
+89,1.483333333,BASELINE,766.363036023,746,715.363036023,679.363036023,667,636,880,788,803,653,632,654,0.400990644515,0.00449213822921,0.0698468835708,0.999999968195,2.65729432476e-05,-0.000249949294126,2.07109812295e-05,1793238275344548608
+90,1.500000000,BASELINE,766.216220589,746,715,679.216220589,666.783779411,636,880,788,803,653,632,653.783779411,0.40098962446,0.00449278624663,0.0698467005197,0.999999967989,2.6921371596e-05,-0.000250734957206,2.07313819675e-05,1793238275361215488
+91,1.516666667,BASELINE,766.803277326,746,715,679.803277326,666.196722674,636,880,788,803,653,632,653.196722674,0.400988336154,0.00449119178695,0.0698464009681,0.999999967792,2.53101055909e-05,-0.00025166764414,2.09642876644e-05,1793238275377882368
+92,1.533333333,BASELINE,767,746,715,680,666,636,880,788,803,653,631.613147441,653.386852559,0.400988396562,0.00449092713513,0.0698461423088,0.999999967756,2.47358871354e-05,-0.000251870601225,2.08939537408e-05,1793238275394548736
+93,1.550000000,BASELINE,767,746,715,680,666,636,880,788,803,653,631.031326783,653.968673217,0.400989136704,0.0044913326871,0.0698459042586,0.999999967804,2.46843255106e-05,-0.000251705785097,2.06707914524e-05,1793238275411215104
+94,1.566666667,BASELINE,766.456508969,746,715,680,666,636,880,788,803,653,631.543491031,653.456508969,0.400989392553,0.00449129548668,0.0698460126093,0.999999967705,2.56748323257e-05,-0.000251988568592,2.08192692998e-05,1793238275427881728
+95,1.583333333,BASELINE,766.11957469,746,715.11957469,680,666.11957469,636.11957469,880,788,803,653,632,653,0.400989576341,0.00449113601132,0.0698460534135,0.999999967639,2.62373195841e-05,-0.000252182249094,2.09055751344e-05,1793238275444548352
+96,1.600000000,BASELINE,766.702102335,746,715.702102335,680,666.702102335,636.702102335,880,788,803,653,632,653,0.40098958784,0.00449060067735,0.0698457563805,0.999999967741,2.49130672744e-05,-0.000251932336153,2.06692908394e-05,1793238275461214976
+97,1.616666667,BASELINE,767,746,715.714923418,680,666.714923418,636.714923418,880,788,803,653,632,653.285076582,0.400989862754,0.00449122318697,0.0698460461393,0.99999996787,2.58292059423e-05,-0.000251336254449,2.05412817522e-05,1793238275477881856
+98,1.633333333,BASELINE,767,746,715.131481786,680,666.131481786,636.131481786,880,788,803,653,632,653.868518214,0.400990413364,0.00449305751154,0.0698469500424,0.999999968022,2.90901685238e-05,-0.000250377867799,2.05265949921e-05,1793238275494548736
+99,1.650000000,BASELINE,767,746,715,680,666.447959314,636,880,788,803,653,632,653.552040686,0.400989508563,0.00449177115308,0.0698459347741,0.999999967771,2.64832312629e-05,-0.000251672737961,2.04336946518e-05,1793238275511215360
+100,1.666666667,BASELINE,767,746,715,680,667,636,880,788,803,653,632,653,0.400988303194,0.00448969453344,0.0698445009982,0.999999967426,2.2403776636e-05,-0.000253441023336,2.03365761708e-05,1793238275527881984
+101,1.683333333,BASELINE,767,746,715,680,667,636,880,788,803,653,632,653,0.400989682306,0.0044900921416,0.0698460088999,0.999999967921,2.32592725093e-05,-0.000251377968492,2.06294574e-05,1793238275544548352
+102,1.700000000,BASELINE,767,746,715.180157712,680,666.819842288,636.180157712,880,788,803.180157712,653,632,653.180157712,0.400990720476,0.00449012710719,0.0698469968604,0.999999968323,2.36833241877e-05,-0.000249721242847,2.08116920252e-05,1793238275561214976
+103,1.716666667,BASELINE,767,746,715.769518461,680,666.230481539,636.769518461,880,788,803.769518461,653,632,653.769518461,0.400990984245,0.00448933838087,0.0698468038471,0.99999996852,2.31274106203e-05,-0.000248987437417,2.07426083294e-05,1793238275577881856
+104,1.733333333,BASELINE,767,746,715.647268586,680,666.352731414,636.647268586,880.352731414,788,803.647268586,653,632,653.647268586,0.40099093103,0.00449046525136,0.0698469404433,0.999999968589,2.47301321592e-05,-0.000248564718558,2.06572678021e-05,1793238275594548480
+105,1.750000000,BASELINE,767,746,715.068003848,680,666.931996152,636.068003848,880.931996152,788,803.068003848,653,632,653.068003848,0.400990674241,0.00449282236806,0.0698472887233,0.999999968568,2.77191854613e-05,-0.000248341787543,2.05614867065e-05,1793238275611215104
+106,1.766666667,BASELINE,767,746,715,680,666.491931339,636,880.491931339,788.508068661,803.508068661,653,632,653.508068661,0.400990187296,0.00449318717259,0.0698465030528,0.999999968148,2.82875139694e-05,-0.000249969024944,2.04821161788e-05,1793238275627881984
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,680,666,636,880,788,803,653,632,654,0.400987493472,0.00449122402452,0.0698450586121,0.999999967611,2.45117502738e-05,-0.000252482370062,2.07559615737e-05,1793238275670507776
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,715,680,666,636,880,788,803,653,632,654,0.400988056136,0.00449103523732,0.0698462173373,0.999999967822,2.54938970225e-05,-0.00025156178258,2.05774747071e-05,1793238275687173888
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715,680,666.158090828,636.158090828,880,788,803.158090828,653,632,653.841909172,0.400988490218,0.00449090867685,0.0698469061233,0.999999967947,2.58920619904e-05,-0.000251030722605,2.0464457905e-05,1793238275703840512
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,715,680,666.73743647,636.73743647,880,788,803.73743647,653,632,653.26256353,0.400988581677,0.00449094792805,0.0698463426917,0.999999967848,2.47341271746e-05,-0.000251537612199,2.05258950807e-05,1793238275720507136
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,715,680,666.686462848,636.686462848,880,788,803.686462848,653,632,653.313537152,0.400988430024,0.00449165256407,0.0698457858189,0.999999967672,2.57933337803e-05,-0.000252135894742,2.04402257462e-05,1793238275737173504
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,715,680,666.113051771,636.113051771,880,788,803.113051771,653,632,653.886948229,0.40098807687,0.00449290870146,0.0698452343826,0.999999967427,2.86902086143e-05,-0.000252809927908,2.02326278076e-05,1793238275753840128
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,715.462253659,680.462253659,666,636,880,788,803.924507318,653,632,654,0.400988744399,0.00449226475788,0.0698461182057,0.999999967652,2.84821321757e-05,-0.00025190345006,2.07187386707e-05,1793238275770507264
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,716,680.960825459,666.039174541,636.039174541,879.960825459,788,804.960825459,653,632,654,0.400989598021,0.00449119459111,0.0698472875482,0.999999967965,2.75249544799e-05,-0.000250713061389,2.1338042563e-05,1793238275787174144
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680.367637445,666.632362555,636.632362555,879.367637445,788,804.367637445,653,632,654,0.400989538644,0.00449069555898,0.0698475101925,0.999999967913,2.67571495367e-05,-0.000250996568634,2.14317798816e-05,1793238275803840768
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666.780959142,636.780959142,879.219040858,788,804,653,632,654,0.400992313931,0.00449050879396,0.0698490456834,0.99999996852,2.56689050839e-05,-0.000248681906326,2.139685745e-05,1793238275820507136
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666.204891437,636.204891437,879.795108563,788,804,653,632,654,0.400999709591,0.00449083101048,0.069852721056,0.999999970173,2.40583585686e-05,-0.000242132343261,2.11522253427e-05,1793238275837173504
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,715.629169836,680,666,636,880,788,803.629169836,653,631.629169836,654,0.401017453592,0.00449128349807,0.0698607875595,0.999999973346,2.44483545951e-05,-0.000228630914252,2.09225211323e-05,1793238275853840128
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,715.053639232,680,666,636,880,788,803.053639232,653,631.053639232,654,0.401040909937,0.00449180789609,0.0698712779935,0.999999977127,2.5942661754e-05,-0.000211292013557,2.07010571816e-05,1793238275870506752
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715,680,666,636.533926366,880,788,803.533926366,653,631.533926366,654,0.401085151188,0.00449177051688,0.0698892178442,0.999999983255,2.49913394024e-05,-0.000180129430686,2.04596713232e-05,1793238275887173632
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715,680.120559599,666,637,880,788,803.879440401,653.120559599,632,654,0.401133902474,0.00449150655224,0.0699070312995,0.999999988229,2.38007650584e-05,-0.000150215487425,2.02889981262e-05,1793238275903840768
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715,680.698954877,666,637,880,788,803.301045123,653.698954877,632,654,0.401191668462,0.00449060137709,0.0699214571767,0.999999991028,2.26561649385e-05,-0.000130438882922,2.03946382034e-05,1793238275920507904
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,715,680.723268127,666,636.723268127,880,788,803,653.723268127,632,654,0.401252705318,0.00448987170214,0.0699310488641,0.999999992747,2.02771390326e-05,-0.000117067081599,1.9766508757e-05,1793238275937174528
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,715,680.146162268,666,636.146162268,880,788,803,653.146162268,632,654,0.401317292478,0.00448933252099,0.0699353933602,0.999999993573,1.65582263702e-05,-0.00011064726803,1.83419214484e-05,1793238275953840640
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.561979889,746,715.438020111,680,666,636,880,788.438020111,803,653,631.561979889,654,0.401390621835,0.00449039618459,0.0699367775532,0.999999993932,1.63453953501e-05,-0.000107666916393,1.66315740288e-05,1793238275970507264
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.02426227,746,715.97573773,680,666,636,880,788.97573773,803.02426227,653,631,654,0.401467534519,0.00449195725382,0.0699369957718,0.999999994095,1.72114168951e-05,-0.000106274180773,1.48142925306e-05,1793238275987173888
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.602730325,746,715.397269675,680,666,636,880,788.397269675,803.602730325,653,631,654,0.401558569557,0.00449246237086,0.0699335150397,0.999999993242,1.55579784911e-05,-0.000114499433604,1.27682813494e-05,1793238276003840256
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.818676812,715.181323188,680,666,636,879.818676812,788,803.818676812,653,631.181323188,654,0.40165907801,0.00449289580332,0.0699316217691,0.999999992739,1.32555938327e-05,-0.000119310983873,1.05544456391e-05,1793238276020506880
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.239810391,715.760189609,680,666,636,879.239810391,788,803.239810391,653,631.760189609,654,0.401780356502,0.00449317207036,0.0699332089396,0.999999993121,9.53042284849e-06,-0.000116638138117,7.97266219171e-06,1793238276037173504
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.336591952,715.663408048,680,666.336591952,636,879.336591952,788,803,653,632,654,0.401917591175,0.00449354433365,0.0699339770042,0.999999993316,6.45974627343e-06,-0.000115323476315,5.10760566149e-06,1793238276053840128
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.91125154,715.08874846,680,666.91125154,636,879.91125154,788,803,653,632,654,0.402066111484,0.00449398449401,0.0699341657248,0.999999993382,3.85198572379e-06,-0.000114969442209,2.04219305658e-06,1793238276070507008
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,715,680,666.500874752,636,880,788,803.499125248,653,632,654,0.402238298254,0.00449441181662,0.0699399135079,0.999999994667,-1.25577899921e-06,-0.000103252969959,-1.68546089352e-06,1793238276087173376
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,715.087787479,680,666,636,880,788,803.912212521,653,632,653.912212521,0.402417001892,0.00449490170777,0.0699457934083,0.999999995798,-6.53589555346e-06,-9.12759652737e-05,-5.55038214581e-06,1793238276103840000
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,715.667347232,680,666,636,880,788,803.332652768,653,632,653.332652768,0.402607997996,0.0044957552335,0.0699467257076,0.999999995901,-1.02236468959e-05,-8.94648667431e-05,-9.50668953952e-06,1793238276120506624
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,715.755546916,680,666,636.244453084,880.244453084,788,803.244453084,653,632,653,0.40281979396,0.0044962864871,0.0699484772068,0.999999996181,-1.39757911852e-05,-8.51480502346e-05,-1.38975546836e-05,1793238276137173248
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,715.181747191,680,666,636.818252809,880.818252809,788,803.818252809,653,632,653,0.403059613138,0.00449638355,0.0699513323971,0.999999996664,-1.78146905537e-05,-7.74553312309e-05,-1.8873890362e-05,1793238276153839872
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.606682093,746,715.393317907,680,666,637,881,788,803.606682093,653,632,653.393317907,0.403322331667,0.00449114524565,0.0699551463278,0.99999999698,-2.73689044686e-05,-6.92899812928e-05,-2.21468568761e-05,1793238276170507008
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.031030411,746,715.968969589,680,666,637,881,788,803.031030411,653,632,653.968969589,0.40359566584,0.00448343357908,0.0699594047099,0.999999997059,-3.9572615943e-05,-6.09055299578e-05,-2.46301777095e-05,1793238276187173888
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.56094007,746,716,680,666.56094007,636.43905993,880.43905993,788,803.56094007,653,632,654,0.403891991831,0.00447031363537,0.0699686612081,0.999999997055,-5.56718868038e-05,-4.6300205383e-05,-2.54323043574e-05,1793238276203840256
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,715.850773331,680,666.850773331,636,880,788,804,653,632,654,0.404194007246,0.00446327646335,0.0699747159688,0.999999997397,-5.65178224641e-05,-3.74677078931e-05,-2.46715965243e-05,1793238276220507136
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,715.275654225,680,666.275654225,636,880,788,804,653,632,654,0.404508521513,0.004474478943,0.0699708202366,0.999999998655,-1.31973294939e-05,-4.61224174393e-05,-1.97239424023e-05,1793238276237173760
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746.300085977,715.300085977,680,666.300085977,636,880,788,803.699914023,653,632,654,0.404852195176,0.00448189315219,0.0699724529567,0.99999999888,9.64687597953e-06,-4.20567057939e-05,-1.94351458527e-05,1793238276253840384
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746.876397957,715.876397957,680,666.876397957,636,880,788,803.123602043,653,632,654,0.405222709794,0.00448582029934,0.0699791745588,0.999999999287,1.36428778779e-05,-2.62819804852e-05,-2.34347784411e-05,1793238276270507008
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.538277838,746.538277838,716,680,667,636.461722162,880,788,803,653,632,654,0.405605461717,0.00448707985007,0.0699805920157,0.999999999258,1.62885609549e-05,-2.36567774047e-05,-2.56729135041e-05,1793238276287173632
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715.951170181,680,667,636.951170181,880,788,803.048829819,653,632,654,0.405993859211,0.00448841461641,0.0699799540907,0.999999999168,1.62185778351e-05,-2.55630936285e-05,-2.73500478873e-05,1793238276303840256
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715.371424393,680,667,636.371424393,880,788,803.628575607,653,632,654,0.406407312848,0.00449848611476,0.0699727141383,0.999999998849,-9.36974334449e-06,-3.77044440349e-05,-2.81566621666e-05,1793238276320506880
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.206940259,746,715.206940259,680,667,636,880.206940259,788,804,653,632,653.793059741,0.406830473165,0.00450589416578,0.0699630215261,0.999999998064,-1.92887911097e-05,-5.14178119263e-05,-2.92691127548e-05,1793238276337173504
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.782842396,746,715.782842396,680,667,636,880.782842396,788,804,653,632,653.217157604,0.407270939877,0.00450855345184,0.0699489559712,0.999999997213,-1.27047724395e-06,-6.79339905424e-05,-3.09268508268e-05,1793238276353840384
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,636,881,788,804,653,632,653,0.407750715077,0.00451422229345,0.0699479409172,0.999999997178,1.67385158264e-05,-6.55217900359e-05,-3.27332239899e-05,1793238276370507520
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667,636,881,788,804,653,632,653,0.408254284731,0.00452171289878,0.0699548256783,0.999999997463,3.47418661127e-05,-5.16517388457e-05,-3.46295698509e-05,1793238276387174656
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,715.483359925,680,667,636.516640075,880.483359925,788,803.483359925,653,632,653.516640075,0.408806451315,0.00452695826143,0.0699688044424,0.999999997988,4.58989160401e-05,-2.52836094563e-05,-3.57449569624e-05,1793238276403841024
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,715.110436499,680,666.889563501,636.889563501,880,788,803.110436499,653,632,654,0.409361143099,0.00453206017618,0.0699790799845,0.999999997926,5.26065562276e-05,-5.12005501972e-06,-3.67996213587e-05,1793238276420507648
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,715.686699361,680,666.313300639,636.313300639,880,788,803.686699361,653,632,654,0.409894224023,0.00453804757163,0.0699690256527,0.999999998068,4.50914356499e-05,-1.94248138503e-05,-3.81166103722e-05,1793238276437174272
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.736759963,746,715.736759963,680,666.263240037,636,880.263240037,788,804,653,632,654,0.410442656844,0.0045449048757,0.0699611299804,0.999999997596,4.79130514686e-05,-3.14759614032e-05,-3.901280523e-05,1793238276453840896
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.159888216,746,715.159888216,680,666.840111784,636,880.840111784,788,804,653,632,654,0.411009380424,0.00455279861457,0.0699558061955,0.999999996402,6.30501497153e-05,-4.0842093897e-05,-3.94076540674e-05,1793238276470508288
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.425038118,746,715,680,666.574961882,636,880.574961882,788,804,653,632,654,0.411631380842,0.00455951939092,0.0699673630647,0.999999996159,7.48015159442e-05,-2.14912282484e-05,-4.03054711626e-05,1793238276487174400
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.987114459,746,715,680,666.012885541,636,880,788,804,653,632,654,0.412275263149,0.0045657699877,0.0699856102646,0.999999995475,8.51706662771e-05,9.11508734357e-06,-4.13813236239e-05,1793238276503840256
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.406637588,746,715,680,666.593362412,636,880,788,804,653,632,654,0.412949388005,0.00457112118539,0.0700134429741,0.999999993635,9.18401797883e-05,5.04782055576e-05,-4.18042534136e-05,1793238276520507136
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.172306124,746,715.172306124,680,667,636,880,788,804,652.827693876,632,654,0.413620445197,0.00457706835628,0.0700340065666,0.999999990982,9.83618682058e-05,8.10387595387e-05,-4.23532092385e-05,1793238276537173760
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.747663502,746,715.747663502,680,667,636,880,788,804,652.252336498,632,654,0.414284326595,0.0045844096023,0.0700375665442,0.999999989876,0.000104537770285,8.63304063732e-05,-4.3196959994e-05,1793238276553840640
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.679889951,746,715.679889951,680,667,636,880.320110049,788,804,652.320110049,632,654,0.41491774936,0.0045912066847,0.0700132680094,0.999999991704,0.000113336263285,4.22805047316e-05,-4.42626739693e-05,1793238276570507264
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.109717305,746,715.109717305,680,667,636,880.890282695,788,804,652.890282695,632,654,0.415527378513,0.00459757867865,0.0699672070463,0.999999990441,0.000124183463011,-4.03138785053e-05,-4.55017802223e-05,1793238276587173632
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.479959903,746,715,679.520040097,667,636,880.520040097,788,803.520040097,652.520040097,632,654,0.416230217872,0.00460371428293,0.0699452884221,0.999999988162,0.000128572630139,-7.02581393311e-05,-4.69930455873e-05,1793238276603840512
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.927518483,746,715,679.072481517,667,636.072481517,880.072481517,788,803.072481517,652.072481517,632,654,0.416960414555,0.00460939310163,0.0699352971866,0.99999998704,0.000131497242155,-7.93008320223e-05,-4.8369691916e-05,1793238276620507136
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.347620319,746,715,679.652379681,667,636.652379681,880.652379681,788,803.652379681,652.652379681,632,654,0.417726644496,0.00461226845238,0.0699685331438,0.999999989273,0.000134941753919,-2.98455346481e-05,-4.85233015962e-05,1793238276637174016
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.229391852,746,715,680,667,636.770608148,880.770608148,788,804,652.770608148,632,654,0.418482944713,0.0046147031259,0.06999390264,0.999999989449,0.000136683362276,5.62739632193e-06,-4.88765740655e-05,1793238276653840384
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.802085013,746,715,680,667,636.197914987,880.197914987,788,804,652.197914987,632,654,0.419224384503,0.00461647829488,0.0700074994199,0.999999989339,0.000135876454803,2.01747234511e-05,-4.95286563345e-05,1793238276670507008
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,715.386455514,680,667,636,880.386455514,788,804,652.386455514,632,654,0.419973783738,0.00460794873814,0.0700163380965,0.999999990387,0.000125125169202,3.20173896478e-05,-5.04415182e-05,1793238276687173632
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,715.976992615,680,667,636,880.976992615,788,804,652.976992615,632,654,0.420727386196,0.00459397740415,0.0700226640867,0.99999999182,0.000109122400852,4.24317625062e-05,-5.1492093961e-05,1793238276703840256
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.443744522,746,716,680,667,636,881,788,804,653,632,654,0.421522857016,0.00457590033195,0.0700271775491,0.99999999393,8.44007959332e-05,4.87435334865e-05,-5.13942381707e-05,1793238276720506880
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.134785118,746.134785118,716,680,667,636,881,788,804,653,632,654,0.422301588497,0.00456412119752,0.0700210075836,0.999999995569,6.90780621074e-05,3.78868807077e-05,-5.15285171089e-05,1793238276737174016
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.712407361,746.712407361,716,680,667,636,881,788,804,653,632,654,0.423019746193,0.00457358082239,0.0699799785822,0.999999994522,8.57966501534e-05,-2.88302709639e-05,-5.25784385355e-05,1793238276753840384
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.710800706,746.710800706,716,680,667,636.289199294,881,788,804,652.710800706,632,653.710800706,0.423743132128,0.00458196996207,0.0699344855006,0.999999988822,9.79259978411e-05,-9.89879416235e-05,-5.44776734713e-05,1793238276770507008
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.134832142,746.134832142,716,680,667,636.865167858,881,788,804,652.134832142,632,653.134832142,0.424471702326,0.00458929761083,0.069884565851,0.999999977909,0.000105504665597,-0.000172557217853,-5.72190853854e-05,1793238276787173632
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.45123669,746.45123669,716,680.45123669,667,636.54876331,881,788,804,652,631.54876331,653.45123669,0.425272083965,0.00459125304907,0.0699056683564,0.999999984517,9.77614094188e-05,-0.000133703421161,-5.94355612869e-05,1793238276803840256
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746.960342121,715.960342121,680.960342121,667,636,881,788,804,652,631.039657879,654,0.426095649914,0.00459181231041,0.0699485461676,0.999999992441,8.73525617328e-05,-6.13193451611e-05,-6.10463140739e-05,1793238276820507136
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746.381903824,715.381903824,680.381903824,667,636,881,788,804,652,631.618096176,654,0.426935997967,0.00459571127249,0.0699923420323,0.999999992953,0.000104353072223,-2.32217623214e-07,-5.66076519808e-05,1793238276837173760
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.804159925,746,715.195840075,680,667,636,881,788,804,652.195840075,632,654,0.427757492384,0.0045985072933,0.0700243597765,0.999999990959,0.000115391196657,4.29441684549e-05,-5.40585786362e-05,1793238276853840384
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.227765271,746,715.772234729,680,667,636,881,788,804,652.772234729,632,654,0.428542350743,0.00459916008977,0.0700334903963,0.999999990566,0.000114843272611,5.1316582022e-05,-5.51813358479e-05,1793238276870507008
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.355396956,746,715.644603044,680,667,636,881,788.355396956,804,652.644603044,632,654,0.429309754007,0.00459951227424,0.0700371905807,0.999999990246,0.000113505428657,5.85970271929e-05,-5.64952923637e-05,1793238276887173888
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.942980513,746,715.057019487,680,667,636,881,788.942980513,804,652.057019487,632,654,0.430065753528,0.00459966806395,0.0700373429729,0.999999989966,0.000111651517236,6.51640711774e-05,-5.79341624215e-05,1793238276903840256
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.476547945,746,715,680,667,636,881,788.476547945,804,652,632,654,0.430789138814,0.00460062839146,0.0700045052961,0.999999991817,0.000113516125155,1.05646929881e-05,-5.8034246266e-05,1793238276920506880
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.102711217,746.102711217,715,680.102711217,667,636.102711217,881,788,804,652.102711217,632,653.897288783,0.431507370724,0.00460083443336,0.0699664897941,0.999999990353,0.000114482039482,-5.29974646447e-05,-5.81305661399e-05,1793238276937173504
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.679900557,746.679900557,715,680.679900557,667,636.679900557,881,788,804,652.679900557,632,653.320099443,0.432217988052,0.00459715660555,0.0699209333771,0.999999984137,0.000109450313904,-0.000127596850431,-5.88741519693e-05,1793238276953840384
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746.743912846,715,681,667,636.743912846,881,788,804,652.743912846,632,653.256087154,0.43296834755,0.0045914588758,0.0699178576026,0.999999984923,9.97678404595e-05,-0.000129064019454,-5.95161355009e-05,1793238276970507008
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746.168974796,715,681,667,636.168974796,881,788,804,652.168974796,632,653.831025204,0.43376818947,0.00458324619177,0.0699676739456,0.999999993866,8.42947796254e-05,-3.94751785901e-05,-6.00316151972e-05,1793238276987173632
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,715.403315791,681,667,636.403315791,881,788,804,652,632,653.596684209,0.434528265357,0.00458039674376,0.0700103034445,0.99999999464,7.99410860989e-05,2.84037884371e-05,-5.93572546698e-05,1793238277003840256
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,715.974504468,681,667,636.974504468,881,788,804,652,632,653.025495532,0.43527178942,0.00457977964481,0.0700499415539,0.999999991284,8.02156262341e-05,8.72464216319e-05,-5.81876447243e-05,1793238277020506880
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.569871801,715.430128199,681,667,636.430128199,881,788,804,652.569871801,632,653.569871801,0.43595634466,0.00458263729562,0.0700395703378,0.999999991365,8.90942972691e-05,7.68449522598e-05,-5.8540711343e-05,1793238277037173504
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.838976099,746.838976099,715.161023901,681,667,636,881,788,804.161023901,652.838976099,632,654,0.436635864783,0.00458452109005,0.0700246657946,0.999999992067,9.42097022578e-05,5.90013852489e-05,-5.92426178704e-05,1793238277053840128
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.261642509,746.261642509,715.738357491,681,667,636,881,788,804.738357491,652.261642509,632,654,0.437309490331,0.00458346736052,0.0700040816033,0.99999999378,8.85562775725e-05,3.02812880435e-05,-6.06624832593e-05,1793238277070506752
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.31248292,746,715.68751708,681,667,636,881,788,804.68751708,652,632,654,0.437958322503,0.00458384309768,0.069984795379,0.999999994462,8.5153051328e-05,7.85532825584e-06,-6.13495533155e-05,1793238277087173888
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.883949414,746,715.116050586,681,667,636,881,788,804.116050586,652,632,654,0.438586606065,0.00458540356651,0.0699665849015,0.999999994574,8.36147735643e-05,-9.35409444485e-06,-6.1429287857e-05,1793238277103841024
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,715.473369463,681.473369463,667.473369463,636,881.473369463,788,804,652.473369463,632,654,0.439167527139,0.00459013344334,0.0699421252057,0.99999999285,8.79835520677e-05,-5.24689361892e-05,-6.16900691758e-05,1793238277120507648
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,715.934468442,682,667.934468442,636.065531558,882,788,804,652.934468442,632,653.934468442,0.439740012232,0.00459472712179,0.0699186387217,0.999999989102,9.30974549488e-05,-9.64154767024e-05,-6.19164680783e-05,1793238277137174272
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,715.356635544,682,667.356635544,636.643364456,882,788,804,652.356635544,632,653.356635544,0.440340899464,0.00459194223091,0.0699152095987,0.999999989314,9.22689365882e-05,-9.52573902844e-05,-6.15134132756e-05,1793238277153841152
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,715,681.78136566,667.21863434,636.78136566,881.78136566,788,804,652,632,653.21863434,0.440953889568,0.0045909965363,0.069931400664,0.999999991816,9.04519681389e-05,-6.67203003961e-05,-6.11205152589e-05,1793238277170507520
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,715,681.210228168,667.789771832,636.210228168,881.210228168,788,804,652,632,653.789771832,0.441586393017,0.00459301616974,0.0699792252699,0.999999994349,8.7041325856e-05,5.9598323736e-06,-6.07439927967e-05,1793238277187173888
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.633430524,746,715,681.366569476,668,636,881,788,804.366569476,652,632,653.633430524,0.442166213502,0.00459484981845,0.0700177765305,0.999999992547,8.51345212098e-05,6.30077159871e-05,-6.07365274034e-05,1793238277203840512
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.05333581,746,715,681.94666419,668,636,881,788,804.94666419,652,632,653.05333581,0.442715346434,0.004596575132,0.0700509261095,0.999999988451,8.41036956021e-05,0.000110949884552,-6.09440362386e-05,1793238277220506880
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,746,715,682,667.464449274,636,881,788,804.464449274,652,632,653.535550726,0.443199671884,0.00459841704204,0.0700356870043,0.999999990839,9.04173533449e-05,8.03108801589e-05,-6.0807683423e-05,1793238277237173760
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,715.122178894,682,667,636,881.122178894,788,804,652,632,653.877821106,0.443666253006,0.00460065987232,0.0700124766592,0.999999992534,9.93636185278e-05,3.79275042067e-05,-6.01777873579e-05,1793238277253840896
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715.697139,682,667,636,881.697139,788,804,652,632,653.302861,0.444091393585,0.00460434471775,0.0699778827471,0.999999991508,0.000115310151397,-1.84930736426e-05,-5.78479034124e-05,1793238277270507264
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715.72693164,682,667,636,881.72693164,788,804,652,632,653,0.444508863891,0.00461007383385,0.0699442525087,0.999999987322,0.000129506285103,-7.30214800049e-05,-5.70227426226e-05,1793238277287173632
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715.149923482,682,667,636,881.149923482,788,804,652,632,653,0.444917796745,0.00461807833316,0.069911694893,0.99999998041,0.000141754129347,-0.000125443794126,-5.78724199673e-05,1793238277303840256
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.43783454,746,715.43783454,682,666.12433092,636,881.43783454,788,804.43783454,652,632,653,0.445301831512,0.00462162799861,0.0698894997486,0.999999974522,0.000149294648343,-0.000158846903611,-5.8609216803e-05,1793238277320506880
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+269,4.483333333,HOLD_POSE2,766,746,715,682,661,634.51600293,882,788,804,652,632,653.51600293,0.449964110047,0.00467394696134,0.0697012138845,0.999999869692,0.000193270827586,-0.000467847882306,-6.61795500296e-05,1793238278384215552
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+271,4.516666667,HOLD_POSE2,766,746,715,682,660.360430004,634,882,787.360430004,804,652,632,653.639569996,0.449963532353,0.00467591630697,0.0697008636621,0.999999868721,0.000195922124813,-0.000468874155838,-6.57988939752e-05,1793238278417549312
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.265065947,746,715,681.734934053,666,636,881.265065947,788,804.734934053,652,632,653,0.441309207599,0.00460283226267,0.0698408165047,0.999999963652,0.000117169771482,-0.000242305899903,1.59735616644e-05,1793238279354771712
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766.840435674,746,715,681.159564326,666,636,881.840435674,788,804.159564326,652,632,653,0.440746737665,0.00459728867793,0.069843543784,0.999999968703,0.000100662471784,-0.000228452490905,1.64246855286e-05,1793238279371438080
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,715,681.42678257,666.42678257,636,881.57321743,788,804.42678257,652,632,653.42678257,0.440151975194,0.00459463521638,0.0698379959246,0.999999967274,8.96549330412e-05,-0.00023893574358,1.79957708243e-05,1793238279388104448
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.982971567,746,715.017028433,682,666.982971567,636,881,788,804.982971567,652,632.017028433,653.982971567,0.439542803573,0.0045930371626,0.0698282174372,0.999999962669,8.06540860646e-05,-0.000260304198309,1.99684080774e-05,1793238279404770816
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766.403086759,746,715.596913241,682,666.403086759,636,881,788,804.403086759,652,632.596913241,653.403086759,0.438866962015,0.00458966509942,0.0697835649582,0.999999942082,6.82212892657e-05,-0.000332776245252,2.100791912e-05,1793238279421437440
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.174764665,746,715.825235335,682,666,636,881,788,804,652,632.825235335,653.174764665,0.438194236206,0.00458675920109,0.0697498371862,0.999999921985,8.98863005443e-05,-0.00038408512736,2.07246138295e-05,1793238279438104320
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.747980086,746,715.252019914,682,666,636,881,788,804,652,632.252019914,653.747980086,0.437528614119,0.00458491612498,0.069741016956,0.999999906992,0.000189291841711,-0.000387143525643,1.74253832796e-05,1793238279454771456
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766.676887022,746,715,681.676887022,666,636,881,788,804,652.323112978,632,654,0.436874604777,0.00458102395788,0.0697570698092,0.999999910687,0.000221909408583,-0.000359240476601,1.81241684875e-05,1793238279471438336
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766.100249651,746,715,681.100249651,666,636,881,788,804,652.899750349,632,654,0.436229707184,0.00457552401098,0.0697926388501,0.999999932194,0.000202123070045,-0.000307044123638,2.19599201846e-05,1793238279488104960
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,746,715,681.489575664,666.489575664,636,881,788,804,652.510424336,632,653.510424336,0.435561846787,0.00457242633711,0.0698190361646,0.99999994548,0.000182890215242,-0.000273854797101,2.43693396264e-05,1793238279504771328
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766.080074343,746,715,682,666.919925657,636,881,788.080074343,804,652,632,653,0.434878603866,0.00456979422361,0.0698394139585,0.999999954958,0.00016308433744,-0.000250602840187,2.6199196184e-05,1793238279521437696
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766.657517348,746,715,682,666.342482652,636,881,788.657517348,804,652,632,653,0.434129829799,0.00456691386275,0.0698343907989,0.999999955085,0.000138995774292,-0.000264231240496,2.62935445576e-05,1793238279538104320
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,715,682,666,636,881,788.766773033,804,652.233226967,632,653,0.433391218215,0.00456358143185,0.0698298210594,0.999999954868,0.000122554158478,-0.000272988085476,2.68519524273e-05,1793238279554770944
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,715,682,666,636,881,788.193589947,804,652.806410053,632,653,0.432667419553,0.00455959005453,0.0698259122329,0.999999955016,0.000117258876994,-0.000274644059793,2.80867823959e-05,1793238279571437824
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,715,682,666,636,881,788,804,653,632,653,0.431930196362,0.00455563102565,0.0698254090689,0.9999999552,0.000116728941532,-0.000274182867972,2.82560686038e-05,1793238279588104704
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,715,682,666,636,881,788,804,653,632,653,0.431186126797,0.0045516884945,0.0698266427696,0.999999955408,0.000118629300364,-0.000272641935759,2.78819346864e-05,1793238279604771328
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.438364317,746,715,682,666,636,881,788,804,652.438364317,632,653,0.430361057439,0.00454680140165,0.0697737534268,0.999999930178,0.000112553192566,-0.000355230031096,2.8064352427e-05,1793238279621437696
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,746,715.139027848,681.860972152,666,636,881,788,804,652.139027848,632,653,0.429549783313,0.004540979028,0.0697375305657,0.999999909278,0.000104536636768,-0.000411958625486,2.84015176413e-05,1793238279638104576
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,715.713759652,681.286240348,666,636,881,788,804,652.713759652,632,653,0.428789247845,0.00453231306854,0.0697585542817,0.999999923275,9.11779335684e-05,-0.000379850044435,2.91720825788e-05,1793238279654770944
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.287571609,746,715.712428391,680.712428391,666,636,881,788,804,653,632,653.287571609,0.428050703871,0.00452650300946,0.0697973487582,0.999999944301,8.21696497084e-05,-0.000322023362638,3.07588700352e-05,1793238279671437568
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.86047086,746,715.13952914,680.13952914,666,636,881,788,804,653,632,653.86047086,0.427333979832,0.00452352656625,0.0698537753258,0.999999967965,7.7477838625e-05,-0.0002386792629,3.31555107211e-05,1793238279688104192
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.549894167,746,715,680.450105833,666,636,881.900211666,788,804,652.549894167,632,654,0.426580832406,0.00451849821171,0.0698701044061,0.999999973328,7.39170750825e-05,-0.000216157571485,3.40168497316e-05,1793238279704770816
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.043593879,746,715,681.043593879,666,636,882.912812242,788,804,652.043593879,632.043593879,653.956406121,0.425812617875,0.00451269010166,0.0698711703427,0.999999973432,7.04663607406e-05,-0.00021677753104,3.43357416809e-05,1793238279721437440
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.618374953,746,715,681.618374953,666,636,881.763250094,788,804,652.618374953,632.618374953,653.381625047,0.42500370503,0.00450543058049,0.0698435623162,0.999999963378,6.39193880049e-05,-0.000260764609184,3.4068091247e-05,1793238279738104320
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.806583104,746.193416896,715,681.613166208,666,636,880.806583104,788,804.193416896,652.806583104,633,653.193416896,0.424191037374,0.00449910725366,0.0698188354251,0.999999952477,5.75350434644e-05,-0.000300976963983,3.38807742477e-05,1793238279754771200
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.23102565,746.76897435,715,680.462051299,666,636,880.23102565,788,804.76897435,652.23102565,633,653.76897435,0.423370951061,0.00449463359761,0.0697998008896,0.999999942414,5.1472008157e-05,-0.000333731473712,3.3852174876e-05,1793238279771437824
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746.646828871,715.353171129,680.353171129,666,636,880.353171129,788,804.646828871,652.353171129,632.646828871,654,0.422547244155,0.00448954365355,0.0697637078005,0.999999918814,4.75975150004e-05,-0.000398617369277,3.47843298328e-05,1793238279788104448
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,746.056839033,715.943160967,680.943160967,666,636,880.943160967,788,804.056839033,652.943160967,632.056839033,654,0.421721109512,0.00448404045817,0.0697161761088,0.999999880682,4.51905477008e-05,-0.000485048944082,3.63607178964e-05,1793238279804770816
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.523551518,746,716,680.476448482,666,636,881,788,804,653,632,653.476448482,0.420999597814,0.00447625498428,0.0697403189294,0.999999904969,2.54758148341e-05,-0.000433887484639,3.39891963823e-05,1793238279821437696
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.102559473,666,636,881,788.102559473,804,653.102559473,632,653.102559473,0.420292868895,0.0044682994645,0.0697775939118,0.999999933638,7.01543385213e-06,-0.000362828973336,3.20843785199e-05,1793238279838104064
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,716,680.679904448,666,636,881,788.679904448,804,653.679904448,632,653.679904448,0.419602939787,0.00446068312516,0.0698402885903,0.999999963612,2.90390431754e-06,-0.000267566730738,3.42885369289e-05,1793238279854770944
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,715.744312939,681,666,636,880.744312939,788.744312939,804,653.744312939,632,654,0.418886540625,0.00445411409999,0.069877046722,0.999999976837,6.85668316706e-07,-0.000212185789457,3.60835873402e-05,1793238279871437568
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,715.170474418,681,666,636,880.170474418,788.170474418,804,653.170474418,632,654,0.418137204821,0.00444884824861,0.0698815319986,0.999999977995,8.23258156696e-07,-0.000206429168524,3.73695847295e-05,1793238279888104448
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.584540901,746,715.415459099,680.584540901,666,636,880.415459099,788.415459099,804,653,632,654,0.417389783857,0.00444561444732,0.0698568848542,0.999999969331,-2.17755368887e-06,-0.000244848169711,3.71919057735e-05,1793238279904771072
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,666,636,881,788.414287329,804,653,632.585712671,654,0.415929648909,0.0044413263426,0.0698059859874,0.999999951164,-1.38942925035e-05,-0.000310237613439,3.50817353044e-05,1793238279938104576
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.163650219,746,716,680.163650219,666.163650219,636,881,788,804.163650219,653,633,654,0.415214924385,0.0044437321183,0.0697927594818,0.999999946452,-1.42579786637e-05,-0.000325110168658,3.4587078434e-05,1793238279954771200
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.73807485,746,716,680.73807485,666.73807485,636,881,788,804.73807485,653,633,654,0.414498088338,0.00445699124719,0.0697819514485,0.999999936278,2.93008400521e-06,-0.000355146246712,3.61346293522e-05,1793238279971437824
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.679777251,746,715.679777251,681,666.359554502,636,880.679777251,788,804.679777251,653,632.679777251,654,0.413818470592,0.00447259841752,0.0697815326347,0.999999934319,2.38714731633e-05,-0.000359840014342,3.61506946932e-05,1793238279988104448
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.091156039,746,715.091156039,681,665.182312078,636,880.091156039,788,804.091156039,653,632.091156039,654,0.413170047848,0.00449017362561,0.0697898216681,0.999999939317,4.79587560251e-05,-0.000343292824648,3.48831272944e-05,1793238280004771072
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.489450102,746,715,680.510549898,665.489450102,636,880.489450102,788,804,653,632,654,0.412585087168,0.00448290616654,0.0698286133015,0.999999961677,3.87700847462e-05,-0.000271899015843,3.48319123706e-05,1793238280021437952
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.93187589,746,715,680,666,636.06812411,880.93187589,788,804,653,632,654,0.412010533411,0.00447162405685,0.0698696041212,0.99999997959,2.39408545884e-05,-0.000197533811878,3.50245916531e-05,1793238280038104320
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.356651637,746,715,680,666,636.643348363,880.356651637,788,804,653,632,654,0.41142688386,0.00446434331306,0.0698853595062,0.999999983832,1.25131437083e-05,-0.00017586124805,3.53736549084e-05,1793238280054770944
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.219356093,746,715,680,666.219356093,636.780643907,880,788,803.780643907,652.780643907,632,653.780643907,0.41082659973,0.00446035441194,0.0698829756914,0.999999982293,8.04353593598e-06,-0.000184609917523,3.56090303135e-05,1793238280071437568
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.79664219,746,715,680,666.79664219,636.20335781,880,788,803.20335781,652.20335781,632,653.20335781,0.41019917251,0.00446173691125,0.0698509935914,0.999999969729,1.49276776017e-05,-0.000242997839855,3.56588977067e-05,1793238280088104448
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.619372663,746,715,680.380627337,666.619372663,636,880,788.380627337,803,652.380627337,632,653.380627337,0.409603551641,0.00446133139414,0.069821878114,0.999999956129,1.28476795585e-05,-0.000293877373739,3.48256327514e-05,1793238280104771072
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.031744239,746,715,680.968255761,666.031744239,636,880,788.968255761,803,652.968255761,632,653.968255761,0.40902522834,0.00445995347896,0.0697943216231,0.999999941392,5.89260754152e-06,-0.000340673536727,3.35120834232e-05,1793238280121437696
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.547556242,746.547556242,715.547556242,680.452443758,666,636,880.547556242,788.452443758,803.547556242,653,632,654,0.408511853171,0.00446519594394,0.0697931500458,0.999999942606,1.21529901156e-05,-0.00033697470307,3.29869861478e-05,1793238280138104320
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.324001133,746.324001133,715.324001133,680,666,636,880.324001133,788.675998867,803.324001133,653,632,653.324001133,0.407550520708,0.00447642005199,0.0698195318017,0.999999957762,2.56441518854e-05,-0.000287744581679,3.19586756626e-05,1793238280171437824
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,666.248272508,636.248272508,880,788.751727492,803.248272508,653,632,653.248272508,0.407093494033,0.00447995351019,0.0698331000055,0.999999963269,2.79325957022e-05,-0.000267745547356,3.1544747441e-05,1793238280188104448
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,666.844997511,636.844997511,880,788.155002489,803.844997511,653,632,653.844997511,0.406643532426,0.00448057727139,0.0698356217468,0.999999962642,2.42080671506e-05,-0.000270462810585,3.13021792728e-05,1793238280204771328
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803,653,632,653.970245864,0.405742606001,0.00448164219604,0.0698070246387,0.99999994483,2.27626443787e-05,-0.000329859229992,3.18416390387e-05,1793238280238104320
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803,653,632,653.390963444,0.405379280157,0.00448085096852,0.0698174145268,0.999999951979,2.36104616341e-05,-0.000307458340181,3.08736304738e-05,1793238280254770944
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.813016813,746,715,680,666,636,880,788,803,653,632,653,0.405030024825,0.00447992968549,0.0698295329755,0.999999959137,2.60543221436e-05,-0.000283075182623,3.02425509589e-05,1793238280271437824
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.237843444,746,715,680,666,636,880,788,803,653,632,653,0.404709980904,0.00447873839821,0.0698452400357,0.99999996663,3.18116800395e-05,-0.000254576701392,3.03109598599e-05,1793238280288104448
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.345152005,746,715,680,666,636,880,788,803,653,632,653.345152005,0.404392248286,0.00447656582593,0.0698557687482,0.999999970995,2.872816526e-05,-0.000237216380882,3.02040173115e-05,1793238280304771328
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.933662678,746,715,680,666,636,880,788,803,653,632,653.933662678,0.40407614528,0.00447370137224,0.0698626463295,0.999999973437,1.94111569134e-05,-0.000227709316181,2.99734385407e-05,1793238280321437952
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.485520924,746,715,679.485520924,666.514479076,636,880,788,803,653,632,653.485520924,0.403773821556,0.00447369787248,0.0698537987957,0.999999970333,1.52261819359e-05,-0.000241359562126,2.91065722898e-05,1793238280338104320
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.186492253,666.906753874,636,880,788,803,653,632,653,0.403480333012,0.00447375388104,0.0698437764525,0.999999966654,1.07868549705e-05,-0.000256484468496,2.81325666584e-05,1793238280354770944
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.332991539,666.333504231,636,880,788,803,653,632,653,0.403223314047,0.00447224524717,0.0698379902634,0.999999964771,1.6820094951e-06,-0.00026405634515,2.70231508148e-05,1793238280371437824
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.240609019,746,715,680.759390981,666,636,880,788,803,653,632,653.240609019,0.402980135878,0.00447026420817,0.0698348584439,0.999999963459,-6.80187794713e-06,-0.000268966962639,2.63113752673e-05,1793238280388104704
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.815923578,746,715,680.184076422,666,636,880,788,803,653,632,653.815923578,0.40275621133,0.00446762601762,0.0698354190558,0.999999963057,-1.44219647497e-05,-0.000270175564764,2.61527478387e-05,1793238280404771072
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880.403846758,788.403846758,803,653,632,654,0.402541391151,0.00446692563559,0.0698303260299,0.999999960251,-1.65711416353e-05,-0.000280226113741,2.63852052339e-05,1793238280421437696
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880.997702243,788.997702243,803,653,632,654,0.402330854558,0.00446713698693,0.0698225729839,0.999999956164,-1.61462710867e-05,-0.00029443677294,2.68016669026e-05,1793238280438104320
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880.426642591,788.426642591,803.573357409,653,632,653.426642591,0.402159149216,0.00447151008736,0.0698194897262,0.99999995434,-4.83749411578e-06,-0.000300898837214,2.75113382713e-05,1793238280454770688
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803.851354624,653,632,653.148645376,0.401996612493,0.0044786108733,0.0698176145244,0.999999953022,1.58142607752e-05,-0.000304827498683,2.80254484105e-05,1793238280471437312
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803.276916095,653,632,653.723083905,0.401859907166,0.00449347878034,0.0698191478289,0.99999995214,6.31077794873e-05,-0.000301585466293,2.79761128978e-05,1793238280488104192
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,715.304094499,680,666,636,880.304094499,788,803.304094499,653,632,653.695905501,0.401735307796,0.00450370025048,0.0698206606961,0.999999951466,8.67196294215e-05,-0.000297956803836,2.77324247635e-05,1793238280504771072
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,715.891222048,680,666,636,880.891222048,788,803.891222048,653,632,653.108777952,0.401621975912,0.0045095970956,0.0698221545418,0.999999952521,8.82899980926e-05,-0.000293968289225,2.73078448215e-05,1793238280521437696
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.473007489,880.526992511,788,803.526992511,653,632,653.473007489,0.401519707997,0.00450563010035,0.0698215652095,0.999999954428,6.61664508754e-05,-0.000293589062609,2.38971122234e-05,1793238280538104576
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.94646925,746,716,680,666,636.94646925,880,788,803.05353075,653,632,653.94646925,0.401421972114,0.00450011207329,0.0698205051819,0.999999955691,4.08692364768e-05,-0.000294186501993,2.00581198596e-05,1793238280554770688
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.366411563,746,716,680,666,636.366411563,880,788,803.633588437,653,632,653.366411563,0.401344066031,0.00450140084306,0.069819474905,0.999999955226,3.73526956821e-05,-0.00029631741527,1.86859785838e-05,1793238280571437312
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.211385598,746,715.788614402,680,666,636,880,788,803.788614402,653,632,653,0.401274403849,0.00450141741341,0.0698192127572,0.999999955405,3.38596232827e-05,-0.00029616677196,1.8110246019e-05,1793238280588103936
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.785305832,746,715.214694168,680,666,636,880,788,803.214694168,653,632,653,0.401218880285,0.00449925211151,0.069820267981,0.999999956697,3.0406800318e-05,-0.000292103168993,1.89003858871e-05,1793238280604770816
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.631320416,666,636,880,788.368679584,803.368679584,653,632,653,0.401171930293,0.00449861489804,0.0698221233693,0.999999957758,3.01298488498e-05,-0.000288439272,1.94748965865e-05,1793238280621437440
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.042296719,666,636,880,788.957703281,803.957703281,653,632,653,0.401130104364,0.00449889095812,0.069824456982,0.999999958681,3.17509808693e-05,-0.000285014262418,1.99205348713e-05,1793238280638104064
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.536827919,666,636,880.536827919,788.463172081,803.463172081,653,632,653.536827919,0.401100096645,0.00449920376309,0.0698285661341,0.99999996025,3.39707165296e-05,-0.000279154621537,2.04617158615e-05,1793238280654770688
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880.885125946,788,803.114874054,653,632,654,0.401072380728,0.00449945373974,0.0698317293113,0.999999961477,3.55481293664e-05,-0.000274494320382,2.0873552184e-05,1793238280671437312
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880.30833725,788,803.69166275,653,632,654,0.401050203836,0.00449943964959,0.0698305363324,0.999999961268,3.43565123057e-05,-0.000275414001144,2.07355649307e-05,1793238280688103936
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788.267648059,803.732351941,653,632,654,0.401031776192,0.00449982704407,0.0698299926306,0.999999961136,3.41783551221e-05,-0.000275922327191,2.0643329418e-05,1793238280704770560
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788.84271069,803.15728931,653,632,654,0.401017654847,0.00450067557482,0.0698301946738,0.999999961093,3.51642351185e-05,-0.000275958180538,2.06036433129e-05,1793238280721437184
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766.571361168,746,715,680,666,636,880,788.571361168,803.428638832,653,632,654,0.401007950514,0.00450009419175,0.0698318100128,0.999999961574,3.52413770316e-05,-0.000274187608004,2.07429043831e-05,1793238280738104064
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.981747862,666.018252138,636.018252138,880,788,803.981747862,653,632,653.981747862,0.401000112596,0.0044989778006,0.0698339451677,0.99999996226,3.49740461598e-05,-0.000271694132333,2.09469439105e-05,1793238280754770688
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.404555509,666.595444491,636.595444491,880,788,803.404555509,653,632,653.404555509,0.400998504489,0.00449796388679,0.0698357042103,0.999999963296,3.46351176701e-05,-0.000267890161816,2.1071542465e-05,1793238280771437312
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766.17023997,746,715,679.17023997,666.82976003,636.82976003,880,788,803,653,632,653.17023997,0.400996764992,0.00449739575972,0.0698371202591,0.999999964078,3.40231268029e-05,-0.000265031928342,2.10723821156e-05,1793238280788104192
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766.739418604,746,715,679.739418604,666.260581396,636.260581396,880,788,803,653,632,653.739418604,0.400994717595,0.00449787228496,0.0698377325393,0.999999964296,3.27712442799e-05,-0.000264389925946,2.0783206367e-05,1793238280804770816
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.697039769,746,715,680,666,636,880,788,803,653,631.697039769,654,0.400994777834,0.00449861699234,0.0698391086514,0.999999964861,3.37777921746e-05,-0.000262132032322,2.05901884417e-05,1793238280821437696
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.138258095,746,715,680,666,636,880,788,803,653,631.138258095,654,0.400996617773,0.0044995881543,0.069841129748,0.999999965704,3.66913723764e-05,-0.000258509670445,2.04783667758e-05,1793238280838104320
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,746,715.464287937,680.464287937,666,636,880,788,803.464287937,653,631.464287937,654,0.400996365996,0.00450102244925,0.0698418136738,0.999999965904,3.82643342037e-05,-0.000257519990909,2.0297717572e-05,1793238280854770688
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,746,715.924146459,680.924146459,666.075853541,636,880,788,803.924146459,653,632,654,0.400995561872,0.00450232079921,0.0698421840931,0.999999965973,3.91643960304e-05,-0.000257125521134,2.01459310401e-05,1793238280871437568
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,746,715.3479936,680.3479936,666.6520064,636,880,788,803.3479936,653,632,654,0.400995650532,0.00450171821799,0.0698433863694,0.999999966552,3.85333770819e-05,-0.000254947910743,2.0333761881e-05,1793238280888104192
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766.227654775,746,715,680.227654775,666.772345225,636,880,788,803,653,631.772345225,653.772345225,0.400994881153,0.00450103730696,0.0698437134622,0.999999966711,3.73170576621e-05,-0.000254498399093,2.04101526518e-05,1793238280904770816
+420,7.000000000,POSE2_TO_POSE3_RETREAT,766.802533788,746,715,680.802533788,666.197466212,636,880,788,803,653,631.197466212,653.197466212,0.400992803073,0.00450023692543,0.0698427057052,0.99999996623,3.52080245628e-05,-0.000256684622599,2.03165725225e-05,1793238280921437440
+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,715,680.611110221,666,636,880,788,803,653,631.388889779,653.388889779,0.400993173479,0.00450062806724,0.0698431672778,0.999999966338,3.60083020154e-05,-0.000256175795104,2.00381090839e-05,1793238280938104576
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,715,680.018749394,666,636,880,788,803,653,631.981250606,653.981250606,0.400994824957,0.0045016426261,0.0698443976184,0.999999966749,3.83307601621e-05,-0.000254256889663,1.96629128422e-05,1793238280954771200
+423,7.050000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803,653,631.439006497,653.439006497,0.400994960507,0.00450162234505,0.069844663059,0.999999967026,3.80676009756e-05,-0.000253181669086,1.99528297874e-05,1793238280971437568
+424,7.066666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803,653,631.138858976,653.138858976,0.40099469122,0.00450136822002,0.0698447521952,0.999999967144,3.78864300892e-05,-0.000252720849104,2.02225583265e-05,1793238280988104192
+425,7.083333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803,653,631.712141178,653.712141178,0.400993310407,0.00450048833255,0.069844388431,0.99999996678,3.82261682282e-05,-0.00025409591861,2.03611120957e-05,1793238281004771072
+426,7.100000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,802.706532627,653,632,653.706532627,0.400992680974,0.00450069201442,0.0698442615098,0.999999966608,3.97026913916e-05,-0.000254541640274,2.04128406544e-05,1793238281021437696
+427,7.116666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,802.11709384,653,632,653.11709384,0.400992809331,0.00450198851135,0.0698443734526,0.999999966626,4.23256992996e-05,-0.000254050084248,2.03770031486e-05,1793238281038104320
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,802.462834613,653,632,653.462834613,0.400991691395,0.00450162960333,0.069843626042,0.999999966312,4.04221487174e-05,-0.00025561145407,2.01156562822e-05,1793238281054771200
+429,7.150000000,POSE2_TO_POSE3_RETREAT,766.959597802,746,715,680,666,636.040402198,880,788,803,653,632,654,0.400990514846,0.00450093525335,0.0698428360313,0.999999965982,3.77312603334e-05,-0.00025733101988,1.98475671517e-05,1793238281071438080
+430,7.166666667,POSE2_TO_POSE3_RETREAT,766.38207422,746,715,680,666,636.61792578,880,788,803,653,632,654,0.400992666448,0.00450123706742,0.0698443118186,0.999999966659,3.94912141742e-05,-0.000254387955233,2.02330461348e-05,1793238281088104704
+431,7.183333333,POSE2_TO_POSE3_RETREAT,766.194978684,746,715,680,666,636.805021316,879.805021316,788,803,653.194978684,632,654,0.400994163108,0.00450138118196,0.069845317969,0.999999967171,4.02869491799e-05,-0.0002522357059,2.03162042213e-05,1793238281104771584
+432,7.200000000,POSE2_TO_POSE3_RETREAT,766.771111586,746,715,680,666,636.228888414,879.228888414,788,803,653.771111586,632,654,0.400994379457,0.00450121701748,0.06984540605,0.999999967377,3.91977806238e-05,-0.000251629381932,1.98083701576e-05,1793238281121437952
+433,7.216666667,POSE2_TO_POSE3_RETREAT,767,745.644181732,715.355818268,680,666,636,879.355818268,788,803,653.644181732,632,654,0.400994050633,0.00450071984977,0.0698456595111,0.999999967383,3.90369633024e-05,-0.000251630937561,1.98143281745e-05,1793238281138104320
+434,7.233333333,POSE2_TO_POSE3_RETREAT,767,745.053823624,715.946176376,680,666,636,879.946176376,788,803,653.053823624,632,654,0.400993362457,0.00450000318089,0.0698460219835,0.999999967257,3.94880745772e-05,-0.000252033180869,2.01589554899e-05,1793238281154770944
+435,7.250000000,POSE2_TO_POSE3_RETREAT,767,745.526379516,715.473620484,679.473620484,666,636,880,788,803,653,632,653.473620484,0.400994816332,0.00449948396394,0.0698467859632,0.999999967857,3.79431427451e-05,-0.000249888319669,2.00413182171e-05,1793238281171437568
+436,7.266666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.104847801,665.895152199,636,880,788,803,653,632,653.104847801,0.400996058088,0.00449952011272,0.0698473154828,0.999999968337,3.66260124119e-05,-0.000248171185769,1.98651331685e-05,1793238281188104192
+437,7.283333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.680103065,665.319896935,636,880,788,803,653,632,653.680103065,0.400995384061,0.00450195908195,0.0698466123691,0.999999967984,3.72293105572e-05,-0.000249519484353,1.9634325436e-05,1793238281204771328
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b6358019831a971e555d0e22e1bc4b5960eeda86
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,439 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+283,4.716666667,pose2_to_pose3_retreat,0.625390522669,0.0100013105752,1.0600117533,0.595961748448,0.0186749778356,1.05966129656
+284,4.733333333,pose2_to_pose3_retreat,0.62539043136,0.0100013729089,1.06001175478,0.595961655908,0.0186750359457,1.05966129745
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+286,4.766666667,pose2_to_pose3_retreat,0.625390334088,0.0100014393134,1.06001175636,0.595961557325,0.0186750978508,1.0596612984
+287,4.783333333,pose2_to_pose3_retreat,0.625389958087,0.010001447282,1.06001182484,0.595961181457,0.0186751059747,1.05966136049
+288,4.800000000,pose2_to_pose3_retreat,0.625388270765,0.0100013768462,1.06001177624,0.595959495407,0.0186750397999,1.05966130734
+289,4.816666667,pose2_to_pose3_retreat,0.62538422434,0.0100013174542,1.06001161352,0.595955449855,0.0186749836538,1.05966114913
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+292,4.866666667,pose2_to_pose3_retreat,0.625331568487,0.0100012495511,1.06001169185,0.595902794547,0.0186749168471,1.05966122488
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+298,4.966666667,pose2_to_pose3_retreat,0.624996114092,0.0100012973136,1.06001169078,0.595567340258,0.0186749639182,1.05966122721
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+304,5.066666667,pose2_to_pose3_retreat,0.624286861577,0.0100013621669,1.06001174489,0.594858089266,0.0186750309768,1.05966128232
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+349,5.816666667,pose2_to_pose3_retreat,0.601353618745,0.0100013632335,1.06001153506,0.571924851255,0.0186750212024,1.05966106894
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+352,5.866666667,pose2_to_pose3_retreat,0.599014572522,0.0100012750168,1.06001164889,0.569585807827,0.0186749426932,1.05966118824
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+356,5.933333333,pose2_to_pose3_retreat,0.596139048636,0.0100012287015,1.0600117814,0.566710285392,0.018674901018,1.05966131344
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+358,5.966666667,pose2_to_pose3_retreat,0.594739262099,0.0100012276122,1.06001169108,0.565310498194,0.0186748975322,1.05966121997
+359,5.983333333,pose2_to_pose3_retreat,0.59403092916,0.0100013009805,1.06001165838,0.564602164278,0.01867496793,1.05966119585
+360,6.000000000,pose2_to_pose3_retreat,0.593322946003,0.0100013045029,1.06001166656,0.563894181036,0.0186749710864,1.05966120219
+361,6.016666667,pose2_to_pose3_retreat,0.592621260565,0.0100012681552,1.06001168701,0.563192495428,0.0186749339494,1.05966121734
+362,6.033333333,pose2_to_pose3_retreat,0.591932664312,0.0100012951926,1.06001163465,0.562503897597,0.0186749559458,1.05966117267
+363,6.050000000,pose2_to_pose3_retreat,0.591263029742,0.0100012936204,1.06001150577,0.561834264015,0.0186749580377,1.05966105152
+364,6.066666667,pose2_to_pose3_retreat,0.590618178881,0.0100013059805,1.06001162469,0.561189412744,0.0186749688528,1.05966116664
+365,6.083333333,pose2_to_pose3_retreat,0.590000500629,0.0100012245202,1.06001156035,0.560571735488,0.0186748908349,1.05966110373
+366,6.100000000,pose2_to_pose3_retreat,0.589408423765,0.0100012026634,1.06001157224,0.559979659054,0.0186748703895,1.0596611145
+367,6.116666667,pose2_to_pose3_retreat,0.588831625992,0.0100012377091,1.06001163108,0.559402860863,0.018674903833,1.05966116879
+368,6.133333333,pose2_to_pose3_retreat,0.588259074205,0.0100012482701,1.06001155843,0.558830308358,0.018674911742,1.05966109074
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+370,6.166666667,pose2_to_pose3_retreat,0.587109009248,0.0100013434809,1.06001170527,0.557680244778,0.0186750117532,1.05966124076
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+373,6.216666667,pose2_to_pose3_retreat,0.585494745688,0.0100013160277,1.06001179617,0.556065980814,0.0186749830731,1.05966133552
+374,6.233333333,pose2_to_pose3_retreat,0.585011184854,0.0100012204093,1.06001143423,0.555582418575,0.0186748824772,1.05966096846
+375,6.250000000,pose2_to_pose3_retreat,0.584552406221,0.0100013485145,1.06001152565,0.555123640398,0.0186750122002,1.05966106158
+376,6.266666667,pose2_to_pose3_retreat,0.58410546927,0.010001336701,1.06001162641,0.554676703549,0.0186750007011,1.05966116157
+377,6.283333333,pose2_to_pose3_retreat,0.583668374426,0.0100013101509,1.06001185284,0.554239609307,0.0186749761214,1.05966138625
+378,6.300000000,pose2_to_pose3_retreat,0.583250303507,0.0100013124985,1.0600119227,0.553821538386,0.0186749783793,1.05966145404
+379,6.316666667,pose2_to_pose3_retreat,0.582852995807,0.0100013084916,1.06001164863,0.553424229513,0.018674970326,1.05966117836
+380,6.333333333,pose2_to_pose3_retreat,0.582480930015,0.0100011739495,1.06001144827,0.553052163958,0.0186748366235,1.05966097882
+381,6.350000000,pose2_to_pose3_retreat,0.582134666695,0.0100013622136,1.06001172689,0.552705899562,0.0186750211574,1.05966125582
+382,6.366666667,pose2_to_pose3_retreat,0.58181407834,0.0100014997195,1.0600117106,0.552385309853,0.0186751543527,1.05966124673
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+384,6.400000000,pose2_to_pose3_retreat,0.581207308345,0.0100012701645,1.06001179905,0.551778543143,0.0186749356469,1.05966132766
+385,6.416666667,pose2_to_pose3_retreat,0.580921513045,0.0100012225717,1.06001169355,0.551492748,0.0186748886216,1.05966122297
+386,6.433333333,pose2_to_pose3_retreat,0.580650129102,0.0100013593421,1.06001146499,0.551221361726,0.018675017805,1.05966100236
+387,6.450000000,pose2_to_pose3_retreat,0.580396602871,0.0100013705084,1.06001157259,0.550967835034,0.0186750274238,1.05966111041
+388,6.466666667,pose2_to_pose3_retreat,0.580160001209,0.0100013457379,1.06001153293,0.550731233417,0.0186750028176,1.05966107111
+389,6.483333333,pose2_to_pose3_retreat,0.579939419073,0.0100013057984,1.06001152523,0.550510652395,0.0186749666239,1.05966106261
+390,6.500000000,pose2_to_pose3_retreat,0.579735306368,0.0100012734036,1.06001178885,0.550306541577,0.0186749405227,1.05966132356
+391,6.516666667,pose2_to_pose3_retreat,0.579546808192,0.0100013840302,1.06001175751,0.550118041302,0.0186750443221,1.0596612995
+392,6.533333333,pose2_to_pose3_retreat,0.579375143993,0.0100013836231,1.06001169538,0.549946377583,0.0186750451515,1.05966122767
+393,6.550000000,pose2_to_pose3_retreat,0.579220848284,0.0100012771465,1.06001177569,0.549792083733,0.0186749449029,1.05966130605
+394,6.566666667,pose2_to_pose3_retreat,0.579085341818,0.0100012847411,1.06001177914,0.549656576684,0.0186749507723,1.05966131577
+395,6.583333333,pose2_to_pose3_retreat,0.578963268301,0.0100013648126,1.06001170734,0.549534501632,0.0186750258978,1.05966125047
+396,6.600000000,pose2_to_pose3_retreat,0.57885368063,0.0100013843285,1.06001166108,0.54942491386,0.0186750450484,1.0596612037
+397,6.616666667,pose2_to_pose3_retreat,0.578755384243,0.0100011757814,1.06001179676,0.549326620655,0.0186748468496,1.05966132838
+398,6.633333333,pose2_to_pose3_retreat,0.578667734124,0.0100014453785,1.06001143467,0.549238963909,0.0186750944111,1.05966097864
+399,6.650000000,pose2_to_pose3_retreat,0.578591279669,0.0100014881777,1.06001146795,0.54916251219,0.0186751466047,1.05966101435
+400,6.666666667,pose2_to_pose3_retreat,0.578525471534,0.0100012833149,1.06001144576,0.549096707054,0.0186749518171,1.05966098944
+401,6.683333333,pose2_to_pose3_retreat,0.578470425858,0.0100011995911,1.06001149546,0.549041661042,0.0186748668054,1.05966103531
+402,6.700000000,pose2_to_pose3_retreat,0.578424608901,0.0100013170906,1.06001166776,0.548995841801,0.018674976357,1.05966120267
+403,6.716666667,pose2_to_pose3_retreat,0.578386848341,0.0100012522852,1.06001172201,0.548958082263,0.0186749145675,1.05966124575
+404,6.733333333,pose2_to_pose3_retreat,0.578355403881,0.0100011582893,1.06001187919,0.548926641137,0.0186748320883,1.05966140789
+405,6.750000000,pose2_to_pose3_retreat,0.578329485617,0.010001100187,1.06001171769,0.548900723415,0.0186747760205,1.0596612513
+406,6.766666667,pose2_to_pose3_retreat,0.578308853487,0.0100011701451,1.06001162192,0.548880089441,0.018674839759,1.05966115647
+407,6.783333333,pose2_to_pose3_retreat,0.578292075424,0.0100013743809,1.06001179282,0.548863308347,0.0186750335841,1.05966132429
+408,6.800000000,pose2_to_pose3_retreat,0.578279123366,0.0100013949452,1.06001168417,0.548850355543,0.018675051712,1.05966121809
+409,6.816666667,pose2_to_pose3_retreat,0.578270104066,0.0100012514894,1.06001177924,0.548841339208,0.0186749181381,1.05966130875
+410,6.833333333,pose2_to_pose3_retreat,0.578264070423,0.0100012463728,1.06001181057,0.548835306179,0.0186749151568,1.05966134112
+411,6.850000000,pose2_to_pose3_retreat,0.578260151711,0.01000133413,1.06001178617,0.548831386371,0.0186749994024,1.05966132129
+412,6.866666667,pose2_to_pose3_retreat,0.578258051396,0.0100013988803,1.06001169609,0.548829284777,0.0186750598022,1.05966123124
+413,6.883333333,pose2_to_pose3_retreat,0.578257507232,0.0100014173079,1.06001166558,0.548828740216,0.0186750768725,1.0596612005
+414,6.900000000,pose2_to_pose3_retreat,0.578257174256,0.0100014285838,1.0600116469,0.548828406998,0.0186750873179,1.05966118169
+415,6.916666667,pose2_to_pose3_retreat,0.578256986923,0.0100014349276,1.0600116364,0.548828219528,0.0186750931944,1.05966117111
+416,6.933333333,pose2_to_pose3_retreat,0.57825684166,0.0100014398468,1.06001162825,0.548828074159,0.0186750977513,1.05966116291
+417,6.950000000,pose2_to_pose3_retreat,0.578256825572,0.0100014403916,1.06001162735,0.54882805806,0.018675098256,1.059661162
+418,6.966666667,pose2_to_pose3_retreat,0.578256231601,0.0100014605058,1.06001159404,0.548827463656,0.0186751168887,1.05966112845
+419,6.983333333,pose2_to_pose3_retreat,0.578255734507,0.0100014773394,1.06001156616,0.5488269662,0.0186751324824,1.05966110037
+420,7.000000000,pose2_to_pose3_retreat,0.578255619765,0.010001481225,1.06001155973,0.548826851375,0.0186751360818,1.05966109389
+421,7.016666667,pose2_to_pose3_retreat,0.57825551262,0.0100014840707,1.06001155428,0.548826744165,0.0186751387064,1.05966108839
+422,7.033333333,pose2_to_pose3_retreat,0.578255484789,0.0100014803915,1.060011556,0.548826716394,0.0186751352307,1.05966109008
+423,7.050000000,pose2_to_pose3_retreat,0.57825541045,0.010001470564,1.06001156061,0.548826642216,0.0186751259468,1.0596610946
+424,7.066666667,pose2_to_pose3_retreat,0.578255338284,0.0100014610238,1.06001156509,0.548826570207,0.0186751169342,1.05966109898
+425,7.083333333,pose2_to_pose3_retreat,0.578255042936,0.0100014219794,1.06001158341,0.5488262755,0.0186750800494,1.05966111692
+426,7.100000000,pose2_to_pose3_retreat,0.578254563916,0.010001358654,1.06001161312,0.548825797519,0.0186750202264,1.05966114601
+427,7.116666667,pose2_to_pose3_retreat,0.578253951957,0.0100012777541,1.06001165108,0.548825186886,0.018674943801,1.05966118317
+428,7.133333333,pose2_to_pose3_retreat,0.578253857598,0.0100012652801,1.06001165693,0.548825092732,0.0186749320169,1.0596611889
+429,7.150000000,pose2_to_pose3_retreat,0.578253640423,0.0100012365699,1.0600116704,0.548824876028,0.0186749048947,1.05966120209
+430,7.166666667,pose2_to_pose3_retreat,0.578253410354,0.0100012061552,1.06001168467,0.548824646458,0.0186748761622,1.05966121607
+431,7.183333333,pose2_to_pose3_retreat,0.578253130705,0.0100012128751,1.06001165966,0.548824366422,0.0186748816064,1.05966119205
+432,7.200000000,pose2_to_pose3_retreat,0.578252827719,0.010001248407,1.06001160517,0.548824062373,0.0186749136091,1.0596611395
+433,7.216666667,pose2_to_pose3_retreat,0.57825259897,0.0100012752328,1.06001156403,0.548823832823,0.0186749377705,1.05966109984
+434,7.233333333,pose2_to_pose3_retreat,0.578252394462,0.0100013032695,1.06001154403,0.548823627792,0.0186749640407,1.05966108009
+435,7.250000000,pose2_to_pose3_retreat,0.578252283585,0.0100013218797,1.0600115473,0.548823516794,0.0186749822111,1.05966108262
+436,7.266666667,pose2_to_pose3_retreat,0.578252136417,0.0100013465813,1.06001155164,0.548823369466,0.0186750063289,1.05966108596
+437,7.283333333,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.018674979542,1.05966098109
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f7c7e5a1a5af6ecacb6eba00b9ca3282f37a742e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0b488178bd3bf83117b3e1eba472b987dacbacef6af7fd99947df10411b7a03
+size 27907532
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..34a5bfefd3260f05b037361c583d6077dc49d52b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_03/franka_data.csv
@@ -0,0 +1,441 @@
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+20,0.333333333,BASELINE,767,746,715,680,666,636.39613271,879.60386729,788,803.39613271,653.39613271,631.39613271,654,0.400994843255,0.00450173435682,0.0698481331473,0.999999968361,3.83956232052e-05,-0.000247839409015,1.94559565806e-05,1793238281690609152
+21,0.350000000,BASELINE,766.816918222,746,715.183081778,680,666,636,879.816918222,788,803,653,631.183081778,654,0.400995143284,0.00450181123122,0.0698483688089,0.999999968582,3.78302505865e-05,-0.000247042174648,1.93450954283e-05,1793238281707275520
+22,0.366666667,BASELINE,766.243875729,746,715.756124271,680,666,636,879.243875729,788,803,653,631.756124271,654,0.400993444865,0.00450195815684,0.0698472890131,0.999999968023,3.91070276656e-05,-0.000249105823393,1.92539872698e-05,1793238281723942144
+23,0.383333333,BASELINE,766,746,715.665158438,680,666,636,879.669683123,788,803,653,632.334841562,654,0.400994063545,0.00450245520152,0.0698478800581,0.999999968183,4.05936519444e-05,-0.000248221760272,1.92802721935e-05,1793238281740609024
+24,0.400000000,BASELINE,766,746,715.082236697,680,666,636,880.835526605,788,803,653,632.917763303,654,0.400996398935,0.0045032116453,0.0698497090093,0.99999996887,4.22357496814e-05,-0.000245153772274,1.93935322629e-05,1793238281757275648
+25,0.416666667,BASELINE,766.500583847,746,715,680,666,636,880.499416153,788,803.500583847,653,632.499416153,654,0.400996469259,0.00450201584446,0.0698492049972,0.99999996886,3.99582536638e-05,-0.000245573084733,1.94163093914e-05,1793238281773942528
+26,0.433333333,BASELINE,767,746,715,680,666,636.082605293,879.917394707,788,803.917394707,653.082605293,632,654,0.400996128598,0.00450081072093,0.0698485010328,0.99999996874,3.76743018769e-05,-0.000246424981905,1.93987117597e-05,1793238281790608896
+27,0.450000000,BASELINE,767,746,715,680,666,636.659940664,879.340059336,788,803.340059336,653.659940664,632,654,0.400995554647,0.00450147018022,0.0698488944665,0.999999968681,3.92073785035e-05,-0.000246437217853,1.92283141072e-05,1793238281807275776
+28,0.466666667,BASELINE,767,746,715,680,666.235972605,636.764027395,879.235972605,788.235972605,803,653.764027395,632,654,0.400994950108,0.00450151383291,0.0698489971757,0.999999968628,3.95896406838e-05,-0.000246592638612,1.91860470533e-05,1793238281823942400
+29,0.483333333,BASELINE,767,746,715,680,666.810136464,636.189863536,879.810136464,788.810136464,803,653.189863536,632,654,0.400994301729,0.00450067492376,0.0698486832245,0.999999968586,3.83225783513e-05,-0.000246953269001,1.93274142402e-05,1793238281840609280
+30,0.500000000,BASELINE,767,746,715.396016899,680,666.603983101,636,880,788.603983101,803.396016899,653,632,653.603983101,0.400994598874,0.00450083583335,0.0698488767307,0.999999968698,3.65627152754e-05,-0.000246777186381,1.917884119e-05,1793238281857275648
+31,0.516666667,BASELINE,767,746,715.987685889,680,666.012314111,636,880,788.012314111,803.987685889,653,632,653.012314111,0.400995363155,0.00450149070328,0.0698493209463,0.999999968884,3.45593841002e-05,-0.000246335940767,1.88870232028e-05,1793238281873942272
+32,0.533333333,BASELINE,766.433733615,746,715.433733615,680,666,636.566266385,880,788,803.433733615,653,632,653,0.400994947536,0.00450061722381,0.0698484345031,0.999999968652,3.58245205273e-05,-0.000247065044644,1.92579431652e-05,1793238281890608640
+33,0.550000000,BASELINE,766.144866403,746,715,680,666,636.855133597,880,788,803.144866403,653,632,653.144866403,0.400994818696,0.00450018820353,0.0698479491911,0.999999968531,3.72325579625e-05,-0.000247332731782,1.94743468452e-05,1793238281907275264
+34,0.566666667,BASELINE,766.724359516,746,715,680,666,636.275640484,880,788,803.724359516,653,632,653.724359516,0.400995625493,0.00450119010614,0.0698487522028,0.999999968768,3.88608995902e-05,-0.000246141449374,1.91849103786e-05,1793238281923942144
+35,0.583333333,BASELINE,766.701037924,746,715,680,666.298962076,636.298962076,880.298962076,788,803.701037924,653,632,654,0.40099561193,0.00450267208089,0.0698485840398,0.999999968658,4.02981292447e-05,-0.000246382608205,1.88702048813e-05,1793238281940609024
+36,0.600000000,BASELINE,766.130871773,746,715,680,666.869128227,636.869128227,880.869128227,788,803.130871773,653,632,654,0.400994854173,0.00450458955418,0.0698475348736,0.999999968232,4.15619914587e-05,-0.000247923208972,1.85325764966e-05,1793238281957276416
+37,0.616666667,BASELINE,766.457774508,746,715,680,666.542225492,636.542225492,880.542225492,788,803.457774508,653,632,654,0.400992952418,0.00450272374206,0.0698466638377,0.999999967882,4.05577555126e-05,-0.000249478265863,1.87271184874e-05,1793238281973943040
+38,0.633333333,BASELINE,767,746,715.050557359,680,666,636.050557359,880,788.050557359,804,653,632,654,0.400991081477,0.00450004740035,0.0698460006255,0.999999967623,3.90601714225e-05,-0.000250730439001,1.90634244586e-05,1793238281990609920
+39,0.650000000,BASELINE,767,746,715.629046109,680,666,636.629046109,880,788.629046109,804,653,632,654,0.400993091158,0.00450067667507,0.0698469534124,0.999999968092,3.94667174557e-05,-0.000248774861181,1.92245433526e-05,1793238282007276032
+40,0.666666667,BASELINE,767,746,716,680,666,637,880,788.794027072,804,653,631.794027072,654,0.400994267476,0.00450100734053,0.0698479006867,0.999999968456,3.90859922673e-05,-0.000247361262601,1.92972725884e-05,1793238282023942400
+41,0.683333333,BASELINE,767,746,716,680,666,637,880,788.21989213,804,653,631.21989213,654,0.400993954217,0.00450080426305,0.0698488381075,0.999999968636,3.72980755319e-05,-0.00024691641363,1.9212011564e-05,1793238282040609280
+42,0.700000000,BASELINE,767,746,715.636390159,680,666,637,880,788,804,653,631.363609841,654,0.400993414024,0.00450125523904,0.0698484937926,0.999999968473,3.7196904369e-05,-0.000247603697557,1.90645046257e-05,1793238282057276160
+43,0.716666667,BASELINE,767,746,715.047073735,680,666,637,880,788,804,653,631.952926265,654,0.400992732967,0.00450211221111,0.0698473538551,0.999999968095,3.81427609832e-05,-0.000248993739839,1.88783592628e-05,1793238282073942272
+44,0.733333333,BASELINE,767,746,715,680.532798111,666,636.467201889,880.532798111,788,803.467201889,653,632,654,0.400993488901,0.00450161369329,0.0698474088525,0.999999968201,3.71279471389e-05,-0.000248722594308,1.88836795905e-05,1793238282090609152
+45,0.750000000,BASELINE,767,746,715.111028907,680.777942186,666,636,880.888971093,788,803,653,632,653.888971093,0.40099425826,0.00450115066122,0.0698476580114,0.999999968346,3.65333342967e-05,-0.000248221793445,1.89509689006e-05,1793238282107276032
+46,0.766666667,BASELINE,767,746,715.685829626,679.628340749,666,636,880.314170374,788,803,653,632,653.314170374,0.40099456261,0.00450132738405,0.0698482848813,0.999999968484,3.84048975001e-05,-0.000247364095934,1.9207675389e-05,1793238282123942656
+47,0.783333333,BASELINE,767,746,716,679.261662175,666.261662175,636.261662175,880,788,803.261662175,653,632,653.261662175,0.400994893752,0.00450128423028,0.0698487631919,0.999999968721,3.87974558048e-05,-0.000246345172045,1.91478322758e-05,1793238282140609536
+48,0.800000000,BASELINE,767,746,716,679.838738595,666.838738595,636.838738595,880,788,803.838738595,653,632,653.838738595,0.400995257189,0.0045009760317,0.0698490624253,0.999999969081,3.74071842081e-05,-0.000245131901667,1.87064122497e-05,1793238282157275904
+49,0.816666667,BASELINE,766.577058292,746.422941708,716,680,667,636.577058292,880,788,803.577058292,653,632,654,0.400994900023,0.00450148224006,0.0698487876038,0.999999968905,3.77935119623e-05,-0.000245781800733,1.87789894745e-05,1793238282173942272
+50,0.833333333,BASELINE,766.009774086,746.990225914,716,680,666.990225914,636.009774086,880,788.009774086,803.009774086,653,632,654,0.400994283333,0.00450229060688,0.0698483093921,0.999999968529,3.88788976553e-05,-0.000247119597854,1.90408898514e-05,1793238282190608896
+51,0.850000000,BASELINE,766.588769209,746.411230791,716,680,666.411230791,636.588769209,880,788.588769209,803.588769209,653,632,654,0.400994827954,0.00450230199983,0.0698489516677,0.999999968637,4.05499882813e-05,-0.000246437921296,1.87195226985e-05,1793238282207275520
+52,0.866666667,BASELINE,767,746,715.832685112,680,666,637,880,789,804.167314888,653,631.832685112,654,0.40099499788,0.00450216791709,0.0698491288105,0.999999968663,4.11427039583e-05,-0.000246245209818,1.85816064128e-05,1793238282223942144
+53,0.883333333,BASELINE,767,746,715.255241162,680,666,637,880,789,804.744758838,653,631.255241162,654,0.400994249339,0.00450167723842,0.0698481658007,0.999999968491,3.90920629731e-05,-0.00024725106949,1.88933723782e-05,1793238282240608768
+54,0.900000000,BASELINE,767,746,715,679.67888184,666.32111816,637,880,789,804.357763679,653,631.32111816,653.67888184,0.400993923336,0.00450139947248,0.0698478989694,0.999999968437,3.83764934045e-05,-0.000247566074457,1.91061361755e-05,1793238282257275648
+55,0.916666667,BASELINE,767,746,715,679.103381762,666.896618238,637,880,789,803.206763523,653,631.896618238,653.103381762,0.400993932057,0.00450129037079,0.0698481836338,0.999999968478,3.87185347122e-05,-0.000247333801252,1.92404728729e-05,1793238282273942272
+56,0.933333333,BASELINE,767,746,715.483498245,679.483498245,667,636.516501755,880,788.516501755,803,653,632,653.483498245,0.400993576674,0.00450268427589,0.0698477990755,0.99999996828,4.03810220274e-05,-0.00024788353978,1.90818586495e-05,1793238282290608640
+57,0.950000000,BASELINE,767,746,715.928229338,680,666.928229338,636,880,788,803.071770662,653,632,654,0.400993400738,0.00450384947688,0.0698474698504,0.999999968128,4.17619035327e-05,-0.000248279370697,1.88993414606e-05,1793238282307275520
+58,0.966666667,BASELINE,767,746,715.347750466,680,666.347750466,636,880,788,803.652249534,653,632,654,0.400995061832,0.00450106083842,0.0698485715146,0.999999968706,3.90973293537e-05,-0.000246370561967,1.90020849877e-05,1793238282323942144
+59,0.983333333,BASELINE,767,746,715.230101162,679.769898838,666.230101162,636,880,788,803.769898838,653.230101162,632,654,0.400995664704,0.004499880507,0.0698492903983,0.999999968984,3.72915411173e-05,-0.000245517203269,1.9048750435e-05,1793238282340609024
+60,1.000000000,BASELINE,767,746,715.804027163,679.195972837,666.804027163,636,880,788,803.195972837,653.804027163,632,654,0.400994686348,0.00450110336123,0.0698494373185,0.999999968826,3.67689791062e-05,-0.000246240932958,1.90116221592e-05,1793238282357276416
+61,1.016666667,BASELINE,766.61247996,746,715.61247996,679.38752004,666.61247996,636,880,788,803.38752004,653.61247996,632.38752004,654,0.400993708514,0.00450095580141,0.0698485991777,0.999999968523,3.63792066042e-05,-0.000247530413509,1.89679220045e-05,1793238282373943552
+62,1.033333333,BASELINE,766.024026587,746,715.024026587,679.975973413,666.024026587,636,880,788,803.975973413,653.024026587,632.975973413,654,0.400992730951,0.00450009766702,0.0698472502721,0.999999968142,3.605828693e-05,-0.000249113241958,1.89208142617e-05,1793238282390610176
+63,1.050000000,BASELINE,766.554510743,746,715.554510743,680,666,636,880.554510743,788,804,653,632.445489257,654,0.400993482726,0.00449969708249,0.0698472695141,0.99999996822,3.53946617223e-05,-0.000248896252718,1.89058540674e-05,1793238282407276544
+64,1.066666667,BASELINE,767,746,716,680,666,636,880.867342547,788,803.867342547,653,632,654,0.400994185765,0.00449974288886,0.0698475641187,0.999999968322,3.53013757683e-05,-0.000248501767114,1.88993101358e-05,1793238282423943168
+65,1.083333333,BASELINE,767,746,716,680,666,636,880.289090104,788,803.289090104,653,632,654,0.400994477834,0.00450122269442,0.0698485880373,0.999999968436,3.71728554476e-05,-0.000247768421601,1.8916439698e-05,1793238282440609280
+66,1.100000000,BASELINE,767,746,716,680,666.286812445,636,880.286812445,788,803,653,632.286812445,654,0.4009948062,0.00450249787713,0.0698495036414,0.999999968693,3.82399848885e-05,-0.000246578517732,1.87305385395e-05,1793238282457275648
+67,1.116666667,BASELINE,767,746,716,680,666.860365653,636,880.860365653,788,803,653,632.860365653,654,0.400995170852,0.00450356848803,0.069850310958,0.999999969095,3.85029650087e-05,-0.000244932169657,1.83416574027e-05,1793238282473942272
+68,1.133333333,BASELINE,767,746,716,680,667,636.448094359,881,788,803.448094359,653,632.551905641,653.551905641,0.400994953073,0.00450334067724,0.0698499335436,0.999999969055,3.85070569723e-05,-0.000245087658004,1.84271678426e-05,1793238282490608640
+69,1.150000000,BASELINE,767,746,716,680,666.960617259,637,880.960617259,788,804,653,632,653.039382741,0.400994503386,0.00450255650789,0.0698491644048,0.999999968867,3.82227464072e-05,-0.000245878443046,1.86649025375e-05,1793238282507275520
+70,1.166666667,BASELINE,767,746,716,680,666.383022706,637,880.383022706,788,804,653,632,653.616977294,0.400993445778,0.0044998791807,0.0698482520453,0.999999968594,3.51356003503e-05,-0.000247427274383,1.88967038847e-05,1793238282523942912
+71,1.183333333,BASELINE,767,746,715.805969691,680,666,636.805969691,880,788,803.805969691,653,631.805969691,654,0.400993133443,0.00449863749807,0.0698478398644,0.999999968446,3.41481273661e-05,-0.000248148679786,1.90712512928e-05,1793238282540609792
+72,1.200000000,BASELINE,767,746,715.229982615,680,666,636.229982615,880,788,803.229982615,653,631.229982615,654,0.400994288206,0.00450022194126,0.0698484123059,0.999999968557,3.7293947979e-05,-0.000247241262958,1.91330919715e-05,1793238282557276672
+73,1.216666667,BASELINE,766.64625355,746,715,680,666,636.35374645,880.35374645,788,803,653,631.35374645,654,0.400994380719,0.00450168310937,0.0698485422726,0.999999968501,3.95111057531e-05,-0.000247134786576,1.89996458584e-05,1793238282573943040
+74,1.233333333,BASELINE,766.057378567,746,715,680,666,636.942621433,880.942621433,788,803,653,631.942621433,654,0.400993767173,0.0045030623388,0.0698483781347,0.999999968336,4.11109988234e-05,-0.00024756068012,1.87363963277e-05,1793238282590609152
+75,1.250000000,BASELINE,766.521154981,746,715,679.478845019,666,636.478845019,880.478845019,788,803,653,632,654,0.400994051107,0.00450214859734,0.0698487002719,0.999999968578,3.91089197403e-05,-0.000246897563793,1.88537385844e-05,1793238282607275776
+76,1.266666667,BASELINE,767,746.098552227,715,679.098552227,666,636.098552227,880,788,803,653,632,654,0.400994472348,0.00450125928689,0.0698489600544,0.999999968815,3.69150573739e-05,-0.000246270604414,1.89220168376e-05,1793238282623942144
+77,1.283333333,BASELINE,767,746.675852906,715,679.675852906,666,636.675852906,880,788,803,653,632,654,0.400995089937,0.00450169116823,0.0698486619106,0.999999968837,3.56785417538e-05,-0.000246390401911,1.85523562242e-05,1793238282640609024
+78,1.300000000,BASELINE,767,746.747786663,715.252213337,680,666,637,880,788,803.252213337,653,632,654,0.400995061403,0.00450206592756,0.0698485606107,0.999999968738,3.64401958695e-05,-0.000246684912253,1.84928476081e-05,1793238282657275648
+79,1.316666667,BASELINE,767,746.172630205,715.827369795,680,666,637,880,788,803.827369795,653,632,654,0.40099420555,0.00450236754577,0.0698487113568,0.999999968478,3.97603792096e-05,-0.000247203131259,1.88304689063e-05,1793238282673942528
+80,1.333333333,BASELINE,767,746,715.587789322,680,666,637,880,788,804,653,632,654,0.40099364803,0.00450149402814,0.0698483918848,0.999999968477,3.89704154008e-05,-0.000247316424453,1.90423126913e-05,1793238282690609408
+81,1.350000000,BASELINE,767,746,715.001186023,680,666,636.998813977,880,788,803.998813977,653,632,654,0.40099321992,0.00450012209275,0.0698478721551,0.999999968584,3.64285485112e-05,-0.000247256497575,1.91992195773e-05,1793238282707276032
+82,1.366666667,BASELINE,767,746,715.580932981,680,666,636.419067019,880,788,803.419067019,653,632,654,0.400993507212,0.00450146206638,0.0698480369937,0.999999968449,3.91567503803e-05,-0.00024741083467,1.88707036055e-05,1793238282723942656
+83,1.383333333,BASELINE,766.840524008,746.159475992,715.840524008,680,666,636.159475992,880,788,803,653,632,654,0.400993707832,0.00450281277535,0.0698481977204,0.999999968324,4.16281443791e-05,-0.000247525476958,1.86941380651e-05,1793238282740609280
+84,1.400000000,BASELINE,766.265120869,746.734879131,715.265120869,680,666,636.734879131,880,788,803,653,632,654,0.400993682407,0.00450419148331,0.0698483477233,0.999999968241,4.34297618844e-05,-0.000247536591797,1.89138722903e-05,1793238282757275904
+85,1.416666667,BASELINE,766.316948773,746.683051227,715,680,666.316948773,636.683051227,880,788,803,653,632,654,0.400994096886,0.00450356048427,0.0698485567307,0.999999968414,4.20421843412e-05,-0.000247061696391,1.909491546e-05,1793238282773942272
+86,1.433333333,BASELINE,766.904714578,746.095285422,715,680,666.904714578,636.095285422,880,788,803,653,632,654,0.400994887243,0.00450121229006,0.0698488161545,0.999999968795,3.79295974463e-05,-0.000246171529295,1.92428990252e-05,1793238282790609152
+87,1.450000000,BASELINE,767,746,715,679.515096441,666.515096441,636,880,788,803,653,632,654,0.400995156401,0.00450043153323,0.0698493716996,0.999999968879,3.87268992521e-05,-0.000245707795145,1.92089074716e-05,1793238282807275776
+88,1.466666667,BASELINE,767,746,715,679.063418827,666,636,880,788,803.063418827,653,632,654,0.400995248237,0.00449999414433,0.0698498658741,0.999999968896,4.02208518291e-05,-0.000245401698151,1.9170436424e-05,1793238282823942656
+89,1.483333333,BASELINE,767,746,715,679.640252285,666,636,880,788,803.640252285,653,632,654,0.400994720923,0.00449988138271,0.0698493993886,0.99999996884,3.96640412853e-05,-0.000245703830099,1.93807370092e-05,1793238282840609792
+90,1.500000000,BASELINE,767,746,715,680,666,636,880,788,804,653,632,654,0.400994418361,0.00449983127414,0.0698490767013,0.999999968822,3.89386704477e-05,-0.000245894883947,1.93990619088e-05,1793238282857276672
+91,1.516666667,BASELINE,767,746,715,680,666,636,880,788,804,653,632,654,0.400994488253,0.00449988499221,0.0698489923118,0.999999968864,3.79339668543e-05,-0.000245901862634,1.90992507263e-05,1793238282873942784
+92,1.533333333,BASELINE,767,746.377923459,715.377923459,680,666.377923459,636,880,788.377923459,803.622076541,653,632,654,0.400994621786,0.00450099791047,0.0698486885546,0.999999968756,3.94248215393e-05,-0.000246117291908,1.89563694895e-05,1793238282890609152
+93,1.550000000,BASELINE,767,746.963549621,715.963549621,680,666.963549621,636,880,788.963549621,803.036450379,653,632,654,0.400994790297,0.00450269295385,0.0698482642352,0.999999968559,4.22872083507e-05,-0.0002464472834,1.88997352494e-05,1793238282907275776
+94,1.566666667,BASELINE,767,746.457020025,716,680,667,636.542979975,880,789,803,653,632,654,0.400995037371,0.00450174221184,0.0698493048369,0.999999968884,4.04854270083e-05,-0.000245425113164,1.89524713482e-05,1793238282923942400
+95,1.583333333,BASELINE,767,746,715.878352414,679.878352414,666.878352414,637,880,788.878352414,803.121647586,653.121647586,632.121647586,654,0.400995055936,0.00450098503456,0.0698499799714,0.999999969066,3.91630785308e-05,-0.000244895073724,1.89968751068e-05,1793238282940609024
+96,1.600000000,BASELINE,767,746,715.301001425,679.301001425,666.301001425,637,880,788.301001425,803.698998575,653.698998575,632.698998575,654,0.40099419895,0.00450161081451,0.0698489217947,0.999999968595,4.0796425114e-05,-0.00024654480295,1.8982871401e-05,1793238282957275648
+97,1.616666667,BASELINE,767,746,715.280706744,679.280706744,666.280706744,636.719293256,880.280706744,788.280706744,804,653.719293256,632.719293256,653.719293256,0.400994164651,0.00450154070344,0.0698486419294,0.999999968624,4.0300555499e-05,-0.000246519758798,1.8851040294e-05,1793238282973942528
+98,1.633333333,BASELINE,767,746,715.86716074,679.86716074,666.86716074,636.13283926,880.86716074,788.86716074,804,653.13283926,632.13283926,653.13283926,0.400995026424,0.00450071262419,0.0698492098053,0.999999969193,3.7485532383e-05,-0.000244670542634,1.85908709675e-05,1793238282990609152
+99,1.650000000,BASELINE,767,746,716,680,667,636,880.551665732,789,804,653,632,653.448334268,0.400995751283,0.00450025867905,0.0698496549803,0.99999996942,3.66418958566e-05,-0.000243873794345,1.85427457847e-05,1793238283007275776
+100,1.666666667,BASELINE,767,746,716,680,667,636.027959845,880,788.972040155,804,653,632,654,0.4009963511,0.00449989348743,0.0698500161131,0.999999969537,3.63285902566e-05,-0.000243437262657,1.85671239623e-05,1793238283023942656
+101,1.683333333,BASELINE,767,746,716,680,667,636.607554269,880,788.392445731,804,653,632,654,0.40099527495,0.00449911772088,0.0698494280639,0.999999969433,3.50883568416e-05,-0.000244026776722,1.87968289629e-05,1793238283040609024
+102,1.700000000,BASELINE,767,746,715.814659671,680,666.814659671,636.814659671,880,788.185340329,803.814659671,653,632,654,0.400995053959,0.00449917721628,0.069849527057,0.999999969463,3.497890711e-05,-0.00024390812971,1.8972295435e-05,1793238283057275648
+103,1.716666667,BASELINE,767,746,715.240665775,680,666.240665775,636.240665775,880,788.759334225,803.240665775,653,632,654,0.400996626214,0.00450098823311,0.0698510667591,0.99999996977,3.72406797791e-05,-0.000242304488343,1.90340251772e-05,1793238283073942272
+104,1.733333333,BASELINE,767,746,715.34160523,680,666.34160523,636.34160523,880,788.65839477,803.34160523,653,632,654,0.400996618534,0.00450169039955,0.0698513836035,0.99999996962,3.92817009999e-05,-0.000242592685929,1.91088083948e-05,1793238283090609152
+105,1.750000000,BASELINE,767,746,715.929852439,680,666.929852439,636.929852439,880,788.070147561,803.929852439,653,632,654,0.400995470128,0.00450159196647,0.0698508175341,0.99999996914,4.11633379685e-05,-0.000244246807705,1.91930163427e-05,1793238283107276032
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666,637,881,788,804,653,632,654,0.400995462691,0.00450048393456,0.0698502445773,0.999999969364,3.70798266801e-05,-0.00024402350213,1.87000380214e-05,1793238283140036352
+107,1.783333333,POSE1_TO_POSE2_PRESS,766.616923314,746,715.616923314,680,666.616923314,636.383076686,881,788.616923314,803.383076686,653,632,654,0.400995545147,0.00450080789824,0.0698499295466,0.999999969149,3.83267830077e-05,-0.000244709404909,1.8719823576e-05,1793238283156702976
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.781922832,746,716,680,667,636,880.781922832,789,803,653,632,654,0.400995690101,0.00450137599019,0.0698498801744,0.999999969031,3.98489285229e-05,-0.00024494598161,1.87609170115e-05,1793238283173369856
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.206601686,746,716,680,667,636,880.206601686,789,803,653,632,654,0.400995937438,0.00450234400192,0.0698502659918,0.999999969071,4.18218764969e-05,-0.000244446493119,1.88369160396e-05,1793238283190036480
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.380036034,746,716,680,666.619963966,636.380036034,880,789,803.380036034,653,632,654,0.400995313286,0.00450191999597,0.0698498318343,0.99999996894,4.03916094173e-05,-0.000245223081509,1.88348522581e-05,1793238283206703104
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.973014645,746,716,680,666.026985355,636.973014645,880,789,803.973014645,653,632,654,0.40099420082,0.00450071601172,0.0698489382267,0.999999968703,3.70544457182e-05,-0.000246714683966,1.87890481568e-05,1793238283223369472
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,715.448970976,680,666.551029024,636.448970976,880,788.448970976,804,653,632,654,0.400994678732,0.00450088351039,0.0698500045352,0.999999968875,3.90929511288e-05,-0.000245692537263,1.89170350718e-05,1793238283240036096
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,715.127446004,680,666.872553996,636.127446004,880,788.127446004,803.872553996,653,632,654,0.40099536241,0.00450070892675,0.0698510136376,0.999999969126,4.00874803054e-05,-0.000244493986277,1.90637156977e-05,1793238283256702464
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,715.700770448,680,666.299229552,636.700770448,880,788.700770448,803.299229552,653,632,654,0.400996500694,0.00449910877585,0.069851495678,0.999999969599,3.65329036379e-05,-0.000243097577127,1.92468084438e-05,1793238283273369344
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666.275744401,636.724255599,880,788.724255599,803.275744401,653.275744401,632,654,0.400997090576,0.0044997388161,0.0698513205063,0.99999996955,3.66696675565e-05,-0.000243289014702,1.91087493346e-05,1793238283290035968
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666.852519085,636.147480915,880,788.147480915,803.852519085,653.852519085,632,654,0.400997081769,0.0045028035571,0.0698504278556,0.999999968928,4.08362698434e-05,-0.000245213905332,1.86200885919e-05,1793238283306702848
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715.557322529,680.442677471,666.557322529,636.442677471,880,788.442677471,803.557322529,653.557322529,632,654,0.40100521598,0.00450212743208,0.069854690393,0.999999970482,4.03048890324e-05,-0.000238861416925,1.88898492531e-05,1793238283323369216
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,715,680.96375115,666,637,880,788.96375115,803.03624885,653,632,653.96375115,0.401017320892,0.00450033687509,0.0698611579056,0.999999972895,3.83491103273e-05,-0.000228834749132,1.93646291815e-05,1793238283340035840
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,715,680.387821317,666,637,880,788.387821317,803.612178683,653,632,653.387821317,0.401046892999,0.00450108798976,0.0698740860944,0.999999977741,3.92155727888e-05,-0.000206442784437,1.90126479147e-05,1793238283356702464
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715.187401557,680,666.187401557,636.812598443,880,788,803.812598443,653,632,653,0.40108298605,0.00450166776717,0.0698884084101,0.999999982511,3.96475138216e-05,-0.000181808405817,1.87485027905e-05,1793238283373369088
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715.761167004,680,666.761167004,636.238832996,880,788,803.238832996,653,632,653,0.401132523269,0.00450189430046,0.0699056049857,0.999999987422,3.91836065989e-05,-0.000152550861084,1.86654484926e-05,1793238283390035968
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,716,680,667,636,880,788,803,653,632,653.344129728,0.401185452692,0.00450168533484,0.0699189582603,0.999999990191,3.82662100415e-05,-0.000133470423109,1.84174557135e-05,1793238283406702592
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,667,636,880,788,803,653,632,653.933650793,0.401240801018,0.00450116582452,0.0699295709605,0.999999991753,3.70254402593e-05,-0.000121647057812,1.80518489443e-05,1793238283423369216
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,667,636,880,788,803,653,632,654,0.401309342855,0.00450199783164,0.0699333028778,0.99999999274,3.53546786531e-05,-0.000114006042581,1.65416269431e-05,1793238283440035840
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.907315494,746,716,680,666.907315494,636,880,788,803,653,632,654,0.401381304306,0.00450296596899,0.0699354793062,0.999999993405,3.38000080077e-05,-0.000108746368395,1.49038394626e-05,1793238283456702464
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.333796347,746,716,680,666.333796347,636,880,788,803,653,632,654,0.401462325837,0.00450375112708,0.0699341131462,0.999999992967,3.31305062615e-05,-0.00011308907322,1.3357336811e-05,1793238283473369088
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.239883941,746,716,680,666,636,880,788,803,653,632,654,0.401552168352,0.00450433047182,0.0699329276416,0.999999992643,3.19706415984e-05,-0.000116465867001,1.13372865339e-05,1793238283490035712
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.813788559,746,716,680,666,636,880,788,803,653,632,654,0.401654293429,0.00450462323659,0.0699319936865,0.999999992488,3.01279828372e-05,-0.000118497700611,8.65785628277e-06,1793238283506702592
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.597980478,746,715.597980478,680,666,636,880,788,803.402019522,653.402019522,632,654,0.401773638992,0.00450579985001,0.0699337192904,0.99999999289,2.76182492629e-05,-0.000115853577786,5.88944116326e-06,1793238283523369472
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.002868428,746,715.002868428,680,666,636,880,788,803.997131572,653.997131572,632,654,0.401901255674,0.00450740098156,0.0699367222973,0.999999993532,2.47881152588e-05,-0.000110963563592,3.07828580864e-06,1793238283540035840
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.574616221,746,715.574616221,680,666,636.574616221,880,788,803.425383779,653.425383779,632,654,0.40205533702,0.00450767099236,0.069939345457,0.999999993938,2.23209594556e-05,-0.000107826772686,2.31914163133e-08,1793238283556702720
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666.150951512,637,880,788,803.150951512,653,632,654,0.40221801095,0.00450812622319,0.0699423397989,0.999999994492,1.91301406573e-05,-0.000103143184211,-3.37468808434e-06,1793238283573369600
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666.724309599,637,880,788,803.724309599,653,632,654,0.402404370804,0.00450911779478,0.0699463779663,0.999999995445,1.39093806771e-05,-9.41074405524e-05,-7.72847536634e-06,1793238283590036224
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666.695503085,636.695503085,880.304496915,788,804,653,632,654,0.402597410683,0.00451055234069,0.0699471245611,0.999999995757,1.0545232287e-05,-9.0684738429e-05,-1.22542787615e-05,1793238283606702592
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666.108990787,636.108990787,880.891009213,788,804,653,632,654,0.402796637378,0.0045123971553,0.0699448226058,0.999999995542,8.90061895945e-06,-9.24606578339e-05,-1.69393977624e-05,1793238283623369216
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,880.524936561,788,803.524936561,653,632,654,0.403031722759,0.00451321860056,0.0699463703512,0.99999999601,4.09949537967e-06,-8.65656389516e-05,-2.16916552103e-05,1793238283640035584
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,880,788,803,653,632,654,0.403279278731,0.00451395244169,0.0699499010906,0.999999996652,-1.17814969106e-06,-7.74452715614e-05,-2.64080916707e-05,1793238283656702464
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,636,880,788,803,653,632,654,0.403565257944,0.00451599486693,0.0699633316855,0.999999998002,-4.26907115151e-06,-5.51064880608e-05,-3.06660354872e-05,1793238283673368832
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,715.785714421,680,666,636.214285579,880,788,803.214285579,653,632,654,0.403856954335,0.00451884168567,0.0699716417665,0.999999998494,-5.64260362685e-06,-4.18010382446e-05,-3.51096908922e-05,1793238283690035456
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,715.222566989,680,666,636.777433011,880,788,803.777433011,653,632,654,0.404157958396,0.00452299807533,0.069971615532,0.999999998264,-4.22018702148e-06,-4.32020657255e-05,-3.98556886415e-05,1793238283706702592
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.63904573,746,715.36095427,680,666.36095427,636.63904573,880.36095427,788,804,653,632.36095427,654,0.404477176947,0.0045249903387,0.0699715693067,0.999999998026,2.63163578172e-05,-4.50534096239e-05,-3.50067932138e-05,1793238283723369216
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.042210257,746,715.957789743,680,666.957789743,636.042210257,880.957789743,788,804,653,632.957789743,654,0.404808298576,0.0045255683604,0.0699715100175,0.999999995722,7.58787910309e-05,-4.71990323387e-05,-2.38876995981e-05,1793238283740035840
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.536447439,746,716,680,666.463552561,636,880.463552561,788,804,653,632.463552561,654,0.40517377326,0.00451801737564,0.0699741755187,0.999999996542,6.86209721408e-05,-3.95209422597e-05,-2.54085647548e-05,1793238283756702464
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,715.88671023,680,666,636,880,788,803.88671023,653,632,653.88671023,0.405548062348,0.00450767864878,0.0699765505733,0.999999997578,5.53451967453e-05,-3.21309270957e-05,-2.7372171258e-05,1793238283773368832
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,715.311628352,680,666,636,880,788,803.311628352,653,632,653.311628352,0.405947623738,0.00448849832253,0.0699768964162,0.999999998592,3.51659623796e-05,-2.89627042712e-05,-2.72192744073e-05,1793238283790035712
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.7295696,746,715.2704304,680,666.2704304,636.2704304,880,788,803.2704304,653,632,653.2704304,0.406352704716,0.00448565534595,0.0699709222105,0.999999998777,1.299220797e-05,-3.91750611245e-05,-2.72670520929e-05,1793238283806702336
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.139258225,746,715.860741775,680,666.860741775,636.860741775,880,788,803.860741775,653,632,653.860741775,0.406764314563,0.00450213714811,0.0699574722796,0.999999997427,-1.15407807931e-05,-6.52147543863e-05,-2.75521994111e-05,1793238283823369216
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,716,680,666.557771451,636.557771451,880,788,804,653,632,654,0.407222791738,0.00450927922527,0.0699508617583,0.99999999703,-1.54233400048e-05,-6.94598764144e-05,-2.96315138006e-05,1793238283840035840
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.020842588,746,715.979157412,680,666.020842588,636,880,788,804,653,632,654,0.407697181142,0.00451348526348,0.0699468703562,0.999999997196,-1.23287140542e-05,-6.64732600679e-05,-3.22124929457e-05,1793238283856702208
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.595518192,746,715.404481808,680,666.595518192,636,880,788,804,653,632,654,0.408209898522,0.00451629651159,0.0699563648303,0.999999998163,6.75088849843e-06,-5.01240561644e-05,-3.3404633241e-05,1793238283873369344
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.834309969,746.165690031,715,680,667,636.165690031,880,788,803.834309969,653,632,653.834309969,0.408735200144,0.00452161178956,0.0699661860993,0.99999999854,2.64228883199e-05,-3.17410293613e-05,-3.48373495748e-05,1793238283890036224
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.274841836,746.725158164,715,680,667,636.725158164,880,788,803.274841836,653,632,653.274841836,0.409290409341,0.00453287813197,0.0699767840263,0.999999998157,4.75027738136e-05,-8.52443156991e-06,-3.68418175729e-05,1793238283906702848
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746.689625324,715,680,667,636.689625324,880,788,803,653,632,653.310374676,0.409837910847,0.00453952445558,0.0699752663014,0.999999997852,5.26563107359e-05,-7.87892062237e-06,-3.82270376161e-05,1793238283923369472
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746.0795455,715,680,667,636.0795455,880,788,803,653,632,653.9204545,0.410377969688,0.00454170958078,0.0699620494169,0.999999997917,4.243099023e-05,-2.90285837454e-05,-3.90142973935e-05,1793238283940036096
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.499147457,746,715.499147457,680,667,636,880,788,803,653,632,654,0.410950410953,0.00455025290989,0.0699577015766,0.999999996969,5.50352383171e-05,-3.84503041912e-05,-3.94169883256e-05,1793238283956702464
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,715.925890913,680,667,636.074109087,880,788,803.074109087,653,632,654,0.411537717286,0.0045593514989,0.0699578789083,0.999999995899,7.08562413187e-05,-3.99379786086e-05,-3.98254225666e-05,1793238283973369088
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,715.344254214,680,667,636.655745786,880,788,803.655745786,653,632,654,0.412193574993,0.00456572405513,0.0699799395325,0.999999995538,8.52651872567e-05,8.67374728859e-07,-4.06680687513e-05,1793238283990036224
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,715.233732269,680,667,636.766267731,880.233732269,788,804,653,632,654,0.41285782109,0.00457081133344,0.0700037078673,0.999999993952,9.34500899365e-05,4.06830851708e-05,-4.13324361373e-05,1793238284006703104
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,715.80642514,680,667,636.19357486,880.80642514,788,804,653,632,654,0.413534232065,0.00457403468997,0.0700299527378,0.999999991715,9.26088292975e-05,7.90636042747e-05,-4.17382620286e-05,1793238284023369472
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.608854166,746,716,680,667,636,880.608854166,788,804,653,631.608854166,654,0.414196355427,0.00458181642706,0.0700320289176,0.999999990923,0.000100923474492,7.84692207213e-05,-4.25535505774e-05,1793238284040036096
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.017992173,746,716,680,667,636,880.017992173,788,804,653,631.017992173,654,0.414851183618,0.00459192563934,0.0700217647425,0.999999990882,0.000113913057266,5.79745400127e-05,-4.35779077077e-05,1793238284056702720
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.564024199,746,716,680,666.435975801,636,880,788,803.435975801,653,631.564024199,654,0.415493559248,0.00459824863866,0.0699745273415,0.999999991188,0.000122808638337,-2.26664759304e-05,-4.50321462329e-05,1793238284073369344
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.856643348,746,716,680,666.143356652,636.143356652,880.143356652,788,803.143356652,653,632,654,0.416154931948,0.0046042220973,0.0699380732864,0.999999987009,0.00012936622224,-8.41397799381e-05,-4.65484768912e-05,1793238284090035968
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.284507652,746,716,680,666.715492348,636.715492348,880.715492348,788,803.715492348,653,632,654,0.416874294446,0.00460950575126,0.0699373453823,0.999999987063,0.000129315452739,-8.26324829703e-05,-4.82101429509e-05,1793238284106702336
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746.296407185,716,680,667,637,881,788,804,653,632,654,0.417620363158,0.00461391732128,0.0699532459808,0.999999988292,0.000133492171344,-5.66556761531e-05,-4.884860082e-05,1793238284123368960
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746.886005991,716,680,667,637,881,788,804,653,632,654,0.41839284845,0.00461746626875,0.0699855946878,0.999999988743,0.000141850515997,-6.4748160235e-06,-4.84749508495e-05,1793238284140035584
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.465576809,746.534423191,716,680,666.534423191,637,881.931153617,788,804,652.534423191,631.534423191,654,0.41914554232,0.0046225145872,0.0699989858587,0.999999987896,0.000147661900144,7.66137062265e-06,-4.84351840836e-05,1793238284156702464
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,715.957179233,680,666.042820767,637,882.914358466,788,804,652.042820767,631.042820767,654,0.419896096999,0.00462635537513,0.0700078790269,0.999999987337,0.000150847133753,1.43043935761e-05,-4.86446545188e-05,1793238284173369088
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,715.378976205,680,666.621023795,637,881.757952411,788,804,652.621023795,631.621023795,654,0.42067921548,0.00461060539028,0.070017344602,0.99999998978,0.000128830478819,3.52769964236e-05,-5.0969751222e-05,1793238284190035968
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.801648041,746,715,680,667.198351959,636.801648041,880.801648041,788,804,653,632,654,0.421454560426,0.00459211422383,0.0700223864563,0.999999992212,0.000104120169504,4.49778796058e-05,-5.20691141553e-05,1793238284206702592
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.225984106,746,715,680,667.774015894,636.225984106,880.225984106,788,804,653,632,654,0.422215118235,0.00456840868763,0.0700190133551,0.999999995396,7.42858988352e-05,3.3237305497e-05,-5.08368437021e-05,1793238284223368960
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680.357443196,667.285113608,636,880.357443196,788,804,652.642556804,632,654,0.42294775738,0.0045647895664,0.0699833074842,0.999999995716,7.15248186995e-05,-2.8199444457e-05,-5.15514797324e-05,1793238284240035584
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680.945887628,666.108224744,636,880.945887628,788,804,652.054112372,632,654,0.42366235378,0.00457415149244,0.069926706238,0.999999987435,8.62600590983e-05,-0.000121752843926,-5.35243232287e-05,1793238284256702720
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.526845799,746,715,680.473154201,666.526845799,636,881,788,804,652.526845799,631.473154201,653.473154201,0.424428754133,0.00458379689065,0.0698983465703,0.999999982074,9.66693285846e-05,-0.00015263339557,-5.66505299987e-05,1793238284273369344
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.893784201,746,715.106215799,680,667,636,880.893784201,788,804,652.893784201,631.106215799,653,0.425213578622,0.00459141177095,0.0698877621514,0.999999980553,0.000103396831702,-0.000157199849462,-5.90852115716e-05,1793238284290035712
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.318083186,746,715.681916814,680,667,636,880.318083186,788,804,652.318083186,631.681916814,653,0.426056650592,0.00458992465128,0.0699431044975,0.999999991032,9.57869592227e-05,-7.35093421382e-05,-5.79469977263e-05,1793238284306702336
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.257055224,746,715.742944776,680,667,636,880.257055224,788,804.257055224,652,632,653.257055224,0.426879728596,0.00459145254582,0.0699869963701,0.9999999936,9.74429856188e-05,-1.21217787039e-05,-5.61965629051e-05,1793238284323369216
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.83149906,746,715.16850094,680,667,636,880.83149906,788,804.83149906,652,632,653.83149906,0.427678119968,0.00459670310784,0.070016750238,0.999999992213,0.000110539707924,2.17281316294e-05,-5.36902130134e-05,1793238284340035840
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.581738967,746,715.418261033,680,667,636,881,788,804.581738967,652.418261033,632,654,0.42848415902,0.00459633529882,0.0700305318057,0.99999999131,0.000112532352833,4.26621053199e-05,-5.38093850866e-05,1793238284356702464
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715.990098942,680.009901058,667,636.009901058,881,788,804,652.990098942,632,654,0.429292671371,0.00459369731104,0.0700374282118,0.999999990771,0.0001099451645,5.78255660379e-05,-5.50109203679e-05,1793238284373369088
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715.411945757,680.588054243,667,636.588054243,881,788,804,652.411945757,632,654,0.430060945919,0.00459461335895,0.0700296725383,0.999999991274,0.000109039949572,4.94982609631e-05,-5.5784740864e-05,1793238284390035712
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715.165222652,680.834777348,667,636.834777348,881,788,804,652,632,654,0.430805984498,0.00459569306798,0.0700088750799,0.999999992301,0.00010908722401,1.76149544933e-05,-5.64655681603e-05,1793238284406702336
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715.739950255,680.260049745,667,636.260049745,881,788,804,652,632,654,0.43149343259,0.00459717841165,0.0699557535101,0.999999989526,0.000111495246351,-7.2651987949e-05,-5.69159111353e-05,1793238284423368960
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715.677497412,680.322502588,667,636,881.322502588,788,804,652,632,653.677497412,0.432201911893,0.0045950111721,0.0699242039941,0.999999984817,0.00010750853034,-0.000124379967901,-5.77663794719e-05,1793238284440035584
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715.088478753,680.911521247,667,636,881.911521247,788,804,652,632,653.088478753,0.432927771348,0.00458982543846,0.0699104816214,0.999999983032,9.82372042858e-05,-0.000144259353296,-5.8947511559e-05,1793238284456702208
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,681,667.493211418,636,882,788,804,652.493211418,632,653.493211418,0.433751742225,0.00458259165138,0.0699629514736,0.999999993334,8.45468994521e-05,-5.17993318245e-05,-5.91622999941e-05,1793238284473368576
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746.072968813,715,681,668,636,882,788,804.072968813,652.927031187,632,654,0.434578127652,0.00457619016626,0.0700212128751,0.999999994395,7.28080025734e-05,4.93424897796e-05,-5.89478539812e-05,1793238284490035456
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746.648337726,715,681,668,636,882,788,804.648337726,652.351662274,632,654,0.435301729497,0.00457801180395,0.0700387897974,0.999999992484,7.9882996797e-05,7.35355873329e-05,-5.69541756468e-05,1793238284506702080
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.222633424,747,715,681,667.777366576,636.222633424,882,788,804.777366576,652.222633424,632,654,0.436009051178,0.00457962441002,0.0700426534234,0.999999991716,8.49693885958e-05,7.8531765439e-05,-5.63963039643e-05,1793238284523368704
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.795242137,747,715,681,667.204757863,636.795242137,882,788,804.204757863,652.795242137,632,654,0.436690780881,0.00458090842286,0.0700249600249,0.999999993111,8.69297382814e-05,5.33507739348e-05,-5.8095491331e-05,1793238284540035584
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.620450253,715.379549747,681,667.379549747,636.620450253,881.620450253,788,804,652.620450253,632,654,0.437352589178,0.00458096507007,0.0700074548117,0.999999993817,8.8289400083e-05,3.32857497874e-05,-5.88532393633e-05,1793238284556702464
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.029630689,715.970369311,681,667.970369311,636.029630689,881.029630689,788,804,652.029630689,632,654,0.438003308527,0.00458033852531,0.0699900543496,0.999999994137,8.93146992207e-05,1.60684421089e-05,-5.90869513322e-05,1793238284573369088
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.448826329,746,715.448826329,681.551173671,667.448826329,636.551173671,880.448826329,788,804.551173671,652,632,653.448826329,0.438645820017,0.00458253804774,0.0699639337761,0.999999994312,8.58367488398e-05,-1.87294729826e-05,-6.04811884939e-05,1793238284590035456
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.130504101,746,715,682,667.130504101,636.869495899,880.261008203,788,804.869495899,652.130504101,632,653,0.439273459294,0.00458520642273,0.0699377298259,0.999999993029,8.31956823468e-05,-5.68910394263e-05,-6.15061841509e-05,1793238284606702336
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.706607416,746,715,682,667.706607416,636.293392584,881.413214831,788,804.293392584,652.706607416,632,653,0.439851797902,0.00458896617956,0.0699128132728,0.999999989246,8.42239670673e-05,-0.000103368138819,-6.10612025998e-05,1793238284623368960
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.711521174,746,715.288478826,682,668,636,881.711521174,788,804,652.711521174,632,653,0.440449280494,0.00459035823305,0.0699119207524,0.999999989013,8.48949287845e-05,-0.000105276135739,-6.0687829027e-05,1793238284640035328
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.123663763,746,715.876336237,682,668,636,881.123663763,788,804,652.123663763,632,653,0.441066630362,0.00458929312267,0.0699359599798,0.999999992691,8.51950665169e-05,-6.09310478165e-05,-6.0388769079e-05,1793238284656701952
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.457655166,746,716,681.542344834,668,636,881.457655166,788,804,652,632,653,0.441700412655,0.00458621630036,0.0699847735837,0.999999994898,8.02444956698e-05,1.27489899539e-05,-6.00201139138e-05,1793238284673368832
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+256,4.266666667,POSE1_TO_POSE2_PRESS,766.10605051,746.10605051,715,682.10605051,660,634.89394949,881.10605051,787.10605051,805.787898981,652.89394949,632.89394949,654,0.450410574651,0.00467365454539,0.0696748927666,0.999999845678,0.000196799116969,-0.000516860797238,-5.26225460488e-05,1793238285640035840
+257,4.283333333,POSE1_TO_POSE2_PRESS,766.681050486,746.681050486,715,682.681050486,660,634.318949514,881.681050486,787.681050486,804.637899027,652.318949514,632.318949514,654,0.450410694398,0.00467286735489,0.0696746973607,0.999999845517,0.000196899428961,-0.000517165491911,-5.23122415581e-05,1793238285656702464
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+259,4.316666667,POSE1_TO_POSE2_PRESS,766.168126949,746.168126949,715,682.168126949,660,634,882,788,804,652.831873051,632,653.168126949,0.450411666642,0.00467257585625,0.0696749764697,0.999999846235,0.000197180778216,-0.000515686343931,-5.21202117194e-05,1793238285690035712
+260,4.333333333,POSE1_TO_POSE2_PRESS,766,746,715,682.42133105,660,634,882,788,804,653,632,653.42133105,0.45041185067,0.00467225126427,0.0696751886087,0.999999846332,0.000196718280867,-0.000515657841763,-5.22944437102e-05,1793238285706702592
+261,4.350000000,POSE1_TO_POSE2_PRESS,766,746,715,683,660.015973155,634,882,788,804.015973155,652.984026845,632,653.984026845,0.450411855398,0.00467178743344,0.0696753542339,0.999999846229,0.000196044571134,-0.000516090365296,-5.25327315093e-05,1793238285723368960
+262,4.366666667,POSE1_TO_POSE2_PRESS,766,746,715,683,660.591456701,634,882,788,804.591456701,652.408543299,632,653.408543299,0.45041197849,0.0046725895957,0.0696746995589,0.999999845806,0.000196914643059,-0.000516601033115,-5.22973554991e-05,1793238285740035584
+263,4.383333333,HOLD_POSE2,766,746,715,683,660,634,882,788,804,652,632,654,0.450411583931,0.00467248622139,0.0696737109542,0.999999845444,0.000196036562137,-0.00051767829941,-5.18662646853e-05,1793238285781069312
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+265,4.416666667,HOLD_POSE2,766.818766546,746,715,682.818766546,660,634,882,787.181233454,805,652.818766546,632,654,0.4504117618,0.00467205557416,0.0696732003533,0.999999844976,0.000196873511065,-0.000518229594381,-5.22124189557e-05,1793238285814402560
+266,4.433333333,HOLD_POSE2,766.238104144,746,715,682.238104144,660,634,882,787.761895856,805,652.238104144,632,654,0.45041012742,0.00467147000808,0.0696723735156,0.999999844139,0.000195723336223,-0.000520317015014,-5.1803487668e-05,1793238285831068928
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+268,4.466666667,HOLD_POSE2,766.914676422,746,715,682,660,634,882,787.085323578,805,652.914676422,632,653.085323578,0.450409158167,0.00467232772714,0.0696713929643,0.999999843074,0.000197628120238,-0.00052165769552,-5.16542457171e-05,1793238285864401920
+269,4.483333333,HOLD_POSE2,766.500224999,746,715,682,660,634,882,787,804.500224999,652.500224999,632,653,0.450410295922,0.00467280786075,0.0696721753217,0.999999843927,0.000197876352982,-0.000519890662076,-5.20088230026e-05,1793238285881068544
+270,4.500000000,HOLD_POSE2,766,746,715,682.085326203,660,634,881.914673797,787,804,652,632,653,0.450411567513,0.00467301618534,0.0696730508131,0.999999844942,0.000197582073994,-0.000518020724771,-5.22740818136e-05,1793238285897735424
+271,4.516666667,HOLD_POSE2,766,746,715,682.663622446,660,634,881.336377554,787,804,652,632,653,0.450412278389,0.00467186577611,0.0696732713171,0.999999845597,0.000195407476895,-0.000517640806796,-5.16782347013e-05,1793238285914403072
+272,4.533333333,HOLD_POSE2,766,746,715,683,659.758167612,634,881.241832388,787,804,652,632,653.241832388,0.450412742727,0.00467117452204,0.06967343301,0.999999845702,0.000194927716899,-0.000517660077569,-5.12618666452e-05,1793238285931069952
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+274,4.566666667,HOLD_POSE2,766,746,715,683,659.396805869,634,882,787.396805869,804.396805869,652,632,654,0.450411731846,0.00467178898944,0.0696724921227,0.999999844075,0.000197522474581,-0.000519790650318,-5.14972807633e-05,1793238285964402688
+275,4.583333333,HOLD_POSE2,766,746,715,683,659.973143717,634,882,787.973143717,804.973143717,652,632,654,0.450410032086,0.00467278208145,0.0696709733021,0.999999842961,0.000197716049923,-0.00052179116099,-5.21569605093e-05,1793238285981068800
+276,4.600000000,HOLD_POSE2,766.56053923,746,715,683,660,634,882,788,804.43946077,652,632,653.43946077,0.450411060156,0.00467080939233,0.0696725754317,0.999999844232,0.000194702240796,-0.000520527753784,-5.1750340866e-05,1793238285997735424
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,683,660,634,882,788,804.466913162,653,632.466913162,654,0.450413526601,0.00466844976989,0.0696731564551,0.999999845937,0.000191411181125,-0.000518528097728,-5.11499857838e-05,1793238286196237824
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.057243654,746.057243654,715,683,660,634,881.942756346,788,805,652.942756346,632.942756346,654,0.450412669804,0.00466765889366,0.0696731850031,0.999999845785,0.00019053227925,-0.000519156337768,-5.10216487135e-05,1793238286212904704
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766.63561168,746.63561168,715,683,660,634,881.36438832,788,805,652.36438832,632.36438832,654,0.450412551118,0.0046696922231,0.0696728741152,0.999999845138,0.000194797873082,-0.000518808653669,-5.11426042465e-05,1793238286229571328
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,682.363809323,660,634,882,787.363809323,804.363809323,653,632,654,0.450382164572,0.0046696665346,0.069656469639,0.999999832229,0.000193659760064,-0.000543492709155,-5.15077868875e-05,1793238286279571200
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,682.93933446,660,634,882,787.93933446,804.93933446,653,632,654,0.450357857036,0.00466948070519,0.0696443028867,0.999999822259,0.00019322537248,-0.000561699765382,-5.13766550461e-05,1793238286296237824
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746.699040205,715,682.699040205,659.60191959,634.300959795,882,787.300959795,804,652.300959795,632,654,0.450211301399,0.00467191661614,0.0695898499485,0.999999773354,0.000196293215227,-0.000641925361869,-5.1887356969e-05,1793238286346237952
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.301164367,746.698835633,715,682.301164367,663,635,881,788,804.301164367,653,632,653.301164367,0.446637627565,0.00465834682688,0.0696131393359,0.999999780928,0.000252349289438,-0.000611921147904,-4.03271951743e-06,1793238286679571456
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766.052547834,746.947452166,715,682.947452166,664,635,881.947452166,788,805,652.052547834,632.052547834,654,0.445616837793,0.00465241325907,0.0696953534512,0.999999859158,0.000249635216633,-0.000468311183222,7.08251169431e-06,1793238286729571072
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.630410218,746.369589782,715,682.369589782,664,635,881.369589782,788,805,652.630410218,632.630410218,654,0.445220783596,0.00464324641754,0.0697157938615,0.999999877262,0.000232176707489,-0.000437603823491,8.51310050689e-06,1793238286746237952
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766.21889469,746.78110531,715.78110531,682.78110531,664.78110531,635.78110531,881.78110531,788,805,653,632.21889469,654,0.444356622082,0.00463085396447,0.0697469748611,0.999999907353,0.000175527598122,-0.000393042884814,1.28160310327e-06,1793238286779571456
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746.733740092,715,682.733740092,666,636,881.266259908,788,804,652.266259908,632.266259908,654,0.441294735417,0.00461175437271,0.0698347020658,0.999999961473,0.000119288488204,-0.000250120893095,1.62610295027e-05,1793238286879570944
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746.159819072,715,682.159819072,666,636,881.840180928,788,804,652.840180928,632.840180928,654,0.440725065963,0.00460835163112,0.0698431030285,0.999999969108,9.96623145702e-05,-0.000227192892243,1.53209260551e-05,1793238286896237568
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746,715,682,666,636,881.574962513,788,804.425037487,653,632.574962513,653.574962513,0.440116724722,0.0046071245093,0.0698365950978,0.999999967507,8.9359584755e-05,-0.000238142799169,1.70081663827e-05,1793238286912904192
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,766.749458042,746,715,682,666,636,881,788,804,652.250541958,632,653.250541958,0.437418369524,0.00459558502192,0.0697360300001,0.999999901833,0.00020449411999,-0.000392737989787,1.65234518992e-05,1793238286979571200
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.618063911,746,715.618063911,682,666.381936089,636,881.381936089,788,804,653,632,654,0.431733186145,0.00456331630131,0.0698202650049,0.999999952912,0.000122562711786,-0.000279986257115,2.76104603686e-05,1793238287112904448
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.044419811,746,715.044419811,682,666.955580189,636,881.955580189,788,804,653,632,654,0.430953356136,0.00456049838704,0.0698098229339,0.999999946667,0.0001302161106,-0.000298245796923,2.75495185505e-05,1793238287129571072
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,682,666.452538088,636,882,788,804,653,632,653.452538088,0.430145748047,0.00455443493441,0.0697644819323,0.999999923738,0.000124349416812,-0.000369153140009,2.80744630459e-05,1793238287146237696
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.136991445,746.136991445,715.136991445,681.863008555,666,636,881.863008555,788,804.136991445,653,632,653.136991445,0.429348264397,0.00454875987933,0.0697357049142,0.999999906954,0.000116701764491,-0.000414309364391,2.86469302279e-05,1793238287162904320
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746.709630453,716,681,666,636,881,788.290369547,804.709630453,653,632.290369547,654,0.427846671312,0.0045399484166,0.0698124126826,0.999999950454,9.78586062082e-05,-0.000297602762493,3.08089828813e-05,1793238287196237824
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746.134029665,716,681,666,636,881,788.865970335,804.134029665,653,632.865970335,654,0.427115661081,0.00453301261738,0.0698641427028,0.999999971317,8.9331693905e-05,-0.000219704625633,3.34134287676e-05,1793238287212904448
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.550285842,746,715.550285842,681,666,636,881,788.550285842,804,653,632.550285842,654,0.426358197131,0.00452670108744,0.0698718626868,0.999999973363,8.60352014421e-05,-0.000211392285516,3.44251800682e-05,1793238287229571072
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.618674855,746,715,681.618674855,666,636,880.381325145,788,804.618674855,653,632.618674855,654,0.424772599891,0.00451521192418,0.0698414993138,0.999999962381,7.67206586707e-05,-0.000261186532581,3.36663068985e-05,1793238287262904320
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.80141242,746,715,681.80141242,666,636,880.19858758,788.19858758,805,652.80141242,632.80141242,654,0.423948653959,0.00450926334761,0.0698164601505,0.999999951781,6.92451786149e-05,-0.000300924841468,3.2980618107e-05,1793238287279570944
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,716,680.642272071,666.642272071,636,880,788,804,653,632.357727929,654,0.411218788418,0.00448371035843,0.0698826167809,0.999999981825,3.84720042433e-05,-0.00018346974913,3.47588496447e-05,1793238287579571200
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.778475132,746,716,681,666.778475132,636,880,788,804,653,632,654,0.410611047637,0.0044758358155,0.069872715027,0.999999978133,2.76810766008e-05,-0.000204301454762,3.50589033446e-05,1793238287596237824
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.203154025,746,716,681,666.203154025,636,880,788,804,653,632,654,0.409994385334,0.00447158296617,0.0698390433319,0.999999964957,2.47251230815e-05,-0.000261380495895,3.39937602806e-05,1793238287612904448
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,746,716,680.621021624,666,636.378978376,880,788,804,653,632,654,0.409410818041,0.00446908986132,0.0698122834225,0.999999951726,2.0139156077e-05,-0.000308294888237,3.31219055327e-05,1793238287629571072
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,746,716,680.035171102,666,636.964828898,880,788,804,653,632,654,0.408845316195,0.00446755734416,0.0697892964323,0.999999938238,1.46634166917e-05,-0.000349660729865,3.2355560574e-05,1793238287646237440
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.545052206,746,715.454947794,680.545052206,666,636.454947794,880,788,803.454947794,653,632,654,0.408347168539,0.00446787652761,0.0697960893125,0.99999994493,1.61444405612e-05,-0.000329947018702,3.18452679165e-05,1793238287662904320
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.875969249,746,715.124030751,680.875969249,666,636,880,788,803.124030751,653,632,654,0.407861537493,0.00446933886219,0.069806959604,0.999999952757,1.89855288595e-05,-0.000305183664569,3.14396441164e-05,1793238287679571200
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.300215055,746,715.699784945,680.300215055,666,636,880,788,803.699784945,653,632,654,0.407405824822,0.00447453385903,0.0698257528155,0.999999961038,2.51617900107e-05,-0.000276237144414,3.13556665005e-05,1793238287696237824
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,746,715.723820728,680,666,636,880.276179272,788,804,653,632,653.723820728,0.406945858753,0.00448085096041,0.0698331746918,0.999999962799,2.87270237188e-05,-0.000269453141102,3.11859237566e-05,1793238287712904448
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746,715.146728977,680,666,636,880.853271023,788,804,653,632,653.146728977,0.4064812584,0.00448839065597,0.0698282068731,0.999999957956,2.94473993252e-05,-0.000286816418481,3.09227352182e-05,1793238287729571072
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.439858971,746,715,680,666,636,880.560141029,788,803.560141029,653.439858971,632,653.439858971,0.406040536126,0.00448856178765,0.0698178532969,0.999999951493,2.96224314292e-05,-0.000308486237142,3.11742417203e-05,1793238287746237696
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,666.60865228,636,880,788,803,653.39134772,632,653.39134772,0.405265146304,0.00448443648563,0.0698226452764,0.99999995477,3.44317198361e-05,-0.000297209430789,3.06884440117e-05,1793238287779570944
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,715.18619811,680,666.81380189,636,880.18619811,788,803,653,632,653.18619811,0.404926984503,0.00448302488311,0.06983709132,0.999999962728,3.74331753777e-05,-0.00026878139282,2.99848849537e-05,1793238287796237568
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,715.75970403,680,666.24029597,636,880.75970403,788,803,653,632,653.75970403,0.404607436107,0.00448244377784,0.0698491703215,0.999999968351,3.71330279819e-05,-0.000247070261584,2.95830001329e-05,1793238287812904448
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.666266489,746,715.666266489,680,666.333733511,636,881,788,803,653,632,654,0.404291310991,0.00447915278789,0.0698561198651,0.999999971276,2.98286936093e-05,-0.000235973625833,2.95811345961e-05,1793238287829571072
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.091859379,746,715.091859379,680,666.908140621,636,881,788,803,653,632,654,0.403977654557,0.00447390755093,0.0698593702756,0.999999972366,1.74732545703e-05,-0.000232531684631,2.98677449382e-05,1793238287846237440
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.496788954,746,715,680,666.503211046,636,880.503211046,788,803.496788954,653.496788954,632,654,0.403680357269,0.00447160209157,0.0698503517892,0.999999969206,7.48826097418e-06,-0.000246377897855,2.87954504424e-05,1793238287862904320
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803.913450281,654,632,654,0.403392087108,0.00447028263351,0.0698401358932,0.999999965363,-1.60290881326e-06,-0.000261761959259,2.74324842656e-05,1793238287879570944
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803.332815047,654,632,654,0.403137572005,0.0044713972205,0.0698364172697,0.99999996395,-8.16754185208e-06,-0.000267137655696,2.58869190329e-05,1793238287896237568
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.755316225,746,715,679.755316225,666,636,880,788,803.244683775,653.755316225,632,654,0.402898333937,0.00447076091901,0.069833645746,0.999999962424,-1.51484086085e-05,-0.000272545421872,2.53376546556e-05,1793238287912904192
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.182029546,746,715,679.182029546,666,636,880,788,803.817970454,653.182029546,632,654,0.402679612481,0.00446777322722,0.069832146149,0.99999996076,-2.26882642558e-05,-0.00027799625642,2.61263922665e-05,1793238287929570816
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.401594064,746.401594064,715.401594064,679.401594064,666.401594064,636,880,788,803.598405936,653,632,654,0.402474321851,0.00446734084215,0.0698281989431,0.999999958264,-2.53920004378e-05,-0.000286541185086,2.68643356215e-05,1793238287946237440
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.990026841,746.990026841,715.990026841,679.990026841,666.990026841,636,880,788,803.009973159,653,632,654,0.40227527982,0.00446809729501,0.0698231130051,0.999999955322,-2.584576706e-05,-0.000296525618329,2.75786472955e-05,1793238287962904320
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746.430246055,716,680,667,636,880,788,803,653,632,654,0.402108925884,0.00447322831783,0.0698193597508,0.999999953868,-1.74042758336e-05,-0.000301956188747,2.79964977646e-05,1793238287979571200
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746.14866151,715.85133849,680,666.85133849,636,880,788,803,653,632,654,0.401951249115,0.00448144323571,0.0698169884386,0.999999953015,8.49247266058e-06,-0.000305101923393,2.84577619118e-05,1793238287996237824
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746.7256402,715.2743598,680,666.2743598,636,880,788,803,653,632,654,0.401816948923,0.00449832603796,0.0698185325199,0.999999950461,8.42386991207e-05,-0.000301890892346,2.90588338504e-05,1793238288012904448
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746.698725331,715.301274669,680,666.301274669,636.301274669,880,788,803,653,632,654,0.401694053129,0.00451014341617,0.0698194971121,0.999999947253,0.000122805522994,-0.000299244796111,2.94150826197e-05,1793238288029571072
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746.12430949,715.87569051,680,666.87569051,636.87569051,880,788,803,653,632,654,0.401581496758,0.00451736838944,0.0698199363291,0.999999947277,0.000127664823789,-0.000297110880979,2.95493703684e-05,1793238288046237696
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,715.536839345,680,666.073678689,636.536839345,880,788,803,653,632,654,0.401483171565,0.00451290307357,0.0698192285848,0.999999950709,9.42237980612e-05,-0.000298583076225,2.35045621662e-05,1793238288062904320
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,715.05297152,680,665.05297152,636,880.05297152,788,803.05297152,653,632,654,0.401390844524,0.00450594597564,0.0698182337815,0.999999953192,5.36538713248e-05,-0.000300780040431,1.6392013983e-05,1793238288079571200
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,715.630265575,680,665.630265575,636,880.630265575,788,803.630265575,653,632,654,0.401318985052,0.0045062820532,0.0698175330171,0.999999953675,4.72208997073e-05,-0.00030029302071,1.56023366427e-05,1793238288096237824
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.206670735,636.206670735,880.793329265,788,804,653,632,654,0.401253668833,0.00450595804409,0.0698175686653,0.999999954284,4.41052719251e-05,-0.00029873253467,1.56589246378e-05,1793238288112904448
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666.781492433,636.781492433,880.218507567,788,804,653,632,654,0.401200008377,0.00450445819578,0.0698189161153,0.999999955163,4.6898963669e-05,-0.000295259839571,1.72229994506e-05,1793238288129571072
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.635916013,746,715.635916013,680,667,637,880,787.635916013,803.635916013,653,632,654,0.401154679489,0.0045040142879,0.0698206098925,0.999999955943,4.65286302014e-05,-0.000292623602718,1.78875218328e-05,1793238288146237696
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.048559662,746,715.048559662,680,667,637,880,787.048559662,803.048559662,653,632,654,0.401114459888,0.00450421792933,0.0698225160527,0.999999956665,4.42179767717e-05,-0.000290500319094,1.80003989179e-05,1793238288162904320
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.534920574,746,715.534920574,680,666.465079426,636.465079426,880,787.534920574,803.534920574,653,632,654,0.401086425985,0.00450572895562,0.0698253706028,0.999999958102,4.6899962362e-05,-0.000285051894568,1.84754501745e-05,1793238288179571200
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746.116297869,715.883702131,680,666,636,880,788,803.883702131,653,632,654,0.401061571174,0.004506720781,0.069828236419,0.999999959501,4.91742017185e-05,-0.000279681530524,1.89379359084e-05,1793238288196237824
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746.690766474,715.309233526,680,666,636,880,788,803.309233526,653,632,654,0.401044914127,0.00450520294074,0.0698308098804,0.999999960627,4.80693653305e-05,-0.000275799334497,1.92223230698e-05,1793238288212905216
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766.734023379,746.734023379,715,680,666,636,880,788,803,653,632,654,0.401030351917,0.00450420794639,0.069833041626,0.999999961756,4.5998002011e-05,-0.000272021660212,1.93932819735e-05,1793238288229572096
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766.157948605,746.157948605,715,680,666,636,880,788,803,653,632,654,0.401018232044,0.00450382253004,0.0698348749706,0.999999962885,4.27997792972e-05,-0.000268365845754,1.94319966099e-05,1793238288246238720
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766.426392093,746,715.426392093,680,666,636,880,788,803,653,632,654,0.401009651162,0.00450416475989,0.0698358818254,0.999999963167,4.39617164834e-05,-0.000267112987296,1.96075885417e-05,1793238288262905344
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.013712852,880,788,803.013712852,653,632,654,0.401002482993,0.00450476364251,0.0698365591742,0.999999963133,4.67057720589e-05,-0.000266756292724,1.98289881647e-05,1793238288279571712
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636.595138913,880,788,803.595138913,653,632,654,0.400998454906,0.00450460829626,0.0698365204408,0.999999963354,4.67610205808e-05,-0.000265920969168,1.98062032423e-05,1793238288296238080
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,746,715.825790215,680,666,637,880,788.174209785,803.825790215,653.174209785,632,653.825790215,0.400995828711,0.00450496068212,0.0698372127659,0.999999963706,4.74871963217e-05,-0.00026447246993,1.96842148623e-05,1793238288312904448
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,746,715.252119795,680,666,637,880,788.747880205,803.252119795,653.747880205,632,653.252119795,0.400996417039,0.00450647729071,0.0698395813981,0.999999964353,4.9751798924e-05,-0.000261617967359,1.93347543221e-05,1793238288329571072
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.678727545,746,715,680,666,636.678727545,880.321272455,788.678727545,803,653.678727545,632,653.321272455,0.400996075545,0.00450646653459,0.0698407521626,0.999999964845,4.99893036857e-05,-0.000259685058125,1.93789404005e-05,1793238288346237696
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766.105553428,746,715,680,666,636.105553428,880.894446572,788.105553428,803,653.105553428,632,653.894446572,0.400995005001,0.00450525821009,0.069840983709,0.999999965218,4.8637411837e-05,-0.000258474747215,1.97317749221e-05,1793238288362904320
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,666.486244603,636,880.513755397,788,803,653,632,653.513755397,0.40099338912,0.00450547688821,0.0698404587906,0.999999964862,4.88855758944e-05,-0.000259799636813,1.97361348984e-05,1793238288379570944
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766.079596745,746,715,680,666.920403255,636.079596745,880,788,803,653,632,653.079596745,0.400992403783,0.0045058718511,0.0698402614964,0.999999964624,4.91985559476e-05,-0.000260664014152,1.96295768621e-05,1793238288396237824
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.768069665,666,636.768069665,880,788,803,653.231930335,632,654,0.400997306939,0.00450504581651,0.0698443786785,0.999999966813,4.66508005523e-05,-0.000252653241578,1.91025304164e-05,1793238288429571328
+422,7.033333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.194402192,666,636.194402192,880,788,803,653.805597808,632,654,0.400994743123,0.00450503900463,0.0698430538355,0.999999966257,4.64202334669e-05,-0.000254889702921,1.90148025543e-05,1793238288446238208
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7a6d4cc1e6f5fcdaad7a114c1dbebf9174c6502e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,441 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..986af7f03d2bbd04f2c144e8073224a4d1cc4039
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8009e2e08a1b910a6be086c1abefc1be909b93a24c161622edc68963b04da4af
+size 28101931
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..faad72e143b735489c4eefc6a251ab638fd677ab
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_04/franka_data.csv
@@ -0,0 +1,444 @@
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+2,0.033333333,BASELINE,766.831084814,746,715,679.831084814,666,636,880,788,803.831084814,653,632,653.831084814,0.400995048952,0.00450562915736,0.0698463581171,0.99999996766,4.64313222524e-05,-0.000249377487605,1.83022986367e-05,1793238288887612672
+3,0.050000000,BASELINE,766.236673893,746,715,679.236673893,666,636,880,788,803.236673893,653,632,653.236673893,0.400992303212,0.00450571858432,0.0698449779221,0.9999999668,4.62522030304e-05,-0.000252828687553,1.84213139122e-05,1793238288904279040
+4,0.066666667,BASELINE,766.346854499,746,715,679.346854499,666,636,880,788,803.346854499,653,632,653.346854499,0.400992166998,0.00450614028934,0.069845134317,0.999999966843,4.6132352033e-05,-0.000252690263282,1.82481274762e-05,1793238288920945664
+5,0.083333333,BASELINE,766.923183125,746,715,679.923183125,666,636,880,788,803.923183125,653,632,653.923183125,0.400993757211,0.00450678182491,0.0698463072985,0.999999967485,4.60517120819e-05,-0.000250176993191,1.78816244322e-05,1793238288937612544
+6,0.100000000,BASELINE,766.500672121,746,715,680,666,636,880,788,803.500672121,653,632,654,0.400995164064,0.00450687152058,0.0698473132048,0.999999967949,4.64368816126e-05,-0.00024824780719,1.78309915168e-05,1793238288954278912
+7,0.116666667,BASELINE,766.07678877,746,715,680,666,636.07678877,880,788.07678877,803,653,632,654,0.400996253868,0.00450688519917,0.0698480696561,0.999999968281,4.69778792817e-05,-0.0002468042299,1.78645257161e-05,1793238288970945024
+8,0.133333333,BASELINE,766.663171602,746,715,680,666,636.663171602,880,788.663171602,803,653,632,654,0.400995426773,0.00450695758923,0.0698473411561,0.999999967931,4.80776152841e-05,-0.000247987210903,1.81342552617e-05,1793238288987611904
+9,0.150000000,BASELINE,766.753094745,746,715.246905255,680,666,637,880,788.753094745,803.246905255,653,632,654,0.400994912801,0.00450667072987,0.0698467756269,0.999999967628,4.83573625314e-05,-0.000249137203739,1.83099175854e-05,1793238289004278528
+10,0.166666667,BASELINE,766.172936787,746,715.827063213,680,666,637,880,788.172936787,803.827063213,653,632,654,0.400994821458,0.00450589898472,0.0698464300626,0.999999967391,4.75303553222e-05,-0.000250242671726,1.83586155745e-05,1793238289020945152
+11,0.183333333,BASELINE,766.404647673,746,715.595352327,680,666.404647673,636.595352327,880,788,804,653,632,654,0.400995067216,0.00450524572356,0.0698469159135,0.999999967467,4.76137596252e-05,-0.000249908801917,1.85652636974e-05,1793238289037611520
+12,0.200000000,BASELINE,766.981139282,746,715.018860718,680,666.981139282,636.018860718,880,788,804,653,632,654,0.400995456134,0.00450464277958,0.0698477548461,0.999999967675,4.80837932838e-05,-0.000248963680765,1.88389893699e-05,1793238289054278144
+13,0.216666667,BASELINE,766.444263367,746,715.555736633,680,666.444263367,636,880,788,804,653,632,653.444263367,0.400994475,0.00450477124496,0.0698473242255,0.99999996766,4.73321994159e-05,-0.000249164643554,1.88881596549e-05,1793238289070944768
+14,0.233333333,BASELINE,766.133951501,746,716,680,666,636,880,788.133951501,803.866048499,653,632,653.133951501,0.400993720747,0.00450492067545,0.0698469028605,0.999999967646,4.69239444389e-05,-0.000249301900556,1.88583989986e-05,1793238289087611648
+15,0.250000000,BASELINE,766.724721949,746,716,680,666,636,880,788.724721949,803.275278051,653,632,653.724721949,0.400993898258,0.00450505723778,0.0698466594998,0.999999967661,4.78275000827e-05,-0.000249089701968,1.85853596105e-05,1793238289104278272
+16,0.266666667,BASELINE,766.691054455,746,716,679.691054455,666,636,880,788.691054455,803.308945545,653,632,653.691054455,0.400993954538,0.00450551855202,0.0698467272023,0.999999967594,4.81598545327e-05,-0.000249308199066,1.83605612172e-05,1793238289120945152
+17,0.283333333,BASELINE,766.11254325,746,716,679.11254325,666,636,880,788.11254325,803.88745675,653,632,653.11254325,0.400993905039,0.0045062632235,0.0698470663181,0.999999967457,4.79938161539e-05,-0.000249902493041,1.81778547745e-05,1793238289137612288
+18,0.300000000,BASELINE,766,746,715.536652031,679.463347969,666,636,880,788,803.536652031,653,632,653.463347969,0.400994394487,0.00450529547917,0.0698476648058,0.999999967841,4.69086831847e-05,-0.000248550575887,1.84435707058e-05,1793238289154278656
+19,0.316666667,BASELINE,766.039331848,746,715,680,666,636,880,788,803,653,632,654,0.400994953303,0.0045040699209,0.0698481811881,0.999999968285,4.57340600043e-05,-0.000246955024627,1.87775274265e-05,1793238289170945280
+20,0.333333333,BASELINE,766.625400066,746,715,680,666,636,880,788,803,653,632,654,0.400994666948,0.00450500977806,0.0698466854527,0.999999967873,4.64011938478e-05,-0.000248506930225,1.85545600326e-05,1793238289187611904
+21,0.350000000,BASELINE,767,746,715,680,666,636.208972576,880,788,803.208972576,653,632,654,0.400994338722,0.00450614225099,0.0698459280955,0.999999967584,4.77460962707e-05,-0.000249427691614,1.83717435451e-05,1793238289204278272
+22,0.366666667,BASELINE,767,746,715,680,666,636.788124068,880,788,803.788124068,653,632,654,0.400993936327,0.0045076159279,0.0698464787189,0.999999967511,5.02916137585e-05,-0.0002492304292,1.82600513374e-05,1793238289220944896
+23,0.383333333,BASELINE,767,746,715.366874341,680,666,636.633125659,880.366874341,788,804,653,632,654,0.400993707788,0.00450699261029,0.0698465617729,0.99999996756,4.88667724058e-05,-0.000249319751091,1.82161034088e-05,1793238289237611520
+24,0.400000000,BASELINE,767,746,715.945393212,680,666,636.054606788,880.945393212,788,804,653,632,654,0.400993579545,0.00450515956684,0.0698463750929,0.999999967671,4.51514883968e-05,-0.000249574399324,1.82112361695e-05,1793238289254278144
+25,0.416666667,BASELINE,767,745.479257773,715.479257773,680,666,636,880.479257773,788,804,653,632,654,0.400993063877,0.00450456246106,0.0698461162113,0.999999967604,4.40542583949e-05,-0.000250049798703,1.80829335973e-05,1793238289270945024
+26,0.433333333,BASELINE,767,745.196035945,715.098017972,680,666,636,880,788,804,653,632,654,0.40099268013,0.0045043606136,0.0698459353642,0.999999967524,4.38244257849e-05,-0.000250412682163,1.80152914119e-05,1793238289287611648
+27,0.450000000,BASELINE,767,746.373180451,715.686590225,680,666,636,880,788,804,653,632,654,0.400993158714,0.00450549221766,0.0698461827227,0.999999967474,4.65700120759e-05,-0.000250097300813,1.83156271385e-05,1793238289304278016
+28,0.466666667,BASELINE,767,746.728430052,715.728430052,680,666,636.271569948,880,788,804,653,632,654,0.400993662255,0.00450605336521,0.0698466072436,0.999999967556,4.80478654825e-05,-0.000249470452784,1.85461902526e-05,1793238289320944640
+29,0.483333333,BASELINE,767,746.147542254,715.147542254,680,666,636.852457746,880,788,804,653,632,654,0.400994194219,0.00450596476338,0.0698472335524,0.999999967796,4.80817724615e-05,-0.000248488844596,1.86972824253e-05,1793238289337611264
+30,0.500000000,BASELINE,766.569478542,746,715,680,666,637,880,788,804,653,632,653.569478542,0.400993650333,0.00450565705486,0.0698467758555,0.99999996769,4.76429931104e-05,-0.000249020149108,1.83892584936e-05,1793238289354277888
+31,0.516666667,BASELINE,766.007563744,746,715,680,666,636.992436256,880,788.007563744,803.992436256,653,632,653.007563744,0.400992761996,0.00450527032999,0.0698459727993,0.999999967473,4.70488749518e-05,-0.000250038326355,1.79396311552e-05,1793238289370944512
+32,0.533333333,BASELINE,766.580132195,746,715,680,666,636.419867805,880,788.580132195,803.419867805,653,632,653.580132195,0.400993505674,0.00450455369333,0.0698469412195,0.999999967741,4.68729141215e-05,-0.000248947565163,1.85890517645e-05,1793238289387611392
+33,0.550000000,BASELINE,766.841865524,746,715,679.841865524,666,636,880,788.841865524,803,653,632,654,0.400994085641,0.00450449488845,0.0698476209304,0.999999967925,4.70093403186e-05,-0.000248157115001,1.89428818149e-05,1793238289404278016
+34,0.566666667,BASELINE,766.248922403,746,715,679.248922403,666,636,880,788.248922403,803,653,632,654,0.400994215465,0.00450624486665,0.0698475068025,0.999999967877,4.80047100419e-05,-0.000248192404192,1.84839520522e-05,1793238289420944640
+35,0.583333333,BASELINE,766.334658651,746,715,679,666,636,880.334658651,788,803,653,632,654,0.400994345475,0.00450674439775,0.0698476962357,0.999999967874,4.89579771636e-05,-0.000248027375376,1.83518148063e-05,1793238289437611264
+36,0.600000000,BASELINE,766.911465673,746,715,679,666,636,880.911465673,788,803,653,632,654,0.400994475621,0.00450633914522,0.069848105316,0.999999967904,4.98807802829e-05,-0.000247717402816,1.84561341982e-05,1793238289454277888
+37,0.616666667,BASELINE,767,746,715,679.4873516,666,636,880.5126484,788,803,653,632,654,0.400993523268,0.00450678749647,0.0698471952512,0.999999967542,5.06571586064e-05,-0.000249030669422,1.82792299195e-05,1793238289470944512
+38,0.633333333,BASELINE,767,746,715,680,666,636.064282999,880,788,803.064282999,653,632,654,0.400992663948,0.00450717129407,0.0698463149067,0.999999967239,5.0837664749e-05,-0.000250221447885,1.80633732645e-05,1793238289487611136
+39,0.650000000,BASELINE,767,746,715,680,666,636.651070032,880,788,803.651070032,653,632,654,0.400994156215,0.00450577233471,0.0698476203087,0.999999968005,4.63906156562e-05,-0.000248024267986,1.79453758813e-05,1793238289504277760
+40,0.666666667,BASELINE,766.764984648,746,715,680,666,637,880,788,803.764984648,653,632,654,0.400994985162,0.00450535814115,0.0698482570046,0.999999968378,4.4910475429e-05,-0.000246793578551,1.78961580429e-05,1793238289520944384
+41,0.683333333,BASELINE,766.185208079,746,715,680,666,637,880,788,803.185208079,653,632,654,0.400994841036,0.00450638857268,0.0698479127265,0.999999968198,4.77827111832e-05,-0.000246980704836,1.79478379592e-05,1793238289537611008
+42,0.700000000,BASELINE,766.393073662,746,715,680,666,636.606926338,880,788,803.393073662,653.393073662,632,654,0.400995108196,0.00450615335801,0.0698478734445,0.99999996818,4.86398933378e-05,-0.000246871214179,1.81197191363e-05,1793238289554277888
+43,0.716666667,BASELINE,766.970653724,746,715,680,666,636.029346276,880,788,803.970653724,653.970653724,632,654,0.40099556841,0.00450532405663,0.0698479773258,0.999999968242,4.85512214432e-05,-0.00024662249332,1.83480220566e-05,1793238289570944512
+44,0.733333333,BASELINE,767,746,715,680,666,636,880,788,804,653.443672127,632,654,0.400995684289,0.00450538553587,0.0698485266475,0.999999968485,4.7801773854e-05,-0.000245764132196,1.8586496721e-05,1793238289587611136
+45,0.750000000,BASELINE,767,746,715,680,666.140620061,636,880,788,804,653,632,654,0.400995916969,0.0045058094455,0.0698490018551,0.999999968676,4.8042245161e-05,-0.00024493098192,1.86969259009e-05,1793238289604278016
+46,0.766666667,BASELINE,767,746,715,680,666.719257876,636,880,788,804,653,632,654,0.400996570887,0.00450721376436,0.0698491719329,0.99999996867,5.14763929455e-05,-0.000244278010659,1.84068098532e-05,1793238289620944640
+47,0.783333333,BASELINE,767,746,715,680,666.701970214,636.298029786,880,788,803.701970214,653,632,654,0.400996491663,0.00450702155396,0.0698489338089,0.999999968561,5.09531012162e-05,-0.000244847556448,1.82207223484e-05,1793238289637611264
+48,0.800000000,BASELINE,767,746,715,680,666.123071865,636.876928135,880,788,803.123071865,653,632,654,0.400995721512,0.00450532474617,0.0698483109885,0.999999968347,4.67002485865e-05,-0.000246569223945,1.81326731563e-05,1793238289654277888
+49,0.816666667,BASELINE,767,746,715,680,666,636.542035757,880,788,803.457964243,653,632,654,0.400994101448,0.00450643562139,0.0698474981646,0.999999967904,4.74010635117e-05,-0.000248232870977,1.80253192453e-05,1793238289670944512
+50,0.833333333,BASELINE,767,746,715.039440122,680,666,636.039440122,880,788,803.960559878,653,632,654,0.400992485568,0.004508104146,0.0698467248141,0.999999967447,4.93762050707e-05,-0.000249690699037,1.79425185576e-05,1793238289687611136
+51,0.850000000,BASELINE,767,746,715.6190345,680,666,636.6190345,880,788,803.3809655,653,632,654,0.40099406975,0.00450702784944,0.0698471946599,0.999999967672,5.04864793736e-05,-0.00024854426981,1.82673719629e-05,1793238289704277760
+52,0.866666667,BASELINE,767,746,715.801652373,680,666,636.801652373,879.801652373,788,803,653.198347627,632,654,0.400994526167,0.00450590338168,0.0698473339382,0.999999967751,4.99932569708e-05,-0.000248311516915,1.84208565979e-05,1793238289720944384
+53,0.883333333,BASELINE,767,746,715.222878717,680,666,636.222878717,879.222878717,788,803,653.777121283,632,654,0.400992819556,0.00450468652277,0.0698468391957,0.999999967548,4.64245659656e-05,-0.000249831173564,1.82456599888e-05,1793238289737611008
+54,0.900000000,BASELINE,766.643107578,746,715,680,666,636,879.356892422,788,803,653.643107578,632,654,0.400992728334,0.00450459267215,0.0698468821536,0.99999996765,4.5597932863e-05,-0.000249581583584,1.81428494418e-05,1793238289754277632
+55,0.916666667,BASELINE,766.062711787,746,715,680,666,636,879.937288213,788,803,653.062711787,632,654,0.400993648746,0.00450520210391,0.0698472618457,0.999999967948,4.64885097311e-05,-0.000248224005381,1.80853705692e-05,1793238289770944512
+56,0.933333333,BASELINE,766,746,715,680,666,636,880,788,803,653,632,654,0.400994606524,0.0045061074555,0.0698482831701,0.999999968227,4.69046570641e-05,-0.000247030473728,1.79167009429e-05,1793238289787611392
+57,0.950000000,BASELINE,766.086437125,746,715.086437125,680,666,636,880,788,803.086437125,653,632,654,0.400995340674,0.00450675950022,0.0698490847118,0.999999968431,4.7000100411e-05,-0.000246197123242,1.77896002734e-05,1793238289804278016
+58,0.966666667,BASELINE,766.676542433,746,715.676542433,680,666,636,880,788,803.676542433,653,632,654,0.400994745371,0.00450572664543,0.0698481526683,0.99999996821,4.55616935847e-05,-0.000247346748363,1.79832084578e-05,1793238289820944640
+59,0.983333333,BASELINE,766.738041751,746,715.738041751,680,666,636.261958249,880,788,804,653.261958249,632,653.738041751,0.400994575005,0.00450581049827,0.0698478480476,0.999999968101,4.62916014615e-05,-0.000247647164145,1.80590761562e-05,1793238289837611264
+60,1.000000000,BASELINE,766.158314455,746,715.158314455,680,666,636.841685545,880,788,804,653.841685545,632,653.158314455,0.40099492011,0.00450724897569,0.0698483045235,0.999999968121,4.96517882055e-05,-0.00024691744477,1.79921185172e-05,1793238289854277888
+61,1.016666667,BASELINE,766.41707921,746,715,680,666,636.58292079,880,788,803.58292079,653.58292079,632,653.41707921,0.400995329484,0.00450676622044,0.0698485801217,0.999999968418,4.83330243464e-05,-0.000245981499036,1.79306140861e-05,1793238289870944768
+62,1.033333333,BASELINE,766.990844801,746,715,680,666,636.009155199,880,788,803.009155199,653.009155199,632,653.990844801,0.400995763002,0.00450556170533,0.0698487877685,0.999999968812,4.52564938476e-05,-0.000244968079185,1.78711582947e-05,1793238289887611904
+63,1.050000000,BASELINE,767,746,715,680,666.562763747,636,880.562763747,788,803,653,632,653.437236253,0.400995442501,0.00450547161455,0.0698484727297,0.999999968606,4.64191538584e-05,-0.000245574916843,1.80452440091e-05,1793238289904278528
+64,1.066666667,BASELINE,766.860546879,746,715,680,666.860546879,636,880.860546879,788,803,653,632,653,0.400995119694,0.00450541420058,0.0698481775741,0.999999968396,4.73581038375e-05,-0.000246237645621,1.82087647056e-05,1793238289920945152
+65,1.083333333,BASELINE,766.268270064,746,715,680,666.268270064,636,880.268270064,788,803,653,632,653,0.4009948291,0.00450540421543,0.069847974503,0.999999968208,4.73474317321e-05,-0.000246996549841,1.8325682741e-05,1793238289937611520
+66,1.100000000,BASELINE,766.317430126,746,715.317430126,680,666,636,880,788,803,653,632,653.317430126,0.400993761242,0.00450555381146,0.0698472554229,0.999999967899,4.59149300101e-05,-0.000248529759936,1.80744162996e-05,1793238289954278400
+67,1.116666667,BASELINE,766.897684995,746,715.897684995,680,666,636,880,788,803,653,632,653.897684995,0.40099204983,0.00450583553697,0.0698461090993,0.999999967483,4.33051865152e-05,-0.000250704077205,1.75183016896e-05,1793238289970945024
+68,1.133333333,BASELINE,767,746,715.527157787,680,666.472842213,636,880,788,803,653,632,654,0.400992052912,0.00450730674063,0.0698463085644,0.999999967394,4.80576515574e-05,-0.000250182625946,1.7656252006e-05,1793238289987611904
+69,1.150000000,BASELINE,766.951838822,746,715.048161178,680,667,636,880,788,803,653,632,654,0.400992615584,0.00450873915374,0.0698468810519,0.99999996741,5.35379654752e-05,-0.00024898398062,1.79021765897e-05,1793238290004278528
+70,1.166666667,BASELINE,766.362438723,746,715.637561277,680,667,636,880,788,803,653,632,654,0.400995342239,0.00450687399773,0.0698484079067,0.999999968198,4.94859554336e-05,-0.00024666043575,1.76917483215e-05,1793238290020944896
+71,1.183333333,BASELINE,766.223181236,746,715.776818764,680,666.776818764,636,880,788,803.223181236,653,632,654,0.400996763974,0.00450597782587,0.0698493446594,0.999999968664,4.74879712991e-05,-0.00024516531497,1.76534351548e-05,1793238290037611520
+72,1.200000000,BASELINE,766.80276471,746,715.19723529,680,666.19723529,636,880,788,803.80276471,653,632,654,0.40099610186,0.00450662904241,0.0698493390676,0.99999996864,4.87700984555e-05,-0.000244993119567,1.78899757416e-05,1793238290054278144
+73,1.216666667,BASELINE,766.621287503,746,715.378712497,680,666,636,879.621287503,788,803.621287503,653,632,654,0.400995480821,0.00450707130824,0.0698489521108,0.999999968428,4.91519947306e-05,-0.000245769766494,1.80512391112e-05,1793238290070945024
+74,1.233333333,BASELINE,766.04721523,746,715.95278477,680,666,636,879.04721523,788,803.04721523,653,632,654,0.40099488097,0.0045074057863,0.0698483684258,0.999999968118,4.90695046076e-05,-0.000247035876088,1.81736705284e-05,1793238290087611648
+75,1.250000000,BASELINE,766,746,715.471715853,680,666,636,879.528284147,788,803,653,632,653.471715853,0.400994957355,0.00450766826602,0.0698483798673,0.999999968145,4.95679203644e-05,-0.000246840186584,1.79643630294e-05,1793238290104278272
+76,1.266666667,BASELINE,766.106931478,746,715.106931478,679.893068522,666,636.106931478,880,788,803,653,632,653.106931478,0.400994981134,0.00450767968229,0.0698484792492,0.999999968197,4.97031238566e-05,-0.000246614029091,1.78269236591e-05,1793238290120944896
+77,1.283333333,BASELINE,766.699288642,746,715.699288642,679.300711358,666,636.699288642,880,788,803,653,632,653.699288642,0.400994491002,0.00450658066258,0.069848735734,0.999999968219,4.79531640524e-05,-0.000246844254122,1.81506958833e-05,1793238290137611520
+78,1.300000000,BASELINE,767,746,715.715028394,679.284971606,666,636.715028394,880,788,803,653,632,654,0.400994947107,0.00450606177888,0.0698491203634,0.999999968414,4.77315953157e-05,-0.000246090217838,1.82466626103e-05,1793238290154278144
+79,1.316666667,BASELINE,767,746,715.136227127,679.863772873,666,636.136227127,880,788,803,653,632,654,0.400996378861,0.00450614106417,0.0698496371206,0.999999968785,4.90859262521e-05,-0.000244321325453,1.81077427156e-05,1793238290170944768
+80,1.333333333,BASELINE,767,746,715,680,666,636,880,788,803,653,632,653.559864427,0.400995780383,0.00450762612653,0.0698490488822,0.999999968285,5.14084926987e-05,-0.000245912838061,1.7718186955e-05,1793238290187611648
+81,1.350000000,BASELINE,767,746,715,680,666,636,880,788,803,653,631.983917321,653.016082679,0.400994597888,0.00450944742489,0.0698481538081,0.999999967538,5.38828279464e-05,-0.000248439225457,1.72758526766e-05,1793238290204278016
+82,1.366666667,BASELINE,767,746,715,680,666,636,880,788,803,653,631.396061403,653.603938597,0.400994869515,0.00450783896694,0.0698484422308,0.999999967924,5.11572957389e-05,-0.000247428910733,1.76998817131e-05,1793238290220944896
+83,1.383333333,BASELINE,767,746,715,679.810831266,666,636,880,788,803.189168734,653,631.189168734,654,0.400994928864,0.00450663681762,0.0698486585914,0.99999996818,4.90582154176e-05,-0.000246798638765,1.80160747345e-05,1793238290237611520
+84,1.400000000,BASELINE,767,746,715,679.231023339,666,636,880,788,803.768976661,653,631.768976661,654,0.400994549851,0.00450627370771,0.0698487261419,0.999999968179,4.82527768117e-05,-0.000246953166472,1.81095831803e-05,1793238290254278144
+85,1.416666667,BASELINE,767,746,715,679.346125021,666,636,880,788,804,653,632,654,0.400995511619,0.00450660100481,0.0698493490672,0.999999968441,4.76678023873e-05,-0.000246010493946,1.80126064988e-05,1793238290270945024
+86,1.433333333,BASELINE,767,746,715,679.921511737,666,636,880,788,804,653,632,654,0.400997361476,0.00450738560457,0.0698503398544,0.999999968875,4.72288561484e-05,-0.000244341072491,1.77894588022e-05,1793238290287611648
+87,1.450000000,BASELINE,767,746,715,680,666,636,880,788,803.502752362,653,632,654,0.400996384399,0.004507457567,0.0698499052439,0.999999968625,4.83475942332e-05,-0.000245134845131,1.79104111257e-05,1793238290304278016
+88,1.466666667,BASELINE,767,746,715,680,666,636.074996449,880.074996449,788,803.074996449,653.074996449,632,654,0.400995218504,0.00450727008966,0.0698494072803,0.999999968344,4.94822915481e-05,-0.000246041420819,1.80736755137e-05,1793238290320944640
+89,1.483333333,BASELINE,767,746,715,680,666,636.666221202,880.666221202,788,803.666221202,653.666221202,632,654,0.400995826554,0.00450607162294,0.0698500230295,0.999999968609,4.90332156699e-05,-0.000245046299751,1.81540591931e-05,1793238290337611264
+90,1.500000000,BASELINE,766.747561941,745.747561941,715.252438059,679.747561941,666.504876117,636.747561941,880.747561941,788,803.747561941,653.747561941,632,654,0.400996194598,0.0045049294898,0.0698500969327,0.999999968736,4.80082042524e-05,-0.000244730453129,1.81775878025e-05,1793238290354277888
+91,1.516666667,BASELINE,766.167837872,745.167837872,715.832162128,679.167837872,667.664324257,636.167837872,880.167837872,788,803.167837872,653.167837872,632,654,0.400996251474,0.00450386039328,0.0698494683326,0.999999968682,4.62364922863e-05,-0.00024529528609,1.8127403792e-05,1793238290370944512
+92,1.533333333,BASELINE,766,745.408342715,715.591657285,679.408342715,667.18331457,636.408342715,879.591657285,788,803.408342715,653,632,654,0.400995407311,0.00450505807852,0.0698486706169,0.999999968402,4.76653698045e-05,-0.000246154998955,1.82122166071e-05,1793238290387611136
+93,1.550000000,BASELINE,766,745.98307943,715.01692057,679.98307943,666.033841141,636.98307943,879.01692057,788,803.98307943,653,632,654,0.400994195987,0.00450717944585,0.0698478039891,0.999999968024,5.03984430542e-05,-0.000247134871343,1.83520387541e-05,1793238290404277760
+94,1.566666667,BASELINE,766.556634035,746,715,679.443365965,666,636.443365965,879.556634035,788,803.443365965,653,632,653.443365965,0.400994416348,0.00450779429939,0.0698477786044,0.999999967926,5.15467014385e-05,-0.00024731017571,1.81295152818e-05,1793238290420945152
+95,1.583333333,BASELINE,766.866059532,746,715,679.133940468,666,636.133940468,880,788,803,653,632,653.133940468,0.400994416948,0.00450812762276,0.0698476763064,0.999999967827,5.21301786481e-05,-0.00024760731028,1.78896714177e-05,1793238290437612544
+96,1.600000000,BASELINE,766.275850178,746,715,679.724149822,666,636.724149822,880,788,803,653,632,653.724149822,0.400993520991,0.00450765758276,0.0698472250757,0.999999967695,5.09534875752e-05,-0.000248402597361,1.76282672257e-05,1793238290454279424
+97,1.616666667,BASELINE,766.309055886,746,715,680,666.309055886,637,880,788,803.309055886,653,632,654,0.400993218027,0.00450691755512,0.0698471839544,0.999999967796,4.95581301814e-05,-0.000248276342489,1.76170409295e-05,1793238290470945792
+98,1.633333333,BASELINE,766.889308276,746,715,680,666.889308276,637,880,788,803.889308276,653,632,654,0.400993435414,0.00450594061339,0.0698475027042,0.999999968102,4.79708931865e-05,-0.000247341434612,1.78253457242e-05,1793238290487611904
+99,1.650000000,BASELINE,767,746,715,680,666.535541607,636.535541607,880.464458393,788,803.535541607,653.464458393,632,654,0.400994277334,0.0045057428484,0.0698483857293,0.999999968341,4.84711279435e-05,-0.000246261172239,1.79790563417e-05,1793238290504278272
+100,1.666666667,BASELINE,767,746,715,680,666,636,880.960610959,788,803,653.960610959,632,654,0.40099522179,0.00450569617466,0.0698493233629,0.999999968553,4.93680988619e-05,-0.000245210738042,1.81168806182e-05,1793238290520944896
+101,1.683333333,BASELINE,767,746,715,680,666,636,880.371968583,788,803,653.371968583,632,654,0.400995543118,0.0045051950876,0.0698491676125,0.999999968611,4.89354333939e-05,-0.000245054040653,1.82126404646e-05,1793238290537611520
+102,1.700000000,BASELINE,766.786539382,746,715.213460618,680,666,636,880,788,803,653,632,654,0.400995289697,0.00450559853803,0.0698488077467,0.999999968538,4.90569648613e-05,-0.000245329098614,1.81990859654e-05,1793238290554278144
+103,1.716666667,BASELINE,766.206626367,746,715.793373633,680,666,636,880,788,803,653,632,654,0.400994049592,0.00450755482732,0.0698480974715,0.999999968239,5.01298980747e-05,-0.000246345360211,1.79978691872e-05,1793238290570944768
+104,1.733333333,BASELINE,766,746,715.629006233,680,666,636,880,788,803,653.370993767,632,653.629006233,0.400993706908,0.00450845510892,0.0698479703347,0.999999968044,5.1286333578e-05,-0.000246908994403,1.78299657407e-05,1793238290587611904
+105,1.750000000,BASELINE,766,746,715.052655231,680,666,636,880,788,803,653.947344769,632,653.052655231,0.400993860977,0.00450877085576,0.0698481659842,0.999999967907,5.24889904416e-05,-0.000247222084554,1.76805022988e-05,1793238290604278784
+106,1.766666667,BASELINE,766.522529739,746,715,680,666,636,879.477470261,787.477470261,803.522529739,653.477470261,632,653.522529739,0.400994926047,0.00450740937321,0.0698486873034,0.999999968445,4.97863823103e-05,-0.000245594265617,1.77421867452e-05,1793238290620945408
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,680,666,636,880,787,804,653,632,653,0.400994489125,0.00450705077587,0.0698488311669,0.999999968322,4.74705340332e-05,-0.000246547379662,1.78124122419e-05,1793238290663028992
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,715.579140604,679.420859396,666,636.579140604,880,787.579140604,803.420859396,653,632,653.579140604,0.400995424589,0.00450652315004,0.0698492526475,0.999999968621,4.79318472174e-05,-0.000245232239686,1.7914419077e-05,1793238290679695616
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715.843107311,679.156892689,666,636.843107311,879.843107311,788,803,653,632,653.843107311,0.400995806443,0.00450623536497,0.0698493665334,0.999999968702,4.86518374399e-05,-0.00024475205672,1.80368430305e-05,1793238290696362240
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,715.269047085,679.730952915,666,636.269047085,879.269047085,788,803,653,632,653.269047085,0.400994716282,0.00450658530085,0.0698486625452,0.999999968202,5.00596333189e-05,-0.000246491970278,1.82135548069e-05,1793238290713028864
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.694503302,746,715,680,666,636,879.305496698,788,803,653,632,653.305496698,0.400994071024,0.00450691685358,0.0698482523601,0.999999967995,4.98077772109e-05,-0.000247386362935,1.81416550872e-05,1793238290729695744
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.119533016,746,715,680,666,636,879.880466984,788,803,653,632,653.880466984,0.400993818207,0.00450723219081,0.0698481013339,0.999999968047,4.80919694257e-05,-0.00024753493547,1.78504592645e-05,1793238290746362624
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,715.468197432,680,666.468197432,636,879.531802568,788,803.468197432,653,632,654,0.400994112414,0.00450572874467,0.0698483794369,0.999999968182,4.7939354447e-05,-0.000247001191899,1.81233445396e-05,1793238290763029504
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.0581404,746,715.9418596,680,666.9418596,636,879,788,803.9418596,653,632,654,0.400994456391,0.00450425437978,0.0698486268477,0.999999968285,4.84092993666e-05,-0.000246467505306,1.84528598336e-05,1793238290779696640
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.637887465,746,715.362112535,680,666.362112535,636,879,788,803.362112535,653,632,654,0.400993958836,0.00450732349622,0.0698475884598,0.999999967911,5.07837856084e-05,-0.000247540938262,1.79622238186e-05,1793238290796362752
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715.216018403,680,666,636,879.216018403,788,803.216018403,653,632,653.783981597,0.400994356803,0.00450840462544,0.0698476158127,0.999999967854,5.12918437691e-05,-0.000247680533909,1.77515820959e-05,1793238290813029120
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715.791460282,680,666,636,879.791460282,788,803.791460282,653,632,653.208539718,0.400996244787,0.00450617803027,0.0698494164048,0.999999968329,4.86944344687e-05,-0.00024626635881,1.80068105549e-05,1793238290829695744
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.625039298,746,716,680,666.374960702,636.374960702,879.625039298,788,804,653.374960702,632,653.374960702,0.401005354405,0.00450529984563,0.0698541590489,0.999999970041,4.66416744038e-05,-0.000239605020826,1.81933932877e-05,1793238290846362368
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.036958513,746,716,680,666.963041487,636.963041487,879.036958513,788,804,653.963041487,632,653.963041487,0.401018568654,0.00450518807007,0.0698605738961,0.999999972383,4.48984817083e-05,-0.000229961301356,1.83409592e-05,1793238290863028992
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,716,680,667,636.456647738,880.086704523,788,803.456647738,653.456647738,632,653.456647738,0.4010520525,0.00450639617558,0.0698749292825,0.999999977623,4.83142368152e-05,-0.000205171021723,1.80273363863e-05,1793238290879695872
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.122100836,746,716,680,666.877899164,636.122100836,881,788,803.122100836,653,632,653.122100836,0.401090611282,0.00450722688068,0.0698901810637,0.999999982524,5.06867617036e-05,-0.000179078613774,1.77337690401e-05,1793238290896362496
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.696988713,746,716,680,666.303011287,636.696988713,881,788,803.696988713,653,632,653.696988713,0.401142948824,0.00450632984193,0.0699067822957,0.999999987157,4.79077426279e-05,-0.000151924166375,1.76292620817e-05,1793238290913029376
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881,788,804,653,632,653.721727998,0.40119862043,0.00450545246066,0.069920495261,0.999999990087,4.59378518841e-05,-0.000131956106713,1.74018518792e-05,1793238290929696256
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,716,680,666,637,881,788,804,653,632,653.133316945,0.401258007906,0.00450459698806,0.0699309892011,0.999999991649,4.48697491208e-05,-0.000119997404567,1.70374638601e-05,1793238290946362624
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,716,680.44811815,666,637,880.55188185,788,803.55188185,653.44811815,632,653,0.401325684443,0.00450626586584,0.069933857664,0.999999992226,4.45346977892e-05,-0.000115398395731,1.57487452879e-05,1793238290963028992
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680.972586902,666,636.972586902,880,788,803,653.972586902,632,653.027413098,0.401396626451,0.0045086006321,0.0699343549011,0.999999992504,4.44074454752e-05,-0.000113225996247,1.41647119572e-05,1793238290979695872
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680.395229387,666,636.395229387,880,788,803,653.395229387,632,653.604770613,0.401484364749,0.00450945880141,0.0699320958973,0.999999992169,4.41408915392e-05,-0.00011648287954,1.20884129481e-05,1793238290996362496
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.819054729,746,715.819054729,679.819054729,666,636,880,788.180945271,803.180945271,653,632,653.819054729,0.401578055834,0.00450976016913,0.069930606162,0.999999991935,4.30500237734e-05,-0.000119071334339,9.94671774205e-06,1793238291013029120
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.24544702,746,715.24544702,679.24544702,666,636,880,788.75455298,803.75455298,653,632,653.24544702,0.401684664825,0.00450885324279,0.0699307857873,0.999999991939,4.01703440091e-05,-0.00012020925751,7.6631090114e-06,1793238291029696000
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.336330588,746,715.336330588,679.672661176,666,636.336330588,880,788.663669412,804,653,632,653.336330588,0.401805423499,0.0045091550991,0.0699329451921,0.999999992418,3.63279570979e-05,-0.000117551641852,5.03257822714e-06,1793238291046362624
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.924218915,746,715.924218915,680.84843783,666,636.924218915,880,788.075781085,804,653,632,653.924218915,0.40193676541,0.00451036106168,0.0699365853688,0.999999993215,3.17655151443e-05,-0.000112055161208,2.14256759974e-06,1793238291063029504
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.49259114,746,715.49259114,680.49259114,666,636.49259114,880.50740886,788,803.49259114,653,632,654,0.402092841184,0.00451178418943,0.0699378726764,0.999999993645,2.83234541556e-05,-0.000109113853014,-1.45576444128e-06,1793238291079695872
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.088638264,746,715.088638264,680,666.088638264,636,880.911361736,788,803.088638264,653,632,654,0.402257419012,0.00451310769808,0.0699392988617,0.99999999405,2.51099982552e-05,-0.00010603291228,-5.23405364476e-06,1793238291096362496
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.662935287,746,715.662935287,680,666.662935287,636,880.337064713,788,803.662935287,653,632,654,0.40244852656,0.00451370930739,0.0699433936623,0.999999994697,2.22406965838e-05,-0.000100115193158,-9.42404739095e-06,1793238291113029376
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,716,679.762958763,667,636,880,788,803.762958763,653,632,654,0.402649978332,0.00451517667734,0.0699463546315,0.999999995337,1.91095145948e-05,-9.36214981417e-05,-1.39844421368e-05,1793238291129696000
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,716,679.189124327,667,636,880,788,803.189124327,653,632,654,0.402866127387,0.00451787413827,0.069947704629,0.999999995972,1.56062476881e-05,-8.63094447548e-05,-1.90711101997e-05,1793238291146362624
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,715.603701595,679.396298405,666.603701595,636.396298405,880,788,803,653,632,653.603701595,0.403102078385,0.0045204520848,0.0699521434509,0.999999996724,1.18869756069e-05,-7.64192041105e-05,-2.39026896677e-05,1793238291163028992
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,715.01258205,679.98741795,666.01258205,636.98741795,880,788,803,653,632,653.01258205,0.403347764054,0.00452297127773,0.0699581007455,0.999999997429,8.06151502367e-06,-6.52615213238e-05,-2.86088668861e-05,1793238291179695616
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.433315348,746,715,680,666,636.433315348,880,787.433315348,803,653,632,653.566684652,0.403633799271,0.00452359314011,0.0699654181202,0.999999998038,2.44748019973e-06,-5.29413485123e-05,-3.33922337978e-05,1793238291196362752
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.145294207,746,715,680,666,636.145294207,880,787.145294207,803,653,632,653.854705793,0.403926127384,0.0045247678038,0.0699701946569,0.999999998231,-1.7124336371e-06,-4.55788081514e-05,-3.81871983218e-05,1793238291213029632
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.722715866,746,715,680,666,636.722715866,880,787.722715866,803,653,632,653.277284134,0.404234561604,0.00452770930714,0.0699673263744,0.999999997668,-1.43187707843e-06,-5.30362282091e-05,-4.30116622987e-05,1793238291229696000
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,715,679.695371661,666,636.695371661,880,788,803,653,632,653.304628339,0.404559098365,0.00453071982047,0.0699687474708,0.999999997507,3.12615825186e-05,-5.06435110265e-05,-3.79878042092e-05,1793238291246362624
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,715,679.10931025,666,636.10931025,880,788,803,653,632,653.89068975,0.40489851161,0.00453379408952,0.0699741313402,0.99999999454,9.38999346204e-05,-3.91506747245e-05,-2.38655036965e-05,1793238291263028992
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.528774315,746,715,679.471225685,666.471225685,636,880,788,803.471225685,653,631.528774315,653.528774315,0.405264548768,0.00452338085788,0.0699766217406,0.999999995232,8.82704346229e-05,-3.45699444201e-05,-2.34321250661e-05,1793238291279695616
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715.049892374,680.049892374,666.950107626,636.049892374,880.049892374,788,804,653,631.049892374,653.049892374,0.40563933725,0.00450988868399,0.0699782416842,0.999999996883,6.74418147426e-05,-3.17497071116e-05,-2.60110347942e-05,1793238291296361984
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715.622251645,680.622251645,666.377748355,636.622251645,880.622251645,788,804,653,631.622251645,653.622251645,0.406041844551,0.0044965377974,0.0699776935544,0.999999997836,5.13615458912e-05,-3.07691103132e-05,-2.72670443326e-05,1793238291313028864
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715.80367331,680.80367331,666.19632669,636.80367331,880.80367331,787.80367331,803.80367331,653,632,654,0.406453599986,0.0044937429392,0.0699726036691,0.999999998017,4.13529111723e-05,-3.81280436029e-05,-2.83118355894e-05,1793238291329696000
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715.22626791,680.22626791,666.77373209,636.22626791,880.22626791,787.22626791,803.22626791,653,632,654,0.406883306432,0.00451143779561,0.0699586980374,0.999999996749,4.31295854131e-05,-6.16743704009e-05,-2.89466428289e-05,1793238291346362880
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.360467974,746,715,680,666.639532026,636,880,787.360467974,803,653,632,654,0.407338053611,0.0045184087359,0.0699506175091,0.999999996815,2.00415915321e-05,-7.0965272513e-05,-3.05343299481e-05,1793238291363029248
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.953216263,746,715,680,666.046783737,636,880,787.953216263,803,653,632,654,0.407808936657,0.00451846934007,0.0699462905932,0.999999996757,-1.90688325855e-05,-7.10701855114e-05,-3.27360389347e-05,1793238291379695872
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.466697838,746,715,680,666.533302162,636,880,788,803,653,632,654,0.408333514359,0.00452388029616,0.0699579470477,0.999999998209,9.39269588225e-07,-4.90991721853e-05,-3.42026016567e-05,1793238291396362496
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715.110970862,680,667,636,880,788,803.110970862,653,632,654,0.40886570611,0.00453016029178,0.0699692650237,0.999999998666,2.57110511612e-05,-2.71035155156e-05,-3.5660824324e-05,1793238291413029376
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715.683103358,680,667,636,880,788,803.683103358,653,632,654,0.409410418643,0.00453814648142,0.0699734846682,0.999999998008,4.92270115579e-05,-1.28667412439e-05,-3.73461751751e-05,1793238291429696000
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715.743884135,680.256115865,666.743884135,636,880,788.256115865,803.743884135,653,632,654,0.409959409334,0.00454443406082,0.0699703310473,0.999999997306,6.04295029125e-05,-1.54772650852e-05,-3.86961792127e-05,1793238291446362368
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715.169778943,680.830221057,666.169778943,636,880,788.830221057,803.169778943,653,632,654,0.410513711791,0.00454861267423,0.0699580228995,0.999999996867,5.63437928652e-05,-3.90051206502e-05,-3.9629822293e-05,1793238291463029248
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,715,680.580296558,666.419703442,636,880,788.580296558,803,653,632,654,0.411092567614,0.00455575519315,0.069954381499,0.999999996027,6.3380770753e-05,-4.82184192189e-05,-4.00598820916e-05,1793238291479696128
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,715.015138146,680,666.984861854,636.015138146,880,788,803,653,632,653.984861854,0.411683687386,0.00456406977077,0.0699551329338,0.999999995117,7.51597750685e-05,-4.9936618977e-05,-4.02902219684e-05,1793238291496362496
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,715.591853176,680,666.408146824,636.591853176,880,788,803,653,632,653.408146824,0.412347290033,0.0045696947587,0.0699838411769,0.999999995142,8.95929012003e-05,3.40919248392e-06,-4.09559906487e-05,1793238291513029632
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.167714386,746,715.832285614,680,666.167714386,636.832285614,880,788,803.167714386,653,632,653.167714386,0.413014307091,0.004575365488,0.0700102511846,0.999999992945,9.95410175003e-05,4.96335059064e-05,-4.17014587257e-05,1793238291529696512
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.741508244,746,715.258491756,680,666.741508244,636.258491756,880,788,803.741508244,653,632,653.741508244,0.413689591276,0.00458114696851,0.0700310965745,0.999999991137,9.86297762159e-05,7.86148458606e-05,-4.26398996469e-05,1793238291546362880
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.675999244,746,715,680,666.675999244,636.324000756,880,788,803.675999244,653,632,654,0.414346612563,0.00458806727312,0.0700289944762,0.999999991291,0.00010411246506,6.86177106111e-05,-4.32549662971e-05,1793238291563029504
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.086375409,746,715,680,666.086375409,636.913624591,880,788,803.086375409,653,632,654,0.414988661483,0.00459592121097,0.0700080795119,0.9999999921,0.000114837041044,2.66651464732e-05,-4.36049233863e-05,1793238291579696128
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,679.50542675,666,636.50542675,880,788,803.49457325,653,632,654,0.415642036883,0.00460147646705,0.0699645804375,0.9999999904,0.000123673188778,-4.29791389172e-05,-4.5356251008e-05,1793238291596362752
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715,679.073215914,666,636,880.073215914,788,804,653,632,654,0.416308637248,0.00460649100798,0.0699253433309,0.99999998486,0.000130875292573,-0.000104528894237,-4.71743351763e-05,1793238291613029376
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715,679.646280435,666,636,880.646280435,788,804,653,632,654,0.417052252808,0.0046105075738,0.0699416661887,0.999999987449,0.000129134493627,-7.83686619587e-05,-4.78060924265e-05,1793238291629696000
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715.222162558,680,666.222162558,636.222162558,880.777837442,788,804,653,632,654,0.417803164147,0.0046147945262,0.0699617288454,0.999999989177,0.000130911089034,-4.63309668396e-05,-4.86022755766e-05,1793238291646362624
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715.802588486,680,666.802588486,636.802588486,880.197411514,788,804,653,632,654,0.418565840909,0.00461951750952,0.0699878223721,0.999999989183,0.000138359898029,-4.81516447484e-06,-4.96636149969e-05,1793238291663029248
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746.388440739,715.611559261,680,667,636.611559261,880,788,804,653,632,654,0.419329835045,0.00462073058176,0.0700032361309,0.999999988869,0.000139839517778,1.40959751334e-05,-5.00817594265e-05,1793238291679695872
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746.977089767,715.022910233,680,667,636.022910233,880,788,804,653,632,654,0.420094508131,0.00462013459193,0.0700131453725,0.999999988958,0.000138242525848,2.13563237957e-05,-5.01683912982e-05,1793238291696362240
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746.443691436,715.556308564,680,666.443691436,636,880.556308564,788,803.443691436,653,632,654,0.420878274798,0.00459740563065,0.0700216502591,0.999999992212,0.0001076309963,3.73610818988e-05,-5.09453497273e-05,1793238291713028864
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715.865594743,680,666.134405257,636.134405257,881,788,803,652.865594743,632,653.865594743,0.42165608597,0.00457651203084,0.0700253328151,0.999999994436,8.04017994891e-05,4.48571882445e-05,-5.1485813394e-05,1793238291729695744
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715.289928263,680,666.710071737,636.710071737,881,788,803,652.289928263,632,653.289928263,0.422411806304,0.00456458665413,0.0700133700554,0.9999999961,6.81345482857e-05,2.32562533356e-05,-5.11580695425e-05,1793238291746362624
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680,667,636.715176124,880.715176124,788,803.284823876,652,632,653.284823876,0.423140894399,0.00456547670948,0.0699760060227,0.999999995327,7.1383098303e-05,-3.92073933047e-05,-5.20904346606e-05,1793238291763029760
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680,667,636.141351769,880.141351769,788,803.858648231,652,632,653.858648231,0.42384295968,0.00457937012068,0.0699128682383,0.999999984198,9.03749705355e-05,-0.000143132953314,-5.43013863612e-05,1793238291779696640
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.448452977,746,715,680,667,636,880.448452977,788,804,652.448452977,632,654,0.424629226592,0.00458546387044,0.0698950741619,0.999999981357,9.45603213065e-05,-0.000158460795986,-5.68758333892e-05,1793238291796363264
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,715.042001402,680.042001402,667,636,881,788,804,653,632.042001402,654,0.425445320474,0.00458887363511,0.0698967107923,0.999999984094,9.39537914045e-05,-0.000139564104714,-5.92229388587e-05,1793238291813029632
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,715.616782793,680.616782793,667,636,881,788,804,653,632.616782793,654,0.426290665183,0.00459057475257,0.0699568284102,0.999999992501,9.39506243536e-05,-5.38595675719e-05,-5.71792115319e-05,1793238291829696256
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.191703905,715.808296095,681,667,636,881,788.191703905,804,652.808296095,632.808296095,653.808296095,0.427118187078,0.00459360799695,0.0700027054472,0.999999993593,9.8404585056e-05,7.7425601748e-06,-5.5405461428e-05,1793238291846362880
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.766904628,715.233095372,681,667,636,881,788.766904628,804,652.233095372,632.233095372,653.233095372,0.427910055219,0.00459930611397,0.0700200947217,0.999999992063,0.000111774871801,2.11286934262e-05,-5.41717914358e-05,1793238291863029248
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.649313394,746.649313394,715,681,667,636,880.649313394,788.649313394,804.350686606,652.350686606,632,653.350686606,0.428715377172,0.00460012215837,0.070032865115,0.999999990994,0.00011568550579,4.0647310341e-05,-5.45518555382e-05,1793238291879695872
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.059684567,746.059684567,715,681,667,636,880.059684567,788.059684567,804.940315433,652.940315433,632,653.940315433,0.429529865904,0.00459761177577,0.0700424884077,0.999999989959,0.000113150753213,6.4344327455e-05,-5.60314461794e-05,1793238291896362240
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.520809773,746,715.520809773,681,667,636,880.520809773,788,804.479190227,653,632.520809773,654,0.430292263122,0.00459658143288,0.0700260757767,0.999999991478,0.000111308651249,3.89632676719e-05,-5.59959975391e-05,1793238291913028864
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.900348904,746,716,681,667,636.099651096,881,788,804,652.900348904,632.900348904,653.900348904,0.431036606836,0.00459547586766,0.0699999352875,0.999999992416,0.000109622145806,-3.49663821809e-06,-5.60313422075e-05,1793238291929695744
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.324490743,746,716,681,667,636.675509257,881,788,804,652.324490743,632.324490743,653.324490743,0.431722713241,0.00459321427324,0.0699413204522,0.999999987381,0.000108306409932,-0.000101158037388,-5.72203876223e-05,1793238291946362368
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766.693567646,746.693567646,716,681,667,636.693567646,881.693567646,788,804.306432354,652.306432354,632,653,0.437632425691,0.00457945714468,0.0699954462611,0.999999994296,8.7356140502e-05,1.6323495118e-05,-5.92537321781e-05,1793238292079695872
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766.640729132,746,715.359270868,682,667,636,881,788,804.281458264,652.640729132,632,653,0.440155390745,0.0045875265185,0.069911382913,0.999999989682,7.93111635023e-05,-0.000103423754242,-6.04148123664e-05,1793238292146362880
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+237,3.950000000,POSE1_TO_POSE2_PRESS,766.562276045,746.562276045,715,682.562276045,660,634,882,787,804,652,632,653.562276045,0.450827963499,0.00469168246886,0.0696549105043,0.999999824669,0.000217791659862,-0.000547697497505,-5.7067469273e-05,1793238292829696256
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715,682.018275978,660,634,882,787,804.018275978,652,632,653,0.450839542875,0.00469204714968,0.0696532181463,0.999999823451,0.000218110191145,-0.000549766510074,-5.73035135157e-05,1793238292846363136
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,682.596238697,660,634,882,787,804.596238697,652,632,653,0.450846478516,0.00469305681123,0.0696511415953,0.999999821692,0.000218550317564,-0.000552718527187,-5.79198341328e-05,1793238292863029504
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715,683,659.826767994,634,882,787.173232006,804.826767994,652,632.173232006,653,0.450852882455,0.00469367805304,0.0696500712927,0.999999820483,0.00021918285996,-0.000554621596367,-5.82008696681e-05,1793238292879696128
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,683,659.252021602,634,882,787.747978398,804.252021602,652,632.747978398,653,0.450858054022,0.00469339902173,0.0696513332567,0.999999820568,0.000220261381021,-0.00055409343057,-5.77047867444e-05,1793238292896362496
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746.331478533,715,683,659.331478533,634,881.668521467,788,804,652.331478533,632.668521467,653.331478533,0.45086103999,0.00469354430143,0.0696506908334,0.999999820172,0.000220434648839,-0.000554753479821,-5.755518122e-05,1793238292913029120
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+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746.226849112,715,683,659,634,882,788,805,652.773150888,632,653.773150888,0.450864181304,0.00469796702276,0.0696461994964,0.999999816379,0.000225116334273,-0.000559687119896,-5.75667703247e-05,1793238292996363520
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+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,715,683,659,634,882,788,805,652,632,653.44118423,0.45086691089,0.00469847568809,0.069645600783,0.999999816033,0.000225520181612,-0.000560109391602,-5.78928496558e-05,1793238293063029248
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+256,4.266666667,POSE1_TO_POSE2_PRESS,766,746,715,682,659,634.464602161,882,788,804.464602161,652,632,653.535397839,0.450867572491,0.00471969295717,0.0696449909803,0.999999810129,0.000245759009714,-0.000561460147864,-6.40844219403e-05,1793238293146363136
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+260,4.333333333,POSE1_TO_POSE2_PRESS,766,746,715,683,659,634,882,787.770785788,804,652.229214212,632.770785788,653,0.45086831911,0.00473304805087,0.0696449444339,0.999999806493,0.000258065550818,-0.000561879470835,-6.86172597276e-05,1793238293213029120
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+262,4.366666667,POSE1_TO_POSE2_PRESS,766.942019394,746,714.057980606,683,659,634,881.057980606,787.057980606,804,652,632.057980606,653,0.450868796123,0.00473967825515,0.0696459881418,0.999999806151,0.000260468730324,-0.000561159693926,-7.03779411573e-05,1793238293246362880
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+266,4.433333333,HOLD_POSE2,766,746,715,683,659,634,882,787,805,652,632,654,0.450868821928,0.00473784041041,0.0696439016318,0.999999804883,0.000261478012611,-0.000563103245855,-6.91191665391e-05,1793238293334130944
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+268,4.466666667,HOLD_POSE2,766.839475886,746,715,683,659,634,882,787.839475886,804.160524114,652.839475886,632,653.160524114,0.450869300946,0.00473440733069,0.0696446983936,0.999999805755,0.000258079699352,-0.000563225138254,-6.82824339369e-05,1793238293367463424
+269,4.483333333,HOLD_POSE2,766.262616079,746,715,683,659,634,882,787.262616079,804.737383921,652.262616079,632,653.737383921,0.450870035012,0.00473859569341,0.0696450953031,0.99999980497,0.000264103647415,-0.000561751344055,-6.88843237205e-05,1793238293384130304
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+271,4.516666667,HOLD_POSE2,766,746,715,682.113936978,659,634,881.113936978,787.886063022,804.113936978,652,632,654,0.450869359146,0.00473533429614,0.0696435772328,0.999999805005,0.000259926291615,-0.000563666908923,-6.86165185945e-05,1793238293417463808
+272,4.533333333,HOLD_POSE2,766,746,715,682.462896193,659,634,881.462896193,788,804,652,632,654,0.45086921329,0.00473515906969,0.0696435030247,0.999999804862,0.000260124855971,-0.000563827793236,-6.86310410581e-05,1793238293434130176
+273,4.550000000,HOLD_POSE2,766,746,715,683,659,634,882,787.958358003,804,652.041641997,632,653.958358003,0.450869199867,0.0047357581261,0.0696436306748,0.999999804601,0.0002613933696,-0.000563690281738,-6.87394988422e-05,1793238293450796544
+274,4.566666667,HOLD_POSE2,766,746,715,683,659,634,882,787.364897347,804,652.635102653,632,653.364897347,0.450869272734,0.00473620383635,0.069643064828,0.999999804073,0.000261474235378,-0.000564569959359,-6.88929466751e-05,1793238293467463424
+275,4.583333333,HOLD_POSE2,766,745.778414533,715,683,659,634,881.778414533,787,804,652.778414533,632,653.221585467,0.450869258097,0.0047362426445,0.069642691046,0.99999980381,0.000260907534398,-0.000565300082769,-6.88719532323e-05,1793238293484130048
+276,4.600000000,HOLD_POSE2,766,745.203071778,715,683,659,634,881.203071778,787,804,652.203071778,632,653.796928222,0.450869103761,0.00473563184057,0.0696426238923,0.999999803969,0.000259307004517,-0.00056579144544,-6.85724673573e-05,1793238293500796672
+277,4.616666667,HOLD_POSE2,766,745.378257701,715,683,659,634,881.378257701,787.378257701,804,652,632,654,0.45087061251,0.00473550274987,0.0696440536319,0.999999805402,0.000258339469508,-0.000563695654783,-6.85801957553e-05,1793238293517463296
+278,4.633333333,HOLD_POSE2,766,745.962852959,715,683,659,634,881.962852959,787.962852959,804,652,632,654,0.450873028463,0.00473563643111,0.0696462999188,0.999999807522,0.000257717229673,-0.000560188585834,-6.87555078711e-05,1793238293534130176
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.642797094,746,715.642797094,681.357202906,666,636,881,788.642797094,804,652.642797094,632.357202906,654,0.426249786365,0.00451899787873,0.069869723735,0.999999973051,7.68565976154e-05,-0.000216422707544,3.39355196558e-05,1793238294788876288
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.77128519,746,715.77128519,681,666,636,881,788.77128519,804,652.77128519,632,653.77128519,0.425450306194,0.0045114837655,0.0698582323221,0.999999968901,7.09454595877e-05,-0.000236618648992,3.43008343127e-05,1793238294805542912
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.191491462,746,715.191491462,681,666,636,881,788.191491462,804,652.191491462,632,653.191491462,0.424613929164,0.00450500184189,0.0698298426809,0.999999958243,6.42927948996e-05,-0.000279736773828,3.35932580107e-05,1793238294822209536
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,666,636,881,788,804,652.384813876,632,653.384813876,0.423797176213,0.00450019558571,0.069807060015,0.999999947256,5.77949702114e-05,-0.000317852529479,3.34330225068e-05,1793238294838876416
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,666,636,881,788,804,652.95939888,632,653.95939888,0.422990100936,0.00449621568603,0.069787042433,0.999999935636,5.13735053087e-05,-0.000353501361889,3.3542708377e-05,1793238294855543040
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,665.452637707,636.547362293,881,788,804,653,632.547362293,654,0.422175036502,0.00448879139414,0.0697464347053,0.999999907313,5.06997446756e-05,-0.000426130292144,3.48729861596e-05,1793238294872209920
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,715,681.134246148,665,636.865753852,880.865753852,788.134246148,804,653,632.865753852,653.865753852,0.421380860362,0.00448119437678,0.0697225621391,0.999999889057,4.53665829655e-05,-0.000467526176349,3.53120768817e-05,1793238294888876544
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,715,681.714168996,665,636.285831004,880.285831004,788.714168996,804,653,632.285831004,653.285831004,0.420658046846,0.0044738933795,0.069759445169,0.999999920837,2.31140727025e-05,-0.000395898515075,3.24844583064e-05,1793238294905543168
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.264916177,665.867541911,636,880.867541911,788.132458089,804,652.132458089,632,653.867541911,0.419233970871,0.00446082487887,0.069864822755,0.99999997352,7.47131423038e-07,-0.000227661828165,3.36112461928e-05,1793238294938876672
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.442711412,746,715,680,666,636,880.557288588,788,804,652.442711412,632,654,0.418501928413,0.00445436004723,0.0698777818005,0.999999977296,9.54523102055e-07,-0.000210190473587,3.50357988556e-05,1793238294955543040
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.389803017,746,715,680,666,636,880,788.610196983,804,653,632,653.389803017,0.417016795148,0.00444108270247,0.0698376732855,0.999999961766,-7.49446859029e-06,-0.000274114858691,3.56876169699e-05,1793238294988876288
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,636,880.197220628,788.802779372,804,653,632,653.197220628,0.416281104866,0.00443487066181,0.0698093926453,0.999999950093,-1.92354019206e-05,-0.00031342348543,3.47917964983e-05,1793238295005542912
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,636,880.774779393,788.225220607,804,653,632,653.774779393,0.41556500612,0.00442969829102,0.0698007714589,0.999999949087,-3.32255121243e-05,-0.000315603996251,3.33974765897e-05,1793238295022209792
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,715.350386675,680,666,636,880.649613325,788,803.649613325,652.649613325,632,654,0.414837741992,0.00442631798174,0.0697878752656,0.999999941565,-3.73649366595e-05,-0.000338152313272,3.357053283e-05,1793238295038876416
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,715.9247465,680,666,636,880.0752535,788,803.0752535,652.0752535,632,654,0.414103340805,0.00442408318911,0.0697722464153,0.999999928943,-3.52076336906e-05,-0.000373720079661,3.47454827438e-05,1793238295055543040
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.510558979,746,716,680,665.489441021,636.510558979,880,788,803,652.510558979,632,654,0.413472740834,0.00444047934002,0.0697845905115,0.999999937695,-1.37138461507e-05,-0.000350988706301,3.50680460685e-05,1793238295072209664
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.903287039,746,715.903287039,680.096712961,665.096712961,636.903287039,880,788,803.096712961,653,632,654,0.412865410625,0.00446131113908,0.0698057345939,0.999999950771,1.25605103532e-05,-0.000311573252568,3.49592036478e-05,1793238295088876288
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.324044684,746,715.324044684,680.675955316,665.675955316,636.324044684,880,788,803.675955316,653,632,654,0.412296093749,0.0044902582235,0.0698497412359,0.999999971194,4.81403072715e-05,-0.000232772609062,3.33391745446e-05,1793238295105542912
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.254741437,746,715.254741437,680.745258563,666,636,880,788,804,653,632,654,0.411711553956,0.00449916579624,0.0698778755731,0.999999980763,5.66149004666e-05,-0.000184927314714,3.27160550917e-05,1793238295122209536
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.832948196,746,715.832948196,680.167051804,666,636,880,788,804,653,632,654,0.411107684466,0.00448262761611,0.0698858555882,0.999999983417,3.06718734222e-05,-0.000176388479525,3.3358790907e-05,1793238295138876416
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.018163765,746,716,680,666,636,880,788,804,653,632,654,0.409860774754,0.0044736181584,0.0698341759449,0.99999996282,3.16979882374e-05,-0.000268802093497,3.31880700675e-05,1793238295172209664
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.57165093,746,716,680.57165093,666,636,880.57165093,788,803.42834907,653,632.57165093,654,0.40929974635,0.0044738041573,0.0698096997706,0.999999950807,2.67107420961e-05,-0.000310811726974,3.26911581248e-05,1793238295188876288
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.840873396,746,715.840873396,680.840873396,666,636,880.840873396,788,803.159126604,653,632.840873396,654,0.408756911282,0.00447317801071,0.069792977062,0.999999942161,2.17538607841e-05,-0.000337894737786,3.21223845586e-05,1793238295205542912
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.260966273,746,715.260966273,680.260966273,666,636,880.260966273,788,803.739033727,653,632.260966273,654,0.40825650288,0.00447017445839,0.0697961454453,0.999999945994,1.77388643625e-05,-0.000326668945681,3.13885345498e-05,1793238295222209536
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.316857009,746,715,680,666,636,880,788,804,653,632,654,0.40777662572,0.00447173092405,0.0698085239155,0.999999953157,2.08634205844e-05,-0.000303775196985,3.11809028161e-05,1793238295238876416
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.892975199,746,715,680,666,636,880,788,804,653,632,654,0.407313547821,0.0044770185229,0.0698284383335,0.999999962251,2.98297567489e-05,-0.000271334403467,3.14038374692e-05,1793238295255543296
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.532236237,746,715,680,666.467763763,636,880,788.467763763,803.532236237,653,632,653.532236237,0.406846721927,0.00448403540417,0.0698310043535,0.999999961315,3.24498476845e-05,-0.000274508476491,3.10088741779e-05,1793238295272209920
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.04327425,746,715,680,666.95672575,636,880.04327425,788.95672575,803,653,632,653.04327425,0.406382540312,0.00449079050073,0.0698289845062,0.999999957935,3.36952115403e-05,-0.000286460850351,3.05726467308e-05,1793238295288876288
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.631700884,746,715,680,666.368299116,636,880.631700884,788.368299116,803,653,632,653.631700884,0.405962442648,0.00448927747136,0.0698190560253,0.999999951852,3.58625225039e-05,-0.000306635464989,3.13925371594e-05,1793238295305542912
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880.782727523,788,803.217272477,653,632,654,0.405565352731,0.00448852898852,0.0698163921484,0.999999950063,4.01557833455e-05,-0.00031189029305,3.13968086528e-05,1793238295322209536
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880.201932806,788,803.798067194,653,632,654,0.405206757505,0.00448905968151,0.069825882804,0.999999955711,4.80060065283e-05,-0.000292182572931,3.0036454293e-05,1793238295338876416
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803.624403302,653,631.624403302,654,0.404873604486,0.00448766960623,0.0698396468597,0.999999963375,4.50863667298e-05,-0.000265267456334,2.91599827734e-05,1793238295355542784
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803.0486141,653,631.0486141,654,0.404554012094,0.00448525576425,0.0698556886325,0.999999971432,3.64264059955e-05,-0.000234510805688,2.85414199732e-05,1793238295372209664
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.464031191,746,715,680.535968809,666,636.535968809,880,788,803,653,631.535968809,654,0.404237508817,0.00448084941366,0.0698603338404,0.999999972584,2.82814291655e-05,-0.000230587685955,2.93414320834e-05,1793238295388876288
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.120288174,746,715,680.879711826,666,636.879711826,880,788,803.120288174,653,632,654,0.403926346762,0.0044769478318,0.0698614910969,0.999999972515,1.95770439935e-05,-0.000231729992406,2.97980400406e-05,1793238295405542912
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.700499471,746,715,680.299500529,666,636.299500529,880,788,803.700499471,653,632,654,0.40363451765,0.00447567877536,0.0698533304465,0.999999970088,8.5521746302e-06,-0.000242778782033,2.84414638351e-05,1793238295422209792
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803.719963635,653,632,654,0.403359620861,0.00447462120784,0.0698464486578,0.99999996778,-1.54638381732e-06,-0.000252408234593,2.69747181503e-05,1793238295438876416
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803.141146321,653,632,654,0.403102789798,0.00447378928558,0.0698409313333,0.999999965685,-1.06566269122e-05,-0.000260523344351,2.53904287391e-05,1793238295455542784
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803.433449141,653,632,654,0.402866726617,0.00447247446557,0.0698350447775,0.999999962833,-1.75865053072e-05,-0.000270913897677,2.51270552274e-05,1793238295472209664
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.993112891,746,715,680.006887109,666,636,880,788,804,653,632,654,0.402637713153,0.00447100194432,0.0698290615972,0.999999959631,-2.3781096558e-05,-0.000282013027004,2.53014771801e-05,1793238295488876288
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.402377761,746,715,680.597622239,666,636,880,788,804,653,632,654,0.4024385565,0.00446936245291,0.069824981626,0.999999956946,-2.72517087575e-05,-0.000290972381189,2.64768991748e-05,1793238295505542912
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.815220689,666,636.184779311,880,788,804,653.184779311,632,654,0.402249860396,0.00447004337793,0.0698221352277,0.999999955145,-2.62787096706e-05,-0.000297069919308,2.77200859486e-05,1793238295522209792
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.235707305,666,636.764292695,880,788,804,653.764292695,632,654,0.402083510622,0.00447568128357,0.0698219240452,0.999999955331,-1.58130630706e-05,-0.000297053913033,2.91080348162e-05,1793238295538876416
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.340795818,746,715.340795818,680,666,636.659204182,880,788,803.659204182,653.659204182,632,654,0.401935039233,0.00448712254363,0.0698218682085,0.9999999555,7.00980287265e-06,-0.000296738675968,2.99646982393e-05,1793238295555542784
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.915235218,746,715.915235218,680,666,636.084764782,880,788,803.084764782,653.084764782,632,654,0.401798824933,0.00450254248138,0.0698219188743,0.99999995493,3.8304560788e-05,-0.000296218291351,3.04571218816e-05,1793238295572209408
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,715.511323525,680.488676475,665.511323525,636,880,788,803.488676475,653,632,654,0.401681320409,0.00451393625342,0.0698217040506,0.999999951521,9.33355083851e-05,-0.000295488063962,3.0565247271e-05,1793238295588876288
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,715,680.935664901,665.064335099,636,880,788,803.935664901,653,632,654,0.401569093158,0.00452261075999,0.0698214613063,0.999999945786,0.000143795950184,-0.000294652229702,3.04929122042e-05,1793238295605543168
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,715,680.340276479,665.659723521,636,880,788,803.340276479,653,632,654,0.401473692862,0.0045145920651,0.0698213674464,0.999999949052,0.000122612898286,-0.000293244513154,2.94800881169e-05,1793238295622209792
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.75356476,746,715,680,666,636,880,788,803,653.24643524,632,654,0.401386440094,0.00450973660454,0.0698203846761,0.999999951844,9.50730689451e-05,-0.000294356558413,2.50396213083e-05,1793238295638876416
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.178426338,746,715,680,666,636,880,788,803,653.821573662,632,654,0.401310054765,0.00450910036729,0.0698182162487,0.999999953478,5.90543683759e-05,-0.000298829542246,1.60272553889e-05,1793238295655543040
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.396727355,746,715,680,666,636.396727355,880,788,803,653.603272645,632,653.603272645,0.4012479432,0.00450768746151,0.0698180145386,0.999999954365,4.7745594075e-05,-0.000297983553682,1.40099357608e-05,1793238295672209664
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.971887902,746,715,680,666,636.971887902,880,788,803,653.028112098,632,653.028112098,0.401192251444,0.00450592523917,0.0698186973846,0.999999955317,4.75504254936e-05,-0.000294745289394,1.51387277331e-05,1793238295688876288
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+440,7.333333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.285454619,666,637,880,788,803.285454619,653.285454619,632,654,0.400994670513,0.00450619058352,0.0698453298755,0.999999966998,4.84820379062e-05,-0.000251638455514,1.81834707237e-05,1793238296255543296
+441,7.350000000,POSE2_TO_POSE3_RETREAT,767,746,715.292583356,679.292583356,666,636.707416644,880,788,803.292583356,653.292583356,632,654,0.400993905716,0.00450578327941,0.0698446039299,0.999999966698,4.81038517243e-05,-0.000252892045191,1.83452540588e-05,1793238296272209920
+442,7.366666667,POSE2_TO_POSE3_RETREAT,767,746,715.86919162,679.86919162,666,636.13080838,880,788,803.86919162,653.86919162,632,654,0.400994839058,0.00450570109348,0.0698445719944,0.99999996692,4.63494619555e-05,-0.00025236383481,1.80075825023e-05,1793238296288876544
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4cda71c18061e1ab780eb1fe128286ace107d99
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,444 @@
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+413,6.883333333,pose2_to_pose3_retreat,0.578281368035,0.0100014241783,1.06001150955,0.548852644926,0.0186750825776,1.05966105644
+414,6.900000000,pose2_to_pose3_retreat,0.578273643534,0.0100013048315,1.0600115601,0.548844921814,0.0186749674367,1.05966109403
+415,6.916666667,pose2_to_pose3_retreat,0.578268136895,0.0100012451429,1.06001162801,0.548839415763,0.0186749094723,1.05966115507
+416,6.933333333,pose2_to_pose3_retreat,0.578265043806,0.0100012517501,1.06001171655,0.548836322371,0.0186749150341,1.05966124348
+417,6.950000000,pose2_to_pose3_retreat,0.578262453926,0.0100012572823,1.06001179068,0.548833732237,0.018674919691,1.05966131751
+418,6.966666667,pose2_to_pose3_retreat,0.578260516577,0.0100012924384,1.06001181648,0.548831794654,0.0186749541057,1.05966134414
+419,6.983333333,pose2_to_pose3_retreat,0.578259599032,0.0100013231889,1.06001181521,0.548830876978,0.0186749844658,1.05966134368
+420,7.000000000,pose2_to_pose3_retreat,0.578258900923,0.0100013465852,1.06001181425,0.54883017877,0.0186750075651,1.05966134333
+421,7.016666667,pose2_to_pose3_retreat,0.578258049124,0.0100013751323,1.06001181307,0.548829326849,0.0186750357497,1.0596613429
+422,7.033333333,pose2_to_pose3_retreat,0.578257767141,0.0100013845826,1.06001181268,0.548829044825,0.01867504508,1.05966134276
+423,7.050000000,pose2_to_pose3_retreat,0.578257414092,0.0100013964147,1.06001181219,0.548828691726,0.0186750567619,1.05966134259
+424,7.066666667,pose2_to_pose3_retreat,0.578257133986,0.0100014058021,1.0600118118,0.54882841158,0.0186750660301,1.05966134245
+425,7.083333333,pose2_to_pose3_retreat,0.578256959052,0.0100014116648,1.06001181156,0.548828236621,0.0186750718184,1.05966134236
+426,7.100000000,pose2_to_pose3_retreat,0.578256829276,0.0100014160141,1.06001181138,0.548828106827,0.0186750761125,1.05966134229
+427,7.116666667,pose2_to_pose3_retreat,0.578256572523,0.010001423004,1.06001181019,0.548827850047,0.018675083028,1.05966134134
+428,7.133333333,pose2_to_pose3_retreat,0.578255793832,0.0100013709055,1.06001176862,0.548827071743,0.018675032286,1.05966130113
+429,7.150000000,pose2_to_pose3_retreat,0.578255447881,0.0100013477596,1.06001175014,0.548826725965,0.0186750097427,1.05966128327
+430,7.166666667,pose2_to_pose3_retreat,0.578255374051,0.01000134282,1.0600117462,0.548826652171,0.0186750049317,1.05966127946
+431,7.183333333,pose2_to_pose3_retreat,0.578255309894,0.0100013385276,1.06001174278,0.548826588046,0.018675000751,1.05966127615
+432,7.200000000,pose2_to_pose3_retreat,0.578255224005,0.0100013327812,1.06001173819,0.5488265022,0.0186749951543,1.05966127171
+433,7.216666667,pose2_to_pose3_retreat,0.578254694146,0.0100012973308,1.0600117099,0.548825972604,0.0186749606269,1.05966124435
+434,7.233333333,pose2_to_pose3_retreat,0.578254239915,0.0100012669405,1.06001168565,0.548825518599,0.0186749310278,1.0596612209
+435,7.250000000,pose2_to_pose3_retreat,0.578253937675,0.010001246719,1.06001166951,0.548825216509,0.0186749113329,1.05966120529
+436,7.266666667,pose2_to_pose3_retreat,0.578253538649,0.0100012306938,1.06001162292,0.548824818096,0.0186748975107,1.05966116172
+437,7.283333333,pose2_to_pose3_retreat,0.578253215334,0.0100012203527,1.06001157891,0.548824495381,0.0186748893282,1.05966112073
+438,7.300000000,pose2_to_pose3_retreat,0.578253050531,0.0100012150816,1.06001155648,0.548824330884,0.0186748851573,1.05966109984
+439,7.316666667,pose2_to_pose3_retreat,0.578252662472,0.0100012026697,1.06001150365,0.548823943544,0.0186748753362,1.05966105064
+440,7.333333333,pose2_to_pose3_retreat,0.578252377285,0.010001269628,1.06001156116,0.548823656935,0.0186749372781,1.05966110336
+441,7.350000000,pose2_to_pose3_retreat,0.578252121853,0.0100013902635,1.06001168948,0.548823398676,0.0186750479024,1.05966122145
+442,7.366666667,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823455364,0.0186749799532,1.05966098148
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0427240b1864d4980566d1025618608e1da366ee
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:373958df602e3728c173687862986950b73cb909b6e1be7540defa285925b850
+size 28228326
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a0eaca001d360413b1cc5830fd3a16cad75cd39
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_05/franka_data.csv
@@ -0,0 +1,446 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,746,716,680,666,636,880,788,803,653,632,654,0.400995877439,0.00450984468691,0.0698461584396,0.99999996739,5.38576985931e-05,-0.000249055006285,1.7059116253e-05,1793238296407903744
+1,0.016666667,BASELINE,767,746,715.422297435,679.422297435,666,636,880,788,803,653,632,654,0.400994962663,0.00450914268843,0.0698464089456,0.99999996715,5.2548589796e-05,-0.000250260683964,1.75283225082e-05,1793238296424570624
+2,0.033333333,BASELINE,767,746,715.154606508,679.154606508,666,636.154606508,880,788.154606508,803,653,632,654,0.400994591965,0.00450851185695,0.0698465526847,0.999999967039,5.12692365405e-05,-0.000250953951156,1.77670119929e-05,1793238296441236992
+3,0.050000000,BASELINE,767,746,715.729340409,679.729340409,666,636.729340409,880,788.729340409,803,653,632,654,0.400995699741,0.00450807441439,0.0698464062961,0.999999967282,5.00707406375e-05,-0.000250254795461,1.73792958071e-05,1793238296457903872
+4,0.066666667,BASELINE,766.683429708,746,716,680,666,636.683429708,880,788.683429708,803,653,632,654,0.40099630138,0.00450842183029,0.0698465306027,0.999999967337,5.13662475332e-05,-0.00024977523936,1.73374488716e-05,1793238296474570496
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+9,0.150000000,BASELINE,767,746,715,680,666,636.241760024,880.241760024,788,804,653,632,654,0.400995101162,0.00450745680698,0.0698467895647,0.999999967291,4.98110669717e-05,-0.000250249390978,1.76685810158e-05,1793238296557903360
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+13,0.216666667,BASELINE,767,746,716,680,666,636.438638554,880.561361446,788,803.561361446,653.438638554,632,654,0.400995597893,0.00450847255404,0.0698469142823,0.999999967554,5.05972110662e-05,-0.000249051525867,1.74555895061e-05,1793238296624570112
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+16,0.266666667,BASELINE,766.695057175,746,715,680,666,636,880,788,803,653,632,654,0.40099588991,0.00450767823094,0.0698470778633,0.999999967752,5.21926155472e-05,-0.000247906513518,1.77532479519e-05,1793238296674570240
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+20,0.333333333,BASELINE,766.38201325,746,715.61798675,680,666,636,880,788,804,653,632,653.61798675,0.40099572803,0.00450711644487,0.0698468927711,0.999999967697,5.12560762051e-05,-0.000248324171755,1.76973065766e-05,1793238296741237760
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+22,0.366666667,BASELINE,766.783713148,746,716,680,666,636.783713148,880,788,803.216286852,653,632,654,0.400997581959,0.00450727350738,0.0698490798329,0.999999968482,4.98478508679e-05,-0.000245414130676,1.79529051954e-05,1793238296774571008
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+27,0.450000000,BASELINE,766.318370599,746,715.318370599,680,666,637,880,788.318370599,803,653.681629401,632,654,0.400998654423,0.00450634647892,0.0698493102064,0.999999968612,5.11485225297e-05,-0.000244614228298,1.79841696636e-05,1793238296857903360
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+30,0.500000000,BASELINE,766.579019659,746,715,679.420980341,666,636,880,788,803,653,632,654,0.400998244343,0.00450775019207,0.0698493998031,0.999999968589,5.23869350728e-05,-0.000244462502455,1.77507665059e-05,1793238296907903232
+31,0.516666667,BASELINE,766.004709595,746,715,679.995290405,666,636,880,788,803,653,632,654,0.400998899395,0.00450586738381,0.0698493637045,0.999999968722,5.00949720291e-05,-0.000244379540306,1.80418998346e-05,1793238296924569856
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+41,0.683333333,BASELINE,766,746,715,680,666,636.188497386,880,788,803.188497386,653,632,654,0.400995722863,0.00450790623218,0.0698478767112,0.999999967906,5.29151861189e-05,-0.00024714028862,1.76162884523e-05,1793238297091236352
+42,0.700000000,BASELINE,766.38698186,746,715,680,666,636,879.61301814,788,803,653,631.61301814,654,0.400995750384,0.00450876967899,0.0698476734709,0.99999996776,5.41584551774e-05,-0.000247467708433,1.75136124729e-05,1793238297107903744
+43,0.716666667,BASELINE,766.959666776,746,715,680,666,636,879.040333224,788,803,653,631.040333224,654,0.400995418334,0.00450946993106,0.0698470323119,0.999999967513,5.46341789037e-05,-0.000248363269506,1.74862319987e-05,1793238297124571392
+44,0.733333333,BASELINE,767,746,715.543524921,680,666,636.543524921,879.543524921,788,803.543524921,653,631.543524921,654,0.400997069807,0.00450860279916,0.0698484624419,0.999999968326,5.30935298599e-05,-0.000245408754766,1.74066105671e-05,1793238297141237504
+45,0.750000000,BASELINE,767,746,716,680.127933406,666,636.872066594,880,788,804,653,632,654,0.400998492575,0.00450808832974,0.0698496626996,0.999999968969,5.22494016704e-05,-0.000242962692107,1.73615774482e-05,1793238297157903360
+46,0.766666667,BASELINE,767,746,716,680.711287363,666,636.288712637,880,788,804,653,632,654,0.400998566222,0.00450925201246,0.0698494860098,0.999999968753,5.44285971027e-05,-0.000243365024885,1.74537624704e-05,1793238297174569984
+47,0.783333333,BASELINE,767,746,716,680.709572674,666,636,880,788,804,653,632,654,0.400998281812,0.00450908029583,0.0698493875125,0.999999968569,5.47094399728e-05,-0.000244052326993,1.75208684024e-05,1793238297191236864
+48,0.800000000,BASELINE,767,746,716,680.134561846,666,636,880,788,804,653,632,654,0.400997646551,0.00450760005019,0.0698493656342,0.999999968417,5.31301281756e-05,-0.000245018864478,1.75633998831e-05,1793238297207903744
+49,0.816666667,BASELINE,767,746,715.549284774,680,666,636,880,788,803.549284774,653,632,654,0.400997187431,0.00450787255287,0.0698488417197,0.999999968215,5.35086114887e-05,-0.000245766431866,1.74847867366e-05,1793238297224570112
+50,0.833333333,BASELINE,767,746,715,680,666,636,880,788,803.038551085,653,632,654,0.400996792202,0.00450856383014,0.0698482201776,0.999999968022,5.42952212792e-05,-0.000246388724928,1.73658969856e-05,1793238297241236736
+51,0.850000000,BASELINE,767,746,715,680,666,636,880,788,803.618278341,653,632,654,0.400996538434,0.00450761676409,0.069848381244,0.999999968173,5.24146210502e-05,-0.000246191533443,1.72011645055e-05,1793238297257903360
+52,0.866666667,BASELINE,767,746,715,679.803182014,666,636.196817986,879.803182014,788,803.803182014,653,632,654,0.400996429569,0.00450723375667,0.0698485414196,0.999999968171,5.19250030964e-05,-0.000246296897828,1.73006807435e-05,1793238297274569984
+53,0.883333333,BASELINE,767,746,715,679.226931918,666,636.773068082,879.226931918,788,803.226931918,653,632,654,0.400996600054,0.00450793815983,0.069848699878,0.999999967874,5.411696609e-05,-0.000246985539264,1.79096242579e-05,1793238297291236864
+54,0.900000000,BASELINE,766.651094538,746,715,679,666.348905462,636.651094538,879.697810925,788,803.348905462,652.651094538,632,653.651094538,0.400996870075,0.00450809616441,0.069848972081,0.999999968063,5.44491348931e-05,-0.000246145322929,1.79362548066e-05,1793238297307903744
+55,0.916666667,BASELINE,766.075525296,746,715,679,666.924474704,636.075525296,880.848949407,788,803.924474704,652.075525296,632,653.075525296,0.400997204759,0.00450789920528,0.0698493181772,0.999999968566,5.35731024671e-05,-0.000244311895747,1.75845901445e-05,1793238297324570368
+56,0.933333333,BASELINE,766,746,715,679,666.508496838,636.491503162,880.508496838,788,804,652.491503162,632,653.491503162,0.400995745537,0.00450800342178,0.0698479251228,0.999999968021,5.32080337351e-05,-0.000246612146342,1.76136882591e-05,1793238297341236992
+57,0.950000000,BASELINE,766.06099629,746,715.06099629,679.06099629,666,636.93900371,880,788,804,653,632,654,0.400994417042,0.00450796001354,0.0698466349266,0.999999967485,5.28401352937e-05,-0.000248843784665,1.77467651525e-05,1793238297357903360
+58,0.966666667,BASELINE,766.663842837,746,715.663842837,679.663842837,666,636.336157163,880,788,804,653,632,654,0.400996656752,0.00450620111411,0.0698485918995,0.9999999685,5.17615323584e-05,-0.00024491970003,1.82926449868e-05,1793238297374570240
+59,0.983333333,BASELINE,767,746,716,679.745391415,666,636,880,788,803.745391415,653,632,653.745391415,0.400997329913,0.00450550436691,0.0698495692853,0.999999968835,5.11155771412e-05,-0.000243666935929,1.85403734558e-05,1793238297391236864
+60,1.000000000,BASELINE,767,746,716,679.16985322,666,636,880,788,803.16985322,653,632,653.16985322,0.400996028465,0.00450614644357,0.0698493119192,0.999999968325,5.1014966563e-05,-0.000245781323512,1.84122874845e-05,1793238297407903488
+61,1.016666667,BASELINE,766.594468102,746,715.594468102,679.405531898,666,636,879.594468102,788,803.405531898,653,632,653,0.400996778431,0.00450602355602,0.0698493602466,0.999999968432,4.98876438159e-05,-0.000245603171536,1.80574581629e-05,1793238297424570112
+62,1.033333333,BASELINE,766.019147109,746,715.019147109,679.980852891,666,636,879.019147109,788,803.980852891,653,632,653,0.400998387288,0.00450558039133,0.0698495365624,0.999999968795,4.83304546924e-05,-0.000244465173318,1.76076953838e-05,1793238297441236736
+63,1.050000000,BASELINE,766.571801776,746,715.571801776,680,666,636,879.571801776,788,803.428198224,653.571801776,632,653.571801776,0.400997944159,0.00450704369918,0.0698498965556,0.999999968742,5.17053116849e-05,-0.000243984268884,1.77185954198e-05,1793238297457903616
+64,1.066666667,BASELINE,766.839955634,746,715.839955634,680,666,636,880,788,803,653.839955634,632,653.839955634,0.400997293389,0.00450791309891,0.0698497920703,0.999999968573,5.38128840788e-05,-0.000244214405088,1.7809949591e-05,1793238297474570240
+65,1.083333333,BASELINE,766.26022075,746,715.26022075,680,666,636,880,788,803,653.26022075,632,653.26022075,0.400996283367,0.00450705295808,0.0698484529832,0.999999968162,5.21519522753e-05,-0.000246249809588,1.77994324257e-05,1793238297491237120
+66,1.100000000,BASELINE,766,746,715.316605427,680,666.316605427,636,880,788,803,653,632,653.316605427,0.400996010771,0.00450673673903,0.0698480743642,0.999999968051,5.17627078655e-05,-0.000246785063459,1.7792352028e-05,1793238297507903488
+67,1.116666667,BASELINE,766,746,715.891062646,680,666.891062646,636,880,788,803,653,632,653.891062646,0.400996338753,0.00450686350422,0.0698484779758,0.999999968186,5.24091592237e-05,-0.00024609855507,1.77880706252e-05,1793238297524570112
+68,1.133333333,BASELINE,766.46487884,746,715.53512116,680,666.53512116,636,880,788,803,653,632,654,0.400996535249,0.00450812668765,0.0698488622002,0.999999968259,5.27647803551e-05,-0.000245747063277,1.75007816826e-05,1793238297541236736
+69,1.150000000,BASELINE,766.960251852,746,715,680,666,636.039748148,880,788,803.039748148,653,632,654,0.400996667143,0.00450952667927,0.0698492153993,0.999999968311,5.30638404763e-05,-0.000245492418704,1.71760549691e-05,1793238297557903360
+70,1.166666667,BASELINE,766.3686802,746,715,680,666,636.6313198,880,788,803.6313198,653,632,654,0.400996329336,0.00450913399083,0.0698492008591,0.999999968285,5.35225107405e-05,-0.000245493905095,1.72510126897e-05,1793238297574570240
+71,1.183333333,BASELINE,766.217887765,746,715,680,666,636.782112235,880,788,804,653,632,654,0.400996714399,0.00450825838828,0.0698491983781,0.999999968403,5.33367253558e-05,-0.000245044910391,1.73630145061e-05,1793238297591236864
+72,1.200000000,BASELINE,766.796179327,746,715,680,666,636.203820673,880,788,804,653,632,654,0.400998295149,0.00450658400709,0.0698492158441,0.999999968758,5.20849588374e-05,-0.000243850783909,1.75362902328e-05,1793238297607903488
+73,1.216666667,BASELINE,767,746,715,680,666,636,880,788,804,653,632,653.628457859,0.400998729683,0.00450669311124,0.0698495386554,0.999999968985,5.16264122763e-05,-0.000243018882917,1.74943026917e-05,1793238297624570112
+74,1.233333333,BASELINE,767,746,715,680,666,636,880,788,804,653,632,653.054689167,0.400998540343,0.00450777294815,0.0698500276631,0.999999969143,5.1599607222e-05,-0.000242384137589,1.73351495665e-05,1793238297641236480
+75,1.250000000,BASELINE,767,746,715,680,666,636,880,788,803.480267422,653,632,653.519732578,0.400997044611,0.00450726340135,0.0698491081855,0.999999968622,5.25214993221e-05,-0.000244311668,1.76142768942e-05,1793238297657903360
+76,1.266666667,BASELINE,766.902593107,745.902593107,715,680,666,636,880,788,803,653,632,654,0.400995692839,0.00450688324992,0.069848225651,0.999999968115,5.32395232032e-05,-0.000246206347122,1.78082826748e-05,1793238297674570240
+77,1.283333333,BASELINE,766.308690743,745.308690743,715,680,666,636,880,788,803,653,632,654,0.400995776416,0.00450801617922,0.0698482878098,0.999999968081,5.24089321645e-05,-0.000246557577556,1.73330462136e-05,1793238297691236864
+78,1.300000000,BASELINE,766.277290015,745.277290015,715,680,666,636,880,788.277290015,803,653,632,654,0.400996616452,0.00450797081339,0.0698490409669,0.9999999684,5.07776147758e-05,-0.000245625156361,1.70538624738e-05,1793238297707903488
+79,1.316666667,BASELINE,766.854697011,745.854697011,715,680,666,636,880,788.854697011,803,653,632,654,0.40099827522,0.00450665015319,0.0698505420063,0.999999969092,4.82796539948e-05,-0.00024330341122,1.69868708654e-05,1793238297724570112
+80,1.333333333,BASELINE,767,746,715,680,666,636,880,788.569452149,803.430547851,653.430547851,632,654,0.400997632261,0.00450707561354,0.0698501281238,0.999999968762,5.06872951415e-05,-0.000244136574258,1.74107716494e-05,1793238297741236736
+81,1.350000000,BASELINE,766.993977124,746,715.006022876,680,666,636,880,788,803.993977124,653.993977124,631.993977124,654,0.400996245582,0.00450809368684,0.0698490880518,0.999999968086,5.47054478615e-05,-0.000245992800204,1.79881562135e-05,1793238297757903616
+82,1.366666667,BASELINE,766.404213706,746,715.595786294,680,666,636,880,788,803.404213706,653.404213706,631.404213706,654,0.400997793431,0.00450963972735,0.069849767216,0.999999968526,5.49351291823e-05,-0.00024418216717,1.74424309437e-05,1793238297774570240
+83,1.383333333,BASELINE,766.18187797,746,715.81812203,680,666,636,880,788,803.18187797,653,631.18187797,654,0.400998460846,0.00451046445584,0.069850047593,0.999999968735,5.46978387943e-05,-0.00024340603813,1.70754784839e-05,1793238297791236864
+84,1.400000000,BASELINE,766.759970995,746,715.240029005,680,666,636,880,788,803.759970995,653,631.759970995,654,0.400997210266,0.00450971783061,0.0698494592252,0.999999968442,5.34432662554e-05,-0.000244883540971,1.70979764859e-05,1793238297807903744
+85,1.416666667,BASELINE,766.663467979,746,715,680,666,636,880.336532021,788,803.663467979,653,632,654,0.400996667129,0.00450858810083,0.0698490375726,0.999999968326,5.27150113326e-05,-0.00024550299406,1.72260016073e-05,1793238297824570112
+86,1.433333333,BASELINE,766.087994722,746,715,680,666,636,880.912005278,788,803.087994722,653,632,654,0.400996626285,0.00450718636287,0.0698487342894,0.999999968339,5.23604474686e-05,-0.00024551322281,1.74289520801e-05,1793238297841236736
+87,1.450000000,BASELINE,766.485828526,746,715,680,666.485828526,636,880.514171474,788,803,653,632,654,0.400996318123,0.00450713431299,0.0698485518786,0.999999968186,5.22905323336e-05,-0.000246148585355,1.74457071421e-05,1793238297857903360
+88,1.466666667,BASELINE,767,746,715.061583745,680,666.938416255,636.061583745,880,788,803.061583745,653,632,653.938416255,0.400996080095,0.00450738455326,0.0698485092232,0.99999996806,5.22987678998e-05,-0.000246662231607,1.74195599145e-05,1793238297874570240
+89,1.483333333,BASELINE,767,746,715.65665543,680,666.34334457,636.65665543,880,788,803.65665543,653,632,653.34334457,0.400996867623,0.00450814293661,0.0698494882317,0.999999968422,5.25388961394e-05,-0.000245143937767,1.73129164622e-05,1793238297891236864
+90,1.500000000,BASELINE,767,746,716,680,666,637,879.755121523,788,803.755121523,653,632,653,0.400997371914,0.00450821461121,0.0698500750801,0.99999996871,5.18106027955e-05,-0.000244126367626,1.72551373126e-05,1793238297907903232
+91,1.516666667,BASELINE,767,746,716,680,666,637,879.176239762,788,803.176239762,653,632,653,0.400997489882,0.00450734964573,0.0698501270398,0.999999968896,4.97614257262e-05,-0.000243791762327,1.72640068941e-05,1793238297924570112
+92,1.533333333,BASELINE,767,746,716,679.600401442,666,636.600401442,879,788,803,653,632,653,0.400997295068,0.00450748563852,0.0698494143748,0.999999968819,5.02621359989e-05,-0.000244000485436,1.73135256946e-05,1793238297941236736
+93,1.550000000,BASELINE,767,746,716,679.025895213,666,636.025895213,879,788,803,653,632,653,0.400996963347,0.00450805975915,0.069848367027,0.999999968626,5.18789533671e-05,-0.000244447027957,1.7380837003e-05,1793238297957903616
+94,1.566666667,BASELINE,767,746,715.437545315,679.562454685,666,636,879.562454685,788,803.562454685,653,632,653.562454685,0.400997104243,0.00450837768802,0.0698497048641,0.999999968735,5.25918032974e-05,-0.000243843522797,1.7457141691e-05,1793238297974570240
+95,1.583333333,BASELINE,767,746,715,680,666,636.149053387,880.149053387,788,804,653,632,654,0.400996817234,0.00450826511373,0.0698502428818,0.999999968696,5.27577858183e-05,-0.000243961360703,1.75366574879e-05,1793238297991236864
+96,1.600000000,BASELINE,767,746,715,680,666,636.728705498,880.728705498,788,804,653,632,654,0.400995229605,0.00450694379778,0.0698481450677,0.999999968187,5.14671938037e-05,-0.000246306262791,1.76242235055e-05,1793238298007903488
+97,1.616666667,BASELINE,766.694585107,746,715,680,666,637,880.694585107,788,803.389170214,653,631.694585107,654,0.400996034234,0.00450745163656,0.0698484465759,0.999999968329,5.23192233175e-05,-0.000245560186221,1.74892706706e-05,1793238298024570112
+98,1.633333333,BASELINE,766.120464761,746,715,680,666,637,880.120464761,788,802.240929521,653,631.120464761,654,0.400998943583,0.00450956877432,0.0698508590194,0.999999969032,5.50563413611e-05,-0.00024209465201,1.71585447018e-05,1793238298041236736
+99,1.650000000,BASELINE,766,746,715.455252537,680,666.455252537,637,880,788.455252537,802.910505074,653,631.455252537,654,0.400997365076,0.00450902360127,0.0698496462117,0.999999968519,5.38941054974e-05,-0.000244445634551,1.74078244214e-05,1793238298057903360
+100,1.666666667,BASELINE,766.032302083,746,715.967697917,680,667,636.967697917,880,788.967697917,803.967697917,653,632,654,0.40099480932,0.00450784424469,0.0698476423468,0.999999967739,5.18186570547e-05,-0.000248033886338,1.77775948813e-05,1793238298074570240
+101,1.683333333,BASELINE,766.625110698,746,715.374889302,680,667,636.374889302,880,788.374889302,803.374889302,653,632,654,0.400995975006,0.00450792764109,0.0698486160953,0.999999968171,5.18641623183e-05,-0.000246290518736,1.75656332541e-05,1793238298091236864
+102,1.700000000,BASELINE,767,746,715,680,666.787823461,636,880,788,803,653,632,654,0.400996457472,0.00450801045067,0.0698490029578,0.999999968356,5.24909633308e-05,-0.000245409085107,1.75082550188e-05,1793238298107903488
+103,1.716666667,BASELINE,767,746,715,680,666.210637044,636,880,788,803,653,632,654,0.400995764589,0.00450809225069,0.0698483801932,0.999999968118,5.41177744758e-05,-0.000246010447146,1.77168084921e-05,1793238298124570112
+104,1.733333333,BASELINE,767,746,715,679.635304395,666,636,880,788,803,653,632,654,0.400996621832,0.00450910984059,0.0698486731369,0.999999968365,5.47398907479e-05,-0.000244885728708,1.74737403275e-05,1793238298141236736
+105,1.750000000,BASELINE,767,746,715,679.061036955,666,636,880,788,803,653,632,654,0.400998369853,0.00451066518086,0.069849492291,0.999999968887,5.47846606288e-05,-0.000242769120524,1.69711484215e-05,1793238298157903616
+106,1.766666667,BASELINE,766.485735067,746,715,679.514264933,666,636,880,788,803.514264933,653,632,653.485735067,0.400996833517,0.00450938257662,0.0698488339795,0.999999968419,5.31348140712e-05,-0.000245034701172,1.72383688919e-05,1793238298174569984
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666,637,880,788,803,653,632,654,0.400997444838,0.00450650255015,0.0698500876049,0.999999968771,5.10159002472e-05,-0.000244010481957,1.77443954277e-05,1793238298218856448
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.61826492,746,715,680,666,636.38173508,880,788,803,653,632,654,0.400996076121,0.00450741508747,0.0698495025438,0.999999968465,5.13803099589e-05,-0.000245189006552,1.76594352905e-05,1793238298235523328
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715,679.78058439,666,636,880,788,803,653.21941561,632,654,0.400995892635,0.0045079008844,0.0698494951001,0.999999968449,5.11644555042e-05,-0.000245305835354,1.75706240093e-05,1793238298252189952
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,715,679.207054235,666,636,880,788,803,653.792945765,632,654,0.400997621993,0.00450769796577,0.0698504198722,0.9999999689,5.00121135873e-05,-0.000243709194997,1.74755973591e-05,1793238298268856320
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.620543412,746,715,679.379456588,666,636,880,788,803,653.620543412,632,654,0.400996776161,0.00450771243464,0.0698494877416,0.999999968441,5.07834121145e-05,-0.000245439712481,1.72560980729e-05,1793238298285522688
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.026698712,746,715,679.973301288,666,636,880,788,803,653.026698712,632,654,0.400994475379,0.00450784972468,0.0698475064846,0.999999967458,5.26415429216e-05,-0.00024905003162,1.69662733474e-05,1793238298302189312
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.551941356,746,715,680,666,636,880,788,803.551941356,653,632,654,0.400995450565,0.0045088458891,0.0698480356258,0.999999967872,5.41834076929e-05,-0.000247035261068,1.71380828536e-05,1793238298318856192
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,715,680,666,636,880,788,803.870999496,653,632.129000504,654,0.400996545906,0.00450934654972,0.0698486985017,0.99999996831,5.47623822284e-05,-0.00024511497169,1.73209398481e-05,1793238298335522816
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,715,680,666,636,880,788,803.296925306,653,632.703074694,654,0.400997523727,0.00450799814059,0.0698494150491,0.999999968618,5.20705890479e-05,-0.00024443427818,1.74669345267e-05,1793238298352189440
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,715,680.284654248,666,636.284654248,880,788,803.284654248,653,632.715345752,654,0.400998575184,0.00450711832911,0.0698502162548,0.999999968832,5.07560407348e-05,-0.000243822852201,1.76165303837e-05,1793238298368856320
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,715,680.874274683,666,636.874274683,880,788,803.874274683,653,632.125725317,654,0.400999705533,0.00450674055287,0.0698511081597,0.999999968952,5.09170128804e-05,-0.000243285636486,1.77699843775e-05,1793238298385522944
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,715,680.544159746,666,636.544159746,880,788.455840254,804,653,632,654,0.401007443306,0.00450759500457,0.0698552023043,0.999999970351,5.10825080815e-05,-0.000237435556522,1.76879463446e-05,1793238298402189568
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,715,680,666,636,880,788.964859509,803.964859509,653,632,653.964859509,0.401018319005,0.00450866953344,0.0698606757423,0.999999972269,5.12475268113e-05,-0.000229190073334,1.75497195732e-05,1793238298418856448
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715,680,666,636,880,788.386831384,803.386831384,653,632,653.386831384,0.401050007282,0.00450798468357,0.069874050122,0.99999997727,5.1386246207e-05,-0.000206182935404,1.7529439544e-05,1793238298435522816
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715.189264731,680,666,636.189264731,880.189264731,788,803,653,632,653.189264731,0.401089141312,0.00450767680966,0.0698895161785,0.999999982274,5.16301315417e-05,-0.00018023306742,1.74050723124e-05,1793238298452189696
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715.761452087,680,666,636.761452087,880.761452087,788,803,653,632,653.761452087,0.401143339683,0.00450813163782,0.0699092141424,0.999999987497,5.20867898743e-05,-0.000148329429338,1.70701146315e-05,1793238298468856320
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,715.653494898,680,666.346505102,636.653494898,880.653494898,788,803,653,632,654,0.401200620315,0.00450870193834,0.0699231791307,0.999999990418,5.20740853888e-05,-0.000127191177433,1.65689104492e-05,1793238298485522944
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,715.059243135,680,666.940756865,636.059243135,880.059243135,788,803,653,632,654,0.401260104721,0.0045093548001,0.0699330451146,0.999999992066,5.17257925604e-05,-0.000113750039157,1.59488421984e-05,1793238298502189824
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,715.521009938,680,666.478990062,636,880,788,803,653,632,654,0.401327111259,0.00450920931253,0.0699343690231,0.999999992352,4.90288832002e-05,-0.000112613194677,1.44747008694e-05,1793238298518856704
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.900898617,746,715.900898617,680,666,636,880,788,803,653,631.900898617,653.900898617,0.401397373964,0.00450914817958,0.0699344466258,0.999999992397,4.63714421884e-05,-0.000113529763613,1.28843597548e-05,1793238298535523584
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.325744695,746,715.325744695,680,666,636,880,788,803,653,631.325744695,653.325744695,0.401479277063,0.00450991692419,0.0699330811238,0.999999991984,4.51528887165e-05,-0.000117765306619,1.11901356162e-05,1793238298552190208
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680.248737096,666,636,879.751262904,788,803.248737096,653,631.497474193,653.248737096,0.401570300943,0.00451070453512,0.0699319471254,0.999999991663,4.38443003846e-05,-0.000121103443448,9.22033716587e-06,1793238298568856576
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,715,680.822340995,666,636,879.177659005,788,803.822340995,653,632.64468199,653.822340995,0.401673237147,0.00451151678663,0.0699311154859,0.999999991479,4.2418120774e-05,-0.000123269509197,6.89062089993e-06,1793238298585522944
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.408472192,746,715,680.591527808,666,636,879.408472192,788,803.591527808,653,632.591527808,654,0.40179685863,0.004511650063,0.0699334794149,0.999999992061,4.01042515625e-05,-0.000119372900719,4.39710461916e-06,1793238298602189568
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,715,680,666,636.000217722,880,788,803,653,632,654,0.401929770974,0.00451147863121,0.0699372762629,0.999999992942,3.73907375064e-05,-0.000112757140866,1.82974955344e-06,1793238298618856192
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,715,680,666,636.57438031,880,788,803,653,632,654,0.40208757333,0.00451116352221,0.0699386448828,0.999999993555,3.11406541035e-05,-0.000109169354718,-1.63943259383e-06,1793238298635522816
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,715,680,666.14940468,637,880,788,803,653,632,654,0.402252052552,0.00451148984646,0.0699403174934,0.999999994142,2.57252413245e-05,-0.000105003929115,-5.27019191253e-06,1793238298652189440
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,715,680,666.726898445,637,880,788,803,653,632,654,0.402435663028,0.0045136540687,0.0699428611283,0.99999999478,2.2701408043e-05,-9.91833929185e-05,-9.36391895112e-06,1793238298668856064
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,715.311496183,679.688503817,666.688503817,636.688503817,880,788,803.311496183,653,632,654,0.402630918468,0.00451549231399,0.0699440316737,0.999999995177,1.93820815295e-05,-9.52679132859e-05,-1.39391061695e-05,1793238298685522944
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,715.902467588,679.097532412,666.097532412,636.097532412,880,788,803.902467588,653,632,654,0.40283662179,0.00451703809172,0.0699439702793,0.999999995366,1.57976378652e-05,-9.30616559395e-05,-1.89462605264e-05,1793238298702189568
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.516890083,746,715.516890083,679.483109917,666.483109917,636.483109917,880,788,803.516890083,653,632,654,0.403076302986,0.00451594900111,0.0699474724515,0.999999996056,9.02705013623e-06,-8.52938469629e-05,-2.30544665135e-05,1793238298718856192
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.061360563,746,715,680,666.938639437,636.938639437,879.938639437,788,803.061360563,653,632,654,0.403327255459,0.0045121832147,0.0699520966546,0.999999996772,-8.0372096905e-07,-7.58141163503e-05,-2.66009492893e-05,1793238298735523072
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.636679172,746,715,680,666.363320828,636.363320828,879.363320828,788,803.636679172,653,632,654,0.403616362956,0.00449035961026,0.0699602192053,0.999999997284,-3.09917258757e-05,-6.12029460338e-05,-2.69307140348e-05,1793238298752189696
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.788409399,746,715.211590601,680,666.211590601,636,879.211590601,788,804,653,632,654,0.403909783845,0.00447708364793,0.0699655677004,0.999999996828,-5.22459064977e-05,-5.26568502826e-05,-2.90041714167e-05,1793238298768856064
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.214195854,746,715.785804146,680,666.785804146,636,879.785804146,788,804,653,632,654,0.404210596976,0.00447845659534,0.0699661620316,0.999999996241,-5.81893394472e-05,-5.45050514249e-05,-3.40659607675e-05,1793238298785522688
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.370408508,746,715.629591492,680,666.629591492,636,880,788,803.629591492,653,632,654,0.404529576624,0.00448531840447,0.0699677292628,0.99999999744,-3.40118260808e-05,-5.35871393034e-05,-3.30312505534e-05,1793238298802189568
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.961195038,746,715.038804962,680,666.038804962,636,880,788,803.038804962,653,632,654,0.40485936464,0.00449544586361,0.0699698753301,0.999999998263,8.08642688274e-06,-5.10235021969e-05,-2.83693710593e-05,1793238298818856192
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,715,680,666.542277994,636,879.457722006,788,803.542277994,653,632,654,0.405237512049,0.00449873087886,0.069976407205,0.99999999816,4.11330379597e-05,-3.75404177483e-05,-2.40499527185e-05,1793238298835522816
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.878272243,746,715,680,666.878272243,636,879.121727757,788,803.878272243,653,632,654,0.405623573995,0.0045020616802,0.0699809295638,0.999999997137,6.70773749308e-05,-2.73850133341e-05,-2.18445115974e-05,1793238298852189440
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.302370629,746,715,680,666.302370629,636,879.697629371,788,803.302370629,653,632,654,0.406026481105,0.00450735807336,0.0699768039059,0.999999996722,6.88969222283e-05,-3.25095374383e-05,-2.7436623317e-05,1793238298868856064
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666.273004365,636.273004365,880.273004365,788,803.273004365,653,632,654,0.406432271914,0.00451148677804,0.0699669410384,0.999999995525,7.53052844116e-05,-4.84761669798e-05,-3.04694116238e-05,1793238298885522688
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666.847797179,636.847797179,880.847797179,788,803.847797179,653,632,654,0.406841250442,0.00451432467925,0.0699507360619,0.999999992843,8.67862808327e-05,-7.64280338353e-05,-3.06730351213e-05,1793238298902189312
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666.582156245,636.582156245,881,788,804.417843755,653,632,654,0.407291995087,0.00452160304464,0.0699427999742,0.999999994893,4.45421321835e-05,-8.48089177773e-05,-3.22224927818e-05,1793238298918855936
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666.013819117,636.013819117,881,788,804.986180883,653,632,654,0.407757782485,0.00453048071694,0.0699378420647,0.999999995558,-1.70520206604e-05,-8.61409861231e-05,-3.42566748773e-05,1793238298935522816
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.584462312,746,715,680,666.584462312,636.584462312,880.415537688,788,804.415537688,653,632,654,0.408287535243,0.00453464930295,0.0699547548301,0.99999999784,4.13575443815e-06,-5.47928595524e-05,-3.60611168799e-05,1793238298952189440
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.823437701,746,715,679.823437701,667,636.823437701,880,788,803.823437701,653,632,654,0.408828397704,0.00453924041855,0.069968967672,0.999999998552,2.74467728454e-05,-2.68270447477e-05,-3.77291959698e-05,1793238298968856320
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.247026462,746,715,679.247026462,667,636.247026462,880,788,803.247026462,653,632,654,0.409390809497,0.00454505417431,0.0699758318625,0.999999997905,5.08942068838e-05,-8.36529855314e-06,-3.91014286393e-05,1793238298985523456
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715.327086347,679.327086347,667,636,880,788,803,653,631.672913653,654,0.409935765851,0.0045512538305,0.0699712621125,0.999999996788,6.78262068579e-05,-1.37536711118e-05,-4.04275917887e-05,1793238299002190080
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715.899475477,679.899475477,667,636,880,788,803,653,631.100524523,654,0.410467631325,0.00455774289849,0.0699581173266,0.999999995254,7.98718723199e-05,-3.70287574498e-05,-4.17192046264e-05,1793238299018856448
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.488856,746,715.511144,680,666.511144,636.488856,880,788,803.488856,653,631.488856,654,0.411035241989,0.00456484974552,0.0699515577117,0.999999994884,7.76663432686e-05,-4.90452275463e-05,-4.23660355878e-05,1793238299035523072
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.920087353,746,715,680,666,636.920087353,880,788,804,653,632,654,0.411623510475,0.00457195618647,0.0699511773378,0.999999994965,7.55227424684e-05,-5.03045406228e-05,-4.2841291851e-05,1793238299052189952
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.341167508,746,715,680,666,636.341167508,880,788,804,653,632,654,0.412293223665,0.00457823827033,0.0699806224864,0.999999994772,9.27240480131e-05,6.31013260775e-07,-4.31029118517e-05,1793238299068856320
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.235589319,746,715,680,666,636,880,788,804,653,632,653.764410681,0.412970962179,0.00458340386135,0.0700072323818,0.999999992601,0.000104537213843,4.42784543062e-05,-4.36865339023e-05,1793238299085522688
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.809242244,746,715,680,666,636,880,788,804,653,632,653.190757756,0.413660216749,0.00458696731827,0.0700297737721,0.9999999901,0.000108618559985,7.74676689552e-05,-4.47322193293e-05,1793238299102189824
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,715.395885295,680,666.395885295,636.395885295,880,788,804,653,632,653.395885295,0.414313677881,0.00459204296225,0.0700274538848,0.999999990402,0.000111823080439,6.83014271462e-05,-4.50206633698e-05,1793238299118856448
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,715.988999988,680,666.988999988,636.988999988,880,788,804,653,632,653.988999988,0.414949306759,0.00459787197521,0.0700127481495,0.999999991702,0.000114590767622,3.803376616e-05,-4.49318509581e-05,1793238299135522816
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.431836124,746,715.431836124,680,666.431836124,636.431836124,880,788,804,653,632,654,0.415587457115,0.0046045423517,0.0699597932447,0.999999989625,0.000128165205946,-4.60248638003e-05,-4.69655845304e-05,1793238299152189440
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666,636.146089817,880,788,804,653,631.853910183,654,0.416253785694,0.00461084198795,0.0699227360061,0.999999983786,0.000138290573213,-0.000104536193884,-4.8736749628e-05,1793238299168856064
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666,636.72115467,880,788,804,653,631.27884533,654,0.417002716182,0.00461600630392,0.0699344827044,0.999999985673,0.00013768851973,-8.50462242594e-05,-4.96191395573e-05,1793238299185522944
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.302937,746,715.302937,680,666,636.697063,880,788,804,653,631.302937,654,0.417759559867,0.00462011732321,0.0699572572567,0.999999987802,0.000139361912094,-4.99439790277e-05,-4.97976574644e-05,1793238299202189824
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.891042874,746,715.891042874,680,666,636.108957126,880,788,804,653,631.891042874,654,0.418523852706,0.00462323682529,0.0699904128489,0.999999988534,0.000143177288579,-1.45160619945e-07,-4.93135874862e-05,1793238299218856448
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.529809024,746,715.529809024,680,666.470190976,636,880,788,804,653,631.529809024,653.529809024,0.419281225343,0.00462687638592,0.0700003947594,0.999999987817,0.000147593169988,1.11315353611e-05,-4.95873664758e-05,1793238299235523072
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.047298049,746,715.047298049,680,666.952701951,636,880.047298049,787.952701951,803.952701951,653,631.047298049,653,0.420038674824,0.00462905078816,0.0700052360905,0.999999987402,0.000149883697896,1.46219076184e-05,-5.01725678634e-05,1793238299252189696
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.624360123,746,715.624360123,680,666.375639877,636,880.624360123,787.375639877,803.375639877,653,631.624360123,653,0.420814611117,0.00461349004223,0.0700115228889,0.999999990166,0.00012683963639,2.90160419631e-05,-5.23156489566e-05,1793238299268856320
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.798674597,746,715.798674597,680,666.201325403,636,881,787.201325403,803.201325403,653,632,653.201325403,0.421591683588,0.00459397890471,0.0700142802605,0.9999999929,0.000100900415202,3.43804599961e-05,-5.32636109772e-05,1793238299285522944
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.221889867,746,715.221889867,680,666.778110133,636,881,787.778110133,803.778110133,653,632,653.778110133,0.422370874912,0.00456710053408,0.0700104554709,0.999999995967,6.9561903116e-05,2.29050191146e-05,-5.19827503158e-05,1793238299302189568
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715.361681487,680,667,636,881,788,804.361681487,653,632,654,0.42310083032,0.00456365712229,0.0699687554344,0.999999995153,6.70889961628e-05,-4.91642293088e-05,-5.26834033521e-05,1793238299318856192
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715.949496001,680,667,636,881,788,804.949496001,653,632,654,0.423800002076,0.00457486588024,0.0699033747717,0.999999982432,8.26636450927e-05,-0.000159118360636,-5.46229517776e-05,1793238299335522816
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.530930852,746,716,680,667,636,881,788,804.469069148,653,632,654,0.424592871571,0.00458223764278,0.0698882742684,0.999999980167,8.92304615111e-05,-0.000168679055646,-5.70274790111e-05,1793238299352189440
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,716,680,666.889358564,636,881,788,804,653,632,654,0.425403222063,0.00458786421009,0.0698914029202,0.999999982444,9.29192937792e-05,-0.000151760565442,-5.87023572005e-05,1793238299368856320
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,716,680,666.31436803,636,881,788,804,653,632,654,0.426249975947,0.004587680022,0.0699512025755,0.999999992484,8.80829908037e-05,-6.3315453858e-05,-5.71315572544e-05,1793238299385523200
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.73318664,746,716,680.26681336,666.26681336,636.26681336,881,788,804,652.73318664,632,654,0.427084482532,0.00459007471989,0.0699953114316,0.999999994167,9.26817740784e-05,-3.68327199817e-06,-5.53448256381e-05,1793238299402189568
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.144537638,746,716,680.855462362,666.855462362,636.855462362,881,788,804,652.144537638,632,654,0.427904216294,0.00459558012189,0.0700204937381,0.999999992451,0.000108661348078,2.11941859487e-05,-5.32976330712e-05,1793238299418855936
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.437250738,746,715.562749262,681,667.437250738,636.562749262,880.562749262,788,804,652,632,653.562749262,0.428714590854,0.00459601069647,0.0700325421275,0.99999999148,0.000111171073582,4.18650588941e-05,-5.41215376932e-05,1793238299435522816
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,715.016706939,681,667.983293061,636,880,788,804,652,632,653,0.429520788737,0.00459480691736,0.0700397101693,0.999999990679,0.000109213821423,5.99637311633e-05,-5.58441072433e-05,1793238299452189440
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,715.592837312,681,667.407162688,636,880,788,804,652,632,653,0.430289127639,0.00459418131637,0.0700265910735,0.999999992241,0.000104471757668,3.77754899042e-05,-5.63698121254e-05,1793238299468856064
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,715.836974798,681,667,636.163025202,880.163025202,788,804,652.163025202,632,653.163025202,0.431036373104,0.00459268645955,0.0700005839404,0.999999993285,0.000100878314246,-6.03139195582e-06,-5.67248369935e-05,1793238299485522944
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,715.281106589,681,667,636.718893411,880.718893411,788,804,652.718893411,632,653.718893411,0.431732789518,0.00458909695072,0.0699435204117,0.999999988194,0.000100052709335,-0.000101932867307,-5.66685726878e-05,1793238299502189568
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.698535112,746,715,681,667,636.698535112,881.301464888,788,804,652.698535112,632,653.698535112,0.43246949269,0.00458438106105,0.0699161168957,0.99999998368,9.41779033634e-05,-0.000143194495389,-5.71504010332e-05,1793238299518856192
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.088643755,746,715,681,667,636.088643755,881.911356245,788,804,652.088643755,632,653.088643755,0.4332474129,0.0045785127798,0.0699190583202,0.999999986588,8.31372983491e-05,-0.000128554500091,-5.81827483289e-05,1793238299535523328
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746.495544103,715,680.504455897,667.495544103,636,881.504455897,788,804,652.495544103,632,653,0.434063026547,0.00457706562606,0.0699715934857,0.99999999454,7.79649463849e-05,-3.80416889222e-05,-5.82646266428e-05,1793238299552189952
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746.925368148,715.074631852,680.074631852,667.925368148,636.074631852,881,788,804,652.925368148,632,653,0.434873038547,0.00457693274681,0.0700257108395,0.999999994031,7.56790991067e-05,5.33611461064e-05,-5.79895866305e-05,1793238299568856576
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746.351160182,715.648839818,680.648839818,667.351160182,636.648839818,881,788,804,652.351160182,632,653,0.435602644559,0.00458056459735,0.0700339633536,0.999999992638,8.60349397237e-05,6.43506813571e-05,-5.64073649985e-05,1793238299585523200
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.223113287,746,715.776886713,681,667,636.776886713,881,788,804,652,632,653,0.436317936071,0.00458239157495,0.0700312752829,0.99999999248,9.07621682886e-05,6.01716440801e-05,-5.63986022139e-05,1793238299602189824
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.797489972,746,715.202510028,681,667,636.202510028,881,788,804,652,632,653,0.437010691343,0.00458137701103,0.0700113626589,0.999999994,8.66278670695e-05,3.21116268351e-05,-5.88670493224e-05,1793238299618856448
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.615208486,746,715,681,667,636,881,788,804,652,632,653.384791514,0.437703322459,0.00457866151577,0.0699930871868,0.999999994628,8.32288696554e-05,1.53793917566e-05,-5.98349100014e-05,1793238299635523072
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.020868399,746,715,681,667,636,881,788,804,652,632,653.979131601,0.43839588592,0.00457501973263,0.069975703271,0.999999994971,8.02303019793e-05,4.81600695741e-06,-5.99855858255e-05,1793238299652189696
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,681,667.55626701,636,881.55626701,788,804,652.55626701,632,653.44373299,0.439016816898,0.00457714692613,0.069946535479,0.999999994507,7.20072361315e-05,-4.59509544297e-05,-6.07360382211e-05,1793238299668856576
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.132450855,746.132450855,715.132450855,681.132450855,667.867549145,636.132450855,882,788,804.132450855,653,632,653.132450855,0.439636139751,0.00457989644561,0.0699215712471,0.999999991825,6.77849838917e-05,-8.96160584601e-05,-6.10339418613e-05,1793238299685523456
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.707546887,746.707546887,715.707546887,681.707546887,667.292453113,636.707546887,882,788,804.707546887,653,632,653.707546887,0.440258799691,0.00458402417266,0.0699120882037,0.99999998973,7.75686472461e-05,-0.000104657795875,-5.97465067642e-05,1793238299702190336
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.713813572,746.713813572,715.713813572,682,667.286186428,636.713813572,881.713813572,788,804.713813572,652.713813572,632,654,0.44089464073,0.00458633707463,0.0699269595591,0.999999991528,8.3362149854e-05,-8.03311698586e-05,-5.95166971419e-05,1793238299718856704
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.131507566,746.131507566,715.131507566,682,667.868492434,636.131507566,881.131507566,788,804.131507566,652.131507566,632,654,0.441544120329,0.00458677216112,0.0699670306226,0.999999994446,8.50269976926e-05,-1.5269755659e-05,-6.03812216759e-05,1793238299735523328
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+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746,715,683,661,634.784441326,882,788,804.215558674,652.215558674,632,653,0.450098069793,0.00467680002861,0.0697186567828,0.999999882907,0.000186053395146,-0.000443410744583,-5.43839259446e-05,1793238300118856192
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+224,3.733333333,POSE1_TO_POSE2_PRESS,766.033739563,746.966260437,715,683,660.033739563,634,882,788,805,652.033739563,632,653.966260437,0.450498507015,0.0046825691255,0.0696773663644,0.999999846605,0.000200459990811,-0.000513310494812,-5.58341247966e-05,1793238300168856064
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,715,682.882266861,660.882266861,634.882266861,882,787.882266861,804,652,632,653.117733139,0.450722893899,0.004686393651,0.069665276355,0.999999834631,0.000205022276823,-0.000534178478031,-5.79451659487e-05,1793238300202189824
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,715,682.30826316,660.30826316,634.30826316,882,787.30826316,804,652,632,653.69173684,0.450820240063,0.00468822025478,0.0696602630134,0.99999983142,0.000208478625438,-0.000538798664857,-5.82503348e-05,1793238300218856448
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+233,3.883333333,POSE1_TO_POSE2_PRESS,766.819725095,746,715,683,659.819725095,634,882,787.819725095,804.180274905,652.819725095,632,653,0.451189558939,0.00469450500684,0.0696408818443,0.999999813568,0.000213271230433,-0.000568917699424,-6.09291432827e-05,1793238300318856448
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,715,683,659.325940858,634,882,787.325940858,804.674059142,652,632,653,0.451249636679,0.00469627120928,0.0696373285595,0.999999808941,0.000218449658156,-0.000575149817531,-6.00092395385e-05,1793238300352189440
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,715,683,659.893769898,634,882,787.893769898,804.106230102,652,632,653,0.45127367054,0.00469652051992,0.0696373275954,0.999999809269,0.000218663955157,-0.000574515157295,-5.98394626557e-05,1793238300368856064
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,715,683,659.508821504,634,881.508821504,788,804,652.491178496,632,653.491178496,0.451291382851,0.00469820732854,0.0696363414931,0.999999808543,0.000220173927599,-0.000575158399854,-6.02544328074e-05,1793238300385522944
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715,683,659,634,881.090445186,787.909554814,804.180890372,653,632,653.909554814,0.451306703647,0.00469968753135,0.0696354461797,0.99999980775,0.000221640045919,-0.0005759288403,-6.06715929262e-05,1793238300402189824
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,683,659,634,881.663313679,787.336686321,805.326627358,653,632,653.336686321,0.451317028183,0.00469830117985,0.0696362443908,0.999999807916,0.000221281795836,-0.000575809098166,-6.03826504707e-05,1793238300418856960
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+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,683,659,634,882,787,804.373631098,652.186815549,632,653.813184451,0.451331542243,0.0046998365737,0.0696351888731,0.999999806113,0.000224241425443,-0.000577817050949,-6.01349549635e-05,1793238300452189696
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.399576752,746,715,683,659,634,882,787,804,652,632,653.600423248,0.451334988358,0.00470006830357,0.0696349229321,0.999999805354,0.000224714498324,-0.000578957707537,-6.00250107939e-05,1793238300468856320
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.99105836,746,715,683,659,634,882,787,804,652,632,653.00894164,0.45133721729,0.00469961210667,0.0696350477488,0.999999804878,0.000224336699107,-0.000579939416179,-5.9888747546e-05,1793238300485522688
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746,715,683,658.428807247,634,881.428807247,787,804.571192753,652,632,653.571192753,0.451338859924,0.0047005387584,0.0696341298594,0.999999804376,0.000224653302093,-0.000580687484644,-5.98464292453e-05,1793238300502189568
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.850808525,746,715,683,658.149191475,634,881.149191475,787.149191475,804.850808525,652,632,653.850808525,0.451340286852,0.00470185210482,0.0696333249118,0.999999803818,0.000225476944512,-0.000581336144576,-5.97695478047e-05,1793238300518856448
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+268,4.466666667,HOLD_POSE2,766,746,715,683,659,634,882,788,805,653,632,654,0.451344542641,0.00470134330664,0.0696289740991,0.999999800614,0.000225236911077,-0.000587026752541,-5.86541714741e-05,1793238300916701184
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,682,666,636,881,788,803.352738721,652.176369361,632,653,0.440075868346,0.00458970079169,0.0698418921393,0.999999972362,4.73098752507e-05,-0.000229628501176,1.75595793691e-05,1793238302070707968
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,682,666,636,881,788,804.502537687,652.751268843,632,653,0.439397878387,0.00459164112623,0.0698225490835,0.999999962358,4.46850357676e-05,-0.000269965109504,2.01724559112e-05,1793238302087375360
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,682,666,636,881,788,805,652.666287386,632,653.333712614,0.438692469745,0.00459155886894,0.0697859221104,0.999999938608,0.000124461596051,-0.000326897261624,2.07687239324e-05,1793238302104042496
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,746,715,682,666,636,881,788,805,652.078090479,632,653.921909521,0.437966152053,0.00458993421302,0.0697361146791,0.999999885538,0.000267076240286,-0.000396484921549,1.98271556784e-05,1793238302120708864
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746,715.504043062,682,666,636,881,788,804.495956938,652,632,653.495956938,0.437283552121,0.00458240766525,0.0697412211668,0.999999891475,0.000260812678455,-0.000385556178058,1.93293298421e-05,1793238302137375232
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766.08409691,746,715.91590309,682,666,636,881,788,804,652,632,653.08409691,0.436606939825,0.00457517811096,0.0697581163212,0.99999990856,0.00023365594048,-0.000357643925393,1.93803168849e-05,1793238302154041856
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.657451505,746,715.342548495,682,666,636,881,788,804,652,632,653.657451505,0.435926226442,0.00457493277681,0.0697946876782,0.999999930297,0.000217541877823,-0.000302635210503,2.22289708235e-05,1793238302170708736
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.762668954,746,715,682.237331046,666,636,881,788,804,652,632,654,0.435232455132,0.00457331726946,0.0698237961997,0.999999945334,0.000198239308897,-0.00026348462698,2.46688557698e-05,1793238302187375616
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.173105396,746,715,682.826894604,666,636,881,788,804,652,632,654,0.43451930393,0.00456966823315,0.0698418288338,0.999999953756,0.000174204548412,-0.000247869724257,2.65020707795e-05,1793238302204042240
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,682.590855096,666,636,881,788,804,652,632,653.590855096,0.433756986481,0.00456399434959,0.0698390630976,0.999999956309,0.000146332469791,-0.00025540286946,2.71689390128e-05,1793238302220708864
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,682.011644667,666,636,881,788,804,652,632,653.011644667,0.43297423259,0.00455747881647,0.0698276522917,0.999999955653,0.000116865369516,-0.000272557753093,2.73510024021e-05,1793238302237374976
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.565624811,746,715,682,666,636,881,788,804.565624811,652,632,653,0.432215125164,0.00455613299979,0.0698334761696,0.999999959973,0.000108153723511,-0.000259975076351,2.77449045407e-05,1793238302254041856
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.85798375,746,715,682,666,636,881,788,804.85798375,652.14201625,632,653.14201625,0.431437987938,0.0045540608448,0.0698270713991,0.999999957809,0.000104993926051,-0.000269391662736,2.80568466873e-05,1793238302270708480
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.284141094,746,715,682,666,636,881,788,804.284141094,652.715858906,632,653.715858906,0.430604552659,0.00454945761116,0.0697824079939,0.999999932314,0.00011742070596,-0.000347556221337,2.8106358743e-05,1793238302287375104
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,682,665.70284528,636,881,788,804,653,632,653.70284528,0.429802346015,0.00454402908453,0.0697531496697,0.999999914985,0.000118338504461,-0.000393971656648,2.85180907081e-05,1793238302304041984
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,682,665.114239394,636,881,788,804,653,632,653.114239394,0.429030768657,0.00453779110576,0.0697390007457,0.999999910001,0.000107968223489,-0.000409247354898,2.92850902916e-05,1793238302320708608
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,682,665.467044159,636,881,788,804,653,632,653.467044159,0.428271459082,0.00453161965519,0.0697858373407,0.999999937259,9.31612821681e-05,-0.000340405470626,3.04576274233e-05,1793238302337374976
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,682,666,636,881,788,804,653,632,653.953606555,0.427514177048,0.00452554226182,0.0698441752408,0.999999963738,7.84594583419e-05,-0.000255658262657,3.17260273862e-05,1793238302354041856
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,746,715,682,666,636,881,788,804,653,632,653.376213422,0.426746287335,0.0045203580354,0.0698660527116,0.999999972117,7.71899200546e-05,-0.000220725829134,3.29738172628e-05,1793238302370708480
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.200016987,746,715,681.799983013,666,636,881.200016987,788,804,653,632.200016987,653.200016987,0.425962539751,0.00451462652738,0.0698715933654,0.99999997409,7.40595899674e-05,-0.000212607084591,3.3654209772e-05,1793238302387374848
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.77407316,746,715,681.22592684,666,636,881.77407316,788,804,653,632.77407316,653.77407316,0.42514913723,0.00450787158161,0.0698465835691,0.999999964753,6.74495100329e-05,-0.000254630927084,3.32735483961e-05,1793238302404041472
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.641510627,746,715.358489373,681,666,636,881.641510627,788,804,653,632.641510627,654,0.424346620715,0.00450127745137,0.0698247833808,0.999999955501,5.94087154102e-05,-0.000290470108894,3.311563685e-05,1793238302420708352
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.050371052,746,715.949628948,681,666,636,881.050371052,788,804,653,632.050371052,654,0.423551168982,0.0044947876866,0.0698050661455,0.999999946243,5.0439424878e-05,-0.000322295605586,3.3102284122e-05,1793238302437374976
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,716,681,666,636,881,788,804,653,632,653.471053311,0.422682661906,0.00448816103399,0.0697607399001,0.999999916938,4.47802410003e-05,-0.0004036846946,3.40195677553e-05,1793238302454041600
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,746,715.893288287,681,665.893288287,636,881,788,804,653,632,653.106711713,0.421832122787,0.00448167375287,0.0697248564835,0.999999889079,3.88275402178e-05,-0.000468122018914,3.45727822849e-05,1793238302470708480
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,746,715.31750813,681,665.31750813,636,881,788,804,653,632,653.68249187,0.42109047675,0.00447585514954,0.0697361608698,0.999999903181,3.02293393111e-05,-0.000437751671711,3.31446307875e-05,1793238302487374848
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,746,715.263796469,681,665.263796469,636,881.263796469,788,804,653,632.263796469,654,0.420381632676,0.00446929149175,0.0697716963451,0.999999928822,1.81275934915e-05,-0.000375475103023,3.23543056622e-05,1793238302504041728
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,746,715.851892527,681,665.851892527,636,881.851892527,788,804,653,632.851892527,654,0.419713113923,0.00446181189774,0.0698370204378,0.999999961944,1.71874661369e-06,-0.000273974451051,3.23480956642e-05,1793238302520708608
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,715.56610331,681,666,636,881.13220662,788,804,653,632.56610331,654,0.418995382685,0.00445407975646,0.0698694623465,0.999999974849,-5.49223585858e-06,-0.000221681262393,3.35935913067e-05,1793238302537375232
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746.013737446,715.013737446,680.986262554,666,636,880.013737446,788,804,653,632,654,0.418259833529,0.0044463466521,0.0698894759577,0.999999981598,-9.51176872309e-06,-0.000188340398637,3.52225270286e-05,1793238302554041600
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746.588966935,715.588966935,680.411033065,666,636,880.588966935,788,804,653,632,654,0.417473106441,0.00444204889771,0.0698539181148,0.999999967423,-9.63626375957e-06,-0.000252615835122,3.53021670429e-05,1793238302570708224
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746.83563168,715.83563168,680,666,636.16436832,880.83563168,788,804,653,632,654,0.416707781677,0.00443771840334,0.0698240008914,0.999999954465,-1.30469409591e-05,-0.000299479355575,3.48197364137e-05,1793238302587374848
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746.259799866,715.259799866,680,666,636.740200134,880.259799866,788,804,653,632,654,0.415996033224,0.00443330594999,0.0698082038329,0.999999953323,-2.4683923621e-05,-0.00030275561299,3.29302737211e-05,1793238302604041472
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,636.67743746,880.32256254,788,804,653,632,653.67743746,0.415290552184,0.0044301396002,0.0697975738755,0.999999948879,-3.02208614951e-05,-0.000316608455102,3.29738053771e-05,1793238302620708352
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,636.089706497,880.910293503,788,804,653,632,653.089706497,0.414590223428,0.00442799763284,0.0697911916288,0.999999941415,-3.07431455169e-05,-0.000339155971393,3.4606390418e-05,1793238302637375232
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665.505917355,636,881,788,804,653,632,653.494082645,0.413900627537,0.0044491208198,0.0697859031573,0.999999937528,-3.28780960489e-06,-0.000351701591851,3.52048663696e-05,1793238302654041600
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746,715.07594897,680.07594897,665.07594897,636,880.92405103,788,804,653,632,654,0.413225991012,0.00447365402107,0.069786909112,0.99999993761,2.82434266125e-05,-0.000350335768585,3.53121649827e-05,1793238302670708480
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,746,715.649863493,680.649863493,665.649863493,636,880.350136507,788,804,653,632,654,0.412636761236,0.00449306906304,0.0698278932293,0.999999961679,5.34570073964e-05,-0.000269570701134,3.34203047027e-05,1793238302687375104
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,746,715.777176313,680.777176313,666,636,880,788,804,653,632,653.777176313,0.412051557013,0.00449895550618,0.06986324315,0.999999976322,5.97544688545e-05,-0.000206666405348,3.27864467739e-05,1793238302704041984
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,715.205709373,680.205709373,666,636,880,788,804,653,632,653.205709373,0.411472651465,0.00448367429358,0.0698897774666,0.999999984012,3.6454638059e-05,-0.000171708149529,3.41209349122e-05,1793238302720708352
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.380188736,746,715.380188736,680.380188736,665.619811264,636,880,788,804,653,632,653.380188736,0.410871676741,0.00447654136696,0.0698821328186,0.999999980676,2.95288071667e-05,-0.000191295906234,3.43855880666e-05,1793238302737375232
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.974203279,746,715.974203279,680.974203279,665.025796721,636,880,788,804,653,632,653.974203279,0.410258289812,0.00447399119917,0.0698552652346,0.999999969738,3.18120415705e-05,-0.000241561436059,3.40485445431e-05,1793238302754042368
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,715.445983068,681,665.554016932,636,880,788,803.445983068,653,632.554016932,653.445983068,0.409663716247,0.00447321391385,0.0698243294384,0.999999956492,2.61860488679e-05,-0.000291943318417,3.3163438384e-05,1793238302770709248
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,715,680.867987436,666,636,880.132012564,788,803.132012564,653,632.867987436,653,0.409083824917,0.00447273242036,0.0697989618295,0.999999944227,2.17447639854e-05,-0.000331698975847,3.24009137173e-05,1793238302787375872
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,715,680.293920567,666,636,880.706079433,788,803.706079433,653,632.293920567,653,0.408550237969,0.00447297188919,0.0697928581823,0.999999942832,2.24729501085e-05,-0.000335854222207,3.21321809453e-05,1793238302804042752
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746.287087892,715,680,666,636,880.712912108,788,803.712912108,653,632,653.287087892,0.408054651052,0.00447633258272,0.0697995256034,0.999999947634,2.8464385511e-05,-0.000320804215177,3.17092374012e-05,1793238302820709120
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746.87537921,715,680,666,636,880.12462079,788,803.12462079,653,632,653.87537921,0.407598932584,0.00448296796527,0.0698195920209,0.999999957932,3.99778534819e-05,-0.000285604670575,3.11245008364e-05,1793238302837375488
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.542361903,746.542361903,715,680,666,636,880.457638097,788,803,653,632,654,0.40714276581,0.00448738991754,0.0698299887157,0.999999961488,3.93556593739e-05,-0.000272991178395,3.08286634823e-05,1793238302854041856
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.037931206,746,715,680,666,636,880.962068794,788.037931206,803.037931206,653,632,654,0.40668681574,0.00449090593258,0.0698364385095,0.99999996279,3.57342149698e-05,-0.000268705416135,3.06579432853e-05,1793238302870708480
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.613343727,746,715,680,666,636,880.386656273,788.613343727,803.613343727,653,632,654,0.406235643603,0.00449001463881,0.0698237877301,0.999999954945,3.58317053981e-05,-0.000296404987364,3.11598634308e-05,1793238302887375104
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.811741157,746,715,680.188258843,666,636,880,788.811741157,803.811741157,653,632,654,0.40580491063,0.0044905188707,0.0698153377631,0.999999949553,4.13636853115e-05,-0.000313383380011,3.11951653539e-05,1793238302904041728
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.237845018,746,715,680.762154982,666,636,880,788.237845018,803.237845018,653,632,654,0.405416046151,0.00449388175589,0.0698154929177,0.999999950303,5.80279010801e-05,-0.000308400058433,3.02746269434e-05,1793238302920708352
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.652677828,666,636,880,788,803,653,632,654,0.405064122343,0.00449405759643,0.0698247413494,0.99999995589,5.77712196511e-05,-0.000289851685163,2.94766191081e-05,1793238302937374976
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.059533331,666,636,880,788,803,653,632,654,0.404738343796,0.00449197776003,0.0698404256804,0.999999964305,4.55385284233e-05,-0.000261702448278,2.87653339603e-05,1793238302954041600
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.519222506,746,715,680,666,636,880,788,803.519222506,653,632,654,0.404428450296,0.00448795217273,0.0698548688896,0.999999970135,3.67387761099e-05,-0.00023986460005,2.90822708387e-05,1793238302970708480
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.903665493,746,715,680,666,636,880,788,803.903665493,653,632,653.903665493,0.404120583453,0.00448392524002,0.0698652419937,0.999999973964,2.83273839707e-05,-0.000224519066292,2.93463440444e-05,1793238302987375104
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.326745542,746,715,680,666,636,880,788,803.326745542,653,632,653.326745542,0.403813985685,0.00448097455099,0.0698560012847,0.999999971053,1.99427179365e-05,-0.000238049071309,2.87744125533e-05,1793238303004041728
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,636,880,788,803,653,632,653,0.403522499157,0.00447880341874,0.0698469242349,0.999999967923,1.01428587603e-05,-0.000251566329365,2.76719410534e-05,1793238303020708352
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,636,880,788,803,653,632,653,0.403250748998,0.00447765044306,0.0698380609361,0.999999964534,-1.50534244969e-06,-0.000265066938179,2.58765467377e-05,1793238303037375232
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,715.402875484,679.597124516,666,636,880,788,803,653,632,653,0.403005082528,0.00447516523244,0.0698344254764,0.999999962318,-1.27699953158e-05,-0.000273048085364,2.53935176821e-05,1793238303054042112
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,715.997377852,679.002622148,666,636,880,788,803,653,632,653,0.402771822719,0.00447204634707,0.0698332766277,0.999999960635,-2.38522138788e-05,-0.000278403911746,2.55347124757e-05,1793238303070708736
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.577223086,746.577223086,715.422776914,679.577223086,666,636,880,788,803.577223086,653,632,653,0.402564840265,0.00447051173154,0.0698280052091,0.999999958265,-2.37547317116e-05,-0.000286708443678,2.65363609712e-05,1793238303087375360
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746.843987209,715.156012791,680,666,636,880,788,803.843987209,653,632,653.156012791,0.402365366597,0.00447030463788,0.069823337726,0.999999956074,-2.22903640754e-05,-0.000294277357637,2.75015159584e-05,1793238303104041728
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746.267865061,715.732134939,680,666,636,880,788,803.267865061,653,632,653.732134939,0.402185799052,0.0044736533796,0.0698203456945,0.9999999545,-1.72786330538e-05,-0.000299830230261,2.83581366486e-05,1793238303120708096
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,879.686434322,788,803,653,632,654,0.402026850653,0.00447771860684,0.0698208255689,0.999999954743,-8.31131897909e-06,-0.000299287390837,2.95325078612e-05,1793238303137374720
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,716,680,666,636,879.10039053,788,803,653,632,654,0.401885819585,0.00448240643647,0.0698243224134,0.999999956456,4.09326537109e-06,-0.00029344758159,3.09829937702e-05,1793238303154041344
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,715.519154335,680,666,636,879.480845665,788,803,653,632,654,0.401757282562,0.00449843277461,0.0698224616536,0.999999953099,7.34524359874e-05,-0.000295669177486,3.14236410414e-05,1793238303170708224
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803,653,632,653.939527402,0.401633944553,0.00451543771879,0.069819858787,0.999999944142,0.000146277998544,-0.000298857622435,3.16585443546e-05,1793238303187374848
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803,653,632,653.365130705,0.401532841335,0.00452084054042,0.0698203610552,0.999999944625,0.000148508372671,-0.000296101043936,3.1918963112e-05,1793238303204042240
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803,653,632,653,0.401437425083,0.00452178578344,0.0698195734652,0.999999946998,0.00013102214841,-0.000296723276704,2.81418831342e-05,1793238303220709120
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,666,636,880,788,803,653,632,653,0.401351931545,0.00451495337127,0.0698165353096,0.999999950741,7.91340857172e-05,-0.000303240913317,1.7320110342e-05,1793238303237375232
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,746,715.386311842,680,666,636,880,788,803,653,631.613688158,653.386311842,0.401283587861,0.00451001870477,0.0698163205236,0.999999952517,5.48724016502e-05,-0.000302947027344,1.33454371836e-05,1793238303254041600
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,746,715.966086127,680,666,636,880,788,803,653,631.033913873,653.966086127,0.401223832715,0.00450603441708,0.0698175196626,0.999999954157,4.44458287806e-05,-0.000299241975509,1.27997470403e-05,1793238303270707968
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766.455059225,746,716,679.455059225,665.455059225,636,879.455059225,788,803,653,631,654,0.401178632648,0.00450910482953,0.0698204890385,0.999999955819,4.89252744731e-05,-0.000292885784768,1.36344717831e-05,1793238303287374848
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,715.877064901,679.122935099,665,636,879.122935099,788,803.122935099,653,631.122935099,654,0.401136675785,0.00451169605967,0.0698234027412,0.999999957272,5.34486672067e-05,-0.00028702840734,1.46213398759e-05,1793238303304041472
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,715.302024512,679.697975488,665,636,879.697975488,788,803.697975488,653,631.697975488,654,0.401103320481,0.0045109131516,0.0698257072254,0.999999958159,5.47278623458e-05,-0.000283611211936,1.58523237176e-05,1793238303320708096
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665.279162065,636,880,788,803.720837935,653,632,654,0.401075063688,0.00451091486111,0.0698275476823,0.999999958878,5.57539753723e-05,-0.000280818540999,1.66191306024e-05,1793238303337375232
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665.867147954,636,880,788,803.132852046,653,632,654,0.401052447132,0.00451178455596,0.069828874808,0.99999995942,5.65001157581e-05,-0.000278716751592,1.68724405716e-05,1793238303354042112
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,746,715.448907138,679.551092862,666,636,879.551092862,788,803.448907138,653,632,653.551092862,0.401036448969,0.00451043985252,0.0698308623771,0.99999996049,5.49212222593e-05,-0.000275158748604,1.70918837016e-05,1793238303370708736
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.028625278,746,715.971374722,679.028625278,666,636,879.028625278,788,803.971374722,653,632,653,0.401022764418,0.00450861590036,0.0698331272545,0.999999961709,5.28639795132e-05,-0.000271086414814,1.73039649328e-05,1793238303387375360
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.604074846,746,715.395925154,679.604074846,666,636,879.604074846,788,803.395925154,653,632,653,0.401016371914,0.00450998454228,0.0698370068437,0.999999963159,5.46334232076e-05,-0.000265308823788,1.75642566231e-05,1793238303404041728
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766.820722594,746,715,680,666,636,879.820722594,788,803,653,632,653,0.401009789925,0.00451089081034,0.0698395115325,0.999999963992,5.60262144512e-05,-0.000261850337133,1.7655357446e-05,1793238303420708352
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766.246064824,746,715,680,666,636,879.246064824,788,803,653,632,653,0.401002790045,0.00451077735393,0.0698389840008,0.99999996353,5.65883321281e-05,-0.000263506429176,1.7373322852e-05,1793238303437374976
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766.338808616,746,715,679.661191384,666.338808616,636,879,788,803.338808616,653,632,653,0.400998819434,0.00451037687571,0.0698394401037,0.999999963691,5.50748914666e-05,-0.000263228734022,1.72157389909e-05,1793238303454041600
+420,7.000000000,POSE2_TO_POSE3_RETREAT,766.931331972,746,715,679.068668028,666.931331972,636,879,788,803.931331972,653,632,653,0.400997117271,0.00450976146299,0.0698406327953,0.999999964309,5.20071817406e-05,-0.000261502934199,1.71513493047e-05,1793238303470708480
+421,7.016666667,POSE2_TO_POSE3_RETREAT,766.490220746,746,715.509779254,679.509779254,666.490220746,636,879.509779254,788,804,653,631.490220746,653.509779254,0.400996630072,0.00450959906505,0.0698411472863,0.999999964695,5.28960198982e-05,-0.000259841246625,1.71706118654e-05,1793238303487375360
+422,7.033333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,666,636,880.086024105,788,803.913975895,653,631.086024105,653.913975895,0.400995919085,0.00450954280414,0.0698413874546,0.999999964925,5.40769711225e-05,-0.000258707493636,1.72153963412e-05,1793238303504042496
+423,7.050000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,666,636,880.660240973,788,803.339759027,653,631.660240973,653.339759027,0.400993034278,0.00450975188071,0.0698405753356,0.999999964457,5.3972408925e-05,-0.000260522113605,1.73427905623e-05,1793238303520708608
+424,7.066666667,POSE2_TO_POSE3_RETREAT,766,746,715.762253738,680,665.762253738,636,880.762253738,788,803,653,632,653.237746262,0.400991391269,0.00451022365352,0.0698404765404,0.999999964262,5.38851489392e-05,-0.000261289839813,1.73384280236e-05,1793238303537374720
+425,7.083333333,POSE2_TO_POSE3_RETREAT,766,746,715.179983029,680,665.179983029,636,880.179983029,788,803,653,632,653.820016971,0.400991547781,0.00451107610646,0.0698414114416,0.999999964464,5.38229620345e-05,-0.00026054048462,1.71431332695e-05,1793238303554041344
+426,7.100000000,POSE2_TO_POSE3_RETREAT,766.404889486,746,715,680,665.809778972,636.404889486,880,788,803.404889486,653,632,654,0.40099237026,0.00451003590273,0.0698419086119,0.999999964853,5.33579391732e-05,-0.000259129950539,1.7284206149e-05,1793238303570708224
+427,7.116666667,POSE2_TO_POSE3_RETREAT,766.990926009,746,715,680,666.981852019,636.990926009,880,788,803.990926009,653,632,654,0.400993490692,0.00450814892676,0.0698422099418,0.999999965323,5.27126880237e-05,-0.000257423605915,1.75757694892e-05,1793238303587374848
+428,7.133333333,POSE2_TO_POSE3_RETREAT,767,745.432707754,715,680,666.432707754,636.432707754,879.432707754,788,804,653,631.432707754,654,0.400993317769,0.00450913443417,0.0698422261717,0.999999965419,5.18615458375e-05,-0.000257246847279,1.72143939498e-05,1793238303604042240
+429,7.150000000,POSE2_TO_POSE3_RETREAT,766.856899404,745.143100596,715,680,666,636,879,788,803.856899404,653,631.143100596,653.856899404,0.400993019428,0.00451009383373,0.0698424572489,0.999999965485,5.19702836636e-05,-0.000256983181223,1.69897158758e-05,1793238303620709632
+430,7.166666667,POSE2_TO_POSE3_RETREAT,766.282314678,745.717685322,715,680,666,636,879,788,803.282314678,653,631.717685322,653.282314678,0.400992404253,0.00451083829445,0.069843349664,0.999999965474,5.49830637677e-05,-0.000256384932484,1.72081781679e-05,1793238303637376256
+431,7.183333333,POSE2_TO_POSE3_RETREAT,766.301268379,745.698731621,715,680,666,636,879,788,803,653,632,653.301268379,0.400992728555,0.00451175950687,0.0698440368469,0.999999965582,5.63866673103e-05,-0.000255648808051,1.73035539305e-05,1793238303654042880
+432,7.200000000,POSE2_TO_POSE3_RETREAT,766.893543229,745.106456771,715,680,666,636,879,788,803,653,632,653.893543229,0.400993960332,0.00451285145035,0.069844525788,0.999999965813,5.62359064465e-05,-0.00025477950433,1.72800357675e-05,1793238303670709248
+433,7.216666667,POSE2_TO_POSE3_RETREAT,766.526119891,745.473880109,715,680,665.526119891,636.473880109,879.947760218,788,803.473880109,653,632,654,0.400993419136,0.00451119273383,0.0698445503036,0.999999965898,5.41596978634e-05,-0.000254913997592,1.70248705286e-05,1793238303687375616
+434,7.233333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665.051525816,636.948474184,880.948474184,788,804,653,631.948474184,654,0.400992680254,0.00450926813978,0.0698445647634,0.999999965972,5.20798598194e-05,-0.00025507478569,1.67624391461e-05,1793238303704041728
+435,7.250000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,665.628404172,636.371595828,880.371595828,788,804,653,631.371595828,654,0.400993886976,0.00451077825859,0.0698455143246,0.999999966314,5.4264888192e-05,-0.00025326097189,1.69434731506e-05,1793238303720708352
+436,7.266666667,POSE2_TO_POSE3_RETREAT,766.203562559,745.796437441,715,679.796437441,666,636,880,788,803.796437441,653,631.203562559,654,0.40099458435,0.00451164373392,0.0698460846418,0.999999966549,5.58965832564e-05,-0.000251965961294,1.70458784713e-05,1793238303737374720
+437,7.283333333,POSE2_TO_POSE3_RETREAT,766.775607611,745.224392389,715,679.224392389,666,636,880,788,803.224392389,653,631.775607611,654,0.400994359717,0.00451134229632,0.0698459684636,0.999999966604,5.65266522749e-05,-0.000251610071512,1.70059526715e-05,1793238303754041600
+438,7.300000000,POSE2_TO_POSE3_RETREAT,767,745.360141172,715,679.360141172,666,636,880,788,803.360141172,653,632,654,0.400994189868,0.00451138998174,0.0698458974329,0.999999966554,5.64177817019e-05,-0.000251820068801,1.72143141752e-05,1793238303770708480
+439,7.316666667,POSE2_TO_POSE3_RETREAT,767,745.952735405,715,679.952735405,666,636,880,788,803.952735405,653,632,654,0.400994055377,0.00451166300857,0.0698458555429,0.999999966435,5.58319626496e-05,-0.000252395317834,1.75829326817e-05,1793238303787375104
+440,7.333333333,POSE2_TO_POSE3_RETREAT,766.468551148,746,715,680,666,636,880,788,803.468551148,653,632,654,0.400994462618,0.00451162933524,0.0698458101383,0.999999966518,5.71427834861e-05,-0.000251782618678,1.74656203561e-05,1793238303804041472
+441,7.350000000,POSE2_TO_POSE3_RETREAT,766.108460821,746,715,680,666,636,880,788,803.108460821,653,632,654,0.400994812127,0.00451130272928,0.0698459259059,0.999999966652,5.78628471483e-05,-0.000251093380533,1.73088192786e-05,1793238303820708096
+442,7.366666667,POSE2_TO_POSE3_RETREAT,766.683329489,746,715,680,666,636,880,788,803.683329489,653,632,654,0.400994711468,0.00450983075188,0.0698467360633,0.999999966942,5.53356169342e-05,-0.00025051776509,1.71633177535e-05,1793238303837375232
+443,7.383333333,POSE2_TO_POSE3_RETREAT,766.741135373,746,715,679.741135373,666,636,880,788,803.741135373,653,632,654,0.400994596014,0.00450964464872,0.0698469001559,0.999999966963,5.47998246482e-05,-0.000250556937885,1.7104847306e-05,1793238303854042112
+444,7.400000000,POSE2_TO_POSE3_RETREAT,766.164782876,746,715,679.164782876,666,636,880,788,803.164782876,653,632,654,0.400994462412,0.00451103562275,0.0698462718738,0.999999966657,5.67064573577e-05,-0.000251350125711,1.71531172603e-05,1793238303870708480
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6bcd5077c3efc13298b834111209828897f5c41
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,446 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+2,0.033333333,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+3,0.050000000,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+4,0.066666667,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+5,0.083333333,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+6,0.100000000,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+7,0.116666667,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+8,0.133333333,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+9,0.150000000,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
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+292,4.866666667,pose2_to_pose3_retreat,0.628389295035,0.0100012427218,1.06001182278,0.598960521948,0.0186749172123,1.05966134833
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+298,4.966666667,pose2_to_pose3_retreat,0.628302867585,0.0100013853642,1.06001172474,0.598874092129,0.0186750520809,1.05966126178
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+358,5.966666667,pose2_to_pose3_retreat,0.600670735162,0.0100012046254,1.06001160877,0.571241994845,0.0186748689746,1.0596611443
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+362,6.033333333,pose2_to_pose3_retreat,0.59756931104,0.0100011130724,1.06001161553,0.568140574726,0.0186747803912,1.0596611509
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+365,6.083333333,pose2_to_pose3_retreat,0.595402516347,0.0100012110969,1.06001153059,0.56597378211,0.0186748784936,1.05966106627
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+367,6.116666667,pose2_to_pose3_retreat,0.593922299457,0.0100012338562,1.06001170821,0.564493568109,0.0186749059961,1.05966123284
+368,6.133333333,pose2_to_pose3_retreat,0.593190453768,0.0100012338494,1.06001164603,0.563761721588,0.018674901571,1.05966118673
+369,6.150000000,pose2_to_pose3_retreat,0.592477984956,0.0100012301503,1.06001157246,0.563049252308,0.0186748940392,1.05966111093
+370,6.166666667,pose2_to_pose3_retreat,0.591783567328,0.0100012687524,1.06001158597,0.5623548346,0.018674930386,1.05966112736
+371,6.183333333,pose2_to_pose3_retreat,0.591113695525,0.010001267492,1.06001153973,0.561684963469,0.018674929493,1.05966108328
+372,6.200000000,pose2_to_pose3_retreat,0.590467940163,0.0100012439698,1.06001148989,0.561039208792,0.0186749061549,1.05966102782
+373,6.216666667,pose2_to_pose3_retreat,0.589846324675,0.0100013773085,1.06001181107,0.560417591946,0.0186750326927,1.05966134121
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+375,6.250000000,pose2_to_pose3_retreat,0.588650842739,0.0100014126458,1.06001172658,0.559222112588,0.01867507341,1.0596612658
+376,6.266666667,pose2_to_pose3_retreat,0.58805810973,0.0100013705783,1.06001168303,0.558629380465,0.0186750324092,1.05966121756
+377,6.283333333,pose2_to_pose3_retreat,0.587466420801,0.0100012081777,1.06001154478,0.558037692853,0.0186748728484,1.05966108093
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+379,6.316666667,pose2_to_pose3_retreat,0.586322580034,0.0100012463232,1.06001152137,0.556893854011,0.0186749146414,1.05966106485
+380,6.333333333,pose2_to_pose3_retreat,0.585792421654,0.0100013620078,1.06001160824,0.556363695216,0.0186750275819,1.05966115588
+381,6.350000000,pose2_to_pose3_retreat,0.585290125791,0.0100012961134,1.06001157712,0.555861399261,0.0186749595821,1.05966111406
+382,6.366666667,pose2_to_pose3_retreat,0.584812575894,0.0100013095399,1.06001162576,0.555383849018,0.0186749705293,1.05966115826
+383,6.383333333,pose2_to_pose3_retreat,0.584351470766,0.0100013296772,1.06001163393,0.554922743751,0.0186749891449,1.0596611666
+384,6.400000000,pose2_to_pose3_retreat,0.583903323208,0.0100012855384,1.06001152316,0.55447459709,0.018674947071,1.05966105887
+385,6.416666667,pose2_to_pose3_retreat,0.583468541124,0.0100012216471,1.06001139961,0.554039817522,0.0186748909522,1.05966094396
+386,6.433333333,pose2_to_pose3_retreat,0.583054628382,0.0100013114279,1.06001163927,0.553625904474,0.0186749783158,1.05966117623
+387,6.450000000,pose2_to_pose3_retreat,0.582666741541,0.010001359718,1.06001185585,0.553238016674,0.0186750223981,1.05966139067
+388,6.466666667,pose2_to_pose3_retreat,0.582307000468,0.010001273622,1.06001185112,0.552878277045,0.0186749403667,1.05966138585
+389,6.483333333,pose2_to_pose3_retreat,0.581971783359,0.0100012100243,1.0600117431,0.552543061013,0.0186748797078,1.05966127998
+390,6.500000000,pose2_to_pose3_retreat,0.58165302223,0.0100012445757,1.06001165181,0.552224299203,0.018674911247,1.05966119137
+391,6.516666667,pose2_to_pose3_retreat,0.581346298982,0.0100012715356,1.06001166742,0.551917575644,0.0186749360475,1.05966120294
+392,6.533333333,pose2_to_pose3_retreat,0.58105050052,0.0100013025843,1.06001155726,0.551621777344,0.0186749670661,1.05966109584
+393,6.550000000,pose2_to_pose3_retreat,0.580767578605,0.010001235022,1.06001168378,0.551338856742,0.0186749032859,1.05966122272
+394,6.566666667,pose2_to_pose3_retreat,0.58049960537,0.0100012208415,1.06001164246,0.551070883754,0.0186748893213,1.0596611823
+395,6.583333333,pose2_to_pose3_retreat,0.580251489353,0.0100013238648,1.06001158436,0.550822766093,0.0186749860944,1.05966112235
+396,6.600000000,pose2_to_pose3_retreat,0.580021708058,0.0100014021235,1.06001166409,0.550592983842,0.0186750604927,1.05966120007
+397,6.616666667,pose2_to_pose3_retreat,0.579810385638,0.0100012478975,1.06001161869,0.550381664669,0.0186749171793,1.05966116347
+398,6.633333333,pose2_to_pose3_retreat,0.57961642683,0.010001339599,1.06001163293,0.550187703799,0.0186750013927,1.05966117679
+399,6.650000000,pose2_to_pose3_retreat,0.579440887961,0.0100012146054,1.06001158714,0.550012167144,0.0186748830688,1.05966111968
+400,6.666666667,pose2_to_pose3_retreat,0.579280952234,0.0100012964537,1.06001172219,0.549852230606,0.0186749618379,1.05966125302
+401,6.683333333,pose2_to_pose3_retreat,0.579136251195,0.0100012983544,1.06001171463,0.549707528827,0.0186749611335,1.05966125141
+402,6.700000000,pose2_to_pose3_retreat,0.579007184888,0.0100012392333,1.06001168938,0.549578463237,0.0186749041528,1.0596612296
+403,6.716666667,pose2_to_pose3_retreat,0.578890764966,0.0100011945006,1.06001170661,0.549462044931,0.0186748643799,1.0596612445
+404,6.733333333,pose2_to_pose3_retreat,0.578785533076,0.0100010729486,1.06001140151,0.549356813991,0.0186747458049,1.0596609422
+405,6.750000000,pose2_to_pose3_retreat,0.578692353542,0.0100012141532,1.06001141311,0.549263633396,0.0186748828532,1.05966095295
+406,6.766666667,pose2_to_pose3_retreat,0.578611861653,0.0100012057361,1.06001172032,0.549183141546,0.018674874408,1.05966125481
+407,6.783333333,pose2_to_pose3_retreat,0.578542451336,0.0100012788693,1.06001171424,0.549113730432,0.0186749444799,1.05966124821
+408,6.800000000,pose2_to_pose3_retreat,0.578483633414,0.0100013395323,1.06001150478,0.54905491186,0.0186750032894,1.05966104902
+409,6.816666667,pose2_to_pose3_retreat,0.578435224206,0.0100012987396,1.0600114978,0.54900650348,0.0186749655155,1.0596610455
+410,6.833333333,pose2_to_pose3_retreat,0.578394851838,0.0100012001576,1.06001175913,0.548966132746,0.0186748718513,1.05966129475
+411,6.850000000,pose2_to_pose3_retreat,0.578361689932,0.0100013119856,1.06001158348,0.548932968575,0.0186749754477,1.05966111466
+412,6.866666667,pose2_to_pose3_retreat,0.578334521677,0.0100012948825,1.06001173596,0.548905801248,0.0186749615891,1.05966126963
+413,6.883333333,pose2_to_pose3_retreat,0.578312824274,0.0100012517747,1.06001165274,0.548884105147,0.0186749230445,1.05966118876
+414,6.900000000,pose2_to_pose3_retreat,0.578296385024,0.0100012202262,1.06001161414,0.548867665985,0.0186748919206,1.05966115204
+415,6.916666667,pose2_to_pose3_retreat,0.578284199152,0.010001211463,1.06001176854,0.54885547864,0.0186748782371,1.05966130807
+416,6.933333333,pose2_to_pose3_retreat,0.578275152815,0.0100011791572,1.06001179953,0.548846434082,0.0186748517234,1.05966133265
+417,6.950000000,pose2_to_pose3_retreat,0.578268339538,0.0100011747166,1.06001173415,0.548839621354,0.0186748490722,1.05966126486
+418,6.966666667,pose2_to_pose3_retreat,0.578263729706,0.0100011938131,1.06001160042,0.548835010933,0.0186748662416,1.05966113242
+419,6.983333333,pose2_to_pose3_retreat,0.578260304582,0.0100012329162,1.06001160414,0.548831585387,0.018674904002,1.05966113792
+420,7.000000000,pose2_to_pose3_retreat,0.57825795028,0.0100012707287,1.06001165193,0.548829230802,0.0186749409308,1.05966118731
+421,7.016666667,pose2_to_pose3_retreat,0.578256347489,0.0100012666698,1.0600116024,0.548827627514,0.0186749352756,1.05966113956
+422,7.033333333,pose2_to_pose3_retreat,0.578255167674,0.0100012401399,1.0600115011,0.548826447093,0.0186749067847,1.05966104011
+423,7.050000000,pose2_to_pose3_retreat,0.578254283073,0.0100012202483,1.06001142516,0.548825562037,0.0186748854227,1.05966096555
+424,7.066666667,pose2_to_pose3_retreat,0.578253684251,0.0100012362916,1.06001148606,0.548824962847,0.0186749002427,1.05966102676
+425,7.083333333,pose2_to_pose3_retreat,0.57825335455,0.0100012501282,1.06001153864,0.548824632934,0.0186749133672,1.05966107939
+426,7.100000000,pose2_to_pose3_retreat,0.578253316061,0.0100012517435,1.06001154477,0.54882459442,0.0186749148993,1.05966108554
+427,7.116666667,pose2_to_pose3_retreat,0.578253095007,0.0100012610205,1.06001158002,0.548824373224,0.0186749236989,1.05966112082
+428,7.133333333,pose2_to_pose3_retreat,0.578252978725,0.0100012659006,1.06001159857,0.548824256866,0.0186749283277,1.05966113939
+429,7.150000000,pose2_to_pose3_retreat,0.578252930079,0.0100012679421,1.06001160633,0.548824208189,0.0186749302642,1.05966114715
+430,7.166666667,pose2_to_pose3_retreat,0.578252866317,0.010001270618,1.06001161649,0.548824144386,0.0186749328024,1.05966115733
+431,7.183333333,pose2_to_pose3_retreat,0.578252852554,0.0100012711956,1.06001161869,0.548824130614,0.0186749333502,1.05966115953
+432,7.200000000,pose2_to_pose3_retreat,0.578252806505,0.0100012731282,1.06001162603,0.548824084535,0.0186749351833,1.05966116688
+433,7.216666667,pose2_to_pose3_retreat,0.578252653144,0.0100013034366,1.06001161596,0.548823930595,0.0186749635133,1.05966115628
+434,7.233333333,pose2_to_pose3_retreat,0.578252489426,0.0100013542423,1.06001157853,0.548823765887,0.0186750109336,1.05966111784
+435,7.250000000,pose2_to_pose3_retreat,0.578252454193,0.0100013651761,1.06001157048,0.54882373044,0.0186750211389,1.05966110956
+436,7.266666667,pose2_to_pose3_retreat,0.578252386199,0.0100013862763,1.06001155493,0.548823662035,0.0186750408331,1.0596610936
+437,7.283333333,pose2_to_pose3_retreat,0.578252276339,0.0100013958002,1.0600115191,0.548823552028,0.0186750497937,1.05966105586
+438,7.300000000,pose2_to_pose3_retreat,0.578252242508,0.0100013699368,1.0600114955,0.548823518757,0.0186750257588,1.05966103023
+439,7.316666667,pose2_to_pose3_retreat,0.578252229121,0.0100013597028,1.06001148617,0.548823505592,0.0186750162485,1.05966102009
+440,7.333333333,pose2_to_pose3_retreat,0.578252208448,0.0100013438987,1.06001147175,0.548823485262,0.0186750015618,1.05966100443
+441,7.350000000,pose2_to_pose3_retreat,0.578252184578,0.0100013256506,1.0600114551,0.548823461787,0.0186749846039,1.05966098636
+442,7.366666667,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823455345,0.0186749799516,1.0596609814
+443,7.383333333,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823455345,0.0186749799515,1.0596609814
+444,7.400000000,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823455335,0.0186749799463,1.0596609814
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..090239b5ca166cf2beba23649e8538c2bb52fb7f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cd5016e7d31ac897865134b75dbb64cf23bb0d9d3dbec664c18eea2a29613c0
+size 27760664
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12b7ab498257f3b11540c0a085cb7ea36fee4997
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_01/franka_data.csv
@@ -0,0 +1,439 @@
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+22,0.366666667,BASELINE,766.244304331,746,715.244304331,679.755695669,664.755695669,636,880,788,803,653,632,653.755695669,0.401053986292,0.00450074229298,0.0798813064302,0.999999985027,0.000119070686293,-0.000116788263436,4.61327683898e-05,1793238305591441408
+23,0.383333333,BASELINE,766,746,715.337837444,679.662162556,665,636,879.662162556,788,803.337837444,653,632,654,0.401053478108,0.00450048437076,0.0798810622741,0.999999984988,0.0001190241672,-0.000117135078956,4.62147864463e-05,1793238305608107776
+24,0.400000000,BASELINE,766,746,715.925677251,679.074322749,665,636,879.074322749,788,803.925677251,653,632,654,0.401054163546,0.00450123783125,0.0798810911651,0.999999985022,0.000119716471177,-0.000116115874048,4.62679874382e-05,1793238305624774144
+25,0.416666667,BASELINE,766,746,716,679.507205381,665,636.507205381,879,788,802.985589238,653,632,654,0.401054370188,0.00450126029596,0.0798814245008,0.999999984936,0.000120445452199,-0.000116111708475,4.62571020744e-05,1793238305641440768
+26,0.433333333,BASELINE,766.08744886,746,716,680,665,636.91255114,879.08744886,788,802.08744886,653,632,654,0.401054668172,0.00450144135347,0.0798818790768,0.999999984868,0.000121214904485,-0.000115918027579,4.62050028852e-05,1793238305658107392
+27,0.450000000,BASELINE,766.665609927,746,716,680,665,636.334390073,879.665609927,788,802.665609927,653,632,654,0.401055867571,0.00450310602439,0.0798827667267,0.999999985,0.000122181670795,-0.000113836526281,4.59736837739e-05,1793238305674774272
+28,0.466666667,BASELINE,767,746,716,680.240917578,665.240917578,636,880,788,803,653,632,654,0.401056583872,0.00450363413946,0.0798830403537,0.999999985071,0.000122559559742,-0.000112814843651,4.59269653532e-05,1793238305691441152
+29,0.483333333,BASELINE,767,746,716,680.812311052,665.812311052,636,880,788,803,653,632,654,0.40105663749,0.00450260319711,0.0798824717019,0.999999985066,0.000122129662927,-0.000113246955129,4.61334708067e-05,1793238305708108032
+30,0.500000000,BASELINE,766.601785705,746,716,680.601785705,665.601785705,636,880,788,803,653,632,654,0.401056311756,0.0045018827484,0.0798825070517,0.999999985186,0.000121258721338,-0.000113116491566,4.61474208291e-05,1793238305724774656
+31,0.516666667,BASELINE,766.008785032,746,716,680.008785032,665.008785032,636,880,788,803,653,632,654,0.401055800461,0.00450131417757,0.0798828378488,0.999999985366,0.00012017204287,-0.000112710844611,4.60671824259e-05,1793238305741441024
+32,0.533333333,BASELINE,766,746,716,679.429411037,665.570588963,636,880,788,803.570588963,653,632,654,0.401054959062,0.00450134923383,0.0798824720121,0.999999985317,0.000119490612493,-0.00011385824903,4.60944168992e-05,1793238305758107904
+33,0.550000000,BASELINE,766,746,715.851686368,679.148313632,665.851686368,636,880,788,804,653,632,654,0.401054322072,0.00450141416785,0.079882033134,0.999999985228,0.00011922947034,-0.000114904240594,4.6104230298e-05,1793238305774774528
+34,0.566666667,BASELINE,766,746,715.278103473,679.721896527,665.278103473,636,880,788,804,653,632,654,0.401054285435,0.00450153874549,0.0798814148565,0.99999998504,0.000120155974627,-0.000115592480697,4.6059457162e-05,1793238305791441152
+35,0.583333333,BASELINE,766,746,715.295825566,680,665,636,880,788,803.704174434,653,632,654,0.401054079279,0.00450184816416,0.0798810378973,0.999999984938,0.00012027962291,-0.000116374249911,4.59723652384e-05,1793238305808107776
+36,0.600000000,BASELINE,766,746,715.87008046,680,665,636,880,788,803.12991954,653,632,654,0.401053713572,0.00450233155416,0.0798808880654,0.999999984918,0.000119647627823,-0.000117244048272,4.58454431091e-05,1793238305824774912
+37,0.616666667,BASELINE,766,746.46057267,715.53942733,680,665,636,880,788,803,653,632,654,0.401055167912,0.00450217480729,0.0798818129543,0.99999998514,0.000119466590399,-0.000115497657969,4.59121823283e-05,1793238305841441536
+38,0.633333333,BASELINE,766,746.945998762,715.054001238,680,665,636,879.945998762,788,803.054001238,653,632,654,0.401056833743,0.00450185193544,0.0798828691519,0.99999998539,0.000119388778317,-0.00011335079292,4.60315165838e-05,1793238305858107904
+39,0.650000000,BASELINE,766,746.370075855,715.629924145,680,665,636,879.370075855,788,803.629924145,653,632,654,0.40105540028,0.00450173246421,0.0798821573366,0.999999985271,0.000119034252571,-0.000114726571033,4.61119034377e-05,1793238305874774528
+40,0.666666667,BASELINE,766,746,716,680,665,636.20510594,879.20510594,788,804,653,631.79489406,654,0.401054196962,0.00450155248459,0.0798814781753,0.999999985097,0.000118992616855,-0.000116247993277,4.6186940236e-05,1793238305891440896
+41,0.683333333,BASELINE,766,746,716,680,665,636.778955313,879.778955313,788,804,653,631.221044687,654,0.401053407406,0.00450126372181,0.07988085772,0.999999984823,0.000119513500918,-0.000118031257279,4.62523585962e-05,1793238305908107264
+42,0.700000000,BASELINE,766.362474813,746,716,680,665,636.637525187,880,788,803.637525187,653,631,653.637525187,0.401053985435,0.00450054479981,0.0798817939451,0.999999985008,0.000119024521663,-0.000116916236198,4.63399273309e-05,1793238305924773888
+43,0.716666667,BASELINE,766.95205297,746,716,680,665,636.04794703,880,788,803.04794703,653,631,653.04794703,0.401055420305,0.00449955636779,0.0798837054857,0.999999985475,0.000117902827152,-0.000113985336511,4.64413740592e-05,1793238305941440768
+44,0.733333333,BASELINE,766.469248371,746,716,680,665,636,880,788,803,653,631.530751629,653.530751629,0.401054030898,0.00450148461693,0.0798823852909,0.999999985224,0.000118829784311,-0.000115333696618,4.61579173274e-05,1793238305958107392
+45,0.750000000,BASELINE,766,746,716,680,665,636.108557959,880,788,803.108557959,653,632.108557959,654,0.401053056681,0.00450330452854,0.0798813840711,0.999999984972,0.000120100888262,-0.000116274836815,4.59509791894e-05,1793238305974774016
+46,0.766666667,BASELINE,766,746,716,680,665,636.686670194,880,788,803.686670194,653,632.686670194,654,0.401054959727,0.00450353904958,0.0798829999624,0.999999985003,0.000122076134034,-0.000113816079525,4.62223914979e-05,1793238305991441152
+47,0.783333333,BASELINE,766,746,715.738250732,680,665,637,880,788,803.738250732,653,632.738250732,654,0.401054838333,0.00450340302916,0.0798829071773,0.999999984942,0.000122116855866,-0.000114250266273,4.63727158212e-05,1793238306008107776
+48,0.800000000,BASELINE,766,746,715.166760865,680,665,637,880,788,803.166760865,653,632.166760865,654,0.40105232132,0.00450282852911,0.0798807924329,0.999999984766,0.000119868362003,-0.000118107813612,4.63797508969e-05,1793238306024774400
+49,0.816666667,BASELINE,766,746,715,680.421331041,665.421331041,636.578668959,879.578668959,788,803,653,632,654,0.401053337223,0.00450195123238,0.0798811875764,0.999999984921,0.000119288410946,-0.000117463383121,4.61687212001e-05,1793238306041441024
+50,0.833333333,BASELINE,766,746,715,680.968358719,665.98417936,636.01582064,879.01582064,788,803,653,632,653.98417936,0.401055749351,0.00450094208684,0.079882591758,0.999999985213,0.000119335317562,-0.000115007937301,4.58840859832e-05,1793238306058107648
+51,0.850000000,BASELINE,766,746,715,679.810891727,665.405445864,636.594554136,879.594554136,788,803,653,632,653.405445864,0.401056046376,0.00449968076991,0.0798831023885,0.999999985552,0.000117224826732,-0.000114115867622,4.61774232896e-05,1793238306074774272
+52,0.866666667,BASELINE,766,746,715.171673136,679.171673136,665,636.828326864,880,788,803,653,632,653.171673136,0.401055626261,0.00449945960744,0.0798831570256,0.999999985623,0.000116530765922,-0.000114132822884,4.63586034493e-05,1793238306091440640
+53,0.883333333,BASELINE,766,746,715.745014621,679.745014621,665,636.254985379,880,788,803,653,632,653.745014621,0.401053528232,0.00450167212298,0.0798821447624,0.999999985071,0.000119150765427,-0.000116276648802,4.62773664379e-05,1793238306108107264
+54,0.900000000,BASELINE,766,746.327334991,715.672665009,679.672665009,665,636,880.327334991,788,803.327334991,653,632,654,0.401052494482,0.00450163844453,0.0798815530499,0.999999984926,0.000119361445747,-0.000117280694547,4.63221444123e-05,1793238306124774400
+55,0.916666667,BASELINE,766,746.916846916,715.083153084,679.083153084,665,636,880.916846916,788,803.916846916,653,632,654,0.401052313159,0.0044998056908,0.0798812981748,0.999999985112,0.000117642396652,-0.000117371840317,4.64678533135e-05,1793238306141441792
+56,0.933333333,BASELINE,766,746.501873572,715.498126428,679.498126428,665,636,880.501873572,788,803.501873572,653,632,654,0.401053944705,0.00450032007104,0.0798822139791,0.999999985228,0.00011812619647,-0.000115891349686,4.64787742682e-05,1793238306158108160
+57,0.950000000,BASELINE,766.077535327,746,716,680,665,636,880,788,803,653,632,654,0.40105545758,0.00450128736292,0.0798830651814,0.999999985266,0.000119103590182,-0.000114555313025,4.64797440323e-05,1793238306174774272
+58,0.966666667,BASELINE,766.653608787,746,716,680,665,636,880,788,803,653,632,654,0.401054293229,0.00450268847884,0.0798822648954,0.999999984899,0.000120928736615,-0.000115807565399,4.65590507076e-05,1793238306191440896
+59,0.983333333,BASELINE,766.77146247,746.22853753,716,680,665,636,880,788,803,653,632,654,0.401053880678,0.0045028248094,0.0798820146048,0.999999984751,0.000121738756391,-0.000116220493278,4.65802389085e-05,1793238306208107520
+60,1.000000000,BASELINE,766.198260026,746.801739974,716,680,665,636,880,788,803,653,632,654,0.40105460194,0.00450105367607,0.0798825937803,0.999999984941,0.000121017830766,-0.000115367608656,4.65137767518e-05,1793238306224774400
+61,1.016666667,BASELINE,766,746.611753307,715.611753307,680,665,636,879.611753307,788.388246693,803.388246693,653.388246693,632,654,0.401054658639,0.0045012787028,0.0798825905888,0.999999985024,0.000120867310473,-0.000114913121249,4.62294518117e-05,1793238306241441024
+62,1.033333333,BASELINE,766,746.018211663,715.018211663,680,665,636,879.018211663,788.981788337,803.981788337,653.981788337,632,654,0.401054363935,0.00450255924818,0.0798822794565,0.999999985053,0.00012101840602,-0.000114669296184,4.58299265906e-05,1793238306258107648
+63,1.050000000,BASELINE,766,746,715.560605649,680,665,636,879.560605649,788.439394351,803.439394351,653.439394351,632,653.439394351,0.401054457289,0.00450188538641,0.0798819265769,0.999999984924,0.000120954346885,-0.000115732179839,4.61316319258e-05,1793238306274774272
+64,1.066666667,BASELINE,766.13767801,746,715.86232199,680,665,636,879.86232199,788,803,653,632,653.13767801,0.401054635983,0.00450120484139,0.0798817795971,0.999999984841,0.000120856290734,-0.000116444886483,4.63914159862e-05,1793238306291440896
+65,1.083333333,BASELINE,766.710706461,746,715.289293539,680,665,636,879.289293539,788,803,653,632,653.710706461,0.401055045686,0.00450069878731,0.0798822878701,0.999999984922,0.000120672268563,-0.000115919507993,4.64484523274e-05,1793238306308107520
+66,1.100000000,BASELINE,766.715463516,746,715,680,664.715463516,636,879,788,803,653,632,653.715463516,0.401055096583,0.00450027823446,0.0798825984358,0.999999985153,0.000119079561563,-0.000115597883681,4.63818021861e-05,1793238306324774144
+67,1.116666667,BASELINE,766.140816252,746,715,680,664.140816252,636,879,788,803,653,632,653.140816252,0.401054781644,0.00449994485792,0.079882707421,0.999999985531,0.000116050572483,-0.000115484005286,4.61890424415e-05,1793238306341440768
+68,1.133333333,BASELINE,766,746,715,680,664.450058714,636.450058714,879.450058714,788,803,653,632,653.450058714,0.401053975655,0.0045014024141,0.079882174444,0.999999985196,0.000118024193814,-0.000116409260255,4.61162645184e-05,1793238306358107392
+69,1.150000000,BASELINE,766,746,715,680,665,636.955354543,880,788,803,653,632,654,0.401053210725,0.00450315398477,0.0798816224417,0.999999984693,0.000121295921292,-0.000117368645346,4.61072832784e-05,1793238306374774272
+70,1.166666667,BASELINE,766,746,715,680,665,636.379284269,880,788,803,653,632,654,0.401054831776,0.00450148575275,0.0798833242874,0.99999998506,0.000120691002163,-0.000114719449607,4.63941215395e-05,1793238306391440640
+71,1.183333333,BASELINE,766,746.195895816,715.195895816,680,665,636,880,788.195895816,803.195895816,653,632,654,0.401055565471,0.00450019354641,0.0798839865871,0.999999985311,0.000119554895119,-0.000113671836599,4.65175764639e-05,1793238306408107520
+72,1.200000000,BASELINE,766,746.769360257,715.769360257,680,665,636,880,788.769360257,803.769360257,653,632,654,0.401054588883,0.0044996260898,0.0798826452712,0.999999985342,0.000117394979016,-0.000115711105736,4.63261272059e-05,1793238306424774656
+73,1.216666667,BASELINE,766,746.647432967,716,680.352567033,665,636,880,788.647432967,803.647432967,653,632,654,0.401054187384,0.00449989939869,0.0798824525724,0.999999985272,0.000117360837859,-0.000116378205201,4.62359212736e-05,1793238306441441536
+74,1.233333333,BASELINE,766,746.057671943,716,680.942328057,665,636,880,788.057671943,803.057671943,653,632,654,0.401054172784,0.00450073834338,0.0798830326206,0.999999985138,0.000118756839172,-0.000116122159809,4.62138280976e-05,1793238306458108160
+75,1.250000000,BASELINE,766,746,716,680.477313296,665,636,880,788,803.522686704,653,632,653.477313296,0.401053554754,0.00450059831157,0.0798822182334,0.999999985058,0.000118564280037,-0.000116994150113,4.624510775e-05,1793238306474774528
+76,1.266666667,BASELINE,766,746,715.898341168,680,665,636,880,788,803.898341168,653,632,653.101658832,0.401053048472,0.00450047549967,0.0798815183957,0.999999984962,0.000118668943674,-0.000117682428567,4.63009108411e-05,1793238306491440896
+77,1.283333333,BASELINE,766,746,715.321087957,680,665,636,880,788,803.321087957,653,632,653.678912043,0.401053370969,0.00450092966246,0.0798820615416,0.999999984767,0.000120969634524,-0.000116939242649,4.64443788643e-05,1793238306508107520
+78,1.300000000,BASELINE,766,746,715,680,665,636,880,788,803,653,632,654,0.401053678394,0.00450097379915,0.0798825144621,0.999999984861,0.000120809327917,-0.000116260725853,4.65406345198e-05,1793238306524774144
+79,1.316666667,BASELINE,766,746,715,680,665,636,880,788,803,653,632,654,0.401053966925,0.00450050399247,0.0798828542905,0.999999985316,0.00011756430718,-0.000115663268013,4.65777122693e-05,1793238306541441024
+80,1.333333333,BASELINE,766.426415418,746,715.426415418,680,665.426415418,636,880,788,803,653,632,654,0.401054337176,0.00450049600908,0.0798828574022,0.999999985464,0.000116563148506,-0.000115476493805,4.63654257518e-05,1793238306558107904
+81,1.350000000,BASELINE,766.993103566,746,716,680,665.993103566,636,879.993103566,787.993103566,803,653,632,654,0.401054739726,0.00450066013995,0.0798827440652,0.999999985502,0.000116402435969,-0.000115431706135,4.60660701125e-05,1793238306574775296
+82,1.366666667,BASELINE,766.416928558,746,716,680,665.416928558,636,879.416928558,787.416928558,803,653,632,654,0.401055370514,0.00450125344701,0.0798830640674,0.999999985304,0.000118673185068,-0.000114854879981,4.60191168967e-05,1793238306591441920
+83,1.383333333,BASELINE,766,746,715.841005299,680,665,636,879.158994701,787.158994701,803,653,632,654,0.401055247241,0.00450135603344,0.0798829286088,0.999999985163,0.000119704102449,-0.000115020380309,4.59957881318e-05,1793238306608108288
+84,1.400000000,BASELINE,766,746,715.265741025,680,665,636,879.734258975,787.734258975,803,653,632,654,0.401053149738,0.0045001738472,0.0798816006925,0.999999985179,0.000117488973648,-0.000117129391377,4.60343113559e-05,1793238306624774400
+85,1.416666667,BASELINE,766,746,715.315853946,680,665,636,880,788,803,653,632,654,0.401052731224,0.00449928310175,0.0798810860977,0.999999985298,0.00011585669238,-0.000117741539136,4.60253909289e-05,1793238306641440768
+86,1.433333333,BASELINE,766,746,715.902884099,680,665,636,880,788,803,653,632,654,0.401053754204,0.00449864257267,0.0798812697795,0.99999998551,0.000114724814625,-0.000117068555717,4.59757377831e-05,1793238306658107392
+87,1.450000000,BASELINE,766,746,716,680,665,636,879.514106793,788,803,653,632,654,0.401054123362,0.00450011850678,0.0798825723354,0.999999985034,0.000119242704568,-0.000116484039215,4.63098986338e-05,1793238306674774272
+88,1.466666667,BASELINE,766,746.06730825,716,680,665,636,879.06730825,788,803.06730825,653,632,654,0.401054074303,0.00450178871812,0.0798837340018,0.999999984455,0.000124161005304,-0.000116167046064,4.66798423048e-05,1793238306691441152
+89,1.483333333,BASELINE,766,746.642707203,716,680,665,636,879.642707203,788,803.642707203,653,632,654,0.401051846619,0.00450175842994,0.0798821578674,0.999999984332,0.000123647667542,-0.000117737129549,4.67455669248e-05,1793238306708108288
+90,1.500000000,BASELINE,766.217924307,746.782075693,715.782075693,680.217924307,665,636.217924307,879.782075693,788,803.782075693,653,632,654,0.401051698271,0.00450158299536,0.0798817925036,0.999999984467,0.000122647956044,-0.000117655144273,4.67077577824e-05,1793238306724775168
+91,1.516666667,BASELINE,766.792843457,746.207156543,715.207156543,680.792843457,665,636.792843457,879.207156543,788,803.207156543,653,632,654,0.401054956208,0.00450116978779,0.0798834105758,0.999999985019,0.000120851486685,-0.000114866806178,4.65003437836e-05,1793238306741442304
+92,1.533333333,BASELINE,766.622936707,746,715.377063293,680.622936707,665,636.622936707,879,788,803.377063293,653,632,654,0.401055737645,0.00450073872433,0.0798838271648,0.99999998529,0.000119326830067,-0.000114093365892,4.65087463973e-05,1793238306758108928
+93,1.550000000,BASELINE,766.033477844,746,715.966522156,680.033477844,665,636.033477844,879,788,803.966522156,653,632,654,0.401055124096,0.00450029760282,0.0798835669717,0.999999985406,0.000117955282381,-0.000114454894929,4.66387160952e-05,1793238306774775296
+94,1.566666667,BASELINE,766.546683529,746,716,680,665,636,879.546683529,788,804,653,632,654,0.401054588713,0.00450140048037,0.0798835870483,0.99999998528,0.000118986437519,-0.000114649774837,4.62411313779e-05,1793238306791441408
+95,1.583333333,BASELINE,766.874861159,746,716,680,665,636,880,788,803.874861159,653,632,654,0.401054216738,0.00450217193613,0.0798835027248,0.999999985214,0.000119401675382,-0.000114920666635,4.59208785555e-05,1793238306808107520
+96,1.600000000,BASELINE,766.300520201,746,716,680,665,636,880,788,803.300520201,653,632,654,0.401054414443,0.00450141998146,0.0798829830643,0.999999985418,0.000117086663972,-0.000115500433574,4.5992247262e-05,1793238306824773888
+97,1.616666667,BASELINE,766,746,716,680,665,636,880.280780281,788,803,653,632,654,0.401054278959,0.0045015965012,0.0798825717424,0.99999998531,0.000117603551651,-0.000115897578464,4.60020132102e-05,1793238306841440768
+98,1.633333333,BASELINE,766,746,716,680,665,636,880.869718855,788,803,653,632,654,0.401053777797,0.00450279202805,0.079882279323,0.999999984857,0.00012122846823,-0.000116094294363,4.59441697024e-05,1793238306858107648
+99,1.650000000,BASELINE,766,746,716,680,665,636,880.548789553,788,803,653,632,653.548789553,0.401054465827,0.00450225010437,0.0798830769388,0.999999985002,0.000120852731148,-0.000115185454023,4.6070545326e-05,1793238306874774528
+100,1.666666667,BASELINE,766,746,716,680,665,636.030408692,879.969591308,788,803.030408692,653,632,653.030408692,0.401055440598,0.00450130393,0.0798841312857,0.99999998529,0.000119506256709,-0.000114019910059,4.62398797628e-05,1793238306891441408
+101,1.683333333,BASELINE,766,746,716,680,665,636.606412694,879.393587306,788,803.606412694,653,632,653.606412694,0.401055499443,0.00450195944938,0.0798842366374,0.99999998511,0.000121131779956,-0.000113882957195,4.62411250699e-05,1793238306908107776
+102,1.700000000,BASELINE,766.18171845,746,716,680,665,636.81828155,879.18171845,788,804,653,632,653.81828155,0.401055412347,0.00450219253314,0.0798841356393,0.999999985005,0.000121868250858,-0.000114014100458,4.62497707691e-05,1793238306924774144
+103,1.716666667,BASELINE,766.755517578,746,716,680,665,636.244482422,879.755517578,788,804,653,632,653.244482422,0.401055010363,0.0045015141582,0.0798835894149,0.999999985066,0.000120686477999,-0.000114723695243,4.62743837555e-05,1793238306941440768
+104,1.733333333,BASELINE,766.659749953,746,716,680,665,636,880,788,804,653,632,653.340250047,0.401054656586,0.00450094128415,0.0798830725806,0.999999985077,0.000120031453529,-0.000115298457206,4.63117617453e-05,1793238306958107392
+105,1.750000000,BASELINE,766.066900584,746,716,680,665,636,880,788,804,653,632,653.933099416,0.401054338599,0.00450044673317,0.0798825775653,0.999999985052,0.000119767483355,-0.000115773120274,4.63586163891e-05,1793238306974774016
+106,1.766666667,BASELINE,766.513056553,746,716,680,665,636,880,788,804,653,632,653.486943447,0.401055411817,0.00450073192685,0.0798837413482,0.999999985243,0.000119852804081,-0.000114042579901,4.6297539375e-05,1793238306991440640
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,637,880,788,803,653,632,654,0.401055350746,0.00449996992099,0.0798836250417,0.999999985391,0.00011870786503,-0.000114069694734,4.59888857571e-05,1793238307034576384
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.575611224,746,715,680,665,636.424388776,880,788,803,653,632,654,0.401054860658,0.00449990422958,0.0798830436776,0.999999985132,0.000119898577209,-0.000114982267165,4.62509461589e-05,1793238307051242496
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715,680,665,636,879.844322972,788,803.155677028,653,632,654,0.401054387787,0.00449986401949,0.0798826647833,0.999999984949,0.000120632261452,-0.000115744629661,4.64090621398e-05,1793238307067908608
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,715,680,665,636,879.251755756,788,803.748244244,653,632,654,0.401053963236,0.00449989531988,0.0798828540973,0.999999984981,0.000120083348122,-0.000116085444964,4.62754697747e-05,1793238307084575232
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.667289368,746,715.332710632,680,665,636,879.332710632,788,803.667289368,653,632,654,0.401052914958,0.00449976851012,0.0798824677177,0.999999985034,0.000118727881525,-0.000117018688315,4.6282637352e-05,1793238307101241856
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.088807058,746,715.911192942,680,665,636,879.911192942,788,803.088807058,653,632,654,0.401051405934,0.0044995249052,0.0798816560762,0.999999985097,0.0001167766181,-0.000118389555282,4.63937836022e-05,1793238307117908480
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,879.515215345,788,803,653,632,654,0.401052876648,0.00449904955193,0.0798821918715,0.999999985335,0.000115645552823,-0.000117539429911,4.62661170926e-05,1793238307134575360
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,879,788,803,653,632,654,0.401054590933,0.00449868044336,0.0798829098216,0.999999985524,0.000114996795926,-0.000116613646645,4.61500176561e-05,1793238307151242240
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,879,788,803,653,632,654,0.401053645033,0.00449964015736,0.0798830702061,0.999999984998,0.000117337358084,-0.000118619658193,4.65257297456e-05,1793238307167909376
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.236881433,746,715.763118567,679.763118567,665,636.236881433,879.236881433,788,803.236881433,652.763118567,632,654,0.401054467998,0.00450022749595,0.079883682343,0.999999984476,0.000119319680343,-0.000120893758365,4.68648727676e-05,1793238307184575744
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.816996561,746,715.183003439,679.183003439,665,636.816996561,879.816996561,788,803.816996561,652.183003439,632,654,0.401057853994,0.00450027527427,0.0798849490547,0.999999983961,0.000120782924129,-0.000123556310291,4.71510283367e-05,1793238307201241856
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.605439837,746,715.394560163,679.394560163,665.394560163,636.605439837,880,788.394560163,803.605439837,652.394560163,632,654,0.401072642774,0.00449980959222,0.0798909420988,0.999999984512,0.000119239818199,-0.000120545134357,4.71867630187e-05,1793238307217908224
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.02905202,746,715.97094798,679.97094798,665.97094798,636.02905202,880,788.97094798,803.02905202,652.97094798,632,654,0.401092686371,0.00449910728898,0.0798991132087,0.999999985523,0.000116311277244,-0.000114919298768,4.71070946836e-05,1793238307234574592
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.544114283,746,716,680,665.455885717,636,880.544114283,788.455885717,803.544114283,653,632,654,0.401131228806,0.00449695811541,0.0799111965532,0.999999987307,0.000113305739903,-0.000101803121441,4.67362816157e-05,1793238307251241728
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.878911826,746,716,680,665,636,880.757823652,788,804,653,632,654,0.401175046104,0.00449514464202,0.0799235848912,0.999999988949,0.000111025767025,-8.73375807341e-05,4.63388061185e-05,1793238307267908352
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.28644989,746,716,680,665,636,879.57289978,788,804,653,632,654,0.40123557513,0.00449493694824,0.0799363521445,0.999999990329,0.000111586190452,-6.91669187928e-05,4.58976968824e-05,1793238307284574976
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,715.702789929,680,665,636,879.297210071,788,804,653,632,654,0.401300262939,0.00449089091762,0.0799447002554,0.999999991597,0.000106952445194,-5.74044442967e-05,4.5523269589e-05,1793238307301241856
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,715.127369303,680,665,636,879.872630697,788,804,653,632,654,0.401368843674,0.00448325192054,0.0799489117221,0.999999992896,9.74565747805e-05,-5.16405071702e-05,4.52112615468e-05,1793238307317908736
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,788,804,653,632.448410125,654,0.401449456956,0.00447668296043,0.0799508234224,0.999999993976,8.66053632212e-05,-5.12749710037e-05,4.37921763962e-05,1793238307334575360
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680.024829664,665,636,880,788,804,653,632.975170336,654,0.401534346292,0.0044708836109,0.0799521914516,0.999999994878,7.59079055262e-05,-5.21608705439e-05,4.19701526642e-05,1793238307351241728
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,715,680.61346836,665,636,880,788,804,653,632.38653164,654,0.401638661854,0.00447565274448,0.0799560593559,0.999999995187,7.74505110633e-05,-4.66163800057e-05,3.81447868471e-05,1793238307367908096
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,715.198838701,680.801161299,665,636.198838701,880,788.198838701,803.801161299,653,632,654,0.401754393593,0.00447907633692,0.0799613152492,0.999999995666,7.7315134575e-05,-3.89721971309e-05,3.42401968027e-05,1793238307384574720
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,715.777958216,680.222041784,665,636.777958216,880,788.777958216,803.222041784,653,632,654,0.401891958861,0.00447992656923,0.0799692256836,0.999999996436,7.39706021051e-05,-2.73123343044e-05,3.01840901448e-05,1793238307401241600
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.356613382,746,715.643386618,680,665,636.643386618,880,788.643386618,803,653,632,654,0.402037754968,0.00448149749029,0.0799734905231,0.999999996909,7.10364807548e-05,-2.18429303064e-05,2.56750901602e-05,1793238307417907968
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.934979857,746,715.065020143,680,665,636.065020143,880,788.065020143,803,653,632,654,0.402188669275,0.00448351655772,0.079975488421,0.999999997241,6.83575652527e-05,-2.02229415671e-05,2.08844668777e-05,1793238307434574592
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,715.508942571,680,665,636,880,788,803,653,632,654,0.40236306049,0.00448589430558,0.0799780433737,0.999999997675,6.47854936744e-05,-1.50680119457e-05,1.50173642161e-05,1793238307451241728
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.915101134,746,716,680,665,636,879.915101134,788,803,653,632,654,0.402541426619,0.00448824432746,0.0799792430921,0.999999998042,6.05733361551e-05,-1.29319282739e-05,8.96438346217e-06,1793238307467908864
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.32393024,746,716,680,665,636,879.32393024,788,803,653,632,654,0.402725764074,0.00449015810249,0.0799719404851,0.999999998085,5.32187939907e-05,-3.14678759104e-05,2.61603005721e-06,1793238307484575232
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636.261379505,879.261379505,788,803.261379505,653,632,654,0.402928442234,0.00449315052726,0.0799653290918,0.999999997829,4.56619432316e-05,-4.72945028995e-05,-4.45233991557e-06,1793238307501241856
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636.839584744,879.839584744,788,803.839584744,653,632,654,0.40315335169,0.00449745041478,0.0799595555391,0.999999997416,3.78598687663e-05,-5.98370820581e-05,-1.23934626271e-05,1793238307517908480
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.417012107,746,715.582987893,679.582987893,665.417012107,636.582987893,880,788,804,653,632,654,0.403410899541,0.00450113914193,0.0799602619799,0.999999997584,3.3582414903e-05,-5.82748201437e-05,-1.7570401141e-05,1793238307534574848
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.994140782,746,715.005859218,679.005859218,665.994140782,636.005859218,880,788,804,653,632,654,0.403680979272,0.00450459320696,0.0799634564885,0.999999997979,3.06582796119e-05,-5.12968428899e-05,-2.16859993345e-05,1793238307551241472
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.431178951,746,715,679.568821049,665.431178951,636,879.431178951,788,803.431178951,653,632,654,0.403983691746,0.00451161849907,0.0799694226586,0.999999998189,3.45342103389e-05,-4.46245713403e-05,-2.09255606714e-05,1793238307567908096
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715.147765865,680,665,636.147765865,879.147765865,788,803,653,632,654,0.404292694045,0.00451831008489,0.0799735304841,0.999999998212,3.92958388328e-05,-3.98292505023e-05,-2.10891195763e-05,1793238307584574976
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715.739601993,680,665,636.739601993,879.739601993,788,803,653,632,654,0.404619592814,0.00452388872938,0.0799719681261,0.999999997799,4.65095921463e-05,-4.0665174774e-05,-2.41797974443e-05,1793238307601242112
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636.676731035,880,788,803.323268965,653,632,654,0.404975965427,0.00453041755686,0.0799694676171,0.999999997301,5.52229975863e-05,-4.02958362322e-05,-2.69285628915e-05,1793238307617908480
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636.099482187,880,788,803.900517813,653,632,654,0.40535549453,0.00453769290685,0.079966230039,0.999999996688,6.51146222828e-05,-3.89795695521e-05,-2.94087013462e-05,1793238307634574848
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,880,788,804,653,632,653.523007297,0.405739125429,0.00454577211755,0.079959097582,0.999999995846,6.83873052904e-05,-5.18211259447e-05,-3.07491358911e-05,1793238307651241216
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,879.945505769,788,804,653,632,653.054494231,0.406127197789,0.00455361636136,0.0799517353058,0.999999994735,7.13607499523e-05,-6.6592434583e-05,-3.16656307006e-05,1793238307667908096
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,879.356350022,788,804,653,632,653.643649978,0.406550467312,0.0045575130222,0.0799500752357,0.999999993374,8.49204377699e-05,-7.137347785e-05,-3.07510675794e-05,1793238307684574976
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746.229067232,716,680,665,636,879,788,803.770932768,653,632,654,0.406990013967,0.00456378090093,0.0799502181455,0.999999992211,9.65713517234e-05,-7.26948032087e-05,-3.10884476744e-05,1793238307701241856
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746.808762029,716,680,665,636,879,788,803.191237971,653,632,654,0.407454475599,0.00457367834421,0.0799531208324,0.999999991539,0.000105300551767,-6.87204233572e-05,-3.33421464567e-05,1793238307717908736
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746.616691982,716,680,665,636,879.383308018,788,803,653,632,653.616691982,0.40793276311,0.00458277004787,0.0799484129929,0.999999989633,0.000115024570664,-7.96070770237e-05,-3.41340839048e-05,1793238307734575872
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746.044680778,716,680,665,636,879.955319222,788,803,653,632,653.044680778,0.40841785711,0.00459146508426,0.0799399584783,0.999999986789,0.000125238340271,-9.7809842746e-05,-3.4206393695e-05,1793238307751242752
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,880,788,803.528328627,653,632,653.528328627,0.408949929661,0.00459621686337,0.0799436117169,0.999999987286,0.000126351189322,-9.02244908083e-05,-3.63758353403e-05,1793238307767909376
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,716,680,665.105232265,636,879.894767735,788,804,653,632,654,0.409495662968,0.00460028060822,0.079952639922,0.999999988444,0.00012723854991,-7.38035368567e-05,-3.84156208214e-05,1793238307784575744
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,716,680,665.699852732,636,879.300147268,788,804,653,632,654,0.410086414656,0.00460269842087,0.0799818937282,0.999999990352,0.000130663408865,-2.64537529244e-05,-3.90260747692e-05,1793238307801242112
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715.712960742,680.287039258,665.712960742,636,879.287039258,788,804,653,632,653.712960742,0.410684961135,0.00460145716417,0.0800017884793,0.999999990623,0.00013087924511,6.26095771585e-06,-3.98214466524e-05,1793238307817908736
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715.133351327,680.866648673,665.133351327,636,879.866648673,788,804,653,632,653.133351327,0.411291452674,0.00459648633257,0.0800121438411,0.999999990709,0.000127824225268,2.40586005964e-05,-4.08052997481e-05,1793238307834575360
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.440985418,746,715.440985418,680.559014582,665,636,880,788,804,653,631.559014582,653.440985418,0.411888173969,0.00459181570754,0.0799929990139,0.99999999188,0.000119901528354,-7.53136928134e-06,-4.25144336445e-05,1793238307851241728
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.985835862,746,716,680,665.014164138,636.014164138,880,788,804,653,631.014164138,653.985835862,0.412482440744,0.00458742714178,0.0799650840904,0.999999991425,0.000110976578461,-5.34640999107e-05,-4.44520316534e-05,1793238307867908352
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.395675223,746,716,680,665.604324777,636.604324777,880,788,804,653,631.604324777,653.395675223,0.413095620034,0.00459086068767,0.0799390064713,0.999999988244,0.000120445241611,-8.25084532754e-05,-4.68668478732e-05,1793238307884575488
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715.808873704,680,665.808873704,636.808873704,880,788,804,653,632,653,0.41373257404,0.00459469552266,0.0799264626726,0.999999986471,0.000125689289472,-9.43555372612e-05,-4.85459632345e-05,1793238307901242368
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715.228906258,680,665.228906258,636.228906258,880,788,804,653,632,653,0.414417897011,0.00459934676898,0.0799414530579,0.999999988794,0.000122338474233,-7.12152518601e-05,-4.87283155104e-05,1793238307917909248
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715.345626962,680,665,636,880,788,803.654373038,653,632,653.345626962,0.415119293421,0.00460213541958,0.0799639853697,0.999999990987,0.000120289826698,-3.32477460694e-05,-4.94992106479e-05,1793238307934575616
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715.916616822,680,665,636,880,788,803.083383178,653,632,653.916616822,0.415831170343,0.00460370958151,0.0799914353252,0.999999991522,0.000119090245644,1.43877122881e-05,-5.06538596895e-05,1793238307951241984
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,880.494563559,788,803,653,631.505436441,653.505436441,0.416525693141,0.00460646988126,0.0799799063927,0.999999990178,0.000129864794971,-1.53170861461e-05,-5.0452194451e-05,1793238307967908352
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,880.925039852,788,803,652.925039852,631.074960148,653,0.41722323156,0.00460894902625,0.0799650953704,0.999999987727,0.000139995845375,-4.9071858895e-05,-5.03812858442e-05,1793238307984574976
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,880.336001125,788,803,652.336001125,631.663998875,653,0.417961803012,0.00460810895251,0.079973488449,0.99999998974,0.000131671019291,-1.9900144235e-05,-5.27977366619e-05,1793238308001241344
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,716,680,665.248919031,636,880.248919031,788,803.248919031,652.248919031,632,653.248919031,0.418717477065,0.00460644375912,0.0799888370208,0.999999990678,0.000124167615572,1.51102541219e-05,-5.47490318815e-05,1793238308017908224
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,716,680,665.828370339,636,880.828370339,788,803.828370339,652.828370339,632,653.828370339,0.419495861263,0.00460368291342,0.080013421589,0.99999998982,0.000117754953303,5.78736733026e-05,-5.60826609466e-05,1793238308034575360
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,716,680.404739165,666,636,880.595260835,788,804,653,632,654,0.420236694736,0.00460353995022,0.0800045501562,0.999999990219,0.000119972406722,4.47674391375e-05,-5.62496629803e-05,1793238308051241728
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,716,680.979810709,666,636,880.020189291,788,804,653,632,654,0.420961725134,0.00460449870947,0.0799815989372,0.999999990487,0.000125821799904,8.14874833561e-06,-5.59256959573e-05,1793238308067908352
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715.442909428,681,666,636,880,788,804,653,632,653.442909428,0.421745187482,0.0046069691053,0.0799804250639,0.999999990654,0.000124342367159,3.71482587518e-06,-5.67271588563e-05,1793238308084574976
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746.137644346,715.137644346,680.862355654,666,636,880,788,804,653,632,653,0.422532489294,0.00460916581751,0.0799868734787,0.999999990537,0.000124631349737,1.20579193171e-05,-5.6996066675e-05,1793238308101241600
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746.728718364,715.728718364,680.271281636,666,636,880,788,804,653,632,653,0.423325435462,0.00461027977396,0.0800158211095,0.999999988085,0.000131624295455,5.86335693116e-05,-5.53757317137e-05,1793238308117908224
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746.688754583,716,680.311245417,666,636,880,787.688754583,804,653,632,653,0.424084989843,0.00461159568978,0.0800174613659,0.999999987741,0.000135955193261,5.52411792568e-05,-5.46148885859e-05,1793238308134574848
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746.113477998,716,680.886522002,666,636,880,787.113477998,804,653,632,653,0.424816217749,0.00461308292876,0.0799959366277,0.99999998894,0.000138027861053,9.46062854376e-06,-5.45831570928e-05,1793238308151241472
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,716,681,666,636,880,787.462465619,804,652.537534381,632.462465619,653.462465619,0.425562108097,0.00461421842842,0.0799622832146,0.999999988441,0.000133811458933,-4.63691903074e-05,-5.53348120164e-05,1793238308167908352
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746.039580091,716,681,666,636,880,788,804,652.039580091,632.960419909,653.960419909,0.426315677031,0.00461513439725,0.0799286757632,0.999999985265,0.000128628523914,-9.87548690287e-05,-5.63248445785e-05,1793238308184574976
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746.630726179,716,681,666,636,880,788,804,652.630726179,632.369273821,653.369273821,0.427126040161,0.00461419558938,0.079937241829,0.999999987311,0.000131512594986,-6.87325399374e-05,-5.79541762901e-05,1793238308201241856
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746.782939001,715.782939001,681,666,636,880.217060999,788,804.217060999,652.782939001,632,653.217060999,0.427916983967,0.00461417898237,0.0799437053085,0.999999987724,0.000134529171115,-5.49960393554e-05,-5.856519951e-05,1793238308217908224
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746.204611741,715.204611741,681,666,636,880.795388259,788,804.795388259,652.204611741,632,653.795388259,0.428675607279,0.00461569724357,0.0799466693421,0.999999986521,0.000137766283127,-6.83649119239e-05,-5.74813976147e-05,1793238308234574848
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715,681.368010433,666,636.368010433,880.631989567,788,804.631989567,652.368010433,632,653.631989567,0.429440731763,0.00461590950531,0.0799582659511,0.999999987706,0.000134597545666,-5.60346598527e-05,-5.77176229633e-05,1793238308251241472
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,681.937509,666,636.937509,880.062491,788,804.062491,652.937509,632,653.062491,0.430209415636,0.00461540672367,0.0799745889518,0.999999989657,0.000127921563191,-2.96339670703e-05,-5.86765719496e-05,1793238308267908096
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.516916846,746,715,682,666,637,880.516916846,788,804,653,632,653,0.431003956385,0.00461483404242,0.0800074227682,0.999999989969,0.000128071313515,1.7844402852e-05,-5.78058834438e-05,1793238308284574720
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.900769688,746,715,682,666,636.900769688,881,788,803.900769688,652.900769688,632,653,0.431788308884,0.00461465723735,0.0800344663884,0.999999988378,0.000130330024626,5.51703170031e-05,-5.66978342578e-05,1793238308301241600
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.310115201,746,715,682,666,636.310115201,881,788,803.310115201,652.310115201,632,653,0.432506422429,0.00461648362023,0.0800227566571,0.999999988385,0.000138866635145,2.93517857779e-05,-5.55311027194e-05,1793238308317908224
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,682,666,636,880.727416356,787.727416356,803.545167289,652,632,653,0.433201275846,0.00461816500841,0.0799890457015,0.999999988594,0.000138826707941,-1.86678926532e-05,-5.64821571651e-05,1793238308334574848
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,682,666,636,880.153511916,787.153511916,804.692976167,652,632,653,0.433870416887,0.00461968611568,0.0799310140416,0.999999985692,0.000129306059854,-9.12292741511e-05,-5.97742652308e-05,1793238308351241728
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,682.420294018,666,636,880.420294018,787.420294018,804.579705982,652,632,653,0.434576799359,0.00461778763605,0.0799239172714,0.999999985715,0.000124919659715,-9.65199101306e-05,-6.0406508191e-05,1793238308367908352
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,715,682.994064028,666,636,880.994064028,787.994064028,804.005935972,652,632,653,0.435296781093,0.00461464044857,0.0799354200539,0.999999987721,0.000122408098351,-7.72457379813e-05,-6.00674660901e-05,1793238308384574720
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.589299971,746,715,683,666,636,881,787.410700029,804,652.589299971,631.410700029,653.589299971,0.43602448545,0.00461556334635,0.0799743979985,0.999999989861,0.000127147533731,-2.43776784083e-05,-5.92980204304e-05,1793238308401241344
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.820147632,746.179852368,715.179852368,683,666,636,881.179852368,787.179852368,804,653,631.179852368,653.820147632,0.436733473014,0.00461588474044,0.0800033724036,0.999999989915,0.000128730024749,1.26229915825e-05,-5.86427386236e-05,1793238308417907968
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.240504896,746.759495104,715.759495104,683,666,636,881.759495104,787.759495104,804,653,631.759495104,653.240504896,0.437400676068,0.00461477448573,0.0800094716908,0.999999990631,0.000123126512529,1.35717237599e-05,-5.8251231052e-05,1793238308434574592
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.337477714,747,716,682.662522286,666.337477714,636,881.662522286,788,804,652.662522286,632,653,0.438052990084,0.0046122325506,0.0800114161547,0.999999991323,0.000116448976507,1.86746066865e-05,-5.87000816065e-05,1793238308451241216
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.914282984,747,716,682.085717016,666.914282984,636,881.085717016,788,804,652.085717016,632,653,0.438694745268,0.00460867531716,0.0800104141606,0.999999991917,0.00010900978017,2.67234700027e-05,-5.97448851811e-05,1793238308467908096
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.51268055,746.51268055,715.51268055,682.48731945,666.51268055,636,881,788,804,652.48731945,632,653,0.439298470214,0.00461060824474,0.0800046549018,0.99999999181,0.000111598937133,1.96593888158e-05,-5.94945434264e-05,1793238308484575744
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,683,666,636.061830961,881,788,804,652.938169039,632,653,0.439891052619,0.00461318889837,0.079995717419,0.999999991691,0.000114383185992,6.23651196082e-06,-5.91214753091e-05,1793238308501243392
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,683,666,636.654659354,881,788,804,652.345340646,632,653,0.440444950439,0.00461310254633,0.0799666167135,0.999999992067,0.000103810627719,-3.91410956062e-05,-5.96358351449e-05,1793238308517909760
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,683,666,636.759316715,881,787.759316715,804,652.240683285,632,653,0.440978953385,0.00461368834171,0.0799321542364,0.999999989064,9.97932496397e-05,-9.06208211995e-05,-6.08447548278e-05,1793238308534576128
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715,683,666,636.182787675,881,787.182787675,804,652.817212325,632,653,0.441485195284,0.00461521204129,0.0798902100281,0.999999981167,0.00010492287007,-0.000150615344563,-6.30228525846e-05,1793238308551242496
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715,683,666,636,881.393360157,787.393360157,804,652.606639843,632,653,0.44201285866,0.00461437234074,0.0798883862647,0.999999981272,0.000107102103516,-0.000148258328399,-6.32780678483e-05,1793238308567908608
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,715,683,665.878149624,636,881,788,804.878149624,652,632,653.121850376,0.443547540831,0.00462253200831,0.0799562128918,0.999999989636,0.000121951502058,-4.59061899342e-05,-6.122243475e-05,1793238308617907968
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715,683,665.285447056,636,881,788,804.285447056,652,632,653.714552944,0.443973463031,0.00463186322693,0.0799414368082,0.999999986399,0.000133480130447,-7.46634522378e-05,-6.17358001044e-05,1793238308634574848
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+264,4.400000000,HOLD_POSE2,766,746,714,683,658,634,881.421206331,787,804,652,632,654,0.449421969014,0.00473204561894,0.0796575254964,0.999999841465,0.000237728161482,-0.000505251627454,-7.26339135064e-05,1793238309664407552
+265,4.416666667,HOLD_POSE2,766,746,714.15701218,683.15701218,658,634,881,787,804,652,632,653.84298782,0.44942098389,0.00473241316608,0.0796559783804,0.999999840298,0.000238841843966,-0.000507043158424,-7.25600409973e-05,1793238309681074176
+266,4.433333333,HOLD_POSE2,766,746,714.733693505,683.733693505,658,634,881,787,804,652,632,653.266306495,0.449422682389,0.00473421732758,0.0796577592163,0.999999840826,0.000242664610742,-0.000504237920727,-7.21569995599e-05,1793238309697740544
+267,4.450000000,HOLD_POSE2,765.691961903,746,714.691961903,683.691961903,658,634,881,787,804,652,632,653,0.449423733817,0.0047334441918,0.0796588775078,0.999999841822,0.000241980496501,-0.00050262673046,-7.18863900009e-05,1793238309714407168
+268,4.466666667,HOLD_POSE2,765.119622301,746,714.119622301,683.119622301,658,634,881,787,804,652,632,653,0.449424230048,0.00473045969455,0.0796594273257,0.999999843219,0.000237429407624,-0.000502040051733,-7.17294090891e-05,1793238309731073792
+269,4.483333333,HOLD_POSE2,765,746,714,683,658,634,881,787,804,652,632,653,0.449424636106,0.00473002876635,0.0796596150567,0.999999843222,0.000236825757637,-0.000502332042229,-7.16351111848e-05,1793238309747740416
+270,4.500000000,HOLD_POSE2,765.062570621,746,714.062570621,683.062570621,658,634,881,787,804,652,632,653.062570621,0.449424945152,0.00473030208204,0.0796596464023,0.999999842867,0.000237119731733,-0.000502903503146,-7.16103806208e-05,1793238309764407040
+271,4.516666667,HOLD_POSE2,765.641583048,746,714.641583048,683.641583048,658,634,881,787,804,652,632,653.641583048,0.449424650135,0.00473081896378,0.07965917666,0.999999842568,0.000236213489941,-0.000503865350298,-7.20231355279e-05,1793238309781073664
+272,4.533333333,HOLD_POSE2,766,746,715,684,658,634,881,787,804,652,632,653.781425763,0.449424923296,0.00473094058689,0.0796590431477,0.999999842607,0.00023567339821,-0.000504012115332,-7.22217664708e-05,1793238309797740544
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+274,4.566666667,HOLD_POSE2,766,746,715,684,658,634,881.372730836,787,804.372730836,652.372730836,632,653,0.449426018522,0.00473202691673,0.0796592049771,0.999999842887,0.000237606969079,-0.000502555251294,-7.21644116038e-05,1793238309831074048
+275,4.583333333,HOLD_POSE2,766,746,715,684,658,634,881.957007107,787,804.957007107,652.957007107,632,653,0.449425181074,0.0047348412978,0.0796585773139,0.999999842058,0.000240520906276,-0.000502785748667,-7.23932153944e-05,1793238309847740416
+276,4.600000000,HOLD_POSE2,766,746,714.46081094,682.921621881,658,634,881.46081094,787,804.46081094,652.46081094,632,653,0.449424810507,0.00473242392001,0.0796583887553,0.9999998421,0.000238711588119,-0.000503621689537,-7.19917593251e-05,1793238309864407296
+277,4.616666667,HOLD_POSE2,766,746,714.120696138,682.241392276,658,634,881,787,804,652,632,653,0.449424609618,0.0047302929346,0.0796582561564,0.999999842263,0.000236613582166,-0.000504319726733,-7.17602985706e-05,1793238309881073664
+278,4.633333333,HOLD_POSE2,766,746,714.700269999,683.400539998,658,634,881,787,804,652,632,653,0.449424912845,0.00473083066792,0.0796582037118,0.999999842641,0.000234844326226,-0.000504310633969,-7.23654719403e-05,1793238309897740288
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,714,683,658,634,881.181095035,787,804,652.818904965,631.181095035,653.818904965,0.449422770092,0.00473012422563,0.0796568423684,0.999999840963,0.000236121311275,-0.000507040952289,-7.23202930224e-05,1793238309968882944
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,714,683.336935885,658,634,881.663064115,787,804,652,632,653.336935885,0.449425207549,0.00473132446114,0.0796592979384,0.999999841963,0.000238048342862,-0.000504277321619,-7.15003007688e-05,1793238310002215680
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,714,683.910702088,658,634,881.089297912,787,804,652,632,653.910702088,0.449425754414,0.00473166987056,0.0796586317559,0.999999841569,0.000237947182762,-0.000505089347496,-7.160680209e-05,1793238310018882304
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,714.936162309,683.936162309,657.936162309,634,881,787,804.936162309,652.936162309,632,653.063837691,0.449423754002,0.00473170086719,0.0796573802245,0.999999841158,0.000237779540286,-0.000505978228959,-7.16334198983e-05,1793238310052215808
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,714.346218728,683.346218728,657.346218728,634,881,787,804.346218728,652.346218728,632,653.653781272,0.449423870428,0.00472999376261,0.0796575076683,0.999999841345,0.000236953641996,-0.000506020159119,-7.14578543308e-05,1793238310068882432
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,714.239558982,683,657.239558982,634,881.239558982,787,804.239558982,652,632,653.760441018,0.449421955166,0.0047291982621,0.0796565596848,0.999999840835,0.000236105432938,-0.000507438068033,-7.1351397423e-05,1793238310085549312
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,683.970023706,658,634,882,787,804.029976294,652,632,653,0.449387593457,0.00473238221871,0.0796376088527,0.999999825509,0.000239201166883,-0.000535346431104,-7.18905006172e-05,1793238310135551744
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,714.442409004,684,658,634,881.442409004,787,804,652.557590996,631.442409004,653,0.449350571574,0.00473098301346,0.0796201252045,0.999999809909,0.000236989682169,-0.000564687144517,-7.17309695383e-05,1793238310152217088
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746,714,684,658,634,881,787,804,652.276820591,631.723179409,653,0.449249139965,0.00472904855403,0.0795811975274,0.999999771209,0.000238333023788,-0.00062915423431,-7.03085540525e-05,1793238310185549312
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,746,714,684,658,634,881,787,804.300988939,652.300988939,632,653,0.449188053717,0.00472822237563,0.0795668331236,0.99999975644,0.000239391600377,-0.000651942697254,-6.91540388114e-05,1793238310202216192
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,714,684,658,634,881,787,804.877267667,652.877267667,632,653,0.449124410814,0.00472719922275,0.0795579758221,0.999999748028,0.000239071536323,-0.000664966403189,-6.78833985936e-05,1793238310218882816
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,746,714,683.547655425,658,634,881,787,805,653,632,653,0.44905356021,0.00472720962177,0.079555025637,0.999999744333,0.000239699737778,-0.00067044413003,-6.61978849921e-05,1793238310235549440
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.972077085,746,714,683.027922915,658,634,881.027922915,786.972077085,804.972077085,652.972077085,631.972077085,653,0.448979961314,0.00472742448557,0.0795537151843,0.999999741986,0.000240610718999,-0.000673787251385,-6.43815244974e-05,1793238310252216064
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,746,714,684,658.362916659,634,881,787,804,652,632,653.362916659,0.44853690141,0.00472866513333,0.0795373976585,0.999999717459,0.000256722526388,-0.000704457209919,-5.4002909772e-05,1793238310318882816
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,746,714,684,658.935342355,634,881,787,804,652,632,653.935342355,0.448387706601,0.00472861403285,0.0795256378558,0.999999703543,0.000259249184272,-0.000723274190116,-5.07780887642e-05,1793238310335549440
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746,714.510607517,684,658.489392483,634,881,787,804,652,632,653.489392483,0.448224804993,0.00472695327348,0.0795183904662,0.999999694166,0.000261331515581,-0.000735650132176,-4.68326802159e-05,1793238310352216064
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.157568536,746,715,683.842431464,659,635,881.157568536,787,804.157568536,652,632,653,0.44750461815,0.00471896397164,0.079548723701,0.999999725337,0.000276132467954,-0.000687331580454,-2.55480898237e-05,1793238310418883072
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,746,715,683.039404262,664,635.960595738,882,788,804.039404262,652.960595738,632,654,0.442747338161,0.00464675947825,0.0797822824373,0.999999917815,0.000219158498917,-0.000340569138229,1.87609384883e-05,1793238310652216320
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,746,715,683.547400357,664.547400357,636,881.452599643,788,804.547400357,653,632,653.452599643,0.442271332688,0.00463952724936,0.0798091438212,0.999999935941,0.000199858562592,-0.000296316602204,1.92518803315e-05,1793238310668882944
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,746,715,683.866737624,665,636,881,788,804.866737624,653,632,653.133262376,0.441775503303,0.00463274744933,0.0798287461352,0.999999948231,0.000183086293111,-0.000263876307272,1.96885447652e-05,1793238310685549568
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,746,715,683.286981571,665,636,881,788,804.286981571,653,632,653.713018429,0.441219934001,0.00462780533874,0.0798218591765,0.999999946622,0.000175487729249,-0.000274857306899,2.03192361344e-05,1793238310702216192
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,746.290966124,715,683,665,635.709033876,881.290966124,788,804.290966124,653,632,653.709033876,0.440626540198,0.00462156183745,0.0797931350185,0.999999933731,0.000175044365399,-0.000318483051159,2.15675281103e-05,1793238310718882816
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,746.925168907,715,683,665,636,881,788,805,652.925168907,632,653,0.435622104135,0.0045709676105,0.0798426237566,0.999999960082,0.000136222208674,-0.000244993266191,3.54748462787e-05,1793238310852216064
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,746.499937762,715,683,665,636,881,788,805,652.499937762,632,653.500062238,0.434904779651,0.00456206000974,0.0798220450369,0.999999951791,0.00013525711061,-0.000277220702474,3.56746691271e-05,1793238310868882688
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,683,665,636,880.25380303,787.74619697,804,652.74619697,632,653,0.432689560183,0.00453540954399,0.0797800131236,0.999999930532,0.000110106106279,-0.000353789221054,4.05594025104e-05,1793238310918882560
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.260849568,746,715,682,665.260849568,636,880.260849568,788,804,653,632,653.739150432,0.428237376854,0.00448325396942,0.0798685702094,0.999999969625,7.72552476981e-05,-0.000228312353652,5.15370219984e-05,1793238311018882816
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.374084916,746.625915084,715.625915084,682,664.374084916,636,880,788,803.374084916,653,632,653.374084916,0.421989347877,0.0045025242291,0.0798169694614,0.999999951875,0.000107904222841,-0.00028585701556,5.37794967083e-05,1793238311152215808
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.700798852,746,715.700798852,681.299201148,665,636.299201148,880.700798852,788,804,653,632,653,0.418976039716,0.0044717693966,0.079821063529,0.999999957611,7.33169334734e-05,-0.000276538418006,5.41302832758e-05,1793238311218882304
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.720902591,746,716,681.279097409,665,636,880.720902591,787.720902591,804,653,632,653,0.418202297642,0.00447268218726,0.0798004627463,0.999999947937,7.01922597126e-05,-0.000310459836082,5.30400137967e-05,1793238311235549184
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.184919733,715,681,664.815080267,636,880,787.184919733,803.184919733,652.815080267,632,653,0.414673881055,0.00448728124643,0.0798068078246,0.999999946144,9.19381594457e-05,-0.000310462326078,5.35896839164e-05,1793238311318882560
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,664.908554876,636,880,788,804,652.908554876,632,653.908554876,0.41273410224,0.00447563874196,0.0798321926317,0.999999960965,8.39136716066e-05,-0.000261029851112,5.37766136924e-05,1793238311368882688
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.083610784,746,716,680.083610784,665,636,880,788,803.083610784,653,632,654,0.411465454813,0.00448179344445,0.0798031477917,0.999999944526,7.65450461221e-05,-0.000319699688088,5.36726606922e-05,1793238311402216192
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,766.019296314,746.980703686,716,680.980703686,665,636.980703686,880,788,804,653,632,654,0.401006114045,0.0045103147188,0.0798475273194,0.999999956053,0.000125476926069,-0.000264293277795,4.79477837242e-05,1793238312118882816
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fec0cf3efc8c4dfa17b3387bff9b2e14333fdb84
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,439 @@
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+377,6.283333333,pose2_to_pose3_retreat,0.583295945381,0.0100012041251,1.07001149282,0.553867182106,0.0186748766377,1.06966103338
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+386,6.433333333,pose2_to_pose3_retreat,0.580421820892,0.0100013642867,1.07001174936,0.55099305434,0.0186750254348,1.0696612841
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+388,6.466666667,pose2_to_pose3_retreat,0.579977432649,0.0100012812338,1.07001174738,0.550548665853,0.01867494151,1.06966128098
+389,6.483333333,pose2_to_pose3_retreat,0.579777452457,0.0100013066067,1.07001166672,0.550348685638,0.018674966799,1.06966120029
+390,6.500000000,pose2_to_pose3_retreat,0.579595833307,0.0100014460038,1.07001163161,0.55016706541,0.0186751029006,1.06966117432
+391,6.516666667,pose2_to_pose3_retreat,0.579431402944,0.0100014225735,1.07001167815,0.550002636308,0.0186750833269,1.06966121028
+392,6.533333333,pose2_to_pose3_retreat,0.579283377575,0.0100014075134,1.07001168665,0.549854610733,0.0186750674366,1.06966121553
+393,6.550000000,pose2_to_pose3_retreat,0.579149125236,0.010001353104,1.07001167606,0.54972035828,0.0186750126992,1.06966120642
+394,6.566666667,pose2_to_pose3_retreat,0.579028300497,0.0100012299896,1.07001167178,0.549599534844,0.0186748940728,1.06966120378
+395,6.583333333,pose2_to_pose3_retreat,0.578916031119,0.0100013757095,1.07001165803,0.549487264078,0.018675035153,1.06966119183
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+397,6.616666667,pose2_to_pose3_retreat,0.578719109359,0.0100012994934,1.07001163003,0.549290343717,0.0186749639495,1.06966117115
+398,6.633333333,pose2_to_pose3_retreat,0.57863582835,0.0100013487763,1.07001165536,0.549207061121,0.0186750079554,1.06966119971
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+409,6.816666667,pose2_to_pose3_retreat,0.57827031211,0.0100012662078,1.07001137341,0.548841546035,0.0186749291501,1.06966091346
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+414,6.900000000,pose2_to_pose3_retreat,0.578255066357,0.0100013668317,1.07001201754,0.548826300375,0.0186750296082,1.06966154535
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+416,6.933333333,pose2_to_pose3_retreat,0.5782538563,0.0100013251854,1.07001192437,0.548825091271,0.0186749914363,1.06966145803
+417,6.950000000,pose2_to_pose3_retreat,0.578253491089,0.0100013126161,1.07001189625,0.548824726348,0.0186749799155,1.06966143168
+418,6.966666667,pose2_to_pose3_retreat,0.578253151979,0.0100013149446,1.07001182781,0.548824387252,0.018674982214,1.06966136142
+419,6.983333333,pose2_to_pose3_retreat,0.578252927444,0.0100013166417,1.07001178202,0.548824162722,0.0186749838802,1.06966131439
+420,7.000000000,pose2_to_pose3_retreat,0.578252825244,0.0100013174141,1.07001176118,0.548824060525,0.0186749846385,1.06966129299
+421,7.016666667,pose2_to_pose3_retreat,0.578252731037,0.0100013181262,1.07001174197,0.548823966321,0.0186749853375,1.06966127326
+422,7.033333333,pose2_to_pose3_retreat,0.578252660768,0.0100013186573,1.07001172764,0.548823896054,0.018674985859,1.06966125854
+423,7.050000000,pose2_to_pose3_retreat,0.57825263082,0.0100013188836,1.07001172154,0.548823866107,0.0186749860812,1.06966125227
+424,7.066666667,pose2_to_pose3_retreat,0.578252600902,0.0100013191098,1.07001171543,0.54882383619,0.0186749863032,1.069661246
+425,7.083333333,pose2_to_pose3_retreat,0.578252550897,0.0100013194877,1.07001170524,0.548823786186,0.0186749866742,1.06966123553
+426,7.100000000,pose2_to_pose3_retreat,0.57825254088,0.0100013195634,1.07001170319,0.54882377617,0.0186749867486,1.06966123343
+427,7.116666667,pose2_to_pose3_retreat,0.578252491406,0.0100013199374,1.07001169311,0.548823726697,0.0186749871157,1.06966122307
+428,7.133333333,pose2_to_pose3_retreat,0.578252490749,0.0100013199423,1.07001169297,0.54882372604,0.0186749871205,1.06966122293
+429,7.150000000,pose2_to_pose3_retreat,0.578252461669,0.0100013201621,1.07001168704,0.548823696961,0.0186749873363,1.06966121684
+430,7.166666667,pose2_to_pose3_retreat,0.578252382987,0.0100013169919,1.07001165034,0.548823618253,0.0186749842004,1.06966118316
+431,7.183333333,pose2_to_pose3_retreat,0.578252334833,0.0100013143337,1.07001162394,0.548823570078,0.0186749815718,1.06966115927
+432,7.200000000,pose2_to_pose3_retreat,0.578252299218,0.0100013123678,1.07001160442,0.548823534448,0.0186749796278,1.0696611416
+433,7.216666667,pose2_to_pose3_retreat,0.578252267065,0.0100013105929,1.07001158679,0.548823502281,0.0186749778726,1.06966112564
+434,7.233333333,pose2_to_pose3_retreat,0.578252237609,0.0100013089669,1.07001157065,0.548823472812,0.0186749762647,1.06966111103
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e39554d75ea231d9a25f748ff05546567a87a470
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b82c2dceaeb1e888c897dd4cc6aeb75f644d4ebf41ddad0d6be612afa8d6b86f
+size 27833969
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8f5d0a3251e74412dcc51d3382e69f410d7f6f65
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_02/franka_data.csv
@@ -0,0 +1,440 @@
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+11,0.183333333,BASELINE,766.386218805,746,715,680,665,636,879.772437609,788,803,653,632,653.613781195,0.400990487761,0.00451165041162,0.0798515124932,0.999999957735,0.000125889053336,-0.000257970499446,4.61829297911e-05,1793238312875730176
+12,0.200000000,BASELINE,766.968220143,746,715,680,665,636,880.936440287,788,803,653,632,653.031779857,0.400989731275,0.00451134977716,0.0798505549842,0.999999957524,0.000124385257385,-0.000259548657568,4.59940181886e-05,1793238312892396800
+13,0.216666667,BASELINE,766.457574795,746,715,680.542425205,665,636,879.91514959,788,803,653,632,653,0.400989539551,0.00451061543313,0.0798500510229,0.999999957491,0.000123609675526,-0.000259995242882,4.62719332269e-05,1793238312909063168
+14,0.233333333,BASELINE,765.883715234,746,715,680.767430467,665,636.116284766,879.232569533,788,803,652.883715234,632,653.116284766,0.400989495457,0.00451019960565,0.0798496680838,0.999999957449,0.000123283682647,-0.000260278002,4.64499057302e-05,1793238312925729536
+15,0.250000000,BASELINE,765.309442749,746,715,679.618885497,665,636.690557251,880.381114503,788,803,652.309442749,632,653.690557251,0.40098990433,0.00451113691656,0.0798496586175,0.999999957333,0.000124562741422,-0.000260172943002,4.612806025e-05,1793238312942396160
+16,0.266666667,BASELINE,765.273229875,746,715,679.273229875,665,636.726770125,880.726770125,788,803,652.273229875,632,654,0.400991180944,0.00451115432941,0.0798504666656,0.999999957625,0.000124827788537,-0.000258928333413,4.60908362733e-05,1793238312959062784
+17,0.283333333,BASELINE,765.865717681,746,715,679.865717681,665,636.134282319,880.134282319,788,803,652.865717681,632,654,0.400993471477,0.00451009687894,0.0798522299461,0.999999958389,0.000123908004429,-0.000256352205577,4.63861808997e-05,1793238312975729408
+18,0.300000000,BASELINE,766,746,715,680,665,636,879.552681159,788,803.447318841,653,631.552681159,654,0.400993148737,0.00450895923496,0.0798521970545,0.999999958625,0.000121925184104,-0.000256384837517,4.63868291552e-05,1793238312992396288
+19,0.316666667,BASELINE,766,746,715,680.025476048,665,636.025476048,879.025476048,788,803.974523952,653,631.025476048,654,0.400992059146,0.00450794352562,0.0798516126951,0.999999958661,0.000119888589117,-0.000257218198488,4.63048902316e-05,1793238313009063168
+20,0.333333333,BASELINE,766,746,715,680.598188225,665,636.598188225,879.598188225,788,803.401811775,653,631.598188225,654,0.400990948041,0.0045100518473,0.0798504896239,0.999999957819,0.000123388789152,-0.000258829201714,4.63040814708e-05,1793238313025729792
+21,0.350000000,BASELINE,766,746,715,680.82338781,665,636.82338781,879.82338781,788,803,652.82338781,632,653.82338781,0.400990400209,0.00451105679298,0.0798500920143,0.999999957431,0.000125121231083,-0.00025949789119,4.63062729056e-05,1793238313042396416
+22,0.366666667,BASELINE,766,746,715,680.23153468,665,636.23153468,879.23153468,788,803,652.23153468,632,653.23153468,0.400991176714,0.00450946754095,0.0798514000708,0.999999958131,0.000122697416179,-0.000257951063799,4.6315518238e-05,1793238313059063040
+23,0.383333333,BASELINE,766,746,715,680,665,636,879.352949416,788,803,652.352949416,632,653.352949416,0.40099156726,0.00450901503216,0.079851591292,0.999999958364,0.000121753884559,-0.000257522903283,4.61493733987e-05,1793238313075729664
+24,0.400000000,BASELINE,766,746,715,680,665,636,879.932698351,788,803,652.932698351,632,653.932698351,0.400991709795,0.0045092929758,0.0798510648533,0.999999958301,0.00012176155851,-0.000257813579636,4.58705257069e-05,1793238313092396288
+25,0.416666667,BASELINE,766.509016901,746,715.509016901,680,665,636,879.490983099,788,803,653,632,654,0.400991936824,0.00451003935596,0.0798513169496,0.999999958372,0.0001235762455,-0.000256670270141,4.58861777446e-05,1793238313109062912
+26,0.433333333,BASELINE,766.913479699,746,716,680,665,636.086520301,879.086520301,788,803,653,632,653.913479699,0.400992095259,0.00451050720697,0.0798515282364,0.999999958457,0.00012492226383,-0.000255673973907,4.59510430724e-05,1793238313125729536
+27,0.450000000,BASELINE,766.326516887,746,716,680,665,636.673483113,879.673483113,788,803,653,632,653.326516887,0.400991792751,0.00450900816927,0.0798509120645,0.999999958548,0.000122184759471,-0.000256617342508,4.60768469865e-05,1793238313142396160
+28,0.466666667,BASELINE,766,746,716,680,665,636.742741731,880,788,803,653,632,653.257258269,0.400991676445,0.00450874771068,0.0798508049597,0.999999958586,0.000121173905362,-0.000256955172433,4.60416253589e-05,1793238313159063040
+29,0.483333333,BASELINE,766,746,716,680,665,636.162962924,880,788,803,653,632,653.837037076,0.400991793578,0.00451004003883,0.0798513360639,0.999999958564,0.00012232772497,-0.000256533848241,4.58045286015e-05,1793238313175729664
+30,0.500000000,BASELINE,766,746,715.585483973,680,665,636,880,788,803,653,632,654,0.400991958559,0.00450992233843,0.0798515812227,0.999999958661,0.000122477813212,-0.000256080870695,4.58335155449e-05,1793238313192396288
+31,0.516666667,BASELINE,766,746,715.008904213,680,665,636,880,788,803,653,632,654,0.400992142247,0.00450925335778,0.0798517145852,0.999999958803,0.000122235471602,-0.000255615517615,4.59665334959e-05,1793238313209062912
+32,0.533333333,BASELINE,766,746,715,680,665,636.563822064,880,788,803,653,632,654,0.400993688738,0.00450960253231,0.0798528718816,0.999999958933,0.000124714781026,-0.000253837847958,4.6326707028e-05,1793238313225729792
+33,0.550000000,BASELINE,766,746,715.140514127,680,665,636.859485873,879.859485873,788,803,653,632,654,0.400994718328,0.00450978510737,0.0798535986178,0.999999958997,0.000126136927717,-0.000252829047857,4.66187296781e-05,1793238313242396160
+34,0.566666667,BASELINE,766,746,715.730072805,680,665,636.269927195,879.269927195,788,803,653,632,654,0.40099402773,0.00450938424,0.0798528980754,0.999999958872,0.000124044246201,-0.000254343125453,4.66815743147e-05,1793238313259062784
+35,0.583333333,BASELINE,766,746,715.68493524,680,665,636,879.31506476,788,803,653,632,654,0.400992705128,0.00450954575941,0.0798520289907,0.999999958539,0.000123652504498,-0.000255875715283,4.64637392306e-05,1793238313275729664
+36,0.600000000,BASELINE,766,746,715.103799796,680,665,636,879.896200204,788,803,653,632,654,0.400990848804,0.00451018221171,0.0798510175728,0.999999958033,0.000124697198112,-0.000257423938776,4.60088714707e-05,1793238313292396288
+37,0.616666667,BASELINE,766,746,715.471862066,680,665,636,880,788,803,653,632,654,0.400991475727,0.00451093703937,0.0798513127505,0.999999958099,0.000125910675981,-0.000256580619384,4.59865547088e-05,1793238313309063168
+38,0.633333333,BASELINE,766,746,715.953493392,680,665,636,879.953493392,788,803,653,632,653.953493392,0.400992592426,0.00451178398918,0.0798518445552,0.999999958259,0.00012717290999,-0.000255320730883,4.60541417164e-05,1793238313325729536
+39,0.650000000,BASELINE,766,746,715.376877068,680,665,636,879.376877068,788,803,653,632,653.376877068,0.400993136671,0.00451338758523,0.0798518349165,0.999999958099,0.000128572530838,-0.000255240455351,4.60743413339e-05,1793238313342396160
+40,0.666666667,BASELINE,766,746,715,680,665,636,879.204218637,788,803,652.795781363,632,653.204218637,0.400992996707,0.00451395700016,0.0798516907136,0.999999958035,0.000128702432238,-0.00025542941429,4.60632942723e-05,1793238313359063040
+41,0.683333333,BASELINE,766,746,715,680,665,636,879.793766206,788,803,652.206233794,632,653.793766206,0.400991565745,0.00451257507544,0.0798512926085,0.999999958149,0.000126436569661,-0.000256126376974,4.59932895669e-05,1793238313375729408
+42,0.700000000,BASELINE,766,746,715,679.62324894,665,636,879.62324894,788,803,652,631.62324894,653.62324894,0.400991506936,0.00451137615445,0.0798511836275,0.999999958235,0.000125135226082,-0.000256461849797,4.5799190361e-05,1793238313392396032
+43,0.716666667,BASELINE,766,746,715,679.043795033,665,636,879.043795033,788,803,652,631.043795033,653.043795033,0.400992186387,0.00451027569474,0.0798512302034,0.999999958309,0.000124352821387,-0.000256602830715,4.55383247665e-05,1793238313409062656
+44,0.733333333,BASELINE,766,746,715,679.531344658,665,636,879,788,803.531344658,652.531344658,631.531344658,653,0.400991703173,0.00451090105404,0.0798513505068,0.999999958285,0.000125055945404,-0.00025628772795,4.59079566222e-05,1793238313425729280
+45,0.750000000,BASELINE,766,746,715,680,665,636,879.108589825,788,803.891410175,653,632,653,0.40099122029,0.00451122216425,0.0798515100999,0.999999958334,0.000125133803061,-0.000256006942064,4.61918303058e-05,1793238313442396160
+46,0.766666667,BASELINE,766,746,715,680,665,636,879.696689743,788,803.303310257,653,632,653,0.40099115862,0.00450957669834,0.079851816571,0.999999958738,0.000121914291455,-0.000256042353085,4.58693841274e-05,1793238313459062784
+47,0.783333333,BASELINE,766,746,715.2805754,680,665,636,880,788,803.2805754,653,632,653,0.400991416838,0.00450931368432,0.0798520926485,0.999999958862,0.000121439509667,-0.000255822535112,4.5639951998e-05,1793238313475729408
+48,0.800000000,BASELINE,766,746,715.859972803,680,665,636,880,788,803.859972803,653,632,653,0.400992015749,0.0045105230267,0.0798523363559,0.999999958693,0.000123887954754,-0.000255330889895,4.55095828418e-05,1793238313492396032
+49,0.816666667,BASELINE,766,746,716,680,665,636,879.56256589,788,803.56256589,653,632,653.43743411,0.400992818858,0.0045117607388,0.0798526478689,0.999999958655,0.000125919346218,-0.000254466780566,4.56139473613e-05,1793238313509063424
+50,0.833333333,BASELINE,766,746,715.985745081,680,665,636,879.014254919,788,803.014254919,653,632,654,0.400993628351,0.00451293708987,0.0798529456617,0.999999958653,0.000127711501288,-0.00025355002777,4.5786983459e-05,1793238313525730816
+51,0.850000000,BASELINE,766,746,715.409847367,680,665,636,879.590152633,788,803.590152633,653,632,654,0.400992125299,0.00451133959194,0.0798518514597,0.99999995853,0.000125314602092,-0.000255236062232,4.57181833299e-05,1793238313542396928
+52,0.866666667,BASELINE,766,746,715,680,665,636,879.831197041,788,803.831197041,653,632,653.831197041,0.400991228485,0.00451035288996,0.0798512137503,0.999999958452,0.000124013882929,-0.000256190424016,4.56473025794e-05,1793238313559063296
+53,0.883333333,BASELINE,766,746,715,680,665,636,879.245752721,788,803.245752721,653,632,653.245752721,0.400991827995,0.00451087376152,0.0798517027612,0.999999958498,0.000125418767797,-0.000255338862981,4.55712864207e-05,1793238313575730176
+54,0.900000000,BASELINE,766,746,715,680,665,636.338622338,879.338622338,788,803.338622338,653,631.661377662,653.338622338,0.400992359056,0.00451135307804,0.0798520133655,0.9999999586,0.00012611397806,-0.000254572201084,4.56877350721e-05,1793238313592396800
+55,0.916666667,BASELINE,766,746,715,680,665,636.922223807,879.922223807,788,803.922223807,653,631.077776193,653.922223807,0.400992840597,0.00451180233119,0.0798521949002,0.999999958745,0.000126295768299,-0.000253866960211,4.5943423985e-05,1793238313609063680
+56,0.933333333,BASELINE,766,746,715,680,665,636.503030427,879.503030427,787.503030427,803.503030427,653,631.496969573,654,0.400992272154,0.00451212934614,0.0798522329779,0.999999958487,0.000126955574019,-0.000254535363947,4.60386332118e-05,1793238313625730560
+57,0.950000000,BASELINE,766,746,715.070142321,680,665,636,879.070142321,787.070142321,803,653,632,653.929857679,0.40099169242,0.00451240393789,0.0798522571786,0.999999958247,0.000127454294,-0.000255222937394,4.60666901828e-05,1793238313642397184
+58,0.966666667,BASELINE,766,746,715.641803587,680,665,636,879.641803587,787.641803587,803,653,632,653.358196413,0.400992186304,0.00451243809055,0.0798523398738,0.999999958584,0.000126275720153,-0.000254537397572,4.57910376048e-05,1793238313659063296
+59,0.983333333,BASELINE,766,746,715.778167571,680.221832429,665,636,879.778167571,788,803,653,632,653,0.400992468369,0.00451185632147,0.0798523277839,0.999999958846,0.000124781959673,-0.000254285661792,4.55727832163e-05,1793238313675729664
+60,1.000000000,BASELINE,766,746,715.184097744,680.815902256,665,636,879.184097744,788,803,653,632,653,0.400992394999,0.00451024102856,0.0798521566433,0.99999995898,0.000122759312169,-0.000254761854132,4.54508436133e-05,1793238313692396032
+61,1.016666667,BASELINE,766,746,715,681,665,636,879,788.402497721,803.402497721,653,632,653,0.400991835276,0.00450939547254,0.0798522584005,0.999999958892,0.000122798224888,-0.000255081623581,4.54967840287e-05,1793238313709062912
+62,1.033333333,BASELINE,766,746,715,681,665,636,879,788.985736795,803.985736795,653,632,653,0.400991057155,0.00450889556649,0.0798524827023,0.999999958704,0.000123762880067,-0.000255331151402,4.56181108693e-05,1793238313725729792
+63,1.050000000,BASELINE,766,746,715,680.44355827,665,636,879.55644173,788.44355827,804,653,632,653.55644173,0.40099113927,0.00451017680789,0.0798519717587,0.999999958513,0.000124540033047,-0.000255654647094,4.58718403154e-05,1793238313742396928
+64,1.066666667,BASELINE,766,746,715,680,665,636,879.869069698,788,804,652.869069698,632,654,0.400991067014,0.0045112672675,0.0798514184972,0.999999958297,0.000125151879371,-0.000256176777638,4.60047064966e-05,1793238313759063808
+65,1.083333333,BASELINE,766,746,715,680,665,636,879.28025018,788,804,652.28025018,632,654,0.400990379482,0.00451153437476,0.0798507816998,0.999999957994,0.000125202053543,-0.00025738708896,4.57032823348e-05,1793238313775730432
+66,1.100000000,BASELINE,766,746,715.30437134,680,665.30437134,636,879.30437134,788,803.69562866,652.30437134,632,653.69562866,0.400991442921,0.00451169837281,0.0798513052986,0.999999958271,0.000125516204005,-0.000256171779095,4.56012712423e-05,1793238313792396800
+67,1.116666667,BASELINE,766,746,715.885180104,680,665.885180104,636,879.885180104,788,803.114819896,652.885180104,632,653.114819896,0.400994096635,0.00451176872455,0.0798528827974,0.999999959068,0.000126070104127,-0.000252753461237,4.56803719461e-05,1793238313809063424
+68,1.133333333,BASELINE,766,746,715.5378296,680,665.5378296,636,879.5378296,788,803,653,632,653,0.40099409428,0.00451132772068,0.079853171837,0.999999959141,0.000125581425257,-0.000252673420477,4.58677644319e-05,1793238313825730048
+69,1.150000000,BASELINE,766,746,715,680.038051225,665,636,879,787.961948775,803.038051225,653,632,653.038051225,0.400993353662,0.00451081446992,0.079853020099,0.999999959008,0.000124855813742,-0.000253523865852,4.60445677044e-05,1793238313842396416
+70,1.166666667,BASELINE,766,746,715,680.611558921,665,636,879,787.388441079,803.611558921,653,632,653.611558921,0.400991433695,0.00451105760889,0.0798511332767,0.999999958476,0.000124411070839,-0.000255893141765,4.56968744148e-05,1793238313859062784
+71,1.183333333,BASELINE,766,746,715.190883631,680.809116369,665.190883631,636,879.190883631,787.190883631,803.809116369,653,632.190883631,653.809116369,0.400990424079,0.00451147202021,0.0798502804751,0.99999995812,0.000124620780255,-0.000257209869211,4.55338301837e-05,1793238313875729664
+72,1.200000000,BASELINE,766,746,715.78241793,680.21758207,665.78241793,636,879.78241793,787.78241793,803.21758207,653,632.78241793,653.21758207,0.400991325224,0.00451224591961,0.0798515980065,0.99999995814,0.00012620413676,-0.000256317375466,4.57583506491e-05,1793238313892396800
+73,1.216666667,BASELINE,766,746,715.634400232,680,665.634400232,636,879.634400232,788,803.365599768,653,632.634400232,653,0.400991700339,0.00451199007183,0.0798519679122,0.999999958302,0.000126881005936,-0.000255332532624,4.58437921285e-05,1793238313909063424
+74,1.233333333,BASELINE,766,746,715.056078264,680,665.056078264,636,879.056078264,788,803.943921736,653,632.056078264,653,0.400991769385,0.00451113507133,0.079851786447,0.999999958548,0.000127030440384,-0.000254293957025,4.58483112565e-05,1793238313925730048
+75,1.250000000,BASELINE,766.520441706,746,715.520441706,680,665,636,879,788,803.479558294,652.479558294,632,653.520441706,0.400991220499,0.00451149781293,0.0798515444942,0.999999958175,0.00012789018803,-0.000255307136667,4.59665815216e-05,1793238313942396672
+76,1.266666667,BASELINE,766.901340834,746,716,680,665,636,879.098659166,788,803,652.098659166,632,654,0.400990829208,0.00451179973277,0.0798514931514,0.999999957888,0.00012848922414,-0.000256106590371,4.60892092447e-05,1793238313959063040
+77,1.283333333,BASELINE,766.313752139,746,716,680,665,636,879.686247861,788,803,652.686247861,632,654,0.400991547753,0.00451115221985,0.0798524186106,0.999999958366,0.000127418250917,-0.000254755041333,4.6172899284e-05,1793238313975729664
+78,1.300000000,BASELINE,766.270043418,746,716,680,665,636.270043418,879.729956582,788,803,653,632,653.729956582,0.400991962637,0.00451059508925,0.0798530627851,0.999999958762,0.000125841870478,-0.00025401220423,4.60095464306e-05,1793238313992396032
+79,1.316666667,BASELINE,766.849492892,746,716,680,665,636.849492892,879.150507108,788,803,653,632,653.150507108,0.400992029597,0.0045101415155,0.0798533846735,0.999999959063,0.000123686412657,-0.00025396680751,4.55631406905e-05,1793238314009062912
+80,1.333333333,BASELINE,766.573958571,746,715.573958571,680,665.426041429,636.573958571,879,788,803,653,632,653,0.400992418997,0.00451070681991,0.0798534647346,0.999999959,0.00012449512811,-0.000253788077885,4.57449693501e-05,1793238314025730048
+81,1.350000000,BASELINE,766,746,715.001559371,680,665.998440629,636.001559371,879.001559371,788,803,653,632,653,0.400992917311,0.00451162724245,0.0798534587441,0.999999958807,0.000126341223761,-0.000253564430004,4.61455493107e-05,1793238314042396928
+82,1.366666667,BASELINE,766,746,715.572418686,680,665.427581314,636.572418686,879.572418686,788,803,653,632,653,0.400991873339,0.00451167677734,0.0798530149456,0.999999958591,0.000127206065774,-0.000254021864362,4.59315706412e-05,1793238314059063552
+83,1.383333333,BASELINE,766.149823326,746,716,680.149823326,665,637,879.850176674,788,803.149823326,653,632,653.149823326,0.400991633729,0.00451150920275,0.0798529168904,0.999999958657,0.000127198071154,-0.000253799133777,4.57355352997e-05,1793238314075730176
+84,1.400000000,BASELINE,766.746761171,746,716,680.746761171,665,637,879.253238829,788,803.746761171,653,632,653.746761171,0.400993794558,0.004510693713,0.0798538506297,0.999999959562,0.000124585289197,-0.000251546601729,4.55930477933e-05,1793238314092396544
+85,1.416666667,BASELINE,766.667497642,746,716,680.667497642,665,636.667497642,879.332502358,788,804,653,632.332502358,654,0.400993730054,0.00451093984586,0.0798534434801,0.999999959411,0.000124493282211,-0.000252154388995,4.5788593907e-05,1793238314109063168
+86,1.433333333,BASELINE,766.090006232,746,716,680.090006232,665,636.090006232,879.909993768,788,804,653,632.909993768,654,0.400992025917,0.00451196818652,0.0798520483582,0.999999958481,0.000126258592345,-0.000254869670977,4.62332045369e-05,1793238314125729536
+87,1.450000000,BASELINE,766.485618052,746,716,680,665.485618052,636,880,788,804,653,632.514381948,654,0.400991940358,0.00451232291091,0.0798521906691,0.999999958481,0.000126027657201,-0.000255050897357,4.58791104794e-05,1793238314142396160
+88,1.466666667,BASELINE,766.939060279,746,716,680.060939721,665.939060279,636.060939721,880,788,803.939060279,653,632,654,0.400992037171,0.00451248801803,0.0798524944277,0.999999958603,0.000125470898291,-0.00025492449207,4.54403550404e-05,1793238314159063040
+89,1.483333333,BASELINE,766.363382823,746,716,680.636617177,665.363382823,636.636617177,880,788,803.363382823,653,632,654,0.400991150179,0.00451210202256,0.0798517641928,0.99999995831,0.000125275239182,-0.000256151586324,4.55321052697e-05,1793238314175730176
+90,1.500000000,BASELINE,766,746,716,680.782373761,665.217626239,636.782373761,879.782373761,788,803.217626239,652.782373761,632,653.782373761,0.400990774799,0.00451173964373,0.0798516102984,0.999999958222,0.000125139392443,-0.000256547184628,4.56119185438e-05,1793238314192397056
+91,1.516666667,BASELINE,766,746,716,680.1922387,665.8077613,636.1922387,879.1922387,788,803.8077613,652.1922387,632,653.1922387,0.400991275139,0.00451141768933,0.0798524429208,0.999999958486,0.000125105926005,-0.000255519518866,4.56712994323e-05,1793238314209063680
+92,1.533333333,BASELINE,766,746,716,680,665.610475233,636.389524767,879.389524767,788,803.610475233,652.389524767,632,653,0.40099218341,0.00451069088662,0.0798528566309,0.999999958838,0.000124185869378,-0.000254584185593,4.57128313382e-05,1793238314225730048
+93,1.550000000,BASELINE,766,746,716,680,665.032756348,636.967243652,879.967243652,788,803.032756348,652.967243652,632,653,0.400993288768,0.00450976848639,0.0798530679489,0.999999959229,0.000122837467562,-0.000253693461538,4.5745739732e-05,1793238314242396416
+94,1.566666667,BASELINE,766,746,715.459099407,680,665.540900593,636.459099407,880,788,803.540900593,652.459099407,631.459099407,653,0.400992706325,0.00451080382452,0.0798531782989,0.999999958945,0.000124703298404,-0.000253888276903,4.58190168809e-05,1793238314259062784
+95,1.583333333,BASELINE,766,746,715.117894121,680,665.882105879,636.117894121,880,788,803.882105879,652.117894121,631.117894121,653.117894121,0.400992207729,0.0045114975978,0.0798532766036,0.999999958798,0.000125803183031,-0.000253923645207,4.58228172533e-05,1793238314275729408
+96,1.600000000,BASELINE,766,746,715.70926861,680,665.29073139,636.70926861,880,788,803.29073139,652.70926861,631.70926861,653.70926861,0.400992453307,0.00451034699651,0.0798533509066,0.999999959374,0.000123050995839,-0.000253056600369,4.5537843507e-05,1793238314292396032
+97,1.616666667,BASELINE,766.294461871,746,715.705538129,680,665,637,879.705538129,788,803,653,632,654,0.400991596793,0.00451056815489,0.0798526989488,0.999999959127,0.000123323526608,-0.000253908657303,4.54826007968e-05,1793238314309062912
+98,1.633333333,BASELINE,766.873677655,746,715.126322345,680,665,637,879.126322345,788,803,653,632,654,0.40098967452,0.00451211584819,0.0798513446739,0.999999958078,0.000126521055172,-0.0002564231399,4.5649515258e-05,1793238314325730048
+99,1.650000000,BASELINE,766.55002016,746,715.44997984,680.44997984,665,636.55002016,879.44997984,788,803.44997984,653,632,654,0.400990523381,0.00451264518034,0.0798516941691,0.999999957973,0.00012814606183,-0.00025603900294,4.55778931252e-05,1793238314342396928
+100,1.666666667,BASELINE,766,746,716,680.9740035,665,636,880.0259965,788,803.9740035,653,632,654,0.400992064746,0.004512851492,0.0798524828348,0.999999958132,0.000129214308687,-0.000254901175847,4.5446274417e-05,1793238314359063296
+101,1.683333333,BASELINE,766,746,716,680.386602802,665,636,880.613397198,788,803.386602802,653,632,654,0.400991869227,0.00451221609694,0.0798524929887,0.99999995831,0.000127731117189,-0.000254946800979,4.54558190311e-05,1793238314375729920
+102,1.700000000,BASELINE,766.198130519,746,715.801869481,680.198130519,665,636.198130519,880.801869481,788,803,653,632,653.801869481,0.400991963864,0.00451181109258,0.0798529138646,0.999999958492,0.000127023211111,-0.000254589359372,4.54462990177e-05,1793238314392396288
+103,1.716666667,BASELINE,766.777728184,746,715.222271816,680.777728184,665,636.777728184,880.222271816,788,803,653,632,653.222271816,0.400992617148,0.00451184966699,0.0798541255171,0.999999958682,0.000127807987485,-0.000253455880234,4.54000732542e-05,1793238314409062912
+104,1.733333333,BASELINE,766.643772233,746,715.356227767,680.643772233,665.356227767,636.643772233,879.643772233,788,803.356227767,653,632,653.356227767,0.400991628116,0.00451172216179,0.0798532098069,0.999999958355,0.000127683321005,-0.000254795454454,4.54532432557e-05,1793238314425729536
+105,1.750000000,BASELINE,766.065955647,746,715.934044353,680.065955647,665.934044353,636.065955647,879.065955647,788,803.934044353,653,632,653.934044353,0.400989617495,0.00451149134801,0.079850970787,0.9999999577,0.00012699294247,-0.000257673372921,4.55682416451e-05,1793238314442396160
+106,1.766666667,BASELINE,766,746,715.491760916,680,666,636,879.508239084,788,803.491760916,653,632,654,0.40099195843,0.00451204741444,0.079852885033,0.999999958537,0.000126424618287,-0.00025467675959,4.5635018725e-05,1793238314459063040
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,747,716,680,665,636,879,788,804,653,631,654,0.400993583134,0.00451233370924,0.0798539000736,0.999999959378,0.000126019251873,-0.000251604861619,4.5356063787e-05,1793238314501578496
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746.420250461,716,680,665,636,879.579749539,788,803.420250461,652.420250461,631.579749539,654,0.400993600274,0.00451289584287,0.0798540870903,0.999999959247,0.000127058241763,-0.000251606708471,4.53479044898e-05,1793238314518244864
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,715.845710448,680.154289552,665,636,880,788,803,652.154289552,632,654,0.400993196683,0.00451308963908,0.0798538508767,0.999999959015,0.000127991325654,-0.000252056429974,4.53384751612e-05,1793238314534910976
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,715.284896446,680.715103554,665,636,880,788,803,652.715103554,632,654,0.400991684545,0.00451231293438,0.0798524995293,0.99999995852,0.000128645367042,-0.000253686218395,4.53256995329e-05,1793238314551577344
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680.708963363,665.291036637,636,879.708963363,788,803,653,632,653.708963363,0.400991324365,0.00451135090785,0.0798520120144,0.999999958665,0.000126690786411,-0.000254114527988,4.5235431736e-05,1793238314568243712
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680.117419232,665.882580768,636,879.117419232,788,803,653,632,653.117419232,0.400992153632,0.00451019752883,0.079852416443,0.999999959456,0.000122042694442,-0.000253302260358,4.50651500353e-05,1793238314584910592
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,715.473951015,680,665.526048985,636,879.473951015,788,803,653,632,653,0.400991401828,0.00451068567879,0.079852560928,0.999999959167,0.000122741266727,-0.000254071050829,4.52632460917e-05,1793238314601577216
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,715.936308426,680,665,636.063691574,879.936308426,788,803,653,632,653,0.40099046536,0.00451144814952,0.0798525677956,0.999999958646,0.000124610161681,-0.00025516291587,4.55135642475e-05,1793238314618244096
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,715.359353759,680,665,636.640646241,879.359353759,788,803,653,632,653,0.400991196172,0.00451114518451,0.0798519844431,0.999999958433,0.00012523961994,-0.000255702915494,4.54495307616e-05,1793238314634911232
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,715.21682713,680,665,636.78317287,879,788,803,653,632,653.21682713,0.400992794013,0.00451083052047,0.0798524969906,0.999999958661,0.000125122584299,-0.000254861777865,4.54823234801e-05,1793238314651577856
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,715.791730117,680,665,636.208269883,879,788,803,653,632,653.791730117,0.400995823696,0.00451049653626,0.0798548193454,0.999999959611,0.000123772762623,-0.000251739782116,4.56750183645e-05,1793238314668244224
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,715.634252093,680,665,636,879,788,803,653,632,653.634252093,0.401006502038,0.00451033604377,0.0798597375986,0.999999961565,0.000123721839387,-0.0002438855733,4.56412106824e-05,1793238314684910592
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,715.060737095,680,665,636,879,788,803,653,632,653.060737095,0.401021525285,0.0045102741051,0.0798661304805,0.999999964003,0.000124408769451,-0.000233343178889,4.54787357594e-05,1793238314701576960
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680.53043629,665,636,879.53043629,788,803,653,632,653.53043629,0.401062167861,0.00451205982923,0.0798822312916,0.999999970045,0.000127658740223,-0.000203918757155,4.50540780089e-05,1793238314718243584
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680.879658632,665,636,879.879658632,788,803,653,631.879658632,653.879658632,0.401109315906,0.00451360096634,0.0798992486296,0.999999975738,0.00013001881131,-0.000172180730239,4.44180576883e-05,1793238314734910464
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680.302507374,665,636,879.302507374,788,803,653,631.302507374,653.302507374,0.401169639455,0.00451338291831,0.0799153801875,0.999999981078,0.00012784847504,-0.000140150093996,4.30975980222e-05,1793238314751577088
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,715.272996827,680.272996827,665.272996827,636,879.272996827,788,803,653,631,653,0.401232777483,0.00451237972273,0.0799278031295,0.999999984523,0.000124359393171,-0.000117262912465,4.16839555228e-05,1793238314768243712
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,715.846686835,680.846686835,665.846686835,636,879.846686835,788,803,653,631,653,0.401299015525,0.00451051172401,0.0799361412042,0.999999986608,0.00011941777519,-0.000104446818839,4.01676766198e-05,1793238314784910848
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,716,680.566435808,665.566435808,636,879.566435808,788,803,652.566435808,631.433564192,653.433564192,0.401373572686,0.00451188433684,0.0799397802864,0.999999987294,0.000118724389077,-9.93453825148e-05,3.80436526173e-05,1793238314801577728
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,879,788,803,652.024712863,632,653.975287137,0.401452010815,0.00451436192872,0.079941726736,0.999999987518,0.000119462059857,-9.70569106867e-05,3.56778550973e-05,1793238314818244096
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,879,788,803,652.603789545,632,653.396210455,0.401549447985,0.00451511481507,0.0799441467162,0.999999988062,0.000117546209359,-9.47549162861e-05,3.28605776388e-05,1793238314834910720
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,715.81849209,680,665,636,879,788,803,653,632,653.18150791,0.401655414954,0.00451625483225,0.0799479900335,0.99999998889,0.000116049742154,-8.872039371e-05,2.96773153403e-05,1793238314851577344
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,715.243716824,680,665,636,879,788,803,653,632,653.756283176,0.401779863153,0.00451823363326,0.079954917249,0.999999990222,0.000115461939493,-7.4598722551e-05,2.57010858113e-05,1793238314868243968
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,715.330547667,680,665,636.330547667,879.330547667,788,803,653,632,654,0.401916447638,0.00451854366848,0.0799614716382,0.999999991665,0.000110520375846,-6.31866347805e-05,2.15136795757e-05,1793238314884910592
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,715.904436198,680,665,636.904436198,879.904436198,788,803,653,632,654,0.402061966562,0.00451762520057,0.0799677515628,0.999999993167,0.000102373682988,-5.37692725624e-05,1.71708099547e-05,1793238314901577216
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,715.504429825,679.504429825,665,636.504429825,879.504429825,788,803,653,632.495570175,653.504429825,0.402229781529,0.0045071134459,0.0799730571479,0.999999995295,8.51009660401e-05,-4.44264946105e-05,1.39530563193e-05,1793238314918243840
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,715,679.087494005,665,636,879.087494005,787.912505995,803,653,632.912505995,653.087494005,0.402403244552,0.00449530257391,0.0799763007974,0.999999997009,6.6111768449e-05,-3.86930673053e-05,1.07091240363e-05,1793238314934910464
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,715,679.664558776,665,636,879.664558776,787.335441224,803,653,632.335441224,653.664558776,0.402583386196,0.00448694696876,0.0799690961601,0.999999997435,4.77201293035e-05,-5.30722993131e-05,6.06092746645e-06,1793238314951577088
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,787.240740182,803,652.759259818,631.759259818,653.759259818,0.402774952089,0.00448693074263,0.0799622118848,0.999999997141,3.79068506512e-05,-6.54273480346e-05,-2.97835819907e-07,1793238314968243712
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,787.815695196,803,652.184304804,631.184304804,653.184304804,0.40298237803,0.00449849191186,0.0799557723624,0.999999996349,4.00027412478e-05,-7.49722623192e-05,-9.03134474772e-06,1793238314984910336
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,715.398694773,680.398694773,665,636,880.398694773,787.601305227,803,652.398694773,631.398694773,653.398694773,0.403217254121,0.00450026383293,0.0799550546871,0.999999996572,3.50094082464e-05,-7.34962871277e-05,-1.51471436068e-05,1793238315001577472
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,715.985489677,680.985489677,665,636,880.985489677,787.014510323,803,652.985489677,631.985489677,653.985489677,0.403465080907,0.00449741728617,0.0799570365212,0.999999997211,2.6671451744e-05,-6.68207683325e-05,-2.00279332871e-05,1793238315018244864
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746.56546641,716,680.43453359,665,636,879.86906718,787.56546641,803.56546641,653,631.43453359,654,0.40376347795,0.00450764331008,0.079961678056,0.999999996023,6.54945824314e-05,-5.84546621057e-05,-1.57629023501e-05,1793238315034911232
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746.85516222,716,680,665,636,879.14483778,788,803.85516222,653,631.14483778,654,0.404067588303,0.00451712882397,0.0799659891886,0.999999994925,8.54187566033e-05,-5.16779591945e-05,-1.3523792075e-05,1793238315051577344
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746.277084615,716,680,665,636,879.722915385,788,803.277084615,653,631.722915385,654,0.404384952931,0.00452340786301,0.0799691103007,0.999999997575,4.52354213902e-05,-4.97837108697e-05,-1.80382714793e-05,1793238315068244480
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.29779506,746,715.70220494,680,665,636,880,788,803.29779506,653,632,654,0.404725359981,0.00452741851292,0.0799718812069,0.999999998322,3.17692097231e-05,-4.32911508997e-05,-2.17375611654e-05,1793238315084911104
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.869730888,746,715.130269112,680,665,636,880,788,803.869730888,653,632,654,0.405086979197,0.00452934095586,0.079974329725,0.999999998245,4.28979371764e-05,-3.25655296684e-05,-2.46864133712e-05,1793238315101577472
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.541716153,746,715,680,665.458283847,636,880,788,803.541716153,653,632,654,0.405453021543,0.00453966145603,0.0799679929864,0.999999996482,6.83560712981e-05,-4.13994699667e-05,-2.54784574127e-05,1793238315118244096
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746.050281151,715.050281151,680,665.949718849,636,880,788,803,652.949718849,632,654,0.40582538399,0.00455168590504,0.0799592768118,0.999999993607,9.47600942908e-05,-5.60157980956e-05,-2.58525864447e-05,1793238315134910976
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746.627024998,715.627024998,680,665.372975002,636,880,788,803,652.372975002,632,654,0.406250260918,0.00455561624797,0.0799527778986,0.999999993321,8.68154965339e-05,-7.07715674486e-05,-2.85116999391e-05,1793238315151577344
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746.796272967,716,680,665,636,880,788,803,652,632,654,0.406682138158,0.00456167916414,0.0799487583336,0.999999992492,8.77996036357e-05,-8.00321391428e-05,-3.00395681279e-05,1793238315168243712
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746.219647501,716,680,665,636,880,788,803,652,632,654,0.40712682862,0.00457164550519,0.079949276925,0.9999999909,0.000105126658031,-7.92343953074e-05,-2.9496824341e-05,1793238315184910592
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,716,680,665.364485039,636.364485039,880,788,803.364485039,652.364485039,632,654,0.407582275228,0.00458187992965,0.079949651838,0.999999989319,0.000118193886576,-8.04627702389e-05,-3.02817298331e-05,1793238315201577728
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,716,680,665.953236639,636.953236639,880,788,803.953236639,652.953236639,632,654,0.408044340044,0.00459227930466,0.079949938346,0.999999987778,0.000128640056317,-8.29378100502e-05,-3.18835339967e-05,1793238315218244608
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.528222959,746,715.471777041,680,665.471777041,636.471777041,880,788,804,653,632,654,0.40854711103,0.00459865529658,0.0799421298211,0.999999985948,0.000134685551962,-9.41114621116e-05,-3.32733019508e-05,1793238315234911232
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.897979285,746.102020715,715.102020715,680.102020715,665.102020715,636,880,788,804,653,631.897979285,654,0.409068730345,0.00460509793295,0.0799395247023,0.999999984768,0.000141062339975,-9.67651545519e-05,-3.46651962302e-05,1793238315251577600
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.324185768,746.675814232,715.675814232,680.675814232,665.675814232,636,880,788,804,653,631.324185768,654,0.409661268248,0.00461345403402,0.0799642114418,0.999999986388,0.000150726934795,-5.65494804044e-05,-3.61515228299e-05,1793238315268244224
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746.7464549,716,680.7464549,666,636,879.7464549,788,803.7464549,652.7464549,631.2535451,654,0.410262915509,0.00461969071067,0.0799875215186,0.999999986786,0.000157132877155,-1.77959184268e-05,-3.77004149684e-05,1793238315284910848
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746.163610194,716,680.163610194,666,636,879.163610194,788,803.163610194,652.163610194,631.836389806,654,0.410876393915,0.00462317471993,0.0800090436152,0.999999986356,0.000159306544467,1.90586852675e-05,-3.93305662832e-05,1793238315301577728
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.423548187,746,716,680.423548187,666,636,879.423548187,788,803.423548187,652.423548187,632,653.576451813,0.411455222446,0.00461473701333,0.0800046203082,0.999999988311,0.000147192106062,7.86827615185e-06,-4.06255906791e-05,1793238315318244608
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.987790018,746,715.987790018,681,665.987790018,636.012209982,880,788,804,653,632,653.012209982,0.412021412541,0.00460166604412,0.0799896548128,0.999999990468,0.00012967210117,-2.24293241766e-05,-4.17873061492e-05,1793238315334910976
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.407502965,746,715.407502965,681,665.407502965,636.592497035,880,788,804,653,632,653.592497035,0.412628733023,0.00458949291883,0.0799552996458,0.999999989468,0.000120084696439,-6.9344802214e-05,-4.28316649657e-05,1793238315351577600
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715.171127427,681,665.171127427,636.828872573,880.171127427,787.828872573,804,653,632,653.828872573,0.413258234107,0.00458260911886,0.079930969712,0.999999987489,0.000114727723472,-9.9549566346e-05,-4.41517733619e-05,1793238315368244480
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715.74585063,681,665.74585063,636.25414937,880.74585063,787.25414937,804,653,632,653.25414937,0.413940047031,0.00458819993806,0.0799302838091,0.999999987733,0.000119348020749,-9.03429158232e-05,-4.61222239641e-05,1793238315384911104
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.31954542,746,715.68045458,681,666,636.31954542,880.68045458,787,804,653,631.68045458,653,0.414634080729,0.00459386553924,0.0799447848631,0.999999990173,0.000116993947003,-6.12375611929e-05,-4.70688716322e-05,1793238315401577728
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.892424861,746,715.107575139,681,666,636.892424861,880.107575139,787,804,653,631.107575139,653,0.415337802964,0.00459959042694,0.079971326061,0.9999999928,0.000109110626171,-1.6356613185e-05,-4.72038532561e-05,1793238315418244096
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.517771712,746,715,681,666,636.517771712,880,787.482228288,804,652.517771712,631.482228288,653.482228288,0.41601782431,0.00460315071006,0.0799779857471,0.999999990804,0.00012572329152,-1.9637540264e-05,-4.69010195124e-05,1793238315434910464
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665.926206803,636,880,788,803.926206803,652,632,653.926206803,0.416697935797,0.00460567954345,0.0799783037211,0.999999987992,0.000143972205301,-3.31108067884e-05,-4.68147100868e-05,1793238315451577088
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715,681,665.349308759,636,880,788,803.349308759,652,632,653.349308759,0.417416019327,0.00460458808555,0.0799667230275,0.999999988917,0.000134765588874,-4.01593210939e-05,-4.88947070363e-05,1793238315468243712
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715.226361148,680.773638852,665.226361148,636,880,788,803.226361148,652.226361148,632,653.226361148,0.418170398925,0.00460278811046,0.0799728336356,0.999999990474,0.000126917637757,-1.90754663771e-05,-5.07907944657e-05,1793238315484910848
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715.800146171,680.199853829,665.800146171,636,880,788,803.800146171,652.800146171,632,653.800146171,0.418980486604,0.00459990068804,0.0800060972258,0.999999990267,0.000121154993129,4.51865421168e-05,-5.24046138543e-05,1793238315501577984
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715.614104374,680.385895626,666,636,880,787.614104374,804.385895626,653,632,653.614104374,0.41973544177,0.00459950940299,0.0800119576019,0.999999989613,0.000119934247174,5.96227967303e-05,-5.32349871896e-05,1793238315518244608
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715.02196036,680.97803964,666,636,880,787.02196036,804.97803964,653,632,653.02196036,0.420460930392,0.00460045222056,0.0800031718688,0.999999990099,0.000121140995615,4.74288381369e-05,-5.3646634624e-05,1793238315534910976
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680.442393989,665.442393989,636,880,787,804.442393989,652.442393989,631.442393989,653,0.421200906246,0.00460362244349,0.0799851204024,0.999999990515,0.00012646713336,1.0930598751e-05,-5.34458663632e-05,1793238315551577600
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746.135570552,715.135570552,680.135570552,665.135570552,636,880,787.135570552,803.864429448,652.135570552,631.135570552,653,0.421955746524,0.00460622892019,0.0799769326842,0.999999989951,0.000131143146889,-8.22189797453e-06,-5.32243144741e-05,1793238315568244224
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746.709918541,715.709918541,680.709918541,665.709918541,636,880,787.709918541,803.290081459,652.709918541,631.709918541,653,0.422756889956,0.00460673316482,0.080001824235,0.999999989218,0.000133201522162,3.17951391422e-05,-5.30118356412e-05,1793238315584910848
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746.715807328,715.715807328,681,666,636,880.284192672,788,803,653,632,653,0.423552615599,0.00460837861309,0.0800152595376,0.999999988171,0.000135014969414,5.10909416561e-05,-5.30837402148e-05,1793238315601577216
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746.1416086,715.1416086,681,666,636,880.8583914,788,803,653,632,653,0.424342812579,0.00461118860918,0.0800170042437,0.999999988033,0.000136578478489,4.92416381333e-05,-5.34458455578e-05,1793238315618243840
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715.447087034,681,666,636,880.552912966,788,803.447087034,652.552912966,631.552912966,653.447087034,0.425075213365,0.00461398254182,0.0799839524182,0.999999989103,0.000136998359986,-1.28552207631e-05,-5.34867734781e-05,1793238315634910976
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.039426314,746,715.960573686,681,666.039426314,636.039426314,880,788,804,652,631.039426314,654,0.425794604451,0.00461650792341,0.0799423886327,0.99999998531,0.000137019158128,-8.7955213107e-05,-5.35691577943e-05,1793238315651578368
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.616731788,746,715.383268212,681,666.616731788,636.616731788,880,788,804,652,631.616731788,654,0.426594621615,0.00461544129373,0.0799400980064,0.999999986559,0.000136702771364,-7.13910852157e-05,-5.56514758589e-05,1793238315668244736
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,715,681,666.806371188,636.806371188,880,788,804,652.193628812,631.806371188,653.806371188,0.427385856572,0.00461469324263,0.0799396105504,0.999999987042,0.000137345540458,-6.18918071725e-05,-5.67633263628e-05,1793238315684910848
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,715,681,666.230280843,636.230280843,880,788,804,652.769719157,631.230280843,653.230280843,0.428159744788,0.00461457445745,0.0799426847709,0.99999998645,0.000139882863457,-6.63472330489e-05,-5.59582801453e-05,1793238315701577216
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,715,681,666.351735376,636,880.351735376,788,804,652.648264624,631.351735376,653,0.428937144176,0.00461361117485,0.0799511847138,0.999999987065,0.000139004378172,-5.88187192978e-05,-5.55767248822e-05,1793238315718243840
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,715,681,666.937697705,636,880.937697705,788,804,652.062302295,631.937697705,653,0.429716881669,0.00461208552616,0.0799632977434,0.999999988295,0.000135851244139,-4.33098829249e-05,-5.547717995e-05,1793238315734910720
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.479503781,746,715.520496219,681.520496219,666.479503781,636,881,788,804,652.520496219,632,653,0.430521008108,0.00461287277147,0.0799936774462,0.999999989565,0.000133751341856,-1.25086909069e-06,-5.45737389371e-05,1793238315751577344
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746.101307866,716,682,666,636,881,788,804.101307866,653,632,653.101307866,0.431316808416,0.00461429117659,0.0800220475539,0.999999988975,0.00013324449678,3.75006971663e-05,-5.37537210116e-05,1793238315768243968
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746.674616276,716,682,666,636,881,788,804.674616276,653,632,653.674616276,0.432060297598,0.00461736813608,0.0800309293866,0.99999998775,0.000139576001017,4.61255582114e-05,-5.3767986548e-05,1793238315784910848
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746.751449033,715.751449033,681.751449033,666,636,881,788,804.751449033,652.751449033,632,653.751449033,0.432773799604,0.00461976452953,0.0800119258272,0.999999988393,0.000141467149193,1.52762128111e-05,-5.44811339944e-05,1793238315801577472
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746.176692439,715.176692439,681.176692439,666,636,881,788,804.176692439,652.176692439,632,653.176692439,0.433447945497,0.00462126772778,0.0799563246553,0.999999986698,0.000137530641788,-6.73802475094e-05,-5.61115144347e-05,1793238315818244352
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,681.409909474,666,636,881,788,804,652,632,653.409909474,0.434160105207,0.00462151698886,0.0799282503659,0.999999984785,0.000130868028787,-9.97781270158e-05,-5.78643583705e-05,1793238315834910976
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,715,682,666.001730452,636,881,788,804,652.001730452,632,653.998269548,0.434889174293,0.00462120270663,0.0799125677788,0.999999984639,0.000123037612232,-0.00010965529963,-5.96607986785e-05,1793238315851577344
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,715,682,666.580585514,636,881,788,804,652.580585514,632,653.419414486,0.435630171643,0.00461857168244,0.0799546126965,0.999999988774,0.000129300936254,-4.88400973329e-05,-5.78676953057e-05,1793238315868243968
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715.684356284,682,666.315643716,636,881.684356284,787.315643716,804,652.315643716,632,653,0.437705080077,0.00460448061225,0.0800094755571,0.999999991888,0.000113484593433,1.40182287936e-05,-5.61082191195e-05,1793238315918243840
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715.096291739,682,666.903708261,636,881.096291739,787.903708261,804,652.903708261,632,653,0.438378182375,0.00460313071971,0.0800111800184,0.999999992879,0.00010013270194,2.59343988312e-05,-5.95204292858e-05,1793238315934910720
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,682.641062166,667,636,881,787.358937834,804,653,631.641062166,653.358937834,0.440221661844,0.00460771306031,0.0799847778425,0.999999992903,0.000104043285246,-5.02259210817e-06,-5.78189280907e-05,1793238315984910848
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+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746.772973425,714.227026575,684,658,634,882.545946851,787,804,652,632,653.772973425,0.449898791287,0.00469722927397,0.0796505332509,0.99999984152,0.000212783709763,-0.000517496694262,-6.22952389688e-05,1793238316834910976
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746.197892977,714.802107023,684,658,634,881.395785953,787,804,652,632,653.197892977,0.449896654116,0.00469767214738,0.0796496070225,0.999999840128,0.000211904934216,-0.000520503808735,-6.2586121398e-05,1793238316851577856
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+250,4.166666667,POSE1_TO_POSE2_PRESS,765.019878268,746,715,684,657.019878268,634,881.980121732,787,804.980121732,652,632,653,0.44990059999,0.00469938234187,0.0796512017626,0.999999841723,0.000213548623455,-0.000516757887385,-6.25412672862e-05,1793238316884910592
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.559401694,746,714.440598306,684.559401694,657,634,882,787,804.440598306,652.559401694,632,653,0.449898990003,0.00469914890207,0.079649436587,0.999999839797,0.000215045498113,-0.000519846029842,-6.2618797542e-05,1793238316901576960
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+253,4.216666667,POSE1_TO_POSE2_PRESS,766,746,714,684.287971281,657.712028719,634,881.287971281,787,804,652.287971281,632,653.712028719,0.449897922564,0.00469707023207,0.0796474534995,0.999999838264,0.00021434834897,-0.000523101579569,-6.23795508676e-05,1793238316934910464
+254,4.233333333,POSE1_TO_POSE2_PRESS,765.71597069,746.28402931,714.28402931,684,658,634,881.28402931,787,804,652.28402931,632,653.71597069,0.449898545869,0.00469643440065,0.0796480890552,0.999999838915,0.000212974969961,-0.000522431709069,-6.22705883657e-05,1793238316951577344
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+256,4.266666667,POSE1_TO_POSE2_PRESS,765.442669521,746.557330479,715,684,658,634,882,787,804.442669521,652.557330479,632,653,0.449899840309,0.00469601339251,0.0796493778436,0.99999984027,0.000209871695902,-0.000521099565346,-6.21941264151e-05,1793238316984910592
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+258,4.300000000,POSE1_TO_POSE2_PRESS,765.38500177,746,714.38500177,684,658,634,881.38500177,787,804.38500177,652.61499823,632,653.61499823,0.44989959967,0.00469584265819,0.079647615597,0.999999839912,0.000208003988832,-0.000522530120267,-6.22335303751e-05,1793238317018244096
+259,4.316666667,POSE1_TO_POSE2_PRESS,765.192002321,746,714.192002321,683.807997679,657.807997679,634,881.192002321,787.192002321,804,652.807997679,631.807997679,653.807997679,0.449899724352,0.00469639386048,0.0796475225272,0.999999839798,0.000208525135453,-0.000522524357385,-6.23681812068e-05,1793238317034910464
+260,4.333333333,POSE1_TO_POSE2_PRESS,765.768673989,746,714.768673989,683.231326011,657.231326011,634,881.768673989,787.768673989,804,652.231326011,631.231326011,653.231326011,0.449900560769,0.00469665508936,0.0796484578987,0.999999839517,0.000209998408838,-0.000522463591794,-6.24373590045e-05,1793238317051577344
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+262,4.366666667,POSE1_TO_POSE2_PRESS,766,746.940899491,715,683.940899491,657,634,882,787.059100509,804,652.940899491,631.940899491,653,0.449901205497,0.00469692096065,0.0796495840041,0.999999840237,0.000208150552691,-0.000521876208776,-6.20022617635e-05,1793238317084910592
+263,4.383333333,POSE1_TO_POSE2_PRESS,766,746.478518403,715,684,657,634,882,787,804,653,632,653.521481597,0.449902140882,0.00469688293031,0.0796494223242,0.999999840254,0.000208917926676,-0.00052153612648,-6.2014222319e-05,1793238317101577472
+264,4.400000000,HOLD_POSE2,766,746,714,683,659,634,882,787,804,653,632,653,0.44990248222,0.00469708427325,0.0796493339059,0.99999984027,0.000209805081368,-0.000521158631526,-6.1933335069e-05,1793238317144346624
+265,4.416666667,HOLD_POSE2,766,746,714.588618046,683.588618046,657.822763908,634,882,787,804,653,632,653.588618046,0.449903288885,0.00469647629722,0.0796494276961,0.999999840781,0.000208142185848,-0.000520854356823,-6.18536400228e-05,1793238317161012992
+266,4.433333333,HOLD_POSE2,766,746,714.82563744,683.82563744,657,634.17436256,882,787,804.17436256,653,632,654,0.449903197462,0.00469638608804,0.0796490333928,0.999999840582,0.0002077732048,-0.000521389439633,-6.18065443412e-05,1793238317177679360
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+268,4.466666667,HOLD_POSE2,766.332908887,746.332908887,714.332908887,683.665817774,657,634.667091113,882,787.332908887,804.667091113,653,632,654,0.44990069934,0.00469602266474,0.0796471001429,0.99999983867,0.00020979986829,-0.000524258624744,-6.16189317533e-05,1793238317211012864
+269,4.483333333,HOLD_POSE2,766.912674344,746.912674344,714.912674344,684.825348687,657,634.087325656,882,787.912674344,804.087325656,653,632,654,0.449901751825,0.00469262968016,0.0796475254801,0.999999839934,0.000206788243546,-0.000523089216299,-6.12212602932e-05,1793238317227679488
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+271,4.516666667,HOLD_POSE2,766.059574876,746.059574876,715,684,658,634.940425124,882,787,804,652,632,654,0.449902063069,0.00469556319472,0.0796475627067,0.999999839429,0.000207381251515,-0.000523815503762,-6.12577551293e-05,1793238317261013248
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+273,4.550000000,HOLD_POSE2,766.763599522,746.763599522,715,684,657.763599522,634,882,787,804.236400478,652,632,654,0.449902231559,0.00469671133628,0.0796478652185,0.999999839496,0.000209789894952,-0.000522706789497,-6.14298829215e-05,1793238317294346240
+274,4.566666667,HOLD_POSE2,766.186641445,746.186641445,715,684,657.186641445,634,882,787,804.813358555,652,632,654,0.449900875133,0.00469639425677,0.0796475020209,0.999999838841,0.000208688130699,-0.000524387934318,-6.15169354002e-05,1793238317311012864
+275,4.583333333,HOLD_POSE2,766,746,715,684,657,634,882,787,805,652,632,654,0.44990152728,0.00469494940291,0.0796479525834,0.999999839156,0.000208056221324,-0.000524090461807,-6.10775118977e-05,1793238317327679232
+276,4.600000000,HOLD_POSE2,766,746,715,684,657,634,882,787,805,652,632,654,0.449903139888,0.00469296527022,0.0796487922694,0.999999839933,0.000207648986924,-0.000522846854767,-6.03863382666e-05,1793238317344345856
+277,4.616666667,HOLD_POSE2,766,746,715,684,657,634,881.45713809,787,804.45713809,652,632,654,0.449904167189,0.00469474731552,0.0796492194909,0.999999839837,0.000209318157798,-0.000522303821274,-6.09095634626e-05,1793238317361012736
+278,4.633333333,HOLD_POSE2,766,746.120675686,715,684,657.120675686,634,881,787,804,652,632,653.879324314,0.449904537292,0.00469626891806,0.0796493281331,0.999999839683,0.000210299020454,-0.000522150028847,-6.13769765641e-05,1793238317377679360
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,684,657,634,882,787,805,652,632,654,0.449904213801,0.00469522801739,0.0796475214339,0.999999839162,0.000209393719138,-0.000523472810651,-6.169154689e-05,1793238317431328256
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,714.423725661,684,657,634,881.423725661,787,804.423725661,652,632,654,0.449903686599,0.00469622233811,0.07964784945,0.999999839114,0.00020959389852,-0.00052348549447,-6.1681909927e-05,1793238317447995392
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,714.155345811,684,657.155345811,634,881.155345811,787,804,652,632,653.844654189,0.449903543388,0.00469666282432,0.0796479566357,0.999999839146,0.000209341628456,-0.000523525941217,-6.16810679258e-05,1793238317464662272
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,714.742186851,684,657.742186851,634,881.742186851,787,804,652,632,653.257813149,0.449904466767,0.00469556495612,0.0796474504333,0.999999839398,0.000207832615325,-0.000523643503476,-6.17046551882e-05,1793238317481328384
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,714.480564281,684,657,634,882,787,804,652,632,653.519435719,0.449903755779,0.0046959276707,0.0796476343873,0.99999983956,0.000206887055651,-0.000523725508746,-6.15637598609e-05,1793238317531328256
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.055716756,746,714.944283244,684,657,634,882,787,804,652.055716756,632,653.055716756,0.44990358757,0.00469509266324,0.0796474400251,0.999999839538,0.000206112587458,-0.000524079909603,-6.14973538436e-05,1793238317547995136
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.633020775,746,714.366979225,684,657,634,882,787,804,652.633020775,632,653.633020775,0.449902361486,0.00469603302302,0.0796466843587,0.999999838611,0.000207586052219,-0.000525271831192,-6.14485351411e-05,1793238317564662272
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,766.194002613,746,714.805997387,684,657,634,882,787.805997387,804,652.194002613,632,653.194002613,0.449899813356,0.00469421374319,0.0796449039751,0.99999983842,0.000204807442015,-0.000526782618044,-6.09422271269e-05,1793238317597994752
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,684,657,634,882,787.61097412,804,652.38902588,632,653,0.449888910935,0.00469285208327,0.0796390478428,0.999999833809,0.000203860721584,-0.000535842409105,-6.07882721867e-05,1793238317614661120
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,684,657,634,882,787.031729656,804,652.968270344,632,653,0.449873311551,0.00469169087224,0.0796307942057,0.999999826658,0.000203782607567,-0.000549062179278,-6.07293736379e-05,1793238317631327744
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.578555802,746.421444198,715,681,665,636,879.421444198,788,803.421444198,653,631.421444198,654,0.415880828626,0.00449289915473,0.0798259983084,0.99999995329,9.39787574978e-05,-0.000286160705795,5.1957219976e-05,1793238318797994240
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,716,681.667112261,665,636,879.667112261,788,803.332887739,653,632,654,0.413847942765,0.0044841320942,0.0798060917676,0.999999947705,8.49090496127e-05,-0.00030800625751,5.01295467031e-05,1793238318847994368
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,716,681,665,636,879.487969097,788,803.512030903,653,632,654,0.412549857477,0.00447888289438,0.0798202851959,0.999999955302,7.55249778838e-05,-0.000284893484915,5.02707412832e-05,1793238318881327872
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,716,680.71030871,665,636,879.71030871,788,803,653,632,653.71030871,0.407528522061,0.00448866635818,0.0798113744264,0.999999942396,9.27127121459e-05,-0.000322263849585,5.25122293151e-05,1793238319031327744
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.357104099,665,636,879.642895901,788,803.642895901,653,632,654,0.404349093087,0.00449705443246,0.0798351340067,0.999999954465,0.000101544835187,-0.000279377634738,5.20302757793e-05,1793238319164661248
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,746,715.510804301,680.489195699,665,636,879,788,803,653,632,654,0.403729617816,0.00449693658047,0.0798410442846,0.999999955549,9.57413399866e-05,-0.000277753575,5.08795105557e-05,1793238319197994496
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,665,636,879.661474763,788,803.661474763,652.338525237,632,654,0.403197061176,0.00449241833767,0.0798450636246,0.999999957167,8.9399728755e-05,-0.000274345137982,4.90789490366e-05,1793238319231327744
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.833018513,746,715.166981487,680,665,636,879.166981487,788,803.166981487,652.833018513,632,653.166981487,0.4027414326,0.00449202790953,0.0798475401771,0.99999995703,8.77636706896e-05,-0.000275286621066,4.95423724062e-05,1793238319264660992
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.006577514,746,715.993422486,680,665,636,879.993422486,788,803,653,632,653,0.402351936811,0.00449021743821,0.0798487406858,0.999999958256,8.17232217218e-05,-0.000272754592591,4.91362099159e-05,1793238319297994240
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,746,715.43041621,680,665,636,879.43041621,787.43041621,803.56958379,653,632,653.56958379,0.402193241591,0.00448889102001,0.07985297578,0.999999960847,8.12555580198e-05,-0.000263115791093,4.97425824715e-05,1793238319314660864
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,879,787.148771133,803.851228867,653,632,653.851228867,0.402040806779,0.00448866878485,0.0798573115406,0.999999962829,8.25721292448e-05,-0.000254908305511,5.04635682517e-05,1793238319331327744
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,879,787.736978544,803.263021456,653,632,653.263021456,0.401905771367,0.00449171113992,0.0798618168645,0.999999963156,8.90683963133e-05,-0.000251204611726,5.14957573817e-05,1793238319347994624
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,715.320451741,680,665,636.320451741,879,788,803,652.679548259,632,653.320451741,0.401778862737,0.0044993545336,0.0798621056503,0.999999960592,0.000113620262088,-0.000251536985891,5.13367209407e-05,1793238319364660992
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,715.900095808,680,665,636.900095808,879,788,803,652.099904192,632,653.900095808,0.401658527311,0.00451071940498,0.0798589839563,0.999999954522,0.000152776114071,-0.00025513386913,5.02141805771e-05,1793238319381327616
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,715.523745628,680,665,636.523745628,879.476254372,788,803,652.476254372,632,654,0.401553177617,0.00451953636148,0.0798540260021,0.999999952067,0.000157071904954,-0.000262540549534,4.7619761123e-05,1793238319397994240
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.052757344,746,715,680,665,636,879.947242656,788,803,653,632,653.947242656,0.401453114822,0.0045265212481,0.0798490467133,0.999999950814,0.000152987833241,-0.000270088575004,4.49306972764e-05,1793238319414661120
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.640105582,746,715,680,665,636,879.359894418,788,803,653,632,653.359894418,0.401375001794,0.00452031827322,0.079847726049,0.999999952826,0.000137550995883,-0.000271029554523,4.43885070073e-05,1793238319431327744
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,665,636,879.804359314,788,803,653,632,653,0.401232714488,0.00451756934543,0.0798390660746,0.9999999507,0.000129667014604,-0.000282497071693,4.4512628943e-05,1793238319464660992
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.53493036,746,715,680,665,636,879.53493036,787.53493036,804,653,632,653.53493036,0.401103572521,0.00451623720096,0.0798394404999,0.999999950383,0.000129671294283,-0.000283349980528,4.61741676349e-05,1793238319514660864
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.891808464,746,715.108191536,679.891808464,665,636,880,788,803.891808464,653,632,653.891808464,0.4010735421,0.00451419167105,0.0798397834489,0.999999950903,0.000127952292069,-0.000282248648727,4.64632904171e-05,1793238319531327488
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.319424976,746,715.680575024,679.319424976,665,636,880,788,803.319424976,653,632,653.319424976,0.4010516582,0.0045155250609,0.0798396030653,0.999999951196,0.000127883805951,-0.000281291838104,4.6130412273e-05,1793238319547994112
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,716,679.525977376,665,636,880,788,803.262988688,653,632,653.262988688,0.401032129129,0.00451569258529,0.0798391511171,0.999999951255,0.000126478457386,-0.000281754190885,4.59204033188e-05,1793238319564660992
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,716,680.7161362,665,636,880,788,803.8580681,653,632,653.8580681,0.401015573631,0.00451438790547,0.0798383562487,0.999999951006,0.000123384976812,-0.00028400860161,4.58655482101e-05,1793238319581327616
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,716,680.560041854,665,636,880,788,803.560041854,653,632,654,0.401005011075,0.00451540806409,0.0798379065257,0.999999950671,0.000125014749646,-0.000284504750589,4.56871301908e-05,1793238319597994240
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3dbc15e93f5ded63b0a6c1d583851870b458a23c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,440 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..579e347b15e4cd1a5a743edeb05c0134ecaf5277
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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+oid sha256:9dd495e95751ece22a84619847aa1688fd184dafa57644cc07619b48835758dc
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7beb3d4dd841b75c5d951eca2c7ae9f03e88521b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_03/franka_data.csv
@@ -0,0 +1,441 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+59,0.983333333,BASELINE,766.777681966,746,716,680.777681966,665.777681966,636,880,787.777681966,803.777681966,653,631.222318034,654,0.400989974711,0.00451312566399,0.0798522523332,0.999999957532,0.000125112782987,-0.000259402600318,4.46426033541e-05,1793238321200536320
+60,1.000000000,BASELINE,766.183682835,746,716,680.183682835,665.183682835,636,880,787.183682835,803.183682835,653,631.816317165,654,0.400988138861,0.00451498969768,0.0798503189099,0.999999957085,0.000124765828532,-0.000261366680876,4.41686342798e-05,1793238321217202688
+61,1.016666667,BASELINE,766,746,716,680.3995506,665,636,880,787.3995506,803,653,632,654,0.400987024664,0.00451431953365,0.0798500673004,0.999999956992,0.000124183064695,-0.000262012993247,4.4089064698e-05,1793238321233869312
+62,1.033333333,BASELINE,766,746,716,680.977964612,665,636,880,787.977964612,803,653,632,654,0.400986233522,0.00451251490681,0.0798505685741,0.999999957058,0.000123494738103,-0.000262069391448,4.41860526036e-05,1793238321250535680
+63,1.050000000,BASELINE,766,746,716,680.447883826,665,636,880,788,803,653,632,653.447883826,0.400986415596,0.00451382171396,0.0798499259864,0.999999956981,0.000124158164318,-0.00026206413843,4.4112915363e-05,1793238321267202304
+64,1.066666667,BASELINE,766,746,715.870426296,680,665.129573704,636.129573704,880,788,803.129573704,653,632,653.129573704,0.40098671623,0.00451473429535,0.07984958862,0.999999957,0.000124568374102,-0.00026180918328,4.40378678454e-05,1793238321283868928
+65,1.083333333,BASELINE,766,746,715.280626912,680,665.719373088,636.719373088,880,788,803.719373088,653,632,653.719373088,0.400987301066,0.00451380895978,0.0798504962605,0.999999957383,0.000123889046127,-0.000260675997456,4.3979966981e-05,1793238321300535552
+66,1.100000000,BASELINE,766.303875425,746,715.303875425,680.303875425,665.696124575,636.696124575,880,788,804,653,631.696124575,653.696124575,0.400987700175,0.00451343313455,0.0798508173345,0.999999957526,0.000123440364208,-0.00026035856411,4.38629887491e-05,1793238321317202432
+67,1.116666667,BASELINE,766.883569753,746,715.883569753,680.883569753,665.116430247,636.116430247,880,788,804,653,631.116430247,653.116430247,0.400987930705,0.00451355608395,0.079850605999,0.999999957453,0.000123201033057,-0.000260781565674,4.36923877084e-05,1793238321333869312
+68,1.133333333,BASELINE,766.538517084,746,715.538517084,680.538517084,665,636,880,788,803.538517084,653,631.461482916,653.461482916,0.400989121278,0.00451368103328,0.0798511201142,0.999999957538,0.000124912766258,-0.000259595471249,4.39411817714e-05,1793238321350536192
+69,1.150000000,BASELINE,766,746,715,680,665,636,879.960561549,788,803.039438451,653,632,654,0.400990368078,0.00451379368918,0.0798517467166,0.99999995766,0.000126781884852,-0.000258161688655,4.42574942236e-05,1793238321367202816
+70,1.166666667,BASELINE,766,746,715,680,665,636,879.375831315,788,803.624168685,653,632,654,0.400989056194,0.00451372942139,0.0798514077199,0.999999957823,0.000124047258833,-0.000258894771035,4.40499731345e-05,1793238321383869184
+71,1.183333333,BASELINE,766,746,715.207040549,680,665,636,879.207040549,788,804,653,632,654,0.400988073377,0.00451430631293,0.0798509199114,0.999999957569,0.000124243847826,-0.000259794013055,4.39641196102e-05,1793238321400535552
+72,1.200000000,BASELINE,766,746,715.786569106,680,665,636,879.786569106,788,804,653,632,654,0.400987682587,0.00451603671844,0.0798501643744,0.999999956556,0.000129714004512,-0.000260992194098,4.40971589647e-05,1793238321417202176
+73,1.216666667,BASELINE,766,746,715.634165655,680,665,636,879.634165655,788,803.634165655,653,632,654,0.400987237039,0.00451511084492,0.0798501226912,0.999999956434,0.000129122183636,-0.000261708258117,4.43546162812e-05,1793238321433868800
+74,1.233333333,BASELINE,766,746,715.055053962,680,665,636,879.055053962,788,803.055053962,653,632,654,0.400986759567,0.00451263639022,0.0798504971769,0.99999995683,0.000124996297051,-0.000262143253211,4.46846078755e-05,1793238321450535424
+75,1.250000000,BASELINE,766.520327318,746,715.520327318,680.520327318,665,636,879.520327318,788,803.520327318,653,632,653.479672682,0.4009875601,0.00451359121429,0.0798509328521,0.999999956982,0.000126178349959,-0.00026103121464,4.44772536002e-05,1793238321467202304
+76,1.266666667,BASELINE,767,746,715.90304203,680.80608406,665,636.09695797,879.90304203,788,803.90304203,653,632,653.09695797,0.400988104575,0.00451452038725,0.0798511291784,0.999999957072,0.000127223553552,-0.000260210520283,4.4275140091e-05,1793238321483868928
+77,1.283333333,BASELINE,767,746,715.318151877,679.636303754,665,636.681848123,879.318151877,788,803.318151877,653,632,653.681848123,0.40098668481,0.00451350751339,0.0798500886531,0.999999956994,0.000124773922259,-0.000261673860936,4.43834793875e-05,1793238321500535808
+78,1.300000000,BASELINE,767,746,715,679.531665104,665,636.734167448,879,788,803.265832552,653,632,654,0.40098646058,0.00451344785388,0.0798497996625,0.999999957011,0.000123993411535,-0.000261980857933,4.43800183966e-05,1793238321517202432
+79,1.316666667,BASELINE,767,746,715,680.697473275,665,636.151263362,879,788,803.848736638,653,632,654,0.400987662321,0.00451452513998,0.0798504070641,0.999999957147,0.000125203743023,-0.000260908626986,4.42432077076e-05,1793238321533869056
+80,1.333333333,BASELINE,767,746,715.426550334,680.573449666,665.426550334,636,879.426550334,788,804,653,632,653.573449666,0.400987499125,0.00451483570105,0.0798503268588,0.99999995709,0.000125372083557,-0.000261042122096,4.42487482475e-05,1793238321550535680
+81,1.350000000,BASELINE,767,746.002575863,715.997424137,680,665.997424137,636,879.997424137,788,803.997424137,653,632,653.002575863,0.400986858731,0.00451488022802,0.0798500077164,0.999999956967,0.000125182302023,-0.000261596397499,4.43047034538e-05,1793238321567202304
+82,1.366666667,BASELINE,767,746.5776352,715.4223648,680,665.4223648,636,879.4223648,788,803.4223648,653,632,653.5776352,0.400986468917,0.00451551495344,0.0798501389987,0.999999956743,0.000126555219497,-0.000261761265344,4.4478309615e-05,1793238321583868928
+83,1.383333333,BASELINE,766.843971109,746.843971109,715.156028891,680,665,636,879.156028891,788,803,653,631.843971109,653.843971109,0.400986758066,0.00451601863494,0.0798505545316,0.999999956799,0.000127191218921,-0.00026125453022,4.43891368106e-05,1793238321600535808
+84,1.400000000,BASELINE,766.256354204,746.256354204,715.743645796,680,665,636,879.743645796,788,803,653,631.256354204,653.256354204,0.400988925278,0.00451615983895,0.0798517563236,0.999999957627,0.000125788846185,-0.000258890089239,4.35730970466e-05,1793238321617202432
+85,1.416666667,BASELINE,766,746,715.672667576,680,665,636,879.672667576,788,803.327332424,653,631.327332424,653.327332424,0.400989066345,0.0045151746921,0.079851469116,0.999999957723,0.000124435493214,-0.000259157714798,4.36789018785e-05,1793238321633869056
+86,1.433333333,BASELINE,766,746,715.092022504,680,665,636,879.092022504,788,803.907977496,653,631.907977496,653.907977496,0.400987639437,0.00451331789645,0.0798500296166,0.999999957249,0.000123120075238,-0.000261462217057,4.44980943659e-05,1793238321650536192
+87,1.450000000,BASELINE,766.482776579,746,715,680,665,636,879.482776579,788,803.517223421,653,632,653.517223421,0.400987579492,0.0045131467962,0.0798498747692,0.999999957216,0.000123442735533,-0.000261430393108,4.45515120612e-05,1793238321667202560
+88,1.466666667,BASELINE,766.943517237,746,715.056482763,680,665,636,880.056482763,788,803,653,632,653.056482763,0.40098774853,0.00451338388694,0.0798500089236,0.999999957254,0.000124186283289,-0.00026095037496,4.44419075451e-05,1793238321683868928
+89,1.483333333,BASELINE,766.369737048,746,715.630262952,680,665,636,880.630262952,788,803,653,632,653.630262952,0.400987656944,0.00451445186653,0.079850574103,0.999999957189,0.000125959131666,-0.000260395322583,4.41600911033e-05,1793238321700535552
+90,1.500000000,BASELINE,766.211157193,746,716,680.211157193,665.211157193,636,880.788842807,788.211157193,803,653,632,654,0.400987748345,0.00451466136363,0.079850913348,0.999999957237,0.000126410994447,-0.000260015317835,4.4031425745e-05,1793238321717202176
+91,1.516666667,BASELINE,766.804942414,746,716,680.804942414,665.804942414,636,880.195057586,788.804942414,803,653,632,654,0.400988171328,0.00451331524484,0.0798508431881,0.99999995749,0.000124469161111,-0.000259952508733,4.41802782993e-05,1793238321733868800
+92,1.533333333,BASELINE,766.610777992,746,716,680.610777992,665.610777992,636,880,788.610777992,803.389222008,653,632,653.610777992,0.400988005555,0.00451436029502,0.0798508464538,0.999999957207,0.000126589554178,-0.000260023408313,4.41473670961e-05,1793238321750535680
+93,1.550000000,BASELINE,766.0311485,746,716,680.0311485,665.0311485,636,880,788.0311485,803.9688515,653,632,653.0311485,0.400987551761,0.00451657510542,0.0798508856393,0.999999956648,0.000130697189046,-0.000260159718198,4.40255370387e-05,1793238321767202560
+94,1.566666667,BASELINE,766.541681397,746,715.458318603,680,665.541681397,636.541681397,880,788,804,653,632,653,0.400987548791,0.00451552038925,0.0798503433586,0.999999956831,0.000127937453087,-0.000260862991356,4.38317220453e-05,1793238321783869440
+95,1.583333333,BASELINE,766.882392729,746,715,680,665.882392729,637,880,788,804,653,632,653.117607271,0.400987661581,0.00451442258732,0.0798500055581,0.999999957106,0.000125000011403,-0.000261259327061,4.36646868633e-05,1793238321800536064
+96,1.600000000,BASELINE,766.292482689,746,715,680,665.292482689,637,880,788,804,653,632,653.707517311,0.40098813643,0.00451389742573,0.0798506215494,0.999999957618,0.000122915133312,-0.000260293717701,4.36216148837e-05,1793238321817202432
+97,1.616666667,BASELINE,766,746,715.292170496,680,665,636.707829504,879.707829504,788,804,653,632,654,0.400987852792,0.00451392813962,0.0798504788325,0.99999995757,0.000122893900023,-0.000260461859004,4.37879171542e-05,1793238321833869056
+98,1.633333333,BASELINE,766,746,715.871654186,680,665,636.128345814,879.128345814,788,804,653,632,654,0.400986823276,0.00451450548768,0.0798495900209,0.999999956969,0.000124902003796,-0.000261744902547,4.41601128539e-05,1793238321850535680
+99,1.650000000,BASELINE,766,746,716,680,665.448280293,636,879.448280293,788,803.551719707,653,632,653.551719707,0.400987617651,0.00451558057078,0.0798504659449,0.999999956878,0.000128068483242,-0.000260547173458,4.42379661386e-05,1793238321867202304
+100,1.666666667,BASELINE,766,746,716,680,665.975974996,636,880,788,803,653,632,653,0.400988836829,0.00451662133946,0.0798517513387,0.999999956934,0.000131188094167,-0.000258775040204,4.42317975588e-05,1793238321883868928
+101,1.683333333,BASELINE,766,746,716,680,665.401797133,636,880,788,803,653,632,653,0.400987901608,0.0045136337577,0.0798509165882,0.999999957321,0.000125688021999,-0.000260010934326,4.42191405781e-05,1793238321900535552
+102,1.700000000,BASELINE,766,746,715.822183007,680,665,636,880,788,803,653,632,653.177816993,0.4009873446,0.00451169464599,0.0798503105831,0.999999957541,0.000122011452654,-0.000260901768064,4.42879676302e-05,1793238321917202432
+103,1.716666667,BASELINE,766,746,715.229897738,680,665,636,880,788,803,653,632,653.770102262,0.40098766916,0.00451219938194,0.0798502377541,0.999999957437,0.000122585231911,-0.000260988310786,4.45467233652e-05,1793238321933869312
+104,1.733333333,BASELINE,766.353455065,746,715.353455065,680,665.353455065,636,880,788,803,653,632,654,0.400987714063,0.00451314436562,0.0798504670998,0.999999957449,0.000123138333584,-0.00026070300485,4.4424064481e-05,1793238321950535936
+105,1.750000000,BASELINE,766.93114119,746,715.93114119,680,665.93114119,636,880,788,803,653,632,654,0.400987581552,0.00451436864146,0.0798508881443,0.999999957534,0.000123678317503,-0.000260181799012,4.40594370867e-05,1793238321967202560
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,879,788,803,653,632,654,0.400986847133,0.0045150816571,0.0798499973422,0.999999957014,0.000124965457389,-0.000261616074799,4.37226927916e-05,1793238321998094848
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,716,680,665,636,879,788,803,653,632,654,0.400988313471,0.00451528307726,0.0798508345913,0.999999957383,0.000125219016315,-0.000260015749199,4.41121864248e-05,1793238322014762240
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.173501204,746,716,680.173501204,665,636,879.173501204,788,803.173501204,653,632,654,0.400988971339,0.00451533166731,0.0798512381459,0.999999957572,0.000125284876142,-0.000259230974152,4.42712666926e-05,1793238322031429376
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.753413372,746,716,680.753413372,665,636,879.753413372,788,803.753413372,653,632,654,0.400987735443,0.00451502226658,0.0798506258106,0.999999957343,0.000124911067766,-0.0002603565526,4.38906244563e-05,1793238322048095232
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.671314104,746,716,681,665.328685896,636.328685896,880,788,803.671314104,653,632,654,0.400986942568,0.00451470224889,0.0798503628904,0.999999957124,0.000125203206803,-0.000261033310268,4.40162317365e-05,1793238322064761600
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.099473915,746,716,681,665.900526085,636.900526085,880,788,803.099473915,653,632,654,0.40098647743,0.00451437437705,0.0798503584596,0.999999956913,0.000125987998491,-0.000261378040542,4.45163508275e-05,1793238322081428480
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,716,681,665.522516537,636.522516537,879.522516537,788,803,653,632,654,0.400986499163,0.00451442782356,0.0798501188274,0.999999956961,0.000125422140906,-0.000261505072246,4.43055322026e-05,1793238322098094848
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,715.943065692,680.943065692,665.056934308,636,879,788,803.056934308,653,632,654,0.400986722318,0.00451441051416,0.0798499466599,0.999999957108,0.000124481132504,-0.000261445533808,4.39767372643e-05,1793238322114761472
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,715.350289357,680.350289357,665.649710643,636,879,788,803.649710643,653,632,654,0.400987876219,0.00451297152506,0.0798508755996,0.999999957692,0.000122686282168,-0.000260061542847,4.39466424902e-05,1793238322131428096
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,715.235561478,680,665.764438522,636,879,788,804,653,632,654,0.40098890414,0.00451213242705,0.0798516820355,0.999999957998,0.00012210964307,-0.000259157188152,4.39383080012e-05,1793238322148094720
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,715.811407895,680,665.188592105,636,879,788,804,653,632,654,0.400989750073,0.00451215991357,0.079852311506,0.999999957907,0.000123292794996,-0.000258945701523,4.39614077606e-05,1793238322164761600
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.386884796,746,716,680.386884796,665,636,879.386884796,788,804,653,632,653.613115204,0.400997136627,0.00451301318597,0.079856043719,0.999999959233,0.000124655230234,-0.000253079123251,4.41173301501e-05,1793238322181428224
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.962181794,746,716,680.962181794,665,636,879.962181794,788,804,653,632,653.037818206,0.40100770845,0.00451426861461,0.079861286962,0.999999961186,0.000126104976221,-0.000244458525445,4.43379369216e-05,1793238322198094848
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,716,680.451382106,665,636,880,788,803.451382106,653,632,653.548617894,0.401039325436,0.00451402093877,0.0798745737021,0.999999966946,0.000124233611965,-0.000220791157458,4.38774786818e-05,1793238322214761728
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715.865856826,680,665.134143174,636,880,788,803.134143174,653,632,653.865856826,0.401077212327,0.00451363403147,0.0798889749153,0.999999972723,0.000122602329808,-0.000194031988539,4.33040944951e-05,1793238322231428352
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715.285962434,680,665.714037566,636,880,788,803.714037566,653,632,653.285962434,0.401131013236,0.00451313590593,0.0799051988195,0.999999978705,0.000122545337945,-0.000160516999068,4.25147027969e-05,1793238322248094976
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.706887692,746,715,680,665.706887692,636,879.706887692,788,803.706887692,653,632,653,0.4011910094,0.00451369463651,0.0799194936654,0.999999983034,0.0001212734083,-0.000132413905092,4.1137178646e-05,1793238322264761344
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.128610411,746,715,680,665.128610411,636,879.128610411,788,803.128610411,653,632,653,0.401257032842,0.00451528156807,0.0799319117559,0.99999998617,0.000118819482286,-0.00010957597264,3.91874685046e-05,1793238322281427968
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,715.446784679,680,665.446784679,636,879,788,803,653,632,653.446784679,0.401325364909,0.00451526384615,0.0799365752698,0.999999987006,0.000118289806832,-0.000102964084755,3.73309239847e-05,1793238322298094592
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,716,680.021891027,665.978108973,636,879,788,803,653,632,654,0.401395100372,0.00451477309199,0.0799389733389,0.999999987299,0.000118108231091,-0.00010096412159,3.54781709018e-05,1793238322314761472
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,716,680.610872454,665.389127546,636,879,788,803,653,632,654,0.401484085961,0.00451391756555,0.079940139932,0.999999988282,0.00011268707161,-9.82147422484e-05,3.30333519433e-05,1793238322331428096
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,715.80526873,680.80526873,665,636,879.19473127,788,803.19473127,653,632,654,0.401581064182,0.00450821705513,0.0799426971706,0.999999989882,0.000102153125584,-9.39221123645e-05,3.12798562571e-05,1793238322348094976
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,715.231384012,680.231384012,665,636,879.768615988,788,803.768615988,653,632,654,0.401693604527,0.00449308307075,0.0799479620792,0.999999992437,8.16642785001e-05,-8.66246815295e-05,3.08724086706e-05,1793238322364762624
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,715.346383499,680,665,636.346383499,879.653616501,788,804,653,632,653.653616501,0.401821415021,0.00448360242497,0.0799536032136,0.999999994401,6.7265997415e-05,-7.64643033821e-05,2.87614061008e-05,1793238322381428992
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,715.926774176,680,665,636.926774176,879.073225824,788,804,653,632,653.073225824,0.401959541619,0.00447794101796,0.0799594985161,0.99999999598,5.69823333871e-05,-6.43697959284e-05,2.54995285312e-05,1793238322398095104
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,716,680,665.502951234,636.497048766,879.502951234,788,804,653,631.497048766,653.502951234,0.402115583897,0.00448704989619,0.0799653830494,0.999999996332,6.25538207688e-05,-5.51426554257e-05,1.95612415724e-05,1793238322414761472
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,716,680,666,636,879.919156183,788,803.919156183,653,631.080843817,654,0.40227768712,0.00449617971378,0.0799707277748,0.999999996523,6.76721162127e-05,-4.68466864656e-05,1.33818518867e-05,1793238322431428096
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,716,680,666,636,879.326552537,788,803.326552537,653,631.673447463,654,0.402461783092,0.00449194241017,0.079972665239,0.999999997556,5.5430388602e-05,-4.18245394025e-05,8.12239640125e-06,1793238322448094720
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,716,680.259024447,666,636,879.518048895,788,803,653,632,653.740975553,0.402648967755,0.00449346959472,0.0799695418544,0.999999997692,4.88828810646e-05,-4.71402621067e-05,1.91820235408e-06,1793238322464761344
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,716,680.835976837,666,636,880.671953674,788,803,653,632,653.164023163,0.402839943482,0.00450207214204,0.0799602067577,0.999999996647,4.93244893398e-05,-6.51447397698e-05,-5.44556835954e-06,1793238322481428224
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,716,680.588345386,666,636.411654614,880.588345386,788,803.411654614,653,632,653.411654614,0.403061523959,0.00450452290083,0.0799575265794,0.999999996501,4.31377536218e-05,-7.06738073793e-05,-1.19628197678e-05,1793238322498095104
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,716,680.013173922,666,636.986826078,880.013173922,788,803.986826078,653,632,653.986826078,0.403295261208,0.0045045300549,0.0799574898583,0.999999996708,3.43181166939e-05,-7.1247410249e-05,-1.81438178281e-05,1793238322514761728
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,716,680,665.426536294,637,880,788,804.573463706,653,632,654,0.403562998209,0.00450935130837,0.0799598856752,0.999999996444,5.18601278162e-05,-6.36015190324e-05,-1.94389656839e-05,1793238322531428352
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.158250742,746,716,680,665,636.841749258,879.841749258,788,804.841749258,653,632,653.841749258,0.403844163193,0.00451600408965,0.0799629063741,0.999999995406,7.46678859028e-05,-5.67906074542e-05,-1.96804526264e-05,1793238322548094976
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.737400785,746,716,680,665,636.262599215,879.262599215,788,804.262599215,653,632,653.262599215,0.404158922752,0.00452722803933,0.0799674374094,0.999999992427,0.000109837381126,-5.27129494018e-05,-1.74241351686e-05,1793238322564761600
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.684134406,746,716,680.315865594,665,636.315865594,879.315865594,788,804,653,632,653.315865594,0.404489195035,0.00453239449858,0.0799702360701,0.999999994834,8.77215711586e-05,-4.78710213382e-05,-1.85999624541e-05,1793238322581428224
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.10623798,746,716,680.89376202,665,636.89376202,879.89376202,788,804,653,632,653.89376202,0.404832336155,0.00453253588101,0.0799715976152,0.999999998682,1.80839184055e-05,-4.23950815341e-05,-2.26229743238e-05,1793238322598094848
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,716,680.531128084,665.468871916,636.531128084,880,788,804,653,632,654,0.405198949281,0.00454121276144,0.0799698092939,0.999999998308,3.34894658063e-05,-4.06400764753e-05,-2.47328511684e-05,1793238322614761728
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,716,680.044482445,665.955517555,636,879.955517555,788,804,653,632,654,0.405571897922,0.00455142739671,0.0799669566284,0.999999996602,6.65072237776e-05,-4.09034409795e-05,-2.64430807283e-05,1793238322631428352
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,716,680.633915916,665.366084084,636,879.366084084,788,804,653,632,654,0.405957693155,0.0045569277592,0.0799597566314,0.999999994796,8.0619212041e-05,-5.56259983529e-05,-2.8536445501e-05,1793238322648096000
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715.779887677,681,665,636.220112323,879.220112323,788,804,653,632,654,0.406365733565,0.00456402291224,0.0799528023165,0.999999992481,9.65898824015e-05,-6.97466486622e-05,-2.90615717872e-05,1793238322664763136
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715.198997064,681,665,636.801002936,879.801002936,788,804,653,632,654,0.40681023523,0.00457373202948,0.079946250691,0.999999989518,0.000115607051731,-8.28807336071e-05,-2.70162539547e-05,1793238322681429248
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715.378202952,681,665.378202952,636.621797048,879.621797048,788,803.621797048,653.378202952,632,654,0.407268768271,0.00458374253368,0.0799481222283,0.999999988371,0.000125508850137,-8.18399830609e-05,-2.84138309931e-05,1793238322698095360
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715.953479855,681,665.953479855,636.046520145,879.046520145,788,803.046520145,653.953479855,632,654,0.407734612765,0.00459391008426,0.0799543829065,0.99999998827,0.000130660811525,-7.34130104633e-05,-3.16054313616e-05,1793238322714761472
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715.461148074,681,665.461148074,636,879.538851926,788,803.538851926,653.461148074,632,653.461148074,0.408208366142,0.00459935409282,0.0799477183632,0.999999986582,0.000136624323386,-8.42540010892e-05,-3.27168924984e-05,1793238322731428096
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715.123757691,680.876242309,665,636,880,788,803.876242309,653,632,653,0.408699264597,0.00460497250421,0.0799429864782,0.999999985093,0.000142286184995,-9.17382608674e-05,-3.39541331036e-05,1793238322748094976
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715.703670868,680.296329132,665,636,880,788,803.296329132,653,632,653,0.409250792846,0.00461276551175,0.0799495695792,0.99999998535,0.00014657302682,-8.06017277695e-05,-3.63295373682e-05,1793238322764761856
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.281161447,746,715.718838553,680,665,636,880,788,803.281161447,653,631.718838553,653,0.409837135614,0.00462037794976,0.0799686764198,0.99999998639,0.000153180069028,-4.80542046332e-05,-3.80411949487e-05,1793238322781428736
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.856120621,746,715.143879379,680,665,636,880,788,803.856120621,653,631.143879379,653,0.410459857642,0.00462780170383,0.080000869857,0.999999986057,0.000162211588921,6.86658729435e-06,-3.90592751893e-05,1793238322798095872
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.57038471,746,715.42961529,680.42961529,665,636.42961529,880,788,803.57038471,653,631,653.42961529,0.411054228053,0.00462850384458,0.0800090219029,0.999999985257,0.000165906003614,1.91755243537e-05,-3.99296312346e-05,1793238322814762752
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,716,681,665.002719809,637,880,788,803.002719809,653,631.002719809,654,0.411639099172,0.00462686181619,0.080009015301,0.999999984969,0.000167663196097,1.70473798904e-05,-4.07530875431e-05,1793238322831429120
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,716,681,665.597299377,637,880,788,803.597299377,653,631.597299377,654,0.412216032298,0.00460329997031,0.0799797463896,0.999999989428,0.000135498590073,-3.1808937237e-05,-4.20999987126e-05,1793238322848094976
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,715.813066401,680.813066401,665.813066401,637,880,788,804,653,632,654,0.412814244973,0.00458663006848,0.0799524507754,0.999999989908,0.000114295099977,-7.23010517968e-05,-4.35099311402e-05,1793238322864761344
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715.23381112,680.23381112,665.23381112,637,880,788,804,653,632,654,0.413457117474,0.00458442444356,0.0799292965658,0.999999987711,0.000116095949155,-9.52390265646e-05,-4.5052127834e-05,1793238322881427968
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746.342963812,715.342963812,680.342963812,665.342963812,637,880,788,804,653,632,654,0.414142599168,0.00458630514802,0.079932675786,0.999999989567,0.000109453126293,-8.26570185031e-05,-4.53096594488e-05,1793238322898094848
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746.918059917,715.918059917,680.918059917,665.918059917,637,880,788,804,653,632,654,0.414856920525,0.0045909516517,0.0799540139455,0.999999993228,9.70952718516e-05,-4.60335951808e-05,-4.46976757481e-05,1793238322914761472
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746.496278176,715.496278176,681,666,637,880.503721824,788,804,653,631.496278176,653.496278176,0.415551404275,0.00459736239278,0.0799739460651,0.999999992308,0.00011411832607,-1.62890244128e-05,-4.57732346581e-05,1793238322931428864
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715.089984048,681,666,637,880.910015952,788,804,653,631.089984048,653.089984048,0.416241138343,0.00460355388754,0.0799881167816,0.999999989942,0.000133798585862,2.55083874036e-06,-4.69846455681e-05,1793238322948095744
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715.669955464,681,666,637,880.330044536,788,804,653,631.669955464,653.669955464,0.416922957047,0.00460695532029,0.0799721872225,0.99999998838,0.000141365487799,-3.17646956015e-05,-4.74089927913e-05,1793238322964762368
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,716,681,666,637,880.24873526,788,803.75126474,652.75126474,631.75126474,654,0.41764579487,0.00460728456843,0.0799706185194,0.999999988351,0.000140940736828,-3.29508235026e-05,-4.84638695067e-05,1793238322981428992
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,716,681,666,637,880.825941526,788,803.174058474,652.174058474,631.174058474,654,0.418422801189,0.00460355679847,0.0799880142536,0.999999990241,0.000129962492125,9.61256866985e-06,-5.03514012682e-05,1793238322998095104
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715.598464582,680.598464582,666.401535418,636.598464582,880.598464582,788,803.401535418,652.401535418,631.401535418,653.598464582,0.419205583168,0.00459879830608,0.0800031983904,0.999999990586,0.000121012003462,3.90889517207e-05,-5.15449526048e-05,1793238323014761216
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715.023566864,680.023566864,666.976433136,636.023566864,880.023566864,788,803.976433136,652.976433136,631.976433136,653.023566864,0.419990858732,0.0045935948011,0.0800174276723,0.999999990269,0.00011293699601,6.29150361498e-05,-5.24388788471e-05,1793238323031427840
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680.562971827,666.437028173,636,880,788,804,653,632,653.562971827,0.420706639311,0.00459613202127,0.0799950560703,0.999999991166,0.00011890125565,2.82122607451e-05,-5.22921555216e-05,1793238323048094720
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.148106079,746,715.148106079,681,666,636,880,788,804,653,632,654,0.421436592423,0.00459943277965,0.0799789834458,0.999999990815,0.000125045310762,2.95731021827e-06,-5.2206280294e-05,1793238323064761600
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.727698971,746,715.727698971,681,666,636,880,788,804,653,632,654,0.42221648965,0.00460399402709,0.0799858200473,0.999999990102,0.000129964824681,1.25160772025e-05,-5.24272729892e-05,1793238323081428480
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.694357894,746.305642106,715.694357894,681.305642106,666,636,880.305642106,788,804,653,632,654,0.423012110673,0.00460694262044,0.0800021549116,0.999999988851,0.000135145818689,3.66172542673e-05,-5.18906318495e-05,1793238323098095360
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.117876694,746.882123306,715.117876694,681.882123306,666,636,880.882123306,788,804,653,632,654,0.423821665007,0.00460846219,0.0800269064853,0.999999986128,0.000140558518043,7.36049183134e-05,-5.06826274467e-05,1793238323114762496
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,747,715,682,666,636.466916598,881,788,804,653,632,654,0.424571946073,0.00461109232135,0.0800081511089,0.999999988464,0.000139747630747,3.11741530359e-05,-5.0700463465e-05,1793238323131428608
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746.946827686,715,681.946827686,666,636.946827686,880.946827686,788,804,653,632,653.946827686,0.425311001657,0.00461355996529,0.0799783944229,0.99999998884,0.000137392979162,-2.87689215651e-05,-5.11436386833e-05,1793238323148094976
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746.367245662,715,681.367245662,666,636.367245662,880.367245662,788,804,653,632,653.367245662,0.426089753306,0.00461159297958,0.0799504339438,0.99999998762,0.000135591803152,-5.99930007792e-05,-5.2678369544e-05,1793238323164761600
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,681,666,636,880.211752189,788,804,653,632,653,0.426874475952,0.00460996073725,0.0799355656768,0.999999986561,0.000135948028997,-7.41651766594e-05,-5.38028134205e-05,1793238323181428224
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+182,3.033333333,POSE1_TO_POSE2_PRESS,766.100378456,746.899621544,715,681.899621544,666,636,881,787.899621544,804,653,632,653.100378456,0.430809381358,0.00461214178982,0.0799999591803,0.999999990105,0.0001289535108,1.33826445716e-05,-5.46058146417e-05,1793238323264761344
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,715,683.556211001,657,634,882,787.443788999,804,652,632,653,0.450356122219,0.00470657797682,0.0796555712302,0.999999841165,0.000218191056896,-0.000515384420381,-6.66470095714e-05,1793238324164761856
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,714.969789447,683.030210553,657,634,882,787.969789447,804.030210553,652.030210553,632,653.030210553,0.450366984063,0.00470734681555,0.0796550513383,0.999999840863,0.000218994611464,-0.000515651959591,-6.64776310475e-05,1793238324181428480
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,714.388515005,683.611484995,657,634,882,787.388515005,804.611484995,652.611484995,632,653.611484995,0.45037493078,0.00470692063968,0.0796549918146,0.99999984093,0.000217968383594,-0.000516038468493,-6.58384857973e-05,1793238324198095104
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,714.191715695,684,657,634,882,787,805,653,632,654,0.450381687573,0.0047072264431,0.0796547514677,0.999999840703,0.000217925860983,-0.000516535014044,-6.55210592718e-05,1793238324214761472
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,714.769842653,684,657,634,882,787,805,653,632,654,0.450386046023,0.00470900758241,0.0796541466641,0.999999839886,0.000219866038876,-0.000517253343192,-6.58520707713e-05,1793238324231428096
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,684,657,634,882,787,805,653,632,653.654688102,0.45038732078,0.00471012043102,0.079652136516,0.999999838084,0.000221169224615,-0.000520144804111,-6.60789030345e-05,1793238324248094720
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,684,657,634,882,787,805,653,632,653.080976771,0.450386555892,0.00471079125244,0.0796491968318,0.999999835617,0.00022205108495,-0.000524473638187,-6.62368280762e-05,1793238324264761344
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,714.495717014,684,657,634,882,787,805,653,632,653.504282986,0.450387944886,0.00471062992947,0.0796491531722,0.999999835932,0.00022114406801,-0.000524282650698,-6.60233471101e-05,1793238324281428224
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,714.090298885,684,657,634,882.090298885,787,804.909701115,652.909701115,632,654,0.450389193015,0.00471035515595,0.0796492078061,0.999999836281,0.000219933625087,-0.000524157080581,-6.57825401175e-05,1793238324298095104
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,714.670124946,684,657,634,882.670124946,787,804.329875054,652.329875054,632,654,0.450387758531,0.00471020672528,0.0796472151625,0.999999834321,0.000218672011575,-0.000528412979189,-6.57244891524e-05,1793238324314761472
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.249161471,746,714.750838529,684,657,634,882.750838529,787.249161471,804,652.249161471,632,653.750838529,0.450388338256,0.0047101201158,0.0796470729171,0.999999834004,0.000218749911839,-0.000529011997775,-6.54715569184e-05,1793238324331428096
+247,4.116666667,POSE1_TO_POSE2_PRESS,766.82715608,746,714.17284392,684,657,634,882.17284392,787.82715608,804,652.82715608,632,653.17284392,0.450391576249,0.00471011509539,0.0796493727515,0.999999835859,0.000220595647522,-0.000524784816015,-6.49614283349e-05,1793238324348094720
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.599348671,746,714,684,657,634,882,787.599348671,804.400651329,652.599348671,632.400651329,653,0.450392124085,0.00470948806082,0.0796493179688,0.999999835923,0.000219960216656,-0.000524917250256,-6.50575199163e-05,1793238324364761344
+249,4.150000000,POSE1_TO_POSE2_PRESS,766.027772957,746,714,684,657,634,882,787.027772957,804.972227043,652.027772957,632.972227043,653,0.450391524256,0.00470859566487,0.0796482586679,0.999999835224,0.000218266279598,-0.000526909567982,-6.54122349295e-05,1793238324381427968
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746.563993352,714.563993352,684,657,634,882,787,805,652,632.436006648,653.563993352,0.450390438736,0.00470991454217,0.079646884229,0.999999833798,0.000219474513156,-0.000529116309783,-6.53590942457e-05,1793238324398095104
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746.846739755,715,684,657,634,882,787.153260245,805,652,632,653.846739755,0.450389782575,0.00471120583231,0.0796459237896,0.999999832702,0.000220614139629,-0.00053072012336,-6.52800188177e-05,1793238324414761728
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,746.267290798,715,684,657,634,882,787.732709202,805,652,632,653.267290798,0.450390389364,0.0047121063599,0.079646159363,0.999999832644,0.000221150812561,-0.000530616850953,-6.51867477637e-05,1793238324431428352
+253,4.216666667,POSE1_TO_POSE2_PRESS,766,746,714.690393996,684,657,634,881.690393996,787.690393996,805,652,632,653.309606004,0.450390271361,0.00471208267058,0.0796455285528,0.999999832729,0.000220134421042,-0.000530867476416,-6.52811924812e-05,1793238324448094976
+254,4.233333333,POSE1_TO_POSE2_PRESS,766,746,714.11568255,684,657,634,881.11568255,787.11568255,805,652,632,653.88431745,0.450389532743,0.00471126760466,0.0796441558866,0.999999832932,0.000217788191466,-0.000531421132993,-6.5536372047e-05,1793238324464761600
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+256,4.266666667,POSE1_TO_POSE2_PRESS,766,746,714.056793444,684,657,634,881.943206556,787,804.943206556,652.056793444,632,653.943206556,0.450392196026,0.00471177476388,0.0796470504523,0.999999833809,0.000219124928459,-0.000529218109197,-6.55282938517e-05,1793238324498094592
+257,4.283333333,POSE1_TO_POSE2_PRESS,766,746,714.636666792,684,657,634,881.363333208,787,804.363333208,652.636666792,632,653.363333208,0.450392321987,0.00471402256909,0.0796472283219,0.999999833226,0.000222259196371,-0.000528998052691,-6.56431042522e-05,1793238324514761472
+258,4.300000000,POSE1_TO_POSE2_PRESS,766,746,715,684.215055988,656.784944012,634,881,787,804,652.784944012,632,653,0.450392140041,0.00471495228679,0.0796470802648,0.999999832714,0.000223967569935,-0.000529253873162,-6.55850209013e-05,1793238324531428352
+259,4.316666667,POSE1_TO_POSE2_PRESS,766,746,715,684.790955015,656.209044985,634,881,787,804,652.209044985,632,653,0.450391441457,0.00471367038219,0.0796463853345,0.999999832331,0.000223283431929,-0.000530308168904,-6.52368386653e-05,1793238324548094976
+260,4.333333333,POSE1_TO_POSE2_PRESS,766,746,714.633156238,684.633156238,656.366843762,634,881,787,804,652.366843762,632,653.366843762,0.450390957287,0.00471297547602,0.0796457890897,0.999999832044,0.000223004799215,-0.000530997342845,-6.49877657016e-05,1793238324564761600
+261,4.350000000,POSE1_TO_POSE2_PRESS,766,746,714.057273383,684.057273383,656.942726617,634,881,787,804,652.942726617,632,653.942726617,0.450390595297,0.00471261506006,0.0796452490791,0.999999831811,0.000222957236187,-0.000531478458858,-6.47951683333e-05,1793238324581428480
+262,4.366666667,POSE1_TO_POSE2_PRESS,766,746,714,684,657,634,881,787,804,653,632,653.471148161,0.450391491085,0.00471307561757,0.0796450884891,0.999999831822,0.000221993662124,-0.000531814153998,-6.5177562924e-05,1793238324598094592
+263,4.383333333,HOLD_POSE2,766,746,714,684,657,634,882,787,804,652,631,653,0.450392847191,0.00471185302174,0.0796461641501,0.999999832421,0.000220678615078,-0.000531222921342,-6.52721948877e-05,1793238324640203520
+264,4.400000000,HOLD_POSE2,765.424371182,746,714,684,657,634,881.424371182,787,804,652.575628818,631.575628818,653,0.450392426525,0.00471138860598,0.0796456084964,0.999999832038,0.000221159153796,-0.000531768218702,-6.50740372645e-05,1793238324656871168
+265,4.416666667,HOLD_POSE2,765.151234154,746,714,684,657,634,881,787,804,653,632,653.151234154,0.450392146138,0.00471141029547,0.0796451275259,0.9999998317,0.000221423455685,-0.000532305749458,-6.49734750461e-05,1793238324673538560
+266,4.433333333,HOLD_POSE2,765.726773741,746,714,684,657,634,881,787,804,653,632,653.726773741,0.450392259319,0.00471279581103,0.0796448560876,0.99999983149,0.000221081079506,-0.000532821490217,-6.51467283148e-05,1793238324690204416
+267,4.450000000,HOLD_POSE2,766,746,714,684,657,634,881,787,804.310523688,653,632,654,0.450392833475,0.0047130975319,0.0796451950493,0.999999831982,0.000219895262476,-0.000532381425092,-6.52140856649e-05,1793238324706870784
+268,4.466666667,HOLD_POSE2,766,746,714,684,657,634,881,787,804.901694001,653,632,654,0.450393824254,0.00471241973538,0.0796460856812,0.999999833103,0.000217947156351,-0.000531077516995,-6.51857358705e-05,1793238324723537920
+269,4.483333333,HOLD_POSE2,766,746,714,684,657,634,881.482599944,787,805,653,631.517400056,653.517400056,0.450394316866,0.00471299962935,0.079646355639,0.999999832947,0.000219185308918,-0.000530864905372,-6.51658078666e-05,1793238324740204544
+270,4.500000000,HOLD_POSE2,766.06102074,746,714.06102074,683.93897926,657,634,881.93897926,787,804.93897926,653,631.06102074,653,0.450394650608,0.00471368422533,0.0796464271693,0.999999832582,0.000220769560556,-0.000530897865232,-6.51520477206e-05,1793238324756871168
+271,4.516666667,HOLD_POSE2,766.635755597,746,714.635755597,683.364244403,657,634,881.364244403,787,804.364244403,653,631.635755597,653,0.450394483389,0.00471313838819,0.0796458704236,0.999999832626,0.000219917215017,-0.000531165732174,-6.51760711173e-05,1793238324773537792
+272,4.533333333,HOLD_POSE2,766.784147651,746,714.784147651,683.215852349,656.784147651,634,881.215852349,787,804,652.784147651,632,653,0.450394533568,0.00471350129527,0.0796453661128,0.999999832323,0.000220517934687,-0.000531473503664,-6.52756978336e-05,1793238324790204160
+273,4.550000000,HOLD_POSE2,766.194772438,746,714.194772438,683.805227562,656.194772438,634,881.805227562,787,804,652.194772438,632,653,0.450394959945,0.00471543674374,0.0796449525384,0.999999831416,0.000223633118982,-0.000531850328165,-6.55061527195e-05,1793238324806870784
+274,4.566666667,HOLD_POSE2,766,746,714,684,656.38823123,634,882,787,804,652,632,653,0.450393853858,0.00471614416721,0.0796441431335,0.999999830453,0.00022470590814,-0.000533203981142,-6.5527218669e-05,1793238324823537408
+275,4.583333333,HOLD_POSE2,766,746,714,684,656.968090012,634,882,787,804,652,632,653,0.450391991362,0.00471624544841,0.0796431383502,0.999999829464,0.000224770589137,-0.000535039788174,-6.54449320854e-05,1793238324840203776
+276,4.600000000,HOLD_POSE2,766,746,714.542914806,684,657,634,881.457085194,787,804.542914806,652,632,653.542914806,0.450393070518,0.00471542440203,0.0796446863847,0.99999983034,0.000223729815483,-0.000533841686716,-6.54109524627e-05,1793238324856870912
+277,4.616666667,HOLD_POSE2,766,746,714.882464611,684,657,634,881.117535389,787,805,652,632,653.882464611,0.450394085723,0.00471487039817,0.0796459715144,0.999999831166,0.000222952229189,-0.000532620513549,-6.53877934165e-05,1793238324873538048
+278,4.633333333,HOLD_POSE2,766,746,714.307497702,684,657,634,881.692502298,787,805,652,632,653.307497702,0.450394185331,0.00471556472665,0.0796456548742,0.999999831386,0.000223449476061,-0.000531997165031,-6.53957980731e-05,1793238324890204416
+279,4.650000000,HOLD_POSE2,766,746,714.274356977,683.725643023,657,634,881.725643023,787,804.725643023,652,632,653,0.450394097228,0.00471625025292,0.079645055346,0.999999831169,0.000224285858856,-0.000532056023651,-6.53816666195e-05,1793238324906871040
+280,4.666666667,HOLD_POSE2,766,746,714.864130189,683.135869811,657,634,881.135869811,787,804.135869811,652,632,653,0.450393793322,0.00471692565964,0.0796441305939,0.999999830447,0.000225512131378,-0.000532899186056,-6.53420862462e-05,1793238324923537408
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,747,715,684,657,634,882,787,805,653,632,654,0.450394876882,0.00471432085245,0.079644904009,0.999999831193,0.000223835165699,-0.000532240838113,-6.50488174702e-05,1793238324956231680
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746.426523819,715,684,657,634,882,787,805,653,632,654,0.450394354083,0.00471443068121,0.0796444781629,0.999999830729,0.000223018974777,-0.000533418595686,-6.53336785726e-05,1793238324972898048
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,714.848643733,684.151356267,657,634,882,787,804.848643733,653,632,654,0.450394338736,0.0047145845033,0.0796446251053,0.999999830834,0.000221782545081,-0.000533708534345,-6.55749720229e-05,1793238324989564672
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,714.25798134,684.74201866,657,634,882,787,804.25798134,653,632,654,0.45039579625,0.00471486601448,0.0796464345458,0.999999832586,0.000219326387242,-0.000531421610775,-6.56898119945e-05,1793238325006231808
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,714.325985805,684.674014195,657,634,882,787,804,652.674014195,632,654,0.450395941076,0.00471435480785,0.0796462229965,0.999999832408,0.000219355491819,-0.000531750950331,-6.56322461049e-05,1793238325022898944
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,714.904761008,684.095238992,657,634,882,787,804,652.095238992,632,654,0.450395067963,0.00471322887917,0.0796444442475,0.999999830733,0.000221311821539,-0.000534109101008,-6.54409861236e-05,1793238325039565824
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,714.520529037,684,657,634,882,787,804.479470963,652,632,653.520529037,0.45039576452,0.00471335762803,0.079644661299,0.999999831496,0.00022092585421,-0.000532846763717,-6.53785010624e-05,1793238325056231424
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,714.053902843,684,657,634,882,787,804.946097157,652.053902843,632.053902843,653.053902843,0.450396708939,0.00471372521466,0.0796453032756,0.999999832643,0.000220277425264,-0.000530963651597,-6.5335873144e-05,1793238325072897280
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,714.633431124,684,657,634,882,787,804.366568876,652.633431124,632.633431124,653.633431124,0.450397055543,0.00471401198271,0.0796462555903,0.999999832886,0.00022156839763,-0.000529980873679,-6.52395463201e-05,1793238325089563648
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,684,657.216973765,634,882,787,804,653,632.783026235,653.783026235,0.450394879603,0.00471464053841,0.0796453511789,0.999999831793,0.000223105199371,-0.000531390422124,-6.5278423661e-05,1793238325106229760
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,684,657.807426296,634,882,787,804,653,632.192573704,653.192573704,0.450388361585,0.00471585741603,0.079641250769,0.999999828384,0.000225065149147,-0.00053691790216,-6.55500290775e-05,1793238325122896384
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.390320847,746,715,684,657.609679153,634,881.609679153,787,804,652.609679153,632,653.390320847,0.450370013581,0.00471718639949,0.0796310397475,0.999999819262,0.000226076209594,-0.000553225865763,-6.56194348389e-05,1793238325139563008
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,682.215572712,664.215572712,636,880.215572712,788,804,653,632,653,0.423407658721,0.00445326470056,0.0797570699413,0.999999918088,4.81342384261e-05,-0.000398294901783,5.35628044345e-05,1793238326156228864
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,715,682,664.330314561,636,880,788,804,653,632,654,0.419693793396,0.00448970804445,0.0798448829722,0.999999965556,9.25517646925e-05,-0.000239896472135,5.2656101705e-05,1793238326239562240
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,715,682,664,636,880,788,804,653,632,653.74782457,0.418910235386,0.00448105558373,0.0798161840488,0.99999995414,8.05663047319e-05,-0.000287346437017,5.15876224647e-05,1793238326256229120
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,746,715,682,664.429874512,636,880,788,803.570125488,653,632,653.429874512,0.417397551824,0.00448022465484,0.0797997153154,0.999999946125,7.1861243662e-05,-0.000316550822621,4.87956165354e-05,1793238326289562368
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,715.253314347,682,664.253314347,636,880,788,804,653,632.746685653,653.253314347,0.414602364016,0.00449856301663,0.0798011132256,0.999999940853,0.000101610144343,-0.000324732970584,5.01844838569e-05,1793238326356228864
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,715.910055653,681.089944347,664.910055653,636,880,788.910055653,803.089944347,653,632.089944347,653,0.413280335922,0.00448283475655,0.0798173282093,0.999999954849,7.88107767125e-05,-0.000285796044169,4.90990205741e-05,1793238326389562624
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746.483129138,715.516870862,681,665,636,880,788.516870862,803.483129138,653,632,653,0.412639169007,0.00448142079688,0.0798165861588,0.999999953351,7.69022200546e-05,-0.000291446864994,4.94258306638e-05,1793238326406229248
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.633276168,746.366723832,715,680.366723832,665,636,880,788,804,653,632.633276168,653.633276168,0.411369883493,0.00448806672031,0.0798007140139,0.999999942811,7.4696946439e-05,-0.000326026991118,5.00397061392e-05,1793238326439562496
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.184128557,746,715.815871443,680,665,636,880,788,803,653,632,653.184128557,0.405079017041,0.00449802723444,0.0798284411997,0.999999954954,9.68975395005e-05,-0.0002796421039,5.00354363305e-05,1793238326656229632
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.773046794,746,715.226953206,680,665,636,880,788,803,653,632,653.773046794,0.404731068248,0.00449997110637,0.0798306846565,0.999999954031,9.97034386175e-05,-0.000281854216083,5.05473416742e-05,1793238326672896512
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.643749581,746.356250419,715,680,665,636,880,788,803,653,632,653.643749581,0.404394802517,0.00450161243681,0.0798336768787,0.999999953015,0.000105653101306,-0.000283099858613,5.1592879107e-05,1793238326689563136
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.064128979,746.935871021,715,680,665,636,880,788,803,653,632,653.064128979,0.404065862069,0.00450306407295,0.0798371385797,0.999999951893,0.000113573914363,-0.000283739521695,5.29730056622e-05,1793238326706229248
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746.489134715,715,680,664.489134715,636,880,788,803,653,632,653,0.403770705865,0.00450237881921,0.0798392664347,0.999999953509,0.000107100854388,-0.000281091311994,4.99866754415e-05,1793238326722895616
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.085280978,746,715,680.085280978,664.085280978,636,880,788,803.085280978,653,632,653,0.403486054637,0.00450088376926,0.079841662025,0.999999955454,9.91103260652e-05,-0.000277568390797,4.71586743833e-05,1793238326739562240
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.659679477,746,715,680.659679477,664.659679477,636,880,788,803.659679477,653,632,653,0.40323754812,0.00449626891238,0.0798465448737,0.999999957713,9.2686583111e-05,-0.000271374574968,4.8354212774e-05,1793238326756228864
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.758080143,746,715.241919857,680.758080143,665,636,880,788,803.758080143,653,632,653.241919857,0.402998580162,0.00449294554549,0.0798497746326,0.999999958699,8.77241555753e-05,-0.000269222245558,4.92570034932e-05,1793238326772896000
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.164438671,746,715.835561329,680.164438671,665,636,880,788,803.164438671,653,632,653.835561329,0.402773480109,0.00449149984595,0.0798506010027,0.999999957911,8.488630071e-05,-0.000272945739035,4.97341751579e-05,1793238326789563136
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,665,636,880,787.583081865,803.416918135,653,632,654,0.402571528348,0.00448950537926,0.0798502844153,0.999999958134,7.79902458035e-05,-0.000274189636033,4.96992350363e-05,1793238326806230016
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,665,636,880,787.006431645,803.993568355,653,632,654,0.4023784453,0.00448730066576,0.0798495299314,0.999999958688,6.95393899124e-05,-0.000274483535603,4.94680916748e-05,1793238326822896640
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,715.431056469,680,665,636,880.568943531,787.568943531,803.431056469,653,632,654,0.402218191265,0.00448684991661,0.0798539629783,0.999999961472,6.92126293294e-05,-0.000264210360775,4.95840959424e-05,1793238326839562752
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,880.852677063,788,803,653,632,654,0.402063620736,0.00448712231693,0.0798576646486,0.999999963452,6.96661017143e-05,-0.000256435665398,4.98310223333e-05,1793238326856229120
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,880.265280759,788,803,653,632,654,0.401924921535,0.004489495766,0.0798590068167,0.999999963231,7.21765121874e-05,-0.000256480298031,5.04573343223e-05,1793238326872895744
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,879.681897372,788,803.318102628,653,632.318102628,654,0.401797004054,0.00449597739639,0.0798594079826,0.999999961115,9.88602369436e-05,-0.00025575661329,5.08351674541e-05,1793238326889562368
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,879.10181879,788,803.89818121,653,632.89818121,654,0.401677965929,0.0045058423525,0.0798590341787,0.999999955761,0.000145452087429,-0.000254400174229,5.10083638261e-05,1793238326906228736
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,746,715.476378716,680,664.523621284,636,879,788,804,653,632.523621284,654,0.401571816489,0.00451806900616,0.0798547985226,0.999999952117,0.000159968582905,-0.000260620964413,4.74703190086e-05,1793238326922895872
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,746.054814537,716,680,664.054814537,636.054814537,879.054814537,788,803.945185463,653,632,653.945185463,0.40147051083,0.00452884428798,0.0798500837685,0.99999994957,0.000164932465685,-0.000267896944224,4.34626208381e-05,1793238326939563008
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,746.639424744,716,680,664.639424744,636.639424744,879.639424744,788,803.360575256,653,632,653.360575256,0.401389500696,0.00452073211499,0.07984868485,0.999999952398,0.000143568702246,-0.000269780117063,4.25521343754e-05,1793238326956230400
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.222454014,746.777545986,716,680,665,637,880,788,803.222454014,653,632,653.222454014,0.401314134567,0.00451248454941,0.079846575422,0.999999953905,0.000126730041818,-0.0002725316292,4.30829723541e-05,1793238326972897536
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.618754794,746,716,680.381245206,665,636.618754794,880,788,803.618754794,653,632,654,0.40119184549,0.00449048627473,0.0798399683636,0.999999953911,0.000100506202779,-0.000282324186083,4.86714735156e-05,1793238327006229248
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,746,716,681,664.465860104,636,879.465860104,788,803.534139896,653,632,653.465860104,0.401108390884,0.00447509171664,0.0798371343298,0.999999954292,8.21822591141e-05,-0.000286367266318,5.15396992954e-05,1793238327039562496
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5a863f5de1e33fbba5401118627390f7dea018e9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,441 @@
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+419,6.983333333,pose2_to_pose3_retreat,0.578257071003,0.0100013798273,1.07001179889,0.548828303291,0.018675036894,1.06966133021
+420,7.000000000,pose2_to_pose3_retreat,0.578256903767,0.0100013792093,1.07001179587,0.548828136058,0.0186750362873,1.06966132724
+421,7.016666667,pose2_to_pose3_retreat,0.578256537335,0.0100013725098,1.07001177765,0.548827769768,0.0186750300922,1.06966130963
+422,7.033333333,pose2_to_pose3_retreat,0.578255968709,0.0100013621136,1.07001174937,0.548827201361,0.0186750204787,1.06966128231
+423,7.050000000,pose2_to_pose3_retreat,0.578255736998,0.0100013578772,1.07001173785,0.548826969741,0.0186750165613,1.06966127117
+424,7.066666667,pose2_to_pose3_retreat,0.578255705798,0.0100013573068,1.0700117363,0.548826938552,0.0186750160338,1.06966126967
+425,7.083333333,pose2_to_pose3_retreat,0.578255487575,0.010001353317,1.07001172544,0.548826720414,0.0186750123444,1.06966125919
+426,7.100000000,pose2_to_pose3_retreat,0.578255456115,0.0100013527418,1.07001172388,0.548826688966,0.0186750118125,1.06966125768
+427,7.116666667,pose2_to_pose3_retreat,0.578255048507,0.0100013452895,1.07001170361,0.548826281516,0.0186750049213,1.06966123809
+428,7.133333333,pose2_to_pose3_retreat,0.57825482804,0.0100013412587,1.07001169264,0.548826061134,0.0186750011939,1.0696612275
+429,7.150000000,pose2_to_pose3_retreat,0.578254754091,0.0100013399067,1.07001168897,0.548825987214,0.0186749999437,1.06966122394
+430,7.166666667,pose2_to_pose3_retreat,0.578254310087,0.0100013317889,1.07001166688,0.548825543381,0.0186749924371,1.06966120261
+431,7.183333333,pose2_to_pose3_retreat,0.578253929403,0.0100013345051,1.0700116588,0.548825162882,0.0186749957843,1.06966119473
+432,7.200000000,pose2_to_pose3_retreat,0.578253714578,0.0100013402716,1.07001165898,0.548824948176,0.0186750019536,1.06966119485
+433,7.216666667,pose2_to_pose3_retreat,0.57825368272,0.0100013411268,1.07001165901,0.548824916337,0.0186750028685,1.06966119486
+434,7.233333333,pose2_to_pose3_retreat,0.578253179847,0.0100013546253,1.07001165943,0.548824413744,0.0186750173099,1.06966119512
+435,7.250000000,pose2_to_pose3_retreat,0.578253160085,0.0100013551557,1.07001165945,0.548824393993,0.0186750178775,1.06966119513
+436,7.266666667,pose2_to_pose3_retreat,0.578252840856,0.0100013637247,1.07001165972,0.548824074942,0.018675027045,1.0696611953
+437,7.283333333,pose2_to_pose3_retreat,0.578252762956,0.0100013658158,1.07001165978,0.548823997086,0.0186750292821,1.06966119534
+438,7.300000000,pose2_to_pose3_retreat,0.578252556946,0.0100013760919,1.07001160843,0.548823790409,0.0186750373425,1.06966114513
+439,7.316666667,pose2_to_pose3_retreat,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213821,1.06966118707
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fda2efda1fa0c9cd1c880d8fc9e43c8d588025ac
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3be49539bb7032c4e9d9f5cb503ae1fd408f254b4915554cf6df54eacd6ab9c
+size 28049748
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ba3d0166c86a845b679dd8aaf7d94e9e770d379
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_04/franka_data.csv
@@ -0,0 +1,443 @@
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+44,0.733333333,BASELINE,766,746,715.531227821,680,665,636,879.531227821,788,803.468772179,653,631.531227821,653.468772179,0.400990991381,0.00447852980477,0.0798526118922,0.999999961853,8.31018379924e-05,-0.000258711802211,4.95630967615e-05,1793238328475483648
+45,0.750000000,BASELINE,766.105579939,746,716,680.105579939,665,636,879.894420061,788,803.105579939,653,632,653.105579939,0.400990832571,0.00447870399562,0.0798526132373,0.999999961768,8.36619788884e-05,-0.000258812785611,4.98049842424e-05,1793238328492150528
+46,0.766666667,BASELINE,766.681095816,746,716,680.681095816,665,636,879.318904184,788,803.681095816,653,632,653.681095816,0.400990501396,0.00448034542124,0.0798529302,0.999999961661,8.46633149749e-05,-0.000258934042581,4.96329964061e-05,1793238328508816896
+47,0.783333333,BASELINE,766.735885075,746,715.735885075,681,665,636,879.264114925,788,804,653,632,654,0.400990142795,0.00448043629561,0.0798528214749,0.999999961562,8.45162478708e-05,-0.000259368411454,4.95991073848e-05,1793238328525483776
+48,0.800000000,BASELINE,766.143541244,746,715.143541244,681,665,636,879.856458756,788,804,653,632,654,0.400989750111,0.00447860022215,0.0798521837264,0.999999961474,8.29420024806e-05,-0.00026019190026,4.97368406855e-05,1793238328542150912
+49,0.816666667,BASELINE,766,746,715,680.561569191,665,636,880,788,803.561569191,653,632,653.561569191,0.400989320218,0.00447987589356,0.0798521350873,0.999999961378,8.59009880663e-05,-0.000259617748151,4.96402177638e-05,1793238328558817536
+50,0.833333333,BASELINE,765.983053025,746,715,680,665,636,879.983053025,788,803,653,632,653.016946975,0.400988892571,0.00448204172736,0.0798522592763,0.999999961266,9.00995875023e-05,-0.000258654746655,4.9475413979e-05,1793238328575483904
+51,0.850000000,BASELINE,765.409093306,746,715,680,665,636,879.409093306,788,803,653,632,653.590906694,0.400988929859,0.00448075406434,0.0798518711277,0.999999961258,8.73874870698e-05,-0.000259603355379,4.95332463381e-05,1793238328592150528
+52,0.866666667,BASELINE,765.16493351,746,715,680,665,636,879.16493351,788,803,653,632,654,0.400989290626,0.00448001782207,0.079851763956,0.999999961302,8.56632326755e-05,-0.000260003074703,4.95508151179e-05,1793238328608817408
+53,0.883333333,BASELINE,765.739126783,746,715,680,665,636,879.739126783,788,803,653,632,654,0.40099045406,0.00448064985443,0.07985235399,0.999999961494,8.63901821747e-05,-0.000259040800623,4.94684753755e-05,1793238328625484032
+54,0.900000000,BASELINE,766,746,715,680,665,636,880,787.676655393,803,653,632,653.676655393,0.400990157755,0.00448037631644,0.0798524012221,0.999999961461,8.66654405224e-05,-0.000259082050296,4.94342908956e-05,1793238328642150656
+55,0.916666667,BASELINE,766,746,715,680,665,636,880,787.084091063,803,653,632,653.084091063,0.400988646059,0.00447934879214,0.0798519965123,0.999999961242,8.65646165858e-05,-0.000259958843214,4.94402009388e-05,1793238328658817536
+56,0.933333333,BASELINE,766,746,715,680,665,636,880,787.49532742,803.49532742,652.50467258,631.50467258,653.49532742,0.400987786376,0.00447888447971,0.0798511970491,0.999999960911,8.54614996219e-05,-0.000261562877515,4.95918842617e-05,1793238328675484160
+57,0.950000000,BASELINE,766,746,715.072277904,680,665,636,879.927722096,788,804,652.072277904,631.072277904,653.927722096,0.40098735889,0.00447862207732,0.0798505935238,0.999999960662,8.45926758355e-05,-0.000262767797937,4.97390320842e-05,1793238328692151296
+58,0.966666667,BASELINE,766,746,715.647183985,680,665,636,879.352816015,788,804,652.647183985,631.647183985,653.352816015,0.400989187091,0.00447911604767,0.079851806565,0.99999996113,8.65058559262e-05,-0.000260360861407,4.96869904886e-05,1793238328708817920
+59,0.983333333,BASELINE,766,746,715.771758627,680,665,636.228241373,879.228241373,787.771758627,803.771758627,653,631.771758627,653.228241373,0.400990172749,0.00447972601926,0.0798521986049,0.999999961385,8.74394004467e-05,-0.000259093679146,4.95440863632e-05,1793238328725484544
+60,1.000000000,BASELINE,766,746,715.180929079,680,665,636.819070921,879.819070921,787.180929079,803.180929079,653,631.180929079,653.819070921,0.400989819926,0.00448052027247,0.0798512863882,0.999999961313,8.68166793301e-05,-0.000259637129773,4.92568364512e-05,1793238328742150912
+61,1.016666667,BASELINE,766.401125831,746,715,680,665,636.598874169,879.598874169,787,803,653,631.401125831,653.598874169,0.400989157648,0.00448026424486,0.0798513800422,0.99999996131,8.56685978954e-05,-0.000260034954564,4.92218449142e-05,1793238328758817280
+62,1.033333333,BASELINE,766.979307602,746,715,680,665,636.020692398,879.020692398,787,803,653,631.979307602,653.020692398,0.400988358778,0.00447954462585,0.0798519176851,0.999999961337,8.42886237654e-05,-0.000260368500441,4.92981996112e-05,1793238328775484160
+63,1.050000000,BASELINE,766.444353136,746,715,680,665,636,879,787.555646864,803,652.444353136,632,653,0.400989124913,0.00447891297138,0.0798526367536,0.999999961713,8.33072838374e-05,-0.000259228212331,4.9338526212e-05,1793238328792150784
+64,1.066666667,BASELINE,766,746,715.134573575,680,665,636,879.134573575,788,803,652.134573575,631.865426425,653,0.400989920154,0.0044784086866,0.0798532536911,0.999999962023,8.27093020744e-05,-0.00025821117597,4.9399767584e-05,1793238328808817664
+65,1.083333333,BASELINE,766,746,715.722446212,680,665,636,879.722446212,788,803,652.722446212,631.277553788,653,0.400990617766,0.00447832243742,0.0798535039266,0.99999996207,8.33527885622e-05,-0.000257793569273,4.95359629289e-05,1793238328825484800
+66,1.100000000,BASELINE,766.306214655,746,715.693785345,680,665,636.306214655,879.693785345,788,803.306214655,653,631,653,0.400990785294,0.00447919023524,0.0798532174593,0.999999961884,8.53195868678e-05,-0.000257864303513,4.95865131646e-05,1793238328842151680
+67,1.116666667,BASELINE,766.886312215,746,715.113687785,680,665,636.886312215,879.113687785,788,803.886312215,653,631,653,0.400990478706,0.00448091134679,0.079852450957,0.99999996148,8.84699747571e-05,-0.000258371817113,4.95604611427e-05,1793238328858817792
+68,1.133333333,BASELINE,766.535778518,746,715,680,665,636.535778518,879,788,803.535778518,653,631.464221482,653,0.400990402577,0.00448046732434,0.0798526059874,0.999999961493,8.80888038558e-05,-0.000258469930534,4.94674661035e-05,1793238328875484416
+69,1.150000000,BASELINE,766,746,715.041248535,680,665,636,879,788,803,653,632,653,0.400990399138,0.0044795626494,0.0798529491916,0.999999961604,8.69572521263e-05,-0.000258442650724,4.93839867034e-05,1793238328892150528
+70,1.166666667,BASELINE,766,746,715.613782265,680,665,636,879,788,803,653,632,653,0.400990608403,0.00447952224024,0.0798528229071,0.999999961658,8.72481753817e-05,-0.000258085619978,4.96332397287e-05,1793238328908817152
+71,1.183333333,BASELINE,766,746,715.808008218,680.191991782,665,636,879.191991782,788,803,653,632,653,0.400990197277,0.0044793733291,0.0798525175182,0.999999961603,8.72213633897e-05,-0.000258281190307,4.9781001101e-05,1793238328925483776
+72,1.200000000,BASELINE,766,746,715.218033152,680.781966848,665,636,879.781966848,788,803,653,632,653,0.40098850013,0.00447899950222,0.0798518408606,0.999999961318,8.65359122353e-05,-0.000259622257464,4.97183786122e-05,1793238328942150400
+73,1.216666667,BASELINE,766,746,715,680.635346488,665,636,879.635346488,788,803.364653512,653,632,653.364653512,0.400989022092,0.00447943239974,0.0798520720602,0.999999961522,8.60617374276e-05,-0.000259054681508,4.93919290979e-05,1793238328958817536
+74,1.233333333,BASELINE,766,746,715,680.056932336,665,636,879.056932336,788,803.943067664,653,632,653.943067664,0.4009908449,0.00448033820078,0.0798528354476,0.999999962011,8.57114132905e-05,-0.000257368254948,4.89108236415e-05,1793238328975484416
+75,1.250000000,BASELINE,766,746,715,680.520036242,665,636,879,788,804,653,632,653.479963758,0.400989806888,0.00448086491209,0.0798520688501,0.999999961549,8.59402644687e-05,-0.000259045131487,4.91185751252e-05,1793238328992151040
+76,1.266666667,BASELINE,766.098661209,746,715.098661209,680.901338791,665.098661209,636,879,788,804,653,631.901338791,653.098661209,0.400988583071,0.00448105708102,0.0798512620252,0.999999961081,8.58190113517e-05,-0.000260839251629,4.9352822417e-05,1793238329008817664
+77,1.283333333,BASELINE,766.686277187,746,715.686277187,680.313722813,665.686277187,636,879,788,804,653,631.313722813,653.686277187,0.400987986285,0.0044797964011,0.079851083645,0.99999996112,8.36493112812e-05,-0.000261394684149,4.93456701248e-05,1793238329025484032
+78,1.300000000,BASELINE,766.729725826,746,715.729725826,680,665.729725826,636.270274174,879.270274174,788,804,653,631.270274174,654,0.400988522252,0.00447952634188,0.0798514180785,0.999999961378,8.31417139999e-05,-0.000260572991867,4.93307684742e-05,1793238329042150912
+79,1.316666667,BASELINE,766.149874145,746,715.149874145,680,665.149874145,636.850125855,879.850125855,788,804,653,631.850125855,654,0.400990355697,0.00448039095973,0.0798523398993,0.999999961884,8.45379230222e-05,-0.000258173912945,4.93069905521e-05,1793238329058817536
+80,1.333333333,BASELINE,766,746.428010614,715,680,665,636.571989386,880,788,803.571989386,653,632,653.571989386,0.400990673068,0.00447980903962,0.0798525640696,0.999999961977,8.41134459598e-05,-0.000257973739556,4.91891609604e-05,1793238329075484416
+81,1.350000000,BASELINE,766,746.994851361,715.005148639,680,665,636,880,788,803.005148639,653,632,653.005148639,0.400990461636,0.00447874203835,0.0798525445199,0.999999961926,8.30891667872e-05,-0.000258530989238,4.90410047926e-05,1793238329092150784
+82,1.366666667,BASELINE,766,746.424430806,715.575569194,680,665,636,880,788,803.575569194,653,632,653.575569194,0.400990211128,0.00447977512795,0.0798524651224,0.999999961796,8.58879368642e-05,-0.000258096446308,4.91625319109e-05,1793238329108817664
+83,1.383333333,BASELINE,766,746,715.848471684,680,665,636,879.848471684,788,804,652.848471684,632,653.848471684,0.400990194952,0.00448013504004,0.0798527247754,0.999999961845,8.71408917932e-05,-0.000257471746365,4.92331847973e-05,1793238329125484800
+84,1.400000000,BASELINE,766,746,715.256410346,680,665,636,879.256410346,788,804,652.256410346,632,653.256410346,0.400990860042,0.00447853784671,0.0798539701382,0.999999962429,8.3899752552e-05,-0.000256294209426,4.91559328211e-05,1793238329142151424
+85,1.416666667,BASELINE,766,746,715,680,665,636,879,788,803.671283375,652.328716625,632,653.328716625,0.400991006348,0.00447872072909,0.0798542956995,0.999999962489,8.39055594691e-05,-0.000256060522486,4.91454741516e-05,1793238329158818048
+86,1.433333333,BASELINE,766,746,715,680,665,636,879,788,803.091453738,652.908546262,632,653.908546262,0.400990756346,0.00448026344594,0.0798539186063,0.99999996215,8.63917717907e-05,-0.000256547860954,4.91860401904e-05,1793238329175484160
+87,1.450000000,BASELINE,766,746,715,680,665,636,879,788,803,653,632,654,0.400991505457,0.0044798497586,0.0798542656934,0.999999962218,8.63678099713e-05,-0.000256267344564,4.93080644966e-05,1793238329192150784
+88,1.466666667,BASELINE,766,746,715,680,665,636,879.062470682,788,803.062470682,653,632,654,0.400992230444,0.00447919252108,0.0798546404781,0.999999962324,8.59981005795e-05,-0.000255954507174,4.94305998018e-05,1793238329208817408
+89,1.483333333,BASELINE,766,746,715,680,665,636,879.636869344,788,803.636869344,653,632,654,0.400991224555,0.00447954165679,0.0798541309475,0.999999962114,8.66470735913e-05,-0.000256555117606,4.94323211484e-05,1793238329225484032
+90,1.500000000,BASELINE,766.217641947,746,715.217641947,680,665,636,880,788.217641947,804,653,632,653.782358053,0.400990539605,0.00447991643119,0.079853660194,0.999999961967,8.7053310807e-05,-0.000256989567821,4.94407406265e-05,1793238329242150912
+91,1.516666667,BASELINE,766.809370112,746,715.809370112,680,665,636,880,788.809370112,804,653,632,653.190629888,0.400990406289,0.00448033527368,0.079853256091,0.999999961929,8.7042330054e-05,-0.00025713841932,4.94606729528e-05,1793238329258817536
+92,1.533333333,BASELINE,766.607605079,746,716,680,665,636,880,788.607605079,803.607605079,652.607605079,632,653.392394921,0.400990422914,0.0044794376727,0.0798533649839,0.999999962142,8.52794992644e-05,-0.000256943319796,4.92369307203e-05,1793238329275484416
+93,1.550000000,BASELINE,766.028716662,746,716,680,665,636,880,788.028716662,803.028716662,652.028716662,632,653.971283338,0.400990510801,0.00447791440578,0.0798537176882,0.999999962468,8.26840668752e-05,-0.000256584750714,4.88973773051e-05,1793238329292151552
+94,1.566666667,BASELINE,766,746,715.454574751,680,665,636,880,788,803.545425249,652.545425249,632,653.454574751,0.400990270624,0.00447795354303,0.0798532109103,0.999999962269,8.27339138868e-05,-0.000257317781833,4.90281633916e-05,1793238329308818176
+95,1.583333333,BASELINE,766.119301192,746,715,680,665,636,879.880698808,788,803.880698808,652.880698808,632,653.119301192,0.40099015781,0.00447835215588,0.0798527892599,0.999999962065,8.33178031191e-05,-0.000257887566194,4.92067472694e-05,1793238329325484544
+96,1.600000000,BASELINE,766.693107885,746,715,680,665,636,879.306892115,788,803.306892115,652.306892115,632,653.693107885,0.400990595451,0.004479809587,0.079852862832,0.999999961945,8.54102306632e-05,-0.000257618357554,4.94738999749e-05,1793238329342150912
+97,1.616666667,BASELINE,766.722917667,746,715,680,665,636,879,788,803.277082333,652.277082333,632,654,0.4009904527,0.00448036396375,0.0798527096355,0.999999961827,8.63741583875e-05,-0.000257755105841,4.94791654304e-05,1793238329358817280
+98,1.633333333,BASELINE,766.12725261,746,715,680,665,636,879,788,803.87274739,652.87274739,632,654,0.400989642627,0.0044798800298,0.0798522957059,0.999999961714,8.60405635389e-05,-0.000258358613837,4.91833190936e-05,1793238329375484160
+99,1.650000000,BASELINE,766.453113264,746,715.453113264,680,665,636,879,788,803.546886736,653,632,654,0.400988855344,0.00447939024442,0.0798521092196,0.999999961626,8.55306459235e-05,-0.000258831679235,4.93812757358e-05,1793238329392151040
+100,1.666666667,BASELINE,767,746,716,680.029198104,665,636,879.029198104,788,803,653,632,653.970801896,0.400988228825,0.00447898813548,0.0798520474048,0.999999961582,8.49924885544e-05,-0.000259121767913,4.96721902909e-05,1793238329408817664
+101,1.683333333,BASELINE,767,746,716,680.602956663,665,636,879.602956663,788,803,653,632,653.397043337,0.400990485181,0.0044802508871,0.0798531583797,0.999999962255,8.48210282403e-05,-0.000256660162197,4.91948426889e-05,1793238329425484544
+102,1.700000000,BASELINE,766.818314622,746,715.818314622,680.818314622,665,636,879.818314622,788,803,653,632,653,0.400991878822,0.00448100797164,0.0798537623487,0.999999962644,8.45827356349e-05,-0.000255278357934,4.89047877014e-05,1793238329442151424
+103,1.716666667,BASELINE,766.228419051,746,715.228419051,680.228419051,665,636,879.228419051,788,803,653,632,653,0.400991334119,0.00448062892467,0.079853227178,0.999999962403,8.41942844509e-05,-0.000256322648853,4.90355412945e-05,1793238329458817792
+104,1.733333333,BASELINE,766.354789778,746,715,680,665,636,879,787.645210222,803,653,631.645210222,653,0.400991575406,0.00448040119713,0.0798536253026,0.999999962374,8.49917710926e-05,-0.000256128253801,4.92582282366e-05,1793238329475484160
+105,1.750000000,BASELINE,766.933773275,746,715,680,665,636,879,787.066226725,803,653,631.066226725,653,0.400992313364,0.00448026908918,0.0798546131817,0.999999962477,8.65386586871e-05,-0.000255151126001,4.9539008408e-05,1793238329492150784
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,637,879,788,803,653,632,653,0.400991117799,0.00447862527189,0.0798544993275,0.999999962657,8.4358888733e-05,-0.000255271121611,4.90578872651e-05,1793238329523162624
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636.424142282,879,788,803,652.424142282,631.424142282,653.575857718,0.400989899064,0.00447930910169,0.0798536429064,0.999999962221,8.43963170743e-05,-0.000256990397011,4.89077107492e-05,1793238329539830016
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,788,803,652.155979746,631,654,0.400989121582,0.00448011442903,0.0798529130311,0.999999961859,8.48982922748e-05,-0.000258246144918,4.88128717365e-05,1793238329556497408
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,788,803,652.748023397,631,654,0.400989577684,0.00448125942044,0.0798525369324,0.999999961712,8.66989753129e-05,-0.000258206035175,4.88727366712e-05,1793238329573164032
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,715.332498006,680.332498006,665,636.332498006,879.332498006,788,803.332498006,653,631.332498006,653.667501994,0.400989119091,0.00448100017855,0.0798520376941,0.999999961541,8.68523568441e-05,-0.000258792081597,4.89963507282e-05,1793238329589830656
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,715.911364211,680.911364211,665,636.911364211,879.911364211,788,803.911364211,653,631.911364211,653.088635789,0.400987982745,0.00447970045387,0.079851447214,0.999999961353,8.57851513823e-05,-0.000259842085593,4.91672004224e-05,1793238329606497024
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,715.512551427,680.512551427,665,636.512551427,879.512551427,788,803.512551427,653,632,653.487448573,0.400989687715,0.00447998438907,0.0798527933664,0.999999961858,8.63375354847e-05,-0.000257673723125,4.93274137898e-05,1793238329623163136
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,715.06444453,680,665.06444453,636,879,788,803.06444453,653,632,654,0.400991671048,0.00448050553421,0.0798543131744,0.999999962401,8.7232422187e-05,-0.000255230544075,4.94591611297e-05,1793238329639829248
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,715.652943552,680,665.652943552,636,879,788,803.652943552,653,632,654,0.400991740468,0.00448062722042,0.0798543977405,0.999999962277,8.85312495416e-05,-0.000255284483546,4.93750648112e-05,1793238329656495872
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,715.762220251,680.237779749,665.762220251,636.237779749,879.237779749,788,803.762220251,653,632,653.762220251,0.400991548178,0.00448059430034,0.0798542203542,0.999999962248,8.81681570981e-05,-0.000255555640719,4.92043321678e-05,1793238329673162496
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,715.182649151,680.817350849,665.182649151,636.817350849,879.817350849,788,803.182649151,653,632,653.182649151,0.400990979696,0.0044803391448,0.0798536664303,0.999999962352,8.54161739259e-05,-0.000256139032768,4.89090660231e-05,1793238329689829120
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680.606995923,665,636.606995923,879.606995923,788,803.393004077,653,632,653.393004077,0.400996532952,0.0044796493545,0.0798562400216,0.999999963389,8.40235024619e-05,-0.000252514659845,4.89753706248e-05,1793238329706496000
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680.033145508,665,636.033145508,879.033145508,788,803.966854492,653,632,653.966854492,0.401004903213,0.0044787595609,0.0798602527828,0.99999996483,8.32563371015e-05,-0.000246954024901,4.92080570492e-05,1793238329723162624
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,715.55558707,680,665,636,879.55558707,788,803.44441293,653,632,653.44441293,0.401031518025,0.00447977054667,0.0798711319978,0.999999969328,8.51680238002e-05,-0.000227350450845,4.9009517153e-05,1793238329739829248
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.14266515,746,716,680,665.14266515,636.14266515,880,788,803,653,632,653,0.401065269944,0.00448061195042,0.0798836811695,0.999999974331,8.65558497062e-05,-0.000203686455871,4.85595039598e-05,1793238329756495616
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.72188896,746,716,680,665.72188896,636.72188896,880,788,803,653,632,653,0.401117439253,0.00448057787923,0.0799000524333,0.999999980702,8.58381479957e-05,-0.00017023166398,4.74208665312e-05,1793238329773162240
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.699028186,746,716,680.300971814,665.699028186,636.699028186,880.300971814,788,803,653,632,653.300971814,0.401176829534,0.0044810484332,0.0799147887368,0.999999985418,8.51462437925e-05,-0.00014068621602,4.60526574425e-05,1793238329789828864
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.120075556,746,716,680.879924444,665.120075556,636.120075556,880.879924444,788,803,653,632,653.879924444,0.40124288918,0.0044819850644,0.0799280149722,0.999999988859,8.44781665108e-05,-0.000114751482374,4.44724135706e-05,1793238329806495488
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,715.544889664,680.544889664,665.455110336,636,880.544889664,788,803,653,632,653.544889664,0.401312381453,0.00448270303921,0.0799345130156,0.999999990222,8.25514513314e-05,-0.000104477457963,4.27389803508e-05,1793238329823162368
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.029928775,746,715,680,665.970071225,636.029928775,880,788,803,653,632,653,0.401383412845,0.0044833399506,0.0799389992599,0.999999991073,8.02868673019e-05,-9.86598594885e-05,4.09055079502e-05,1793238329839828736
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.616239801,746,715,680,665.383760199,636.616239801,880,788,803,653,632,653,0.401466358611,0.0044835335409,0.0799388153529,0.999999991298,7.78639349111e-05,-9.95058735524e-05,3.79574826537e-05,1793238329856495616
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,715,680,665,636.799755392,879.799755392,788,803.200244608,652.799755392,632,653.200244608,0.401558260606,0.00448433904113,0.07994002799,0.999999991724,7.60268260938e-05,-9.77626504239e-05,3.48422619305e-05,1793238329873162240
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,715,680,665,636.220120094,879.220120094,788,803.779879906,652.220120094,632,653.779879906,0.401667131387,0.00448630388804,0.0799438865698,0.999999992521,7.5299640116e-05,-9.11137646107e-05,3.14102670292e-05,1793238329889828864
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.641117929,746,715.358882071,680,665,636,879,788,803.641117929,652.358882071,632,654,0.401791369872,0.00448864071888,0.0799493623032,0.999999993508,7.45028872709e-05,-8.16681139344e-05,2.76492607854e-05,1793238329906495488
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.062503357,746,715.937496643,680,665,636,879,788,803.062503357,652.937496643,632,654,0.40192501754,0.00449120530429,0.0799558281705,0.99999999452,7.36635406865e-05,-7.05100891295e-05,2.36868106374e-05,1793238329923162368
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,715.488075257,680,665,636.511924743,879,788,803.511924743,653,632,654,0.402080237798,0.00449394876288,0.079963225874,0.999999995507,7.24922618242e-05,-5.81530879073e-05,1.86912822482e-05,1793238329939828992
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.088391292,746,715,680,665,636.911608708,879.088391292,788,804,652.911608708,632,654,0.402241417759,0.0044966647746,0.0799698965825,0.999999996319,7.05563507506e-05,-4.69417632521e-05,1.34433210615e-05,1793238329956495872
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.679330192,746,715,680,665,636.320669808,879.679330192,788,804,652.320669808,632,654,0.402421628064,0.00449910157757,0.0799717923679,0.999999996964,6.45016800657e-05,-4.30697043172e-05,7.47146764958e-06,1793238329973162496
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.73537018,746,715,680,665,636,879.73537018,788,804,652.26462982,632,654,0.40260777346,0.00450122035506,0.0799708933973,0.999999997332,5.73927785981e-05,-4.51682491399e-05,1.16906623943e-06,1793238329989829120
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.156761487,746,715,680,665,636,879.156761487,788,804,652.843238513,632,654,0.402800960731,0.00450296180047,0.0799666784953,0.999999997306,4.9033050236e-05,-5.43508160467e-05,-5.52552450345e-06,1793238330006495744
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,788,803.581219735,653,632,653.581219735,0.403016169935,0.00450679233813,0.0799624704614,0.999999996966,4.56392019355e-05,-6.1973665656e-05,-1.20523357382e-05,1793238330023162624
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,788,803.006817693,653,632,653.006817693,0.403239562644,0.00451139919756,0.0799582649799,0.999999996475,4.40907107886e-05,-6.90169128232e-05,-1.85167987438e-05,1793238330039829248
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665.579258877,636.579258877,879,787.420741123,803,653,632,653,0.403501777045,0.00451511555567,0.0799605731116,0.999999996484,5.09808209621e-05,-6.2777828365e-05,-2.21982411765e-05,1793238330056495616
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715.163651316,680,666,636.836348684,879,787.163651316,803,653,632,653.163651316,0.403778438322,0.0045202439683,0.0799637013008,0.99999999578,6.89402731371e-05,-5.6152973185e-05,-2.31274864146e-05,1793238330073162240
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715.743405009,680,666,636.256594991,879,787.743405009,803,653,632,653.743405009,0.404090646742,0.00452898988921,0.0799687156465,0.999999992067,0.000114787079188,-4.8952912135e-05,-1.71439488076e-05,1793238330089828864
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715.67498715,680,665.67498715,636,879,788,803.32501285,653,632,653.67498715,0.404407044956,0.00453507193164,0.0799698585108,0.999999990556,0.000127944445822,-4.70561071267e-05,-1.74540948558e-05,1793238330106495488
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,715.091907013,680,665.091907013,636,879,788,803.908092987,653,632,653.091907013,0.404726769991,0.00453903879742,0.0799679273352,0.999999991893,0.000115145690145,-4.93702022802e-05,-2.27615622736e-05,1793238330123162112
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,715.480668677,680,665.480668677,636,879,788,804,653,632,653.480668677,0.405098589919,0.00454590571388,0.0799667244158,0.999999995592,7.74107725168e-05,-4.67707920099e-05,-2.52276009179e-05,1793238330139828736
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,716,680.05289677,665.94710323,636,879.05289677,788,803.94710323,652.94710323,631.94710323,654,0.405480707322,0.00455335794436,0.0799655710584,0.999999997811,4.14547319437e-05,-4.38446347846e-05,-2.71407591886e-05,1793238330156495616
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,716,680.641511386,665.358488614,636,879.641511386,788,803.358488614,652.358488614,631.358488614,654,0.405868391286,0.00456124226638,0.0799635395613,0.999999995979,7.07697488623e-05,-4.69206561979e-05,-2.88392163458e-05,1793238330173162496
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746.226693867,715.773306133,680.773306133,665,636,879.773306133,788,803.226693867,652.226693867,631.226693867,653.773306133,0.406277036222,0.00456875257175,0.0799599845232,0.999999993301,9.8390316576e-05,-5.35936308474e-05,-2.90735967161e-05,1793238330189828864
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746.806529757,715.193470243,680.193470243,665,636,879.193470243,788,803.806529757,652.806529757,631.806529757,653.193470243,0.406718333978,0.0045756802363,0.0799540561244,0.999999989855,0.000123371282156,-6.58699124133e-05,-2.7027249039e-05,1793238330206495488
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746.616515716,715,680,665.383484284,636,879.383484284,788,804,653,632,653,0.40716830889,0.0045840465987,0.0799528277556,0.999999988492,0.000131505608052,-7.01311601822e-05,-2.8367823083e-05,1793238330223162112
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746.041004033,715,680,665.958995967,636,879.958995967,788,804,653,632,653,0.407622628822,0.00459313337999,0.0799539528983,0.999999988423,0.000131204081868,-7.0378928649e-05,-3.14043774469e-05,1793238330239828992
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.545357697,746,715,680.545357697,666,636,880,788,803.454642303,653,632,653.545357697,0.408096004378,0.00460029796362,0.07995095567,0.999999986867,0.000139057102056,-7.6742341188e-05,-3.22503891779e-05,1793238330256495872
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.869165528,746,715,681,666,636.130834472,880,788,803.130834472,653,632,653.869165528,0.408584929394,0.00460772611842,0.0799486162044,0.999999985209,0.000147760923925,-8.15512341553e-05,-3.31467015511e-05,1793238330273162496
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.289579091,746,715,681,666,636.710420909,880,788,803.710420909,653,632,653.289579091,0.409122173784,0.00461656407223,0.0799496174994,0.999999983879,0.000157237288041,-7.94190863228e-05,-3.47919205438e-05,1793238330289829120
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715.288662173,681,666,636.711337827,880,788,804,653,632,653.288662173,0.409698403099,0.0046244431738,0.0799646455127,0.999999984323,0.000164732159687,-5.37159865222e-05,-3.64873357121e-05,1793238330306495744
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715.865560317,681,666,636.134439683,880,788,804,653,632,653.865560317,0.410313559845,0.00463136483991,0.0799936795342,0.999999984767,0.000170248465321,-4.47673616793e-06,-3.8232873076e-05,1793238330323162368
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.440566277,746,715.559433723,681,666,636.440566277,880.440566277,787.559433723,804,653,632,654,0.410912879737,0.00463584232038,0.0800065971434,0.999999983299,0.000177868226372,1.59574868806e-05,-3.8857309803e-05,1793238330339828992
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.984563393,746,715.015436607,681,665.984563393,637,880.984563393,787.015436607,803.984563393,653,632,654,0.411506908894,0.00463889968191,0.0800137300451,0.99999998175,0.000185140431742,2.62268287677e-05,-3.9181458379e-05,1793238330356495872
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.393304648,746,715.606695352,681,665.393304648,637,880.393304648,787.606695352,803.393304648,653,632,654,0.412083080762,0.00461668616737,0.0799877465208,0.999999986921,0.000155606981992,-1.61956337586e-05,-4.10109420847e-05,1793238330373162496
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.194070397,746,716,681,665,637,880,788.194070397,803,653,632,653.805929603,0.412677984374,0.00459605782464,0.0799614009368,0.999999989309,0.000128568491639,-5.49741208469e-05,-4.2784560597e-05,1793238330389829120
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.773729086,746,716,681,665,637,880,788.773729086,803,653,632,653.226270914,0.413310105069,0.00457857897798,0.0799343359968,0.9999999896,0.000106487107539,-8.65125818046e-05,-4.44471835175e-05,1793238330406495744
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,716,680.649710715,665.350289285,636.649710715,880,788.649710715,803.70057857,653,632,653.350289285,0.413988209741,0.00457687190158,0.0799343927206,0.999999991308,9.49881469024e-05,-7.96875057854e-05,-4.48558030521e-05,1793238330423162368
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,716,680.075134472,665.924865528,636.075134472,880,788.075134472,804.849731055,653,632,653.924865528,0.414695757501,0.00458526334308,0.0799518151935,0.999999993771,9.02650140297e-05,-4.82986140585e-05,-4.44614958579e-05,1793238330439829248
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.502368304,746.497631696,716,680.497631696,665.502368304,636,880,788,804.502368304,653,632,654,0.415402286822,0.00459462299194,0.079975568156,0.999999992396,0.000114446880215,-1.15434048409e-05,-4.44644204812e-05,1793238330456495872
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.07253104,746.92746896,715.92746896,681.07253104,665.07253104,636.07253104,880,788,804,653,632,654,0.416104153713,0.00460326374236,0.0799956254392,0.999999989059,0.000139939892232,1.74795492724e-05,-4.46509032458e-05,1793238330473162496
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.66466255,746.33533745,715.33533745,681.66466255,665.66466255,636.66466255,880,788,804,653,632,654,0.416773716942,0.0046057109753,0.0799823850684,0.999999988526,0.000143674655113,-1.46734310502e-05,-4.57242681293e-05,1793238330489829120
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.748373758,746.251626242,715,682,666,636.748373758,880,788,804,653,631.748373758,654,0.417485263678,0.00460503065432,0.0799784121452,0.999999989043,0.000138922030015,-1.95578168375e-05,-4.72352388126e-05,1793238330506495744
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.168158441,746.831841559,715,682,666,636.168158441,880,788,804,653,631.168158441,654,0.41825163516,0.00460026618076,0.0799865412249,0.999999991146,0.000123086050464,1.11668064883e-05,-4.9317662313e-05,1793238330523162368
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746.590819244,715,681.590819244,666,636,880,787.590819244,804,652.590819244,631.409180756,653.590819244,0.419038123213,0.00459323906314,0.0800037067971,0.999999991367,0.000113228449763,4.32518457664e-05,-5.07354281848e-05,1793238330539829248
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746.014653812,715,681.014653812,666,636,880,787.014653812,804,652.014653812,631.985346188,653.014653812,0.419832820695,0.00458528857177,0.0800245601175,0.999999990176,0.000105810597254,7.58920622979e-05,-5.18819503552e-05,1793238330556495872
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,681,666,636,880,787.57185873,804,652,631.42814127,653,0.420552949125,0.00458883090547,0.0800042391731,0.999999991347,0.00011251347811,4.45521291692e-05,-5.16016792602e-05,1793238330573162496
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715.156721869,681,666,636.156721869,880,788,804,652.156721869,631.156721869,653.156721869,0.42128787017,0.00459358851337,0.0799899996877,0.999999991325,0.000119119776806,2.23735364465e-05,-5.15750698781e-05,1793238330589829120
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715.736404811,681,666,636.736404811,880,788,804,652.736404811,631.736404811,653.736404811,0.422067965451,0.00460081645486,0.0799950727855,0.999999990451,0.000124470884768,2.94257501063e-05,-5.23335332248e-05,1793238330606495744
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,716,681,666,637,880.314696316,788,804,652.685303684,632,654,0.422862476753,0.00460565652354,0.0800089134201,0.999999988988,0.000130076984773,4.90312116776e-05,-5.19664875648e-05,1793238330623162368
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,716,681,666,637,880.891827429,788,804,652.108172571,632,654,0.423669009973,0.00460850527234,0.0800300655694,0.999999986354,0.000135895730018,7.91052068428e-05,-5.06608457518e-05,1793238330639828992
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746.467841687,716,681,666,637,880.532158313,788,804,652.467841687,632,653.532158313,0.424436716756,0.00460930276387,0.0800119193208,0.999999988592,0.000137166634179,3.82992101561e-05,-5.03355391273e-05,1793238330656495616
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,747,715.955579013,681,666,637,880.044420987,788,804,652.955579013,632,653,0.42519517259,0.00460965859034,0.0799845330441,0.999999989143,0.000137391740369,-1.73958167032e-05,-5.03453402483e-05,1793238330673162496
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,747,715.368958879,681,666,637,880.631041121,788,804,652.368958879,632,653,0.425950026629,0.00461039877231,0.0799550077973,0.999999987663,0.000137656302862,-5.52635426347e-05,-5.16853226907e-05,1793238330689829120
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746.784818439,715,681,666,636.784818439,880.784818439,788,804,652.215181561,632,653,0.426727196011,0.00461022215578,0.0799413893015,0.999999986681,0.000138614201031,-6.79926895445e-05,-5.29242994296e-05,1793238330706495744
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746.20488125,715,681,666,636.20488125,880.20488125,788,804,652.79511875,632,653,0.427542192395,0.00460849146839,0.0799547344354,0.999999987911,0.000140747377137,-3.81092778513e-05,-5.39920610468e-05,1793238330723162368
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681,666,636,880.372289709,788,804,653,632,653,0.428325368471,0.004607378389,0.0799575186027,0.999999987954,0.000140253442675,-3.97235296978e-05,-5.33256965374e-05,1793238330739828992
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715,681,666,636,880.947949528,788,804,653,632,653,0.429091162069,0.00460660268946,0.0799545336467,0.999999987382,0.000138324400555,-5.85439622198e-05,-5.17120336277e-05,1793238330756495616
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,681.522523575,666,636,881,787.477476425,804,653,632,653.522523575,0.429909813785,0.00460827523531,0.0799746463728,0.999999989321,0.000134097707249,-2.50653234528e-05,-5.24224311031e-05,1793238330773162240
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.099889195,746.099889195,715,682,666.099889195,636.099889195,881,787.099889195,804,653,632,653.900110805,0.430725904905,0.00461027010957,0.0799975645451,0.99999998992,0.000131025205166,1.25664087502e-05,-5.32400248856e-05,1793238330789828864
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.691528956,746.691528956,715,682,666.691528956,636.691528956,881,787.691528956,804,653,632,653.308471044,0.431503522728,0.00461265367851,0.0800229903412,0.999999988477,0.000134759159676,4.50496872319e-05,-5.34480002159e-05,1793238330806495488
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.722806761,747,715.277193239,682,666.722806761,636.722806761,881,788,804,653,632,653,0.432255089254,0.00461517317924,0.0800259048413,0.999999987998,0.000139299325038,4.18857861552e-05,-5.33426185341e-05,1793238330823162368
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.143651929,747,715.856348071,682,666.143651929,636.143651929,881,788,804,653,632,653,0.432978276641,0.00461784075766,0.0800042965672,0.999999988129,0.000144717739195,-1.10518632181e-07,-5.28958800663e-05,1793238330839828992
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,747,716,682,666,636,881,787.567728506,804,653,632,653,0.433687653529,0.00461909201971,0.0799595445899,0.999999987316,0.000138191165989,-5.69769595306e-05,-5.49947589935e-05,1793238330856495872
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746.992712477,715.992712477,682,666.007287523,636,881,787.007287523,804,653,632,653,0.434393253324,0.00461981364706,0.0799082061836,0.999999983267,0.000127831733019,-0.000117353905992,-5.79010057486e-05,1793238330873162240
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746.405078211,715.405078211,682,666.594921789,636,881,787.594921789,804,653,632,653,0.435160832313,0.00461556134153,0.079940293661,0.999999988142,0.000126011721085,-6.66822716684e-05,-5.82340878476e-05,1793238330889828864
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,715,682,666.819890112,636,881,787.819890112,804,652.819890112,632,653,0.435914889451,0.00461061211476,0.0799715786717,0.999999990444,0.000123561805248,-2.24010750964e-05,-5.78123082619e-05,1793238330906495488
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715,682,666.240129763,636,881,787.240129763,804,652.240129763,632,653,0.436638942755,0.00460411647072,0.0800010830746,0.999999991252,0.000119714179632,7.70022440864e-06,-5.57155469939e-05,1793238330923162112
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715,682,666.33755353,636,881,787.33755353,804,652.33755353,632,653,0.437343175684,0.00460198076372,0.080016210232,0.999999991923,0.000111130203174,2.57108396235e-05,-5.60695613464e-05,1793238330939828992
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,682,666.913768243,636,881,787.913768243,804,652.913768243,632,653,0.438033394929,0.00460292767258,0.0800211722134,0.99999999277,9.91974748719e-05,3.51729510663e-05,-5.81563528866e-05,1793238330956495616
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.499130952,746,715.499130952,682,666.500869048,636,881,788,804,652.500869048,632,653,0.438706139995,0.00460502565879,0.080020548443,0.999999991538,0.000108658212633,4.15416097906e-05,-5.82349922027e-05,1793238330973162240
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.91494845,746.08505155,715.91494845,682.08505155,666.08505155,635.91494845,881,788,804,652,632,653,0.439368537736,0.00460704008049,0.0800164014508,0.999999990426,0.000118305550609,4.23586081e-05,-5.79400685952e-05,1793238330989828864
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.335147739,746.664852261,715.335147739,682.664852261,666.664852261,635.335147739,881,788,804,652,632,653,0.439988633558,0.00460739000086,0.0799974780492,0.999999992507,0.000107137033576,1.40482043304e-05,-5.75279336399e-05,1793238331006495488
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746.756501853,715,683,666.756501853,635.243498147,881,788,804,652.243498147,632,653,0.440574832353,0.00460706457195,0.0799640826939,0.999999992368,0.00010227579888,-3.81492780157e-05,-5.78653025146e-05,1793238331023162624
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746.179438001,715,683,666.179438001,635.820561999,881,788,804,652.820561999,632,653,0.441114595895,0.00460581398873,0.0799108623539,0.999999985049,0.000106054848442,-0.000123069430903,-5.9229409077e-05,1793238331039830528
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746.396464242,715,683,666,636,881,788,804,652.603535758,632,653,0.441676725467,0.0046086519455,0.0798871723201,0.999999980177,0.000110280579247,-0.000154524151412,-6.00519259764e-05,1793238331056497408
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746.971842332,715,683,666,636,881,788,804,652.028157668,632,653,0.442248948284,0.00461333495235,0.0798768085295,0.999999978485,0.000114707886058,-0.000161851341191,-6.06300379986e-05,1793238331073163776
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,747,715,683,666,636,881,788,804,652.55833897,632,653.55833897,0.442839417398,0.00461924610249,0.079916468791,0.999999986043,0.000117320948916,-0.000102580117929,-6.02297161774e-05,1793238331089829888
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,747,715,683,665.856490814,636,881,788,804,652.856490814,632,653.856490814,0.443409593208,0.00462620424606,0.0799500411116,0.99999998897,0.000124915413545,-5.37702199794e-05,-5.97059350779e-05,1793238331106496256
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,747,715,683,665.277087067,636,881,788,804,652.277087067,632,653.277087067,0.443915278569,0.00463615057847,0.0799573035926,0.99999998621,0.00014792393282,-4.71443046476e-05,-5.89600806224e-05,1793238331123163136
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.301558246,746.698441754,715,683,664.698441754,636,881,788,804,652.301558246,632,653,0.444379546665,0.00464442380185,0.0799396500104,0.999999981825,0.000164108059427,-7.76507241423e-05,-5.82153961371e-05,1793238331139829760
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.879508384,746.120491616,715,683,664.120491616,636,881,788,804,652.879508384,632,653,0.444805853918,0.00465116354386,0.0798991597189,0.999999973095,0.000174037316928,-0.000142190622958,-5.74717838614e-05,1793238331156495872
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+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746.61968085,715,683,663.38031915,635,881,787.61968085,804.61968085,652.38031915,632,653.61968085,0.446014680127,0.00467427427619,0.0798174323402,0.99999994454,0.000177123556651,-0.000275639582844,-5.97479906851e-05,1793238331206496512
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746.792366225,715,683.207633775,663,635,881,787.792366225,804.792366225,652,632,653.792366225,0.446410481291,0.00468322416797,0.0798059809413,0.999999937186,0.000195145596754,-0.000289492193309,-6.11537844552e-05,1793238331223163136
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746.213286611,715,683.786713389,663,635,881,787.213286611,804.213286611,652,632,653.213286611,0.446785144784,0.0046952256798,0.0797955050145,0.999999931236,0.000210930357847,-0.000297969225745,-6.5199116938e-05,1793238331239829760
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,715,684,662.273503999,635,881.363248001,787.363248001,804,652,632,653.363248001,0.447131874302,0.00471026755859,0.0797814319137,0.999999921441,0.000231874825956,-0.000314197118941,-6.80598350507e-05,1793238331256495872
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,714.993362341,684,659.006637659,635,881,787.006637659,804.993362341,652.006637659,632,653,0.44921748029,0.00474735040721,0.0796783339353,0.99999985645,0.000242874866188,-0.000472580772633,-6.91362660974e-05,1793238331389829376
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746.583287535,715,684,659,635,881.583287535,787,804.416712465,652.583287535,632,653.583287535,0.449410407625,0.00474662518718,0.0796801817292,0.999999856423,0.000248120214178,-0.000469971026702,-6.86835564749e-05,1793238331406495744
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746.829766413,715,684,658.829766413,634.829766413,882.170233587,787,804,652.829766413,632,653.829766413,0.449594596846,0.00474587585192,0.0796792270224,0.999999854682,0.000253451725643,-0.000470900318357,-6.82033281806e-05,1793238331423162368
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746.250416159,715,684,658.250416159,634.250416159,882.749583841,787,804,652.250416159,632,653.250416159,0.449758460967,0.00474514602898,0.0796714377022,0.9999998487,0.000259156256398,-0.000480481158125,-6.76492730986e-05,1793238331439828992
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746.326526134,715,684.326526134,658.326526134,634,882.346947732,787.326526134,804,652,632,653.326526134,0.449903091338,0.00473300902099,0.0796657678081,0.999999846099,0.000250176339868,-0.00049064877329,-6.69194931825e-05,1793238331456496128
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+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746.52455909,715,684.52455909,658.52455909,634,881.950881819,787.52455909,804,652.47544091,632,653.52455909,0.450149323127,0.00470182636056,0.0796600776882,0.999999845809,0.000217981035338,-0.000506496924958,-6.57865018209e-05,1793238331489830144
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746.642279715,715,684,658,634,882.357720285,787,804,652.357720285,632,653,0.450357691959,0.00470726235424,0.0796588101519,0.999999842381,0.000221618462176,-0.000511321936396,-6.83548270813e-05,1793238331523162880
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746.770769519,714.770769519,684,657.770769519,634.229230481,882,787,804,652.229230481,632,653,0.450446743303,0.00471223322696,0.0796577570057,0.999999840603,0.000225862878917,-0.000512781844347,-6.95281113334e-05,1793238331539829504
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746.191150222,714.191150222,684,657.191150222,634.808849778,882,787,804,652.808849778,632,653,0.450524543588,0.00470658089026,0.079655418666,0.999999841244,0.000218128383549,-0.000514989706694,-6.86887389603e-05,1793238331556496640
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,714,684.384803399,657,634.615196601,882,787,804.384803399,652.615196601,632,653.384803399,0.450587404937,0.00470755924965,0.0796515694376,0.999999838669,0.000218888514044,-0.00051964908904,-6.86691769947e-05,1793238331573163264
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,714.546931441,684.453068559,657,634,881.453068559,787,804.453068559,652,632,653.453068559,0.450690658297,0.00471144306822,0.0796483453266,0.999999836146,0.000221568709601,-0.000523347837572,-6.87206127663e-05,1793238331606495744
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,714.866097623,684,657,634,881,787,804.133902377,652,632,653,0.450735577524,0.00471021241804,0.0796501538627,0.999999838247,0.000219119798814,-0.000520410815552,-6.83031471168e-05,1793238331623162368
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,714.28603061,684,657,634,881,787,804.71396939,652,632,653,0.450773081118,0.00470725126451,0.0796518990217,0.999999840337,0.000217887897836,-0.000516968610118,-6.77859867563e-05,1793238331639828992
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,714,684,657,634,881,787,804.70728784,652,632,653.29271216,0.450803246573,0.00470886949777,0.0796531641525,0.999999840776,0.000220246202784,-0.000515076367715,-6.80816599102e-05,1793238331656495616
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,714,684,657,634,881,787,804.129833191,652,632,653.870166809,0.450826273688,0.00471494243457,0.0796539623251,0.999999839594,0.000226096963009,-0.000514691887103,-6.91680355067e-05,1793238331673162496
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,714,684,657,634,881.445614607,787,804,652.445614607,632,654,0.450840305121,0.00471528470499,0.079651733372,0.999999837136,0.000226149829552,-0.000519478085535,-6.87477967351e-05,1793238331689829120
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,714,683.978954555,657,633.978954555,881.978954555,787,804.021045445,653,632,653.978954555,0.450851355387,0.00471399956128,0.079648468582,0.999999834172,0.000224536241201,-0.000525953317408,-6.79202288121e-05,1793238331706495744
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,714,683.388225106,657,633.388225106,881.388225106,787,804.611774894,653,632,653.388225106,0.450852337068,0.00471365569837,0.0796409318506,0.999999828275,0.000223334962797,-0.000537551985826,-6.78957040558e-05,1793238331723162624
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,714,683.198210739,657,633,881.396421479,787,804.801789261,652.801789261,632,653.198210739,0.450853826,0.00471367032997,0.0796352352985,0.99999982339,0.000222901312231,-0.000546764112218,-6.77085590145e-05,1793238331739828992
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,714,683.776415197,657,633,882.552830393,787,804.223584803,652.223584803,632,653.776415197,0.450856287392,0.00471437223847,0.079633066591,0.999999820646,0.000223939296249,-0.000551400951232,-6.72096514323e-05,1793238331756495616
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,714,684,656.647692073,633.352307927,882.295384147,787,804,652.352307927,632,653.647692073,0.450860157529,0.00471516634388,0.079632906911,0.999999820275,0.000224671497509,-0.000551780146291,-6.71681151603e-05,1793238331773162496
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,714,684,656.07325689,633.92674311,881.146513781,787,804,652.92674311,632,653.07325689,0.450864915867,0.00471601857866,0.0796340139065,0.999999821406,0.000225210905209,-0.000549474931603,-6.74149477655e-05,1793238331789829120
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,714,684,656.512038235,634,881.512038235,786.487961765,804,653,632,653,0.45086723246,0.00471723065042,0.0796351555875,0.999999821477,0.000227711218845,-0.000548339135096,-6.72179324173e-05,1793238331806495488
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,714,684,656.902252362,634,882,786.097747638,804,653,631.902252362,653,0.450868936308,0.00471792420224,0.0796359370191,0.999999821452,0.000229357114022,-0.000547731627594,-6.69393632894e-05,1793238331823162112
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,714,684,656.322329944,634,882,786.677670056,804,653,631.322329944,653,0.45086937815,0.00471580051679,0.079634916384,0.999999821748,0.000225374411547,-0.000548886904959,-6.65785299111e-05,1793238331839828992
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,746,714,684,656,634,881.743119563,787,804.256880437,652.743119563,631.256880437,653,0.450869828549,0.00471478088609,0.0796342322259,0.999999821735,0.000223275576995,-0.000549791804451,-6.6379615945e-05,1793238331856495616
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,714,684,656,634,881.164800089,787,804.835199911,652.164800089,631.835199911,653,0.450870289655,0.00471514277835,0.0796339691071,0.999999821352,0.000223534059182,-0.000550383401848,-6.63833145568e-05,1793238331873162240
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,714,684,656.411125258,633.588874742,881,787,804.588874742,652,632,653,0.450870841954,0.00471476303986,0.0796343392214,0.999999821293,0.000224069141041,-0.000550303672014,-6.612140344e-05,1793238331889828864
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,714,684,656.986096437,633.013903563,881,787,804.013903563,652,632,653,0.450871430596,0.00471408773894,0.0796349616985,0.999999821364,0.000224714456267,-0.000549956397823,-6.57536387666e-05,1793238331906495488
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+251,4.183333333,POSE1_TO_POSE2_PRESS,765.160276729,746,714.160276729,684,656.160276729,634,882.839723271,786.160276729,804,653,632,653,0.450873158769,0.00471702272142,0.0796348127177,0.999999821868,0.000224475114002,-0.000549001845458,-6.68787050008e-05,1793238331939828736
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+256,4.266666667,POSE1_TO_POSE2_PRESS,766,746,714.957476406,684,656,634,882,787,804.042523594,652,631.957476406,653,0.450872382585,0.0047153616604,0.0796322345867,0.999999819767,0.000222997853774,-0.000553502570614,-6.61236393278e-05,1793238332023162368
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+262,4.366666667,POSE1_TO_POSE2_PRESS,766.536366306,746.536366306,714.536366306,684,656.463633694,633.536366306,882,787,805,652,632,654,0.450873856287,0.00471571787574,0.0796324368288,0.999999820044,0.00022232530066,-0.000553305284378,-6.5847084326e-05,1793238332123163136
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+265,4.416666667,HOLD_POSE2,766,746,714,684,656,634,882,787,804,652,632,653,0.450876718463,0.00471450319057,0.0796346548189,0.999999821628,0.000223576739769,-0.000550021405521,-6.50671164224e-05,1793238332194024192
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+267,4.450000000,HOLD_POSE2,766,747,714.157488247,684,656,634,882,787,804,652.157488247,632,653.157488247,0.450873713192,0.00471303203326,0.0796322477876,0.999999819845,0.000220039231388,-0.000554713336057,-6.46980338302e-05,1793238332227358464
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+277,4.616666667,HOLD_POSE2,766.03219586,746.03219586,714.96780414,683.96780414,656,634,881.03219586,787.96780414,804,653,632,653.96780414,0.450875180629,0.00471253285725,0.0796317099442,0.999999820122,0.00021983134494,-0.000554252002032,-6.50756899969e-05,1793238332394023936
+278,4.633333333,HOLD_POSE2,766,746,714.456652117,684,656,634,881.543347883,787.456652117,804,652.456652117,632,653.456652117,0.450875736008,0.00471218874738,0.0796322530202,0.999999820244,0.000220005402413,-0.000553966383558,-6.50372764737e-05,1793238332410690560
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,746.187149916,715,683.812850084,665,636,880.812850084,787,804,653,632,653,0.438608700171,0.00456157784405,0.0797268169273,0.999999905244,0.000122900186399,-0.000416163949709,3.48572831697e-05,1793238333376648960
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,746.766826971,715,683.233173029,665,636,880.233173029,787,804,653,632,653,0.43798512584,0.00455508948566,0.0797770664081,0.999999932891,0.000104166216888,-0.000349219733411,3.75886082727e-05,1793238333393315840
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,746.655404554,715,683.344595446,665,636,880.344595446,787,804,653,632,653.344595446,0.437341496319,0.00454754595235,0.0798159338958,0.999999950016,0.000104522013631,-0.000295749740833,3.97016110178e-05,1793238333409982464
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,746.078920443,715,683.921079557,665,636,880.921079557,787,804,653,632,653.921079557,0.436684371082,0.00453929236029,0.0798471420949,0.999999960626,0.000117723890458,-0.000251346962586,4.13985259154e-05,1793238333426648576
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.339499975,746.339499975,715,683,665,636,880.660500025,788,804.660500025,653,632.339499975,653,0.434502331019,0.00451669289765,0.0798151642217,0.999999952873,8.3725207237e-05,-0.00029217046053,4.33693637234e-05,1793238333476648448
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.82603358,746,715,683,665,636,880.17396642,787.17396642,805,652.17396642,632,653,0.432972648166,0.00449846895351,0.0797853489828,0.999999935808,6.98805959932e-05,-0.000348238622638,4.72299003159e-05,1793238333509981696
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,715.402883507,683,665,636,880.402883507,787.402883507,804.597116493,652,632,653,0.432174465402,0.00449074070053,0.079758016875,0.999999916397,6.23586142191e-05,-0.000401201874755,4.85221551475e-05,1793238333526648576
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,746,715.446647562,683,664.446647562,636,881,788,804,652.553352438,632,653,0.430645866492,0.00447234595829,0.0797616401756,0.999999917637,4.38526839978e-05,-0.000400371010601,5.00631515405e-05,1793238333559981824
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,683,664.132396661,636,881,788,804,653,632,653.132396661,0.429926236862,0.00446187721326,0.0798044074325,0.999999944384,3.38030209749e-05,-0.000327821610619,5.12003266178e-05,1793238333576648448
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,683,664.725494792,636,881,788,804,653,632,653.725494792,0.429191965577,0.00445396735825,0.0798549282589,0.999999967564,2.70795856381e-05,-0.000247564919476,5.33897074234e-05,1793238333593315072
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746,715.309534342,683,665,636,881,788,804,653,632,653.690465658,0.42841766827,0.00444514559238,0.0798682073253,0.999999972652,2.40715792257e-05,-0.000225976646116,5.5236780171e-05,1793238333609981440
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746,715.540465528,682.540465528,664.540465528,636,880.540465528,788,804.459534472,652.540465528,632,653,0.426781905588,0.00442715606847,0.0798033273217,0.999999946788,1.21780498777e-05,-0.000321124479646,5.61753768524e-05,1793238333643314688
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,682,664.033653333,636,880,788,804.966346667,652.033653333,632,653,0.425952223314,0.0044189781913,0.0797538190223,0.999999921644,-2.35172166198e-06,-0.000391998067445,5.51712493628e-05,1793238333659981568
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,682,664.623703696,636,880,788,804.376296304,652.623703696,632,653,0.425152210935,0.00440916634834,0.0797589226134,0.999999923027,-7.0723257213e-06,-0.000388195794097,5.65623978686e-05,1793238333676648448
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,746,715.790398698,682,664.209601302,636,880,788,804,653,632,653,0.423546292878,0.00441903044944,0.0797595126254,0.999999919029,1.06512147672e-05,-0.000397655411302,6.08233488768e-05,1793238333709981952
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,715.63295211,682,664,636,880.73409578,787.63295211,804,653,632,653,0.422792405172,0.00444554245959,0.0797762560639,0.999999931276,4.28303819227e-05,-0.000363370730646,5.97963593896e-05,1793238333726648320
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,746.14881823,715,682,664.85118177,636,880.14881823,788,804,653,632,653.85118177,0.418244359188,0.00448106838753,0.079789586873,0.999999942512,7.27412320812e-05,-0.000327469466918,4.94770119718e-05,1793238333826648832
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.415311902,746,715,681.584688098,665,636,879.415311902,788,803.584688098,653,631.584688098,653.415311902,0.416109799725,0.00448689435454,0.0798234522861,0.999999953089,8.17322784218e-05,-0.000290767398471,5.09605569812e-05,1793238333876648448
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,715.173074615,681.826925385,664.826925385,636,879.519223845,788,803.826925385,653,632,653,0.415400092819,0.00449445776585,0.0798194356875,0.999999949574,9.23927928899e-05,-0.000299500952257,5.11335028843e-05,1793238333893315072
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,715.752010729,681.247989271,664.247989271,636,881.256032187,788,803.247989271,653,632,653,0.414684659366,0.00449811011874,0.0797988613639,0.999999939894,9.77115226131e-05,-0.000328847266315,5.02360918086e-05,1793238333909981696
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,715.670684791,681,664,636,881.012054374,788,803,653,632,653,0.414018537975,0.00449384071556,0.0798006865499,0.999999943457,9.21003740857e-05,-0.000319564992176,4.98134294897e-05,1793238333926648320
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,715.094602983,681,664,636,879.283808949,788,803,653,632,653,0.413389367759,0.00448363528261,0.0798192964185,0.999999956122,7.82991118047e-05,-0.000281337058159,4.97465118725e-05,1793238333943314944
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.519355848,746,715,680.519355848,664.480644152,636,879.480644152,788,803.480644152,653,632,653,0.4127494307,0.00448038712445,0.0798229323213,0.999999956713,7.74140291592e-05,-0.000279352496043,5.04295918249e-05,1793238333959981824
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.057433326,746,715,680,665,636,880,788,804,653,632,653.057433326,0.412108930264,0.0044790899344,0.0798223665325,0.999999954628,7.82873293384e-05,-0.000286352747975,5.1163320188e-05,1793238333976648960
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.650122137,746,715,680,665,636,880,788,804,653,632,653.650122137,0.411482895089,0.00448323514253,0.079810062303,0.999999947841,7.18965396745e-05,-0.000310720666256,5.09957104823e-05,1793238333993315328
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.3887884,636.6112116,879.6112116,788,804.2224232,653,632,653.3887884,0.409735763055,0.00449100188545,0.0798227711018,0.999999951647,9.64773764972e-05,-0.000291287276476,5.05039615634e-05,1793238334043315712
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.965116922,636.034883078,879.034883078,788,803.069766157,653,632,653.965116922,0.409221933586,0.00448869172599,0.0798507074284,0.999999964291,9.01423247746e-05,-0.000246314390226,5.12032914905e-05,1793238334059982336
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.537717804,746,715,680.537717804,665,636,880.075435608,788,803.537717804,653,632,653.462282196,0.408700124128,0.00448835888184,0.0798531105013,0.99999996464,8.60204422216e-05,-0.000246286519608,5.16117835415e-05,1793238334076648448
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.291320081,746,715,681,665,636,880.291320081,788,804,652.291320081,632,653.708679919,0.407651174275,0.004485947626,0.0798165913347,0.999999945711,8.46593490314e-05,-0.000314222200288,5.17228448537e-05,1793238334109981696
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,715.869092998,681,664.130907002,636,880,788,804.869092998,652.869092998,632,654,0.40668899519,0.00448756711459,0.0797874489393,0.99999993131,8.31485785542e-05,-0.00035760904114,5.08146621553e-05,1793238334143315200
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,715.556297689,680.556297689,664.443702311,636,879.556297689,788,804.112595378,653,632,653.556297689,0.406280922434,0.00448995320557,0.0797960792365,0.999999938287,8.67733328012e-05,-0.000336732202409,5.00846275102e-05,1793238334159982080
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.611769007,665,636,879.611769007,788,803,652.388230993,632,653,0.405523872233,0.00449603353293,0.0798234936844,0.999999954123,9.67841821588e-05,-0.000282691231158,4.97226453592e-05,1793238334193315072
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.495397866,746,716,680,664.504602134,636,879.495397866,788,803,653,632,654,0.403809564635,0.00450181233155,0.0798358754635,0.999999951857,0.000106933262599,-0.000286999162659,4.98364066315e-05,1793238334276648448
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,664.91552862,636,879.08447138,788,803,653,632,653.91552862,0.403521612874,0.0045001709122,0.0798357497344,0.999999952656,9.71824292756e-05,-0.000288045252108,4.76721438268e-05,1793238334293315072
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,664.326122372,636,879.673877628,788,803,653,632,653.326122372,0.403276181383,0.00449674470456,0.0798407801324,0.999999954782,9.35974633823e-05,-0.000281586089868,4.88334851009e-05,1793238334309981696
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,715.741095195,680.258904805,664.258904805,636,880,788,803,653,632,653.258904805,0.403038283663,0.00449248642421,0.079845799369,0.999999956632,8.67198148396e-05,-0.000277060298959,4.95244284869e-05,1793238334326648576
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,746,715.161492285,680.838507715,664.838507715,636,880,788,803,653,632,653.838507715,0.402809717826,0.00448719747899,0.07985080478,0.999999958105,7.57636130539e-05,-0.000274929321158,4.96327031582e-05,1793238334343315200
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.399582932,746,715,680.200834136,664.600417068,636,879.600417068,788,803,653,632,654,0.402605345962,0.00448526024843,0.0798502171842,0.999999958434,6.84123564963e-05,-0.000275765302129,4.90350628044e-05,1793238334359981568
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.953501945,746,715,679.09299611,664.046498055,636,879.046498055,788,803,653,632,654,0.402410318853,0.00448461759407,0.0798474693291,0.999999958318,6.24534847835e-05,-0.000277747249985,4.81647677634e-05,1793238334376648192
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.439146265,746,715,679.560853735,664.560853735,636,879,788,803,653,632,654,0.402242106757,0.004483501587,0.0798463267082,0.999999959209,5.7013787568e-05,-0.000275671009162,4.83360673509e-05,1793238334393314816
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,879.163878083,788,803,653,632,653.836121917,0.402084546776,0.00448259026083,0.0798475246269,0.999999960611,5.37142266754e-05,-0.000271104265979,4.89481924965e-05,1793238334409981952
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,879.743502234,788,803,653,632,653.256497766,0.401947776635,0.00448230823651,0.0798542871399,0.999999963073,5.57233332166e-05,-0.000261162732434,5.04365148013e-05,1793238334426648832
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,746,715.321290227,680,665,636,879.678709773,788,803.321290227,652.678709773,632,653.321290227,0.401819264698,0.00447980941486,0.0798576246304,0.99999996389,6.06307769957e-05,-0.00025643044741,5.27988062129e-05,1793238334443315456
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,746,715.897620742,680,665,636,879.102379258,788,803.897620742,652.102379258,632,653.897620742,0.401697308113,0.00447555089873,0.0798582433378,0.999999963414,6.78389220325e-05,-0.000255833264486,5.58548547459e-05,1793238334459981568
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.470694597,746,716,680.470694597,665,636,879,788,803.529305403,652.470694597,632,653.529305403,0.401586696562,0.00447803571551,0.0798533654028,0.999999959073,9.6658356908e-05,-0.000263780483167,5.41426114248e-05,1793238334476648192
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.955247355,746,715.955247355,680.955247355,665,636.044752645,879.044752645,788,803,653,632,653.044752645,0.40148046194,0.00448193171578,0.0798475307848,0.999999953402,0.000126448790151,-0.00027308530105,5.12997462601e-05,1793238334493315072
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.773412765,636.773412765,879.773412765,788,803,653,632,653.773412765,0.401321771477,0.00448556310547,0.0798419002376,0.999999954832,9.9680918383e-05,-0.000279881119744,4.54666165182e-05,1793238334526648320
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.198327509,636.198327509,879.198327509,788,803,653,632,653.198327509,0.401255526819,0.00448117674263,0.0798398363908,0.999999954087,9.55442386211e-05,-0.000283654847921,4.72901744078e-05,1793238334543314944
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,746.377921059,715,680,664.377921059,636,879,788,803,653,632,653.377921059,0.401200807251,0.00448135274334,0.0798388963143,0.999999953677,9.49962922825e-05,-0.000285117199572,4.82727268267e-05,1793238334559981824
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746.954781984,715,680,664.954781984,636,879,788,803,653,632,653.954781984,0.401152154561,0.00448393039916,0.0798385477973,0.999999953452,9.63374764319e-05,-0.000285362828925,4.88125689679e-05,1793238334576648448
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746.458391374,715,680,665,636,879.541608626,788,803.541608626,653,632,654,0.401118576085,0.00448381876649,0.0798391312948,0.999999953855,9.67046736926e-05,-0.000283766656704,4.9144663379e-05,1793238334593315072
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,715.127496908,680.127496908,665,636,879.872503092,788,803.872503092,652.872503092,632,654,0.401088207396,0.00448324796029,0.0798400024976,0.999999954507,9.61388667066e-05,-0.00028160295728,4.94243738806e-05,1793238334609981696
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,715.707052611,680.707052611,665,636,879.292947389,788,803.292947389,652.292947389,632,654,0.40106467356,0.0044818600939,0.0798416127344,0.99999995585,9.25586819644e-05,-0.000277982438507,4.95809998369e-05,1793238334626648320
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,716,680.714670649,665,636,879.285329351,788,803.285329351,652.285329351,632,653.714670649,0.401043306068,0.00448114646293,0.0798415334396,0.999999956052,9.10180915342e-05,-0.000277725690664,4.98041432398e-05,1793238334643314944
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,880,788,803.987868334,653,631.012131666,654,0.401000607476,0.0044814060744,0.0798391772917,0.999999954561,9.3511653024e-05,-0.00028213771145,5.03246398474e-05,1793238334693314560
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,880,788,803.399059993,653,631.600940007,654,0.400996564081,0.00448234595286,0.0798404054379,0.999999955047,9.40376552025e-05,-0.000280254419464,5.0201332642e-05,1793238334709981696
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,746,715.182356365,680.182356365,664.817643635,636,880.182356365,788,803,653,632,654,0.400993176633,0.00448252071894,0.0798415918399,0.999999955606,9.33067898272e-05,-0.000278517083164,5.0097530205e-05,1793238334726648320
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,746,715.748226599,680.748226599,664.251773401,636,880.748226599,788,803,653,632,654,0.400991168708,0.00448108637627,0.0798426904498,0.999999956316,8.99326048893e-05,-0.000277086706537,5.00347482756e-05,1793238334743314944
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,746,716,680.67085468,664.32914532,636,880.341709359,788,803.32914532,653,632,654,0.400990767208,0.00448063426868,0.0798442033043,0.999999957188,8.85624318996e-05,-0.000274353519863,5.01041404005e-05,1793238334759981568
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766,746,716,680.077873438,664.922126562,636,879.155746876,788,803.922126562,653,632,654,0.400991653383,0.0044809695,0.0798460482085,0.999999958188,8.87986326279e-05,-0.000270576028301,5.02794804525e-05,1793238334776648192
+420,7.000000000,POSE2_TO_POSE3_RETREAT,766.498521437,746,715.501478563,680.498521437,665,636,879,788,803.501478563,653,632,654,0.400990719397,0.00448143970931,0.0798461738123,0.999999958214,9.09320642541e-05,-0.000269809177689,5.0064790885e-05,1793238334793314560
+421,7.016666667,POSE2_TO_POSE3_RETREAT,766.925617186,746,715.074382814,680.925617186,665,636,879,788,803,653,632,654,0.400989504966,0.00448207374928,0.0798459687965,0.999999958028,9.31935893688e-05,-0.00026978083914,4.97670443466e-05,1793238334809981440
+422,7.033333333,POSE2_TO_POSE3_RETREAT,766.336084764,746,715.663915236,680.336084764,665,636,879,788,803,653,632,654,0.400988254014,0.00448370109974,0.0798452741536,0.999999957419,9.43558194361e-05,-0.000271714999959,4.93024401235e-05,1793238334826648320
+423,7.050000000,POSE2_TO_POSE3_RETREAT,766,746,715.750610212,680.249389788,664.750610212,636,879.249389788,788,803.249389788,652.750610212,632,654,0.400988373882,0.0044840083264,0.0798455674824,0.999999957528,9.40387948713e-05,-0.000271444993784,4.91736692406e-05,1793238334843314944
+424,7.066666667,POSE2_TO_POSE3_RETREAT,766,746,715.170516528,680.829483472,664.170516528,636,879.829483472,788,803.829483472,652.170516528,632,654,0.40099031153,0.00448256500013,0.0798471709134,0.999999958586,9.17602014935e-05,-0.000268252147215,4.9490230858e-05,1793238334859981824
+425,7.083333333,POSE2_TO_POSE3_RETREAT,766.405107563,746,715,680.594892437,664,636,880,788,804,652.405107563,632,654,0.400990180312,0.00448325704313,0.079847592619,0.99999995881,9.20444544082e-05,-0.000267323207912,4.94535053151e-05,1793238334876648448
+426,7.100000000,POSE2_TO_POSE3_RETREAT,766.978870823,746,715,680.021129177,664,636,880,788,804,652.978870823,632,654,0.400989187777,0.0044848380901,0.0798475223449,0.99999995869,9.33956799595e-05,-0.000267336786034,4.92696980944e-05,1793238334893314816
+427,7.116666667,POSE2_TO_POSE3_RETREAT,766.432756203,746,715.567243797,680,664.567243797,636,880,788,803.432756203,653,632,654,0.400988783342,0.00448428836831,0.0798465081672,0.999999958226,9.3901610747e-05,-0.000268874309925,4.93697080822e-05,1793238334909981440
+428,7.133333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,665,636,880,788,803,653,632,653.846330304,0.400988432976,0.00448381741286,0.0798459941947,0.999999957964,9.39317575825e-05,-0.000269823602278,4.9431525663e-05,1793238334926648064
+429,7.150000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,665,636,880,788,803,653,632,653.266847521,0.400988170127,0.00448379045788,0.0798469662731,0.999999958307,9.27330782953e-05,-0.000268981473886,4.93574447969e-05,1793238334943314688
+430,7.166666667,POSE2_TO_POSE3_RETREAT,766,746,715.689530906,680,665,636,880,788,803.310469094,653,632,653.310469094,0.400987988772,0.00448336055034,0.0798475283838,0.999999958568,9.1130119537e-05,-0.000268563859386,4.93287297205e-05,1793238334959981568
+431,7.183333333,POSE2_TO_POSE3_RETREAT,766,746,715.114063237,680,665,636,880,788,803.885936763,653,632,653.885936763,0.400987876975,0.00448258670567,0.0798477405696,0.999999958758,8.91820911193e-05,-0.00026850858559,4.93387362785e-05,1793238334976648192
+432,7.200000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.461740125,665,636,880,788,803.538259875,653,631.538259875,654,0.400988504195,0.00448268245963,0.0798478667272,0.999999959046,8.86599910371e-05,-0.000267650094819,4.91056163127e-05,1793238334993314816
+433,7.216666667,POSE2_TO_POSE3_RETREAT,766,746,715.038639628,680.961360372,665,636,879.961360372,788,803,653,631.038639628,654,0.400989230518,0.00448307708976,0.0798479809776,0.999999959311,8.87690882175e-05,-0.000266672343704,4.88213019185e-05,1793238335009981952
+434,7.233333333,POSE2_TO_POSE3_RETREAT,766,746,715.630032037,680.369967963,665,636,879.369967963,788,803,653,631.630032037,654,0.400988761081,0.00448467199056,0.0798482291234,0.999999958905,9.28650138855e-05,-0.00026682903477,4.86644281713e-05,1793238335026648576
+435,7.250000000,POSE2_TO_POSE3_RETREAT,766,746,716,680.216483902,665,636,879.216483902,788,803,653,632,654,0.400988256578,0.00448510971495,0.079847978687,0.999999958653,9.4419806088e-05,-0.000267228455307,4.8652639805e-05,1793238335043314944
+436,7.266666667,POSE2_TO_POSE3_RETREAT,766,746,716,680.794680932,665,636,879.794680932,788,803,653,632,654,0.400987693482,0.00448361396602,0.0798468951921,0.999999958677,9.17287343571e-05,-0.000268033441529,4.88832679933e-05,1793238335059981568
+437,7.283333333,POSE2_TO_POSE3_RETREAT,766,746,716,681,665,636,880,788,803,653,632,654,0.400988155083,0.00448305189368,0.07984753828,0.999999959046,9.05560477265e-05,-0.000267011031315,4.91192502781e-05,1793238335076647936
+438,7.300000000,POSE2_TO_POSE3_RETREAT,766,746,716,681,665,636,880,788,803,653,632,654,0.400989180916,0.00448300393486,0.079849132082,0.999999959604,9.02194346987e-05,-0.000264982395669,4.9358180693e-05,1793238335093314560
+439,7.316666667,POSE2_TO_POSE3_RETREAT,766,746,715.482727966,681,665,636,880,788,803.517272034,653,632,654,0.400988838081,0.00448322436051,0.0798488290632,0.999999959324,9.21871034849e-05,-0.000265425971716,4.90163230913e-05,1793238335109981440
+440,7.333333333,POSE2_TO_POSE3_RETREAT,766.092557001,746,715,681,665,636,879.907442999,788,803.907442999,652.907442999,632,653.907442999,0.400988515119,0.0044835254889,0.079848399334,0.999999959039,9.39278728574e-05,-0.000265957611316,4.86424164593e-05,1793238335126648320
+441,7.350000000,POSE2_TO_POSE3_RETREAT,766.691029689,746,715,681,665,636,879.308970311,788,803.308970311,652.308970311,632,653.308970311,0.400989078445,0.00448411524356,0.0798483547678,0.999999959229,9.31191350754e-05,-0.000265565911787,4.84233298946e-05,1793238335143314944
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..901ba35338058d53ec12e07432ee35f084c0025d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,443 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
+1,0.016666667,pose1_baseline,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
+2,0.033333333,pose1_baseline,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
+3,0.050000000,pose1_baseline,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
+4,0.066666667,pose1_baseline,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
+5,0.083333333,pose1_baseline,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
+6,0.100000000,pose1_baseline,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
+7,0.116666667,pose1_baseline,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
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+377,6.283333333,pose2_to_pose3_retreat,0.585853732201,0.01000129367,1.07001177155,0.556425000298,0.0186749436947,1.06966131046
+378,6.300000000,pose2_to_pose3_retreat,0.585342725084,0.0100012641865,1.07001159115,0.555913995326,0.0186749200587,1.0696611281
+379,6.316666667,pose2_to_pose3_retreat,0.584841280476,0.0100012792563,1.07001164005,0.555412549573,0.0186749298481,1.06966117512
+380,6.333333333,pose2_to_pose3_retreat,0.584362327078,0.0100013384601,1.07001170738,0.55493359596,0.0186749873299,1.06966124949
+381,6.350000000,pose2_to_pose3_retreat,0.583909730216,0.0100013537669,1.07001174937,0.554480999952,0.0186750044688,1.06966129499
+382,6.366666667,pose2_to_pose3_retreat,0.58348871855,0.0100013095849,1.07001178549,0.554059988473,0.0186749595189,1.06966132417
+383,6.383333333,pose2_to_pose3_retreat,0.583093199948,0.0100012992873,1.07001181024,0.553664467989,0.0186749414286,1.06966134036
+384,6.400000000,pose2_to_pose3_retreat,0.582717396369,0.0100012264494,1.07001181085,0.553288667482,0.018674877992,1.06966133972
+385,6.416666667,pose2_to_pose3_retreat,0.582353931071,0.0100013652489,1.07001181131,0.552925201216,0.0186750126316,1.06966134252
+386,6.433333333,pose2_to_pose3_retreat,0.582001756566,0.010001425804,1.07001171261,0.552573026366,0.0186750710529,1.069661243
+387,6.450000000,pose2_to_pose3_retreat,0.581662871956,0.010001386467,1.07001165755,0.552234142399,0.0186750329957,1.06966118729
+388,6.466666667,pose2_to_pose3_retreat,0.581339551547,0.0100013595961,1.07001179713,0.551910822201,0.0186750061901,1.06966133192
+389,6.483333333,pose2_to_pose3_retreat,0.581040340214,0.0100012368755,1.07001179469,0.551611613544,0.0186748918214,1.06966132997
+390,6.500000000,pose2_to_pose3_retreat,0.580762823631,0.0100012943698,1.070011703,0.551334095833,0.0186749446886,1.06966123692
+391,6.516666667,pose2_to_pose3_retreat,0.580506190156,0.0100013575381,1.07001167563,0.55107746164,0.0186750048526,1.06966121099
+392,6.533333333,pose2_to_pose3_retreat,0.58026851175,0.0100013948373,1.07001172633,0.550839782868,0.0186750403405,1.06966126261
+393,6.550000000,pose2_to_pose3_retreat,0.580049222146,0.0100014059498,1.0700117472,0.55062049356,0.0186750519269,1.06966128428
+394,6.566666667,pose2_to_pose3_retreat,0.579845222761,0.0100013797116,1.07001166125,0.550416495182,0.0186750286701,1.06966119979
+395,6.583333333,pose2_to_pose3_retreat,0.57965726665,0.0100012027882,1.07001166802,0.55022853927,0.018674851852,1.0696612049
+396,6.600000000,pose2_to_pose3_retreat,0.579487561112,0.0100013023261,1.07001192967,0.550058833517,0.0186749502832,1.06966146726
+397,6.616666667,pose2_to_pose3_retreat,0.579332834327,0.0100012464297,1.0700118202,0.549904108177,0.0186748989639,1.06966136008
+398,6.633333333,pose2_to_pose3_retreat,0.579192605752,0.0100012264036,1.07001162032,0.549763880403,0.0186748812279,1.06966115837
+399,6.650000000,pose2_to_pose3_retreat,0.579063867091,0.010001337424,1.07001157735,0.549635140794,0.0186749885334,1.06966110972
+400,6.666666667,pose2_to_pose3_retreat,0.578945284234,0.0100012144497,1.07001163833,0.549516558586,0.0186748678438,1.06966118094
+401,6.683333333,pose2_to_pose3_retreat,0.578837423187,0.0100013133468,1.07001165763,0.549408696628,0.0186749631386,1.0696611963
+402,6.700000000,pose2_to_pose3_retreat,0.578740135019,0.0100013631598,1.07001181597,0.549311407754,0.0186750102486,1.0696613519
+403,6.716666667,pose2_to_pose3_retreat,0.578653844988,0.0100013986143,1.07001184647,0.549225117601,0.018675045077,1.06966138288
+404,6.733333333,pose2_to_pose3_retreat,0.578578571082,0.0100013657773,1.07001188071,0.549149844254,0.018675013765,1.06966141497
+405,6.750000000,pose2_to_pose3_retreat,0.578514729853,0.0100012514334,1.07001199528,0.549086004095,0.0186749025893,1.06966152436
+406,6.766666667,pose2_to_pose3_retreat,0.578460596469,0.010001239367,1.07001167457,0.549031871912,0.0186748946216,1.06966121044
+407,6.783333333,pose2_to_pose3_retreat,0.578415550468,0.0100012650088,1.07001177162,0.548986825146,0.0186749176924,1.06966130973
+408,6.800000000,pose2_to_pose3_retreat,0.578378778223,0.0100012266176,1.07001178276,0.548950054395,0.018674884449,1.06966132048
+409,6.816666667,pose2_to_pose3_retreat,0.578348642626,0.0100013166098,1.07001179238,0.548919916643,0.018674967052,1.06966132768
+410,6.833333333,pose2_to_pose3_retreat,0.578324338139,0.0100014212598,1.07001174887,0.548895608869,0.018675060434,1.06966128296
+411,6.850000000,pose2_to_pose3_retreat,0.578304061196,0.0100013238116,1.07001155354,0.54887533296,0.0186749665766,1.06966109164
+412,6.866666667,pose2_to_pose3_retreat,0.578287856253,0.0100013899903,1.07001163356,0.548859128612,0.0186750349196,1.06966117606
+413,6.883333333,pose2_to_pose3_retreat,0.578275357124,0.0100014477625,1.07001167383,0.548846629075,0.0186750911,1.0696612107
+414,6.900000000,pose2_to_pose3_retreat,0.578266433046,0.0100012684199,1.07001169069,0.548837706826,0.0186749178305,1.06966122403
+415,6.916666667,pose2_to_pose3_retreat,0.578260713637,0.0100011685292,1.07001168522,0.548831988185,0.0186748205761,1.06966121932
+416,6.933333333,pose2_to_pose3_retreat,0.578257229161,0.0100011899391,1.07001167576,0.548828503335,0.0186748407841,1.06966121158
+417,6.950000000,pose2_to_pose3_retreat,0.578255822854,0.0100012336519,1.07001168504,0.54882709715,0.0186748848642,1.06966121985
+418,6.966666667,pose2_to_pose3_retreat,0.578254904903,0.010001262185,1.0700116911,0.548826179278,0.0186749136371,1.06966122524
+419,6.983333333,pose2_to_pose3_retreat,0.578254337507,0.0100012773494,1.07001169267,0.548825611906,0.0186749288753,1.06966122667
+420,7.000000000,pose2_to_pose3_retreat,0.578253917355,0.0100012803717,1.07001168658,0.548825191688,0.0186749317053,1.06966122143
+421,7.016666667,pose2_to_pose3_retreat,0.578253572359,0.0100012828533,1.07001168159,0.548824846637,0.0186749340291,1.06966121712
+422,7.033333333,pose2_to_pose3_retreat,0.578253378931,0.0100012842447,1.07001167879,0.548824653179,0.018674935332,1.0696612147
+423,7.050000000,pose2_to_pose3_retreat,0.578253301222,0.0100012848037,1.07001167767,0.548824575458,0.0186749358554,1.06966121373
+424,7.066666667,pose2_to_pose3_retreat,0.5782532555,0.0100012851326,1.070011677,0.548824529728,0.0186749361633,1.06966121316
+425,7.083333333,pose2_to_pose3_retreat,0.578253179197,0.0100012856815,1.0700116759,0.548824453414,0.0186749366773,1.0696612122
+426,7.100000000,pose2_to_pose3_retreat,0.578253170679,0.0100012857427,1.07001167578,0.548824444894,0.0186749367347,1.0696612121
+427,7.116666667,pose2_to_pose3_retreat,0.578252861997,0.0100012879632,1.07001167131,0.548824136164,0.0186749388138,1.06966120824
+428,7.133333333,pose2_to_pose3_retreat,0.578252661872,0.0100013425418,1.0700116848,0.548823934894,0.0186749893867,1.06966121869
+429,7.150000000,pose2_to_pose3_retreat,0.578252549603,0.0100013785431,1.07001169403,0.548823821871,0.0186750227442,1.06966122586
+430,7.166666667,pose2_to_pose3_retreat,0.578252525695,0.0100013862099,1.07001169599,0.548823797801,0.018675029848,1.06966122739
+431,7.183333333,pose2_to_pose3_retreat,0.578252457386,0.0100014081144,1.07001170161,0.548823729034,0.018675050144,1.06966123176
+432,7.200000000,pose2_to_pose3_retreat,0.578252406772,0.010001424345,1.07001170577,0.548823678079,0.0186750651827,1.06966123499
+433,7.216666667,pose2_to_pose3_retreat,0.578252383835,0.0100014317003,1.07001170765,0.548823654987,0.0186750719979,1.06966123646
+434,7.233333333,pose2_to_pose3_retreat,0.578252368119,0.0100014367399,1.07001170894,0.548823639166,0.0186750766674,1.06966123746
+435,7.250000000,pose2_to_pose3_retreat,0.578252343042,0.0100014251437,1.07001170587,0.548823614298,0.0186750658034,1.06966123493
+436,7.266666667,pose2_to_pose3_retreat,0.578252339743,0.0100014223354,1.07001170513,0.548823611052,0.0186750631778,1.06966123432
+437,7.283333333,pose2_to_pose3_retreat,0.578252334623,0.0100014179758,1.07001170398,0.548823606012,0.0186750591018,1.06966123339
+438,7.300000000,pose2_to_pose3_retreat,0.578252317429,0.0100014033378,1.07001170012,0.548823589091,0.0186750454163,1.06966123024
+439,7.316666667,pose2_to_pose3_retreat,0.578252225326,0.0100013249243,1.07001167945,0.548823498447,0.0186749721049,1.0696612134
+440,7.333333333,pose2_to_pose3_retreat,0.578252178676,0.0100012620388,1.07001165437,0.548823453369,0.0186749147782,1.06966119386
+441,7.350000000,pose2_to_pose3_retreat,0.578252174217,0.0100012545436,1.07001165103,0.548823449114,0.0186749080049,1.06966119129
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4cdab25026570d667a2b645b0f3c76376ab45da4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f248a720c67dbf5e9e6073710abe9b11d209522e7b0a56b1e8b3d488f9643a26
+size 28109060
diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e4d26877a81c808c4739d1edeac976f0ba0f8b66
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_05/franka_data.csv
@@ -0,0 +1,444 @@
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+22,0.366666667,BASELINE,766.776984713,746,715,680.223015287,665,636,879.776984713,788,803,653,632,654,0.400989126166,0.00448460370716,0.0798509864508,0.999999960331,9.35202913487e-05,-0.000261190055662,4.86914789834e-05,1793238335662587392
+23,0.383333333,BASELINE,767,746,715.354730617,680,665,636,879.645269383,788,803,653,632,654,0.400989057434,0.00448409986251,0.0798506797401,0.999999960288,9.22899402662e-05,-0.000261790032511,4.87133009808e-05,1793238335679254272
+24,0.400000000,BASELINE,767,746,715.931358372,680,665,636,879.068641628,788,803,653,632,654,0.400989040467,0.00448421823167,0.0798501295806,0.999999960157,9.17996666665e-05,-0.000262483337495,4.85887282505e-05,1793238335695920640
+25,0.416666667,BASELINE,766.494693318,746,715.494693318,680,665,636,879.505306682,788,803.505306682,653,632,654,0.400988728234,0.00448354687448,0.0798505466891,0.999999960407,9.06431838084e-05,-0.000261959228915,4.84415382732e-05,1793238335712587776
+26,0.433333333,BASELINE,766,746,715.081503401,680,665.081503401,636.081503401,880,788,804,653,632,653.918496599,0.400988357799,0.00448292266113,0.079850946549,0.999999960612,8.97622046079e-05,-0.000261507641635,4.82949759471e-05,1793238335729254912
+27,0.450000000,BASELINE,766,746,715.674069164,680,665.674069164,636.674069164,880,788,804,653,632,653.325930836,0.400987872578,0.00448326319007,0.079850418693,0.999999960219,9.11732293961e-05,-0.000262542301309,4.81715126527e-05,1793238335745921280
+28,0.466666667,BASELINE,766,746,716,680.260570591,665.739429409,636.739429409,880,788,804,653,632,653.260570591,0.400988160805,0.00448366993818,0.0798504058871,0.99999996011,9.2130089291e-05,-0.000262603449801,4.82761637505e-05,1793238335762587904
+29,0.483333333,BASELINE,766,746,716,680.839659023,665.160340977,636.160340977,880,788,804,653,632,653.839659023,0.400989394483,0.00448415763167,0.0798510226713,0.999999960351,9.2531784295e-05,-0.000261474591794,4.86596586941e-05,1793238335779254272
+30,0.500000000,BASELINE,766,746,715.584713768,680.584713768,665,636,880,788,803.584713768,653,632,654,0.400989231667,0.00448366838993,0.0798513495939,0.999999960469,9.19008916068e-05,-0.000261220188331,4.87869333453e-05,1793238335795920896
+31,0.516666667,BASELINE,766,746,715.010411897,680.010411897,665,636,880,788,803.010411897,653,632,654,0.400988534126,0.0044828050737,0.0798515655267,0.99999996054,9.08746147634e-05,-0.00026130061889,4.88160996697e-05,1793238335812587520
+32,0.533333333,BASELINE,766,746,715,680,665,636,880.562718131,788,803.562718131,653,632,653.437281869,0.400987971306,0.00448314293344,0.0798507047669,0.999999960216,9.13511043386e-05,-0.000262377888535,4.8785374792e-05,1793238335829254400
+33,0.550000000,BASELINE,766,746,715,680.141297998,665.141297998,636,880.858702002,788,803.858702002,653,632,653.141297998,0.400987684965,0.00448353974844,0.0798500445372,0.999999959986,9.18644110427e-05,-0.000263097492756,4.86697112973e-05,1793238335845921280
+34,0.566666667,BASELINE,766,746,715,680.7374927,665.7374927,636,880.2625073,788,803.2625073,653,632,653.7374927,0.400988280719,0.00448405496136,0.079850093901,0.999999960084,9.24069158906e-05,-0.000262606367133,4.82841554743e-05,1793238335862587904
+35,0.583333333,BASELINE,766.321857502,746,715,681,665.678142498,636,879.678142498,788,803,653,632,653.678142498,0.400988459797,0.00448450868285,0.0798504155305,0.99999996013,9.32318940154e-05,-0.000262157689601,4.81715215684e-05,1793238335879254528
+36,0.600000000,BASELINE,766.896915946,746,715,681,665.103084054,636,879.103084054,788,803,653,632,653.103084054,0.40098831108,0.00448491402992,0.079850951348,0.999999960136,9.42790901034e-05,-0.000261742405355,4.82735916007e-05,1793238335895921408
+37,0.616666667,BASELINE,766.53019513,746,715.46980487,681,665,636,879,788,803,653,632,653,0.40098931486,0.00448454918384,0.0798517369892,0.999999960427,9.40392920107e-05,-0.000260677874519,4.84827526474e-05,1793238335912588032
+38,0.633333333,BASELINE,766,746,716,681,665,636.043641573,879.043641573,788,803.043641573,653,632,653.043641573,0.400990418509,0.00448392861018,0.0798524511565,0.999999960747,9.33991675807e-05,-0.000259637707835,4.86981066925e-05,1793238335929254400
+39,0.650000000,BASELINE,766,746,716,681,665,636.635331401,879.635331401,788,803.635331401,653,632,653.635331401,0.400989615275,0.0044822090972,0.0798515825451,0.999999960672,9.12617144906e-05,-0.000260684246299,4.86975048094e-05,1793238335945920768
+40,0.666666667,BASELINE,766,746,716,680.777606068,665,636.777606068,879.777606068,788,804,653,631.777606068,654,0.400988807189,0.00448204957446,0.079850850154,0.999999960528,9.04871449792e-05,-0.00026153328586,4.85395212626e-05,1793238335962587136
+41,0.683333333,BASELINE,766,746,716,680.19797649,665,636.19797649,879.19797649,788,804,653,631.19797649,654,0.40098799131,0.00448439589416,0.079850336576,0.99999996028,9.19018016831e-05,-0.000262065079077,4.81287325252e-05,1793238335979253760
+42,0.700000000,BASELINE,766,746,715.620741859,680,665,636,879.379258141,788,804,653,631.379258141,654,0.400988165858,0.00448480505073,0.0798503902194,0.999999960261,9.22299800042e-05,-0.000262037871008,4.80467732243e-05,1793238335995920640
+43,0.716666667,BASELINE,766,746,715.044749587,680,665,636,879.955250413,788,804,653,631.955250413,654,0.400988854175,0.00448420933464,0.0798507380998,0.999999960361,9.19945648939e-05,-0.000261720689893,4.81353889783e-05,1793238336012587520
+44,0.733333333,BASELINE,766,746,715,680,665,636,879.458541837,788,804,653,632,653.458541837,0.400989191173,0.00448452152632,0.0798508834195,0.999999960534,9.2523042726e-05,-0.000260902920767,4.79770858572e-05,1793238336029254400
+45,0.750000000,BASELINE,766,746,715.126041456,680.126041456,665,636,879,788,804,653,632,653,0.400989629507,0.00448472476924,0.0798511037793,0.999999960703,9.27496297569e-05,-0.000260194391033,4.78476378543e-05,1793238336045921280
+46,0.766666667,BASELINE,766,746,715.701759036,680.701759036,665,636,879,788,804,653,632,653,0.40099053495,0.0044842664671,0.079851652733,0.999999960845,9.16695956528e-05,-0.00026002603303,4.7895341463e-05,1793238336062587648
+47,0.783333333,BASELINE,766.28103718,746,715.71896282,680.71896282,665.28103718,636,879.28103718,788,804,653,632,653.28103718,0.400990306194,0.00448443248765,0.0798515588266,0.999999960643,9.23514707945e-05,-0.000260520600527,4.81111414521e-05,1793238336079254272
+48,0.800000000,BASELINE,766.864142409,746,715.135857591,680.135857591,665.864142409,636,879.864142409,788,804,653,632,653.864142409,0.400988858363,0.00448526955079,0.0798507739529,0.999999960067,9.49271040779e-05,-0.000261727702237,4.85076169908e-05,1793238336095920640
+49,0.816666667,BASELINE,767,746,715.439990776,680,665.560009224,636,880,788,804,653,632,654,0.400989259678,0.00448478865107,0.0798509397798,0.999999960345,9.36011405793e-05,-0.000261169623372,4.83693675127e-05,1793238336112587264
+50,0.833333333,BASELINE,766.986373378,746,716,680.013626622,665.013626622,636,880,788,804,653,632,654,0.400990183124,0.0044839266333,0.0798513755418,0.999999960859,9.1144496627e-05,-0.000260120854114,4.80757525585e-05,1793238336129253888
+51,0.850000000,BASELINE,766.41307081,746,716,680.58692919,665.58692919,636,880,788,804,653,632,654,0.400989481286,0.00448385448271,0.0798510369642,0.999999960666,9.09255841502e-05,-0.000260941171798,4.80722944515e-05,1793238336145920768
+52,0.866666667,BASELINE,766,746,715.834167188,681,666,636,880,788,804,653,632,653.834167188,0.400988948192,0.00448373794753,0.0798508159709,0.999999960499,9.08300504696e-05,-0.00026161305014,4.80770535897e-05,1793238336162587648
+53,0.883333333,BASELINE,766,746,715.240824317,681,666,636,880,788,804,653,632,653.240824317,0.400988850115,0.00448350699074,0.0798508981051,0.999999960401,9.1052582182e-05,-0.000261902258007,4.81029964429e-05,1793238336179254784
+54,0.900000000,BASELINE,766.343364806,746,715.343364806,680.656635194,665.656635194,636,880,788,803.656635194,653,632,653.343364806,0.400989011766,0.00448351918673,0.0798509383759,0.999999960485,9.14840436387e-05,-0.000261419728932,4.81789426551e-05,1793238336195921152
+55,0.916666667,BASELINE,766.921300488,746,715.921300488,680.078699512,665.078699512,636,880,788,803.078699512,653,632,653.921300488,0.400989350853,0.00448369749343,0.0798509500476,0.99999996069,9.20582361779e-05,-0.000260409985033,4.82890488372e-05,1793238336212587776
+56,0.933333333,BASELINE,767,746,716,680.495075264,665,636,880,788,803,653,631.504924736,654,0.400988844453,0.00448304474724,0.0798509722271,0.999999960609,9.13177364044e-05,-0.00026099558549,4.82131572813e-05,1793238336229254144
+57,0.950000000,BASELINE,766.929639125,746,716,680.929639125,665,636,880,788,803,653,631.070360875,654,0.400988302685,0.00448246612425,0.0798510059784,0.999999960507,9.03555753804e-05,-0.000261739815039,4.81104618498e-05,1793238336245921024
+58,0.966666667,BASELINE,766.338310628,746,716,680.338310628,665,636,880,788,803,653,631.661689372,654,0.400988485901,0.00448340633176,0.0798511131457,0.999999960592,8.9286695103e-05,-0.000261796482516,4.80264012629e-05,1793238336262587648
+59,0.983333333,BASELINE,766.248120518,746,716,680,665,636,879.751879482,788,803,653,632,654,0.400988761951,0.00448428987537,0.0798512606485,0.999999960583,8.99364401211e-05,-0.00026162226528,4.79536590209e-05,1793238336279254016
+60,1.000000000,BASELINE,766.82800349,746,716,680,665,636,879.17199651,788,803,653,632,654,0.400989162129,0.0044850976537,0.0798514620842,0.999999960442,9.28841623958e-05,-0.000261139331626,4.78960505489e-05,1793238336295920640
+61,1.016666667,BASELINE,766.596498944,746,715.596498944,680,665,636,879,788,803,653,632,654,0.400987970446,0.00448432896913,0.0798508547707,0.999999960088,9.39479496076e-05,-0.000262063708301,4.81638606115e-05,1793238336312587520
+62,1.033333333,BASELINE,766.022850639,746,715.022850639,680,665,636,879,788,803,653,632,654,0.400986107511,0.00448289552585,0.079849906426,0.999999959644,9.42173239297e-05,-0.000263581515872,4.85688922973e-05,1793238336329254400
+63,1.050000000,BASELINE,766,746,715,680,665,636,879.565549185,788,803.565549185,653,632,653.434450815,0.400987446881,0.00448302075423,0.0798506996911,0.999999960293,9.14142658793e-05,-0.000262154830832,4.82867979046e-05,1793238336345921024
+64,1.066666667,BASELINE,766,746,715,680,665,636,880,788.152091935,803.847908065,653,632,653,0.400988700403,0.00448342211735,0.0798512333387,0.99999996073,8.99355895083e-05,-0.000261043506675,4.80422799502e-05,1793238336362587648
+65,1.083333333,BASELINE,766,746,715,680,665,636,880,788.731694442,803.268305558,653,632,653,0.400989339185,0.00448441789783,0.0798508341407,0.999999960464,9.25378628029e-05,-0.000261161986959,4.79835123007e-05,1793238336379254272
+66,1.100000000,BASELINE,766.30906591,746,715.30906591,680,665,636,880,788.69093409,803.30906591,653,632,653.30906591,0.400989769235,0.0044843684251,0.079850960364,0.999999960486,9.27301731142e-05,-0.000261009193139,4.7994429356e-05,1793238336395920640
+67,1.116666667,BASELINE,766.884514425,746,715.884514425,680,665,636,880,788.115485575,803.884514425,653,632,653.884514425,0.40099001938,0.00448341805298,0.0798515394458,0.999999960756,9.08453463602e-05,-0.000260622589308,4.80654073676e-05,1793238336412587264
+68,1.133333333,BASELINE,767,746,716,680,665,636.459903899,879.540096101,788,803.540096101,653,632,654,0.400989477162,0.00448335883059,0.0798514418643,0.999999960758,9.1365542334e-05,-0.000260421154227,4.81360013262e-05,1793238336429254144
+69,1.150000000,BASELINE,766.963923184,746,715.963923184,680,665,636.963923184,879,788,803.036076816,653,632,654,0.40098869262,0.00448359735711,0.0798511476076,0.999999960668,9.24889631664e-05,-0.000260357989666,4.81997563548e-05,1793238336445921024
+70,1.166666667,BASELINE,766.375529898,746,715.375529898,680,665,636.375529898,879,788,803.624470102,653,632,654,0.400987243935,0.00448496882561,0.0798504433425,0.999999960216,9.3602918289e-05,-0.000261699913868,4.81602872315e-05,1793238336462587904
+71,1.183333333,BASELINE,766,746,715,680,665,636,879.209772573,788,804,653,632,654,0.400986861614,0.0044854048809,0.0798503678403,0.999999960086,9.39302976355e-05,-0.000262091987405,4.80871490666e-05,1793238336479254528
+72,1.200000000,BASELINE,766,746,715,680,665,636,879.789622377,788,804,653,632,654,0.400988360556,0.00448419069621,0.0798514015908,0.999999960527,9.28700134596e-05,-0.000260808350655,4.79546125398e-05,1793238336495921664
+73,1.216666667,BASELINE,766,746,715.366837285,680,665,636.366837285,880,788,803.633162715,653,631.633162715,654,0.400989514008,0.00448316982794,0.0798522029883,0.999999961078,9.0977930709e-05,-0.00025937498541,4.7867730773e-05,1793238336512588288
+74,1.233333333,BASELINE,766,746,715.942551848,680,665,636.942551848,880,788,803.057448152,653,631.057448152,654,0.400990470737,0.00448225903418,0.0798528720839,0.999999961686,8.86122216255e-05,-0.000257856364784,4.780684485e-05,1793238336529254144
+75,1.250000000,BASELINE,766,746,716,680,665,636.482884998,880,788,803.517115002,653,631.517115002,654,0.400988781701,0.0044828480358,0.0798520119923,0.999999961062,9.00434718794e-05,-0.000259717575765,4.81146008375e-05,1793238336545920512
+76,1.266666667,BASELINE,766,746,715.905489448,680.094510552,665,636,879.905489448,788,803.905489448,653,632,654,0.400987364823,0.00448347956805,0.0798512293501,0.999999960461,9.15638097321e-05,-0.000261445961929,4.83671048241e-05,1793238336562587136
+77,1.283333333,BASELINE,766,746,715.312481193,680.687518807,665,636,879.312481193,788,803.312481193,653,632,654,0.400988930328,0.00448345855355,0.0798517492763,0.999999960742,9.13340988565e-05,-0.000260497697398,4.81126496652e-05,1793238336579254016
+78,1.300000000,BASELINE,766.273121436,746,715.273121436,680.726878564,665.273121436,636,879.273121436,788,803,653,632,654,0.400989469353,0.00448395370131,0.0798516962215,0.999999960735,9.24621462158e-05,-0.000260140928883,4.80324330548e-05,1793238336595920896
+79,1.316666667,BASELINE,766.850474846,746,715.850474846,680.149525154,665.850474846,636,879.850474846,788,803,653,632,654,0.400988864974,0.00448502380603,0.0798510049191,0.999999960403,9.51026104612e-05,-0.000260443032187,4.81463020604e-05,1793238336612587776
+80,1.333333333,BASELINE,767,746,715.573624321,680,665.573624321,636,880,788,803.426375679,653,632,654,0.400988362227,0.00448439302792,0.0798506219671,0.999999960303,9.36694994926e-05,-0.00026135703765,4.80840570971e-05,1793238336629254656
+81,1.350000000,BASELINE,766.998184712,746,715,680,665,636,880,788,804,653,632,653.998184712,0.400987903224,0.00448317406234,0.0798503541464,0.99999996028,9.08279022308e-05,-0.000262469487376,4.79609784366e-05,1793238336645921280
+82,1.366666667,BASELINE,766.407697476,746,715,680,665,636,880,788,804,653,632,653.407697476,0.400990111251,0.004483987685,0.0798524741924,0.999999961095,9.29221465479e-05,-0.000258583247986,4.80706744147e-05,1793238336662587648
+83,1.383333333,BASELINE,766.179374663,746,715.179374663,680.179374663,665.358749325,636,880,788,804,653,632,653.179374663,0.40099120391,0.00448457242398,0.0798535981241,0.999999961444,9.422380164e-05,-0.000256730833306,4.81965084618e-05,1793238336679254016
+84,1.400000000,BASELINE,766.758829819,746,715.758829819,680.758829819,666.517659637,636,880,788,804,653,632,653.758829819,0.400989808835,0.00448464665677,0.0798525003051,0.999999960787,9.37576517924e-05,-0.000259414697316,4.83583371731e-05,1793238336695920640
+85,1.416666667,BASELINE,766.664716099,746.335283901,716,680.664716099,666.329432198,636.335283901,880,788,804.335283901,653,632,654.335283901,0.400988752902,0.00448441881183,0.0798514584818,0.999999960362,9.38164189899e-05,-0.00026102588731,4.83741246158e-05,1793238336712587264
+86,1.433333333,BASELINE,766.090401577,746.909598423,716,680.090401577,665.180803155,636.909598423,880,788,804.909598423,653,632,654.909598423,0.400987938751,0.0044839756096,0.079850456579,0.999999960104,9.42494101105e-05,-0.000261872346311,4.8285796298e-05,1793238336729253888
+87,1.450000000,BASELINE,766,746.514809799,715.514809799,680,665,637,879.514809799,788,804.029619597,653,632,654.514809799,0.40098784343,0.00448338540247,0.0798501365907,0.999999960253,9.20841209559e-05,-0.000262102646273,4.81302048246e-05,1793238336745921280
+88,1.466666667,BASELINE,766,746,715,680,665,636.937606157,879.062393843,788,803.062393843,653,632,654,0.40098799847,0.00448281539344,0.0798501542217,0.999999960531,8.96205128394e-05,-0.000261931131332,4.79415107082e-05,1793238336762588416
+89,1.483333333,BASELINE,766,746,715,680,665,636.348816821,879.651183179,788,803.651183179,653,632,654,0.400989132777,0.00448264748093,0.0798519454764,0.999999961302,8.87351960881e-05,-0.000259340759706,4.7579553268e-05,1793238336779254528
+90,1.500000000,BASELINE,766,746,715.2362761,680,665,636.2362761,880,788,803.7637239,653,632,653.7637239,0.400990360396,0.00448288992071,0.0798529324773,0.999999961685,8.9474217523e-05,-0.000257622819395,4.74884582094e-05,1793238336795920896
+91,1.516666667,BASELINE,766,746,715.815995976,680,665,636.815995976,880,788,803.184004024,653,632,653.184004024,0.400991723647,0.00448372883613,0.0798527504392,0.999999961504,9.2574327771e-05,-0.000257173019016,4.77910805278e-05,1793238336812587520
+92,1.533333333,BASELINE,766,746,716,680,665,636.60798372,879.60798372,788,803.39201628,653,632,653.39201628,0.400992144673,0.00448373567266,0.0798531904317,0.999999961585,9.31822858501e-05,-0.00025660160203,4.79899343119e-05,1793238336829254144
+93,1.550000000,BASELINE,766,746,716,680,665,636.03368363,879.03368363,788,803.96631637,653,632,653.96631637,0.400992127575,0.00448335560055,0.0798539196626,0.99999996179,9.26314173502e-05,-0.00025597363445,4.81405367499e-05,1793238336845920768
+94,1.566666667,BASELINE,766,746,715.459645089,680.540354911,665,636,879.540354911,788,804,653,632,654,0.400990612462,0.00448364353329,0.0798525452806,0.999999961261,9.20715977778e-05,-0.000258251318683,4.8040510931e-05,1793238336862587392
+95,1.583333333,BASELINE,766,746,715.118600222,681,665,636,880,788,804,653,632,653.881399778,0.400989502433,0.00448413283621,0.0798514799447,0.999999960855,9.17195235931e-05,-0.000259972130439,4.78719810712e-05,1793238336879254272
+96,1.600000000,BASELINE,766,746,715.713816859,681,665,636,880,788,804,653,632,653.286183141,0.400990395396,0.00448526412139,0.0798521832848,0.999999961152,9.22045528468e-05,-0.000258727510612,4.74909095649e-05,1793238336895921408
+97,1.616666667,BASELINE,766,746,715.700291346,680.700291346,665,636,879.700291346,788,803.700291346,653,632,653.299708654,0.400990394527,0.00448525788236,0.0798524740347,0.999999961245,9.24643730249e-05,-0.000258280179725,4.74493913768e-05,1793238336912588032
+98,1.633333333,BASELINE,766,746,715.123034935,680.123034935,665,636,879.123034935,788,803.123034935,653,632,653.876965065,0.400989565917,0.00448419822927,0.0798523827019,0.999999961152,9.25156363878e-05,-0.000258571185138,4.77223194593e-05,1793238336929254656
+99,1.650000000,BASELINE,766,746,715.451204267,680,665.451204267,636,879.451204267,788,803,653,632,654,0.400989614346,0.00448388025724,0.0798524667735,0.999999961219,9.23625743521e-05,-0.000258317414787,4.79931926109e-05,1793238336945920768
+100,1.666666667,BASELINE,766,746,716,680.025299511,665.974700489,636,880,788.025299511,803,653,631.974700489,654,0.400989865171,0.00448382787634,0.0798525679452,0.999999961305,9.2285916162e-05,-0.000257967166411,4.82377684628e-05,1793238336962587392
+101,1.683333333,BASELINE,766,746,716,680.614399726,665.385600274,636,880,788.614399726,803,653,631.385600274,654,0.400989332269,0.00448521716027,0.0798519913947,0.999999960849,9.51453001871e-05,-0.000258755357034,4.79087121966e-05,1793238336979254016
+102,1.700000000,BASELINE,766,746,715.799918332,680.799918332,665,636,880,788.799918332,803.200081668,653,631.200081668,654,0.400988828964,0.00448571464312,0.0798513909306,0.999999960549,9.60465611556e-05,-0.00025960446051,4.77793574565e-05,1793238336995920896
+103,1.716666667,BASELINE,766,746,715.220713544,680.220713544,665,636,880,788.220713544,803.779286456,653,631.779286456,654,0.400988381737,0.00448452230378,0.0798507451542,0.999999960552,9.32374882632e-05,-0.000260568984122,4.80284055658e-05,1793238337012587264
+104,1.733333333,BASELINE,766,746,715.357358841,680.357358841,665,636,879.642641159,788,804,653,632,653.642641159,0.400988614761,0.00448428323055,0.0798509484513,0.999999960819,9.18201116059e-05,-0.000260049873402,4.80132926899e-05,1793238337029254144
+105,1.750000000,BASELINE,766,746,715.934734092,680.934734092,665,636,879.065265908,788,804,653,632,653.065265908,0.400989266598,0.00448463105799,0.0798516745004,0.99999996125,9.12595653315e-05,-0.000258617328261,4.78355428894e-05,1793238337045921024
+106,1.766666667,BASELINE,766,745.491123998,716,681,665,636,879,788,804,653,632,653,0.400989279156,0.00448484004488,0.0798516445963,0.999999961083,9.23926517589e-05,-0.000258858206966,4.78566136778e-05,1793238337062587904
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,716,681,665,636,879,788,803,653,632,654,0.400987855489,0.00448366956658,0.0798510308637,0.999999960739,9.21822437969e-05,-0.000260331614829,4.74501766242e-05,1793238337104997632
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.578727025,746,715.421272975,680.421272975,665.578727025,636,879,788,803.578727025,653,631.421272975,654,0.400989273761,0.00448572910783,0.0798517682611,0.999999960612,9.61754140723e-05,-0.000259283316269,4.79475685693e-05,1793238337121663744
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.843904541,746,715,680.156095459,666,636,879.156095459,788,803.843904541,653,631.156095459,653.843904541,0.400990127951,0.00448698122743,0.0798522081747,0.999999960528,9.87414743613e-05,-0.000258567475033,4.83461624447e-05,1793238337138330112
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.270170933,746,715,680.729829067,666,636,879.729829067,788,803.270170933,653,631.729829067,653.270170933,0.400989472926,0.00448607306632,0.0798518521614,0.999999960599,9.74892593412e-05,-0.000258741133261,4.84804191899e-05,1793238337154996480
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,715.310839761,681,665.689160239,636,880,788,803.310839761,653,631.689160239,653.310839761,0.400990109813,0.00448544607736,0.0798523286497,0.999999960936,9.63144270991e-05,-0.000257893122961,4.83981874552e-05,1793238337171663104
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,715.898327029,681,665.101672971,636,880,788,803.898327029,653,631.101672971,653.898327029,0.400991896502,0.00448506933178,0.0798535460647,0.999999961507,9.52084656344e-05,-0.000256135827264,4.81232808818e-05,1793238337188329984
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.479407876,746,715.520592124,680.520592124,665,636,879.520592124,788,803.520592124,653,631.479407876,654,0.400991416702,0.00448645633766,0.0798529680411,0.99999996117,9.62182151319e-05,-0.000257124028355,4.78495520257e-05,1793238337204996608
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.941264877,746,715.058735123,680,665,636,879.058735123,788,803.058735123,653,632,654,0.40099047252,0.00448782267135,0.0798521293813,0.999999960718,9.71148443203e-05,-0.00025858270626,4.76108588535e-05,1793238337221663488
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.365571234,746,715.634428766,680,665,636,879.634428766,788,803.634428766,653,632,654,0.400989615971,0.0044857582028,0.0798523039489,0.999999960955,9.3118672422e-05,-0.000259125051794,4.76783636635e-05,1793238337238330112
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,715.791304373,680,665.208695627,636,879.791304373,788,804,653,632,654,0.400992166589,0.00448417487387,0.0798538964452,0.999999961724,9.0982535015e-05,-0.00025688704628,4.77790824258e-05,1793238337254996736
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,715.219519885,680,665.780480115,636,879.219519885,788,804,653,632,654,0.401000644999,0.00448342863234,0.0798579558553,0.999999963408,9.20824878831e-05,-0.000249811783186,4.79375868486e-05,1793238337271663360
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746.367156714,715.367156714,680,665.632843286,636,879.367156714,788,804,653,632,654,0.401018959515,0.00448395195465,0.0798658500733,0.999999966631,9.26657363045e-05,-0.000236365671372,4.77642341246e-05,1793238337288329728
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746.963113651,715.963113651,680,665.036886349,636,879.963113651,788,804,653,632,654,0.401043403577,0.00448526642813,0.0798761340203,0.99999997059,9.2926991264e-05,-0.00021894945134,4.73840787336e-05,1793238337304996352
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.543698696,746.456301304,716,680.543698696,665,636,879.456301304,788,803.456301304,653,632,654,0.40109225779,0.00448561905459,0.0798934217957,0.999999977382,9.39921760732e-05,-0.000184992501692,4.66721762442e-05,1793238337321663232
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.878165775,746,715.878165775,680.878165775,665,636,879,788,803,653,632,653.878165775,0.401144980251,0.00448593332368,0.0799100752985,0.999999982963,9.41710396933e-05,-0.000152018522592,4.57818350659e-05,1793238337338329856
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.305343098,746,715.305343098,680.305343098,665,636,879,788,803,653,632,653.305343098,0.401206060016,0.00448634051683,0.0799226704171,0.99999998686,9.08727053416e-05,-0.000126722859914,4.43119969844e-05,1793238337354996480
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665.269244874,636,879.269244874,788,803,653,632,653,0.401270554836,0.00448679828181,0.0799312109968,0.999999988883,8.92788468706e-05,-0.000111530694194,4.26997805037e-05,1793238337371663360
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665.845847997,636,879.845847997,788,803,653,632,653,0.40133894813,0.00448731377737,0.0799351230905,0.999999989328,8.96307442558e-05,-0.0001078722432,4.09250311416e-05,1793238337388329984
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.430876336,746,715.430876336,680,665.569123664,636,880,788.430876336,803.430876336,653,632,653,0.401418520342,0.00448826809577,0.0799379458926,0.999999990014,8.87336133349e-05,-0.000103095302455,3.83474882926e-05,1793238337404996608
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,716,680,665.018719363,636,879.981280637,788.981280637,803.981280637,653,632,653.018719363,0.401502916874,0.0044894486321,0.0799404344001,0.999999990762,8.74090691474e-05,-9.7864807455e-05,3.54605524137e-05,1793238337421663232
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,716,680,665.598776187,636,879.401223813,788.401223813,803.401223813,653,632,653.598776187,0.401609658062,0.00449261106647,0.0799448176935,0.999999991541,8.6934833903e-05,-9.12723469838e-05,3.20801947896e-05,1793238337438329856
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.822259398,746,716,680,665.822259398,636.177740602,879,788,803,652.822259398,632,653.822259398,0.40172286065,0.00449439797733,0.0799494637262,0.99999999244,8.53551737788e-05,-8.37617445309e-05,2.86077015827e-05,1793238337454996480
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.245745953,746,716,680,665.245745953,636.754254047,879,788,803,652.245745953,632,653.245745953,0.401850559802,0.00449309880938,0.0799546992311,0.999999993633,8.12954196003e-05,-7.41912304651e-05,2.49284965334e-05,1793238337471663104
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,715.662169536,680,665,636.662169536,879.337830464,787.662169536,803.337830464,652.337830464,631.662169536,653,0.401994274444,0.00449404662651,0.0799599623929,0.999999994692,7.74367113481e-05,-6.48274726942e-05,2.039896768e-05,1793238337488329728
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,715.073345572,680,665,636.073345572,879.926654428,787.073345572,803.926654428,652.926654428,631.073345572,653,0.402149887919,0.00449666385673,0.0799652461029,0.999999995619,7.37273711414e-05,-5.56173249515e-05,1.52376844421e-05,1793238337504996352
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,715.506547534,680,665,636.506547534,880,787.506547534,803.493452466,653,631.506547534,653,0.40232175736,0.00449991692694,0.079968503716,0.999999996299,7.01606710577e-05,-4.8853936807e-05,9.61597772519e-06,1793238337521663232
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,716,680,665,637,880,788,803,653,632,653,0.402497948036,0.00450332405513,0.0799703913836,0.999999996768,6.65575596406e-05,-4.49495192513e-05,3.76686376001e-06,1793238337538329856
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,716,680,665,637,880,788,803,653,632,653,0.40268577397,0.00450709958909,0.0799660121928,0.999999996489,6.26259003993e-05,-5.55922079083e-05,-3.02023229815e-06,1793238337554996480
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746.236364128,716,680,665,636.763635872,879.763635872,787.763635872,803.236364128,652.763635872,632.236364128,653.236364128,0.402885418644,0.00451088042564,0.0799617592095,0.999999996175,5.79689609132e-05,-6.47598801734e-05,-9.78590071492e-06,1793238337571663104
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746.811501874,716,680,665,636.188498126,879.188498126,787.188498126,803.811501874,652.188498126,632.811501874,653.811501874,0.403102002755,0.00451466886199,0.0799576871158,0.999999995919,5.22724992358e-05,-7.18134550258e-05,-1.65208571285e-05,1793238337588329728
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746.603779958,715.603779958,680,665.396220042,636,879,787.396220042,804,652.396220042,632.603779958,654,0.403354820915,0.00451761804906,0.0799592225058,0.999999996107,5.27235251847e-05,-6.72646557413e-05,-2.19380734377e-05,1793238337604996352
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746.014391073,715.014391073,680,665.985608927,636,879,787.985608927,804,652.985608927,632.014391073,654,0.403625304225,0.00452015807747,0.079963491708,0.999999996438,5.61716310813e-05,-5.70593599504e-05,-2.67128527565e-05,1793238337621662976
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680.56529182,665.43470818,636,879.56529182,788,804,653,632,653.43470818,0.403924415274,0.00452932259352,0.0799679306121,0.999999992958,0.000106451490576,-4.88485808273e-05,-1.91471196458e-05,1793238337638329856
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665.143784431,636,880,788,803.856215569,653,631.856215569,653,0.404229973214,0.00453791505006,0.0799705056811,0.999999988362,0.000145344776786,-4.3969108882e-05,-1.47559511586e-05,1793238337654996480
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715,681,665.719431501,636,880,788,803.280568499,653,631.280568499,653,0.404552742584,0.00454429131859,0.0799674698844,0.999999987852,0.000146517524243,-4.89454277881e-05,-2.08273946695e-05,1793238337671663104
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.301378936,746,715.301378936,680.698621064,665.698621064,636,879.698621064,788,803,653,631.301378936,653.301378936,0.404894994824,0.00454831131623,0.0799666624122,0.999999992711,0.00010798668019,-4.80293317811e-05,-2.47059683921e-05,1793238337688329728
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.889316994,746,715.889316994,680.110683006,665.110683006,636,879.110683006,788,803,653,631.889316994,653.889316994,0.405255771933,0.00455009090947,0.07996797369,0.999999998285,3.17046030198e-05,-4.15105710363e-05,-2.64995036943e-05,1793238337704996352
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.529180724,746,716,680.470819276,665.470819276,636,879.941638553,788,803.470819276,653,631.529180724,654,0.405645933157,0.00455995534171,0.0799635955415,0.99999999722,5.02753811955e-05,-4.75348435638e-05,-2.77817687246e-05,1793238337721662976
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,716,681,665.949665021,636,880.949665021,788,804,653,631.050334979,653.949665021,0.406044901076,0.00457112330483,0.0799577322333,0.999999993974,8.92651287322e-05,-5.70188468424e-05,-2.88621554457e-05,1793238337738329600
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,716,681,665.375292176,636,880.375292176,788,804,653,631.624707824,653.375292176,0.406464608541,0.00457634168342,0.0799501439041,0.999999990717,0.000111816858477,-7.22372674727e-05,-2.90752371235e-05,1793238337754996224
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.199034698,746,715.800965302,681,665,636,880,788,804,653,632,653.199034698,0.406896306224,0.00458363957394,0.079946536996,0.999999987908,0.000129956037643,-7.99990412984e-05,-2.99141715731e-05,1793238337771662848
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.773274877,746,715.226725123,681,665,636,880,788,804,653,632,653.773274877,0.407350606954,0.00459485760615,0.0799504355687,0.999999987005,0.000139777001793,-7.37040955833e-05,-3.19329173683e-05,1793238337788329984
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,715.357702235,681,665,636,880,788,803.642297765,653,632,654,0.407812550488,0.00460312753349,0.0799482464806,0.999999985739,0.000145373283208,-7.93619362745e-05,-3.30053405512e-05,1793238337804997120
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,715.948775869,681,665,636,880,788,803.051224131,653,632,654,0.408279480309,0.00460947406352,0.0799420856926,0.999999984149,0.000148213304892,-9.28179909746e-05,-3.34603656851e-05,1793238337821663744
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.469638561,746,715.469638561,680.469638561,665,636,880,788,803,653,632,654,0.408821448303,0.00461819546361,0.0799436959394,0.99999998301,0.000158008803653,-8.81574700622e-05,-3.52449618932e-05,1793238337838330112
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746.10964555,715.10964555,680,665.10964555,636,880,788,803.10964555,653,632,654,0.409377883065,0.00462694554055,0.0799506328551,0.999999982437,0.000167748858622,-7.49176533499e-05,-3.70651548883e-05,1793238337854996736
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746.683003657,715.683003657,680,665.683003657,636,880,788,803.683003657,653,632,654,0.409965388312,0.0046348638804,0.0799769788501,0.999999983507,0.000174463255543,-3.26643363097e-05,-3.85023478402e-05,1793238337871663872
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746.737042012,715.737042012,680.262957988,665.737042012,636,880,788,803.737042012,652.737042012,632,653.737042012,0.410553880681,0.00464154384598,0.0799989965115,0.999999982573,0.000182436602141,2.52867414339e-06,-3.95495603907e-05,1793238337888330496
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746.14893124,715.14893124,680.85106876,665.14893124,636,880,788,803.14893124,652.14893124,632,653.14893124,0.411143593727,0.00464669253823,0.080015662106,0.99999998035,0.000191966666165,2.89914806938e-05,-4.01145546563e-05,1793238337904997120
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746.432957131,715.432957131,680.567042869,665.432957131,636.432957131,880,788,803.432957131,652,632,653,0.411729230069,0.00464139516091,0.0799984802416,0.999999982203,0.000183898897965,-8.20618023675e-07,-4.21138300014e-05,1793238337921663744
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746.987328836,715.987328836,680,665.987328836,637,880,788,803.987328836,652.012671164,632,653,0.412314607566,0.00463215045296,0.0799698346836,0.999999983423,0.000169496801154,-4.93803002011e-05,-4.45623445231e-05,1793238337938330624
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746.410473741,715.410473741,680,665.410473741,637,880,788,803.410473741,652.589526259,632,653,0.412950015714,0.00460487582014,0.0799418302358,0.9999999859,0.000138768027385,-8.29825292166e-05,-4.53570600839e-05,1793238337954997504
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715.165518247,680.165518247,665.165518247,636.834481753,880,788,803.165518247,653,631.834481753,653,0.413599224207,0.00458403794876,0.0799253989354,0.999999987738,0.000111696577441,-9.98047105621e-05,-4.56887983672e-05,1793238337971663872
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715.739380858,680.739380858,665.739380858,636.260619142,880,788,803.739380858,653,631.260619142,653,0.414282479018,0.00457907999139,0.0799375193497,0.999999991778,9.36479874709e-05,-7.52294127314e-05,-4.48783414841e-05,1793238337988329984
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.323040674,746,716,680.676959326,666,636,880,788,804,653,631.323040674,653.323040674,0.414976277553,0.00458220179572,0.0799581246093,0.999999993637,9.60005870813e-05,-3.91298469757e-05,-4.44848704655e-05,1793238338004996352
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.914851751,746,716,680.085148249,666,636,880,788,804,653,631.914851751,653.914851751,0.415678848451,0.0045920459761,0.0799857892745,0.999999992341,0.000115327012753,6.55792860103e-06,-4.4438332394e-05,1793238338021663232
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.503505198,746,715.503505198,680.496494802,665.503505198,636.496494802,880,788,804,653,631.503505198,653.503505198,0.416364253403,0.00459836225566,0.0799775798065,0.999999990119,0.000131763003852,-1.94303253212e-05,-4.49702517213e-05,1793238338038329856
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.924426854,746,715.075573146,680.924426854,665.075573146,636.924426854,880,788,804,653,631.075573146,653,0.417058192497,0.00460335244698,0.0799658984269,0.999999987403,0.000143943650151,-4.87065492472e-05,-4.58462400032e-05,1793238338054996480
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.350987334,746,715.649012666,680.350987334,665.649012666,636.350987334,880,788,804,653,631.649012666,653,0.417827358208,0.00460351240815,0.0799710621722,0.999999990007,0.000131290725501,-2.02881925846e-05,-4.83484788294e-05,1793238338071663360
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.223851351,746,715.776148649,680.223851351,665.776148649,636,880,787.776148649,804,652.776148649,632,653.223851351,0.418603403016,0.0045997150995,0.0799845856548,0.999999991453,0.000119811192768,1.45055517767e-05,-5.02928051852e-05,1793238338088330240
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.800897741,746,715.199102259,680.800897741,665.199102259,636,880,787.199102259,804,652.199102259,632,653.800897741,0.419390301858,0.00458967396855,0.0800112992205,0.999999990849,0.00011018304829,5.93584549263e-05,-5.13568516953e-05,1793238338104996864
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680.614164048,665.385835952,636,880,787,804,652.385835952,632,653.614164048,0.42013093407,0.00458607679311,0.0800083837128,0.99999999139,0.000107809677186,5.43720420825e-05,-5.1393879379e-05,1793238338121663232
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680.025068435,665.974931565,636,880,787,804,652.974931565,632,653.025068435,0.420847192821,0.00458587431546,0.0799898595093,0.999999992469,0.000109258145379,2.3130109253e-05,-5.08898700647e-05,1793238338138329600
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.554099048,746,715,680.554099048,665.445900952,636.554099048,880,787,804,653,631.445900952,653,0.421618712717,0.00459381443591,0.0799838568362,0.999999991776,0.000117098611178,9.92471013557e-06,-5.13484571716e-05,1793238338154996480
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.86806055,746,715.13193945,681.13193945,665.13193945,636.86806055,880,787,804,652.86806055,631,653,0.42240598479,0.00460139447768,0.0799858247618,0.999999990775,0.00012525981261,1.01567188334e-05,-5.15406765954e-05,1793238338171663104
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.293193925,746,715.706806075,681.706806075,665.706806075,636.293193925,880,787,804,652.293193925,631,653,0.423237892383,0.00460655079687,0.0800126820958,0.999999988404,0.000133544017509,5.28076123786e-05,-5.06950619564e-05,1793238338188329984
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746.288500292,715.711499708,681.711499708,666,636,880,787.288500292,804,652,631.288500292,653,0.424024749732,0.00460960500752,0.0800188408989,0.999999987391,0.000139380312654,5.73420444185e-05,-5.00251941538e-05,1793238338204996608
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746.877301332,715.122698668,681.122698668,666,636,880,787.877301332,804,652,631.877301332,653,0.424764714105,0.00461047112728,0.0800034545426,0.999999988349,0.00014266857135,2.22009441625e-05,-4.95382617981e-05,1793238338221663488
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746.541100826,715,681,666,636,880.458899174,788,804,652.458899174,632,653.458899174,0.425518435738,0.00461063986938,0.0799691237703,0.999999988065,0.000141981659766,-3.47681745679e-05,-5.00154642806e-05,1793238338238330368
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746.038386556,715.038386556,681.038386556,666,636,881,788,804,653,632,653.961613444,0.426280151597,0.00461040724558,0.0799329775861,0.99999998472,0.000139995210934,-9.1504221583e-05,-5.0870615132e-05,1793238338254996992
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746.61486983,715.61486983,681.61486983,666,636,881,788,804,653,632,653.38513017,0.427103162604,0.00460712174054,0.0799412903298,0.999999987456,0.000134460890772,-6.44251745702e-05,-5.34660213186e-05,1793238338271663360
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,747,715.809286674,682,666,636,881,788,803.809286674,652.809286674,632,653.190713326,0.427916237639,0.00460541003057,0.0799469809019,0.999999988425,0.000132643184854,-5.07392595475e-05,-5.46093514305e-05,1793238338288329728
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,747,715.234730734,682,666,636,881,788,803.234730734,652.234730734,632,653.765269266,0.428709315007,0.00460686584703,0.0799473939147,0.999999986992,0.000138305788749,-6.40092682532e-05,-5.28301349844e-05,1793238338304996352
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,747,715,681.651693096,666.348306904,636,881,788,803.348306904,652,632,653.651693096,0.429503075747,0.00460734554102,0.0799598703385,0.999999988196,0.000136383459203,-4.71622897523e-05,-5.27612418254e-05,1793238338321662976
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,747,715,681.062796848,666.937203152,636,881,788,803.937203152,652,632,653.062796848,0.430297308473,0.00460715098857,0.0799806794371,0.999999990154,0.0001292219159,-9.51231716539e-06,-5.38737366006e-05,1793238338338329600
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746.482099168,715,681,667,636,881.517900832,788,804,652,632,653.517900832,0.431102967177,0.00460923329758,0.0800111548108,0.999999989389,0.000131610039577,3.19265653026e-05,-5.36721298638e-05,1793238338354996480
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746.096865023,715,681.096865023,667,636.096865023,881.903134977,788,804,652.096865023,632,654,0.431896790048,0.00461186759225,0.0800337184698,0.99999998758,0.000136090902697,5.90738724888e-05,-5.32018638249e-05,1793238338371663360
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746.672101188,715,681.672101188,667,636.672101188,881.327898812,788,804,652.672101188,632,654,0.432625425867,0.00461588572533,0.0800115117994,0.999999987996,0.00014527750588,1.34082767344e-05,-5.21794498786e-05,1793238338388330240
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.252840606,746.747159394,715.252840606,682,666.747159394,636.747159394,881,788,804.252840606,652.747159394,632,654,0.433346508623,0.00461800085156,0.0799755567045,0.999999987343,0.000144280930368,-4.09404053953e-05,-5.31130731871e-05,1793238338404996864
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.840875724,746.159124276,715.840875724,682,666.159124276,636.159124276,881,788,804.840875724,652.159124276,632,654,0.434057578112,0.00461759313328,0.0799213751225,0.999999984271,0.000129784364178,-0.000106800379146,-5.66398438876e-05,1793238338421663232
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.577373895,746.422626105,716,682,666,636,880.577373895,788,804.577373895,652.422626105,632,654,0.434815165326,0.00461324172566,0.0799242371602,0.999999986393,0.000122462729867,-9.41328267712e-05,-5.79278577238e-05,1793238338438329856
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.002035358,746.997964642,715.997964642,682,666,636,880.002035358,788,804,652.997964642,632,654,0.435589845189,0.00460743701042,0.0799482879936,0.999999989984,0.000117823283729,-5.23623295106e-05,-5.83761964217e-05,1793238338454996480
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.57874486,746.42125514,715.42125514,682,666,636,880.57874486,788,804,652.42125514,632,654,0.436317849555,0.0046043954586,0.0799796317753,0.999999991163,0.000118920092087,-1.91946747568e-05,-5.62537931644e-05,1793238338471663104
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.845004279,746,715.154995721,682,666.154995721,636,881,788,804,652,632,653.845004279,0.437041423528,0.00460263808129,0.0800047882497,0.999999991521,0.000117627739767,8.94761417793e-06,-5.51572127119e-05,1793238338488329728
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.269996129,746,715.730003871,682,666.730003871,636,881,788,804,652,632,653.269996129,0.437752992044,0.00460436060102,0.0800131781651,0.999999992074,0.000109861162911,2.3472011222e-05,-5.6840439818e-05,1793238338504996864
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746.313754645,715.686245355,682.313754645,666.686245355,636,881,788,804,652,632,653,0.438451923884,0.00460383179146,0.0800185918346,0.99999999181,0.000108178233783,3.68651555211e-05,-5.76071912431e-05,1793238338521663744
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746.905244341,715.094755659,682.905244341,666.094755659,636,881,788,804,652,632,653,0.439139669716,0.00460131010913,0.0800213709361,0.999999990872,0.000111880539214,4.92569160431e-05,-5.75626799368e-05,1793238338538330368
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746.515110877,715,683,666,636,881,788,804.484889123,652,632,653.484889123,0.439779232816,0.00460119517957,0.0800049289241,0.999999992831,0.000101753824362,2.57561483335e-05,-5.76293692989e-05,1793238338554996992
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715.062136218,683,666,636,881,788,805,652,632,653.937863782,0.44040047888,0.00460155335569,0.0799810049233,0.999999994105,9.12252607556e-05,-1.08309831566e-05,-5.7880176648e-05,1793238338571663616
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+255,4.250000000,POSE1_TO_POSE2_PRESS,766,746,714,684,655.882083262,634,881.117916738,787,805.117916738,652.882083262,631.882083262,653,0.451339316022,0.00471757527343,0.079617737899,0.999999803826,0.000227860341849,-0.000579819759196,-6.50924880579e-05,1793238339571663616
+256,4.266666667,POSE1_TO_POSE2_PRESS,766,746,714,684,656,634,881,787,804.536186788,652.536186788,632,653,0.451339225249,0.00471824981442,0.0796174143978,0.999999803536,0.000228593559775,-0.000580009771036,-6.5282137151e-05,1793238339588330240
+257,4.283333333,POSE1_TO_POSE2_PRESS,766,746,714,684,655.957202032,634,881,787,804,652,632,653,0.451339071279,0.00471869446731,0.0796173076252,0.999999803307,0.000229303005451,-0.000580101364721,-6.54890671701e-05,1793238339604996864
+258,4.300000000,POSE1_TO_POSE2_PRESS,766,746,714,684,655.38232167,634,881,787,804,652,632,653,0.451339140473,0.00471933422898,0.0796173884532,0.999999802757,0.000229691516032,-0.000580838124893,-6.59863268953e-05,1793238339621663232
+259,4.316666667,POSE1_TO_POSE2_PRESS,766,746,714,684,655,633.80769938,881,787,804,652.19230062,632,653,0.451339477883,0.00471961771292,0.0796175620897,0.999999802661,0.00022965162196,-0.00058100597926,-6.61087889302e-05,1793238339638329600
+260,4.333333333,POSE1_TO_POSE2_PRESS,766,746,714,684,655,633.233589382,881,787,804,652.766410618,632,653,0.451340347829,0.00471919381403,0.0796179199958,0.999999803464,0.000228761138324,-0.000580044281654,-6.54870970685e-05,1793238339654996224
+261,4.350000000,POSE1_TO_POSE2_PRESS,766,746,714,684,655,633,881.350370202,787,804,652.649629798,632,653,0.451340502931,0.00471810049182,0.0796179340807,0.999999803742,0.000227820598207,-0.000579955320642,-6.53146176889e-05,1793238339671663104
+262,4.366666667,POSE1_TO_POSE2_PRESS,766,746,714,684,655,633,881.941086341,787,804,652.058913659,632,653,0.451340167665,0.00471654796058,0.0796177123122,0.999999803659,0.000226845720545,-0.000580465037011,-6.54502878257e-05,1793238339688329984
+263,4.383333333,POSE1_TO_POSE2_PRESS,766,746,714.519699398,684,655.519699398,633,882,787,804,652,632,653.519699398,0.451339270684,0.00471807461119,0.0796168778402,0.999999802771,0.000227858333193,-0.000581597981126,-6.54381041162e-05,1793238339704997120
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+265,4.416666667,POSE1_TO_POSE2_PRESS,765.32922668,746,714.32922668,684,655.32922668,633,882,787,804,652,632,654,0.451339307093,0.00471776616528,0.0796164261124,0.999999802374,0.000227775116491,-0.000582321810675,-6.53550286072e-05,1793238339738330112
+266,4.433333333,HOLD_POSE2,766,746,714,684,656,634,882,787,805,652,632,654,0.451339321911,0.00471480860575,0.0796162806026,0.999999802763,0.000223930533,-0.000583214565139,-6.47329596547e-05,1793238339776091136
+267,4.450000000,HOLD_POSE2,766,746,714,683.420053568,654.840107137,633.420053568,882,787,804.420053568,652.579946432,631.420053568,654,0.451340187654,0.00471612357938,0.0796168774051,0.999999803165,0.000225262054509,-0.000581965921905,-6.51391079509e-05,1793238339792757248
+268,4.466666667,HOLD_POSE2,766,746,714,683.158740812,654.317481624,633.158740812,882,787,804.158740812,652.841259188,631.158740812,654,0.451340767959,0.00471707419017,0.0796173988459,0.999999803461,0.000226373178249,-0.000581005602733,-6.53175880884e-05,1793238339809423360
+269,4.483333333,HOLD_POSE2,766,746,714,683.734508771,655.469017541,633.734508771,882,787,804.734508771,652.265491229,631.734508771,654,0.451340598389,0.00471706758553,0.0796177223046,0.999999803485,0.000226905296466,-0.000580802737909,-6.48979625009e-05,1793238339826090240
+270,4.500000000,HOLD_POSE2,766,746,714.308640649,684,655.691359351,633.691359351,881.691359351,787,804.691359351,652.308640649,632,653.691359351,0.451340964481,0.0047158132155,0.0796179544496,0.999999804001,0.000225397494732,-0.000580522515533,-6.47179155298e-05,1793238339842757120
+271,4.516666667,HOLD_POSE2,766,746,714.881372565,684,655.118627435,633.118627435,881.118627435,787,804.118627435,652.881372565,632,653.118627435,0.451341788916,0.0047134911833,0.0796181084611,0.999999804928,0.000222144216315,-0.000580176101446,-6.47428662748e-05,1793238339859424256
+272,4.533333333,HOLD_POSE2,766,746,714.528618489,684,655,633,881.471381511,787,804,653,632,653.471381511,0.451341623267,0.00471396539036,0.0796177461389,0.999999804359,0.000223716402627,-0.000580525649211,-6.49855428928e-05,1793238339876090624
+273,4.550000000,HOLD_POSE2,766,746,714,684,655,633,881.935874466,787,804,652.935874466,632,653.935874466,0.451341326227,0.00471522736726,0.0796174335927,0.99999980352,0.000226314782614,-0.000580933344497,-6.52572992875e-05,1793238339892756736
+274,4.566666667,HOLD_POSE2,766,746,714,684,655,633,881.357394003,787,804,652.357394003,632,653.357394003,0.451342049889,0.00471694893222,0.0796186022147,0.999999803693,0.000227033179947,-0.000580349145357,-6.53060895849e-05,1793238339909423360
+275,4.583333333,HOLD_POSE2,765.781361929,746,714,684,655,633,881.218638071,787,804,652.218638071,632,653,0.451342051399,0.00471757582211,0.0796184578124,0.999999803441,0.000226799004035,-0.000580863268655,-6.54096563005e-05,1793238339926089984
+276,4.600000000,HOLD_POSE2,765.209287818,746,714,684,655,633,881.790712182,787,804,652.790712182,632,653,0.451340885527,0.00471643313156,0.0796161908605,0.999999802496,0.000225024960296,-0.000583152868392,-6.56017709946e-05,1793238339942756608
+277,4.616666667,HOLD_POSE2,765.373311598,746,714.373311598,684,655.373311598,633.373311598,882,787,804.373311598,652.626688402,632,653,0.451339845264,0.00471539225558,0.0796150852771,0.9999998019,0.000223309296875,-0.000584858773199,-6.53704703387e-05,1793238339959423488
+278,4.633333333,HOLD_POSE2,765.961983012,746,714.961983012,684,655.961983012,633.961983012,882,787,804.961983012,652.038016988,632,653,0.451338877465,0.00471441011532,0.0796146496754,0.999999801503,0.000221627312319,-0.000586227950314,-6.48949055184e-05,1793238339976090368
+279,4.650000000,HOLD_POSE2,766,746.545557652,714.454442348,683.454442348,655.454442348,634,881.454442348,787,804.454442348,652,632,653.545557652,0.451339604915,0.00471528836735,0.0796146562811,0.999999801475,0.00022434830871,-0.00058522555724,-6.50231320235e-05,1793238339992757248
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+281,4.683333333,HOLD_POSE2,766,747,714.698521048,683.698521048,655.698521048,634,881.698521048,787,804.698521048,652,632,654,0.451341106275,0.0047158232481,0.0796151708494,0.999999801833,0.000226543270689,-0.000583787914903,-6.48368303841e-05,1793238340026090240
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,684,655,634,882,787,804,653,632,653,0.451343451168,0.00471316293165,0.0796176090291,0.999999803883,0.000225072032133,-0.000580920177662,-6.40979867492e-05,1793238340063819008
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,715,684,655,634,881.408773659,787,804,652.408773659,632,653.591226341,0.451342070538,0.00471404555921,0.0796162001772,0.999999802971,0.000223403418522,-0.000583058051888,-6.47545310726e-05,1793238340080486144
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,714.821143444,684,655,633.821143444,881.178856556,787,804.178856556,652,632,654,0.451341411607,0.00471425196168,0.079615465079,0.999999802562,0.000222059302803,-0.00058423913626,-6.5035724928e-05,1793238340097153024
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,714.241570006,684,655,633.241570006,881.758429994,787,804.758429994,652,632,654,0.451342369597,0.0047129433245,0.0796162394834,0.999999803297,0.000221442203918,-0.000583276593478,-6.44759697618e-05,1793238340113819392
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,714,684,655,633.334906516,882,787,804.665093484,652.334906516,632,654,0.451342898902,0.00471354594879,0.0796165037065,0.999999803122,0.000223350819993,-0.000582861496229,-6.43637845932e-05,1793238340130486016
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,714,684,655,633.909169647,882,787,804.090830353,652.909169647,632,654,0.451343121826,0.00471551454561,0.0796164033046,0.999999802286,0.000227064556506,-0.000582837656606,-6.45714763027e-05,1793238340147152896
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,714.495306939,684,655,634,881.504693061,787.495306939,804.495306939,653,632,654,0.451342106848,0.00471629259831,0.0796160653759,0.999999801878,0.000227411206112,-0.000583392684269,-6.46592137824e-05,1793238340163819264
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,714.917592602,684,655,633.917592602,881,787.917592602,805,653,632,654,0.451340948624,0.00471657033796,0.0796156479516,0.999999801572,0.000227188038546,-0.000584002782263,-6.46631563008e-05,1793238340180486144
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,714.338139112,684,655,633.338139112,881,787.338139112,805,653,632,654,0.451340329255,0.00471517958683,0.0796150202213,0.999999801393,0.00022734372621,-0.000584289040065,-6.42976215632e-05,1793238340197152512
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,714,684,655,633,881.240304277,787,805,653,632.240304277,654,0.451340112434,0.00471436300984,0.0796149299367,0.999999801604,0.000226769239345,-0.000584178190573,-6.40530266052e-05,1793238340213818880
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,714,684,655,633,881.817332227,787,805,653,632.817332227,654,0.451340459679,0.00471435098804,0.0796155927418,0.99999980236,0.000225171603602,-0.000583510898916,-6.39778971869e-05,1793238340230485504
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766.392051875,746,714.392051875,684,655.392051875,633.392051875,881.607948125,787,804.607948125,653,632.607948125,653.607948125,0.451332512433,0.00471377103395,0.0796104698216,0.999999798601,0.000223501297314,-0.000590545302628,-6.40427438198e-05,1793238340247152384
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.965702367,746,714.965702367,684,655.965702367,633.965702367,881.034297633,787,804.034297633,653,632.034297633,653.034297633,0.451320723176,0.00471292801335,0.0796026669506,0.999999792655,0.00022179732983,-0.000601147135213,-6.41724274136e-05,1793238340263819264
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766.443334538,746,715,684,655.443334538,634,881.556665462,787,804.556665462,653,632,653.556665462,0.451291611789,0.00471337158717,0.0795871607834,0.999999777962,0.000221427899615,-0.000625257941149,-6.40210911541e-05,1793238340280485888
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,714.855441364,684,655,633.855441364,881.855441364,787,804.855441364,653,632,653.855441364,0.45125651218,0.00471390215283,0.0795700495389,0.999999760312,0.000221931723972,-0.000652723600412,-6.38270772332e-05,1793238340297152512
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,746,714.279980531,684,655,633.279980531,881.279980531,787,804.279980531,653,632,653.279980531,0.451206846218,0.00471444814982,0.0795496140229,0.999999736299,0.000224785593914,-0.000687628817131,-6.35591167769e-05,1793238340313819392
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,746,714,684,655.869734081,633,881.869734081,787,804.869734081,653,632,653.869734081,0.451089523599,0.00471403416325,0.0795140287868,0.999999695704,0.000227302247457,-0.000743683917014,-6.21353605029e-05,1793238340347152128
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,746,714.455396088,684,655.544603912,633.455396088,882,787,804.544603912,653,632,654,0.45102633464,0.00471406577847,0.0795085078207,0.999999689199,0.000227764000216,-0.00075234514439,-6.08527009376e-05,1793238340363818752
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746,715,684,655.043597457,634,881.956402543,787,804,652.956402543,632,653.956402543,0.450961308604,0.00471414927797,0.0795064390509,0.999999686509,0.000228296603878,-0.000755866493541,-5.94018933679e-05,1793238340380485632
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,746,715,684,655.623378302,634,881.376621698,787,804,652.376621698,632,653.376621698,0.450879586864,0.00471313803049,0.0795056500664,0.999999684437,0.000230723163423,-0.000758021028141,-5.74263521925e-05,1793238340397152256
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,746,714.107484468,684,656.107484468,634,882,787,805,652.107484468,632,654,0.450109163833,0.00470990338396,0.0794634528045,0.999999624421,0.000246939162247,-0.000829856061078,-3.89633757354e-05,1793238340497152000
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,746,714.253669234,683.746330766,657.746330766,634.746330766,882,788,804.253669234,652.746330766,632,653.746330766,0.448313917452,0.00468659336816,0.0795114777342,0.999999678855,0.000267650688606,-0.000755381238448,7.23764217595e-06,1793238340630485248
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,746,715,683.454629677,661.545370323,635,881,787.545370323,804.545370323,652.545370323,632,654,0.444541400354,0.00462397924362,0.079712819421,0.999999873648,0.000213795871185,-0.000454409292994,2.25301333884e-05,1793238340797151744
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,683,662.71040926,635.71040926,881,788,804.28959074,653,632,654,0.443574192454,0.00460741142279,0.0797503772807,0.999999905864,0.000173059963663,-0.000397058265881,2.58385256457e-05,1793238340830485248
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,683.287129748,663.287129748,635.712870252,881,787.712870252,804,652.712870252,632,653.712870252,0.443065730516,0.00459968899948,0.0797712801537,0.999999921775,0.00015612842844,-0.000362414192772,2.70016053748e-05,1793238340847151872
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,746.4475619,715,683.5524381,664.4475619,635.4475619,881,787.4475619,804,652.4475619,632,653,0.441990275526,0.00458226997103,0.0798177558106,0.999999950153,0.000129395798129,-0.00028642595344,3.01866529215e-05,1793238340880485120
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,746,715,683.194491568,664,636,881,788,804,652,632,653,0.440077455118,0.00456670203876,0.0797601432958,0.999999921599,0.00013545025956,-0.000370615177649,3.31604986939e-05,1793238340930485248
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,683.651153889,664.348846111,636,880.651153889,787.651153889,804,652,632,653,0.438741801825,0.0045489617119,0.079724166491,0.999999904243,0.000110369625999,-0.000421973676627,3.56427309762e-05,1793238340963818496
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,683.510963112,665,636,880.510963112,787.510963112,804,652,632,653.510963112,0.437470416233,0.00453558514925,0.0798146625874,0.999999953216,8.46129255841e-05,-0.000291360497053,3.8965254269e-05,1793238340997152000
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,683.322748053,664.322748053,636,880.322748053,788,804.677251947,652.677251947,632,653.322748053,0.436092330759,0.004519128988,0.0798617241598,0.999999970473,8.64157210332e-05,-0.000222932252791,4.34552244034e-05,1793238341030485248
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,683,664.254223698,636,880.254223698,788,804.745776302,653,632,653,0.43535801789,0.00451177604435,0.0798507424091,0.999999967554,7.95193388983e-05,-0.000237891124905,4.44668624378e-05,1793238341047151872
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,683,664.829243751,636,880.829243751,788,804.170756249,653,632,653,0.434602063358,0.00450555613644,0.0798222331185,0.999999956553,6.25349861567e-05,-0.000284613450393,4.44876062797e-05,1793238341063818496
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,746,715,683.404983047,665,636,880.595016953,787.595016953,804,653,632,653,0.433838810561,0.00449585867472,0.0798044306562,0.999999948243,5.93742506368e-05,-0.000312915557794,4.55306970751e-05,1793238341080485120
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,683.981026109,665,636,880.018973891,787.018973891,804,653,632,653,0.433072475109,0.00448469233607,0.0797911506323,0.99999994138,6.2052447397e-05,-0.000333437181787,4.70056150577e-05,1793238341097151744
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,683.430289827,665,636,880.569710173,787.569710173,804,653,632.569710173,653,0.432244435401,0.00447979325339,0.0797575392342,0.999999916652,5.05137483106e-05,-0.000402194092113,4.88295899516e-05,1793238341113818624
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,683,664.843703457,636,880.843703457,788,804,653,632.843703457,653.156296543,0.431437081364,0.00447339497939,0.0797384136051,0.999999899659,4.11025660191e-05,-0.000443212980048,5.05433998924e-05,1793238341130484992
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,683,664.263966677,636,880.263966677,788,804,653,632.263966677,653.736033323,0.430691463046,0.00446235676175,0.0797604090787,0.999999916037,3.87671579051e-05,-0.000404632754638,5.19265405397e-05,1793238341147151616
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,683,664.940106376,636,880.059893624,788,804.059893624,653,632.940106376,653.940106376,0.427661145801,0.00442612322041,0.079857837084,0.999999968384,1.50751561374e-05,-0.000244198671773,5.80750686278e-05,1793238341213818368
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,683,664.360831632,636,880.639168368,788,804.639168368,653,632.360831632,653.360831632,0.426819836376,0.00441800102627,0.0798084924553,0.999999949111,1.07377494649e-06,-0.000313825528589,5.73684877507e-05,1793238341230485248
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,683,664.21700238,636,881,788,804.78299762,653,632,653.21700238,0.425992703366,0.00440974634102,0.079774458726,0.999999932673,-1.08499122954e-05,-0.000362342276285,5.69587867793e-05,1793238341247152128
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,715,683,665,636,881,788,804,653,632,654,0.423571963078,0.00442076756581,0.0797560981573,0.999999916784,1.08493077901e-05,-0.000403129589917,6.16491626432e-05,1793238341297152768
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,715,682.466371043,664.466371043,636,881,788,804,653,632,653.466371043,0.422814237851,0.00445387408451,0.0797728460661,0.999999930242,5.25400200078e-05,-0.000364995051988,5.94540364691e-05,1793238341313819648
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,715,682,664.700710329,636,880.299289671,788,804.700710329,653,632,653.700710329,0.42134999586,0.00449484198866,0.0798468237018,0.999999966975,9.40274823897e-05,-0.000233175721945,5.32787864913e-05,1793238341347152640
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.916822817,746,715.083177183,681,664.083177183,636,879.916822817,788,804,653,631.083177183,654,0.413407235149,0.00448389008888,0.0798178636164,0.999999954666,7.79605928989e-05,-0.000286543630048,4.98199966144e-05,1793238341530486016
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+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,664,636,879.21794278,788,804,653,632,653.21794278,0.405508601419,0.00449702607069,0.0798215932069,0.999999953384,9.58696734762e-05,-0.000285719546162,4.90472773404e-05,1793238341780486144
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.356409662,746,715,680,664,636,879.356409662,788,804,653,631.643590338,653,0.405138058569,0.00450141048028,0.0798294674177,0.999999955513,0.000100678706497,-0.000276475800709,4.89814073809e-05,1793238341797152512
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,715.311239296,680.311239296,665,636,879.688760704,788,803.311239296,653,632,654,0.403814976345,0.00450453687751,0.0798320986054,0.999999950203,0.000108896101124,-0.000292115724008,4.90341875229e-05,1793238341863819008
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746.01166029,715.98833971,680,665,636,879.01166029,788,804,653,632,653,0.402801324537,0.00448880340137,0.0798482070896,0.999999956493,7.31442333897e-05,-0.000281499760849,4.92211654443e-05,1793238341930485760
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746.591244798,715.408755202,680,665,636,879.591244798,788,804,653,632,653,0.402603966735,0.00448721745421,0.079847867287,0.999999957499,6.64898452511e-05,-0.000279631825392,4.88502193503e-05,1793238341947152384
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746.829395405,715,680,665,636,880,788,804,653,632,653.170604595,0.402413919407,0.00448503644802,0.0798470029701,0.999999958357,6.01933073408e-05,-0.000278019383863,4.86596973156e-05,1793238341963819008
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.325538012,746,715,680,664.674461988,636,880,788,803.674461988,653,632,653.674461988,0.402084876076,0.0044776918728,0.0798469724081,0.999999960367,5.05893966421e-05,-0.0002723702015,5.02190165193e-05,1793238341997152000
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.514156032,746.485843968,715.485843968,680.485843968,664.485843968,636,879.514156032,788,803,653,632,653.485843968,0.401815068293,0.00446411485312,0.0798547178687,0.999999963478,3.74552833744e-05,-0.000261906282421,5.51918791547e-05,1793238342030485504
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,746.926468683,715.926468683,680.926468683,664.926468683,636,879.073531317,788,803.073531317,653,632,653.926468683,0.401695343267,0.00445622833178,0.0798559239957,0.999999963715,3.56554806894e-05,-0.000260756139535,5.74855015435e-05,1793238342047152640
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,746.346817923,715.346817923,680.346817923,664.346817923,636,879.653182077,788,803.653182077,653,632,653.346817923,0.401588745346,0.00446965840659,0.079852776894,0.999999958092,9.97792275461e-05,-0.000266136461502,5.50585538603e-05,1793238342063819520
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.231456413,636,879.768543587,788,803.768543587,653,632,653,0.401489901918,0.00448299917735,0.0798501993432,0.999999953024,0.000135549670609,-0.000270086346386,5.12988849878e-05,1793238342080486400
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.807680449,636,879.192319551,788,803.192319551,653,632,653,0.401402609261,0.00449620692378,0.0798484701714,0.999999953664,0.000129086235416,-0.000271905514038,4.55540517504e-05,1793238342097153280
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,879,788,803,653,632,653.975309895,0.401258514533,0.00448226656894,0.0798438036726,0.999999954903,0.000104022653259,-0.000277765011626,4.71194407465e-05,1793238342130485504
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,879,788,803.5566802,653,632,653.4433198,0.401203188259,0.00448793870893,0.0798411527851,0.999999953187,0.000106865545759,-0.000282798162643,4.72287494118e-05,1793238342147152384
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,879,788,803.862924502,653,632,653.137075498,0.401153128348,0.00449184481019,0.0798393298675,0.999999952097,0.000108611435437,-0.000285933878209,4.74491538471e-05,1793238342163819008
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,879,788,803.285102888,653,632,653.714897112,0.40111806636,0.00448771000506,0.0798401970096,0.999999953415,0.000104480897291,-0.000282702325772,4.83072645103e-05,1793238342180485632
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.290738885,665,636,879,788,803.290738885,653,632,654,0.40108749019,0.00448552452568,0.0798406330004,0.999999954089,0.000101316609254,-0.000281366328798,4.88910679803e-05,1793238342197152512
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.864652396,665,636,879,788,803.864652396,653,632,654,0.401061283125,0.00448523765524,0.0798406490575,0.999999954152,9.90934315531e-05,-0.000281876569549,4.92077011107e-05,1793238342213819392
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+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,879,788,803.963480763,653,631.963480763,653.036519237,0.401024170458,0.00448752915805,0.0798429653109,0.999999954823,0.000102029401855,-0.000278344936276,4.96781957834e-05,1793238342247152384
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dbe2a37aa98c0ccdb1e52598061d33e36f0b2c58
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_17.5/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,444 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..57155048ac57991b6560849f2ff4ecfb7f2d8052
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56832ba1296e9055f14fd6093d57006fa7b7aa731081e3017b256456b7b7e950
+size 24761708
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2fce5a013442df2029fefa4d7a107aa8fb2a1e46
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_01/franka_data.csv
@@ -0,0 +1,392 @@
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+56,0.933333333,BASELINE,764.496702808,742,711,670.503297192,662,632,876.496702808,782.496702808,798.503297192,649.496702808,627,649,0.400760369738,-0.00544242336905,0.059848340281,0.999999928699,-1.42623101259e-05,-0.000375477826541,-3.76275463128e-05,1793190803890329088
+57,0.950000000,BASELINE,765,742,711,670,662,632,876.925343394,783,798.074656606,649.925343394,627,649,0.400760845619,-0.00544203841162,0.0598478746635,0.999999928726,-1.35258812189e-05,-0.000375438684331,-3.75496953905e-05,1793190803906995712
+58,0.966666667,BASELINE,765,742,711,670,662,632,876.352863352,783,798.647136648,649.352863352,627,649,0.40075882839,-0.00544011018923,0.0598466410078,0.99999992798,-1.03616797429e-05,-0.000377506323902,-3.77138969918e-05,1793190803923662592
+59,0.983333333,BASELINE,765,742,711.226290553,670,662,632,876,783,799,649,627,649,0.400757861135,-0.00543949236707,0.0598460328642,0.9999999275,-9.16975173511e-06,-0.000378801188508,-3.77663855308e-05,1793190803940329472
+60,1.000000000,BASELINE,765,742,711.816167605,670,662,632,876,783,799,649,627,649,0.400758580898,-0.00544097999629,0.059846429746,0.999999927464,-1.11467226634e-05,-0.000378854417238,-3.76393820204e-05,1793190803956996352
+61,1.016666667,BASELINE,765,742,711.60181604,670,662,632,876,782.60181604,798.60181604,649,627,649,0.400759154092,-0.00544206967906,0.0598468877774,0.999999927745,-1.2368472161e-05,-0.000378110916322,-3.72718087788e-05,1793190803973662976
+62,1.033333333,BASELINE,765,742,711.023358565,670,662,632,876,782.023358565,798.023358565,649,627,649,0.400759660927,-0.00544297919577,0.0598473734936,0.999999928168,-1.32483031437e-05,-0.000377006704605,-3.67953201813e-05,1793190803990329600
+63,1.050000000,BASELINE,764.447820383,742,711.552179617,670,662,632.552179617,876,782.552179617,798,649,627,649,0.400760658038,-0.00544237834561,0.0598483069789,0.999999928577,-1.30608797294e-05,-0.000375904586775,-3.70392245115e-05,1793190804006995968
+64,1.066666667,BASELINE,764.127098116,742,711.872901884,670,662,632.872901884,876,783,798,649.127098116,627,649,0.400761335065,-0.0054420631253,0.0598488772387,0.999999928817,-1.30682505849e-05,-0.000375245784539,-3.72217320987e-05,1793190804023662848
+65,1.083333333,BASELINE,764.70027283,742,711.29972717,670,662,632.29972717,876,783,798,649.70027283,627,649,0.400760816281,-0.00544297344444,0.0598481065542,0.999999928474,-1.39169124159e-05,-0.000376142579034,-3.70823617476e-05,1793190804040329472
+66,1.100000000,BASELINE,765,741.716830373,711,670,662,632,876.283169627,782.716830373,798.283169627,649.716830373,626.716830373,649,0.400760608824,-0.0054427803957,0.0598479697736,0.999999928564,-1.3710261553e-05,-0.000375911350227,-3.70780586512e-05,1793190804056996096
+67,1.116666667,BASELINE,765,741.123277194,711,670,662,632,876.876722806,782.123277194,798.876722806,649.123277194,626.123277194,649,0.400760742614,-0.00544137794022,0.0598485278179,0.999999929127,-1.2346877453e-05,-0.00037444368974,-3.72218034135e-05,1793190804073662720
+68,1.133333333,BASELINE,764.540919158,741.459080842,711,670.459080842,662,632,876.540919158,782.459080842,798.540919158,649,626.459080842,649,0.40075961091,-0.0054400324596,0.0598477832882,0.999999928414,-9.60311369317e-06,-0.000376397864856,-3.74695741181e-05,1793190804090329600
+69,1.150000000,BASELINE,764.038051381,742,711,671,662,632,876,783,798.038051381,649,627,649,0.400758349555,-0.0054388404003,0.0598467954436,0.999999927472,-6.77733006732e-06,-0.000378927684558,-3.77281078471e-05,1793190804106995968
+70,1.166666667,BASELINE,764.610659898,742,711,671,662,632,876,783,798.610659898,649,627,649,0.400759927117,-0.00543959383565,0.0598471862882,0.999999928213,-7.8826857937e-06,-0.000376943102336,-3.77547583275e-05,1793190804123663104
+71,1.183333333,BASELINE,765,742,711,671,662,632,876,783,799,649,627,649,0.400760730136,-0.0054400974113,0.0598474288749,0.999999928579,-9.31526367464e-06,-0.000375936530104,-3.77859525957e-05,1793190804140329984
+72,1.200000000,BASELINE,765,742,711,671,662,632,876,783,799,649,627,649,0.400759887694,-0.00544007017862,0.0598473564988,0.999999928152,-1.1443001063e-05,-0.000377007667491,-3.78267998109e-05,1793190804156996096
+73,1.216666667,BASELINE,765,742,711,671,662,632,876.344288188,782.655711812,799,649,627,649,0.400760035253,-0.00544029505498,0.0598477402575,0.999999928189,-1.18357129756e-05,-0.00037692320527,-3.75519177686e-05,1793190804173662720
+74,1.233333333,BASELINE,765,742,711,671,662,632,876.938605153,782.061394847,799,649,627,649,0.40076090177,-0.00544070301785,0.0598484552704,0.999999928566,-1.09684155232e-05,-0.000375999524078,-3.70477469978e-05,1793190804190329088
+75,1.250000000,BASELINE,765,741.484240284,711,671,662,632,876.484240284,782.515759716,799,649,627,649.515759716,0.400760852548,-0.00544138466651,0.0598484453532,0.999999928473,-1.10061916727e-05,-0.000376227651828,-3.72114202725e-05,1793190804206995968
+76,1.266666667,BASELINE,765,741.090974462,711.090974462,671,662,632,876,783,799,649,627,649.909025538,0.40076073112,-0.00544180228869,0.0598483259208,0.999999928342,-1.10184065853e-05,-0.000376556254475,-3.7411966309e-05,1793190804223662592
+77,1.283333333,BASELINE,765,741.666388155,711.666388155,671,662,632,876,783,799,649,627,649.333611845,0.400760786959,-0.00544064607319,0.0598480680372,0.999999928291,-1.03392791792e-05,-0.000376713294648,-3.73991626415e-05,1793190804240329728
+78,1.300000000,BASELINE,765,742,711.751545085,671,662,632,876,783,799,649,627,649,0.400760748543,-0.00544049247716,0.0598476402803,0.999999928166,-1.03912861464e-05,-0.000377033587234,-3.74901466697e-05,1793190804256996352
+79,1.316666667,BASELINE,765,742,711.160299197,671,662,632,876,783,799,649,627,649,0.400760580084,-0.00544172218614,0.0598469781508,0.99999992794,-1.14520325764e-05,-0.000377579117668,-3.77243256334e-05,1793190804273662976
+80,1.333333333,BASELINE,765,741.578397395,711,671,662,632.421602605,876,782.578397395,799,649,627,649,0.400761382561,-0.00544187940538,0.0598476065245,0.999999928268,-1.22060515691e-05,-0.000376683745584,-3.77434583311e-05,1793190804290329344
+81,1.350000000,BASELINE,765,741.000028596,711,671,662,632.999971404,876,782.000028596,799.000028596,649,627,649,0.400762546096,-0.00544163764551,0.0598487148377,0.9999999288,-1.28458712733e-05,-0.000375252517031,-3.76826006751e-05,1793190804306995712
+82,1.366666667,BASELINE,765,741.5756233,711,671,662,632.4243767,876,782.5756233,799.5756233,649,627,649,0.400761671784,-0.00544048609239,0.0598480318872,0.999999928481,-1.13527955881e-05,-0.000376156373238,-3.76295708405e-05,1793190804323662592
+83,1.383333333,BASELINE,764.85001925,742,711,670.85001925,662,632,876,783,799.85001925,649,626.85001925,649,0.400760881503,-0.00543974943133,0.0598475781876,0.999999928233,-1.0437459725e-05,-0.000376843695235,-3.76056449871e-05,1793190804340329472
+84,1.400000000,BASELINE,764.279133889,742,711,670.279133889,662,632,876,783,799.279133889,649,626.279133889,649,0.400760327048,-0.00544017711931,0.0598477678558,0.999999928193,-1.11434873001e-05,-0.000376923337812,-3.76633962697e-05,1793190804356996096
+85,1.416666667,BASELINE,764.305552745,742,711.305552745,670.305552745,662,632,876,783,799,649,626.305552745,649,0.400760109359,-0.00544080739761,0.0598482665209,0.999999928329,-1.17612599305e-05,-0.000376558986902,-3.75084531274e-05,1793190804373662720
+86,1.433333333,BASELINE,764.903443745,742,711.903443745,670.903443745,662,632,876,783,799,649,626.903443745,649,0.400760213871,-0.00544163150463,0.0598490608194,0.999999928633,-1.22945944082e-05,-0.000375769844256,-3.71500141283e-05,1793190804390329600
+87,1.450000000,BASELINE,765,742,711.51394743,671,662,632,876,783,799,649,626.51394743,649,0.400759458805,-0.00544100291092,0.0598483280881,0.999999928202,-1.15826943467e-05,-0.000376922269634,-3.73074864554e-05,1793190804406996224
+88,1.466666667,BASELINE,765,742,711,671,662,632,876.064885772,783,799,649,626.064885772,649,0.400758705277,-0.00544012285679,0.0598474455979,0.999999927728,-1.06057288286e-05,-0.000378182734372,-3.75298452939e-05,1793190804423662848
+89,1.483333333,BASELINE,765,742,711,671,662,632,876.637209985,783,799,649,626.637209985,649,0.400759258486,-0.00543946433638,0.0598476919533,0.999999928051,-9.43141081335e-06,-0.000377363704039,-3.74825758258e-05,1793190804440329472
+90,1.500000000,BASELINE,765,742,711,670.783948007,662,632,877,782.783948007,799,649,627,649,0.400759514423,-0.00543936467157,0.0598478084014,0.999999928137,-8.67611814457e-06,-0.000377156639685,-3.74609869022e-05,1793190804456996096
+91,1.516666667,BASELINE,765,742,711,670.193821074,662,632,877,782.193821074,799,649,627,649,0.400759255659,-0.00544023261596,0.0598476999268,0.999999927815,-8.64633097067e-06,-0.000378009140452,-3.74838615781e-05,1793190804473662720
+92,1.533333333,BASELINE,764.611172343,742,711,670.388827657,662,632,876.611172343,782.388827657,799,648.611172343,627,649,0.400759711854,-0.00543976405802,0.0598477165779,0.99999992792,-9.29498491639e-06,-0.000377709118752,-3.75551021523e-05,1793190804490329344
+93,1.550000000,BASELINE,764.032180922,742,711,670.967819078,662,632,876.032180922,782.967819078,799,648.032180922,627,649,0.400760517714,-0.00543864185757,0.0598477944243,0.999999928232,-1.0275443749e-05,-0.000376845433489,-3.76499970163e-05,1793190804506995968
+94,1.566666667,BASELINE,764.543208258,742,711,671,662,632,876,783,799,648.543208258,627,649,0.400760970373,-0.00544000762063,0.0598479969893,0.999999928317,-1.02885129276e-05,-0.000376620951043,-3.76419359067e-05,1793190804523662848
+95,1.583333333,BASELINE,765,742,711,671,661.881650359,632,876,782.881650359,798.881650359,649,627,649,0.400761335215,-0.0054409895554,0.0598481133184,0.999999928379,-1.00502376135e-05,-0.000376465418941,-3.76245019827e-05,1793190804540329728
+96,1.600000000,BASELINE,765,742,711,671,661.30664693,632,876,782.30664693,798.30664693,649,627,649,0.400761441423,-0.00543992551319,0.0598478685838,0.999999928402,-9.06182224977e-06,-0.000376430781552,-3.75942823126e-05,1793190804556996352
+97,1.616666667,BASELINE,765,741.724038359,711,670.724038359,661.275961641,632,876,782,798.275961641,649,627,649,0.400760714234,-0.0054397510483,0.059847371788,0.999999928116,-9.23953774328e-06,-0.000377181272675,-3.76472035057e-05,1793190804573662976
+98,1.633333333,BASELINE,765,741.132739542,711,670.132739542,661.867260458,632,876,782,798.867260458,649,627,649,0.400759034735,-0.00544059308998,0.0598465869656,0.999999927472,-1.074977332e-05,-0.000378828918229,-3.77951285026e-05,1793190804590329600
+99,1.650000000,BASELINE,765,741.448533305,711,670,662,632,876,782.448533305,798.551466695,649,627,649,0.400758771841,-0.00544193122546,0.0598469227769,0.999999927491,-1.22469443028e-05,-0.000378757371614,-3.75492461359e-05,1793190804606996224
+100,1.666666667,BASELINE,764.973144554,742,711,670,662,632,876,782.973144554,798.026855446,649,627,649.026855446,0.400758970335,-0.00544329607544,0.0598475661286,0.999999927703,-1.36352160369e-05,-0.00037818304754,-3.72113877809e-05,1793190804623662592
+101,1.683333333,BASELINE,764.395815938,742,711,670,662,632,876,782.395815938,798.604184062,649,627,649.604184062,0.400760220816,-0.00544226495343,0.0598478640859,0.999999927966,-1.28688293698e-05,-0.000377503745738,-3.73248824059e-05,1793190804640329472
+102,1.700000000,BASELINE,764.183965015,742,711.183965015,670.183965015,662,632,876.183965015,782,799,649,627,649.816034985,0.400760583941,-0.00544146325902,0.0598477403369,0.999999927965,-1.21381520085e-05,-0.000377523820156,-3.74069467567e-05,1793190804656996096
+103,1.716666667,BASELINE,764.769093584,742,711.769093584,670.769093584,662,632,876.769093584,782,799,649,627,649.230906416,0.400759012052,-0.00544116186634,0.0598466969938,0.999999927387,-1.14853442925e-05,-0.000379068990338,-3.74204726237e-05,1793190804673662720
+104,1.733333333,BASELINE,764.649230045,741.649230045,711.649230045,671,662,632,876.649230045,782,799,649,627,649,0.400758535901,-0.00544106762328,0.0598464732736,0.999999927272,-1.18849358591e-05,-0.000379353179799,-3.74870533205e-05,1793190804690329344
+105,1.750000000,BASELINE,764.069803999,741.069803999,711.069803999,671,662,632,876.069803999,782,799,649,627,649,0.400758774026,-0.00544110841463,0.0598467838402,0.999999927459,-1.2970553925e-05,-0.000378815375056,-3.75882188223e-05,1793190804706995968
+106,1.766666667,BASELINE,764.50957092,741.50957092,711,670.49042908,662,632,876,782.50957092,799,649,627,649,0.400759765112,-0.00544104113963,0.0598475311148,0.999999927909,-1.21676841459e-05,-0.000377650354365,-3.75942986935e-05,1793190804723662848
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,741,711,670,662,632,876,783,799,649,627,649,0.400758605104,-0.00544229431963,0.0598469351321,0.999999927482,-1.35996128406e-05,-0.000378732587562,-3.75933103561e-05,1793190804766902016
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,741.589144231,711,670,662,632,876.589144231,782.410855769,798.410855769,649,627,649,0.400757403109,-0.00544133316264,0.0598460763549,0.999999926672,-1.3581088389e-05,-0.000380844624703,-3.78123675081e-05,1793190804783568896
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,741.825382746,711,670.174617254,662,632,876.825382746,782.174617254,798.174617254,649,627,649,0.400757103418,-0.00544084121608,0.0598457179599,0.999999926356,-1.36656624183e-05,-0.000381662801836,-3.78869824822e-05,1793190804800235776
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.329311688,741.329311688,711,671,662,632,876,783,798.670688312,649,627,649,0.400759090615,-0.00544146351202,0.0598470979431,0.999999927553,-1.29098730635e-05,-0.000378589124037,-3.73791204728e-05,1793190804833569024
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+113,1.883333333,POSE1_TO_POSE2_PRESS,765,742,711.480585819,671,662,632.480585819,876.480585819,782.519414181,798.480585819,649,627,649,0.400760535856,-0.00544177960481,0.0598477222205,0.999999927901,-1.22866302886e-05,-0.000377713223047,-3.71411150816e-05,1793190804866902272
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,742,712,671,662.054690026,632.945309974,877,782.054690026,799,649,627,649,0.400763958411,-0.00544263417631,0.0598480464041,0.999999928298,-1.43614218858e-05,-0.000376582713421,-3.71892492083e-05,1793190804883568384
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+233,3.883333333,POSE1_TO_POSE2_PRESS,764.863859895,742,711.863859895,672.136140105,660,631,877,781.863859895,799,649,626.863859895,648.136140105,0.444123941591,-0.00558652482241,0.059789341974,0.999999938491,-0.000117696515783,-0.000326424307167,-5.11194897488e-05,1793190806866902016
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.288004146,742,711.288004146,672.711995854,660,631,877,781.288004146,799,649,626.288004146,648.711995854,0.44412401913,-0.00558799425967,0.0597893977875,0.999999938195,-0.0001197925235,-0.000326621075936,-5.07807283532e-05,1793190806883568896
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,711,673,660,631,877.288396156,781.288396156,799,649.288396156,626,649,0.44412442866,-0.00558888748998,0.0597896050145,0.999999938156,-0.000121059749337,-0.000326320570164,-5.04629151152e-05,1793190806900235520
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742,711,673,660,631,877.86534137,781.86534137,799,649.86534137,626,649,0.444125170357,-0.00558920420805,0.0597899637354,0.999999938378,-0.000121497754145,-0.00032552252623,-5.01660611006e-05,1793190806916902144
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.960898192,711.039101808,672,660,631,877,782,799.039101808,649,626.960898192,649,0.444124372293,-0.00558918826435,0.0597882308161,0.999999938143,-0.000119059397281,-0.00032709611449,-5.04740684913e-05,1793190806950234880
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.382723767,711.617276233,672,660,631,877,782,799.617276233,649,626.382723767,649,0.444125063487,-0.00558878036488,0.0597888663685,0.999999938069,-0.000119568292324,-0.000327147292972,-5.03945735876e-05,1793190806966901760
+240,4.000000000,HOLD_POSE2,764,742,711,672,660,631,877,782,800,650,626,649,0.444126731179,-0.00558762618992,0.059789164994,0.999999938984,-0.000116587976298,-0.00032547694352,-5.00430227194e-05,1793190807007151104
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+244,4.066666667,HOLD_POSE2,764,741.339116534,711,672.660883466,661,631,877,782,799,649.660883466,627,649,0.444125909171,-0.00558755218177,0.0597886000952,0.999999938238,-0.000118798414339,-0.000326919534312,-5.0353203849e-05,1793190807073817600
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+250,4.166666667,HOLD_POSE2,765,742.820629144,711,672.179370856,660,630.820629144,877.820629144,782,799,649.820629144,626,649,0.444127870438,-0.00558911982996,0.0597892924713,0.999999938403,-0.000119832025712,-0.000326134865248,-4.96926918429e-05,1793190807173818368
+251,4.183333333,HOLD_POSE2,765,742.601687607,711,672,660,631,877.601687607,782,799.398312393,649.601687607,626,649,0.444128069795,-0.00558725739857,0.0597895532011,0.999999938796,-0.000117125884765,-0.000325897896733,-4.97999386551e-05,1793190807190484736
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+256,4.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,660,631,877,782,800,649,626,649,0.444125643707,-0.00558859462423,0.0597877115793,0.999999937524,-0.000120436380778,-0.000328624754292,-4.9516951419e-05,1793190807294203648
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.506815174,742.506815174,711.506815174,672,660,631,877.506815174,782,799.506815174,649,626.493184826,649,0.444127220915,-0.00558673197839,0.0597885994969,0.99999993787,-0.000119259666693,-0.000327982637371,-4.9646683274e-05,1793190807394203648
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.1802499,741.1802499,711,671,662,632,876,782.8197501,798.1802499,649,627,649,0.401725120989,-0.00538305470999,0.0598345495345,0.99999993894,0.000218696315047,-0.000271444754435,2.4703779192e-05,1793190808810870528
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,741,711,670.600776118,662,632,875.600776118,783,798,649,627,649,0.401581758596,-0.00538164999425,0.0598319514051,0.999999936869,0.000218673024904,-0.000279006212476,2.44777949798e-05,1793190808827537152
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,741,711,670.020671147,662,632,875.020671147,783,798,649,627,649,0.401449190276,-0.00538012328493,0.0598291343924,0.999999934487,0.000218543125545,-0.000287539344449,2.42104474561e-05,1793190808844203776
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.553289114,741.553289114,711,670,661.446710886,632,875.553289114,782.446710886,798.553289114,649,626.446710886,649,0.401355229276,-0.00537858630662,0.0598323394253,0.999999936298,0.000217648729653,-0.000281912539247,2.36237317534e-05,1793190808860870144
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.86966833,741.86966833,711,670,661.13033167,632,876,782,799,649,626.13033167,649,0.401267204525,-0.00537741401856,0.0598347666936,0.999999937769,0.00021646768218,-0.000277610137889,2.31795572844e-05,1793190808877537024
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.280987351,741.280987351,711,670,661.719012649,632,876,782,799,649,626.719012649,649,0.401195039436,-0.00537752560405,0.0598336761868,0.999999937605,0.0002143778838,-0.000279805412374,2.32781710283e-05,1793190808894203648
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,741.302957322,711,670,662,632,875.697042678,782,798.697042678,649,626.697042678,649,0.401132897528,-0.00537735079512,0.059831298058,0.99999993688,0.000213558662108,-0.000283031968151,2.29323296384e-05,1793190808910870272
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,741.88257674,711,670,662,632,875.11742326,782,798.11742326,649,626.11742326,649,0.401079908844,-0.0053769144494,0.0598277440667,0.999999935635,0.000213899737342,-0.000287200294879,2.21806096561e-05,1793190808927537152
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,741.540178353,711,670,662,632,875.459821647,782,798,649,626,649,0.401041670467,-0.00537669276675,0.0598275333674,0.999999935532,0.000212433700725,-0.000288672619479,2.18323138113e-05,1793190808944203776
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,741,711,670,661.963749078,632,876,782,798,649,626,649,0.401008090753,-0.00537662977514,0.0598281275003,0.999999935718,0.000210579744852,-0.000289402674674,2.16075217762e-05,1793190808960870656
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,741,711,670,661.39046589,632,876,782,798,649,626,649,0.400988010912,-0.00537810976477,0.0598280616869,0.999999935918,0.000209780368766,-0.000289283329517,2.16940061011e-05,1793190808977537024
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,741,711,670,661.189238242,632,875.810761758,782,798.189238242,649,626.189238242,649,0.400971903018,-0.00537910268934,0.059828390707,0.999999936387,0.000209241532441,-0.000288050203845,2.17071586407e-05,1793190808994203648
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,741,711,670.731559112,661.268440888,632,876,782.268440888,799,649,626.268440888,649,0.400946247965,-0.00537809665053,0.0598311535332,0.999999937486,0.000210314658833,-0.000283529546505,2.01904093517e-05,1793190809110870272
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.423224787,741.423224787,711.423224787,670.423224787,662,632.423224787,876,782.576775213,799,649,627,649,0.400947311979,-0.00537998221888,0.0598334979406,0.999999939079,0.000208321283685,-0.000279321713649,2.05621090724e-05,1793190809144203520
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.349987286,742,711,670.650012714,662.650012714,632,876.349987286,782.650012714,799,649.650012714,627,649.349987286,0.400945288377,-0.00538157165814,0.0598350362757,0.999999940158,0.000205908911662,-0.000277261911582,2.02788877802e-05,1793190809294203392
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.234827116,741.765172884,711,671,662.765172884,632,876,782.765172884,799,649.765172884,627,649.234827116,0.400945504235,-0.00538106697571,0.059835244866,0.999999940119,0.000206321300433,-0.000277104665431,2.01622702206e-05,1793190809310870016
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.81357358,741.18642642,711,671,662.18642642,632,876,782.18642642,799,649.18642642,627,649.81357358,0.400946290333,-0.00538070436277,0.0598357653448,0.999999939789,0.00020864428804,-0.000276540033267,2.03632939114e-05,1793190809327536896
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,741.390013398,711,670.609986602,662,632,876,782,799,649,627,649.609986602,0.400946668447,-0.00538075827974,0.059835987637,0.999999939931,0.000208600434663,-0.000276057958629,2.0405419331e-05,1793190809344203776
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,741.965357106,711,670.034642894,662,632,876,782,799,649,627,649.034642894,0.400946852693,-0.00538101012741,0.0598360682342,0.999999940297,0.000207431883005,-0.000275615114485,2.03720379395e-05,1793190809360870656
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,742,711,670,662,632,876,782.539438077,799,649,627,649,0.400946359585,-0.00538080069881,0.0598356857191,0.999999940103,0.000207098122374,-0.000276578637815,2.02257215558e-05,1793190809377537280
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,742,711,670,662,632,876,782.883045707,799,649,627,649,0.400946164429,-0.00538082366374,0.0598356146763,0.999999940141,0.000206441318673,-0.000276937547969,2.01614399107e-05,1793190809394203904
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,742,711,670,662,632,876,782.291253984,799,649,627,649,0.40094735516,-0.00538191014297,0.0598369286865,0.999999941262,0.000204255799951,-0.000274475878269,2.04595989224e-05,1793190809410870272
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.705705847,742,711,670,662,632,876,782.294294153,798.705705847,649,627,649,0.400947803003,-0.00538208029841,0.059837303718,0.999999941442,0.000204293101116,-0.000273787792928,2.05287487714e-05,1793190809427536896
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.126208361,742,711,670,662,632,876,782.873791639,798.126208361,649,627,649,0.400947530906,-0.00538136243568,0.0598367687765,0.999999940712,0.00020648455845,-0.000274818505192,2.03759636435e-05,1793190809444203776
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.448593536,741.551406464,711,670,662,632,876,782.551406464,798,649,627,649,0.400946302264,-0.00538129623119,0.0598363848544,0.999999940586,0.000205761410304,-0.00027582292271,2.02971060791e-05,1793190809460870400
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,741.022658549,711,670,662,632,876,782.022658549,798.022658549,649,627,649,0.400944890857,-0.00538141788139,0.0598360829498,0.999999940628,0.000204326854581,-0.000276739121479,2.02449765035e-05,1793190809477536768
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,741.610966452,711,670,662,632,876,782.610966452,798.610966452,649,627,649,0.400945565497,-0.00538169967178,0.0598367788429,0.999999940713,0.00020539119993,-0.00027563579043,2.03462382281e-05,1793190809494203648
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,742,711,670,662,632,876,782.80437092,799,649,627.19562908,649,0.400946130704,-0.00538189485831,0.0598372551068,0.999999940846,0.000205884044534,-0.000274785231889,2.03271033747e-05,1793190809510870272
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,742,711,670,662,632,876,782.226824818,799,649,627.773175182,649,0.400946482266,-0.00538192097234,0.0598373025995,0.999999941077,0.000205261176309,-0.000274428148741,2.00729242041e-05,1793190809527537152
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..62d5ba1ec3204d1ad5f2585b2b40f58ff1f04bd8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,392 @@
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+4,0.066666667,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
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+387,6.450000000,pose2_to_pose3_retreat,0.575722708262,0.000219711093925,1.05002827248,0.546293117573,0.00889141627329,1.04969926657
+388,6.466666667,pose2_to_pose3_retreat,0.57572265268,0.000219633588581,1.05002830132,0.546293062996,0.00889134219328,1.04969929582
+389,6.483333333,pose2_to_pose3_retreat,0.575722646551,0.000219614575137,1.05002831088,0.546293057164,0.00889132420106,1.04969930568
+390,6.500000000,pose2_to_pose3_retreat,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.0088912198585,1.04969936286
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ef49b7bcb4acb2cb1979e3915280fd115f4f621
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4be5fbf7470825b27669c9bc0a21cf53221a45985517f270cb1d66eba40cb0b
+size 24903330
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e1dadf2b5fcf41a5d24569025457bb1036b10fa2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_02/franka_data.csv
@@ -0,0 +1,394 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,711,670,661,632,875,782,799,649,627,649,0.400946710151,-0.00538453884583,0.0598369138131,0.999999941175,0.00020399133958,-0.000274971127977,2.07217176053e-05,1793190809648914688
+1,0.016666667,BASELINE,764.576916416,741.423083584,711,670,661.576916416,632,875.576916416,782,799,649,627,649,0.400948602422,-0.00538534932147,0.0598383499777,0.999999942755,0.000200240623732,-0.000271965023283,2.07022577366e-05,1793190809665581312
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+3,0.050000000,BASELINE,764.274346922,741.725653078,711,670,662.725653078,632,875.274346922,782,798.274346922,649,626.274346922,649,0.400947171985,-0.00538301635331,0.0598381494363,0.999999941817,0.000203219183107,-0.000273221240975,2.04616347397e-05,1793190809698914560
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+7,0.116666667,BASELINE,764.058875747,741,711,670,661.058875747,632,876,782.941124253,799.941124253,649,627,649,0.400945319986,-0.00538312154131,0.0598363736096,0.999999941574,0.000202583147866,-0.000274625873069,1.98165950875e-05,1793190809765580544
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+9,0.150000000,BASELINE,765,741.216115704,711,670.216115704,662,632.216115704,876,782,799,649,627,649.216115704,0.400945021655,-0.0053839862744,0.0598372024794,0.999999941042,0.000205426004491,-0.000274407331131,2.03915182705e-05,1793190809798914048
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+11,0.183333333,BASELINE,765,742,711.38479119,670.61520881,662,632.61520881,876,782,799,649,627,649.61520881,0.400946002437,-0.00538262392137,0.0598378505568,0.999999941272,0.000205722530297,-0.000273359278477,2.02132427565e-05,1793190809832247552
+12,0.200000000,BASELINE,765,742,711.963614006,670.036385994,662,632.036385994,876,782,799,649,627,649.036385994,0.400945277946,-0.00538355831921,0.0598365997149,0.999999941905,0.00020100867116,-0.000274590977746,1.96371823973e-05,1793190809848914432
+13,0.216666667,BASELINE,765,742,711.46017161,670,662,632,875.46017161,782,798.46017161,649,626.46017161,649,0.400945164162,-0.0053827578181,0.0598364505773,0.999999941334,0.000203044347086,-0.000275160177926,1.98139611202e-05,1793190809865580800
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+15,0.250000000,BASELINE,765,742,711,670,662,632,875.692783276,782.692783276,798.692783276,649,626,649,0.400945396233,-0.00538234981225,0.0598368784174,0.999999941179,0.000204504104713,-0.000274645517792,1.97624286255e-05,1793190809898914048
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+18,0.300000000,BASELINE,764.554379963,741,711,670,662,632,875.554379963,782.554379963,798.445620037,649,627,649,0.400945280495,-0.00538178530298,0.0598368637118,0.999999940752,0.00020643979792,-0.000274750996793,1.97420102613e-05,1793190809948914176
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+20,0.333333333,BASELINE,764.601527712,741.601527712,711,670.601527712,662,632,875.601527712,782.601527712,799,649,627,649,0.400944062117,-0.0053818012563,0.0598363832891,0.999999940722,0.000205672219012,-0.000275429534038,1.98503612843e-05,1793190809982247424
+21,0.350000000,BASELINE,765,742,711.180729743,670.819270257,662,632,876,782.819270257,799,649,626.819270257,649,0.400944013611,-0.00538193561225,0.059836592392,0.999999940792,0.000205662325185,-0.00027516293901,2.01173439995e-05,1793190809998914048
+22,0.366666667,BASELINE,765,742,711.768616847,670.231383153,662,632,876,782.231383153,799,649,626.231383153,649,0.400944982136,-0.0053824150921,0.0598369724274,0.99999994112,0.000205132972539,-0.000274362596713,2.01174201617e-05,1793190810015580672
+23,0.383333333,BASELINE,765,741.649417686,711.649417686,670,662,632,876,782.350582314,799.350582314,649,626.350582314,649,0.400945500761,-0.00538185778243,0.0598373501211,0.999999941094,0.000206280065785,-0.000273609608793,1.99439329158e-05,1793190810032247552
+24,0.400000000,BASELINE,765,741.071295506,711.071295506,670,662,632,876,782.928704494,799.928704494,649,626.928704494,649,0.400945727385,-0.00538062756107,0.059837726295,0.999999940834,0.000208515229482,-0.000272887355398,1.9657797104e-05,1793190810048914176
+25,0.416666667,BASELINE,764.4938428,741,711,670,662,632,875.4938428,782.4938428,799.4938428,649,627,649,0.400945799217,-0.00538369587215,0.0598372810726,0.999999941641,0.000204333210469,-0.000273073767783,1.9900745978e-05,1793190810065580800
+26,0.433333333,BASELINE,764,741.083113463,711,670,662,632,875.083113463,782,799,649,627,649,0.400945940787,-0.00538645042578,0.0598369870718,0.999999942366,0.000200591043738,-0.000273176389216,2.01523856019e-05,1793190810082247424
+27,0.450000000,BASELINE,764,741.65769129,711,670,662,632,875.65769129,782,799,649,627,649,0.400946623489,-0.00538377412272,0.0598382705144,0.999999941831,0.000204787665066,-0.000272027704428,2.00153181412e-05,1793190810098914304
+28,0.466666667,BASELINE,764.238667256,742,711,670.238667256,662,632,876,782,799,649,627,649,0.40094688364,-0.0053826592027,0.0598388894152,0.999999941618,0.00020635098452,-0.000271629755216,1.99933921115e-05,1793190810115580928
+29,0.483333333,BASELINE,764.829072502,742,711,670.829072502,662,632,876,782,799,649,627,649,0.400946521052,-0.00538384538494,0.0598385289414,0.999999941898,0.000204033451697,-0.000272338209303,2.01411567973e-05,1793190810132247552
+30,0.500000000,BASELINE,764.589243681,741.589243681,711,670.589243681,661.589243681,632,875.589243681,782,798.589243681,649,627,649,0.400946378914,-0.00538367790764,0.0598380272822,0.999999941837,0.000203856163682,-0.000272709476418,1.99629673949e-05,1793190810148914176
+31,0.516666667,BASELINE,764.011113659,741.011113659,711,670.011113659,661.011113659,632,875.011113659,782,798.011113659,649,627,649,0.400946326604,-0.00538295884536,0.0598374680931,0.999999941637,0.000204550975994,-0.000272943347619,1.96519592348e-05,1793190810165580800
+32,0.533333333,BASELINE,764.565467189,741.565467189,711,670.565467189,661.565467189,632,875.565467189,782,798.565467189,649,627,649,0.40094498804,-0.00538313745809,0.0598376108558,0.999999941845,0.000202900823792,-0.000273429459898,1.94438958512e-05,1793190810182247680
+33,0.550000000,BASELINE,764.855699637,741.855699637,711,671,662,632,876,782,799,649,626.855699637,649,0.400944069828,-0.00538338333775,0.0598376740926,0.999999941968,0.000201692891719,-0.000273877138465,1.9382391661e-05,1793190810198914304
+34,0.566666667,BASELINE,764.269882207,741.269882207,711,671,662,632,876,782,799,649,626.269882207,649,0.400944514907,-0.00538378120008,0.0598374519065,0.999999941816,0.000201978654672,-0.000274192093814,1.97631422365e-05,1793190810215580928
+35,0.583333333,BASELINE,764.311781737,741.311781737,711,670.688218263,662,632.311781737,876,782.311781737,799,649,626.311781737,649,0.40094511956,-0.00538416491884,0.0598377717591,0.999999941747,0.000202960746142,-0.000273692889227,2.01433012001e-05,1793190810232247552
+36,0.600000000,BASELINE,764.889897701,741.889897701,711,670.110102299,662,632.889897701,876,782.889897701,799,649,626.889897701,649,0.400945860526,-0.00538453655573,0.0598385546389,0.999999941744,0.00020453766439,-0.000272498202445,2.05229548317e-05,1793190810248914176
+37,0.616666667,BASELINE,765,742,711,670,662,632.530209511,876,783,799,649,627,649,0.400946436599,-0.00538486118883,0.0598391238278,0.999999942284,0.000203505774434,-0.000271316684126,2.01252730295e-05,1793190810265580800
+38,0.633333333,BASELINE,764.950401265,742,711,670,662,632,875.950401265,782.950401265,799,649,627,649.049598735,0.400946900865,-0.00538508910702,0.0598395901982,0.999999942873,0.000202114691359,-0.000270222049484,1.96023642529e-05,1793190810282247680
+39,0.650000000,BASELINE,764.375910958,742,711,670,662,632,875.375910958,782.375910958,799,649,627,649.624089042,0.400946592443,-0.0053844105373,0.059839500479,0.999999942663,0.000203417349869,-0.00027001409849,1.9689494625e-05,1793190810298914304
+40,0.666666667,BASELINE,764.202776913,741.797223087,711,670.202776913,662,632,875,782.202776913,798.797223087,649,627,649.797223087,0.400945930357,-0.00538393067073,0.0598388635866,0.999999942353,0.000203912002948,-0.00027078060695,1.9794744262e-05,1793190810315580928
+41,0.683333333,BASELINE,764.789410743,741.210589257,711,670.789410743,662,632,875,782.789410743,798.210589257,649,627,649.210589257,0.400944598787,-0.00538382694947,0.059837190895,0.99999994185,0.000202877100794,-0.000273391768217,1.99342936821e-05,1793190810332247552
+42,0.700000000,BASELINE,764.626561813,741.373438187,711,670.626561813,662,632,875,782.626561813,798.373438187,649,627,649,0.40094529039,-0.00538392295725,0.0598376786911,0.999999941967,0.000202705603531,-0.00027306789181,2.02490328524e-05,1793190810348914176
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+46,0.766666667,BASELINE,765,741.318243962,711,670.318243962,661.681756038,632,875,782,798,649,626.318243962,649,0.400946062474,-0.00538503934399,0.0598385834515,0.999999942293,0.00020305684539,-0.000271628983334,1.9968413345e-05,1793190810415580928
+47,0.783333333,BASELINE,764.736321654,741.263678346,711,670.263678346,662.263678346,632,875.263678346,782,798,649,626,649,0.400945997525,-0.00538552824789,0.059838413999,0.999999942496,0.000201641075614,-0.000271931318345,2.00458080133e-05,1793190810432247552
+48,0.800000000,BASELINE,764.144410322,741.855589678,711,670.855589678,662.855589678,632,875.855589678,782,798,649,626,649,0.400946472067,-0.00538527054141,0.0598385245925,0.999999942678,0.000201258573418,-0.000271538564676,2.01511082516e-05,1793190810448914176
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+50,0.833333333,BASELINE,765,742,711.013503486,670,662,632,875,782.013503486,799.972993028,649,627,649,0.400948229972,-0.00538401887978,0.0598407942564,0.999999942715,0.000204076052564,-0.000269298967137,2.00265611415e-05,1793190810482247424
+51,0.850000000,BASELINE,765,742,711.588805389,670,662,632,875,782.588805389,798.822389222,649,627,649,0.400946939551,-0.00538283163835,0.0598390166774,0.999999942004,0.000204479469624,-0.000271639738197,1.98124185271e-05,1793190810498914048
+52,0.866666667,BASELINE,764.832140836,742,711.832140836,670.167859164,662,632,875.167859164,783,798.167859164,649,627,649,0.400946326931,-0.00538220263216,0.0598381584828,0.9999999416,0.000205027105921,-0.000272717969052,1.97333940408e-05,1793190810515580928
+53,0.883333333,BASELINE,764.243686238,742,711.243686238,670.756313762,662,632,875.756313762,783,798.756313762,649,627,649,0.400947412642,-0.00538297236524,0.0598396039391,0.999999941974,0.000205936104373,-0.000270632722532,1.99929275962e-05,1793190810532247552
+54,0.900000000,BASELINE,764.338840864,741.661159136,711,670.661159136,662,632,876,782.661159136,798.661159136,649,627,649,0.400947232886,-0.00538294562435,0.0598393655954,0.999999942016,0.000205594376362,-0.000270737361676,2.00022840841e-05,1793190810548914176
+55,0.916666667,BASELINE,764.917178319,741.082821681,711,670.082821681,662,632,876,782.082821681,798.082821681,649,627,649,0.400946158684,-0.00538235592652,0.0598379371225,0.999999941822,0.00020436862057,-0.000272389837096,1.98348125534e-05,1793190810565580800
+56,0.933333333,BASELINE,764.506725136,741,711.493274864,670,662,632,876,782,798.493274864,649,626.506725136,649,0.400946004322,-0.00538298510179,0.0598377316326,0.999999941791,0.000204768948728,-0.000272208103629,1.97549345965e-05,1793190810582247680
+57,0.950000000,BASELINE,764,741,711.931054596,670,662,632,876,782,798.931054596,649,626.068945404,649,0.400946181913,-0.00538380365386,0.0598378495204,0.999999941867,0.00020507614368,-0.000271697017679,1.97419572954e-05,1793190810598914048
+58,0.966666667,BASELINE,764,741,711.355762244,670,662,632,876,782,798.355762244,649,626.644237756,649,0.400947668303,-0.00538451682729,0.0598388411102,0.999999942528,0.000202703297461,-0.000271018643023,2.0112786915e-05,1793190810615580928
+59,0.983333333,BASELINE,764,741.225372158,711,670,662,632,875.774627842,782,798.225372158,649,627,649,0.400948091694,-0.00538495965284,0.0598394672788,0.99999994287,0.000201252712251,-0.000270819225441,2.03670382422e-05,1793190810632247552
+60,1.000000000,BASELINE,764,741.815974061,711,670,662,632,875.184025939,782,798.815974061,649,627,649,0.400946792431,-0.00538496436276,0.0598395012595,0.999999942703,0.000201296708594,-0.000271395987792,2.04323671787e-05,1793190810648914176
+61,1.016666667,BASELINE,764.399233941,742,711,670,661.600766059,632,875,782,799,649,627,649,0.400947014384,-0.0053841063311,0.0598395601458,0.999999942584,0.00020292784371,-0.000270649638098,2.00141898996e-05,1793190810665580800
+62,1.033333333,BASELINE,764.979170611,742,711,670,661.020829389,632,875,782,799,649,627,649,0.400947924876,-0.0053828578022,0.059839630305,0.99999994248,0.00020527735539,-0.000269304416543,1.93771662609e-05,1793190810682247680
+63,1.050000000,BASELINE,764.446116679,741.446116679,711,670,661.553883321,632,875,782,799,649,627,649,0.400946735325,-0.00538420119792,0.0598390921784,0.999999942413,0.000203493776177,-0.000270877176515,1.97590081066e-05,1793190810698914304
+64,1.066666667,BASELINE,764,741,711,670,662,632,875,782,799,649,627,649,0.400945837628,-0.00538499239206,0.0598386293819,0.999999942279,0.000202320485954,-0.000272228006763,2.00062429716e-05,1793190810715580928
+65,1.083333333,BASELINE,764,741,711,670,662,632,875,782,799,649,627,649,0.400946225771,-0.00538352953,0.0598385070466,0.99999994193,0.000203802554909,-0.000272430070271,1.96539212363e-05,1793190810732248320
+66,1.100000000,BASELINE,764,741.284758573,711,670,662,632,875.284758573,782,798.715241427,649,627,649,0.400945993998,-0.00538359430248,0.0598384483183,0.999999941886,0.000204175653702,-0.00027230755983,1.97181539207e-05,1793190810748914944
+67,1.116666667,BASELINE,764,741.881531494,711,670,662,632,875.881531494,782,798.118468506,649,627,649,0.400945082974,-0.00538533292771,0.0598384592852,0.999999942177,0.000203333636729,-0.000271829408708,2.02388117148e-05,1793190810765581056
+68,1.133333333,BASELINE,764,741.539904506,711,670,662,632,875.539904506,782,798,649,627,649,0.400945474291,-0.00538518127981,0.0598386905882,0.999999942394,0.000202271312009,-0.000271841597563,2.00174034396e-05,1793190810782247680
+69,1.150000000,BASELINE,764,741.068392923,711,670,662.034196461,632,875,782.034196461,798.034196461,649,627,649,0.400946143699,-0.00538459895206,0.059838954986,0.999999942546,0.000201378079055,-0.000271971765413,1.96619937199e-05,1793190810798914560
+70,1.166666667,BASELINE,764,742.218080679,711,670,662.60904034,632,875,782.60904034,798.60904034,649,627,649,0.400946109902,-0.00538460967826,0.0598388797985,0.999999941981,0.000204020897828,-0.000272047063856,2.0093872093e-05,1793190810815581440
+71,1.183333333,BASELINE,764.188364927,742.811635073,711,670.188364927,662.811635073,632,875,783,799,649,627,649,0.400946097925,-0.00538420756654,0.0598389774935,0.999999941737,0.000205572424527,-0.000271768983415,2.01990015687e-05,1793190810832248320
+72,1.200000000,BASELINE,764.777216143,742.222783857,711,670.777216143,662.222783857,632,875,783,799,649,627,649,0.40094613234,-0.0053829277122,0.0598394427572,0.999999942185,0.000204803734672,-0.000270739577358,1.96094240169e-05,1793190810848914688
+73,1.216666667,BASELINE,765,742,711,671,662,632,875.361464588,782.638535412,798.638535412,649,627,649,0.40094476336,-0.00538271081219,0.0598385474091,0.999999941952,0.000203902769485,-0.000272298642673,1.92985100693e-05,1793190810865581312
+74,1.233333333,BASELINE,765,742,711,671,662,632,875.942911812,782.057088188,798.057088188,649,627,649,0.400942540291,-0.00538314081242,0.0598368240104,0.999999941296,0.000202921303299,-0.00027543301797,1.91571871925e-05,1793190810882247936
+75,1.250000000,BASELINE,764.481208202,742,711,670.481208202,662,632,875.481208202,782.518791798,798.518791798,649,626.481208202,649,0.40094447129,-0.00538369444029,0.0598378588869,0.999999941984,0.000202255089222,-0.000273402164293,1.93801746609e-05,1793190810898914304
+76,1.266666667,BASELINE,764,741.906317463,711,670.093682537,662,632,875.093682537,782.906317463,799,649,626.093682537,649,0.400946473291,-0.00538420257034,0.0598389796016,0.999999942694,0.000201770920758,-0.000271138413471,1.96019487741e-05,1793190810915580928
+77,1.283333333,BASELINE,764,741.333386696,711,670.666613304,662,632,875.666613304,782.333386696,799,649,626.666613304,649,0.400946524887,-0.0053844090939,0.0598390032031,0.999999942796,0.000202042455269,-0.00027056003485,1.96146116371e-05,1793190810932247552
+78,1.300000000,BASELINE,764,741.248491685,711,670.751508315,662,632,876,782.248491685,798.751508315,649,626.751508315,649,0.400946760445,-0.0053842849178,0.05983913688,0.999999942726,0.000202954103607,-0.000270134711675,1.96071594774e-05,1793190810948914432
+79,1.316666667,BASELINE,764,741.842822907,711,670.157177093,662,632,876,782.842822907,798.157177093,649,626.157177093,649,0.400947252036,-0.00538370048879,0.0598394237549,0.999999942417,0.000204756633519,-0.000269922404226,1.95717121337e-05,1793190810965581312
+80,1.333333333,BASELINE,764,742,711,670,662,632,876,783,798.423565253,649,626.423565253,649,0.400947774737,-0.00538308910759,0.0598397939439,0.999999942513,0.00020504732284,-0.000269350118021,1.95045312265e-05,1793190810982247936
+81,1.350000000,BASELINE,764,742,711,670,662,632,876,783,798.999421817,649,626.999421817,649,0.400948308625,-0.00538246803579,0.0598401940883,0.999999942755,0.000204794435645,-0.000268648402774,1.94259406315e-05,1793190810998914560
+82,1.366666667,BASELINE,764,742,711,670,662,632,876,782.423421076,799,649,626.423421076,649,0.400947193452,-0.00538318638721,0.0598394611909,0.999999942557,0.000204232104541,-0.000269813011511,1.93835538324e-05,1793190811015580928
+83,1.383333333,BASELINE,764,742,711,670,662,632,875.843260997,782,798.843260997,649,626.313478006,649,0.400946106158,-0.00538345054893,0.0598388597366,0.999999942227,0.000204484068199,-0.000270846168072,1.93770448477e-05,1793190811032247552
+84,1.400000000,BASELINE,764,742,711,670,662,632,875.254833642,782,798.254833642,649,627.490332715,649,0.400945100214,-0.00538246008032,0.0598386234375,0.999999941531,0.000206979607446,-0.000271512115011,1.94692498088e-05,1793190811048914176
+85,1.416666667,BASELINE,764,741.671807827,711,670,662,632,875.328192173,782,798.328192173,649,627.671807827,649,0.400946188856,-0.00538277982989,0.0598395004956,0.999999942067,0.00020578347289,-0.000270435191049,1.96201419816e-05,1793190811065581056
+86,1.433333333,BASELINE,764,741.092908306,711,670,662,632,875.907091694,782,798.907091694,649,627.092908306,649,0.400948877562,-0.00538410046056,0.0598412280517,0.999999943529,0.000201767253402,-0.000268026880806,1.98158655506e-05,1793190811082247680
+87,1.450000000,BASELINE,764,741.483830736,711,670,661.516169264,632,875.516169264,782,799,649,627,649,0.400948250711,-0.00538377498841,0.0598404196795,0.999999943237,0.00020241550094,-0.000268648050882,1.95288511359e-05,1793190811098914560
+88,1.466666667,BASELINE,764,741.94028914,711,670,661.05971086,632,875,782,798.94028914,649,627,649,0.400947093572,-0.00538320286067,0.0598392476299,0.999999942644,0.000203924999215,-0.000269735296963,1.92156497937e-05,1793190811115581184
+89,1.483333333,BASELINE,764,741.368234934,711,670,661.631765066,632,875,782,798.368234934,649,627,649,0.400946824982,-0.0053832144965,0.0598391148658,0.999999942352,0.000205173065255,-0.000269852285887,1.94696084588e-05,1793190811132247808
+90,1.500000000,BASELINE,764,741,711,670,662,632,875.21113933,782.21113933,798,649,627,649,0.400946921882,-0.00538305436992,0.0598392706648,0.999999942288,0.000205951485948,-0.000269493676936,1.95466012742e-05,1793190811148914176
+91,1.516666667,BASELINE,764,741,711,670,662,632,875.803738488,782.803738488,798,649,627,649,0.400947679102,-0.00538258392476,0.0598399478034,0.999999942634,0.000205881410714,-0.000268275817908,1.93038745559e-05,1793190811165580800
+92,1.533333333,BASELINE,764,741.386403582,711.386403582,670,662,632,876,782.613596418,798.386403582,649,627,649,0.400948791901,-0.00538384900419,0.0598405466369,0.99999994366,0.000202824915171,-0.000266775360466,1.92907211614e-05,1793190811182247424
+93,1.550000000,BASELINE,764,741.964149503,711.964149503,670,662,632,876,782.035850497,798.964149503,649,627,649,0.400950080777,-0.00538597349418,0.0598411066947,0.999999945004,0.000198289580723,-0.000265134963622,1.93912496535e-05,1793190811198913792
+94,1.566666667,BASELINE,764,741.459741678,711.459741678,670,661.459741678,632,876,782,798.459741678,649,627,649,0.400946599422,-0.0053859230427,0.0598388118591,0.999999943548,0.000199024624686,-0.000270016794938,1.95960862153e-05,1793190811215580928
+95,1.583333333,BASELINE,764.118605195,741,711.118605195,670,661.118605195,632,876,782.118605195,798.118605195,649,627,649,0.400944173032,-0.00538548519084,0.0598371535339,0.999999942228,0.000200757203331,-0.000273587857418,1.9777110981e-05,1793190811232248064
+96,1.600000000,BASELINE,764.706230843,741,711.706230843,670,661.706230843,632,876,782.706230843,798.706230843,649,627,649,0.400947166445,-0.00538408438052,0.0598387591595,0.999999942257,0.000205055675001,-0.000270269195152,1.98366839473e-05,1793190811248914944
+97,1.616666667,BASELINE,765,741.290722636,711.709277364,670,662,632,875.709277364,782.709277364,799,649,627,649.290722636,0.400949023067,-0.00538336880461,0.0598399937212,0.999999942715,0.000205904417511,-0.000267928864607,1.96868610792e-05,1793190811265581568
+98,1.633333333,BASELINE,765,741.872081471,711.127918529,670,662,632,875.127918529,782.127918529,799,649,627,649.872081471,0.400949743236,-0.00538333825947,0.0598408573293,0.999999943618,0.000203304456264,-0.000266566575113,1.93277046303e-05,1793190811282247936
+99,1.650000000,BASELINE,765,742,711,670.447690559,662,632,875.447690559,782,799,649,627,649.552309441,0.400948364945,-0.00538423615468,0.0598404233245,0.999999943268,0.00020334020891,-0.000267839456003,1.94668489171e-05,1793190811298914304
+100,1.666666667,BASELINE,764.978281864,742,711,671,662,632,875.978281864,782,799,649,627,649,0.400946503223,-0.00538531720957,0.059839653965,0.999999942601,0.000204049424307,-0.000269762575404,1.97336134152e-05,1793190811315580928
+101,1.683333333,BASELINE,764.403221411,742,711,671,662,632,875.403221411,782,799,649,627,649,0.400947407387,-0.00538439160195,0.0598396670634,0.999999942943,0.000202972870405,-0.000269312117088,1.96703379833e-05,1793190811332247552
+102,1.700000000,BASELINE,764,742,711,670.645213579,662,632,875,782.177393211,798.822606789,649,627,649,0.400948133151,-0.00538380165064,0.0598396331169,0.999999943125,0.000202496382517,-0.000268997483515,1.96257798912e-05,1793190811348914176
+103,1.716666667,BASELINE,764,742,711,669.457918721,662,632,875,782.771040639,798.228959361,649,627,649,0.400948440296,-0.005383999319,0.0598394887792,0.999999942935,0.000203427953234,-0.000269001563568,1.96251421565e-05,1793190811365581056
+104,1.733333333,BASELINE,764,742,711.354482286,669.354482286,662,632,875.354482286,782.645517714,798.354482286,649,627,649,0.400947401007,-0.00538436405583,0.0598389412347,0.999999942604,0.000203672611131,-0.000270046719503,1.95847885237e-05,1793190811382247680
+105,1.750000000,BASELINE,764,742,711.931516569,669.931516569,662,632,875.931516569,782.068483431,798.931516569,649,627,649,0.400945516398,-0.00538483368204,0.0598381405478,0.999999942183,0.000203486009709,-0.000271745486426,1.95195003515e-05,1793190811398914560
+106,1.766666667,BASELINE,764,742,711.492908572,670.507091428,662,632,875.492908572,782,798.492908572,649,627,649,0.40094608847,-0.00538492823045,0.0598386445467,0.999999942493,0.000203262442366,-0.000270772449465,1.94963295131e-05,1793190811415581440
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,741,711,670,663,632,876,782,799,649,627,649,0.400948330183,-0.00538328392488,0.0598404596539,0.999999943353,0.000202715828238,-0.000268002117689,1.93615700278e-05,1793190811459939840
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,741.613466317,711,670,662.386533683,632,876,782.613466317,799,649,627,649,0.400947198785,-0.00538374531544,0.0598395432352,0.999999942607,0.000204300405751,-0.000269554072018,1.96942380267e-05,1793190811476606208
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,741.787009445,711,670,661.787009445,632,875.787009445,782.787009445,799,649,627,649,0.400946953929,-0.00538421294236,0.0598391222859,0.999999942293,0.000205008175831,-0.000270168536892,1.98520457391e-05,1793190811493272832
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,741.211232616,711,670,661.211232616,632,875.211232616,782.211232616,799,649,627,649,0.400948219119,-0.00538469119173,0.0598395452681,0.999999942722,0.000204222482276,-0.000269186178594,1.97120144198e-05,1793190811509939712
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,741.364447469,711,670,661.364447469,632,875.364447469,782,798.635552531,649,627,649,0.400947245418,-0.00538492219214,0.0598387712848,0.999999942652,0.000203020318129,-0.000270359201729,1.96003805456e-05,1793190811526606336
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,741.940071461,711,670,661.940071461,632,875.940071461,782,798.059928539,649,627,649,0.400944974408,-0.00538500992586,0.0598373037281,0.999999942288,0.000201576833073,-0.000272781145537,1.95052013796e-05,1793190811543272960
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,741.468846739,711,670,661.468846739,632,876,782.531153261,798,649,627,649,0.400946386153,-0.00538385270984,0.0598388322661,0.999999942457,0.000203859224517,-0.000270470538331,1.93393198726e-05,1793190811559939840
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,741,711,670,661.120552906,632,876,782.879447094,798.120552906,648.879447094,627,649,0.400948953155,-0.00538351285219,0.0598407978563,0.999999943015,0.000205137381259,-0.000267421616588,1.93310528959e-05,1793190811576606720
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,741,711,670,661.6968036,632,876,782.3031964,798.6968036,648.3031964,627,649,0.400954269349,-0.00538680954133,0.0598430994133,0.999999944845,0.000200982769538,-0.000263660724565,1.99496370465e-05,1793190811593273088
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,741,711,670,662,632,876,782.273108538,799,648.273108538,627,649,0.400968732698,-0.00538727559479,0.0598494897548,0.999999947717,0.000200881801786,-0.000252570730424,2.05308032221e-05,1793190811609939712
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,741,711,670,662,632,876,782.849473672,799,648.849473672,627,649,0.400993352942,-0.00538459854256,0.0598604202357,0.999999951483,0.000205281954131,-0.00023334258535,2.10704208604e-05,1793190811626606336
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,741,711,670,662,632,875.565517267,782.565517267,798.565517267,649,627,649,0.401035927438,-0.0053867527436,0.0598769257878,0.999999958391,0.000203550687423,-0.00020322173546,2.20535460842e-05,1793190811643272960
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,741,711,670.022189087,662,632,875,782,798.022189087,649,627,649,0.40108537286,-0.00539054265357,0.0598952114124,0.999999965369,0.000199740881504,-0.000169791346383,2.31661552915e-05,1793190811659939840
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,741,711,670.600910646,662,632,875,782,798.600910646,649,627,649,0.401147971412,-0.00539252539686,0.0599087161279,0.999999968849,0.00019815848099,-0.000149925914811,2.35943440596e-05,1793190811676606464
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.178923803,741.178923803,711,671,662,632,875.178923803,782,799,649,626.821076197,649,0.401214731337,-0.00539470170727,0.0599199765872,0.999999971494,0.000196632217471,-0.000133330719103,2.38863416277e-05,1793190811693273088
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.755363212,741.755363212,711,671,662,632,875.755363212,782,799,649,626.244636788,649,0.401290736609,-0.00539730806678,0.0599262509777,0.999999972969,0.000195230673533,-0.000124001013513,2.38757628541e-05,1793190811709939712
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.669256011,741.669256011,711,670.669256011,662,632,876,782,798.669256011,649,626,649,0.40137938928,-0.00539986736271,0.059930119256,0.99999997407,0.000194271417342,-0.000116492464804,2.33995153638e-05,1793190811726606336
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.094655794,741.094655794,711,670.094655794,662,632,876,782,798.094655794,649,626,649,0.401477366824,-0.0054023919587,0.059932213517,0.999999974911,0.000193638258232,-0.000110326648383,2.2579932182e-05,1793190811743272960
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.493694321,741.493694321,711,670,662,632,876,782.493694321,798.493694321,649,626,649,0.40159814678,-0.00540502211498,0.0599369670384,0.999999976448,0.000191307383676,-0.000100282000903,2.11663680801e-05,1793190811759939840
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,741.916959787,711,670,662.083040213,632,876,782.916959787,798.916959787,649,626.083040213,649,0.401726562966,-0.00540786966379,0.0599413923876,0.999999977936,0.000188496561893,-9.06270587283e-05,1.95726147948e-05,1793190811776606464
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,741.337864775,711,670,662.662135225,632,876,782.337864775,798.337864775,649,626.662135225,649,0.401873731001,-0.00541189147881,0.059940724359,0.999999978906,0.000184818843034,-8.78698990934e-05,1.76022644205e-05,1793190811793273088
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.760754316,741,711,670,662.760754316,632,875.760754316,782,798,649,627,649,0.40203540247,-0.00541737501034,0.0599395918653,0.999999980021,0.000179888037152,-8.5774210849e-05,1.55458863355e-05,1793190811809939712
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.186423453,741,711,670,662.186423453,632,875.186423453,782,798,649,627,649,0.402217387298,-0.00542490580747,0.0599378088463,0.999999981332,0.000173202170065,-8.46049732396e-05,1.33690188406e-05,1793190811826606592
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.38773722,741.38773722,711,670.38773722,662,632,875,782.38773722,798.38773722,649,627,649,0.402433424727,-0.00543132057529,0.0599388318451,0.999999982811,0.000168017339162,-7.76372295223e-05,1.10191868715e-05,1793190811843272960
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.961816151,741.961816151,711,670.961816151,662,632,875,782.961816151,798.961816151,649,627,649,0.402665827431,-0.0054371989939,0.0599412033813,0.999999984284,0.000163553887076,-6.78827953808e-05,8.58623012123e-06,1793190811859939584
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,741.446359165,711,670.446359165,662,632,875,783,799,649,627,649,0.402923888014,-0.00544610270172,0.0599431064555,0.999999986362,0.000153085558031,-6.17165340253e-05,5.71527190568e-06,1793190811876606208
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.857077054,741,711,670,662,632,875.142922946,783,798.857077054,649,626.857077054,649,0.403191709773,-0.00545512680903,0.0599439826017,0.999999988248,0.000141948344548,-5.7861313001e-05,2.57889442534e-06,1793190811893273088
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.279375871,741,711,670,662,632,875.720624129,783,798.279375871,649,626.279375871,649,0.40348366411,-0.00546386143791,0.0599418363266,0.999999989724,0.000130077928008,-6.02586341391e-05,-1.26996320645e-06,1793190811909939456
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,741.29761227,711,670,662,632,875.70238773,782.70238773,798.29761227,649,626.29761227,649,0.40379265355,-0.00547269475244,0.0599336230979,0.99999999058,0.000116880587626,-7.17412105123e-05,-5.68244099667e-06,1793190811926606080
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,741.873932626,711,670,662,632,875.126067374,782.126067374,798.873932626,649,626.873932626,649,0.404117596016,-0.00548162048363,0.0599197282856,0.999999990489,0.000102440609619,-9.1731951025e-05,-1.06227378383e-05,1793190811943272960
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.458521662,742,711,670,662,632,875.458521662,782.458521662,799,649,627,649,0.404464982443,-0.00549185488767,0.0599055033386,0.999999988899,8.83655344949e-05,-0.000118925489138,-1.58139161854e-05,1793190811959939584
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,742,711,670,661.955300327,632,876,782.955300327,798.955300327,649,626.955300327,649,0.404824113022,-0.0055024965829,0.059892128535,0.9999999863,7.44406516877e-05,-0.000146357858619,-2.09499307488e-05,1793190811976606464
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,742,711,670,661.377778481,632,876,782.377778481,798.377778481,649,626.377778481,649,0.405248327299,-0.00551362548573,0.0598899893124,0.999999986189,6.10881959588e-05,-0.000152597623468,-2.4591068962e-05,1793190811993273344
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.800197986,742,711,670,661.199802014,632,876,782,798.199802014,649,626.199802014,649,0.405698675972,-0.00552545295016,0.0598974822393,0.999999989442,1.83023191691e-05,-0.000141599422503,-2.70185133314e-05,1793190812009939968
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.222506635,742,711,670,661.777493365,632,876,782,798.777493365,649,626.777493365,649,0.406198453077,-0.00553860161615,0.0599231926335,0.999999991617,-8.01515439894e-05,-9.79987279842e-05,-2.71504749012e-05,1793190812026606336
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,670,662.351892328,632,876,782,799,649,627,649,0.406731044225,-0.00553845433698,0.0599517814298,0.999999993175,-0.000101930653568,-4.95005827505e-05,-2.84539602504e-05,1793190812043272960
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,670,662.92422882,632,876,782,799,649,627,649,0.407284191891,-0.00552997776834,0.0599821734137,0.99999999667,-7.56766090108e-05,2.06559137768e-06,-3.0491350788e-05,1793190812059939840
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782,799,649,627,649,0.407832250021,-0.00552721408166,0.0599869082559,0.999999998668,-4.4009663881e-05,-1.34805819444e-06,-2.69298818209e-05,1793190812076606464
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,741.891150193,711,670.108849807,662.891150193,632,876,782,799,649,627,649,0.408383205866,-0.00552683660092,0.0599846368226,0.999999999465,-1.56451489929e-05,-1.74306201187e-05,-2.28224048951e-05,1793190812093273088
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,741.31479365,711,670.68520635,662.31479365,632,876,782,799,649,627,649,0.408949943026,-0.00553296374137,0.0599690886132,0.99999999844,-5.01192862961e-06,-5.18935566286e-05,-2.00391741776e-05,1793190812109939968
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,741,711,670.739133492,662,632,876.260866508,782,799,649,626.739133492,649,0.409546156214,-0.00553727680453,0.0599603976706,0.999999997411,-7.73661116781e-06,-6.85803894688e-05,-2.03634437693e-05,1793190812126606848
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,741,711,670.164311477,662,632,876.835688523,782,799,649,626.164311477,649,0.410177844068,-0.00553940660677,0.0599599595197,0.99999999731,-2.65376669848e-05,-6.38734978834e-05,-2.44276219216e-05,1793190812143273472
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,741.421517904,711,670,662.421517904,632,876.578482096,782,799,649,626.421517904,649,0.410860157234,-0.00553933517532,0.0599659757867,0.999999998008,-3.30710758783e-05,-4.69625629957e-05,-2.6167428009e-05,1793190812159940352
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,670.011527766,662.988472234,632,876,782,798.988472234,649,626.988472234,649,0.411562243136,-0.00553837615311,0.0599741075787,0.999999998698,-3.45012927626e-05,-2.61736450853e-05,-2.69879070094e-05,1793190812176606720
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,670.590447053,662.409552947,632,876,782,798.409552947,649,626.409552947,649,0.412240181902,-0.00553709611288,0.0599592081308,0.999999997739,-2.64356888561e-05,-5.49400901257e-05,-2.83512333068e-05,1793190812193273344
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,670.830966697,662,632,876,782,798.169033303,648.830966697,626,649,0.412916179655,-0.00553560841944,0.0599383369241,0.999999994688,-2.12734281938e-05,-9.62582626028e-05,-3.0087211629e-05,1793190812209939968
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,670.253185866,662,632,876,782,798.746814134,648.253185866,626,649,0.413587483656,-0.00553361859002,0.0599030251234,0.999999985097,-2.31318820617e-05,-0.000167928364184,-3.27243174226e-05,1793190812226606592
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,670.322092511,662,632,876,782,798.677907489,648.322092511,626.322092511,649,0.414328357385,-0.00553519829354,0.0599009822108,0.999999984381,-2.74196412078e-05,-0.000171312555347,-3.37240951896e-05,1793190812243272960
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,670.89541902,662,632,876,782,798.10458098,648.89541902,626.89541902,649,0.415123495972,-0.00553956225295,0.0599248892174,0.999999991503,-3.36022725717e-05,-0.000121433353904,-3.34467480486e-05,1793190812259939840
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,671,662.965635864,632,876,782,798.482817932,649,626.517182068,649,0.415964399833,-0.00554412167189,0.059968070482,0.999999997704,-3.80234360172e-05,-4.64329597186e-05,-3.14727670196e-05,1793190812276606464
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.928092893,632,876.071907107,782,799,649,626.071907107,649,0.41680821115,-0.00554788427968,0.0600088069976,0.999999998511,-4.01976173134e-05,2.22309891086e-05,-2.94600885353e-05,1793190812293273088
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.349222109,632,876.650777891,782,799,649,626.650777891,649,0.417600533765,-0.00554572171324,0.0600019895841,0.999999999103,-2.93007346741e-05,6.70650281173e-06,-2.98433381397e-05,1793190812309939712
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,741.771502673,711,671,662.771502673,632.228497327,876.771502673,782,799,649,626.771502673,649,0.418398001332,-0.00554470383361,0.0599892855633,0.999999998955,-2.96340576924e-05,-1.51506153349e-05,-3.13279322858e-05,1793190812326606080
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,741.195534103,711,671,662.195534103,632.804465897,876.195534103,782,799,649,626.195534103,649,0.419203292677,-0.00554542665611,0.0599676298989,0.999999997211,-4.70449269251e-05,-4.66376371323e-05,-3.44873186618e-05,1793190812343272704
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,741.377373146,711,671,662.377373146,632.622626854,876,782,799,649,626.377373146,649,0.419996457985,-0.00554597820635,0.059943229082,0.999999994793,-4.96509420546e-05,-8.09643171396e-05,-3.73291905308e-05,1793190812359939584
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,741.948706933,711,671,662.948706933,632.051293067,876,782,799,649,626.948706933,649,0.420783390781,-0.00554644172678,0.059917417324,0.999999991388,-4.46476208202e-05,-0.000116750511539,-4.00078675252e-05,1793190812376606208
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,741.458562655,711,671.541437345,662.458562655,632,876,782,799,649,627,649,0.42157460037,-0.00554277801419,0.0598846401932,0.999999981104,-3.90744577194e-05,-0.000185749229109,-4.19824633451e-05,1793190812393272832
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.131517288,741.131517288,711,671.868482712,662.131517288,632,876,782,799,649,626.868482712,649,0.422389555698,-0.00554016738956,0.0598671978779,0.99999997309,-3.66098568047e-05,-0.000224963351576,-4.32586344928e-05,1793190812409939456
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.705577217,741.705577217,711,671.294422783,662.705577217,632,876,782,799,649,626.294422783,649,0.423282993491,-0.00554247008801,0.0599036674389,0.999999986403,-4.47943858922e-05,-0.000152932359088,-4.24183530704e-05,1793190812426606336
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.717808103,742,711,671.282191897,663.282191897,632,876.282191897,782,799.282191897,649,626,649,0.424180013817,-0.00554672356901,0.0599497848704,0.999999995288,-4.83096000644e-05,-7.40102709562e-05,-4.01656466506e-05,1793190812443272960
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.13850352,742,711,671.86149648,663.86149648,632,876.86149648,782,799.86149648,649,626,649,0.425080806211,-0.0055530309797,0.0600060603044,0.999999998162,-4.69086120147e-05,1.21672856901e-05,-3.64258336472e-05,1793190812459939584
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.44741369,742,711,671.55258631,663.55258631,632,877,782.44741369,800,648.55258631,626.44741369,648.55258631,0.42591687752,-0.00555600980124,0.0600154407637,0.999999997418,-5.33999270643e-05,3.08296180545e-05,-3.69117139243e-05,1793190812476606208
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.965134996,742,711,671,663,632,877,782.965134996,799.930269991,648.034865004,626.965134996,648,0.426733580739,-0.00555793419822,0.0600088678399,0.999999996981,-6.1891751395e-05,2.65733100095e-05,-3.87373198254e-05,1793190812493273088
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,741.761037769,711,670.761037769,661,632,875.761037769,782,799,649,627,649,0.401995508358,-0.00538934668077,0.0598293462374,0.999999940439,0.000206492070548,-0.000275418365541,2.50358107725e-05,1793190815514897920
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,741.183833882,711,670.183833882,661,632,875.183833882,782,799,649,627,649,0.401811027535,-0.00538789465002,0.0598210776413,0.999999934233,0.00021410337339,-0.000292326117682,1.54969578917e-05,1793190815531564288
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,741.390297451,711,670,661.390297451,632.390297451,875.390297451,782,798.609702549,648.609702549,627,649,0.401659560862,-0.00538751900794,0.0598198240187,0.999999933073,0.000214433860409,-0.000296110070501,1.3852879769e-05,1793190815548230912
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,741.962992934,711,670,661.962992934,632.962992934,875.962992934,782,798.037007066,648.037007066,627,649,0.401523522704,-0.00538764639536,0.0598218487089,0.999999934389,0.000211361798397,-0.000293760868768,1.58982724749e-05,1793190815564897536
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,662,632.444795938,876,782,798.555204062,648.555204062,627,649,0.401418685488,-0.00538265600987,0.059824230313,0.999999934821,0.000214596886571,-0.000289893113971,1.63692535238e-05,1793190815581564160
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,741.855108455,711,670.144891545,662,632,875.855108455,782.144891545,799,649,627,649,0.401320428076,-0.00537818842323,0.0598261789525,0.999999934709,0.000218164179651,-0.000287575734273,1.69113941493e-05,1793190815598230784
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,741.871074022,711,670.128925978,661.128925978,632,875.871074022,782.128925978,799,649,627,649,0.401106830456,-0.00537673450154,0.0598235581529,0.999999932816,0.000215960317205,-0.000295625257562,1.83106827012e-05,1793190815648231424
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,670,661.445428375,632,876,782,799,649,627,649,0.401063318629,-0.00537636552526,0.0598224067152,0.999999932515,0.000216664870774,-0.000296128396299,1.82598290536e-05,1793190815664897792
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.020994167,742,711.020994167,670,661.979005833,632,875.979005833,782,798.979005833,649,626.979005833,649,0.401024384382,-0.00537569146698,0.0598216123497,0.999999932094,0.000218733477339,-0.00029603113454,1.82430233398e-05,1793190815681564160
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.616990303,742,711.616990303,670,661.383009697,632,875.383009697,782,798.383009697,649,626.383009697,649,0.400997552769,-0.00537628571958,0.059821557604,0.999999932366,0.00021581880944,-0.000297231445991,1.85257327453e-05,1793190815698231040
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,741.109293018,711,670,662,632,875.109293018,783,799,649,626.109293018,649,0.400947554886,-0.00537826171354,0.0598265081889,0.999999935122,0.000213931637445,-0.000289188312053,1.89560807535e-05,1793190815798230784
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,741.590225221,711,670.409774779,661,632,876,782,798,649,627,649,0.400943740427,-0.0053782633176,0.0598287353652,0.999999936247,0.000213169267908,-0.000285890800511,1.82120664036e-05,1793190815898230784
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,741.831760241,711,670,661,632,876,782,798,649.168239759,627,649.168239759,0.400941931068,-0.00537877573975,0.059828260092,0.999999935656,0.000214384227516,-0.000287036458492,1.83924190661e-05,1793190815914897152
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,741.254408711,711,670,661,632,876,782,798,649.745591289,627,649.745591289,0.400944054781,-0.00537957076038,0.0598299182987,0.999999936588,0.000213967312078,-0.000284065296692,1.86593305197e-05,1793190815931563776
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,741.072031053,711,670.927968947,662,632,875.927968947,782.927968947,798,649,626,649,0.40094228297,-0.00537915637755,0.0598301865228,0.999999936562,0.000212847026611,-0.000284989637136,1.87637554831e-05,1793190815998231040
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,741.651659416,711,670.348340584,662,632,875.348340584,782.348340584,798,649,626,649,0.400942427371,-0.00537752635202,0.0598298974753,0.99999993656,0.000213379065333,-0.000284633233791,1.82422439503e-05,1793190816014897664
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,741.772034583,711,670,662,632,875.227965417,782,798,649,626.227965417,649,0.400942714179,-0.00537692779255,0.0598299768728,0.999999936615,0.000213528303783,-0.000284347199045,1.79607254274e-05,1793190816031564032
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,741.2007324,711,670,662,632,875.7992676,782,798,649,626.7992676,649,0.400943215467,-0.00537788271539,0.0598306111822,0.999999936756,0.000213101009982,-0.000284167145868,1.80406583574e-05,1793190816048230656
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,741.379250834,711,670,662,632,876,782.379250834,798.379250834,649,627,649,0.400943954122,-0.00537869776791,0.0598311463422,0.999999937278,0.000211602530743,-0.00028345211881,1.79635450408e-05,1793190816064897280
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,741.963936452,711,670,662,632,876,782.963936452,798.963936452,649,627,649,0.400944821355,-0.00537943705462,0.0598316277943,0.999999938003,0.000209523805599,-0.000282447304014,1.78013620029e-05,1793190816081563904
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,741.450469193,711,670,662,632,876,782.450469193,799,649,626.450469193,649,0.400943955441,-0.00537844219895,0.0598309408737,0.999999937762,0.000210393602309,-0.000282660217637,1.77388849897e-05,1793190816098230528
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,741.132805564,711,670,661.867194436,632,875.867194436,782,799,649,626.132805564,649,0.400942862927,-0.00537787287686,0.0598301366184,0.999999937402,0.00021121772191,-0.000283319501567,1.77087243488e-05,1793190816114897408
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,741.708151675,711,670,661.291848325,632,875.291848325,782,799,649,626.708151675,649,0.400941394957,-0.00537910139076,0.0598291973003,0.999999936861,0.000211243777065,-0.000285199463735,1.7764409721e-05,1793190816131564032
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,741.71714264,711,670,661,632,875.28285736,782,798.71714264,649,627,649,0.400940626525,-0.00537903300072,0.0598288724291,0.999999936668,0.000211188787656,-0.000285916451543,1.77468248194e-05,1793190816148230912
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,741.143096176,711,670,661,632,875.856903824,782,798.143096176,649,627,649,0.400940578234,-0.00537762950576,0.0598291801038,0.999999936836,0.000211050366467,-0.00028543620907,1.76538114278e-05,1793190816164897536
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,741.444514811,711,670,661.444514811,632,876,782,798.444514811,649,627,649,0.400941780931,-0.00537769641338,0.0598301465064,0.999999937247,0.000210962500677,-0.000284064148333,1.75557891574e-05,1793190816181564416
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.035667677,662,632,876,782.035667677,799,649,627,649,0.400943360891,-0.00537818304416,0.0598312928946,0.999999937714,0.000210978172802,-0.000282408238586,1.74758914085e-05,1793190816198231040
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.612229605,662,632,876,782.612229605,799,649,627,649,0.400944362706,-0.0053776305653,0.0598318517427,0.999999937843,0.000212309410488,-0.000280938512689,1.76960708132e-05,1793190816214897664
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,741.81084212,711,670.81084212,661.81084212,632,876,782.81084212,799,649,627,649,0.400944535301,-0.00537771759036,0.0598320693425,0.999999937952,0.00021250228421,-0.000280395157083,1.782916927e-05,1793190816231564288
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,741.233161416,711,670.233161416,661.233161416,632,876,782.233161416,799,649,627,649,0.400943004711,-0.00537911813129,0.059831586032,0.999999938024,0.000210357003177,-0.000281754529603,1.77834068812e-05,1793190816248230912
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e7029b5f69e9c5251e3befd862f7b241c4d6e0c1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,394 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+2,0.033333333,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+3,0.050000000,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+4,0.066666667,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
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+385,6.416666667,pose2_to_pose3_retreat,0.575723981934,0.000219702863711,1.05002832275,0.546294442445,0.00889140059273,1.04969932849
+386,6.433333333,pose2_to_pose3_retreat,0.575723666531,0.000219731526645,1.05002831477,0.546294126496,0.00889142747674,1.04969932257
+387,6.450000000,pose2_to_pose3_retreat,0.575723594304,0.000219738090473,1.05002831295,0.546294054143,0.0088914336332,1.04969932122
+388,6.466666667,pose2_to_pose3_retreat,0.575723220836,0.000219737836512,1.05002831809,0.546293680515,0.00889143279684,1.04969932546
+389,6.483333333,pose2_to_pose3_retreat,0.575722894379,0.000219623213002,1.05002837139,0.546293355545,0.00889132276318,1.0496993668
+390,6.500000000,pose2_to_pose3_retreat,0.575722683137,0.000219513185518,1.05002838091,0.546293145702,0.00889121741742,1.04969937398
+391,6.516666667,pose2_to_pose3_retreat,0.575722610153,0.00021948701705,1.0500283726,0.546293072476,0.00889119048179,1.04969936701
+392,6.533333333,pose2_to_pose3_retreat,0.575722611005,0.000219504307116,1.05002836635,0.54629307259,0.00889120530453,1.0496993618
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61c4ce28305c20dd387010880bc353c9c4640f59
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:944f938f7ad87cb3036248bab65d2841ff864a89fc63b79364420039fb032f9c
+size 25037558
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af95671dffa8d745a777e5b7ce3a01749d38f66d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_03/franka_data.csv
@@ -0,0 +1,396 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,741,711,670,662,632,875,782,799,649,627,649,0.400942255956,-0.00537805199829,0.0598313734942,0.999999937311,0.000212589258027,-0.000282620014881,1.76248737748e-05,1793190816398271232
+1,0.016666667,BASELINE,764,741.57895902,711,670,661.42104098,632,875.57895902,782,799.57895902,648.42104098,627,649,0.400942630683,-0.00537960350008,0.0598318542899,0.999999937888,0.000210891237303,-0.000281828520102,1.79153341023e-05,1793190816414937856
+2,0.033333333,BASELINE,764,742,711,670,661.157512887,632,876,782.157512887,799.842487113,648.315025775,627,649,0.400942985462,-0.00538052467341,0.0598321440858,0.999999938236,0.00020998132172,-0.000281258774299,1.81549233979e-05,1793190816431604480
+3,0.050000000,BASELINE,764,742,711,670,661.734986664,632,876,782.734986664,799.265013336,649.469973328,627,649,0.400943287057,-0.00537976526527,0.0598319246381,0.999999937977,0.000211172651841,-0.000281280255484,1.82588804035e-05,1793190816448271104
+4,0.066666667,BASELINE,764,742,711,670.310501734,662,632,876,782.689498266,799.310501734,649.689498266,627,649,0.400944082564,-0.00537940488079,0.0598322210509,0.999999938166,0.000211545920688,-0.000280336088902,1.80877439015e-05,1793190816464937728
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+6,0.100000000,BASELINE,764.471649763,741.528350237,711,670.528350237,662,632,876,782,799.528350237,649,627,649.471649763,0.400945097775,-0.00538000802576,0.0598326402432,0.999999938836,0.000210017678614,-0.000279114915088,1.77356006237e-05,1793190816498270976
+7,0.116666667,BASELINE,764.938879429,741,711,670,662,632,875.938879429,782,799,649,627,649.938879429,0.400944602252,-0.00538077897562,0.0598322168411,0.999999938911,0.000208520445932,-0.000279960804582,1.78664877304e-05,1793190816514937600
+8,0.133333333,BASELINE,764.359712012,741,711,670,662,632,875.359712012,782,799,649,627,649.359712012,0.400944619177,-0.00538140200163,0.0598331158102,0.999999939762,0.000206466603286,-0.000278451188663,1.76862433861e-05,1793190816531604224
+9,0.150000000,BASELINE,764,741,711,670,661.781603374,632,875.218396626,782,798.781603374,649,627,649.218396626,0.400943682327,-0.0053818418459,0.059832998958,0.999999939709,0.000206114910479,-0.000278904398803,1.76092566215e-05,1793190816548270848
+10,0.166666667,BASELINE,764,741,711,670,661.205230247,632,875.794769753,782,798.205230247,649,627,649.794769753,0.400941182135,-0.00538198143473,0.059831217061,0.999999938172,0.000208553231859,-0.00028257490056,1.77015205978e-05,1793190816564937472
+11,0.183333333,BASELINE,764,741,711,670.369739822,661.369739822,632,875.630260178,782.369739822,798,649,627,649.630260178,0.40094161114,-0.00538118480182,0.0598310423627,0.999999937735,0.000210763498995,-0.000282481232322,1.76692854813e-05,1793190816581604096
+12,0.200000000,BASELINE,764,741,711,670.943934099,661.943934099,632,875.056065901,782.943934099,798,649,627,649.056065901,0.4009436599,-0.00537987046785,0.0598317563944,0.999999937908,0.000212847659558,-0.000280306097198,1.75682063036e-05,1793190816598270720
+13,0.216666667,BASELINE,764,741.531894378,711.531894378,671,662,632,875,783,798.531894378,649,627,649,0.400943519068,-0.00537979178949,0.0598323667743,0.999999938349,0.000211786098313,-0.000279537997245,1.75272852756e-05,1793190816614937344
+14,0.233333333,BASELINE,764,742,711.880692646,670.880692646,661.880692646,632,875.119307354,783,799,649,627,649,0.400943448051,-0.00537991592257,0.0598329245647,0.999999938811,0.000210504997252,-0.000278853853625,1.75143287835e-05,1793190816631604224
+15,0.250000000,BASELINE,764,742,711.301137185,670.301137185,661.301137185,632,875.698862815,783,799,649,627,649,0.400944560364,-0.00538030663201,0.0598333227498,0.999999939244,0.000209690110582,-0.000277906243275,1.75841381982e-05,1793190816648271104
+16,0.266666667,BASELINE,764,742,711,670,661.553213899,632,876,782.72339305,799,649,626.72339305,649,0.400944061926,-0.00538057213371,0.0598331646837,0.999999939165,0.000209010897309,-0.000278700784253,1.76276341982e-05,1793190816664937472
+17,0.283333333,BASELINE,764,742,711,670,662.704783841,632,876,782.14760808,799,649,626.14760808,649,0.400941821299,-0.00538070221073,0.0598324049765,0.999999938525,0.0002084784284,-0.00028137963581,1.76426696101e-05,1793190816681604096
+18,0.300000000,BASELINE,764.436589781,742,711,670,662.563410219,632.436589781,876,782,799,649,626.436589781,649,0.400943025625,-0.0053798828964,0.059832113096,0.99999993834,0.000210178057968,-0.000280772431327,1.76547222239e-05,1793190816698270720
+19,0.316666667,BASELINE,765,742,711,670.023496367,662,632.976503633,876,782,799,649,627,649,0.400945196317,-0.00537878252174,0.0598319319253,0.99999993828,0.000212499105194,-0.000279236439165,1.76621822826e-05,1793190816714937600
+20,0.333333333,BASELINE,765,742,711,670.605848382,662,632.394151618,876,782,799,649,627,649,0.400942105008,-0.00537878169858,0.0598305480287,0.999999937604,0.000211298401994,-0.000282553367515,1.75848668582e-05,1793190816731604224
+21,0.350000000,BASELINE,764.814243138,742,711,671,662,632,876.185756862,782.185756862,799,649,627,649,0.400940589874,-0.0053793501551,0.0598302543583,0.999999937508,0.000210265124439,-0.000283658419637,1.76159692506e-05,1793190816748270848
+22,0.366666667,BASELINE,764.239452272,742,711,671,662,632,876.760547728,782.760547728,799,649,627,649,0.400942375756,-0.0053811108645,0.0598322439684,0.999999938641,0.000209582489637,-0.000280131098378,1.78741330757e-05,1793190816764937472
+23,0.383333333,BASELINE,764,741.66580544,711,670.66580544,662,632,876.331610879,783,799.33419456,649,627,649,0.400943162374,-0.00538149425793,0.0598332768951,0.999999939175,0.000209288591967,-0.000278438621535,1.791884215e-05,1793190816781604608
+24,0.400000000,BASELINE,764,741.092975459,711,670.092975459,662,632,875.185950919,783,799.907024541,649,627,649,0.400943235457,-0.00538089416342,0.0598336266914,0.999999939286,0.000209272276392,-0.000278056335819,1.78111314625e-05,1793190816798272256
+25,0.416666667,BASELINE,764,741.497129744,711,670,661.502870256,632,875,782.502870256,799.502870256,649,627,649,0.400943218867,-0.00537926269978,0.0598336938155,0.999999938664,0.000212147025325,-0.000278122596958,1.77079618413e-05,1793190816814938624
+26,0.433333333,BASELINE,764,741.91177775,711,670,661.08822225,632,875.08822225,782.08822225,798.91177775,649,627,649,0.400943302447,-0.00537789990876,0.0598337034597,0.999999938128,0.000214563249246,-0.000278201470106,1.75953354362e-05,1793190816831604736
+27,0.450000000,BASELINE,764,741.333786109,711,670,661.666213891,632,875.666213891,782.666213891,798.333786109,649,627,649,0.400944038583,-0.00537913805935,0.0598336980586,0.999999938914,0.000211324171689,-0.000277867878563,1.74253246593e-05,1793190816848271104
+28,0.466666667,BASELINE,764.242633954,741,711,670,662,632,876,782.757366046,798.242633954,649,627,649,0.400944169661,-0.005379988299,0.0598334481138,0.999999939205,0.000209635797412,-0.00027809593612,1.74579207836e-05,1793190816864937472
+29,0.483333333,BASELINE,764.81690591,741,711,670,662,632,876,782.18309409,798.81690591,649,627,649,0.400943473733,-0.00538030833244,0.0598328639205,0.999999938832,0.000210066962369,-0.000279091669379,1.77674449687e-05,1793190816881604096
+30,0.500000000,BASELINE,764.610962884,741,711,670,662,632,875.610962884,782.389037116,799,649,627,649,0.400943648348,-0.00538018160891,0.0598330372186,0.999999938903,0.000210117994731,-0.000278804239841,1.77038817046e-05,1793190816898270976
+31,0.516666667,BASELINE,764.03983369,741,711,670,662,632,875.03983369,782.96016631,799,649,627,649,0.400944230429,-0.00537984577702,0.0598335650668,0.999999939181,0.000209991102837,-0.000277916215188,1.74656917292e-05,1793190816914937600
+32,0.533333333,BASELINE,764,741.556197435,711,670,662,632.556197435,875,783,799,649,627,649,0.400943519224,-0.00537941739338,0.0598331357159,0.99999993855,0.000212032641063,-0.000278629943615,1.75326815352e-05,1793190816931604736
+33,0.550000000,BASELINE,764,742,711,670,662,632.851551182,875.148448818,782.851551182,798.851551182,649,627,649,0.400943026185,-0.00537909879261,0.0598327748544,0.999999938144,0.000213253349622,-0.000279155240063,1.75299674063e-05,1793190816948271360
+34,0.566666667,BASELINE,764,742,711,670,662,632.275562832,875.724437168,782.275562832,798.275562832,649,627,649,0.400943440731,-0.00537911635648,0.0598328179342,0.999999938592,0.000211641799838,-0.000278791976154,1.72606050564e-05,1793190816964937984
+35,0.583333333,BASELINE,764,742,711,670,661.699724738,632,876,782,798,648.699724738,627,649,0.400943846059,-0.00537939788011,0.0598329505051,0.999999938916,0.000210610566546,-0.00027841975256,1.71238263983e-05,1793190816981604608
+36,0.600000000,BASELINE,764,742,711,670,661.1240244,632,876,782,798,648.1240244,627,649,0.400944242932,-0.00537992151873,0.0598331651613,0.999999939127,0.000210111623721,-0.000278039310725,1.71086590375e-05,1793190816998270976
+37,0.616666667,BASELINE,764,742,711,670,661.461800335,632,875.538199665,782,798.461800335,648.461800335,627,649,0.40094320091,-0.0053794828516,0.0598326601471,0.999999938951,0.000209870813025,-0.000278854864747,1.70674983764e-05,1793190817014937344
+38,0.633333333,BASELINE,764,741.950338072,711,670,661.950338072,632,875,782.049661928,798.950338072,649,627,649,0.400941891176,-0.00537884017239,0.0598320505968,0.999999938667,0.000209840862593,-0.000279894524036,1.70564244037e-05,1793190817031603968
+39,0.650000000,BASELINE,764,741.370411255,711,670,661.370411255,632,875,782.629588745,798.370411255,649,627,649,0.40094194164,-0.0053788405416,0.0598324348654,0.999999938373,0.000211305552901,-0.000279820523691,1.74428106185e-05,1793190817048270848
+40,0.666666667,BASELINE,764,741,711,670,661.414817586,632,875.207408793,782.792591207,798.207408793,649,627,649,0.400942494513,-0.00537856927257,0.0598330079023,0.999999938409,0.000211908199284,-0.000279230543074,1.75067514266e-05,1793190817064937728
+41,0.683333333,BASELINE,764,741,711,670,662.563008324,632,875.781504162,782.218495838,798.781504162,649,627,649,0.400943935614,-0.00537781776304,0.0598339146705,0.999999939031,0.0002109868025,-0.000277728339614,1.70006276517e-05,1793190817081604864
+42,0.700000000,BASELINE,764.364253233,741.364253233,711,670.364253233,662.635746767,632,875.635746767,782.364253233,799.364253233,649,626.635746767,649,0.400944690731,-0.00537873959823,0.0598339654139,0.999999939247,0.00021083689049,-0.000277047497401,1.72907254068e-05,1793190817098271488
+43,0.716666667,BASELINE,764.952319494,741.952319494,711,670.952319494,662.047680506,632,875.047680506,782.952319494,799.952319494,649,626.047680506,649,0.40094502435,-0.00538068960922,0.0598334901783,0.999999939213,0.000211161012312,-0.000276871335315,1.80700563157e-05,1793190817114937856
+44,0.733333333,BASELINE,764.467969963,741.467969963,711,670.467969963,662,632,875,782.467969963,799.467969963,649,626,649,0.400945031063,-0.0053812686844,0.0598340213361,0.999999939648,0.000209451343251,-0.000276619504111,1.77502748189e-05,1793190817131604480
+45,0.750000000,BASELINE,764,741.110782427,711,670,662,632,875,782,798.889217573,649,626,649,0.40094481507,-0.00538155036956,0.0598343817042,0.999999939905,0.000208195754447,-0.000276660186891,1.73996325885e-05,1793190817148270848
+46,0.766666667,BASELINE,764,741.688603421,711,670,662,632,875,782,798.311396579,649,626,649,0.400943781791,-0.00538108827211,0.0598336476963,0.99999993925,0.000209611014157,-0.000277962202856,1.73277343473e-05,1793190817164937728
+47,0.783333333,BASELINE,764,741.734227732,711,670,662,632,875.265772268,782.265772268,798.265772268,649,626.265772268,649.265772268,0.400943278058,-0.0053807600128,0.0598331143585,0.999999938977,0.000210116948975,-0.000278562891131,1.7304864382e-05,1793190817181604352
+48,0.800000000,BASELINE,764,741.157821037,711,670,662,632,875.842178963,782.842178963,798.842178963,649,626.842178963,649.842178963,0.400943393259,-0.00538058818335,0.0598328155638,0.999999939154,0.00020956006573,-0.000278343868301,1.73392986196e-05,1793190817198270976
+49,0.816666667,BASELINE,764.425856454,741,711,670,662,632,876,782.574143546,798.574143546,649,627,649.574143546,0.400943614195,-0.0053813983164,0.0598334854783,0.999999939858,0.00020687356302,-0.000277825607559,1.73252539385e-05,1793190817214937856
+50,0.833333333,BASELINE,764.987801631,741,711,670.012198369,662,632,875.987801631,782.012198369,798.012198369,649,627,649,0.400943839473,-0.00538253379298,0.0598344697252,0.999999940701,0.000203546636778,-0.000277251761414,1.72972365546e-05,1793190817231605248
+51,0.850000000,BASELINE,764.405055458,741,711,670.594944542,662,632,875.405055458,782.594944542,798.594944542,649,627,649,0.400942403198,-0.0053815696683,0.0598330730762,0.999999939233,0.000207820950435,-0.00027935505138,1.74705979123e-05,1793190817248271872
+52,0.866666667,BASELINE,764,741.175575961,711.175575961,671,662,632,875,782.824424039,799,649,627,649,0.400941554237,-0.00538090325193,0.059832210556,0.999999938347,0.000210512450753,-0.000280499822833,1.76064669079e-05,1793190817264938240
+53,0.883333333,BASELINE,764,741.751386653,711.751386653,671,662,632,875,782.248613347,799,649,627,649,0.400942044086,-0.0053809154775,0.0598325656107,0.99999993883,0.000209595843738,-0.000279459600311,1.76568700629e-05,1793190817281604608
+54,0.900000000,BASELINE,764,741.674063825,712,670.674063825,662,632,875,782,799,649,627,649,0.400942405592,-0.0053806878137,0.0598327189071,0.99999993893,0.0002095789585,-0.000279117662536,1.76292616026e-05,1793190817298271232
+55,0.916666667,BASELINE,764,741.1004726,712,670.1004726,662,632,875,782,799,649,627,649,0.40094266958,-0.00538027787553,0.0598327189021,0.999999938738,0.000210245706048,-0.000279306300294,1.75423778222e-05,1793190817314937856
+56,0.933333333,BASELINE,764,741,711.512925439,670,662,631.512925439,875.487074561,782,798.512925439,649,627,649,0.400942637012,-0.00537959113422,0.0598330600303,0.999999938373,0.000212362120933,-0.000279006285183,1.76594623212e-05,1793190817331604224
+57,0.950000000,BASELINE,764,741,711,670.07587763,661.92412237,631.07587763,875.92412237,782,798.07587763,649,626.92412237,649,0.400942758525,-0.00537897610084,0.0598334919359,0.999999938098,0.000214277935047,-0.000278518615581,1.7804874397e-05,1793190817348271104
+58,0.966666667,BASELINE,764,741,711,670.653389925,661.346610075,631.653389925,875.346610075,782,798.653389925,649,626.346610075,649,0.400944315024,-0.00537922375379,0.0598340450455,0.999999938695,0.000212832296799,-0.000277476387185,1.78512017677e-05,1793190817364937984
+59,0.983333333,BASELINE,764,741.227965175,711,670.772034825,661.227965175,632,875.227965175,782,798.772034825,649,626.227965175,649,0.400945245766,-0.00537959873087,0.0598342737484,0.999999939126,0.000211719311377,-0.000276774761353,1.78486496577e-05,1793190817381604608
+60,1.000000000,BASELINE,764,741.798131676,711,670.201868324,661.798131676,632,875.798131676,782,798.201868324,649,626.798131676,649,0.400945237175,-0.00538016483579,0.0598340154802,0.99999993931,0.000211105674985,-0.000276584418061,1.77727239651e-05,1793190817398271488
+61,1.016666667,BASELINE,764,742,711,670,661.615670005,632.384329995,875.615670005,782,798,649,626.615670005,648.615670005,0.400943681741,-0.00538017604049,0.0598328778395,0.999999938876,0.000210867977036,-0.000278345942957,1.75082936523e-05,1793190817414937856
+62,1.033333333,BASELINE,764,742,711,670,661.020684505,632.979315495,875.020684505,782,798,649,626.020684505,648.020684505,0.400941278465,-0.00537988309823,0.0598312582049,0.999999938097,0.000210836335124,-0.000281177308325,1.7140541884e-05,1793190817431604480
+63,1.050000000,BASELINE,764,742,711,670,661.55911207,632.44088793,875.55911207,782,798.55911207,649,626.55911207,648.55911207,0.400942596064,-0.00537903488102,0.0598328575931,0.999999938416,0.000211902237279,-0.000279218679447,1.73696867108e-05,1793190817448270848
+64,1.066666667,BASELINE,763.862201863,742,711,670,662,632,876,782,799,649,627,649,0.400943803907,-0.00537847083586,0.0598341520869,0.999999938764,0.000212469491594,-0.000277525916828,1.75688167524e-05,1793190817464937472
+65,1.083333333,BASELINE,763.285311262,742,711,670,662,632,876,782,799,649,627,649,0.400944234981,-0.00537887602969,0.0598341055989,0.999999939088,0.000211321847025,-0.000277230069415,1.76038007337e-05,1793190817481604096
+66,1.100000000,BASELINE,763.291107615,742,711,670,662,632,875.708892385,782,799,649,627,649,0.400944501844,-0.00537932043699,0.0598341841111,0.999999939411,0.000210538895076,-0.000276668220733,1.7472245343e-05,1793190817498270976
+67,1.116666667,BASELINE,763.867064874,742,711,670,662,632,875.132935126,782,799,649,627,649,0.400944608027,-0.00537980321477,0.0598343849361,0.999999939733,0.000210112795977,-0.000275846089054,1.71777306926e-05,1793190817514937344
+68,1.133333333,BASELINE,764,742,711,670,662,632,875.451504201,782.451504201,799,649,627,649,0.400944684306,-0.00538004097139,0.0598345508203,0.999999939765,0.000209616925477,-0.000276086661121,1.75358400626e-05,1793190817531603968
+69,1.150000000,BASELINE,764,741.96208119,711,670.03791881,662,632.03791881,876,782.96208119,799,649,627,649,0.400944746901,-0.00538008726958,0.0598346963854,0.999999939662,0.000209389600997,-0.000276600695596,1.8019111433e-05,1793190817548270848
+70,1.166666667,BASELINE,764,741.383788544,711,670.616211456,662,632.616211456,876,782.383788544,799,649,627,649,0.400944742377,-0.00537845287901,0.0598347018008,0.999999938884,0.000213287629655,-0.000276467499636,1.74953176492e-05,1793190817564937472
+71,1.183333333,BASELINE,764.194384524,741,711,670.805615476,662,632.805615476,876,782,799,649,626.805615476,649,0.400944567004,-0.00537805862877,0.0598345379051,0.99999993858,0.000214541553604,-0.000276610411584,1.73044531963e-05,1793190817581604096
+72,1.200000000,BASELINE,764.77232175,741,711,670.22767825,662,632.22767825,876,782,799,649,626.22767825,649,0.400944054518,-0.00538011137948,0.0598340399307,0.999999939223,0.000210578223885,-0.000277298129913,1.77705130905e-05,1793190817598270976
+73,1.216666667,BASELINE,764.64480096,741.35519904,711,670.35519904,662,632,875.64480096,782,798.64480096,649,626.35519904,649,0.400944173134,-0.00538056704571,0.0598337716973,0.999999939305,0.000210537884487,-0.000277029226158,1.78506939948e-05,1793190817614937600
+74,1.233333333,BASELINE,764.058712525,741.941287475,711,670.941287475,662,632,875.058712525,782,798.058712525,649,626.941287475,649,0.400944701983,-0.00537998456186,0.059833652802,0.999999939023,0.000213047599707,-0.00027613849102,1.76800426418e-05,1793190817631604224
+75,1.250000000,BASELINE,764,741.479042194,711,670.479042194,662,632.520957806,875.520957806,782.520957806,798.520957806,649,627,649,0.400943641539,-0.00537913871067,0.0598334311022,0.99999993894,0.000212364872157,-0.000276990260057,1.7259414192e-05,1793190817648270848
+76,1.266666667,BASELINE,764.099365167,741,711,670.099365167,661.900634833,632.900634833,876,782.900634833,798.900634833,649,627,649,0.400942850288,-0.00537852674839,0.0598333923918,0.999999938944,0.000211451560067,-0.000277689769481,1.69641846195e-05,1793190817664937472
+77,1.283333333,BASELINE,764.675142957,741,711,670.675142957,661.324857043,632.324857043,876,782.324857043,798.324857043,649,627,649,0.40094419803,-0.00537917676078,0.0598342859112,0.99999993927,0.00021113674711,-0.000276729152442,1.74036199e-05,1793190817681604352
+78,1.300000000,BASELINE,765,741.250444634,711,670.749555366,661.250444634,632,876,782,798,649,627,649,0.400944813633,-0.00537962791991,0.0598346043189,0.999999939347,0.000211409252546,-0.000276231346983,1.75460086144e-05,1793190817698270976
+79,1.316666667,BASELINE,765,741.825129863,711,670.174870137,661.825129863,632,876,782,798,649,627,649,0.400944481365,-0.00537982163167,0.0598341781526,0.999999939105,0.000212442135506,-0.000276332725138,1.73038230523e-05,1793190817714937600
+80,1.333333333,BASELINE,764.588493962,741.588493962,711,670.411506038,662,632,876.411506038,782,798,649,627,649,0.400944905453,-0.00538011614665,0.0598349068941,0.999999939593,0.000211185576615,-0.000275523432099,1.73744673302e-05,1793190817731604224
+81,1.350000000,BASELINE,764,741,711,670.997065272,661.997065272,632.002934728,876.997065272,782,798.002934728,649,627,649,0.400945653211,-0.0053804486208,0.0598361316333,0.999999940388,0.000208951261318,-0.000274326188338,1.75814191448e-05,1793190817748270848
+82,1.366666667,BASELINE,764,741,711,670.417599439,661.417599439,632.582400561,876.417599439,782,798.582400561,649,627,649,0.400944997647,-0.00537957686212,0.0598355621707,0.999999939651,0.000211352059806,-0.000275163492526,1.76867617089e-05,1793190817764937216
+83,1.383333333,BASELINE,764,741,711,670.160807224,661.160807224,632.839192776,876.160807224,782,798.839192776,649,627,649,0.400944204348,-0.00537911766447,0.0598348518202,0.999999938988,0.000213096202247,-0.000276223705329,1.77475489481e-05,1793190817781603840
+84,1.400000000,BASELINE,764,741,711,670.736481454,661.736481454,632.263518546,876.736481454,782,798.263518546,649,627,649,0.400943055707,-0.00537972283397,0.0598337779924,0.999999938525,0.000213146236448,-0.000277859000872,1.76933878038e-05,1793190817798270720
+85,1.416666667,BASELINE,764,741.309118827,711,671,662,632,876.381762347,782,798.309118827,649,627,649,0.400942616062,-0.00537953661262,0.059833136913,0.999999938251,0.000213302484682,-0.0002787416915,1.73969001571e-05,1793190817814937344
+86,1.433333333,BASELINE,764,741.879192483,711,671,662,632,875.241615034,782,798.879192483,649,627,649,0.400942774943,-0.00537868230749,0.0598328611552,0.999999938138,0.00021354839767,-0.000278989040956,1.68958430548e-05,1793190817831604224
+87,1.450000000,BASELINE,764.469909592,742,711,670.530090408,662,632,875.469909592,782,799.469909592,649,626.530090408,649,0.400942396291,-0.00537993561719,0.0598331045409,0.999999938803,0.000210153622689,-0.000279172644389,1.71087689217e-05,1793190817848270848
+88,1.466666667,BASELINE,765,741.935742359,711,670,662,632,876,782,799.871484719,649,626.064257641,649,0.400942049701,-0.00538140123621,0.0598334975022,0.999999939524,0.000206626801617,-0.000279199453063,1.74802059936e-05,1793190817864937728
+89,1.483333333,BASELINE,765,741.356774303,711,670,662,632,876,782,798.713548607,649,626.643225697,649,0.400943117717,-0.00538002785321,0.0598339703886,0.999999939148,0.000209884007766,-0.000278107622847,1.75834761664e-05,1793190817881604352
+90,1.500000000,BASELINE,764.779732028,741,711,670.220267972,662,632,875.779732028,782,798.220267972,649,627,649,0.400943524372,-0.00537925923179,0.0598339325533,0.999999938739,0.000212082122555,-0.000277907456344,1.76345070247e-05,1793190817898270976
+91,1.516666667,BASELINE,764.205782014,741,711,670.794217986,662,632,875.205782014,782,798.794217986,649,627,649,0.400942869083,-0.00537946167001,0.0598330746572,0.999999938291,0.000212579664818,-0.000279139025303,1.76016577374e-05,1793190817914938368
+92,1.533333333,BASELINE,764,741.377059475,711,670.622940525,662,632,875,782,798.622940525,649,627,649,0.400943300384,-0.00537941688364,0.0598330411278,0.999999938485,0.000212429972111,-0.000278560701517,1.75566509792e-05,1793190817931605248
+93,1.550000000,BASELINE,764,741.964870775,711,670.035129225,662,632,875,782,798.035129225,649,627,649,0.400944339018,-0.00537923391475,0.0598334683658,0.999999939036,0.000211918517022,-0.000276970765022,1.75048489789e-05,1793190817948271616
+94,1.566666667,BASELINE,764,742,711,670,662,632,875,782,798.547311129,649,626.452688871,649,0.400943520828,-0.0053796111856,0.059832850137,0.999999938588,0.000212117893118,-0.000278442534506,1.73368731605e-05,1793190817964937984
+95,1.583333333,BASELINE,764,742,711,670,662,632,875.127975714,782,799,649,626.127975714,649,0.400942810807,-0.00537974876303,0.0598325181573,0.999999938204,0.000212493380305,-0.000279537665836,1.7216090928e-05,1793190817981604864
+96,1.600000000,BASELINE,764,742,711,670,662,632,875.703622843,782,799,649,626.703622843,649,0.400942892026,-0.00537892330403,0.059833419958,0.999999938278,0.000213326872285,-0.000278634529668,1.72862268983e-05,1793190817998271232
+97,1.616666667,BASELINE,764,741.721383791,711,670.278616209,662,632,876,782,799,649,627,649,0.400943588207,-0.00537888717351,0.0598340475872,0.999999938809,0.000212476850629,-0.000277375344541,1.72549638467e-05,1793190818014937856
+98,1.633333333,BASELINE,764,741.14708427,711,670.85291573,662,632,876,782,799,649,627,649,0.400944937019,-0.00537968872317,0.0598343842503,0.999999939821,0.000209840188838,-0.000275738300127,1.71160904017e-05,1793190818031604480
+99,1.650000000,BASELINE,764,741.43938252,711,671,662,632,876,782.43938252,799.43938252,649.43938252,627,649,0.400944687553,-0.00538037648078,0.0598344986004,0.999999939716,0.000209833467193,-0.00027611413018,1.72802054267e-05,1793190818048271104
+100,1.666666667,BASELINE,764.029501894,741.970498106,711,670.970498106,662,632,876,782.970498106,799.970498106,649.970498106,627,649,0.400943957623,-0.00538101648919,0.0598345269186,0.999999939272,0.000210637919764,-0.000277092719108,1.75322916308e-05,1793190818064937472
+101,1.683333333,BASELINE,764.609609697,741.390390303,711,670.390390303,662,632,876,782.390390303,799.390390303,649.390390303,627,649,0.400944530454,-0.00538149651182,0.0598343780701,0.999999939669,0.000209682831236,-0.000276387013942,1.74793518002e-05,1793190818081604352
+102,1.700000000,BASELINE,764.81297752,741,711,670,662,632,876,782,799,649,626.81297752,649,0.40094480447,-0.00538150205497,0.0598342379967,0.999999939831,0.000209175723959,-0.000276187226361,1.74339786316e-05,1793190818098271232
+103,1.716666667,BASELINE,764.241110476,741,711,670,662,632,876,782,799,649,626.241110476,649,0.4009444636,-0.00538053124032,0.0598341159804,0.999999939512,0.000209590447961,-0.000277028488229,1.74041757304e-05,1793190818114938112
+104,1.733333333,BASELINE,764,741,711,670,662,632.341470578,876,782,799,649,626.341470578,649,0.400944671824,-0.00538098721595,0.0598348559295,0.999999939841,0.000208992660999,-0.000276288310848,1.74455105043e-05,1793190818131604992
+105,1.750000000,BASELINE,764,741,711,670,662,632.931861847,876,782,799,649,626.931861847,649,0.400945280317,-0.00538248327414,0.0598362242228,0.999999940639,0.000207656787272,-0.000274395316952,1.75387022737e-05,1793190818148271360
+106,1.766666667,BASELINE,764,741.512733804,711,670,662,632.487266196,876,782.512733804,798.487266196,649,627,649,0.400945269716,-0.00538097639718,0.0598354900262,0.999999940103,0.000209670828504,-0.000274828210736,1.735575232e-05,1793190818164937728
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,670,662,632,876,782,799,649,627,649,0.400943388879,-0.00538193249072,0.0598336111933,0.999999939345,0.000209052688403,-0.000277993367638,1.8088753516e-05,1793190818207881728
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,670,662,632,876,782.574503437,799,649,627,649,0.40094230597,-0.00538114563841,0.0598325872787,0.999999939056,0.000208530041638,-0.000279456085713,1.75268537037e-05,1793190818224548608
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,741.847594435,711,670,662,632,876,783,799,649,627,649,0.400941695402,-0.00538047674439,0.059832087238,0.999999938852,0.000208527360569,-0.000280211768093,1.71453019834e-05,1793190818241215232
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,741.25998704,711,670,662,632,876,783,799,649,627,649,0.40094243363,-0.0053801446861,0.059833083145,0.999999938893,0.000210009467831,-0.000278948474475,1.72787432698e-05,1793190818257882112
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.324230668,741.324230668,711,670,662,632,875.675769332,782.675769332,799,649,627,649,0.400942479925,-0.00538019775049,0.0598334193558,0.999999938892,0.000210778426603,-0.000278366183703,1.73184014179e-05,1793190818274548992
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.905758412,741.905758412,711,670,662,632,875.094241588,782.094241588,799,649,627,649,0.400941977128,-0.00538055643356,0.0598332320567,0.999999938862,0.000210981457878,-0.000278324310864,1.72836368406e-05,1793190818291215360
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.518288707,741.518288707,711,670,662,632,875,782,798.518288707,649,627,649,0.400945060608,-0.00538058293245,0.0598353171104,0.999999939523,0.000211493978627,-0.000275533867874,1.74687189993e-05,1793190818307881984
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,741,711,670,662,632,875,782.056399112,798,649,627,649,0.400949448826,-0.00538056269992,0.0598379656324,0.999999940441,0.000211973060348,-0.000271797206557,1.76757791314e-05,1793190818324548352
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,741,711,670,662,632,875,782.629375279,798,649,627,649,0.400959434733,-0.00538070287723,0.0598417498474,0.999999942539,0.000211597627999,-0.000264262706515,1.76947016409e-05,1793190818341214976
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,741,711,670,662,632.210276945,875,782.789723055,798,649,626.789723055,649,0.400977931145,-0.00538118038767,0.0598495243914,0.999999946364,0.000210603733089,-0.000250185219615,1.80652531391e-05,1793190818357881600
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,741,711,670,662,632.805694805,875,782.194305195,798,649,626.194305195,649,0.4010120153,-0.00538227575371,0.0598646075769,0.999999952971,0.000208477068994,-0.000224123671501,1.90798443728e-05,1793190818374548224
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,741,711,670,661.612293705,632.612293705,875.387706295,782,798.387706295,649,626.387706295,649,0.401064944337,-0.00538489262849,0.0598848552623,0.99999996065,0.000208122936741,-0.000186971758683,2.06572992229e-05,1793190818391215104
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,741,711,670,661.036776417,632.036776417,875.963223583,782,798.963223583,649,626.963223583,649,0.401127002131,-0.00538824654598,0.0599076047134,0.999999967551,0.000208627446175,-0.000144447497188,2.25074140755e-05,1793190818407881984
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,741,711,670.53934638,661.53934638,632,876,782.53934638,798.46065362,649,627,649.53934638,0.40119539182,-0.00538878069968,0.0599206231281,0.999999969228,0.000209429887963,-0.000130993190934,2.28676485329e-05,1793190818424548352
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,741,711,670.885041457,662.114958543,632,875.885041457,782.885041457,798.114958543,649,627,649.885041457,0.401266649448,-0.00538990971905,0.0599307375851,0.99999997058,0.000209298159553,-0.000120454793178,2.29125763504e-05,1793190818441214976
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,741,711,670.311630366,662.688369634,632,875.311630366,782.311630366,798.688369634,649,627,649.311630366,0.401347620629,-0.00539417868791,0.0599319202369,0.999999972213,0.000205359870547,-0.000113631146199,2.21056635361e-05,1793190818457881600
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,741.272000727,711,670,662.727999273,632,875.272000727,782,799,649,627,649,0.401440919407,-0.00539757028767,0.0599335159355,0.999999973614,0.000201576029238,-0.000108136221958,2.11297856324e-05,1793190818474548224
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,741.867797933,711,670,662.132202067,632,875.867797933,782,799,649,627,649,0.401548893258,-0.00539991744504,0.0599356033355,0.999999974772,0.000197976046583,-0.000104223042961,1.99527675031e-05,1793190818491214848
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,670,662,632.448652869,875.551347131,782,799,649,627,649,0.401677804009,-0.00540428645975,0.0599384053618,0.999999976144,0.00019481985965,-9.70214786473e-05,1.857500796e-05,1793190818507881984
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,670,662,633,875.050287876,782.025143938,799,649,627,649,0.401813955043,-0.00540919308532,0.0599413582421,0.999999977516,0.00019174363037,-8.89384043189e-05,1.71123674001e-05,1793190818524548864
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,670,662,633,876.198779434,782.599389717,799,649,627,649,0.401977835769,-0.00541324897215,0.0599431551381,0.999999978912,0.000187649771523,-8.20832796105e-05,1.50461982311e-05,1793190818541215232
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.178465457,741.821534543,711,670.178465457,662,632.821534543,876.643069086,782.821534543,799,649,627,649,0.40215386804,-0.00541787936062,0.0599450651883,0.999999980393,0.000182957337439,-7.46707051037e-05,1.28103940572e-05,1793190818557881344
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.768684761,741.231315239,711,670.768684761,662,632.231315239,875.462630478,782.231315239,799,649,627,649,0.402357936217,-0.00542383523337,0.0599472363068,0.999999982128,0.000176883876706,-6.59719885505e-05,1.0183209862e-05,1793190818574547968
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.647490604,741.352509396,711.352509396,671,662,632,875,782.352509396,799,649,626.647490604,649,0.402580767533,-0.0054296727576,0.0599462921285,0.999999983393,0.000170833829359,-6.3071237454e-05,7.17443842025e-06,1793190818591214592
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.067787303,741.932212697,711.932212697,671,662,632,875,782.932212697,799,649,626.067787303,649,0.402815691797,-0.00543543400627,0.0599433401274,0.999999984371,0.000164798871449,-6.39073005286e-05,3.91973200872e-06,1793190818607881216
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711.493095264,670.493095264,662,632,875.506904736,782.493095264,798.493095264,649,626.506904736,649,0.403087382626,-0.00544223626639,0.0599450586035,0.999999986044,0.000156222392318,-5.92024833892e-05,7.9394839248e-07,1793190818624548608
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.082905243,742,711,670,662,632,876,782,798.082905243,649,626.917094757,649,0.403367266603,-0.00544944289919,0.0599460037651,0.99999998767,0.000146809506624,-5.56809707972e-05,-2.55115892184e-06,1793190818641216000
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.670920984,742,711,670,662,632,876,782,798.670920984,649,626.329079016,649,0.40366740602,-0.00545827336067,0.0599384693752,0.99999998891,0.000134351149687,-6.38391462073e-05,-7.33653652221e-06,1793190818657882368
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.744940854,742,711,670.255059146,661.744940854,632,876,782,798.744940854,649,626.255059146,649,0.403985481005,-0.00546779447306,0.0599279937908,0.999999989329,0.000121888076454,-7.96008904783e-05,-1.21751181831e-05,1793190818674548992
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.165730686,742,711,670.834269314,661.165730686,632,876,782,798.165730686,649,626.834269314,649,0.40432635003,-0.00547819332328,0.0599137802848,0.999999988353,0.000109419010052,-0.000105025901166,-1.70813158324e-05,1793190818691215616
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,741.588607355,711,670.588607355,661.411392645,632,876,782.411392645,798,649,627,649,0.404692024159,-0.00548665504194,0.0599007135122,0.999999986397,9.89581984101e-05,-0.000130091824187,-2.21032157292e-05,1793190818707882496
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,741.012320483,711,670.012320483,661.987679517,632,876,782.987679517,798,649,627,649,0.405067640652,-0.00549434032008,0.0598881063732,0.999999983629,8.93023348582e-05,-0.000155013817169,-2.71714912246e-05,1793190818724549120
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.557228542,741.557228542,711,670.557228542,662,632.557228542,876,782.442771458,798.557228542,649,627,649,0.405517925997,-0.00550334705222,0.0598975562271,0.99999998636,7.93440416274e-05,-0.000141436263192,-3.13062431351e-05,1793190818741215232
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.867407392,742,711,670.867407392,662,632.867407392,875.867407392,782.132592608,798.867407392,649,627,649,0.405985607977,-0.00551063905906,0.0599119619927,0.999999991357,4.56167871278e-05,-0.000118331734514,-3.46660193184e-05,1793190818757881856
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.271196098,742,711,670.271196098,662,632.271196098,875.271196098,782.728803902,798.271196098,649,627,649,0.406508414646,-0.00551183447416,0.0599420115698,0.999999994736,-7.11970855217e-05,-6.48563625799e-05,-3.53873497279e-05,1793190818774548224
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.315820842,741.684179158,711,670.315820842,662,632.315820842,875.315820842,782.684179158,798.315820842,649,626.684179158,649,0.407055924683,-0.00551386218973,0.0599681422907,0.999999992047,-0.000118663699602,-2.38778811858e-05,-3.5431401105e-05,1793190818791215104
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.895165981,741.104834019,711,670.895165981,662,632.895165981,875.895165981,782.104834019,798.895165981,649,626.104834019,649,0.407624047531,-0.00551658438585,0.0599910030794,0.999999993508,-0.000108266231504,6.67306616101e-06,-3.49103240044e-05,1793190818807881728
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,741.469412044,711,670.530587956,662.469412044,632.530587956,875.530587956,782,799,649,626,649,0.408164074762,-0.00553294130191,0.0599859012124,0.999999992528,-0.000115456099273,-1.39176866704e-05,-3.76957667852e-05,1793190818824548864
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.956313008,741.956313008,711,670,662.956313008,632,875.087373983,782,799.043686992,649,626.043686992,649.043686992,0.408701062174,-0.00555096666309,0.0599744512342,0.999999991113,-0.000119026081867,-4.53044788809e-05,-3.94247665409e-05,1793190818841216000
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.367623463,741.367623463,711,670,662.367623463,632,876.264753075,782,799.632376537,649,626.632376537,649.632376537,0.409277563408,-0.00555222689248,0.0599608766583,0.999999996923,-2.89641314597e-05,-7.04197021925e-05,-1.88612133585e-05,1793190818857882880
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,741.217293553,711,670.217293553,662,632,876.782706447,782,799.782706447,649,627,649.782706447,0.409890645073,-0.00554945499587,0.0599556578574,0.999999996827,1.95578893319e-05,-7.67317099777e-05,-8.70968563984e-06,1793190818874549760
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,741.795936979,711,670.795936979,662,632,876.204063021,782,799.204063021,649,627,649.204063021,0.410564558395,-0.00553997784635,0.0599643343533,0.999999998533,-9.99219254914e-07,-5.17747750603e-05,-1.58729117346e-05,1793190818891216128
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,670.625934705,662,632,876,782,799,649.374065295,627,648.625934705,0.411261394886,-0.00553341930557,0.0599690974907,0.999999998881,-1.06468077568e-05,-4.08841477115e-05,-2.12905661608e-05,1793190818907882240
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,670.048087027,662,632,876,782,799,649.951912973,627,648.048087027,0.411970719384,-0.00552845075768,0.0599717287179,0.999999998856,-1.4351133742e-05,-3.76565300581e-05,-2.57572720669e-05,1793190818924548352
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.528361011,670.528361011,662,632,876,782,799,649.471638989,626.471638989,648.528361011,0.412636455034,-0.00553418431866,0.0599458065799,0.999999995859,-1.29023663654e-05,-8.57807668039e-05,-2.75210194185e-05,1793190818941215232
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.893283793,671,662,632,876,782,799,649,626,649,0.413304127758,-0.00553989154201,0.0599183389518,0.999999990112,-1.50097070874e-05,-0.000136734417431,-2.92258510804e-05,1793190818957882112
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.305763769,671,662,632,876,782,799,649,626,649,0.41399835396,-0.00554110331659,0.0598955855308,0.999999982776,-3.52463248131e-05,-0.000179434724681,-3.17706557172e-05,1793190818974548992
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,671,662.278066582,632,876,782,799,649,626,649,0.414771454809,-0.00554287838579,0.0599083555063,0.999999986461,-4.13948295858e-05,-0.000155999267293,-3.20645930793e-05,1793190818991215872
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,671,662.857892945,632,876,782,799,649,626,649,0.415630151057,-0.00554526474636,0.0599596757152,0.999999997184,-3.22548188112e-05,-6.07928240448e-05,-2.99158738262e-05,1793190819007882240
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.43536523,632,876,782,799,649,626,649,0.416470619091,-0.00554440205016,0.0599911786346,0.999999999156,-2.82199673888e-05,-7.63023363979e-06,-2.88732894721e-05,1793190819024548608
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.012009263,742,711,671,663.987990737,632,876,782,799,649,626,649,0.4173043121,-0.0055425294321,0.0600153035262,0.9999999988,-2.60283494632e-05,3.04088985484e-05,-2.82472779576e-05,1793190819041214720
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.585662204,742,711,671,663.414337796,632,876,782,799,649,626,649,0.418097919644,-0.00554275645624,0.0599952669425,0.999999999012,-3.25273597696e-05,-4.76876533018e-07,-3.03086388515e-05,1793190819057881344
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.835924885,742,711,671,663,632,876,782,799,649,626,649,0.418890337763,-0.005543978722,0.0599746041499,0.999999998102,-3.98303145248e-05,-3.40099729959e-05,-3.24524211925e-05,1793190819074548224
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.245132547,742,711,671,663,632,876,782,799,649,626,649,0.41967966245,-0.00554778935555,0.0599523127502,0.999999995413,-4.92241219081e-05,-7.44280704242e-05,-3.48105604537e-05,1793190819091214848
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,876,782,799,649,626,649,0.420477263156,-0.00554920833805,0.0599261080457,0.999999991479,-4.76734561244e-05,-0.000115689711935,-3.7213741624e-05,1793190819107881728
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,876,782,799,649,626,649,0.421280732956,-0.00554893122651,0.0598971281329,0.999999986067,-3.83612672116e-05,-0.000157549570162,-3.96488651677e-05,1793190819124548608
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711,671,662.507378539,632,876.492621461,782,799,649,626.492621461,649,0.422112605358,-0.00554362533737,0.0598785565255,0.999999979483,-4.14792521747e-05,-0.000193978252279,-4.10477039311e-05,1793190819141215232
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711,671,662.066197226,632.066197226,877,782,799,649,627,649,0.422960154769,-0.00553888365328,0.0598712790741,0.999999975531,-4.59109801504e-05,-0.000212324429378,-4.18104293035e-05,1793190819157881856
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711,671,662.63949094,632.63949094,877,782,799,649,627,649,0.423892024564,-0.00554479740544,0.0599374107052,0.999999993338,-4.4751529879e-05,-9.89917653289e-05,-3.90054082627e-05,1793190819174548480
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632.779667291,877,782.220332709,799,649,626.779667291,649.220332709,0.424797151086,-0.00554997554905,0.0599906302774,0.999999998281,-4.48704910314e-05,-9.62757255668e-06,-3.64984249032e-05,1793190819191215104
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632.186037179,877,782.813962821,799,649,626.186037179,649.813962821,0.425656968122,-0.00555390739312,0.0600219736799,0.999999997528,-4.71553937797e-05,3.91281950274e-05,-3.4496390311e-05,1793190819207881728
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671,662.60170385,632,877,782.60170385,799.39829615,649,626,649.60170385,0.426507097993,-0.00555688797785,0.0600163537675,0.999999997148,-5.19572491459e-05,4.10607295899e-05,-3.63132524901e-05,1793190819224548352
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+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671.553098668,663.106197337,632,876.446901332,782,799.446901332,649,626.553098668,649,0.428171462372,-0.0055604066853,0.0599691214005,0.999999997034,-6.23320689226e-05,-1.84712186832e-05,-4.12993219256e-05,1793190819257881856
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+242,4.033333333,HOLD_POSE2,764,743,711,673,659,630,877,781,799,649,626,649,0.445994972527,-0.00559836235265,0.0597236892512,0.999999893801,-0.000131077410273,-0.000439554631347,-4.48085783093e-05,1793190820476846592
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+249,4.150000000,HOLD_POSE2,763.056187662,742,711.943812338,672,659,629.056187662,877,781.056187662,799.943812338,649.943812338,626.056187662,648.943812338,0.44599060601,-0.00559913696628,0.0597200080328,0.999999890717,-0.000130904172324,-0.000446572188531,-4.47569064363e-05,1793190820593513216
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+256,4.266666667,HOLD_POSE2,764,742.114104932,711.885895068,672,659,629,877.114104932,781.885895068,799,649,626.885895068,648.114104932,0.445992635484,-0.00560004669787,0.0597209752346,0.999999891618,-0.000131362107423,-0.000444507414806,-4.38374293164e-05,1793190820710179840
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,661.825313982,632,876,782.825313982,799,649,627,649,0.404017126176,-0.00536380527904,0.0597718070937,0.999999904182,0.000233555187114,-0.000369545667948,2.28709379205e-05,1793190822176177664
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,670,661.246250544,632,876,782.246250544,799,649,627,649,0.403651517841,-0.00535565610349,0.0597604508502,0.999999895058,0.000246257201296,-0.000385660133622,2.25211925328e-05,1793190822192844288
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,661.904825776,632,875.095174224,782,798.095174224,649,627,649,0.403064594552,-0.00535263329832,0.0597888682395,0.999999912249,0.000255149720855,-0.000331243278808,2.60417406877e-05,1793190822226177280
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,741.509624902,711,670.490375098,661.509624902,632,875.490375098,782.490375098,798.490375098,649.490375098,627,649,0.402824105312,-0.00535419887208,0.0598123707515,0.999999924642,0.00025358604826,-0.000292520539404,2.9006259496e-05,1793190822242844160
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,741.07679921,711,670.92320079,661,632,875.92320079,783,799,649.92320079,627,649,0.402590441756,-0.00535710363379,0.0598335504625,0.999999934753,0.0002500164668,-0.00025879150854,3.18258644098e-05,1793190822259510784
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,741.654729788,711,670.345270212,661,632,875.345270212,783,799,649.345270212,627,649,0.402357935048,-0.00536708299287,0.059836477312,0.999999937947,0.00023825515134,-0.000257407909445,3.2878021664e-05,1793190822276177664
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,741,711,670,661.042210538,632,876,782.042210538,798.042210538,649,627,649,0.401610483221,-0.00538557303722,0.0598180636726,0.999999927973,0.000230089109196,-0.000301553073137,1.33551196457e-05,1793190822342844416
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,741,711,670.548785999,661,632,875.451214001,782,798.548785999,649,626.451214001,649,0.401498788696,-0.00538923749746,0.0598227986364,0.999999934281,0.000211285600396,-0.000294369747806,1.19532665738e-05,1793190822359510784
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,741.1360757,711,671,661.1360757,632.1360757,875.1360757,782,799,649,626.1360757,649,0.401393907606,-0.00539232076398,0.0598274751014,0.999999939137,0.000197225954134,-0.000287550992404,1.19286031249e-05,1793190822376177664
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,741.71282314,711,671,661.71282314,632.71282314,875.71282314,782,799,649,626.71282314,649,0.401301818984,-0.00539120120564,0.0598305545171,0.999999940198,0.000196796144279,-0.000284077704165,1.32414334117e-05,1793190822392844288
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.710279665,661.710279665,632.710279665,876,782.289720335,799,649,627,649,0.401220456033,-0.00538890858292,0.0598307474541,0.999999939587,0.000198687735455,-0.000284866623689,1.4151006625e-05,1793190822409511168
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.133233989,661.133233989,632.133233989,876,782.866766011,799,649,627,649,0.401149730095,-0.00538545259312,0.0598280777736,0.999999937296,0.000202881537657,-0.000289882517336,1.46606562389e-05,1793190822426177792
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,741.557635735,711,670.442364265,661.442364265,632,876,783,799,649,627,649,0.401096717687,-0.00538685531845,0.0598249964277,0.999999936412,0.000200579168083,-0.000294457632364,1.54414095166e-05,1793190822442844672
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,741.60986658,711,670.39013342,661.39013342,632,875.39013342,782.39013342,798.39013342,649,627,649,0.401016579113,-0.00538426135835,0.0598214194682,0.9999999339,0.000204668501643,-0.00030009642369,1.58936964071e-05,1793190822476177920
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,670,661.197433377,632,875.197433377,782,798.197433377,649,627,649,0.400989144571,-0.00538198800114,0.0598213029343,0.999999932914,0.000208680002342,-0.000300616065909,1.59824769074e-05,1793190822492844544
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.927221853,662,632,875.072778147,782.927221853,799,649,627,649,0.400957495995,-0.00538636580613,0.0598269163138,0.999999936832,0.000202288104061,-0.000291769559083,1.68897058222e-05,1793190822542844160
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,741.486916878,711,670.486916878,662,632,875.513083122,782.486916878,799,649,627,649,0.400952950159,-0.00538493584913,0.0598269287269,0.999999936519,0.000205509227197,-0.000290592541561,1.68589967896e-05,1793190822559511040
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,741.099042591,711,670.099042591,661.900957409,632,876,782.099042591,798.900957409,649,627,649,0.400948849994,-0.00538381670984,0.0598266113609,0.999999936087,0.000208146552404,-0.000290200192582,1.68666238021e-05,1793190822576177664
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,741.677330421,711,670.677330421,661.322669579,632,876,782.677330421,798.322669579,649,627,649,0.400946500276,-0.00538505777867,0.0598268057203,0.999999936432,0.000205112720686,-0.00029117077584,1.68851154971e-05,1793190822592844288
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,741.744056917,711,670.744056917,661.255943083,632,876,783,798,649.255943083,627,649,0.40094596196,-0.00538520837712,0.0598277054045,0.999999936944,0.000204269699813,-0.000290000489172,1.68946073003e-05,1793190822609511168
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,741.982523113,711,670.982523113,662,632,875.017476887,782.017476887,798,649.017476887,626.017476887,649,0.400944585694,-0.00538341647543,0.0598283184306,0.999999936871,0.000207315096781,-0.000288093979082,1.67180961687e-05,1793190822659511296
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,662,632,875.572072592,782,798.572072592,649,626.572072592,649,0.400946069225,-0.00538330722972,0.0598306421429,0.999999937575,0.000208350384236,-0.0002848726041,1.69893082118e-05,1793190822676177920
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.840663893,662,632,876,782,798.840663893,649,627,649,0.400946940537,-0.00538384279889,0.0598322875533,0.999999938281,0.000207950606398,-0.000282661758309,1.72256799363e-05,1793190822692844544
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.2608155,662,632,876,782,798.2608155,649,627,649,0.400945897493,-0.00538607871792,0.0598318681581,0.999999938906,0.000203705341707,-0.000283534020221,1.73391499545e-05,1793190822709511168
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.317032243,662,632,876,782,798.634064487,649,627,649,0.400945755464,-0.00538633818463,0.0598313871477,0.999999938779,0.000203782988813,-0.000283932736,1.72216228663e-05,1793190822726177792
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.893244481,662,632,876,782,799.786488962,649,627,649,0.400946350032,-0.00538498186356,0.0598308557655,0.999999938038,0.000207394699511,-0.00028394431875,1.69152511858e-05,1793190822742844416
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.479128768,742,711,671,662,632,875.520871232,782,799.520871232,649,627,649,0.400945603348,-0.00538519419138,0.0598311708801,0.99999993837,0.00020652550003,-0.000283407769729,1.69234120167e-05,1793190822759510784
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.354721784,742,711,671,661.354721784,632,875.645278216,782,798.354721784,649.645278216,627,649.645278216,0.400944575491,-0.00538389661219,0.0598315975378,0.999999938505,0.000205713495696,-0.000283555484692,1.6404924835e-05,1793190822792844544
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.776552132,661,632,876,782,798.223447868,649.776552132,626.776552132,649.776552132,0.400944466209,-0.00538356801714,0.0598316284675,0.999999938404,0.000205994951526,-0.000283713363558,1.62483595622e-05,1793190822809511168
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.199842724,661,632,876,782,798.800157276,649.199842724,626.199842724,649.199842724,0.400944320886,-0.00538527601918,0.0598317408389,0.999999938678,0.000205500690962,-0.000283080375485,1.66800391045e-05,1793190822826177792
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,670,661.37618945,632,875.62381055,782.37618945,799,649,626.37618945,649,0.400944827364,-0.00538618707484,0.0598318582205,0.999999938907,0.000204552684434,-0.000282948255164,1.68566973e-05,1793190822842844672
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,670,661.951862486,632,875.048137514,782.951862486,799,649,626.951862486,649,0.400945679475,-0.00538667553029,0.0598319782589,0.999999939111,0.000203364068111,-0.000283081732144,1.68981242227e-05,1793190822859511296
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,662,632,875.522792428,782.477207572,799,649,627,649.522792428,0.400946011684,-0.00538641834605,0.0598332246517,0.999999939686,0.00020345440055,-0.000280980810035,1.68478356469e-05,1793190822876177664
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.097766121,662,632,876,782,799,649,627,649.902233879,0.400946147058,-0.0053862019664,0.0598342007664,0.999999940156,0.000203546176402,-0.000279238525447,1.68182476773e-05,1793190822892844288
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.695638711,662,632,876,782,799,649,627,649.304361289,0.400945518231,-0.0053865423607,0.0598332685658,0.999999939938,0.000203048356553,-0.000280373750641,1.69373606137e-05,1793190822909510912
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.717026502,661.717026502,632,876,782,799,649,627,649,0.400945170243,-0.00538623068618,0.0598328381284,0.999999939538,0.000204141683647,-0.000281006087003,1.69275348204e-05,1793190822926177792
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.14061899,661.14061899,632,876,782,799,649,627,649,0.400945113477,-0.00538524283822,0.0598329280027,0.999999938945,0.000206884976624,-0.000281116944671,1.6784003909e-05,1793190822942844416
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.43340001,661.43340001,632,875.56659999,782.43340001,799,649,627,649,0.400944549235,-0.00538453328549,0.0598325262121,0.999999938633,0.000207478490563,-0.000281790810349,1.67274355888e-05,1793190822959511296
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.993136737,661.993136737,632,875,782.993136737,799,649,627,649,0.400943822202,-0.00538392371807,0.0598319684005,0.999999938415,0.000207371410066,-0.000282645224595,1.66968826211e-05,1793190822976177664
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.401349615,661.401349615,632,875,782.401349615,799,649,627,649,0.400943177011,-0.0053841822346,0.0598316345595,0.999999938348,0.000206675430533,-0.000283404085214,1.64920021968e-05,1793190822992844288
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,670,661,632,875,782,799,649,627,648.813721892,0.40094356008,-0.00538474692143,0.0598320696528,0.999999938678,0.000205995792718,-0.00028272993041,1.65497532542e-05,1793190823009510912
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,661,632,875,782,799,649,627,648.23486019,0.400946110221,-0.00538595686622,0.0598341252853,0.999999939838,0.000205350595329,-0.000279035676473,1.71610036684e-05,1793190823026177536
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..642480169de206e482f4235aeb7dc4ac64b0f2ca
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,396 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+1,0.016666667,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+2,0.033333333,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+3,0.050000000,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+4,0.066666667,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+5,0.083333333,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+6,0.100000000,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
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+371,6.183333333,pose2_to_pose3_retreat,0.575726809311,0.00021963849637,1.05002847051,0.546297270535,0.00889133851855,1.04969947003
+372,6.200000000,pose2_to_pose3_retreat,0.575726648492,0.000219639633145,1.05002847021,0.546297109701,0.00889133960822,1.04969946977
+373,6.216666667,pose2_to_pose3_retreat,0.575726350594,0.000219641738892,1.05002846966,0.546296811774,0.0088913416267,1.04969946928
+374,6.233333333,pose2_to_pose3_retreat,0.575726195676,0.000219642833955,1.05002846937,0.546296656841,0.00889134267639,1.04969946903
+375,6.250000000,pose2_to_pose3_retreat,0.575725905725,0.000219644883518,1.05002846883,0.546296366863,0.00889134464102,1.04969946856
+376,6.266666667,pose2_to_pose3_retreat,0.575725829163,0.000219645424709,1.05002846868,0.546296290294,0.00889134515978,1.04969946843
+377,6.283333333,pose2_to_pose3_retreat,0.575725454705,0.000219648071627,1.05002846798,0.5462959158,0.00889134769701,1.04969946782
+378,6.300000000,pose2_to_pose3_retreat,0.575725266276,0.000219647239975,1.05002844943,0.546295727232,0.00889134639051,1.04969944919
+379,6.316666667,pose2_to_pose3_retreat,0.575725089258,0.000219645874992,1.05002842709,0.546295550052,0.00889134446623,1.04969942675
+380,6.333333333,pose2_to_pose3_retreat,0.575724810653,0.000219643726659,1.05002839194,0.546295271191,0.00889134143762,1.04969939143
+381,6.350000000,pose2_to_pose3_retreat,0.575724704109,0.000219642905096,1.05002837849,0.546295164549,0.00889134027943,1.04969937792
+382,6.366666667,pose2_to_pose3_retreat,0.575724564404,0.000219641827829,1.05002836086,0.546295024715,0.00889133876075,1.04969936021
+383,6.383333333,pose2_to_pose3_retreat,0.575724367212,0.000219640307278,1.05002833598,0.546294827342,0.00889133661716,1.0496993352
+384,6.400000000,pose2_to_pose3_retreat,0.575724136428,0.0002196385277,1.05002830685,0.546294596346,0.0088913341084,1.04969930594
+385,6.416666667,pose2_to_pose3_retreat,0.575723972031,0.000219637260026,1.05002828611,0.546294431798,0.0088913323213,1.0496992851
+386,6.433333333,pose2_to_pose3_retreat,0.575723924953,0.000219636897007,1.05002828017,0.546294384677,0.00889133180953,1.04969927913
+387,6.450000000,pose2_to_pose3_retreat,0.57572384724,0.000219636297764,1.05002827036,0.546294306893,0.00889133096475,1.04969926928
+388,6.466666667,pose2_to_pose3_retreat,0.575723646443,0.000219634749414,1.05002824502,0.546294105911,0.00889132878197,1.04969924382
+389,6.483333333,pose2_to_pose3_retreat,0.575723386952,0.000219655329467,1.0500282813,0.546293846122,0.00889134824022,1.04969927764
+390,6.500000000,pose2_to_pose3_retreat,0.575723136581,0.000219680277755,1.05002833186,0.54629359545,0.00889137203806,1.0496993253
+391,6.516666667,pose2_to_pose3_retreat,0.575722964389,0.000219697435823,1.05002836663,0.546293423051,0.00889138840491,1.04969935809
+392,6.533333333,pose2_to_pose3_retreat,0.575722860663,0.000219685549032,1.05002838265,0.54629331961,0.0088913774554,1.04969937339
+393,6.550000000,pose2_to_pose3_retreat,0.575722712212,0.00021955704716,1.05002838079,0.546293173627,0.00889125738843,1.04969937303
+394,6.566666667,pose2_to_pose3_retreat,0.575722611005,0.000219504307116,1.05002836635,0.546293072577,0.00889120531016,1.04969936179
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cb13a690bff1a78b03fbaeab44f886e296fc2712
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:465fd85aeb2861b941bce116205e6591c72def7aeb0614c1a10c792869dc0c29
+size 25221839
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21d684427b23785210a99e1ece17e9acf0fc987a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_04/franka_data.csv
@@ -0,0 +1,399 @@
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+22,0.366666667,BASELINE,765,741.232390379,711,670.232390379,662,632,876,782.232390379,798.767609621,649,626.767609621,649,0.400947927076,-0.0053866518849,0.0598366738341,0.99999994111,0.000204373536256,-0.000275179794554,1.69496812501e-05,1793190823543586560
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+29,0.483333333,BASELINE,764,742,711,670,661.167362338,632,875,782.832637662,798.167362338,649,627,649,0.400945196597,-0.00538801987785,0.0598356726064,0.999999940994,0.000202103075975,-0.000277282955129,1.67514336919e-05,1793190823660253184
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+43,0.716666667,BASELINE,765,742,711,670.957429051,661.042570949,632,876,782,798.085141897,649,627,649,0.40094597218,-0.00538579166621,0.0598367296988,0.999999940734,0.000205279593629,-0.000275869741913,1.69754051278e-05,1793190823893586688
+44,0.733333333,BASELINE,764.455573644,742,711,670.455573644,661.544426356,632,875.455573644,782.544426356,798.544426356,649,627,649,0.400945039691,-0.00538558229572,0.0598355466798,0.999999940368,0.000205312657402,-0.000277178794213,1.68091936324e-05,1793190823910253056
+45,0.750000000,BASELINE,764,741.86965844,711,670,662,632,875.13034156,782.86965844,799,649,627,649,0.400944011274,-0.00538536230158,0.0598343735126,0.999999939983,0.000205292754551,-0.000278591270103,1.65786924537e-05,1793190823926919680
+46,0.766666667,BASELINE,764,741.290433503,711,670,662,632,875.709566497,782.290433503,799,649,627,649,0.400943177924,-0.00538514418395,0.0598339402752,0.999999939736,0.000205262156157,-0.000279518777189,1.6283433741e-05,1793190823943586560
+47,0.783333333,BASELINE,764.287146594,741.287146594,711,670,661.712853406,632,876,782,799.287146594,649,627,649,0.400944499262,-0.00538561216564,0.0598348154647,0.999999940263,0.00020461897234,-0.000278093655377,1.64208840193e-05,1793190823960253440
+48,0.800000000,BASELINE,764.863072566,741.863072566,711,670,661.136927434,632,876,782,799.863072566,649,627,649,0.400947987541,-0.00538677014797,0.059837006521,0.999999941557,0.000203359719782,-0.000274302527159,1.69935037407e-05,1793190823976920064
+49,0.816666667,BASELINE,765,741.563508502,711,670,661.436491498,632,876,782,799.563508502,649,627,649.436491498,0.400947387308,-0.00538690717344,0.0598364844609,0.999999941647,0.000202637302328,-0.000274524861967,1.67109795481e-05,1793190823993586688
+50,0.833333333,BASELINE,764.990547787,741.009452213,711,670.009452213,662,632.009452213,875.990547787,782,798.990547787,649,627,649.990547787,0.400945567986,-0.00538672852957,0.0598351616872,0.999999941368,0.00020212607043,-0.000275949631075,1.61747083197e-05,1793190824010253056
+51,0.850000000,BASELINE,764.397599456,741.602400544,711,670.602400544,662,632.602400544,875.397599456,782,798.397599456,649,627,649.397599456,0.400947215044,-0.00538672124583,0.0598366495816,0.999999941365,0.000204315084314,-0.000274324919356,1.64396890714e-05,1793190824026919680
+52,0.866666667,BASELINE,764,742,711,671,662,633,875,782,798.380864676,649,627,649.190432338,0.400948407153,-0.00538660060618,0.0598375748458,0.999999941378,0.000205650107687,-0.000273264113046,1.6673692112e-05,1793190824043586304
+53,0.883333333,BASELINE,764,742,711,671,662,633,875,782,799.536914642,649,627,649.768457321,0.400948673291,-0.00538624924985,0.0598373549718,0.999999941435,0.000205246978454,-0.00027335104042,1.68446452735e-05,1793190824060252928
+54,0.900000000,BASELINE,764,741.655774446,711,671,662,632.655774446,875,782.344225554,799.311548892,649,626.655774446,649.655774446,0.400948105353,-0.00538630338398,0.0598371683498,0.99999994129,0.000205129855151,-0.000273967765723,1.68443692584e-05,1793190824076919552
+55,0.916666667,BASELINE,764,741.081514347,711,671,662,632.081514347,875,782.918485653,798.163028695,649,626.081514347,649.081514347,0.400946980029,-0.00538662849396,0.0598370039492,0.99999994101,0.00020520386016,-0.000274938537444,1.6729666445e-05,1793190824093586432
+56,0.933333333,BASELINE,764,741.505029571,711,671,662,632,875.505029571,783,798.505029571,649,626.505029571,649,0.400945692864,-0.00538683794979,0.0598362547094,0.999999941038,0.000203733278481,-0.000275933604668,1.66692103006e-05,1793190824110253312
+57,0.950000000,BASELINE,764,742,711,670.907552091,662,632,876,782.907552091,799.092447909,649,627,649,0.400944881134,-0.00538678938496,0.0598356908135,0.999999941082,0.000202662414716,-0.000276564044187,1.66054278177e-05,1793190824126919936
+58,0.966666667,BASELINE,764,742,711,670.326255572,662,632,876,782.326255572,799.673744428,649,627,649,0.400946724998,-0.00538547762084,0.0598366185776,0.99999994096,0.000205056332288,-0.000275245142158,1.64766034813e-05,1793190824143586560
+59,0.983333333,BASELINE,764,741.747919054,711,670,662,632,876,782,799.747919054,649,627,649.252080946,0.400947291141,-0.00538610190972,0.0598369918101,0.999999940989,0.000205514272972,-0.000274792485876,1.66059287774e-05,1793190824160252928
+60,1.000000000,BASELINE,764,741.173368977,711,670,662,632,876,782,799.173368977,649,627,649.826631023,0.400946222788,-0.00538920285258,0.05983665567,0.999999941213,0.000203495657162,-0.000275447955669,1.70654864244e-05,1793190824176919552
+61,1.016666667,BASELINE,764.410606931,741.410606931,711,670,662,632,875.589393069,782,799,649,627,649.589393069,0.400945345916,-0.00538783279279,0.05983596009,0.9999999408,0.000204043323911,-0.000276567435856,1.66212881707e-05,1793190824193586176
+62,1.033333333,BASELINE,764.998656143,741.998656143,711,670,662,632,875.001343857,782,799,649,627,649.001343857,0.400944551792,-0.00538453060539,0.0598351091792,0.999999940108,0.000205700000387,-0.000277887436394,1.57865350882e-05,1793190824210253056
+63,1.050000000,BASELINE,764.422606796,741.422606796,711,670,662.577393204,632,875.577393204,782,799,649,627,649,0.400945086702,-0.00538572133495,0.0598355092568,0.999999940523,0.000204764194147,-0.000277060143951,1.62469877296e-05,1793190824226919936
+64,1.066666667,BASELINE,764,741.155717331,711,670.155717331,662.688565338,632,876,782.155717331,798.844282669,649,627,649,0.400945531506,-0.00538650268476,0.059835914115,0.999999940756,0.000204518043388,-0.000276379457031,1.65891217957e-05,1793190824243586816
+65,1.083333333,BASELINE,764,741.732981299,711,670.732981299,661.534037401,632,876,782.732981299,798.267018701,649,627,649,0.400945724137,-0.00538614793212,0.0598363241579,0.999999940494,0.000206154953104,-0.000276108964725,1.66029211882e-05,1793190824260253440
+66,1.100000000,BASELINE,764.309902563,741.690097437,711,671,661.309902563,632,876,782.690097437,798,649,627,649,0.40094607545,-0.005386127705,0.059836783416,0.99999994075,0.00020553472043,-0.000275650886016,1.64881691306e-05,1793190824276920064
+67,1.116666667,BASELINE,764.886528842,741.113471158,711,671,661.886528842,632,876,782.113471158,798,649,627,649,0.400946563335,-0.00538639539383,0.059837285032,0.999999941448,0.000202971833826,-0.000275031357407,1.62627767465e-05,1793190824293586432
+68,1.133333333,BASELINE,764.528744481,741,711,670.528744481,662,632,875.528744481,782,798.471255519,649,627,649,0.400945942622,-0.00538682271713,0.0598368312779,0.999999941404,0.00020261517029,-0.000275450528014,1.6289988714e-05,1793190824310253312
+69,1.150000000,BASELINE,764.057157143,741.057157143,711,670.057157143,662,632,875.057157143,782,799,649,627,649,0.400945209964,-0.00538719615918,0.0598361787354,0.999999941185,0.000202908790712,-0.000276026208855,1.6373334315e-05,1793190824326919936
+70,1.166666667,BASELINE,764.635673443,741.635673443,711,670.635673443,662,632,875.635673443,782,799,649,627,649,0.400945933622,-0.00538672138246,0.0598358479409,0.999999941008,0.000204203661292,-0.000275708283385,1.64041999581e-05,1793190824343586560
+71,1.183333333,BASELINE,764.787287119,742,711,670.787287119,662,632,876,782.212712881,799,649,627,649,0.400946262667,-0.00538665154709,0.0598357064061,0.999999940879,0.000205041426299,-0.000275546469666,1.65391364122e-05,1793190824360253184
+72,1.200000000,BASELINE,764.212759659,742,711,670.212759659,662,632,876,782.787240341,799,649,627,649,0.400945920491,-0.0053872704978,0.0598358867931,0.999999940833,0.000205101676499,-0.00027565019462,1.68510924119e-05,1793190824376920064
+73,1.216666667,BASELINE,764.362674281,741.637325719,711,670.362674281,662,632,876,783,798.637325719,649.362674281,627,649,0.400945451926,-0.00538617341803,0.0598360011399,0.999999940203,0.000207549176192,-0.000276100017174,1.69301363031e-05,1793190824393586944
+74,1.233333333,BASELINE,764.938641298,741.061358702,711,670.938641298,662,632,876,783,798.061358702,649.938641298,627,649,0.400944909031,-0.00538406712182,0.0598360766477,0.999999939216,0.000211400643581,-0.000276753383526,1.68722020008e-05,1793190824410253312
+75,1.250000000,BASELINE,764.471268576,741.528731424,711,671,662,632.528731424,876,783,798.528731424,649.471268576,627,649,0.400946171158,-0.00538553113822,0.0598369295144,0.999999940236,0.000208362468452,-0.000275367797528,1.68732428408e-05,1793190824426919936
+76,1.266666667,BASELINE,764.117448449,742,711,670.882551551,662,632.882551551,876,783,798.882551551,649,627,649,0.400947097213,-0.00538728340447,0.0598374470735,0.999999941227,0.000204992670775,-0.00027429793813,1.68760968781e-05,1793190824443586304
+77,1.283333333,BASELINE,764.694210045,742,711,670.305789955,662,632.305789955,876,783,798.305789955,649,627,649,0.400945867293,-0.00538849812807,0.0598362908454,0.999999941218,0.000203538583071,-0.000275413564686,1.68585420754e-05,1793190824460252928
+78,1.300000000,BASELINE,765,742,711.271694845,670,662,632,876,783,798.54338969,649,626.728305155,649,0.400945623934,-0.00538875726565,0.0598360782874,0.999999941292,0.000202859284094,-0.000275647167652,1.68084566642e-05,1793190824476919808
+79,1.316666667,BASELINE,765,742,711.849995737,670,662,632,876,783,799.699991475,649,626.150004263,649,0.400946493905,-0.0053879380299,0.0598369306558,0.999999941464,0.000203054329776,-0.000274885412065,1.67216606519e-05,1793190824493586432
+80,1.333333333,BASELINE,764.576387982,742,711.576387982,670,662,632,876,782.576387982,799.576387982,649,626.423612018,649.423612018,0.400946490061,-0.00538675197856,0.0598371573844,0.999999941273,0.00020385999758,-0.000275004775216,1.63719501688e-05,1793190824510253056
+81,1.350000000,BASELINE,764.004412369,742,711.004412369,670,662,632,876,782.004412369,799.004412369,649,626.995587631,649.995587631,0.400946180177,-0.00538543745562,0.0598371649924,0.999999940954,0.00020487952641,-0.000275432736596,1.59301579273e-05,1793190824526919680
+82,1.366666667,BASELINE,764,742,711,670,662,632,876,782,799,649,627,650,0.400944837386,-0.00538624464149,0.0598362798575,0.999999940538,0.000204901324483,-0.00027688394918,1.6570603883e-05,1793190824543586304
+83,1.383333333,BASELINE,764.177444652,742,711,670,662,632,876,782,798.822555348,649,627,649.822555348,0.400943922071,-0.00538673466624,0.0598356070447,0.999999940327,0.000204536656575,-0.000277897130409,1.68573269098e-05,1793190824560253184
+84,1.400000000,BASELINE,764.757383617,742,711,670,662,632,876,782,798.242616383,649,627,649.242616383,0.400943994604,-0.00538646786616,0.0598354315812,0.999999940585,0.000203312969403,-0.000277898689621,1.63226227637e-05,1793190824576919808
+85,1.416666667,BASELINE,764.665911681,742,711,670,662,632,876,782,798.334088319,649,627,649,0.400944404347,-0.00538735041351,0.0598357351322,0.999999941004,0.000202080867252,-0.000277282478664,1.64490123006e-05,1793190824593586432
+86,1.433333333,BASELINE,764.091533229,742,711,670,662,632,876,782,798.908466771,649,627,649,0.400945056625,-0.00538905961906,0.0598363832104,0.999999941536,0.000200842712772,-0.000276221941858,1.70508877788e-05,1793190824610253056
+87,1.450000000,BASELINE,764,742,711,670,662,632,875.506207188,782,799,649,627,649,0.400946034565,-0.00538753234834,0.0598372854044,0.999999941263,0.000204109744422,-0.000274804886648,1.71975334283e-05,1793190824626919680
+88,1.466666667,BASELINE,764,742,711,670.0804166,662.0804166,632,875,782,799,649,627,649,0.400946878366,-0.00538563355806,0.0598380096904,0.999999940868,0.000207596478237,-0.000273629331404,1.71555509986e-05,1793190824643586304
+89,1.483333333,BASELINE,764,742,711,670.662192461,662.662192461,632,875,782,799,649,627,649,0.400946500984,-0.00538524365349,0.0598373244694,0.999999940771,0.00020712835148,-0.000274380776361,1.64755902111e-05,1793190824660252928
+90,1.500000000,BASELINE,764,742,711.241479154,670.758520846,662.758520846,632,875.241479154,782.241479154,798.758520846,649,627,649,0.400945764795,-0.00538563852371,0.0598366649292,0.99999994061,0.000206594635444,-0.000275374712588,1.6357803077e-05,1793190824676920064
+91,1.516666667,BASELINE,764,742,711.817319205,670.182680795,662.182680795,632,875.817319205,782.817319205,798.182680795,649,627,649,0.400944531787,-0.00538712002191,0.0598360409477,0.999999940361,0.000205970102122,-0.000276704411061,1.70184222673e-05,1793190824693587968
+92,1.533333333,BASELINE,764,741.599373851,711.599373851,670,662,632,876,782.599373851,798.400626149,649,627,649,0.400946194305,-0.00538568073894,0.0598367393751,0.999999940264,0.00020827563603,-0.000275330493469,1.69251703461e-05,1793190824710254336
+93,1.550000000,BASELINE,764,741.012597375,711.012597375,670,662,632,876,782.012597375,798.987402625,649,627,649,0.400949202223,-0.0053828843196,0.0598380522577,0.999999940222,0.000211942621132,-0.000272700344924,1.6481633425e-05,1793190824726919936
+94,1.566666667,BASELINE,764,741.567019712,711,670.567019712,662,632,875.432980288,782,799,649,627,649,0.400947432607,-0.00538603719565,0.0598375494759,0.999999940535,0.000208715584913,-0.000274003741234,1.70087353739e-05,1793190824743586816
+95,1.583333333,BASELINE,763.854872103,742,711,671,662,632,875.145127897,782,799.145127897,649,627,649.145127897,0.400945845813,-0.00538844489247,0.059837052049,0.999999940827,0.00020570010246,-0.000275197974831,1.73049538841e-05,1793190824760253184
+96,1.600000000,BASELINE,763.280759653,742,711,671,662,632,875.719240347,782,799.719240347,649,627,649.719240347,0.400945109261,-0.00538826408586,0.0598366882007,0.999999941063,0.000203757043573,-0.000275814435666,1.68557546948e-05,1793190824776920064
+97,1.616666667,BASELINE,763.293154802,742,711,670.706845198,662,632,875.706845198,782.293154802,799.706845198,649,627,650,0.400945441647,-0.00538903423509,0.0598371237134,0.999999941493,0.000202509754555,-0.000275169870922,1.68933341637e-05,1793190824793586688
+98,1.633333333,BASELINE,763.866879725,742,711,670.133120275,662,632,875.133120275,782.866879725,799.133120275,649,627,650,0.400946797083,-0.0053907145171,0.059838324272,0.99999994211,0.000201928367203,-0.000273318414424,1.73967956669e-05,1793190824810253312
+99,1.650000000,BASELINE,764,742,711,670.455999323,662,632,875.455999323,782.544000677,799,649,627,649.544000677,0.400947185341,-0.00538922273081,0.0598385259466,0.999999941853,0.0002036096101,-0.00027300892988,1.74045696286e-05,1793190824826919936
+100,1.666666667,BASELINE,764,742,711.048563204,670.951436796,661.951436796,632,875.951436796,782,799,649,627,649,0.400947190398,-0.00538697460115,0.0598383333728,0.999999941323,0.000205819466153,-0.000273301971511,1.72481033747e-05,1793190824843586560
+101,1.683333333,BASELINE,764,742,711.627935174,670.372064826,661.372064826,632,875.372064826,782,799,649,627,649,0.400946200964,-0.00538693478341,0.0598371302459,0.999999940733,0.000206335160305,-0.000275088621154,1.69333920087e-05,1793190824860253184
+102,1.700000000,BASELINE,764,742,711.793588276,670.206411724,661.206411724,632,875.206411724,782,799,649,627,649,0.400945367975,-0.00538669365104,0.0598363947151,0.999999940399,0.000206734237755,-0.000276013735966,1.67227677778e-05,1793190824876919808
+103,1.716666667,BASELINE,764,742,711.216718846,670.783281154,661.783281154,632,875.783281154,782,799,649,627,649,0.400944815764,-0.00538609120897,0.0598364984033,0.999999940531,0.000206924017171,-0.000275392609837,1.66989541008e-05,1793190824893586432
+104,1.733333333,BASELINE,764,741.641949538,711,670.641949538,662,632,875.641949538,782,798.641949538,649,627,649,0.400945819841,-0.00538614424884,0.0598372518073,0.999999940976,0.000206177513438,-0.000274330829869,1.67578290214e-05,1793190824910253056
+105,1.750000000,BASELINE,764,741.068443915,711,670.068443915,662,632,875.068443915,782,798.068443915,649,627,649,0.400947760406,-0.00538659172178,0.0598383961746,0.999999941607,0.000204867605794,-0.000273003888489,1.68664614099e-05,1793190824926919680
+106,1.766666667,BASELINE,764,741,711,670,662,632,875,782.519471819,798.519471819,649,626.480528181,649,0.40094858086,-0.00538722742235,0.0598389057828,0.999999942303,0.000203510642775,-0.00027146015047,1.69551102344e-05,1793190824943586304
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,662,632,875,782,799,649,627,649,0.400947431931,-0.00538831262484,0.0598374416852,0.999999942532,0.00020028606571,-0.000273052039088,1.62365742346e-05,1793190824986032384
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,670.426074928,662,632,875,782,798.426074928,649,626.426074928,649,0.4009463144,-0.00538692606036,0.0598377442972,0.999999941899,0.00020311866823,-0.000273262865096,1.64741992088e-05,1793190825002699008
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,670,662,632,875,782,798,649,626.152110414,649,0.400945695756,-0.00538587988122,0.0598379359627,0.999999941297,0.000205743347501,-0.000273488935733,1.66997165415e-05,1793190825019365888
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,670,662,632,875,782,798,649,626.742573154,649,0.400946514805,-0.0053858146254,0.0598378079022,0.999999940801,0.000207768833494,-0.000273758938453,1.68903420855e-05,1793190825036032256
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,670.327042876,662,632,875.327042876,782,798.654085752,649.327042876,627,649.327042876,0.400946396704,-0.00538612970662,0.0598374435988,0.999999940826,0.000206704194241,-0.000274485360909,1.67340578592e-05,1793190825052698880
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,670.906880138,662,632,875.906880138,782,799.813760276,649.906880138,627,649.906880138,0.400945554216,-0.00538673877702,0.0598368966868,0.999999941244,0.000203250980236,-0.000275564582188,1.63096227179e-05,1793190825069365504
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,670.03508776,662,632,875.51754388,782.48245612,799.51754388,649.51754388,627,649.51754388,0.400947141028,-0.00538726585215,0.0598380292733,0.999999941809,0.000202880181254,-0.000273757057998,1.66799903707e-05,1793190825086032128
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,669.057575647,662,632,875.057575647,783,799,649,627,649,0.400949627544,-0.00538774567969,0.059839559633,0.999999942416,0.000203259949301,-0.000271217935988,1.71430206606e-05,1793190825102698752
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,669.635940863,662,632,875.635940863,783,799,649,627,649,0.400956048087,-0.00538794003664,0.0598417814861,0.999999943163,0.000205094497125,-0.000267056996846,1.70687522213e-05,1793190825119365376
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,741.782160279,711,670,662,632.217839721,876,783,799,649,627,649,0.400969903237,-0.00538818477407,0.0598476156294,0.99999994575,0.000205948957037,-0.000256485857235,1.72941842409e-05,1793190825136032256
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,741.194258597,711,670,662,632.805741403,876,783,799,649,627,649,0.400996388155,-0.00538851509688,0.0598595862622,0.999999951178,0.000205138462058,-0.000235025191737,1.80287416836e-05,1793190825152698880
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,741.389180844,711,670,662,632.610819156,875.610819156,783,799.389180844,649,627,649,0.401041525383,-0.00539026222604,0.0598775000237,0.999999958713,0.000203618306467,-0.000201859622239,1.91512979811e-05,1793190825169365504
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,741.970418271,711,670,662,632.029581729,875.029581729,783,799.970418271,649,627,649,0.401095867328,-0.00539270853398,0.0598983466567,0.999999966168,0.000201747940659,-0.000162917805738,2.04653276054e-05,1793190825186032128
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.545204009,741.454795991,711,670,662,632,875.545204009,782.454795991,798.909591981,649,626.454795991,649,0.401167013116,-0.00539421822801,0.0599151818321,0.999999969821,0.000201526477088,-0.000138884140025,2.13528957652e-05,1793190825202698496
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.88045425,741.11954575,711,670,662,632.11954575,876,782.11954575,798,649.11954575,626.11954575,649,0.401240155089,-0.00539615346802,0.0599292890327,0.999999972561,0.000200956794454,-0.000118380553466,2.19103533612e-05,1793190825219365376
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.306485004,741.693514996,711,670,662,632.693514996,876,782.693514996,798,649.693514996,626.693514996,649,0.401317459848,-0.00539989723202,0.0599338442011,0.999999974167,0.000198727337182,-0.000108256853924,2.12999063046e-05,1793190825236032000
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,670.276905691,661.723094309,632.723094309,875.723094309,782.723094309,798,649.723094309,627,649,0.401403294596,-0.00540296573733,0.0599364812255,0.999999975143,0.000196748590977,-0.000102863948816,2.05555235372e-05,1793190825252698624
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,670.871091502,661.128908498,632.128908498,875.128908498,782.128908498,798,649.128908498,627,649,0.401498903049,-0.00540526052716,0.0599369204293,0.99999997549,0.000195057111094,-0.000102891615555,1.96576765073e-05,1793190825269365248
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,670.548106595,661.451893405,632,875,782,798.451893405,649,627,649,0.401622621676,-0.00540940318238,0.0599410716829,0.999999977084,0.000191635210863,-9.36457621234e-05,1.83888305086e-05,1793190825286032128
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,670,661.971127687,632,875.028872313,782,799,649,627,649,0.401755433285,-0.00541397281951,0.059945978869,0.999999978845,0.000187802297167,-8.21735583178e-05,1.69763806739e-05,1793190825302698752
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,670,661.396320956,632,875.603679044,782,799,649,627,649,0.401912917817,-0.00541693555446,0.0599457331268,0.999999979751,0.000185262960576,-7.71859831876e-05,1.47921608913e-05,1793190825319365376
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.817291833,741.817291833,711,670.182708167,661.182708167,632,876,782.182708167,799,649,626.817291833,649,0.402077901244,-0.00542057300052,0.0599454959422,0.999999980683,0.00018201400839,-7.31224738469e-05,1.25638062638e-05,1793190825336032000
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.228887121,741.228887121,711,670.771112879,661.771112879,632,876,782.771112879,799,649,626.228887121,649,0.402259535662,-0.0054257086166,0.0599452777598,0.999999981721,0.000177189382085,-7.11108181487e-05,1.0237452182e-05,1793190825352698624
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.705808061,741.352904031,711,670.647095969,661.647095969,632.352904031,876,782.647095969,799,649,626.352904031,649,0.402467528136,-0.0054316249703,0.0599444636609,0.999999983084,0.000170613745713,-6.83218183802e-05,7.40545950142e-06,1793190825369365248
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.860969425,741.930484712,711,670.069515288,661.069515288,632.930484712,876,782.069515288,799,649,626.930484712,649,0.402692301506,-0.00543803838178,0.0599432701712,0.999999984604,0.000162923326811,-6.50379216473e-05,4.25155134798e-06,1793190825386031616
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,742,711,670,661.507630401,632.492369599,876,782.507630401,799,649,626.492369599,649,0.402955773942,-0.00544446422817,0.0599451325188,0.999999986242,0.000155003158809,-5.90645378748e-05,1.05935790181e-06,1793190825402698496
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.913789704,741.913789704,711,670,662,632,876.086210296,782.913789704,799,649,626,649,0.403228998083,-0.00545128997629,0.0599467041075,0.999999987817,0.000146441009985,-5.39947183393e-05,-2.26435862563e-06,1793190825419365120
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.326528099,741.326528099,711,670,662,632,876.673471901,782.326528099,799,649,626,649,0.403528124891,-0.00546043005389,0.0599441557727,0.999999989372,0.000134330386859,-5.63150974546e-05,-6.32203915673e-06,1793190825436032000
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,741.257038916,711,670.257038916,662,632,876.742961084,782,799,649,626.257038916,649,0.403838521063,-0.00546918796298,0.0599367623578,0.999999990094,0.000123077021991,-6.74627800641e-05,-1.06173138951e-05,1793190825452698624
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,741.835978997,711,670.835978997,662,632,876.164021003,782,799,649,626.835978997,649,0.404163030339,-0.00547746726503,0.0599233012354,0.999999989492,0.000112897240122,-8.96652838084e-05,-1.52101380865e-05,1793190825469365248
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,671,662,632,876,782,799,649,627,649,0.404512272511,-0.00548536887056,0.0599102494356,0.999999988229,0.000101531964085,-0.00011320284012,-2.04611111773e-05,1793190825486031872
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711,671,662,632,876,782,799,649,627,649,0.404871291796,-0.0054931211693,0.0598973594448,0.999999986219,8.969805246e-05,-0.000137268153316,-2.5972255925e-05,1793190825502698496
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,741.431470858,711,671,662,632,876,782,799,649,627,649,0.405300498525,-0.00550147302921,0.059895310259,0.999999986114,8.0467893549e-05,-0.000142583459807,-3.10881120464e-05,1793190825519365120
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,741,711,670.853538902,662,632,876,782.146461098,799,649,627,649,0.405750020083,-0.00551065051428,0.0599011071735,0.999999987916,6.98965287126e-05,-0.000134274959222,-3.53966204085e-05,1793190825536032000
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,741,711,670.267113842,662,632,876,782.732886158,799,649,627,649,0.406258128052,-0.00552228731592,0.0599300968523,0.999999994109,5.52057676083e-05,-8.5692457694e-05,-3.72936172546e-05,1793190825552698368
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,741,711,670,662,632,876.316033545,782.683966455,798.683966455,649,627,649,0.40679205589,-0.00552558295619,0.0599578011613,0.999999998393,-1.33414849114e-05,-4.0961438812e-05,-3.68490741481e-05,1793190825569365248
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,741,711,670,662,632,876.896439118,782.103560882,798.103560882,649,627,649,0.407347582918,-0.00552190095316,0.0599844302212,0.99999999135,-0.000126941392899,5.47699135049e-07,-3.44457588594e-05,1793190825586031872
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.473583452,741.473583452,711.473583452,670.473583452,662,632,876.526416548,782,798.473583452,649,627,649,0.407884387583,-0.00552608047902,0.0599872318549,0.999999989232,-0.000141872355377,-4.04191432257e-06,-3.73017287765e-05,1793190825602699264
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.950089187,742,712,671,662,632,876.049910813,782,799,649,627,649,0.40842091646,-0.00553308588926,0.0599837707046,0.999999989556,-0.000137007647469,-2.02186922921e-05,-4.13388514024e-05,1793190825619366144
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.374905397,742,712,671,662,632,876.625094603,782,799,649,627,649,0.408997335967,-0.0055518628845,0.0599688596516,0.999999986399,-0.000149331106364,-5.29760046792e-05,-4.57858306509e-05,1793190825636032512
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711.79481887,671,662.20518113,632,876.79481887,782,799,649,626.79481887,649.20518113,0.409600061061,-0.00556093094908,0.0599597012409,0.999999990148,-0.000115164207131,-6.96144981538e-05,-3.99317158465e-05,1793190825652698880
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+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,876.375862179,782,799,649,626,649.624137821,0.410927581416,-0.00554092161531,0.0599663736853,0.999999998592,2.69166432132e-05,-4.44399682793e-05,-1.0792503761e-05,1793190825686032896
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,876.953075502,782,799,649,626,649.046924498,0.411615769981,-0.00552905604079,0.059973285448,0.999999999247,-5.92983803862e-06,-3.38151622253e-05,-1.81121974386e-05,1793190825702699776
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,741.469138345,711,671,663,632,876.469138345,782,799,649,626.530861655,649,0.412293707454,-0.00553003856,0.0599572795028,0.999999997913,-4.72883043958e-06,-6.00847570965e-05,-2.32775006377e-05,1793190825719365888
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.109739137,741.109739137,711,671,662.890260863,632,876,782,799,649.109739137,626.890260863,649,0.412971441176,-0.00553317973661,0.0599360805336,0.999999994818,-5.32092598452e-06,-9.77938046187e-05,-2.77846730318e-05,1793190825736032256
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+154,2.566666667,POSE1_TO_POSE2_PRESS,764.724031618,742,711,671,662,632,876.275968382,782,799,649.724031618,626.275968382,649,0.414404778175,-0.00554614996303,0.0598994391889,0.999999983363,-3.86462314356e-05,-0.00017554421079,-3.10665260922e-05,1793190825769365504
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+159,2.650000000,POSE1_TO_POSE2_PRESS,764.83608564,742,711.83608564,671,662.83608564,632,876.16391436,782,799,649,626.16391436,648.83608564,0.418498669602,-0.00554103341731,0.0599874608864,0.999999999027,-2.5367515065e-05,-2.00452728482e-05,-2.99990876751e-05,1793190825852699392
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.245518972,742,711.245518972,671,662.245518972,632,876.754481028,782,799,649,626.754481028,648.245518972,0.419324250505,-0.00554206296359,0.0599614401619,0.999999996948,-3.91402658542e-05,-5.88686732434e-05,-3.32543027081e-05,1793190825869365760
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a2189397687debbe8a85082aec22a23021574f61
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,399 @@
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+348,5.800000000,pose2_to_pose3_retreat,0.577936143644,0.000219731035801,1.05002859845,0.54850655445,0.00889144154492,1.04969959831
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+350,5.833333333,pose2_to_pose3_retreat,0.577425438115,0.000219711948279,1.05002843359,0.547995848707,0.00889142169554,1.04969943257
+351,5.850000000,pose2_to_pose3_retreat,0.577195766133,0.000219660838982,1.0500283912,0.547766177932,0.00889137469336,1.04969939046
+352,5.866666667,pose2_to_pose3_retreat,0.576978888583,0.00021969772398,1.05002849903,0.547549301021,0.00889141384537,1.04969950089
+353,5.883333333,pose2_to_pose3_retreat,0.576780530272,0.000219725656504,1.05002857065,0.547350941934,0.00889143896286,1.04969956769
+354,5.900000000,pose2_to_pose3_retreat,0.576602077266,0.000219749987814,1.05002852346,0.547172488146,0.00889146073363,1.04969952311
+355,5.916666667,pose2_to_pose3_retreat,0.576447595882,0.000219648438278,1.05002850177,0.547018007335,0.00889136119197,1.04969950306
+356,5.933333333,pose2_to_pose3_retreat,0.576315532285,0.000219692014938,1.05002845205,0.546885943425,0.00889140387172,1.04969945778
+357,5.950000000,pose2_to_pose3_retreat,0.576206087865,0.000219759776004,1.05002868512,0.546776498741,0.0088914705615,1.04969968666
+358,5.966666667,pose2_to_pose3_retreat,0.576110867273,0.000219642255153,1.050028579,0.546681279378,0.00889135706432,1.0496995777
+359,5.983333333,pose2_to_pose3_retreat,0.576028447279,0.000219872490294,1.05002845667,0.54659885661,0.00889157814296,1.04969946152
+360,6.000000000,pose2_to_pose3_retreat,0.575958167211,0.000219731434097,1.05002842954,0.546528579986,0.00889144902052,1.04969944073
+361,6.016666667,pose2_to_pose3_retreat,0.575898877282,0.000219730238957,1.05002842242,0.546469288579,0.00889144253513,1.04969942628
+362,6.033333333,pose2_to_pose3_retreat,0.575850500022,0.000219666964989,1.05002823109,0.546420910606,0.00889137679801,1.0496992337
+363,6.050000000,pose2_to_pose3_retreat,0.575812027512,0.000219582107029,1.05002825983,0.546382439722,0.0088912973424,1.04969925931
+364,6.066666667,pose2_to_pose3_retreat,0.575783386535,0.000219641454431,1.05002832253,0.546353800303,0.00889136226891,1.04969932976
+365,6.083333333,pose2_to_pose3_retreat,0.575762591367,0.000219489603351,1.0500283085,0.546333006416,0.0088912147326,1.04969931492
+366,6.100000000,pose2_to_pose3_retreat,0.575748416312,0.000219614467892,1.05002818893,0.546318828833,0.00889133116884,1.04969919936
+367,6.116666667,pose2_to_pose3_retreat,0.575739631298,0.000219581003503,1.05002829521,0.546310044321,0.00889129928817,1.04969930257
+368,6.133333333,pose2_to_pose3_retreat,0.575734417472,0.000219595038755,1.05002833309,0.54630482971,0.00889131053562,1.0496993372
+369,6.150000000,pose2_to_pose3_retreat,0.575731855987,0.000219613630004,1.05002834302,0.546302267466,0.00889132647099,1.04969934503
+370,6.166666667,pose2_to_pose3_retreat,0.575730115909,0.000219627520543,1.0500283515,0.546300526905,0.00889133865572,1.04969935176
+371,6.183333333,pose2_to_pose3_retreat,0.575728952184,0.000219645390067,1.05002836906,0.546299363078,0.00889135605387,1.04969936588
+372,6.200000000,pose2_to_pose3_retreat,0.575728217741,0.000219656667769,1.05002838015,0.546298628571,0.00889136703408,1.0496993748
+373,6.216666667,pose2_to_pose3_retreat,0.575727746992,0.00021966389634,1.05002838725,0.54629815778,0.00889137407197,1.04969938051
+374,6.233333333,pose2_to_pose3_retreat,0.575727346273,0.000219670049564,1.0500283933,0.546297757026,0.00889138006287,1.04969938538
+375,6.250000000,pose2_to_pose3_retreat,0.575727072172,0.000219674258501,1.05002839744,0.546297482902,0.00889138416078,1.04969938871
+376,6.266666667,pose2_to_pose3_retreat,0.575726899516,0.000219676909711,1.05002840004,0.54629731023,0.00889138674206,1.0496993908
+377,6.283333333,pose2_to_pose3_retreat,0.575726649002,0.000219680756467,1.05002840382,0.546297059694,0.00889139048734,1.04969939384
+378,6.300000000,pose2_to_pose3_retreat,0.575726361796,0.000219685166657,1.05002840816,0.546296772463,0.00889139478119,1.04969939733
+379,6.316666667,pose2_to_pose3_retreat,0.575726115145,0.00021968920261,1.05002841026,0.546296525782,0.00889139869455,1.04969939887
+380,6.333333333,pose2_to_pose3_retreat,0.575725918007,0.000219695291114,1.05002839322,0.546296328522,0.00889140442378,1.04969938333
+381,6.350000000,pose2_to_pose3_retreat,0.57572571409,0.000219701588993,1.05002837559,0.546296124478,0.00889141035003,1.04969936725
+382,6.366666667,pose2_to_pose3_retreat,0.575725678771,0.000219702679787,1.05002837254,0.546296089137,0.00889141137646,1.04969936447
+383,6.383333333,pose2_to_pose3_retreat,0.57572543406,0.000219710237553,1.05002835138,0.546295844274,0.00889141848825,1.04969934518
+384,6.400000000,pose2_to_pose3_retreat,0.575725204552,0.000219717325794,1.05002833154,0.546295614623,0.00889142515822,1.04969932709
+385,6.416666667,pose2_to_pose3_retreat,0.575724935274,0.00021972564229,1.05002830826,0.546295345178,0.00889143298396,1.04969930586
+386,6.433333333,pose2_to_pose3_retreat,0.575724569275,0.000219736945978,1.05002827663,0.546294978952,0.00889144362063,1.04969927701
+387,6.450000000,pose2_to_pose3_retreat,0.575724381359,0.000219742749644,1.05002826038,0.54629479092,0.00889144908183,1.0496992622
+388,6.466666667,pose2_to_pose3_retreat,0.575724262165,0.000219746430891,1.05002825008,0.546294671651,0.00889145254585,1.0496992528
+389,6.483333333,pose2_to_pose3_retreat,0.575723985998,0.000219754960159,1.05002822621,0.546294395313,0.00889146057181,1.04969923103
+390,6.500000000,pose2_to_pose3_retreat,0.575723623382,0.000219742123703,1.05002825182,0.546294033124,0.00889144921459,1.04969925747
+391,6.516666667,pose2_to_pose3_retreat,0.575723404665,0.000219714605483,1.05002831413,0.546293815201,0.00889142434938,1.04969931867
+392,6.533333333,pose2_to_pose3_retreat,0.575723247413,0.000219694820522,1.05002835893,0.54629365852,0.00889140647187,1.04969936268
+393,6.550000000,pose2_to_pose3_retreat,0.575723109876,0.000219677516196,1.05002839811,0.546293521483,0.00889139083584,1.04969940117
+394,6.566666667,pose2_to_pose3_retreat,0.575723065352,0.000219671914341,1.05002841079,0.546293477121,0.00889138577405,1.04969941363
+395,6.583333333,pose2_to_pose3_retreat,0.575722807295,0.000219636161475,1.05002844137,0.546293219524,0.00889135146458,1.04969944102
+396,6.600000000,pose2_to_pose3_retreat,0.575722640971,0.000219607572859,1.05002838859,0.546293052693,0.00889132095887,1.04969938301
+397,6.616666667,pose2_to_pose3_retreat,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986112,1.04969936286
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c274fb483a3b560553d964008f6b7f75d68efb0a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fe84e8513c900fbcd2a713d3693d0be616fb37ba39b608a0f1500c929a5af4d
+size 25417129
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ad8aa8d4239735dc84a28fa0a7cf5299bda4524
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_05/franka_data.csv
@@ -0,0 +1,402 @@
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+29,0.483333333,BASELINE,764,741.126069247,711,670,661.873930753,632,876,782.126069247,799,649,627,649,0.400949698013,-0.00539362049737,0.0598381292399,0.99999994387,0.000195301708077,-0.000271776257581,1.59345523345e-05,1793190830496667648
+30,0.500000000,BASELINE,764,741.455415472,711,670,662,632,875.544584528,782,799,649,627,649,0.400949531172,-0.00539322282555,0.0598377927159,0.999999944016,0.000194437537883,-0.000271867604674,1.58059506142e-05,1793190830513334272
+31,0.516666667,BASELINE,764,741.964972896,711,670,662,632,875.035027104,782,799,649,626.964972896,649,0.400948881481,-0.00539272974602,0.0598371866953,0.999999944066,0.00019349885262,-0.000272359428768,1.56960347906e-05,1793190830530001152
+32,0.533333333,BASELINE,764,741.388055476,711,670,662,632,875.611944524,782,799,649,626.388055476,649,0.40094891936,-0.00539352152097,0.059837103378,0.999999943902,0.000193612296065,-0.000272878040268,1.5746135963e-05,1793190830546667776
+33,0.550000000,BASELINE,764,741,711,670,662,632,875.812282694,782,799,649,626.187717306,649,0.400948415446,-0.00539443180871,0.0598369015433,0.99999994379,0.000193176507921,-0.000273597158183,1.57549723042e-05,1793190830563334400
+34,0.566666667,BASELINE,764,741,711,670,662,632,875.238861877,782,799,649,626.761138123,649,0.400946798309,-0.00539558560504,0.0598364561901,0.999999943782,0.00019161221138,-0.000274728257378,1.56790216233e-05,1793190830580001024
+35,0.583333333,BASELINE,764,741.344756585,711,670,662,632,875,782,799,649,627,649,0.400947239738,-0.00539587663108,0.0598370381172,0.999999944081,0.000191108657835,-0.000273981402296,1.57819774767e-05,1793190830596667904
+36,0.600000000,BASELINE,764,741.935655825,711,670,662,632,875,782,799,649,627,649,0.400949150901,-0.00539555167317,0.059838353482,0.999999944599,0.000191362432945,-0.000271893761772,1.60126655571e-05,1793190830613334784
+37,0.616666667,BASELINE,764,742,711,670,661.483775735,632,875.516224265,782.516224265,799,649,627,649,0.400948796186,-0.00539467196423,0.0598381393143,0.999999944448,0.000191718408783,-0.00027220899181,1.5797887017e-05,1793190830630001152
+38,0.633333333,BASELINE,764.094986326,742,711,670,661,632,875.905013674,783,798.905013674,649,627,649,0.400948025927,-0.00539400723157,0.0598375410687,0.999999944118,0.000192244104181,-0.000273061601733,1.56093894078e-05,1793190830646668032
+39,0.650000000,BASELINE,764.670993866,742,711,670,661,632,875.329006134,783,798.329006134,649,627,649,0.4009465535,-0.00539477445657,0.0598359443249,0.999999943287,0.000193566033787,-0.000275148603917,1.58296475773e-05,1793190830663334656
+40,0.666666667,BASELINE,764.754675755,742,711,670.245324245,661.245324245,632,875,782.754675755,798.245324245,649,626.754675755,649,0.400946832283,-0.0053948644338,0.0598359999654,0.999999943231,0.000194495449169,-0.000274693895971,1.58710801628e-05,1793190830680001280
+41,0.683333333,BASELINE,764.18257939,742,711,670.81742061,661.81742061,632,875,782.18257939,798.81742061,649,626.18257939,649,0.40094944368,-0.00539405231634,0.0598382565832,0.999999944203,0.000194902035164,-0.000270853627666,1.56743168926e-05,1793190830696667904
+42,0.700000000,BASELINE,764,742,711,671,662,632,875,782,799,649,626,649,0.400949473385,-0.00539286245902,0.059838172123,0.999999943984,0.000195510967566,-0.000271248222851,1.52179547434e-05,1793190830713334528
+43,0.716666667,BASELINE,764,742,711,671,662,632,875,782,799,649,626,649,0.400948292965,-0.00539149554266,0.0598369903226,0.999999943207,0.000196214746351,-0.000273627837481,1.46399100951e-05,1793190830730000896
+44,0.733333333,BASELINE,764,742,711,670.424797614,662,632,875.575202386,782,799,649,626.575202386,649,0.400949822769,-0.00539250010086,0.0598378697593,0.99999994381,0.000196009941764,-0.000271532740026,1.51791745343e-05,1793190830746667776
+45,0.750000000,BASELINE,764.152528037,742,711,670,662,632,875.847471963,782,799,649,627,649,0.400951023245,-0.00539334943275,0.0598385563084,0.999999944254,0.000195905405292,-0.000269944960687,1.56111409656e-05,1793190830763334400
+46,0.766666667,BASELINE,764.727198999,742,711,670,662,632,875.272801001,782,799,649,627,649,0.400951272065,-0.0053937339815,0.0598386784427,0.999999944247,0.000196091850581,-0.000269827622432,1.57295736752e-05,1793190830780001024
+47,0.783333333,BASELINE,764.691183898,742,711,670,662,632,875,782,799,649,627,649,0.400950356624,-0.00539375071615,0.0598383125871,0.999999944122,0.000195473150779,-0.000270735613701,1.579429751e-05,1793190830796667648
+48,0.800000000,BASELINE,764.103289474,742,711,670,662,632,875,782,799,649,627,649,0.400948389038,-0.00539343505579,0.0598375057332,0.999999943885,0.000194126838222,-0.000272570199265,1.58104844377e-05,1793190830813334784
+49,0.816666667,BASELINE,764,742,711,670,662,632.478599681,875.478599681,782,799,649,627,649,0.400948916478,-0.00539370637623,0.0598372732712,0.999999943835,0.000194912008042,-0.000272204940407,1.56200948792e-05,1793190830830001152
+50,0.833333333,BASELINE,764,742,711,670.058603771,661.941396229,632.941396229,875.941396229,782,799,649,627,649,0.400949760315,-0.0053940120426,0.0598371768719,0.999999943847,0.00019580267124,-0.000271534022795,1.54007309899e-05,1793190830846667776
+51,0.850000000,BASELINE,764,742,711,670.633279686,661.366720314,632.366720314,875.366720314,782,799,649,627,649,0.400948707347,-0.00539351842925,0.0598372005524,0.999999944064,0.000193621633771,-0.000272300436973,1.53139494467e-05,1793190830863334400
+52,0.866666667,BASELINE,764,741.792126611,711,670.792126611,661.207873389,632,875,782,798.792126611,649,627,649,0.400947658693,-0.00539315542217,0.0598370857695,0.999999943955,0.000192876726078,-0.000273225645524,1.54037580879e-05,1793190830880001024
+53,0.883333333,BASELINE,764,741.217677919,711,670.217677919,661.782322081,632,875,782,798.217677919,649,627,649,0.400946617646,-0.00539302273336,0.0598367268128,0.999999943272,0.000194664368297,-0.000274430880716,1.58049755217e-05,1793190830896667648
+54,0.900000000,BASELINE,764,741,711,670,661.631244303,632,875,782.368755697,798,649,627,649,0.400946840071,-0.00539340460842,0.0598368558636,0.999999943291,0.000195143996296,-0.000274017591104,1.58477648203e-05,1793190830913334272
+55,0.916666667,BASELINE,764,741,711,670,661.037498301,632,875,782.962501699,798,649,627,649,0.400947833382,-0.00539410043629,0.0598372826643,0.999999943739,0.000194825560573,-0.000272616784797,1.56718649926e-05,1793190830930000896
+56,0.933333333,BASELINE,764,741,711,670,661.541020254,632,875,782.458979746,798.541020254,649,627,649,0.400948990314,-0.00539418161326,0.059838116909,0.999999944343,0.000193422561151,-0.00027139786847,1.56259496579e-05,1793190830946668032
+57,0.950000000,BASELINE,764.117401109,741,711,670,662,632.117401109,875.117401109,782,799.117401109,649,627,649,0.400949975283,-0.00539369688622,0.059838775093,0.999999944626,0.000193228242936,-0.000270495839235,1.55777898136e-05,1793190830963335168
+58,0.966666667,BASELINE,764.689478421,741,711,670,662,632.689478421,875.689478421,782,799.689478421,649,627,649,0.400950251552,-0.00539118097408,0.0598386450453,0.999999943619,0.000197998116852,-0.000270773576833,1.54870010084e-05,1793190830980001792
+59,0.983333333,BASELINE,764.72979375,741.27020625,711,670.27020625,662,632.72979375,875.72979375,782,799.72979375,649,627,649,0.400950399185,-0.00539128965524,0.0598385536808,0.999999943643,0.000197729221164,-0.000270874885392,1.56218449067e-05,1793190830996667904
+60,1.000000000,BASELINE,764.138795863,741.861204137,711,670.861204137,662,632.138795863,875.138795863,782,799.138795863,649,627,649,0.400950394101,-0.00539451428023,0.0598385082413,0.999999944882,0.000191478247033,-0.00027076673562,1.60245622581e-05,1793190831013334528
+61,1.016666667,BASELINE,764,742,711,670.556518805,662,632,875.443481195,782,799,649,626.556518805,649.443481195,0.400949711687,-0.005394834826,0.0598382425452,0.999999944946,0.000190896639143,-0.000270952033011,1.58851861419e-05,1793190831030000896
+62,1.033333333,BASELINE,764,742,711,670,661.977191605,632,876,782,799,649,626.022808395,649.977191605,0.400948869969,-0.00539426275715,0.0598379272178,0.999999944659,0.000192042858518,-0.00027121845323,1.55837180829e-05,1793190831046667776
+63,1.050000000,BASELINE,764,742,711,670,661.404449341,632,876,782,799,649,626.595550659,649.404449341,0.400949199837,-0.00539366040465,0.0598380452306,0.999999944484,0.000192892753462,-0.000271269179484,1.53857967367e-05,1793190831063334400
+64,1.066666667,BASELINE,764,742,711,670,661,632,875.834993484,782,798.834993484,649.165006516,627,649.165006516,0.400949590527,-0.00539332742815,0.0598381645282,0.999999944415,0.000193479696692,-0.000271110423224,1.53501277666e-05,1793190831080001024
+65,1.083333333,BASELINE,764,742,711,670,661,632,875.273435702,782,798.273435702,649.726564298,627,649.726564298,0.400950127387,-0.00539364182852,0.0598382869137,0.999999944597,0.000193434702196,-0.000270448228932,1.57043911956e-05,1793190831096667648
+66,1.100000000,BASELINE,764,742,711,670.312208968,661.312208968,632.312208968,875.312208968,782,798.312208968,649.687791032,626.687791032,649.687791032,0.400950312509,-0.00539305654429,0.0598385237052,0.999999944536,0.000194250914173,-0.000270088371876,1.57305982405e-05,1793190831113334272
+67,1.116666667,BASELINE,764,742,711,670.920712718,661.920712718,632.920712718,875.920712718,782,798.920712718,649.079287282,626.079287282,649.079287282,0.400950163821,-0.00539161743494,0.0598388690709,0.999999944241,0.000195884434467,-0.000270015441096,1.54454708555e-05,1793190831130001152
+68,1.133333333,BASELINE,764,742,711,671,662,632.495054449,875.495054449,782.504945551,798.495054449,649,626,649,0.400950700555,-0.00539340802222,0.0598389323912,0.999999944571,0.000194422493675,-0.000269844092403,1.55831885336e-05,1793190831146667776
+69,1.150000000,BASELINE,764,741.91559603,711,670.91559603,662,632,875.08440397,782.91559603,798.08440397,649,626.08440397,649,0.400950998157,-0.00539519082119,0.059838838405,0.999999944827,0.000192996852186,-0.000269908589152,1.57430178197e-05,1793190831163334400
+70,1.166666667,BASELINE,764,741.342724564,711,670.342724564,662,632,875.657275436,782.342724564,798.657275436,649,626.657275436,649,0.400949317548,-0.00539412824528,0.0598380785918,0.999999944134,0.000194465197226,-0.000271423317277,1.56641857612e-05,1793190831180001024
+71,1.183333333,BASELINE,764,741,711,670,661.76827526,632,875.76827526,782.23172474,798.76827526,649,627,649,0.400948305355,-0.00539403282637,0.0598374964345,0.999999943728,0.000195022392842,-0.000272517054042,1.5650587946e-05,1793190831196667904
+72,1.200000000,BASELINE,764,741,711,670,661.191476223,632,875.191476223,782.808523777,798.191476223,649,627,649,0.400948288537,-0.00539537765501,0.0598371788344,0.999999943755,0.000194222745009,-0.000272983869206,1.57341340864e-05,1793190831213334528
+73,1.216666667,BASELINE,764,741.396084189,711,670.396084189,661.396084189,632,875.396084189,783,798.396084189,649,627,649,0.400948035664,-0.00539458944173,0.0598371776101,0.999999943657,0.000194826242101,-0.000272932869739,1.53815172351e-05,1793190831230001152
+74,1.233333333,BASELINE,764,741.988992153,711,670.988992153,661.988992153,632,875.988992153,783,798.988992153,649,627,649,0.400947665491,-0.00539274126847,0.0598373336008,0.999999943495,0.000196126995755,-0.000272624555678,1.48121604808e-05,1793190831246668032
+75,1.250000000,BASELINE,764,742,711,671,662,632,875.434583339,782.434583339,799,649,627,649,0.40094827817,-0.00539365984469,0.0598379119233,0.999999943813,0.000195621669653,-0.000271791761582,1.53622925109e-05,1793190831263334656
+76,1.266666667,BASELINE,764,742,711,670.859015164,661.859015164,632,875.140984836,782.140984836,799,649,626.859015164,649,0.4009488075,-0.00539441373585,0.0598383776473,0.999999944129,0.000194916266758,-0.000271108038668,1.58015918227e-05,1793190831280001280
+77,1.283333333,BASELINE,764,742,711,670.285119019,661.285119019,632,875.714880981,782.714880981,799,649,626.285119019,649,0.400949023803,-0.00539450122845,0.0598384730916,0.999999944418,0.000193701413565,-0.000270912522805,1.58355376154e-05,1793190831296667648
+78,1.300000000,BASELINE,764,742,711,670.297106714,661.297106714,632,876,782.702893286,798.702893286,649,626.297106714,649,0.400948897035,-0.00539456389471,0.059837909144,0.999999944439,0.000193327122537,-0.000271110990633,1.56761137531e-05,1793190831313334528
+79,1.316666667,BASELINE,764,742,711,670.887556484,661.887556484,632,876,782.112443516,798.112443516,649,626.887556484,649,0.400948431541,-0.00539460204911,0.0598366941575,0.999999944197,0.000193782745762,-0.000271698451297,1.53257697816e-05,1793190831330001152
+80,1.333333333,BASELINE,763.531227548,741.531227548,711,670.531227548,662,632,876,782,798.468772452,649,627,649,0.400948489104,-0.00539411087387,0.059837303937,0.999999944171,0.000193773594914,-0.000271794515673,1.54067882129e-05,1793190831346667776
+81,1.350000000,BASELINE,763.09509298,741.04754649,711,670,661.95245351,632,875.95245351,782,799,649,627,649,0.400948765994,-0.00539357378827,0.0598383342823,0.999999944227,0.000193672283547,-0.00027165358844,1.55603258705e-05,1793190831363334400
+82,1.366666667,BASELINE,764.24664477,741.623322385,711,670,661.376677615,632,875.376677615,782,799,649,627,649,0.400950112603,-0.0053939099977,0.0598392681725,0.999999944615,0.000193761730323,-0.000270163957039,1.53922134555e-05,1793190831380001280
+83,1.383333333,BASELINE,764.798136209,742,711,670,661.201863791,632,875.201863791,782.201863791,799,649,627,649,0.400950753583,-0.00539417551797,0.0598395598363,0.999999944833,0.000193652187231,-0.000269442264486,1.53038370598e-05,1793190831396668160
+84,1.400000000,BASELINE,764.214362582,742,711,670,661.785637418,632,875.785637418,782.785637418,799,649,627,649,0.40095005957,-0.00539430730019,0.0598386364602,0.999999944729,0.000193166171542,-0.000270173449372,1.53663146837e-05,1793190831413334784
+85,1.416666667,BASELINE,764,741.63183907,711,670,662,632,876,782.63183907,798.63183907,649,627,649,0.400950423395,-0.0053939674875,0.0598385639179,0.999999944827,0.000193398016948,-0.000269637894658,1.54717483894e-05,1793190831430001152
+86,1.433333333,BASELINE,764,741.050041012,711,670,662,632,876,782.050041012,798.050041012,649,627,649,0.400951401063,-0.00539335401679,0.0598389850992,0.999999945041,0.00019404642419,-0.000268367273823,1.56021087285e-05,1793190831446667776
+87,1.450000000,BASELINE,764,741,711,670,662,632,875.472805761,782,798,649,627,649,0.400950098768,-0.00539428395118,0.0598381230474,0.999999944577,0.000193612685832,-0.000270392293539,1.57205156437e-05,1793190831463334656
+88,1.466666667,BASELINE,764.103777504,741,711,670,662,632.103777504,875.103777504,782,798.103777504,649,627,649.103777504,0.400949081212,-0.00539512805,0.0598375402736,0.999999944242,0.000193055783111,-0.000272020422287,1.57985738201e-05,1793190831480001024
+89,1.483333333,BASELINE,764.679348758,741,711,670,662,632.679348758,875.679348758,782,798.679348758,649,627,649.679348758,0.400950333557,-0.00539492162207,0.0598387761484,0.9999999448,0.000192401914322,-0.000270434260244,1.56983122997e-05,1793190831496667648
+90,1.500000000,BASELINE,764.739479435,741.260520565,711,670,662,632.739479435,876,782,799,649,626.739479435,649.739479435,0.400950559702,-0.0053947524046,0.0598392200685,0.999999944987,0.000192049774324,-0.000269997507398,1.56065918614e-05,1793190831513334272
+91,1.516666667,BASELINE,764.151263014,741.848736986,711,670,662,632.151263014,876,782,799,649,626.151263014,649.151263014,0.400949495041,-0.00539462999233,0.0598386678281,0.99999994471,0.000192077164005,-0.000271006539303,1.55256148328e-05,1793190831530001152
+92,1.533333333,BASELINE,764,741.567822444,711.432177556,670,662,632,875.567822444,782,798.567822444,649,626.432177556,649,0.40094947537,-0.00539430361959,0.0598385595588,0.999999944632,0.000192517041615,-0.000270989198082,1.54116174383e-05,1793190831546667776
+93,1.550000000,BASELINE,764,741,711.986270058,670.013729942,662,632,875.013729942,782,798.027459883,649.013729942,627,649,0.400949794586,-0.00539392322118,0.0598385995135,0.999999944614,0.000193113318833,-0.000270637049158,1.5297191001e-05,1793190831563334656
+94,1.566666667,BASELINE,764,741,711.414270653,670.585729347,662,632,875.585729347,782,799.171458695,649.585729347,627,649,0.40094918411,-0.00539421700638,0.0598384171193,0.999999944256,0.000194262822791,-0.000271118388839,1.56301075373e-05,1793190831580001024
+95,1.583333333,BASELINE,764,741.162905852,711,671,662,632.162905852,875.837094148,782,799.837094148,649.837094148,627,649,0.400948481232,-0.00539435614418,0.0598380980398,0.999999943967,0.000194784221755,-0.000271800062317,1.58367203463e-05,1793190831596667648
+96,1.600000000,BASELINE,764,741.753680006,711,671,662,632.753680006,875.246319994,782,799.246319994,649.246319994,627,649,0.400947535665,-0.00539408910437,0.0598374199598,0.999999943859,0.000193655918299,-0.000273007907796,1.57115995244e-05,1793190831613334272
+97,1.616666667,BASELINE,764,741.662431049,711,671,662,632.662431049,875,782,799,649,626.662431049,649,0.400947571667,-0.00539336701537,0.0598373497388,0.999999943769,0.000194095820346,-0.000273036959734,1.55062184396e-05,1793190831630000896
+98,1.633333333,BASELINE,764,741.083465769,711,671,662,632.083465769,875,782,799,649,626.083465769,649,0.400948309592,-0.00539231951966,0.059837714199,0.99999994369,0.000195657149805,-0.000272223053641,1.52434430643e-05,1793190831646667520
+99,1.650000000,BASELINE,764,741.493484738,711,671,662,632,875.493484738,782,799,649,626.493484738,649,0.400948682391,-0.00539193519835,0.0598380773175,0.999999943363,0.00019804201971,-0.000271688768422,1.5421570199e-05,1793190831663334400
+100,1.666666667,BASELINE,764,742,711,670.930007376,662,632,876,782,799,649,627,649,0.400949103392,-0.00539174421557,0.0598384600656,0.999999943107,0.000200065899393,-0.000271132851938,1.56886204151e-05,1793190831680001536
+101,1.683333333,BASELINE,764,742,711,670.354245478,662,632,876,782,799,649,627,649,0.400950317129,-0.00539214308195,0.0598389862916,0.999999943702,0.000198478829298,-0.000270080269949,1.60615613655e-05,1793190831696668416
+102,1.700000000,BASELINE,764,742,711,670.226323275,661.773676725,632,875.773676725,782,799,649,626.773676725,649,0.400951204737,-0.00539261008237,0.0598393795632,0.999999944218,0.000197246620701,-0.000269073412795,1.60230704182e-05,1793190831713334784
+103,1.716666667,BASELINE,764,742,711,670.814579017,661.185420983,632,875.185420983,782,799,649,626.185420983,649,0.400951570803,-0.00539318604157,0.059839560216,0.999999944611,0.000196581900943,-0.000268139678147,1.53266242932e-05,1793190831730001152
+104,1.733333333,BASELINE,764,741.603368564,711,670.603368564,661,632,875,782.396631436,799,649,626.396631436,649,0.40095008962,-0.00539373204106,0.0598389769289,0.999999944256,0.000196491740277,-0.000269521526492,1.53921011695e-05,1793190831746667776
+105,1.750000000,BASELINE,764,741.024171425,711,670.024171425,661,632,875,782.975828575,799,649,626.975828575,649,0.400947758166,-0.00539426425043,0.0598380420075,0.999999943553,0.000196666043676,-0.00027196921573,1.58082839446e-05,1793190831763334656
+106,1.766666667,BASELINE,764,741,711,670,661.552915963,632,875.552915963,782.447084037,799,649,627,649,0.400948491071,-0.00539238874003,0.0598382740648,0.999999943632,0.000197087608463,-0.000271394193062,1.53985134836e-05,1793190831780001024
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,741,711,670,662,632,875,782,800,649,627,649,0.400951729916,-0.0053932449459,0.0598396309827,0.999999944498,0.000196495333575,-0.000268590449289,1.58932413963e-05,1793190831822231552
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,741.594572165,711.594572165,670.594572165,662,632,875,782,798.81085567,649,626.405427835,649.594572165,0.400951234174,-0.00539341073886,0.0598396233062,0.999999944482,0.00019579266439,-0.000269157246615,1.5965122933e-05,1793190831838898432
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,741.815305519,711.815305519,670.815305519,662,632,875,782,798,649,626.184694481,649.815305519,0.400951130213,-0.0053932571176,0.0598396585888,0.999999944463,0.000195645746954,-0.000269342202142,1.58845220533e-05,1793190831855565312
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,741.234721276,711.234721276,670.234721276,662,632,875,782,798,649,626.765278724,649.234721276,0.400951866025,-0.00539241883693,0.0598397859537,0.999999944435,0.000196690074669,-0.000268708685789,1.54770774853e-05,1793190831872231936
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.342433447,741.342433447,711,670,662,632.342433447,875,782,798.342433447,649,626.657566553,649,0.400950667542,-0.00539256768327,0.0598391611054,0.999999944139,0.000196859272917,-0.00026968707141,1.53880552865e-05,1793190831888898048
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.917260676,741.917260676,711,670,662,632.917260676,875,782,798.917260676,649,626.082739324,649,0.400948156341,-0.00539338644723,0.0598380257646,0.99999994366,0.000196434561105,-0.000271759380579,1.55151316842e-05,1793190831905564160
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.500306029,742,711,670.499693971,662,632.500306029,875.499693971,782,799,649,626,649,0.400949630472,-0.00539394083195,0.0598387934356,0.999999943893,0.000195757171977,-0.000271383722936,1.56119739798e-05,1793190831922230784
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,670.91642068,662,632,875.91642068,782,799,649,626.08357932,649,0.400953030527,-0.00539451436511,0.0598404614347,0.9999999446,0.000194934782244,-0.000269358154762,1.57356090933e-05,1793190831938897408
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,670.331496555,662,632,875.331496555,782,799,649,626.668503445,649,0.400963963617,-0.00539546940439,0.0598456106654,0.999999947375,0.000193497459651,-0.000259904662807,1.60504523542e-05,1793190831955564288
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,670,662,631.750429088,875,782,799,649,627,649,0.400984877183,-0.00539628317456,0.0598545328004,0.999999951634,0.000192758378568,-0.000243523410026,1.65286848375e-05,1793190831972231424
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,670,662,631.174406378,875,782,799,649,627,649,0.401018845732,-0.00539691215726,0.059868390091,0.999999957461,0.000192932633919,-0.000218080284634,1.72206389333e-05,1793190831988898304
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,741.599840823,711.400159177,670.400159177,662,631.400159177,875.400159177,782,799,649,627,649,0.401070568291,-0.00539825157012,0.0598882264028,0.999999964739,0.000192618420129,-0.000181888846255,1.83398156014e-05,1793190832005564672
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,741.025908004,711.974091996,670.974091996,662,631.974091996,875.974091996,782,799,649,627,649,0.401130000733,-0.00539989949534,0.0599106591733,0.999999971413,0.000192092082877,-0.00014102982915,1.96445185337e-05,1793190832022230784
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,741.564430046,711.435569954,671,662,632,875.435569954,782,798.435569954,649,627,649,0.401199032161,-0.00540309636566,0.0599221708232,0.999999973433,0.000189503750664,-0.000129572432117,2.08025584115e-05,1793190832038897152
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,670.847580522,662,632,875.152419478,782,798.152419478,649,627,649,0.401272292586,-0.00540582263089,0.0599311541798,0.999999975009,0.000187723881104,-0.000119531905082,2.12979385416e-05,1793190832055563776
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,670.268339621,662,632,875.731660379,782,798.731660379,649,627,649,0.401356124755,-0.00540702600047,0.059934503335,0.999999976036,0.000188480932691,-0.000109566707896,1.99570838297e-05,1793190832072230400
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,741.692303626,711,670,662,632,876,782,799.307696374,649,627,649,0.401451307121,-0.00540950800036,0.059937522929,0.999999977172,0.000186699647559,-0.000102206243836,1.87867160202e-05,1793190832088897024
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,741.119033826,711,670,662,632,876,782,799.880966174,649,627,649,0.401556285864,-0.00541309358885,0.0599402580778,0.999999978434,0.000182727518322,-9.70939313303e-05,1.77634959166e-05,1793190832105563904
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.455600553,741.455600553,711,670,662,632,875.544399447,782.455600553,799.544399447,649,627,649,0.401680042622,-0.00541685736165,0.0599400086348,0.999999979388,0.000179195437213,-9.40986141745e-05,1.60922126009e-05,1793190832122230528
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.968452381,741.968452381,711,670.031547619,662,632,875.031547619,782.968452381,799,649,627,649,0.401810701031,-0.00542070332188,0.0599390782487,0.999999980272,0.000175747000182,-9.1469785172e-05,1.42492036303e-05,1793190832138897152
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.375509106,741.375509106,711,670.624490894,662,632,875.624490894,782.375509106,799,649,627,649,0.401976608518,-0.00542518090047,0.0599399483337,0.999999981523,0.000171734957247,-8.54905411353e-05,1.23724038663e-05,1793190832155563520
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,741,711,671,662.212431009,632,876,782,799,649,627,649,0.402153847975,-0.00542989818609,0.0599407781243,0.999999982765,0.000167470317713,-7.95078851371e-05,1.01132980531e-05,1793190832172230400
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,741,711,671,662.791730598,632,876,782,799,649,627,649,0.402350657739,-0.00543502944553,0.0599415383264,0.999999984025,0.000162769444006,-7.35193372997e-05,7.19394947812e-06,1793190832188897024
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,741,711,670.631887469,662.631887469,632,876,782,798.631887469,649,627,649,0.402572200787,-0.00544238010082,0.0599423281763,0.99999998568,0.000154450401572,-6.90096090212e-05,4.71239649005e-06,1793190832205563648
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,741,711,670.057143242,662.057143242,632,876,782,798.057143242,649,627,649,0.402807627327,-0.00545097656457,0.0599431346683,0.99999998748,0.000144100380997,-6.53299822964e-05,2.47658994059e-06,1793190832222230272
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,741.528326287,711,670.528326287,662,632,876,782,798,649.528326287,627,649,0.403073976266,-0.00545708443205,0.0599454373401,0.999999988965,0.000136701089261,-5.81584699289e-05,-1.04106054021e-06,1793190832238896896
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,741.886560791,711,671,662,632,876,782,798,649.886560791,627,649,0.403351121006,-0.00546340305366,0.0599457892353,0.999999990199,0.000128865726527,-5.45139934988e-05,-4.83283195385e-06,1793190832255563520
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,741.307767926,711,671,662,632,876,782,798,649.307767926,627,649,0.403658548334,-0.0054717132914,0.0599374609976,0.999999990768,0.000117905152056,-6.69196543965e-05,-9.16858115176e-06,1793190832272230144
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,741.269518465,711,670.730481535,662,632,876,782,798,649,627,649,0.403978560916,-0.00547896219778,0.0599275621059,0.999999990626,0.000108623899238,-8.2180713881e-05,-1.39416723349e-05,1793190832288897024
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,741.845094111,711,670.154905889,662,632,876,782,798,649,627,649,0.404312864922,-0.00548500588723,0.0599158796265,0.999999989621,0.000101249634983,-0.000100684278642,-1.92113958563e-05,1793190832305563648
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,741.57843506,711.42156494,670,662,632,875.57843506,782,798.42156494,649,627,649,0.404672343946,-0.00549366414903,0.0599019277937,0.999999987707,9.00896105688e-05,-0.000125976313894,-2.45047038985e-05,1793190832322230016
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,741.001634606,711.998365394,670,662,632,875.001634606,782,798.998365394,649,627,649,0.405041093319,-0.00550328519116,0.059887140303,0.999999984728,7.75355319331e-05,-0.000153768109912,-2.98066964831e-05,1793190832338896640
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,741.590767833,711.409232167,670.590767833,662,632,875.590767833,782.590767833,799,649.590767833,627,649,0.405486424416,-0.00551346210517,0.0598955933707,0.999999987194,6.76576727813e-05,-0.000141034331635,-3.38241177361e-05,1793190832355563520
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,670.821128144,662,632,876,782.821128144,799,649.821128144,627,649,0.405959210323,-0.00552459712277,0.059910928734,0.99999999094,5.71924786581e-05,-0.000116047602352,-3.71715610332e-05,1793190832372230144
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,670.242724275,662,632,876,782.242724275,799,649.242724275,627,649,0.40649283369,-0.00553786865111,0.0599414890108,0.999999996163,4.53984134335e-05,-6.39496724727e-05,-3.903068093e-05,1793190832388896768
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,670,662,632,876,782,799,649,626.667978266,649,0.407034169015,-0.00554351999563,0.0599680166182,0.999999997948,-4.53993406907e-05,-2.38667473708e-05,-3.83815612418e-05,1793190832405563648
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+149,2.483333333,POSE1_TO_POSE2_PRESS,764.390829457,741,711,670.609170543,662.390829457,632,876,782,799,649.390829457,627,649,0.41122426101,-0.00554244860792,0.0599641386416,0.999999998571,1.72197874677e-05,-4.90590930579e-05,-1.24283597964e-05,1793190832522231808
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.963710572,741,711,670.036289428,662.963710572,632,876,782,799,649.963710572,627,649,0.411909985697,-0.00552819151329,0.0599671968958,0.999999998835,-3.39702833891e-06,-4.37662122109e-05,-2.00796895741e-05,1793190832538897920
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.447452497,741.552547503,711,670.552547503,663,632,876,782,799,649.447452497,627,649,0.412568956212,-0.00553091206114,0.0599424436952,0.99999999594,-6.60106026606e-06,-8.61102972256e-05,-2.57199702441e-05,1793190832555564800
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,671,662.86008997,632,876.13991003,782,799,649,626.86008997,649,0.413239497515,-0.00553584253141,0.0599164313885,0.999999990644,-1.38281393943e-05,-0.000132762673542,-2.99061398949e-05,1793190832572231680
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,671,662.28074761,632,876.71925239,782,799,649,626.28074761,649,0.41395206337,-0.0055441077137,0.0598923719514,0.999999982139,-3.73895751771e-05,-0.000182827941717,-2.99523776706e-05,1793190832588898304
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,671,662,632,876.703686206,782,799,649,626.296313794,649,0.414746933357,-0.00554917833438,0.0599064633565,0.999999986014,-4.54668155806e-05,-0.000158220089175,-2.95109455685e-05,1793190832605564672
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,671,662,632,876.128769356,782,799,649,626.871230644,649,0.415619188224,-0.00555124533406,0.0599564253171,0.999999996821,-3.89853567768e-05,-6.34023492741e-05,-2.86109915871e-05,1793190832622230784
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,741.552116077,711,671,662.895767847,632,876.895767847,782,799,649,627,649,0.416450891457,-0.00554836350393,0.0599884230454,0.999999999116,-2.99855024389e-05,-9.58151847324e-06,-2.78673980293e-05,1793190832638897408
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,741.025539734,711,671,663.974460266,632,877.974460266,782,799,649,627,649,0.417269538803,-0.00554421734433,0.0600132252054,0.999999998976,-2.10116372486e-05,2.93777085556e-05,-2.72789463984e-05,1793190832655563776
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,741.614251612,711,671,663.385748388,632,877.385748388,782,799,649,627,649,0.418058381872,-0.00554368810723,0.0599936911307,0.999999999165,-2.86389687252e-05,1.54797051741e-06,-2.91163574604e-05,1793190832672230656
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,876.799942475,782,799,649,627,649,0.418861146639,-0.00554428372746,0.0599732984636,0.9999999984,-3.58787108743e-05,-3.07819596434e-05,-3.10637641194e-05,1793190832688897280
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,876.21965962,782,799,649,627,649,0.419690370659,-0.00554701722905,0.0599512739743,0.999999995982,-4.2381808039e-05,-7.16648632867e-05,-3.32202261043e-05,1793190832705564160
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,876,782,799,649,627,649,0.420512442557,-0.00554852047238,0.0599232657995,0.999999991856,-3.89790281903e-05,-0.000116164711052,-3.56912845115e-05,1793190832722231040
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,876,782,799,649,627,649,0.421330157989,-0.00554927435171,0.0598916128966,0.999999985565,-2.95424689086e-05,-0.000162867677816,-3.83539669565e-05,1793190832738897408
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711,671,662.484769872,632,876,782.515230128,799,649,626.484769872,649,0.422144242389,-0.00554794575122,0.0598730171241,0.999999978036,-4.41127831752e-05,-0.000200994406229,-3.97802302173e-05,1793190832755564032
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711,671,662.102521408,632,876,782.897478592,799,649,626.102521408,649,0.422983581116,-0.0055471395233,0.0598704720609,0.99999997515,-5.75273613968e-05,-0.000211562882254,-4.03968415113e-05,1793190832772230656
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711,671,662.684083785,632,876,782.315916215,799,649,626.684083785,649,0.423943336126,-0.00555015822531,0.059934247201,0.99999999314,-4.95857797372e-05,-9.90628957705e-05,-3.80520475111e-05,1793190832788897280
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,876,782.262074387,798.737925613,649,626.737925613,649,0.424875110033,-0.00555283644393,0.059985450274,0.999999998299,-4.44399521325e-05,-1.26284614481e-05,-3.56046748635e-05,1793190832805563904
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,876,782.835817377,798.164182623,649,626.164182623,649,0.4257736079,-0.00555510974745,0.0600217021859,0.99999999763,-4.26189386034e-05,4.28078631447e-05,-3.30353119249e-05,1793190832822230784
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671.410112435,663,632,876.410112435,782.589887565,798.410112435,649,626,649,0.426654214495,-0.00555946424525,0.0600150042406,0.999999997508,-4.73342337749e-05,3.95087531476e-05,-3.43821061787e-05,1793190832838897664
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671.984628769,663,632,876.984628769,782.015371231,798.984628769,649,626,649,0.42752764887,-0.00556465304205,0.0599910887611,0.99999999773,-5.46697730389e-05,1.26640614442e-05,-3.72987908414e-05,1793190832855564544
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671.421650467,663,631.421650467,876.421650467,782,799,649,626,649,0.428344247885,-0.00556545528015,0.0599641401231,0.999999996517,-6.8632483662e-05,-2.56004883488e-05,-3.99948776739e-05,1793190832872231168
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.167391478,742,711,671.167391478,663,631.167391478,876.167391478,782,798.832608522,649,626,649,0.429148556346,-0.00556360593435,0.0599367552091,0.999999994178,-7.17632008979e-05,-6.86154616116e-05,-4.22569585396e-05,1793190832888897792
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.743713488,742,711,671.743713488,663,631.743713488,876.743713488,782,798.256286512,649,626,649,0.429926656415,-0.00555557347181,0.059908508194,0.999999990404,-4.79867305603e-05,-0.000122468583508,-4.34735954773e-05,1793190832905564416
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.679957805,741.679957805,711,671.679957805,663,632,876.679957805,782,798.640084389,649,626,649,0.430758393595,-0.00555412534743,0.0599071782445,0.999999991035,-3.78814738906e-05,-0.000120629896322,-4.40775463649e-05,1793190832922230784
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.103623764,741.103623764,711,671.103623764,663,632,876.103623764,782,799.792752473,649,626,649,0.431633083681,-0.00555795000378,0.0599274036555,0.999999995522,-3.87242141925e-05,-7.41928478036e-05,-4.41908542798e-05,1793190832938897408
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,741.481775636,711,671,663.963551271,632,876.481775636,782,799.518224364,649,626,649,0.43249491377,-0.00556630061403,0.0599658102594,0.999999996608,-6.94864979662e-05,-1.37445527052e-05,-4.20395991975e-05,1793190832955563776
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.931684256,742,711,671,664.863368512,632,877,782,799,649,626.068315744,648.931684256,0.433343633981,-0.00557445594224,0.0600019802322,0.999999993416,-0.000100230339835,3.92689797793e-05,-3.97477363377e-05,1793190832972230144
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.35148738,742,711,671,663.70297476,632,877,782,799,649,626.64851262,648.35148738,0.434115245984,-0.00557371403852,0.0599915282821,0.999999995766,-8.1692309254e-05,1.35608945576e-05,-4.01219270609e-05,1793190832988897024
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.226993295,742,711,671,663,632,877,782.226993295,799,649,627,648.226993295,0.434865096963,-0.0055733355188,0.0599697057874,0.999999996211,-7.17259374533e-05,-2.62435512162e-05,-4.17590918068e-05,1793190833005564160
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.802836549,742,711,671,663,632,877,782.802836549,799,649,627,648.802836549,0.435581505076,-0.00557351545816,0.0599304087042,0.999999992318,-7.49327396039e-05,-8.77117016152e-05,-4.53372321085e-05,1793190833022231040
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671.376555132,663,632,877,782.623444868,799,649,626.623444868,649,0.43629635216,-0.00557577976743,0.0599150030773,0.999999989139,-8.43476906648e-05,-0.000111683617394,-4.61913690869e-05,1793190833038897664
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671.94916745,663,632,877,782.05083255,799,649,626.05083255,649,0.437010386434,-0.00557912932468,0.0599120367779,0.999999987512,-9.69949762861e-05,-0.000116132740992,-4.56272264003e-05,1793190833055564032
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,877,782.54069753,799,649,626,649,0.437682528996,-0.00557964470704,0.0599052138285,0.99999998427,-9.78298285887e-05,-0.0001413499566,-4.37073411486e-05,1793190833072230912
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742,711,672.130848141,663.130848141,632,877,782.869151859,799,649,626.130848141,649,0.438353415771,-0.00557871205129,0.0599022525481,0.999999982385,-9.35237017143e-05,-0.000157169129596,-4.21980507023e-05,1793190833088897792
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,711,672.70995913,663.70995913,632,877,782.29004087,799,649,626.70995913,649,0.439033981732,-0.00557376457301,0.0599138078228,0.999999987282,-7.55478660875e-05,-0.000133860923359,-4.25478639995e-05,1793190833105564160
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672.71349839,664,632,877,782,799,649,627,649,0.439708402777,-0.00557299289323,0.0599423632985,0.999999993055,-6.86077764325e-05,-8.5990330025e-05,-4.23021078813e-05,1793190833122230528
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,711,672.139533077,664,632,877,782,799,649,627,649,0.440376658231,-0.00557641103485,0.0599879760623,0.999999996404,-7.27404924046e-05,-1.34748684828e-05,-4.14587822236e-05,1793190833138897408
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663.554832501,632,877,782.445167499,799,649,626.554832501,649,0.440955132233,-0.00558490505154,0.0599882702883,0.999999995207,-8.65989750895e-05,-1.59361310754e-05,-4.28101798953e-05,1793190833155564800
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672.032805761,663,631.967194239,877,782.967194239,799,649,626.032805761,649,0.441499450978,-0.00559445358588,0.059971277851,0.99999999264,-0.00010268580489,-4.64257689729e-05,-4.49583815677e-05,1793190833172231936
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672.611944635,663,631.388055365,877,782.388055365,799,649,626.611944635,649,0.441955191801,-0.00559441336632,0.0599088039749,0.99999998325,-0.000103860630774,-0.000142646742543,-4.86369101653e-05,1793190833188898304
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,711,673,662.619608556,631,877,782,799,649,627,649,0.442408699999,-0.00559261535469,0.0598545501202,0.999999968504,-0.000102279378986,-0.00022336789934,-5.13569606606e-05,1793190833205564416
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742,711,673,661.466712033,631,877,782,799,649,627,649,0.442857674228,-0.00558724759055,0.0598169896059,0.999999956961,-9.51010418964e-05,-0.000272611797786,-5.2130519723e-05,1793190833222231040
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,711.342921144,672.657078856,661.342921144,631,877,782,799,649,627,649,0.443295175204,-0.00558870105992,0.0597971746362,0.999999948868,-9.48645298714e-05,-0.000300847103146,-5.24856517717e-05,1793190833238897408
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,711.919081895,672.080918105,661.919081895,631,877,782,799,649,627,649,0.44372487256,-0.0055947940272,0.0597894293936,0.999999944136,-9.93495369401e-05,-0.000314793301543,-5.25561885084e-05,1793190833255563776
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,712,672,661.494023744,631,877.505976256,782,799,649,627,649,0.444143960492,-0.00560331748118,0.0597996936108,0.999999947297,-0.000106682444971,-0.000302126978196,-5.23857146632e-05,1793190833272231424
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.093066847,742,712,672,660.906933153,630.906933153,877.906933153,781.906933153,799,649,626.906933153,649,0.444549270059,-0.00561013707492,0.0598092905499,0.99999995028,-0.000110620813557,-0.000290703381908,-5.19051200842e-05,1793190833288898560
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.672025672,742,712,672,660.327974328,630.327974328,877.327974328,781.327974328,799,649,626.327974328,649,0.444891694579,-0.00560598768134,0.0598000408066,0.999999946716,-9.44072675009e-05,-0.000308469632306,-5.00110117325e-05,1793190833305565440
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.750304311,742,712,672,660,630,877,781,799.249695689,649,626.249695689,649,0.445202851142,-0.00559760374696,0.0597816029088,0.999999937933,-6.67348859758e-05,-0.000342915858331,-4.5706283735e-05,1793190833322231808
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.174318488,742,712,672,660,630,877,781,799.825681512,649,626.825681512,649,0.445473148238,-0.0055836863218,0.0597511583799,0.999999919314,-2.40886589039e-05,-0.000399158659535,-3.82514757147e-05,1793190833338897408
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742,711.599303745,672,659.599303745,630,877,781.400696255,799.599303745,649,626.599303745,649,0.445729491464,-0.00558008216367,0.0597277479789,0.999999902273,-6.14796872981e-05,-0.000436099235869,-3.86131758462e-05,1793190833355564032
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742,711.024710387,672,659.024710387,630,877,781.975289613,799.024710387,649,626.024710387,649,0.445979778912,-0.00558095383169,0.0597073902977,0.999999882221,-0.000133605867375,-0.00046466289418,-4.23671407745e-05,1793190833372230400
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+249,4.150000000,HOLD_POSE2,764,742,711.320112787,672,658,628.320112787,877,780.679887213,800.359774426,649,626,649,0.447923773991,-0.00560937528466,0.059678940278,0.999999861569,-0.00013989692841,-0.00050522159433,-4.51780565934e-05,1793190834214534656
+250,4.166666667,HOLD_POSE2,764,742,711.904491761,672,658,628.904491761,877,780.095508239,799.191016477,649,626,649,0.447926186531,-0.00560935935484,0.0596792108718,0.999999862505,-0.000140159619576,-0.000503295028424,-4.51612351054e-05,1793190834231201280
+251,4.183333333,HOLD_POSE2,764,742.482123097,712,672.482123097,658,628.517876903,877,780.482123097,799,649,626,649,0.447925776722,-0.00560769230337,0.0596787478825,0.999999862382,-0.000136998783271,-0.000504391030442,-4.53538939211e-05,1793190834247867904
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+254,4.233333333,HOLD_POSE2,764,742.208982729,711,672,658,628.791017271,877.208982729,780.791017271,799,649,626,648.791017271,0.447925686274,-0.00561008866165,0.059679851647,0.999999862355,-0.000140885938328,-0.000503454845263,-4.44384337534e-05,1793190834297867776
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+256,4.266666667,HOLD_POSE2,764,742.614234072,711.385765928,672,658,628,877.614234072,780.385765928,799,649,626,648.385765928,0.447926536839,-0.0056096290269,0.05967921836,0.999999862925,-0.000136884783735,-0.000503417536678,-4.45356375119e-05,1793190834331201280
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a52e6724d64b0f6e79cc01c7d173dfd20c123a1e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
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+372,6.200000000,pose2_to_pose3_retreat,0.575731489353,0.000219588904489,1.05002835881,0.546301951087,0.00889129046288,1.04969935455
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+379,6.316666667,pose2_to_pose3_retreat,0.575726595452,0.000219640318211,1.05002847722,0.546297056669,0.00889134015967,1.04969947439
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+381,6.350000000,pose2_to_pose3_retreat,0.575725827085,0.000219626234665,1.05002843632,0.546296288266,0.00889132598641,1.04969943435
+382,6.366666667,pose2_to_pose3_retreat,0.575725544833,0.000219621061216,1.0500284213,0.546296006001,0.00889132078,1.04969941964
+383,6.383333333,pose2_to_pose3_retreat,0.575724918341,0.000219609578129,1.05002838795,0.54629537948,0.00889130922376,1.04969938699
+384,6.400000000,pose2_to_pose3_retreat,0.575724411604,0.000219600290043,1.05002836098,0.546294872719,0.0088912998765,1.04969936058
+385,6.416666667,pose2_to_pose3_retreat,0.575724179986,0.000219596044674,1.05002834866,0.54629464109,0.00889129560409,1.04969934851
+386,6.433333333,pose2_to_pose3_retreat,0.575723951627,0.000219617334784,1.05002836454,0.546294412266,0.0088913153376,1.04969936494
+387,6.450000000,pose2_to_pose3_retreat,0.575723818683,0.000219633769146,1.05002837824,0.546294278979,0.00889133062314,1.04969937899
+388,6.466666667,pose2_to_pose3_retreat,0.575723656938,0.000219653763854,1.0500283949,0.546294116817,0.00889134922015,1.04969939609
+389,6.483333333,pose2_to_pose3_retreat,0.575723456297,0.000219678566686,1.05002841557,0.546293915659,0.00889137228918,1.04969941731
+390,6.500000000,pose2_to_pose3_retreat,0.575723367228,0.000219689577274,1.05002842475,0.546293826361,0.00889138253009,1.04969942672
+391,6.516666667,pose2_to_pose3_retreat,0.575723357734,0.000219690750926,1.05002842573,0.546293816842,0.0088913836217,1.04969942773
+392,6.533333333,pose2_to_pose3_retreat,0.575723276933,0.00021970073945,1.05002843405,0.546293735832,0.00889139291199,1.04969943627
+393,6.550000000,pose2_to_pose3_retreat,0.5757232613,0.000219702671948,1.05002843566,0.546293720159,0.0088913947094,1.04969943792
+394,6.566666667,pose2_to_pose3_retreat,0.575723183659,0.00021971226983,1.05002844366,0.546293642318,0.00889140363635,1.04969944613
+395,6.583333333,pose2_to_pose3_retreat,0.575723159103,0.000219715305419,1.05002844619,0.546293617698,0.00889140645974,1.04969944873
+396,6.600000000,pose2_to_pose3_retreat,0.57572310485,0.00021972201212,1.05002845178,0.546293563305,0.00889141269762,1.04969945446
+397,6.616666667,pose2_to_pose3_retreat,0.575722997106,0.000219720649828,1.05002845051,0.54629345554,0.0088914112381,1.04969945255
+398,6.633333333,pose2_to_pose3_retreat,0.575722812471,0.000219666312085,1.05002840452,0.546293271778,0.00889135968727,1.04969940214
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..538ce68c3205e9abfd3207bdf2c9b9812a7ebdd8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf18c364c2522c671e5d60d5d3dcc30a019c65cdfcfa51ca419cb740bbaccba4
+size 24650600
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b758174c59a5d2e3062c1513c08fe9a0f1cf6a0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_01/franka_data.csv
@@ -0,0 +1,389 @@
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+11,0.183333333,BASELINE,763.60822348,741.60822348,711,670.60822348,664,632.60822348,875.39177652,782.60822348,799,649,627,649,0.400936246025,-0.00545462498024,0.0499228293761,0.99999997559,6.88535534017e-07,-0.000218209073186,-3.46965883098e-05,1793190838266343424
+12,0.200000000,BASELINE,763.034917855,741.034917855,711,670.034917855,664,632.034917855,875.965082145,782.034917855,799,649,627,649,0.400933467634,-0.00545659386725,0.0499213649843,0.99999997486,-7.36869003991e-07,-0.000221663102885,-3.38280218318e-05,1793190838283010048
+13,0.216666667,BASELINE,763.555417675,741.555417675,711,670,664,632,875.444582325,782.555417675,799,649.555417675,627,649,0.400934694655,-0.00545674514972,0.0499218773705,0.999999975325,-1.45684681351e-06,-0.000219527695431,-3.39784494496e-05,1793190838299676928
+14,0.233333333,BASELINE,764.143835368,742,711,670,664,632.143835368,875.143835368,782.856164632,799,649.856164632,627,649,0.400935363657,-0.00545631981831,0.049922171905,0.999999975587,-1.80486746673e-06,-0.000218285637079,-3.42751574826e-05,1793190838316343296
+15,0.250000000,BASELINE,764.723103689,742,711,670,664,632.723103689,875.723103689,782.276896311,799,649.276896311,627,649,0.40093355695,-0.00545450577093,0.0499214188173,0.999999975007,-1.16536523896e-06,-0.000220845442792,-3.48146314878e-05,1793190838333010176
+16,0.266666667,BASELINE,765,742,711,670.299657247,664,632.700342753,876,782,799,649,627,649,0.400933499113,-0.00545427718298,0.0499211715161,0.99999997493,-9.56065939838e-07,-0.000221166150885,-3.49948864511e-05,1793190838349676544
+17,0.283333333,BASELINE,765,742,711,670.873724735,664,632.126275265,876,782,799,649,627,649,0.400935042802,-0.00545550047492,0.0499213873875,0.999999975316,-1.14072374214e-06,-0.000219436411782,-3.48461876037e-05,1793190838366343168
+18,0.300000000,BASELINE,764.550888668,742,711,670.550888668,664,632,875.550888668,782,799,649.449111332,627,649,0.400936271985,-0.00545716374455,0.049922222748,0.999999975647,-2.68734246203e-06,-0.000217979392916,-3.43985444079e-05,1793190838383010048
+19,0.316666667,BASELINE,764,742,711,670.025546918,664,632,875,782,799,650,627,649,0.40093733026,-0.00545879445782,0.0499231815202,0.999999975942,-4.43812244229e-06,-0.00021667390695,-3.39061679451e-05,1793190838399676672
+20,0.333333333,BASELINE,764,742,711,670.616978913,664,632,875,782,799,650,627,649,0.400936567336,-0.00545695573447,0.0499230043723,0.999999975861,-2.2038559442e-06,-0.00021702147166,-3.42902461603e-05,1793190838416343296
+21,0.350000000,BASELINE,764,742,711,671,664,632,875,782,799,649.7961514,627,649,0.400935802686,-0.00545545231125,0.0499225106367,0.999999975705,-6.81665937893e-07,-0.000217703946713,-3.45630854012e-05,1793190838433010176
+22,0.366666667,BASELINE,764,742,711,671,664,632,875,782,799,649.217666464,627,649,0.400935034863,-0.00545456510835,0.0499214350712,0.999999975419,-4.68142155543e-07,-0.000219001925507,-3.46314877699e-05,1793190838449676800
+23,0.383333333,BASELINE,764.358547078,741.641452922,711,671,664,632,875,782,799,649.358547078,627,649.358547078,0.400934867171,-0.00545489378299,0.0499212529717,0.999999975337,-1.18619849188e-06,-0.000219371846662,-3.46410912812e-05,1793190838466343424
+24,0.400000000,BASELINE,764.933390441,741.066609559,711,671,664,632,875,782,799,649.933390441,627,649.933390441,0.400935061513,-0.00545595594504,0.0499216098624,0.999999975377,-2.46623768532e-06,-0.000219181910027,-3.46152239356e-05,1793190838483010048
+25,0.416666667,BASELINE,764.481336361,741.518663639,710.481336361,670.481336361,664,632,875,782,799,650,627,649.481336361,0.400935283229,-0.00545706385569,0.0499218721399,0.99999997549,-2.52323487662e-06,-0.000218731309871,-3.42174847868e-05,1793190838499676672
+26,0.433333333,BASELINE,764,741.895912266,710.104087734,670,664,632,875,782.104087734,799,649.895912266,627,649,0.400935389709,-0.00545787223295,0.0499220156338,0.999999975555,-2.20983656302e-06,-0.000218500637928,-3.3810422025e-05,1793190838516343040
+27,0.450000000,BASELINE,764,741.316046443,710.683953557,670,664,632,875,782.683953557,799,649.316046443,627,649,0.400934953052,-0.0054572840568,0.0499216728557,0.999999975361,-9.36073390248e-07,-0.000219431398826,-3.35835189097e-05,1793190838533009920
+28,0.466666667,BASELINE,764.262933098,741.262933098,711,670,664,632,875,782.737066902,799.262933098,649,626.737066902,649.262933098,0.40093416188,-0.00545702159515,0.049921123155,0.999999975162,-1.17564244478e-06,-0.000220317554765,-3.370014004e-05,1793190838549676544
+29,0.483333333,BASELINE,764.840850871,741.840850871,711,670,664,632,875,782.159149129,799.840850871,649,626.159149129,649.840850871,0.40093294601,-0.00545714932813,0.0499203255682,0.999999974955,-3.22813076489e-06,-0.000221150275464,-3.422829124e-05,1793190838566343424
+30,0.500000000,BASELINE,764.583673902,742,711,670,664,632,875.416326098,782,799.583673902,649.416326098,626.416326098,649.583673902,0.400933393733,-0.00545557515515,0.0499204469636,0.999999974995,-1.91820733825e-06,-0.000220945963304,-3.44734655442e-05,1793190838583009792
+31,0.516666667,BASELINE,764.009126954,742,711,670,664,632,875.990873046,782,799.009126954,649.990873046,626.990873046,649.009126954,0.40093447369,-0.00545335418868,0.0499209176097,0.999999975124,6.69569351301e-07,-0.00022034753646,-3.46110971069e-05,1793190838599676416
+32,0.533333333,BASELINE,764,742,711,670,664,632,875.421052358,782.578947642,799,650,627,649,0.400934510151,-0.00545610920497,0.0499206123745,0.999999975097,-2.06473761921e-06,-0.000220465698322,-3.458238132e-05,1793190838616343296
+33,0.550000000,BASELINE,764,741.83455626,711,670.16544374,664,632,875,783,799,649.83455626,627,649.16544374,0.400935095352,-0.0054574745477,0.0499209066453,0.999999975233,-3.78337562257e-06,-0.000219812441774,-3.4685352616e-05,1793190838633009920
+34,0.566666667,BASELINE,764,741.252584105,711,670.747415895,664,632,875,783,799,649.252584105,627,649.747415895,0.400937104493,-0.00545513896513,0.0499227417903,0.999999975794,-2.72863331081e-06,-0.000217187906529,-3.51266253774e-05,1793190838649676544
+35,0.583333333,BASELINE,764.325171632,741,711,670.674828368,664,632.325171632,875,782.674828368,798.674828368,649,626.674828368,649.674828368,0.400937392677,-0.00545486545594,0.0499229277691,0.999999975864,-2.52207718784e-06,-0.000216872670051,-3.51031671387e-05,1793190838666343168
+36,0.600000000,BASELINE,764.89969416,741,711,670.10030584,664,632.89969416,875,782.10030584,798.10030584,649,626.10030584,649.10030584,0.400936361181,-0.00545617320327,0.0499218491204,0.999999975559,-2.96593435082e-06,-0.000218328269557,-3.47233399414e-05,1793190838683009792
+37,0.616666667,BASELINE,764.526449117,741,711,670,664,632.526449117,875,782,798.473550883,649,626,649,0.400934712625,-0.00545646932336,0.0499207662302,0.999999975199,-3.64214657212e-06,-0.000219951802583,-3.47722491832e-05,1793190838699677440
+38,0.633333333,BASELINE,764,741.048595826,710.951404174,670,664,632,875,782,799,649.048595826,626,649,0.400933130344,-0.00545650713224,0.0499197633542,0.999999974853,-4.17723873453e-06,-0.000221496692517,-3.48803719319e-05,1793190838716344832
+39,0.650000000,BASELINE,764,741.638443922,710.361556078,670,664,632,875,782,799,649.638443922,626,649,0.400933739938,-0.0054560511694,0.0499196616542,0.999999974806,-2.5931627191e-06,-0.000221770041421,-3.46379604373e-05,1793190838733010688
+40,0.666666667,BASELINE,764,742,710.224654132,670,664,632,874.775345868,782,799,649.775345868,626.224654132,649.224654132,0.400934764503,-0.00545627696859,0.0499203190369,0.999999975024,-2.17377341459e-06,-0.000220833551901,-3.43445277932e-05,1793190838749677056
+41,0.683333333,BASELINE,764,742,710.805102827,670,664,632,874.194897173,782,799,649.194897173,626.805102827,649.805102827,0.400936446275,-0.00545758250411,0.0499221786119,0.999999975659,-3.59894942682e-06,-0.0002179809884,-3.39702907401e-05,1793190838766343680
+42,0.700000000,BASELINE,764,742,711,670.381726464,664,632,874.381726464,782,799,649,627,649.618273536,0.400936750733,-0.0054572554054,0.0499223951572,0.99999997573,-4.53616066998e-06,-0.000217574913598,-3.43580249691e-05,1793190838783010048
+43,0.716666667,BASELINE,764,742,711,670.956416508,664,632,874.956416508,782,799,649,627,649.043583492,0.400936358956,-0.00545610300641,0.0499217811472,0.999999975519,-5.22670458896e-06,-0.000218405544386,-3.51309373949e-05,1793190838799676672
+44,0.733333333,BASELINE,764.530908808,742,711,670.469091192,664,632,876.061817615,782,799.530908808,649,627,649,0.400937356318,-0.00545565420665,0.0499220025583,0.99999997571,-3.14590444976e-06,-0.000217581618307,-3.504512324e-05,1793190838816343552
+45,0.750000000,BASELINE,764.890987929,742,711,670.109012071,664,632,876.890987929,782,799.890987929,649,627,649.109012071,0.400938241008,-0.00545569352949,0.0499222622704,0.999999975893,-1.66598317098e-06,-0.000216792282602,-3.48119566493e-05,1793190838833010176
+46,0.766666667,BASELINE,764.296739416,742,711,670.703260584,664,632,876.296739416,782,799.296739416,649,627,649.703260584,0.400938116748,-0.00545764858558,0.0499223873102,0.999999975914,-3.87300600727e-06,-0.000216761283639,-3.42365631571e-05,1793190838849677056
+47,0.783333333,BASELINE,764,741.711699589,711,670.711699589,664,632,875.711699589,782.288300411,799,649.288300411,627,649.711699589,0.400936832047,-0.00545709158132,0.0499216271201,0.999999975636,-3.16187160968e-06,-0.000218060490427,-3.41564210752e-05,1793190838866343680
+48,0.800000000,BASELINE,764,741.135844556,711,670.135844556,664,632,875.135844556,782.864155444,799,649.864155444,627,649.135844556,0.400934389906,-0.00545402901527,0.0499199839901,0.999999975051,4.59870923096e-07,-0.000220686461919,-3.45702491932e-05,1793190838883010560
+49,0.816666667,BASELINE,764,741.447855274,711,670,664,632,875,783,799,649.552144726,627,649,0.400934077089,-0.00545507921119,0.0499201735461,0.999999975014,-4.53656172329e-07,-0.000220895908086,-3.43166694904e-05,1793190838899677184
+50,0.833333333,BASELINE,764,742,711,670,664,632,875,782.966438976,798.966438976,649,627,649,0.400934479465,-0.00545726083111,0.0499209275342,0.999999975162,-2.70030824226e-06,-0.000220273011671,-3.39026101679e-05,1793190838916343808
+51,0.850000000,BASELINE,764,742,711,670,664,632,875,782.387492988,798.387492988,649,627,649,0.40093582122,-0.00545719483789,0.0499216592033,0.999999975591,-3.85736232193e-06,-0.000218247886799,-3.42290777229e-05,1793190838933010432
+52,0.866666667,BASELINE,764,741.808716829,711,670.191283171,664,632,875,782,798.382566343,649,627,649,0.400936682269,-0.00545719356795,0.0499220853433,0.999999975795,-4.98466014068e-06,-0.000217250775692,-3.44692635941e-05,1793190838949676800
+53,0.883333333,BASELINE,764,741.230284429,711,670.769715571,664,632,875,782,799.539431142,649,627,649,0.400936570389,-0.00545732329525,0.0499218931051,0.99999997555,-6.05173244852e-06,-0.000218334322053,-3.45348188861e-05,1793190838966343680
+54,0.900000000,BASELINE,764,741,711,670.654581904,664,632,875,782,800,649,627,649,0.400935610472,-0.00545664768604,0.0499217750554,0.999999975418,-4.49956107271e-06,-0.000218955816708,-3.46738654521e-05,1793190838983010304
+55,0.916666667,BASELINE,764,741,711,670.080685092,664,632,875,782,800,649,627,649,0.400934089616,-0.00545543938251,0.0499217060781,0.999999975352,-1.21487639709e-06,-0.000219271684653,-3.48615232257e-05,1793190838999677184
+56,0.933333333,BASELINE,764,741.505593895,711,670,664,632,875,782,800,649,626.494406105,649,0.400935306717,-0.00545533612115,0.0499215135897,0.99999997542,-1.9939308966e-06,-0.00021896704568,-3.47631705662e-05,1793190839016343808
+57,0.950000000,BASELINE,764,742,711,670,664,632,875,782,799.907455372,649.092544628,626.092544628,649,0.400936513068,-0.00545549187204,0.0499213445131,0.999999975485,-3.08550669873e-06,-0.000218684364111,-3.46098745783e-05,1793190839033010432
+58,0.966666667,BASELINE,764,742,711,670,664,632,875,782,799.327633405,649.672366595,626.672366595,649,0.400935304453,-0.00545605956647,0.0499214050951,0.999999975413,-2.32226342254e-06,-0.000219051775608,-3.44136423533e-05,1793190839049677056
+59,0.983333333,BASELINE,764,741.748964269,711,670,664,632,875,782.251035731,798.748964269,649.748964269,627,649,0.400935218895,-0.00545628905177,0.0499215844701,0.999999975458,-2.48409338264e-06,-0.000218856844512,-3.43525028049e-05,1793190839066343424
+60,1.000000000,BASELINE,764,741.171792763,711,670,664,632,875,782.828207237,798.171792763,649.171792763,627,649,0.400936592367,-0.00545607914913,0.0499219181766,0.999999975652,-3.847742095e-06,-0.000217931340027,-3.44668703352e-05,1793190839083009792
+61,1.016666667,BASELINE,764,741.40363951,711,670,664,632,875,782.59636049,798,649,627,649,0.400937163689,-0.00545485729588,0.0499220900127,0.99999997573,-3.15192072146e-06,-0.000217545591027,-3.46863474412e-05,1793190839099676672
+62,1.033333333,BASELINE,764,741.978334692,711,670,664,632,875,782.021665308,798,649,627,649,0.400937395072,-0.0054532065949,0.0499221932508,0.999999975759,-1.58333029935e-06,-0.000217388581426,-3.495036822e-05,1793190839116343552
+63,1.050000000,BASELINE,763.432746686,741.432746686,711,670.567253314,664,632,875.567253314,782,798.567253314,649,626.432746686,649,0.400936455137,-0.00545563759103,0.0499214381313,0.999999975517,-3.56744294287e-06,-0.000218525408721,-3.4648696424e-05,1793190839133010176
+64,1.066666667,BASELINE,763.154774682,741,711,670.845225318,664,632,875.845225318,782,799,649.154774682,626.154774682,649,0.400935832768,-0.00545744215054,0.0499209111641,0.999999975347,-5.13857708952e-06,-0.000219317993741,-3.43492520358e-05,1793190839149677056
+65,1.083333333,BASELINE,763.736899519,741,711,670.263100481,664,632,875.263100481,782,799,649.736899519,626.736899519,649,0.400936213933,-0.00545707553816,0.0499211069983,0.99999997542,-5.1851414073e-06,-0.000219020135196,-3.41171478209e-05,1793190839166343680
+66,1.100000000,BASELINE,764,741.312948461,711,670,664,632,875,782.312948461,798.687051539,649.687051539,627,649,0.400936618732,-0.00545654285269,0.0499211985958,0.999999975547,-4.36509451013e-06,-0.000218467913727,-3.4033364835e-05,1793190839183010304
+67,1.116666667,BASELINE,764,741.883986565,711,670,664,632,875,782.883986565,798.116013435,649.116013435,627,649,0.400937043021,-0.00545587320621,0.049921204229,0.999999975718,-2.8303504435e-06,-0.000217705918316,-3.40719028742e-05,1793190839199677184
+68,1.133333333,BASELINE,764,742,711,670.457751844,664,632,875.457751844,782.542248156,798.457751844,649.457751844,627,649,0.400935907248,-0.00545593304171,0.0499207206102,0.999999975432,-2.70933002839e-06,-0.000218975046916,-3.43412897263e-05,1793190839216343552
+69,1.150000000,BASELINE,764,742,711,670.966749769,664,632,876.033250231,782,799,650,627,649,0.400934533549,-0.00545616325934,0.0499201695544,0.999999975071,-2.92690394142e-06,-0.000220562488324,-3.46589380271e-05,1793190839233010432
+70,1.166666667,BASELINE,764,742,711,670.373782578,664,632,876.626217422,782,799,650,627,649,0.400935850343,-0.00545613075412,0.0499205831074,0.999999975456,-2.77667069321e-06,-0.000218790906517,-3.47982194172e-05,1793190839249677056
+71,1.183333333,BASELINE,764,741.786165375,711,670.213834625,664,632,876.572330749,782.213834625,799,649.786165375,626.786165375,649,0.40093670052,-0.0054562951652,0.049921055277,0.999999975708,-3.62261090424e-06,-0.00021760988124,-3.48744384807e-05,1793190839266343936
+72,1.200000000,BASELINE,764,741.207671584,711,670.792328416,664,632,875.415343168,782.792328416,799,649.207671584,626.207671584,649,0.400936754963,-0.00545679538407,0.0499216274077,0.999999975735,-6.16735819856e-06,-0.000217435950997,-3.48431153232e-05,1793190839283010816
+73,1.216666667,BASELINE,764.368622482,741.368622482,711,671,664,632,875,782.631377518,799,649.368622482,626,649,0.400937030467,-0.00545759617188,0.0499219717678,0.999999975885,-7.52164267206e-06,-0.000216751413686,-3.45432002098e-05,1793190839299677440
+74,1.233333333,BASELINE,764.943684601,741.943684601,711,671,664,632,875,782.056315399,799,649.943684601,626,649,0.400937429772,-0.00545856528727,0.0499221885694,0.999999976104,-8.20923213349e-06,-0.000215780921123,-3.40928655531e-05,1793190839316343808
+75,1.250000000,BASELINE,764.470199044,741.470199044,711,670.470199044,664,632.529800956,875,782.529800956,799,650,626,649,0.400937513282,-0.00545801449108,0.0499223347803,0.99999997613,-7.26063228348e-06,-0.000215674522366,-3.42439244375e-05,1793190839333010176
+76,1.266666667,BASELINE,764,741.115893493,711,670,664,632.884106507,875,782.884106507,798.884106507,649.884106507,626.115893493,649,0.400937640783,-0.00545742946792,0.0499223702347,0.99999997611,-6.41581411789e-06,-0.000215766995488,-3.4414039098e-05,1793190839349676800
+77,1.283333333,BASELINE,764,741.697072452,711,670,664,632.302927548,875,782.302927548,798.302927548,649.302927548,626.697072452,649,0.40093808253,-0.00545736947757,0.0499219917944,0.999999975997,-6.70078054852e-06,-0.000216281281926,-3.43985438024e-05,1793190839366343680
+78,1.300000000,BASELINE,764,742,711,670,664,632,875,782,798.274301622,649.274301622,627,649,0.40093790147,-0.00545684082494,0.0499215936334,0.999999975833,-5.8869338327e-06,-0.000217052192087,-3.44753777493e-05,1793190839383010048
+79,1.316666667,BASELINE,764,742,711,670,664,632,875,782,798.84723069,649.84723069,627,649,0.400937042372,-0.00545580194777,0.0499211740028,0.999999975608,-3.87682817734e-06,-0.000218102484033,-3.46527289512e-05,1793190839399676672
+80,1.333333333,BASELINE,764,741.577022289,711,670.422977711,664,632,875.422977711,782,798.577022289,650,627,649,0.400936438577,-0.00545588406993,0.0499205866354,0.999999975391,-4.32673728195e-06,-0.000219060527763,-3.48215541011e-05,1793190839416343808
+81,1.350000000,BASELINE,764,741.000250619,711,670.999749381,664,632,875.999749381,782,798.000250619,650,627,649,0.400935927609,-0.00545637378541,0.0499199382792,0.999999975175,-5.67110330774e-06,-0.000219985030288,-3.4987279208e-05,1793190839433010688
+82,1.366666667,BASELINE,764,741.593070413,711,671,664,632,875.406929587,782.593070413,798.593070413,650,626.406929587,649,0.400936495534,-0.00545633652989,0.0499207886373,0.999999975353,-5.35074156298e-06,-0.000219241740684,-3.46316436467e-05,1793190839449677056
+83,1.383333333,BASELINE,764.181844239,742,711,670.818155761,664,632,875,782.818155761,799,649.818155761,626,649,0.400937130372,-0.00545624196335,0.04992146918,0.999999975549,-4.75657012309e-06,-0.000218401492983,-3.43500975257e-05,1793190839466343424
+84,1.400000000,BASELINE,764.760675397,742,711,670.239324603,664,632,875,782.239324603,799,649.239324603,626,649,0.400937910266,-0.00545602278038,0.0499217775737,0.999999975787,-3.56622037615e-06,-0.000217351157212,-3.42307919007e-05,1793190839483010048
+85,1.416666667,BASELINE,764.664476738,742,711,670.335523262,664,632,875.335523262,782,798.664476738,649.335523262,626,649,0.400937964979,-0.00545596881939,0.04992190842,0.999999975899,-3.53252182776e-06,-0.000216824083072,-3.4311504557e-05,1793190839499676928
+86,1.433333333,BASELINE,764.092436806,742,711,670.907563194,664,632,875.907563194,782,798.092436806,649.907563194,626,649,0.400937508498,-0.0054560313265,0.0499219141097,0.999999975922,-4.31416857323e-06,-0.000216665865977,-3.45332138756e-05,1793190839516343808
+87,1.450000000,BASELINE,764,742,711,671,664,632,875.504961185,782,798,649.504961185,626.495038815,649,0.400937589164,-0.00545614593523,0.0499218045399,0.999999975862,-3.77266884014e-06,-0.000216952107981,-3.45597020775e-05,1793190839533010176
+88,1.466666667,BASELINE,764,742,711,671,664,632.083830724,875,782,798.083830724,649.083830724,627,649,0.400937746616,-0.00545630721649,0.0499216722829,0.999999975782,-3.1553329761e-06,-0.000217330730917,-3.45464237837e-05,1793190839549676544
+89,1.483333333,BASELINE,764,742,711,671,664,632.662825028,875,782,798.662825028,649.662825028,627,649,0.400937746115,-0.00545668486428,0.0499215372342,0.99999997569,-3.59637207091e-06,-0.000217749033021,-3.45205030606e-05,1793190839566343680
+90,1.500000000,BASELINE,764,741.759214882,711,670.759214882,664,632.759214882,875,782,799,649.759214882,627,649,0.400937060537,-0.00545675155263,0.0499210795621,0.999999975567,-3.89051758876e-06,-0.000218317313981,-3.44764381422e-05,1793190839583010816
+91,1.516666667,BASELINE,764,741.182696871,711,670.182696871,664,632.182696871,875,782,799,649.182696871,627,649,0.400935419739,-0.00545638466218,0.049920172048,0.999999975399,-3.9798455708e-06,-0.000219094714292,-3.44070743069e-05,1793190839599677696
+92,1.533333333,BASELINE,764,741,711,670,664,631.608193697,875,782,799,649.391806303,627,649,0.400934589195,-0.00545682437995,0.0499198958372,0.999999975298,-4.87997230654e-06,-0.000219561746032,-3.42521997613e-05,1793190839616344064
+93,1.550000000,BASELINE,764,741,711,670,664,631.034625173,875,782,799,649.965374827,627,649,0.400934134533,-0.00545763829,0.0499199124931,0.999999975226,-6.15623537407e-06,-0.000219884795265,-3.40576560756e-05,1793190839633010176
+94,1.566666667,BASELINE,764,741.554869928,711,670.554869928,664,631.554869928,875,782.554869928,799,650,627,649,0.400935830453,-0.00545741173963,0.0499208239579,0.999999975518,-5.55544584427e-06,-0.000218570326398,-3.40601662698e-05,1793190839649676800
+95,1.583333333,BASELINE,764,741.85715525,711,671,664,632,875,782.85715525,799,649.85715525,626.85715525,649,0.400937579344,-0.00545711433675,0.0499218277932,0.999999975872,-4.76012721043e-06,-0.000216966598029,-3.40464494634e-05,1793190839666343424
+96,1.600000000,BASELINE,764,741.276967644,711,671,664,632,875,782.276967644,799,649.276967644,626.276967644,649,0.400939067394,-0.00545680466669,0.0499229384265,0.999999976348,-3.73844347023e-06,-0.000214799354899,-3.39442903147e-05,1793190839683010048
+97,1.616666667,BASELINE,764.299693611,741.299693611,711,670.700306389,664,632,875,782,798.700306389,649.299693611,626,649,0.400938948685,-0.00545728709643,0.0499227769362,0.999999976307,-4.45829232042e-06,-0.000214970965601,-3.39587321309e-05,1793190839699677440
+98,1.633333333,BASELINE,764.873133788,741.873133788,711,670.126866212,664,632,875,782,798.126866212,649.873133788,626,649,0.400937362329,-0.00545849304711,0.0499214534611,0.999999975791,-6.7688944162e-06,-0.000217278935634,-3.4079679773e-05,1793190839716344832
+99,1.650000000,BASELINE,764.542460954,742,711,670,664,632,875,782,798.457539046,650,626.457539046,649,0.400936347676,-0.00545817739074,0.0499203933377,0.999999975412,-5.50619680621e-06,-0.000219051567793,-3.40775658524e-05,1793190839733010944
+100,1.666666667,BASELINE,764,742,711,670,664,632,875.044713152,782,799,649.955286848,627,649,0.400935545787,-0.00545749371563,0.0499194778854,0.9999999751,-3.45669954508e-06,-0.000220516960925,-3.40497592433e-05,1793190839749676544
+101,1.683333333,BASELINE,764,742,711,670,664,632,875.627719541,782,799,649.372280459,627,649,0.400935350039,-0.0054575835492,0.0499194034178,0.999999975184,-4.15603812396e-06,-0.000220114459531,-3.41335235156e-05,1793190839766343168
+102,1.700000000,BASELINE,764,741.791474716,711,670,664,632,875.791474716,782,799,649,627,649,0.400935379523,-0.00545743105952,0.0499198573705,0.999999975362,-4.8625175125e-06,-0.000219278087633,-3.42076397562e-05,1793190839783010048
+103,1.716666667,BASELINE,764,741.214556822,711,670,664,632,875.214556822,782,799,649,627,649,0.400935806914,-0.00545685046784,0.0499212448606,0.999999975706,-5.5816121868e-06,-0.000217675215505,-3.42647112266e-05,1793190839799676672
+104,1.733333333,BASELINE,764,741.35902116,711,670,664,632,875.71804232,782,799,649,627,649,0.400936292786,-0.00545710125976,0.0499213091178,0.999999975783,-5.70842598504e-06,-0.000217322405774,-3.42403079443e-05,1793190839816343808
+105,1.750000000,BASELINE,764,741.930621608,711,670,664,632,876.861243217,782,799,649,627,649,0.400936813286,-0.00545784432048,0.0499205898785,0.999999975702,-5.48454562739e-06,-0.000217709767792,-3.41676628174e-05,1793190839833011200
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875,782,799,650,626,649,0.400936623137,-0.00545748948052,0.0499209673388,0.999999975868,-4.43692928466e-06,-0.000216922343473,-3.44841854132e-05,1793190839864054016
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,741.402604848,711,670,664,632.597395152,875.597395152,782,799,650,626.597395152,649,0.400937308571,-0.00545702697526,0.0499204342667,0.999999975959,-7.14571843271e-06,-0.000216440757357,-3.44223881422e-05,1793190839880721152
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,741.187118309,711,670,664,632.812881691,875.812881691,782,799,650,626.812881691,649,0.400937709685,-0.00545674444921,0.0499204993542,0.999999976044,-7.59716102221e-06,-0.000216060081617,-3.42485562695e-05,1793190839897388032
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,741.76098461,711,670,664,632.23901539,875.23901539,782,799,650,626.23901539,649,0.40093752315,-0.00545683391552,0.049921800756,0.999999976118,-3.38297701676e-06,-0.000215887973758,-3.38431641622e-05,1793190839914054144
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875,782,799,650,626.335837652,649,0.400937811817,-0.00545650977847,0.0499223189381,0.999999976128,-2.34282175842e-06,-0.000215828230605,-3.40029076681e-05,1793190839930720512
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875,782,799,650,626.911394993,649,0.400938439682,-0.00545589041284,0.0499222780605,0.999999976101,-3.56827686254e-06,-0.00021584869298,-3.45660429322e-05,1793190839947387392
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,670.500765768,664,632,875,782,799,649.499234232,627,649,0.400941495897,-0.00545725507135,0.0499226682623,0.999999976614,-5.60457496088e-06,-0.000213411440458,-3.45793874776e-05,1793190839964053504
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,741.909602731,711,670.909602731,664,632,875,782,799,649.090397269,627,649,0.400946600366,-0.00545840165242,0.0499236433481,0.99999997742,-7.14858673313e-06,-0.000209563054315,-3.4516671212e-05,1793190839980719872
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,741.33210988,711,670.33210988,664,632,875,782,799,649.66789012,627,649,0.400960360724,-0.00545642788769,0.0499273473595,0.999999979284,-5.24496806183e-06,-0.000200520628052,-3.45831585823e-05,1793190839997387008
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,741.242819926,711,670.242819926,664,632,874.757180074,782,799,650,627,649,0.400980238463,-0.00545641834928,0.0499317958348,0.999999981787,-4.34953436573e-06,-0.000187678605268,-3.44084803109e-05,1793190840014053632
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,741.814280772,711,670.814280772,664,632,874.185719228,782,799,650,627,649,0.401008395678,-0.00545906726312,0.0499372518933,0.999999985015,-4.81861337829e-06,-0.000169694077323,-3.3907400075e-05,1793190840030720256
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,741.599720022,710.599720022,670.599720022,664,632,874.400279978,782.400279978,799,650,627,649.400279978,0.401045581744,-0.00545966005846,0.0499429005277,0.999999988212,-4.3492051713e-06,-0.000149652748239,-3.40675236937e-05,1793190840047386624
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,741.006721121,710.006721121,670.006721121,664,632,874.993278879,782.993278879,799,650,627,649.993278879,0.401087114845,-0.00545926291457,0.0499486418802,0.999999991126,-3.42795265746e-06,-0.000128621149405,-3.45459906714e-05,1793190840064052992
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,741.570933051,710.570933051,670,664,632,875,782.429066949,799,650,627,649.429066949,0.401144550853,-0.00546097261499,0.0499523804254,0.999999993715,-6.02585701199e-06,-0.000106239867628,-3.53177721041e-05,1793190840080719872
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.1481799,670.1481799,663.8518201,632,875.1481799,782,799,649.8518201,627,649,0.401204154129,-0.00546336086194,0.049955274323,0.999999995236,-8.45008928232e-06,-9.05089152437e-05,-3.55546357664e-05,1793190840097386496
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711.724757864,670.724757864,663.275242136,632,875.724757864,782,799,649.275242136,627,649,0.401269496062,-0.00546764100515,0.0499557926683,0.999999994939,-1.0255587828e-05,-9.40492407224e-05,-3.42352949462e-05,1793190840114053120
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.700642934,671,663.299357066,632,875.700642934,782,799,649.299357066,626.700642934,649,0.401348257912,-0.00547140434115,0.0499560963672,0.999999994845,-1.21846318031e-05,-9.51670832948e-05,-3.32435373681e-05,1793190840130720000
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.12785118,671,663.87214882,632,875.12785118,782,799,649.87214882,626.12785118,649,0.401439277598,-0.00547469562183,0.0499562040066,0.999999994944,-1.42265228667e-05,-9.40722140472e-05,-3.25509965288e-05,1793190840147386880
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,670.539059491,664,632.460940509,875,782,799,650,626,649,0.401550169045,-0.00547873444383,0.0499570369754,0.999999995128,-1.53996535932e-05,-9.22767826521e-05,-3.14987612318e-05,1793190840164053760
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.053070251,742,711,670.053070251,663.946929749,632.946929749,875.053070251,782,799,649.946929749,626.053070251,649,0.401669910169,-0.00548296056856,0.0499582821679,0.999999995347,-1.64310252762e-05,-9.00846907773e-05,-3.03435551838e-05,1793190840180720384
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.632703901,742,711,670.632703901,663.367296099,632.367296099,875.632703901,782,799,649.367296099,626.632703901,649,0.401820802813,-0.00548691384754,0.0499615495082,0.999999995708,-1.85327273198e-05,-8.5954256489e-05,-2.91921732992e-05,1793190840197386752
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.797539963,742,711,670.797539963,663.202460037,632,876,782,799,649,626.797539963,649,0.401979323261,-0.00549262959136,0.0499624490225,0.999999995688,-2.25996270196e-05,-8.56544586469e-05,-2.78575149953e-05,1793190840214053376
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.244869759,742,711,670.244869759,663.755130241,632,876,782,799,649,626.244869759,649,0.402151038069,-0.00550139400115,0.049959252732,0.999999994974,-3.00658748953e-05,-9.19807976977e-05,-2.62058299703e-05,1793190840230720000
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875.65975463,782,799,649.34024537,626.34024537,649,0.402346622133,-0.00551016128361,0.0499562194611,0.999999994534,-3.4732714274e-05,-9.55371829435e-05,-2.44709359849e-05,1793190840247386368
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875.04882797,782,799,649.95117203,626.95117203,649,0.402561195338,-0.00551893085238,0.0499533158796,0.999999994358,-3.71724925433e-05,-9.68899395612e-05,-2.26698451577e-05,1793190840264052992
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,670.533541757,664,632,875,782.533541757,799,649.466458243,627,649,0.402819062685,-0.00552934566713,0.0499559413974,0.999999994855,-4.31457633592e-05,-8.95227229783e-05,-2.03681437977e-05,1793190840280720128
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,670.887177356,664,632,875.112822644,782.887177356,799,649,627,649.112822644,0.403089880945,-0.00553993410297,0.0499602667328,0.99999999553,-4.8907996953e-05,-7.89123897553e-05,-1.79184738393e-05,1793190840297387008
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,670.310397282,664,632,875.689602718,782.310397282,799,649,627,649.689602718,0.403398491353,-0.00555064880145,0.0499696070675,0.99999999682,-5.25401493935e-05,-5.80804400423e-05,-1.5039145e-05,1793190840314053632
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.265829772,742,711,670,664,632,876,782.265829772,798.734170228,649.265829772,627,650,0.403726026709,-0.00556219954113,0.0499777103845,0.999999997444,-5.71746638326e-05,-4.1316798548e-05,-1.17000071075e-05,1793190840330720256
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.841412396,742,711,670,664,632,876,782.841412396,798.158587604,649.841412396,627,650,0.404075613965,-0.00557472446055,0.0499843722907,0.999999997557,-6.29771604408e-05,-2.92936735179e-05,-7.82508604182e-06,1793190840347386880
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.573207675,742,711,670.426792325,664,632,876,782.573207675,798.426792325,650,626.573207675,649.573207675,0.404457950665,-0.00558069164398,0.0499907145053,0.999999998062,-6.02323753754e-05,-1.51281120424e-05,-4.35230563424e-06,1793190840364053504
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632,875.984375117,782,799,649.984375117,626,649,0.404853386274,-0.00558384019052,0.0499965796177,0.999999998555,-5.37386310154e-05,-8.8997117243e-07,-1.02261286665e-06,1793190840380719872
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632,875.405399137,782,799,649.405399137,626,649,0.405272039623,-0.00557528318237,0.0499896265522,0.999999999478,-2.92774387623e-05,-1.3412071513e-05,2.66224662069e-06,1793190840397386496
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.173437497,742,711,671,664,632,875.173437497,782.173437497,799,649,626,649,0.405691033259,-0.00556701466038,0.0499767927097,0.999999999246,-6.36072911005e-06,-3.79082860891e-05,5.58484493178e-06,1793190840414053120
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.751948596,742,711,671,664,632,875.751948596,782.751948596,799,649,626,649,0.406110821599,-0.0055594199162,0.0499502239635,0.99999999581,1.29487460085e-05,-9.03707557849e-05,6.72713634868e-06,1793190840430720256
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,742,711,670.67290905,664.32709095,632,876.32709095,782.67290905,799,649.32709095,626.32709095,649,0.406573140087,-0.00555899857708,0.0499321512094,0.999999992242,2.4851931274e-05,-0.000121719399309,9.14911514544e-06,1793190840447386624
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,742,711,670.1002953,664.8997047,632,876.8997047,782.1002953,799,649.8997047,626.8997047,649,0.407067382831,-0.00556396177773,0.0499204557607,0.99999999002,3.11957687755e-05,-0.000137219472753,1.25316600159e-05,1793190840464053248
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,742,711,670.487221885,664.512778115,632,876.512778115,782,799,649.512778115,627,649,0.407634231115,-0.00556453369091,0.0499311867495,0.999999992748,4.31346092778e-05,-0.00011119764618,1.66997798754e-05,1793190840480719872
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.923580233,741.923580233,711,671,664,632,875.923580233,782,799,649,627,649,0.408223011873,-0.00556460425077,0.0499485269271,0.99999999557,5.36381243552e-05,-7.44973155755e-05,2.08130877166e-05,1793190840497386240
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.344150077,741.344150077,711,671,664,632,875.344150077,782,799,649,627,649,0.408854675423,-0.00556751254551,0.0499780244867,0.9999999983,4.6873854025e-05,-2.55444472311e-05,2.34676081916e-05,1793190840514052864
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,741.233431383,711,670.766568617,664,632,875,782,799.233431383,649.233431383,627,649,0.409479884797,-0.00556721868332,0.0499958800826,0.999999998841,4.17999480939e-05,1.76852861254e-06,2.38315719804e-05,1793190840530719744
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,741.808308677,711,670.191691323,664,632,875,782,799.808308677,649.808308677,627,649,0.410095653452,-0.00556224094608,0.0499967066858,0.999999999011,3.91985808918e-05,-2.57170936312e-06,2.08450812472e-05,1793190840547386368
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.390701399,742,711,670,664.390701399,632,875,782,799.609298601,650,626.609298601,649,0.410710715998,-0.00555288890794,0.0499777715364,0.999999997645,4.73653673414e-05,-4.57734230444e-05,1.92800363459e-05,1793190840564052736
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.976853747,742,711,670,664.976853747,632,875,782,799.023146253,650,626.023146253,649,0.411325425292,-0.0055413485971,0.0499489504401,0.999999992098,6.09189935233e-05,-0.000108415845723,1.84260791115e-05,1793190840580719616
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.443103657,742,711,670,664.443103657,632,875.556896343,782,799,650,626.556896343,649,0.412018745079,-0.00553599782906,0.0499356350061,0.999999990801,6.43013105699e-05,-0.000118194318336,1.71274176123e-05,1793190840597386240
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,670.136363987,664,632,876,782,799,649.863636013,627,649,0.41273441585,-0.00553444983519,0.0499325220699,0.999999991417,6.37912244506e-05,-0.000113171695694,1.70016187284e-05,1793190840614052864
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,670.714781947,664,632,876,782,799,649.285218053,627,649,0.413512065447,-0.00554440447362,0.0499604162944,0.999999996173,5.20186173691e-05,-6.72134067186e-05,2.07371804588e-05,1793190840630719488
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.290308688,671,664.290308688,632,876,782,799.290308688,649.290308688,626.709691312,649,0.414262314497,-0.00554968868325,0.0499676742702,0.999999997301,4.47687940673e-05,-5.37923255039e-05,2.23648271861e-05,1793190840647386368
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711.863022985,671,664.863022985,632,876,782,799.863022985,649.863022985,626.136977015,649,0.414985909017,-0.00555042960841,0.0499548577818,0.999999996287,4.19186293883e-05,-7.20226856403e-05,2.1941943194e-05,1793190840664052992
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.449150116,742,711.550849884,671,664.550849884,632,876.449150116,782.449150116,799.550849884,650,626,649,0.415741459548,-0.00554768481106,0.0499338195576,0.999999993584,3.86970343515e-05,-0.000104619428821,1.97551794683e-05,1793190840680719872
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,742,711.038487398,671,664,632,876.961512602,782.961512602,799,649.961512602,626.038487398,649,0.416510915787,-0.00554444073007,0.0499135256366,0.999999989971,3.47643022506e-05,-0.000136195746959,1.72971888961e-05,1793190840697386240
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,742,711.613789996,671,664,632,876.386210004,782.386210004,799,649.386210004,626.613789996,649,0.417334212912,-0.00554951620128,0.0499396620622,0.99999999547,2.25413284884e-05,-9.05486628236e-05,1.87900673821e-05,1793190840714053120
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,742,711.810128961,671,664,632,876,782,799,649.189871039,626.810128961,649,0.418154919384,-0.00555354812731,0.0499616422436,0.999999998259,1.33947002768e-05,-5.36542322686e-05,2.0606573383e-05,1793190840730719744
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,742,711.232458028,671,664,632,876,782,799,649.767541972,626.232458028,649,0.418970334554,-0.00555544867629,0.0499751335511,0.999999999078,1.05313190573e-05,-3.46365602474e-05,2.30840686137e-05,1793190840747386368
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,742,711,670.649058692,664,632,876,782,799,649.649058692,626,649,0.419755282502,-0.00555369868176,0.0499641906159,0.999999998222,1.26325707524e-05,-5.33347248244e-05,2.34928654836e-05,1793190840764053248
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,742,711,670.061802011,664,632,876,782,799,649.061802011,626,649,0.420519714528,-0.00554949049961,0.0499367942532,0.999999994837,1.8076886035e-05,-9.74298204371e-05,2.25086508783e-05,1793190840780719616
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.480240215,742,711,670.519759785,664,632,876,782,798.480240215,649,626,649,0.421418931317,-0.00555116967749,0.0499588082901,0.999999998449,1.62520189061e-05,-4.74701519474e-05,2.41564141437e-05,1793190840797386240
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664.100275849,631.899724151,876,782,798.100275849,649,626,649,0.422318217251,-0.00555353171044,0.0499817333464,0.999999999579,1.2923484434e-05,2.53326668886e-06,2.58488417071e-05,1793190840814052864
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664.678998092,631.321001908,876,782,798.678998092,649,626,649,0.423142193926,-0.00555584796589,0.0499812768803,0.999999999634,6.49983908249e-06,-3.64977673288e-08,2.62773553758e-05,1793190840830719488
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,741.747272079,711,670.747272079,664.747272079,631.252727921,876,782,799,649,626,648.747272079,0.423955896439,-0.00555826524542,0.0499740695978,0.999999999576,8.29339179227e-07,-1.22055057193e-05,2.64138235824e-05,1793190840847386368
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,741.179760442,711,670.179760442,664.179760442,631.820239558,876,782,799,649,626,648.179760442,0.424756802144,-0.0055608083552,0.049958453877,0.99999999899,-3.9030858815e-06,-3.63307930682e-05,2.61865363969e-05,1793190840864053248
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.408945781,741.408945781,711,670.408945781,664.408945781,632,876,782,798.591054219,649.408945781,626,648.408945781,0.425586884815,-0.00556335414068,0.0499694182558,0.999999999302,-7.78602877526e-06,-2.38133766204e-05,2.77012861336e-05,1793190840880719872
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,742,711,671,665,631.992764259,876,782.007235741,798.014471483,649.992764259,626,649,0.426429913545,-0.0055658290156,0.0499923174599,0.999999999475,-1.11499235462e-05,4.88004477021e-06,3.00190909085e-05,1793190840897386240
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,742,711,671,665,631.413600993,876,782.586399007,799.172798013,649.413600993,626,649,0.427227077627,-0.00556260094368,0.0499845769606,0.999999999011,-4.61537273161e-06,-3.05655804663e-05,3.19773668749e-05,1793190840914052864
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.835671326,742,711,671,665,631.164328674,876,782.835671326,799.835671326,649,626,649,0.428012961262,-0.00555969209304,0.049970042093,0.999999997181,5.90079408968e-07,-6.75788566874e-05,3.27331169798e-05,1793190840930719744
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.260823418,742,711,671,665,631.739176582,876,782.260823418,799.260823418,649,626,649,0.428770664495,-0.00555758070828,0.0499385338106,0.999999993645,2.47523069524e-06,-0.000108508372981,3.04847656413e-05,1793190840947387136
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671.313226258,665,632,876.313226258,782,799.313226258,649,626,649,0.429560687808,-0.00555992162599,0.0499370276423,0.999999994529,-1.03649205721e-06,-0.000100208383758,2.99753264244e-05,1793190840964054016
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671.886612907,665,632,876.886612907,782,799.886612907,649,626,649,0.43037755559,-0.00556596055037,0.0499604407201,0.99999999818,-9.03076649229e-06,-5.10192042067e-05,3.09101980624e-05,1793190840980720128
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671.524663718,665,632,877,782,799.524663718,649,626,649,0.431114891401,-0.00556604468009,0.0499592492786,0.999999997835,3.90541030903e-06,-5.79625469578e-05,3.09191078482e-05,1793190840997386752
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664.934038161,632,877,782.065961839,799,649,626,649,0.431833473164,-0.00556453875205,0.0499509689191,0.999999996218,2.1528547816e-05,-7.85016471404e-05,3.06129440981e-05,1793190841014053376
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664.357938835,632,877,782.642061165,799,649,626,649,0.432558629036,-0.00556208746423,0.04993476871,0.999999994209,3.54992338988e-05,-9.71802246836e-05,2.96352556037e-05,1793190841030720256
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664.218244284,632,876.781755716,782.781755716,799,649,626,649,0.433281232284,-0.00556128219178,0.0499345548381,0.999999994417,4.25658902688e-05,-9.20942985203e-05,2.95497708048e-05,1793190841047386880
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664.794564973,632,876.205435027,782.205435027,799,649,626,649,0.433999647525,-0.00556317755904,0.0499605699676,0.999999997635,3.83050120987e-05,-4.80176264192e-05,3.09281367357e-05,1793190841064053504
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711,671.378916764,665,632,876,782.378916764,798.621083236,649.378916764,626,649,0.434670479314,-0.00556569046188,0.0499769709088,0.999999998586,3.33080462335e-05,-2.58136713626e-05,3.2430747134e-05,1793190841080720128
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671.967716978,665,632,876,782.967716978,798.032283022,649.967716978,626,649,0.435314954404,-0.00556854541993,0.0499880465127,0.999999998909,2.79033588476e-05,-1.57251009022e-05,3.40021769569e-05,1793190841097386752
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.548894047,742,711,671.451105953,665,632,876.548894047,783,798.548894047,649.451105953,626.548894047,648.451105953,0.435895847812,-0.00556386379676,0.0499652910569,0.99999999655,3.13236233352e-05,-6.91477004623e-05,3.37357975205e-05,1793190841114053376
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.871599111,742,711.128400889,671,664.871599111,631.871599111,877,783,798.871599111,649.128400889,626.871599111,648.128400889,0.436478712347,-0.00556007640795,0.0499455317644,0.999999992544,3.42458137249e-05,-0.000112362761531,3.33669600213e-05,1793190841130720000
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.296365765,742,711.703634235,671,664.296365765,631.296365765,877,783,798.296365765,649.703634235,626.296365765,648.703634235,0.437081271583,-0.00556092234799,0.0499430285438,0.999999993139,3.36532215329e-05,-0.000107234781695,3.30125698944e-05,1793190841147386624
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.279317405,742,712,671.279317405,664.279317405,631.279317405,877,783,798.558634811,649.720682595,626.279317405,649,0.437676492067,-0.00556339657556,0.0499550961544,0.999999995988,3.07650915564e-05,-7.7166293043e-05,3.35094820262e-05,1793190841164053504
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.855478589,742,712,671.855478589,664.855478589,631.855478589,877,783,799.710957179,649.144521411,626.855478589,649,0.438263913274,-0.00556760126104,0.0499826488746,0.999999998855,2.5437385284e-05,-2.059234963e-05,3.49111131581e-05,1793190841180720896
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,742,711.559411905,672,665.88117619,632,877,783,799.559411905,649.440588095,627,649,0.438765968785,-0.00556609568365,0.0499852478342,0.999999998938,2.46273962888e-05,-1.79505828831e-05,3.45598452724e-05,1793190841197387520
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,742,711,672,666.943340661,632,877,783,799,649.971670331,627,649,0.439237159953,-0.00556276986393,0.049978304473,0.99999999851,2.54024124331e-05,-3.47371239517e-05,3.35997513222e-05,1793190841214054144
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+190,3.166666667,POSE1_TO_POSE2_PRESS,764.238248952,742,711,672,665,631.238248952,877,782.238248952,799.761751048,649,627,649,0.440489672701,-0.00556260062508,0.0499148394759,0.99999999054,2.44939719567e-05,-0.000131803280817,3.08015612533e-05,1793190841264053248
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.335690487,742,711.335690487,672,665,631.335690487,877,782,799.664309513,649.335690487,626.664309513,649,0.440886431678,-0.00556243876035,0.0499215183567,0.999999992056,2.48089887879e-05,-0.000119572300096,3.12281227157e-05,1793190841280719616
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.90942497,742,711.90942497,672,665,631.90942497,877,782,799.09057503,649.90942497,626.09057503,649,0.441276702043,-0.00556087614146,0.049939940946,0.999999995423,2.77886702058e-05,-8.57033625838e-05,3.22117994772e-05,1793190841297386496
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711,671.756630648,665.243369352,631.756630648,877,782.756630648,799,649.756630648,626.756630648,649,0.442474348691,-0.00556130392317,0.0499388246784,0.999999996018,1.77221227795e-05,-8.18562748988e-05,3.08179724261e-05,1793190841364053248
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742,711,671.182612634,665.817387366,631.182612634,877,782.182612634,799,649.182612634,626.182612634,649,0.442698014561,-0.00556388463172,0.0499238116541,0.999999993409,1.40525510756e-05,-0.000109785217545,3.0533892105e-05,1793190841380719872
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742,711.400267066,671.400267066,665.199465869,631,877,782,799,649,626,649,0.442897272791,-0.00556492161117,0.0499122867953,0.999999991434,1.15352017459e-05,-0.000127015259147,2.94449246992e-05,1793190841397386496
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742,711.987281292,671.987281292,664.025437416,631,877,782,799,649,626,649,0.4430851435,-0.00556523835418,0.0499023893611,0.999999989867,9.555428817e-06,-0.000139253662474,2.79804320517e-05,1793190841414053376
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.726269664,742,711.726269664,671.726269664,664.273730336,631,877,782.726269664,799.726269664,649.726269664,627,649,0.443517474637,-0.00556745418562,0.0498717984347,0.999999981598,3.44054125779e-06,-0.000189973392101,2.65089202585e-05,1793190841464053760
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664.210336004,631,877,782,799,649.210336004,627,648.210336004,0.444040283116,-0.00556535179448,0.0498668058813,0.999999980255,4.32220513012e-06,-0.000197024300426,2.55556691661e-05,1793190841564053248
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+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631,877,782,799,649.634065517,626.634065517,649,0.444117546252,-0.00556572737014,0.0498634170292,0.999999979231,3.89572295378e-06,-0.000202178158384,2.54326170789e-05,1793190841597386752
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764.30854616,742,711,672.30854616,665,631,877,782,799,649,626.69145384,649,0.444185197883,-0.00556125696765,0.0498559291562,0.999999976808,4.06255359062e-06,-0.000213985266531,2.40178391854e-05,1793190841664053248
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+245,4.083333333,HOLD_POSE2,764,742,711.512359029,671.487640971,664.512359029,631,877,782,799.487640971,649,626.512359029,649,0.444200799513,-0.00555577564152,0.0498436849625,0.99999997225,5.18472865002e-06,-0.000234547816684,2.14370015829e-05,1793190842204087296
+246,4.100000000,HOLD_POSE2,764,742,711.064695506,672,664,631,877,782,799.935304494,649,626.064695506,649,0.444201289458,-0.00555538596115,0.0498438143481,0.999999972353,7.09340891453e-06,-0.000234031933385,2.17394554332e-05,1793190842220753664
+247,4.116666667,HOLD_POSE2,764,742,711.656457168,672,664,631,877,782,799.343542832,649,626.656457168,649,0.444200804102,-0.00555612495228,0.0498438648153,0.999999972091,5.83249106377e-06,-0.000235146451266,2.21274695691e-05,1793190842237419776
+248,4.133333333,HOLD_POSE2,764,742,711.758380532,672,664.241619468,631,877,782.241619468,799,649,626.758380532,649,0.444200881944,-0.00555675465747,0.049843993391,0.999999972107,5.63371533835e-06,-0.000235073374753,2.22577467175e-05,1793190842254086912
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+250,4.166666667,HOLD_POSE2,764.392332349,742,711,672,665,631,876.607667651,782.607667651,799,649.392332349,626,649,0.444201972026,-0.00555758210177,0.0498443632636,0.999999972616,6.10779239786e-06,-0.000232900640852,2.20684382387e-05,1793190842287420672
+251,4.183333333,HOLD_POSE2,764.966394137,742,711,672,665,631,876.033605863,782.033605863,799,649.966394137,626,649,0.444201915477,-0.00555787113206,0.04984444852,0.999999972592,4.35249528234e-06,-0.000233028637836,2.22276550723e-05,1793190842304086784
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+256,4.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664.42452327,631,876,782,799.57547673,649,626.42452327,649,0.444203118727,-0.00555546337094,0.0498448329982,0.999999972726,7.21830213769e-06,-0.000232453307751,2.14917727626e-05,1793190842407781888
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+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742,711.331535564,672.331535564,664,631,878,782,799,649,626.331535564,649,0.444201549932,-0.00555486352796,0.0498432002744,0.999999972121,9.26990964017e-06,-0.000234956061174,2.16126124825e-05,1793190842457781504
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e73857afe87f9324673b77bf85a980205c648b2d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,389 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7092b0ecda0b5091d8986acfd87e68549461b1e3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9525cd8307632b9c96b7805c0d18dba0e20b75ce37a92ea6e272f32b82dea996
+size 24979701
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ef6364c0a2d8d9e717d75e9e515bf0e5f929d44
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_02/franka_data.csv
@@ -0,0 +1,394 @@
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+12,0.200000000,BASELINE,764,742,711,670,664,632,875,782,799,649,626.031150777,649,0.400961992681,-0.00541358515896,0.0498455896529,0.99999996065,2.87765450855e-05,-0.000273738625009,-5.4206104233e-05,1793190844919110400
+13,0.216666667,BASELINE,764,742,711,670,664,632,875,782,799,649,626.610851114,649,0.400962435576,-0.00541292762111,0.0498456666498,0.999999960637,3.06154455263e-05,-0.000273524074834,-5.45318273171e-05,1793190844935777280
+14,0.233333333,BASELINE,764,742,711,670.188833793,664,632.188833793,875,782,799,649,626.811166207,649,0.400962989877,-0.00541237906144,0.0498460226925,0.999999960753,3.21376327006e-05,-0.000272891039773,-5.46901466788e-05,1793190844952443904
+15,0.250000000,BASELINE,764,742,711,670.763308734,664,632.763308734,875,782,799,649,626.236691266,649,0.400963771695,-0.00541205305964,0.0498469486094,0.99999996114,3.30130203667e-05,-0.000271403364258,-5.45065899844e-05,1793190844969110528
+16,0.266666667,BASELINE,764,741.653964831,711,670.653964831,664,632.653964831,875,782,799,649,626.346035169,649,0.400963478209,-0.00541222262221,0.0498468414722,0.999999961074,3.37294554945e-05,-0.000271566814468,-5.44626808077e-05,1793190844985777408
+17,0.283333333,BASELINE,764,741.065456458,711,670.065456458,664,632.065456458,875,782,799,649,626.934543542,649,0.400962431236,-0.00541273943586,0.049846010455,0.999999960691,3.43345096043e-05,-0.000272887238917,-5.45166252253e-05,1793190845002444288
+18,0.300000000,BASELINE,764.515027754,741.515027754,711,670,664.515027754,632,875,782,799,649.515027754,627,649,0.400962400535,-0.00541211408572,0.0498463170732,0.999999960784,3.31592665455e-05,-0.000272653330329,-5.47063060294e-05,1793190845019110912
+19,0.316666667,BASELINE,764.905994899,741.905994899,711,670.094005101,664.905994899,632.094005101,875,782,799,650,626.905994899,649,0.400962322042,-0.00541158281168,0.0498465734214,0.99999996086,3.2014961433e-05,-0.000272479620437,-5.48573174623e-05,1793190845035777280
+20,0.333333333,BASELINE,764.329597169,741.329597169,711,670.670402831,664.329597169,632.670402831,875,782,799,650,626.329597169,649,0.400961345678,-0.00541226776965,0.0498458412392,0.999999960553,3.21726878958e-05,-0.000273612985626,-5.47227275443e-05,1793190845052443648
+21,0.350000000,BASELINE,764,741.245786642,711,670.508426716,664,632.754213358,875,782,799,650,626.245786642,649,0.400961220072,-0.0054127781493,0.0498458551467,0.999999960548,3.16585730033e-05,-0.000273710597402,-5.46304181775e-05,1793190845069110272
+22,0.366666667,BASELINE,764,741.819816341,711,669.360367319,664,632.180183659,875,782,799,650,626.819816341,649,0.400962230635,-0.00541305538307,0.0498468654421,0.999999960945,3.02472276475e-05,-0.000272424981495,-5.4594573637e-05,1793190845085776896
+23,0.383333333,BASELINE,764,742,711,669.810500673,664,632,875,782.405250336,798.594749664,650,626.594749664,649,0.400963641344,-0.00541314294252,0.0498474470883,0.999999961287,3.11104008771e-05,-0.000271107236424,-5.43966739936e-05,1793190845102443776
+24,0.400000000,BASELINE,764,742,711,670.991803648,664,632,875,782.995901824,798.004098176,650,626.004098176,649,0.40096523512,-0.00541314372641,0.0498478326285,0.999999961601,3.30141613085e-05,-0.000269774792218,-5.41246344884e-05,1793190845119110400
+25,0.416666667,BASELINE,764,741.42492946,711,671,664,632,875,782.42492946,798.57507054,649.42492946,626.57507054,649.57507054,0.400963330619,-0.00541254382495,0.0498470357638,0.999999961119,3.44078198153e-05,-0.000271351217309,-5.42746282958e-05,1793190845135778048
+26,0.433333333,BASELINE,764,741.152757319,711,670.847242681,664,632,875,782.152757319,799.152757319,649.152757319,627,649.847242681,0.400961966568,-0.0054121851016,0.0498463754072,0.999999960743,3.50362044457e-05,-0.000272632605797,-5.43945859953e-05,1793190845152445184
+27,0.450000000,BASELINE,764,741.726580509,711,670.273419491,664,632,875,782.726580509,799.726580509,649.726580509,627,649.273419491,0.400962159604,-0.00541250273881,0.0498461140982,0.999999960679,3.35649844349e-05,-0.000273044723373,-5.44236232106e-05,1793190845169111296
+28,0.466666667,BASELINE,764,742,711,670.301315947,664,632,875,782.698684053,799.698684053,649.698684053,627,649,0.400962579237,-0.00541248162284,0.0498461291915,0.999999960719,3.31097210716e-05,-0.000272946428407,-5.44563299558e-05,1793190845185777408
+29,0.483333333,BASELINE,764,742,711,670.876881655,664,632,875,782.123118345,799.123118345,649.123118345,627,649,0.400963205111,-0.00541215218271,0.0498463958589,0.999999960855,3.3579154517e-05,-0.000272383569495,-5.4492376608e-05,1793190845202443776
+30,0.500000000,BASELINE,764,742,711,670.532957321,664,632,875,782.467042679,799,649.467042679,627,649,0.400962524498,-0.00541320367676,0.0498466301454,0.999999960836,3.28126030934e-05,-0.000272614393061,-5.41507893098e-05,1793190845219110400
+31,0.516666667,BASELINE,764,742,711,670,664,632,874.940784808,782.940784808,798.940784808,649.940784808,627,649.059215192,0.400961672463,-0.00541435151889,0.0498469122796,0.999999960807,3.20141088711e-05,-0.000272889564714,-5.37742657688e-05,1793190845235776768
+32,0.533333333,BASELINE,764,742,711,670,664,632,874.365688876,782.365688876,798.365688876,649.365688876,627,649.634311124,0.400962424254,-0.00541306500494,0.0498476880249,0.999999961067,3.38674407037e-05,-0.000271669537173,-5.39886238415e-05,1793190845252443392
+33,0.550000000,BASELINE,764,741.790657105,711,670,664,632,874.41868579,782,798.209342895,649,627,649.790657105,0.400963033086,-0.00541222531439,0.0498481208383,0.999999961237,3.44508825848e-05,-0.000270923759145,-5.42177523202e-05,1793190845269110272
+34,0.566666667,BASELINE,764,741.215737439,711,670,664,632,875.568525122,782,798.784262561,649,627,649.215737439,0.400963392269,-0.00541216591443,0.0498479547878,0.999999961256,3.28167077275e-05,-0.000271006166058,-5.44726744265e-05,1793190845285776896
+35,0.583333333,BASELINE,764,741.367778093,711,670.367778093,664,632,875.632221907,782.367778093,799,649.367778093,627,649,0.400962856663,-0.00541217516435,0.0498475806704,0.999999961161,3.27724603491e-05,-0.000271346171681,-5.45410237231e-05,1793190845302443520
+36,0.600000000,BASELINE,764,741.95645666,711,670.95645666,664,632,875.04354334,782.95645666,799,649.95645666,627,649,0.400961783616,-0.00541222564781,0.0498470815808,0.999999960999,3.36831792472e-05,-0.000271840900169,-5.44973108444e-05,1793190845319109888
+37,0.616666667,BASELINE,764.539313924,742,711,670.460686076,664,632,875,782.460686076,799,649.460686076,627,649,0.400962415319,-0.00541237083863,0.0498471173632,0.999999961011,3.37646537201e-05,-0.000271779911531,-5.453177856e-05,1793190845335776512
+38,0.633333333,BASELINE,764.880188757,742,711,670,664,632,875.119811243,782,799.119811243,649,627,649,0.40096307234,-0.00541232525357,0.0498471685015,0.999999961061,3.36204462216e-05,-0.000271598128106,-5.46031932277e-05,1793190845352443392
+39,0.650000000,BASELINE,764.30686414,742,711,670,664,632,875.69313586,782,799.69313586,649,627,649,0.400963309767,-0.00541152890278,0.0498471160468,0.999999961204,3.28727021436e-05,-0.000271127129427,-5.47908227945e-05,1793190845369110784
+40,0.666666667,BASELINE,764.267730691,742,711,670.267730691,664,632,875.732269309,782,799.732269309,649.267730691,626.732269309,649,0.400963567839,-0.00541099440561,0.0498472114756,0.999999961254,3.24368938273e-05,-0.000271004413575,-5.47399331706e-05,1793190845385777664
+41,0.683333333,BASELINE,764.843788307,742,711,670.843788307,664,632,875.156211693,782,799.156211693,649.843788307,626.156211693,649,0.400963849685,-0.00541076146719,0.0498474772115,0.999999961199,3.23603204036e-05,-0.000271282790998,-5.44143574759e-05,1793190845402443776
+42,0.700000000,BASELINE,765,742,711,670.57027416,664,632,875,782.42972584,799,649.57027416,626.42972584,649,0.400963066669,-0.00541152356584,0.0498468452569,0.999999961083,3.29122643721e-05,-0.00027166053168,-5.43178092855e-05,1793190845419110400
+43,0.716666667,BASELINE,764.981043242,741.981043242,711,670,664.018956758,632,875.018956758,782.981043242,799,649,626.981043242,649,0.40096192002,-0.00541265351688,0.0498459243241,0.999999960948,3.3644798388e-05,-0.000272073791198,-5.43017109478e-05,1793190845435776768
+44,0.733333333,BASELINE,764.403094727,741.403094727,711,670,664.596905273,632,875.596905273,782.403094727,799,649,626.403094727,649,0.400961733799,-0.00541371357801,0.0498463310674,0.999999960883,3.28067618469e-05,-0.000272444259466,-5.41451270542e-05,1793190845452443648
+45,0.750000000,BASELINE,764,741,711,670,664.826111579,632,876,782,799,649,626.173888421,649,0.400962148786,-0.00541460695655,0.0498467421467,0.999999961026,3.16823480179e-05,-0.000272068179864,-5.40642732007e-05,1793190845469110528
+46,0.766666667,BASELINE,764,741,711,670,664.251353994,632,876,782,799,649,626.748646006,649,0.400963949752,-0.00541511607758,0.049847163222,0.999999961644,2.98977418459e-05,-0.000269971065429,-5.41580016542e-05,1793190845485776896
+47,0.783333333,BASELINE,764,741,711,670.332133251,664,632,875.667866749,782.332133251,799,649,627,649.332133251,0.400964186603,-0.0054144936828,0.0498473075631,0.999999961771,2.95059805465e-05,-0.00026951783201,-5.42840597817e-05,1793190845502443520
+48,0.800000000,BASELINE,764,741,711,670.922405378,664,632,875.077594622,782.922405378,799,649,627,649.922405378,0.4009632078,-0.00541299185726,0.0498472368222,0.99999996152,3.01967586945e-05,-0.000270342247012,-5.443524502e-05,1793190845519110144
+49,0.816666667,BASELINE,764,741.501560771,711,670.498439229,664,632,875,782.498439229,799,649,626.498439229,649.498439229,0.400964169393,-0.00541300481282,0.0498474626211,0.999999961695,2.9771190051e-05,-0.000269705912101,-5.46097714208e-05,1793190845535776768
+50,0.833333333,BASELINE,764,742,711,670,664,632,875,782,799,649.078844028,626.078844028,649,0.400965170342,-0.00541320359091,0.049847622518,0.999999961875,2.94569069629e-05,-0.000269051530089,-5.47098483903e-05,1793190845552443392
+51,0.850000000,BASELINE,764,742,711,670,664,632,875,782,799,649.654931805,626.654931805,649,0.400964567337,-0.00541312839332,0.0498470837383,0.999999961684,3.09100479121e-05,-0.000269677654656,-5.4318117236e-05,1793190845569110528
+52,0.866666667,BASELINE,764,742,711,670,664,632,875,782,799,650,626.769215225,649,0.400964331913,-0.0054132223333,0.0498470395429,0.999999961625,3.16196671968e-05,-0.000269858699777,-5.41027608019e-05,1793190845585777408
+53,0.883333333,BASELINE,764,742,711,670,664,632,875,782,799,650,626.193713016,649,0.400964645536,-0.00541356890982,0.0498477340956,0.999999961765,3.12187067144e-05,-0.000269374940842,-5.41508508913e-05,1793190845602444032
+54,0.900000000,BASELINE,764,742,711,670.39249941,664,632,875,782,798.60750059,650,626,649,0.400964345803,-0.00541381044863,0.0498475559768,0.999999961644,3.01486982718e-05,-0.000269910803362,-5.43285052264e-05,1793190845619110656
+55,0.916666667,BASELINE,764,742,711,670.98414599,664,632,875,782,798.01585401,650,626,649,0.400963734864,-0.00541399869318,0.0498469350802,0.999999961387,2.87392268911e-05,-0.000270964003559,-5.45718981374e-05,1793190845635777024
+56,0.933333333,BASELINE,764,741.43646337,711,671,664,632,875.56353663,782.56353663,798.56353663,649.43646337,626.56353663,649,0.400963725639,-0.00541253640483,0.0498469855527,0.999999961442,3.26811599822e-05,-0.000270323671379,-5.45262833479e-05,1793190845652443648
+57,0.950000000,BASELINE,764,741.141462215,711,670.858537785,664,632,875.858537785,782.858537785,799,649,627,649,0.400963527528,-0.0054116228726,0.0498469341553,0.999999961443,3.52387800601e-05,-0.000270009711766,-5.44706668017e-05,1793190845669110272
+58,0.966666667,BASELINE,764,741.715936147,711,670.284063853,664,632,875.284063853,782.284063853,799,649,627,649,0.400962700532,-0.00541252817655,0.0498465143531,0.999999961295,3.31080331885e-05,-0.000270837502654,-5.44087931846e-05,1793190845685776896
+59,0.983333333,BASELINE,764,742,711,670.288257072,664,632,875,782,799,649,627,649,0.400962573584,-0.00541313129029,0.0498464675032,0.999999961262,3.23981109767e-05,-0.000271074900266,-5.42638714318e-05,1793190845702443776
+60,1.000000000,BASELINE,764,742,711,670.858472107,664,632,875,782,799,649,627,649,0.400963131387,-0.00541343881753,0.0498467854558,0.999999961344,3.30779647455e-05,-0.000270734806209,-5.40377163372e-05,1793190845719110400
+61,1.016666667,BASELINE,764,742,711,670.550418072,664,632,875,782,799,649.449581928,627,649,0.400963805823,-0.00541327288838,0.0498471408033,0.999999961513,3.21911783845e-05,-0.000270187288346,-5.41854360873e-05,1793190845735777024
+62,1.033333333,BASELINE,764,742,711,670.045712101,664,632,875,782.045712101,799,649.954287899,627,649,0.400964471042,-0.00541301973971,0.0498474991532,0.999999961703,3.09481885486e-05,-0.000269582450943,-5.44191416728e-05,1793190845752443904
+63,1.050000000,BASELINE,764,742,711,670.620123151,664,632,875,782.620123151,799,649.379876849,627,649,0.400964584308,-0.00541356565868,0.0498477494419,0.999999961823,3.15674276902e-05,-0.000269106686693,-5.42197508207e-05,1793190845769110528
+64,1.066666667,BASELINE,764,742,711,671,664,632,875,783,799,649.194576469,627,649,0.400963954601,-0.00541402738359,0.0498475195223,0.999999961724,3.14867085867e-05,-0.00026949421832,-5.41626742181e-05,1793190845785776896
+65,1.083333333,BASELINE,764,742,711,671,664,632,875,783,799,649.769112291,627,649,0.400961874054,-0.00541432469848,0.0498463518755,0.999999961196,3.00391454311e-05,-0.000271567551679,-5.43835018904e-05,1793190845802443520
+66,1.100000000,BASELINE,764,742,711,671,664,632,875,782.643909165,799,650,627,649,0.400961642012,-0.00541474641737,0.0498465108808,0.999999961267,2.88679307141e-05,-0.000271414226896,-5.44637727933e-05,1793190845819110400
+67,1.116666667,BASELINE,764,742,711,671,664,632,875,782.048570722,799,650,627,649,0.400962651928,-0.00541525171986,0.0498475612269,0.999999961742,2.78823869469e-05,-0.00026976487186,-5.44496074719e-05,1793190845835777024
+68,1.133333333,BASELINE,764.527184326,742,711,670.472815674,664,632,875,782.527184326,799,649.472815674,627,649,0.400962415931,-0.00541433884518,0.0498469704462,0.999999961442,2.93791771775e-05,-0.00027070449997,-5.45079730935e-05,1793190845852443648
+69,1.150000000,BASELINE,764.898497865,742,711,670,664,632,875,782.898497865,799,649.101502135,627,649,0.400962207976,-0.00541335955374,0.0498465007179,0.999999961171,3.10732243543e-05,-0.000271508635559,-5.4546943934e-05,1793190845869110272
+70,1.166666667,BASELINE,764.322767378,742,711,670,664,632,875,782.322767378,799,649.677232622,627,649,0.400962648139,-0.0054126585489,0.049847277683,0.99999996137,3.2658621789e-05,-0.000270605218995,-5.44651975231e-05,1793190845885776896
+71,1.183333333,BASELINE,764,742,711,670.259927867,664,632,875.259927867,782,798.740072133,649.740072133,627,649,0.40096338248,-0.00541296380511,0.0498481962519,0.99999996169,3.30241908991e-05,-0.000269414726039,-5.42737313651e-05,1793190845902443520
+72,1.200000000,BASELINE,764,742,711,670.851509849,664,632,875.851509849,782,798.148490151,649.148490151,627,649,0.400964492176,-0.00541455299673,0.0498492954997,0.999999962164,3.18333242415e-05,-0.00026785793877,-5.39422686412e-05,1793190845919110400
+73,1.216666667,BASELINE,764,742,711,670.566827574,664,632,875.566827574,782,798.433172426,649,626.566827574,649,0.400964350831,-0.00541386703904,0.0498486900502,0.999999961983,3.20026905297e-05,-0.000268487536684,-5.40763562291e-05,1793190845935777024
+74,1.233333333,BASELINE,764,742,711,670,664,632.011439702,875,782,799,649,626,649,0.40096383662,-0.00541247456538,0.0498475585867,0.9999999616,3.26015877764e-05,-0.000269782466273,-5.4348303997e-05,1793190845952443648
+75,1.250000000,BASELINE,764,742,711,670,664,632.586208407,875,782,799,649,626,649,0.400965606693,-0.00541383667603,0.0498486563022,0.9999999622,3.19046959644e-05,-0.000267759594779,-5.37261750749e-05,1793190845969110272
+76,1.266666667,BASELINE,764.161440301,742,711,670,664,632.838559699,875,782,798.838559699,649,626,649,0.400966145002,-0.00541480666637,0.0498491273432,0.999999962467,3.12919567085e-05,-0.000266898935352,-5.34068489927e-05,1793190845985777152
+77,1.283333333,BASELINE,764.73786279,742,711,670,664,632.26213721,875,782,798.26213721,649,626,649,0.40096351706,-0.00541476871165,0.0498479875175,0.999999961885,3.08955315842e-05,-0.00026902574139,-5.38658774468e-05,1793190846002443776
+78,1.300000000,BASELINE,764.677841382,742,711,670.322158618,663.677841382,632,875.322158618,782,798.322158618,649,626,649,0.400963181464,-0.00541449442248,0.0498479946254,0.999999961798,3.09668580172e-05,-0.000269291437065,-5.40959569122e-05,1793190846019110400
+79,1.316666667,BASELINE,764.086978634,742,711,670.913021366,663.086978634,632,875.913021366,782,798.913021366,649,626,649,0.400964757855,-0.0054140230129,0.0498489583607,0.999999962128,3.14283238852e-05,-0.000268004828857,-5.41350759546e-05,1793190846035777280
+80,1.333333333,BASELINE,764,742,711,671,663.494165788,632,875.505834212,782,799,649,626.494165788,649,0.400963016715,-0.005414877829,0.0498477347999,0.999999961628,3.09285321031e-05,-0.000269945509072,-5.40096630427e-05,1793190846052443648
+81,1.350000000,BASELINE,764,741.926923743,711,670.926923743,664,632,875,782,799,649,627,649,0.400961211506,-0.00541569524063,0.0498464698982,0.999999961141,3.03472169179e-05,-0.000271832574607,-5.38894572966e-05,1793190846069110272
+82,1.366666667,BASELINE,764,741.351835932,711,670.351835932,664,632,875,782,799,649,627,649,0.400962900158,-0.00541468302741,0.0498475147407,0.99999996176,3.03457412202e-05,-0.000269524334346,-5.40001288009e-05,1793190846085776896
+83,1.383333333,BASELINE,764,741.220973161,711,670,664,632,875,782,799,649,626.779026839,649.220973161,0.400963854066,-0.00541350115254,0.0498479125442,0.999999961983,3.06620044252e-05,-0.000268604195992,-5.42726134561e-05,1793190846102443520
+84,1.400000000,BASELINE,764,741.790191174,711,670,664,632,875,782,799,649,626.209808826,649.790191174,0.400963650049,-0.00541205189756,0.04984729064,0.999999961588,3.14790114173e-05,-0.000269871650305,-5.48001091756e-05,1793190846119110144
+85,1.416666667,BASELINE,764,742,711,670,663.623553189,632,875,782,799,649,626.376446811,649.623553189,0.400963328876,-0.00541265444171,0.0498471057919,0.999999961463,3.21029106894e-05,-0.000270299559376,-5.46056023801e-05,1793190846135777024
+86,1.433333333,BASELINE,764,742,711,670,663.027351698,632,875,782,799,649,626.972648302,649.027351698,0.400962939314,-0.00541445474469,0.0498471760798,0.999999961497,3.26140813041e-05,-0.00027023737524,-5.39896191944e-05,1793190846152443648
+87,1.450000000,BASELINE,764,741.447958354,711,670,663.552041646,632,875.552041646,782,799,649,627,649,0.400962798851,-0.00541372281804,0.0498474265181,0.999999961502,3.11628533368e-05,-0.000270380840847,-5.40223265926e-05,1793190846169110272
+88,1.466666667,BASELINE,764.130191699,741.130191699,711,670,664,632,876,782,798.869808301,649,626.869808301,649,0.400962827983,-0.00541315801512,0.049847582929,0.999999961531,2.99722137093e-05,-0.000270383110159,-5.41494720127e-05,1793190846185777152
+89,1.483333333,BASELINE,764.706849585,741.706849585,711,670,664,632,876,782,798.293150415,649,626.293150415,649,0.400963397628,-0.00541358386648,0.0498473871868,0.999999961651,2.99987875015e-05,-0.000269867265829,-5.44935115762e-05,1793190846202443776
+90,1.500000000,BASELINE,764.711486441,741.711486441,711,670,664,632,875.711486441,782,798.288513559,649.288513559,626,649.288513559,0.400963428658,-0.00541363403193,0.0498470977696,0.9999999616,3.07460258674e-05,-0.000269969174206,-5.4513227908e-05,1793190846219110656
+91,1.516666667,BASELINE,764.124646144,741.124646144,711,670,664,632,875.124646144,782,798.875353856,649.875353856,626,649.875353856,0.400962902752,-0.00541329573328,0.0498467114914,0.99999996137,3.22384406865e-05,-0.000270709846873,-5.41975898182e-05,1793190846235777024
+92,1.533333333,BASELINE,764,741,710.543640015,670.456359985,664,632,875,782,799,649.543640015,626,649.543640015,0.400962945786,-0.00541441214218,0.0498469170469,0.999999961452,3.06080840916e-05,-0.000270635558433,-5.39938326337e-05,1793190846252443648
+93,1.550000000,BASELINE,764,741.035557472,710.035557472,671,664,632,875,782,798.964442528,649.035557472,626,649,0.400963112126,-0.00541576638809,0.0498472522994,0.999999961597,2.83377755652e-05,-0.000270375374166,-5.38500354569e-05,1793190846269110528
+94,1.566666667,BASELINE,764,741.611180982,710.611180982,671,664,632,875,782,798.388819018,649.611180982,626,649,0.40096282088,-0.00541477440343,0.0498471332498,0.999999961489,2.91387145489e-05,-0.000270629865311,-5.4158668169e-05,1793190846285776896
+95,1.583333333,BASELINE,764,742,711,670.813807479,664,632,875,782,798.372385042,650,626.186192521,649,0.400962712718,-0.00541376094322,0.0498472030897,0.999999961468,3.04201995672e-05,-0.000270525164185,-5.43505462713e-05,1793190846302443520
+96,1.600000000,BASELINE,764,742,711,670.240069605,664,632,875,782,799.519860791,650,626.759930395,649,0.400962985632,-0.0054127027831,0.0498476660884,0.999999961629,3.27019041939e-05,-0.000269672832132,-5.42994087264e-05,1793190846319110144
+97,1.616666667,BASELINE,764,742,711,670.343620491,664,632,875,782.343620491,799.312759019,649.656379509,626.656379509,649,0.400963221395,-0.00541193502632,0.0498477027266,0.999999961729,3.31461303466e-05,-0.000269230647833,-5.43824018849e-05,1793190846335777024
+98,1.633333333,BASELINE,764,742,711,670.934471033,664,632,875,782.934471033,798.131057935,649.065528967,626.065528967,649,0.400963430427,-0.00541137621066,0.0498474326045,0.999999961788,3.22683167594e-05,-0.000269083559054,-5.45619001783e-05,1793190846352443648
+99,1.650000000,BASELINE,764,741.484233409,711,671,664,632,875,782.484233409,798.515766591,649.515766591,626.515766591,649.515766591,0.400962881806,-0.00541296088237,0.0498474403452,0.999999961813,3.11647999083e-05,-0.000269187463617,-5.42372507115e-05,1793190846369110016
+100,1.666666667,BASELINE,764,741.09534981,711,670.90465019,664,632,875.09534981,782,799,649.90465019,626.90465019,649.90465019,0.400962454709,-0.0054146420524,0.0498476051349,0.999999961852,2.99817257157e-05,-0.000269248795526,-5.38785736545e-05,1793190846385776640
+101,1.683333333,BASELINE,764,741.672304297,711,670.327695703,664,632,875.672304297,782,799,649.327695703,626.327695703,649.327695703,0.400963118786,-0.00541546011166,0.0498483880978,0.999999961989,2.85390190653e-05,-0.000268936956404,-5.36656669965e-05,1793190846402443520
+102,1.700000000,BASELINE,764,741.746905368,711,670,664,632,875.746905368,782,799,649.253094632,626.253094632,649,0.400963286089,-0.00541568804979,0.0498484721113,0.999999961941,2.84065971824e-05,-0.000269127817867,-5.36727275794e-05,1793190846419110400
+103,1.716666667,BASELINE,764,741.161072165,711,670,664,632,875.161072165,782,799,649.838927835,626.838927835,649,0.400962800292,-0.00541514016713,0.0498476372294,0.999999961649,2.99967812216e-05,-0.00026997957,-5.39689748169e-05,1793190846435777024
+104,1.733333333,BASELINE,764,741.41986138,711,670,664,632,875,782.41986138,799,649.58013862,627,649,0.400962784542,-0.00541377219681,0.049847367882,0.999999961497,3.25045014557e-05,-0.000270226993989,-5.40935057677e-05,1793190846452443648
+105,1.750000000,BASELINE,764,741.998936991,711,670,664,632,875,782.998936991,799,649.001063009,627,649,0.400962947037,-0.00541209324375,0.0498473129889,0.999999961392,3.53601576535e-05,-0.000270245252792,-5.41529207838e-05,1793190846469110272
+106,1.766666667,BASELINE,764,742,711,670,664,632,875,782.422755627,799,649,627,649.577244373,0.400963120352,-0.00541414809215,0.0498473347099,0.999999961569,3.0991318104e-05,-0.000270109536528,-5.42446497593e-05,1793190846485776640
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,876,782,799,650,627,649,0.400963137055,-0.00541295090703,0.0498472781405,0.999999961482,3.15770355563e-05,-0.00027035213619,-5.42996143704e-05,1793190846527070464
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,670.590229838,664,632,875.409770162,782,799,649.409770162,627,649,0.400963939282,-0.00541359952386,0.0498480586154,0.999999961861,3.25265775702e-05,-0.000268904589223,-5.39512209038e-05,1793190846543737088
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,741.822657847,711,670.822657847,664,632.177342153,875,782,799,649.177342153,627,649,0.400963901332,-0.00541432462252,0.0498482131257,0.999999961949,3.23135423443e-05,-0.00026864149168,-5.37632084484e-05,1793190846560403968
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,741.242624385,711,670.242624385,664,632.757375615,875,782,799,649.757375615,627,649,0.400961955588,-0.00541522338883,0.0498469462565,0.999999961372,2.94606400111e-05,-0.000271067926377,-5.3939373522e-05,1793190846577070592
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,741.333656214,711,670,664,632.666343786,875,782,799,649.666343786,626.666343786,649.333656214,0.400960684258,-0.00541472566786,0.0498463655332,0.999999961009,2.97917353616e-05,-0.000272353395108,-5.40230928807e-05,1793190846593737216
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,741.907238166,711,670,664,632.092761834,875,782,799,649.092761834,626.092761834,649.907238166,0.400959897885,-0.0054132237598,0.0498462782041,0.9999999608,3.24123821106e-05,-0.000272818417109,-5.40403363012e-05,1793190846610403840
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,670.477102186,664,632,875,782.477102186,798.522897814,649,626,649.522897814,0.400962149125,-0.00541391848494,0.0498471445543,0.999999961408,3.23899457826e-05,-0.000270592733044,-5.39830987945e-05,1793190846627070464
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,741.951108584,710.951108584,671,664,632,875,782.951108584,798.048891416,649.048891416,626,649,0.400965309588,-0.00541486810681,0.0498483265195,0.99999996222,3.19882354382e-05,-0.000267640891183,-5.39003090497e-05,1793190846643737088
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,741.349442897,710.349442897,671,664,632,875,782.349442897,798.650557103,649.650557103,626,649,0.400972124147,-0.0054139082656,0.0498509966837,0.999999963599,3.30635694779e-05,-0.000262348046092,-5.36910817538e-05,1793190846660403968
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,741.241250641,710.241250641,670.758749359,664,632,875,782,799.241250641,649.758749359,626,649,0.400984864609,-0.00541432870065,0.0498565992663,0.999999966279,3.27124654253e-05,-0.000252063392367,-5.32589240017e-05,1793190846677070592
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,741.816742731,710.816742731,670.183257269,664,632,875,782,799.816742731,649.183257269,626,649,0.401005815133,-0.00541666144381,0.0498662645768,0.999999970579,3.03850982047e-05,-0.000234862822306,-5.25179065664e-05,1793190846693737216
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875,782,800,649,626,649,0.401045667752,-0.00541882857059,0.0498807245632,0.999999977112,2.88173472511e-05,-0.000205666029101,-5.1441537891e-05,1793190846710403840
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875,782,800,649,626,649,0.401094351684,-0.00542091831942,0.0498974246868,0.999999983761,2.76044988779e-05,-0.000170864439361,-5.0208488548e-05,1793190846727070464
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875,782,799.444593841,649,626.555406159,649,0.401167193599,-0.00542190618796,0.0499178458568,0.999999990379,2.86650870801e-05,-0.000126609368928,-4.88948839523e-05,1793190846743737088
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.856165551,742,711,670,664,632,875,782,799,649,627,649,0.401239959642,-0.00542347809883,0.0499343966013,0.999999994083,2.92189369031e-05,-9.34000633508e-05,-4.75145300393e-05,1793190846760403712
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.278777879,742,711,670,664,632,875,782,799,649,627,649,0.401307687309,-0.00542702983766,0.0499385400779,0.999999994011,2.77927236623e-05,-9.53675892207e-05,-4.59490148431e-05,1793190846777070592
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.297686291,741.702313709,711,670,664,632,875,782,799,649.297686291,627,649,0.401386410264,-0.00543068427024,0.0499403800631,0.999999994048,2.63639394658e-05,-9.59397691389e-05,-4.47715719526e-05,1793190846793737216
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.873288256,741.126711744,711,670,664,632,875,782,799,649.873288256,627,649,0.401475398259,-0.00543443457605,0.0499400695413,0.999999994191,2.49327551475e-05,-9.5209273862e-05,-4.39564279254e-05,1793190846810403840
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,741.447601519,711,670,664,632,874.552398481,782,799,649.552398481,626.552398481,649,0.401581788479,-0.00543971302814,0.0499392088624,0.999999993957,2.1172401167e-05,-9.89739553945e-05,-4.29193832302e-05,1793190846827070464
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,874,782,799,649,626,649,0.401694739699,-0.0054453724841,0.0499383745003,0.999999993613,1.68459933098e-05,-0.000103649325474,-4.17971127341e-05,1793190846843737344
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,874,782,799,649,626,649,0.401849951685,-0.00544974116095,0.0499421952943,0.999999994171,1.48628496292e-05,-9.91432594731e-05,-4.00958585383e-05,1793190846860403968
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664.204630635,632,874.204630635,782,799,649,626.204630635,649,0.402011445391,-0.00545505737785,0.049943708443,0.999999994246,1.2177808321e-05,-9.94032528661e-05,-3.84526156473e-05,1793190846877070848
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,670,664.782094668,632,874.782094668,782,799,649,626.782094668,649,0.402184384265,-0.00546209999549,0.0499410171025,0.999999993415,8.21392217176e-06,-0.000108346922629,-3.69150685123e-05,1793190846893737728
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,670.356906091,664.643093909,632,875,782,799,649,627,649,0.402384251701,-0.0054703763451,0.049939765896,0.999999993371,4.41074070419e-06,-0.000109490699011,-3.53707400186e-05,1793190846910404352
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,670.930109995,664.069890005,632,875,782,799,649,627,649,0.402600438822,-0.00547940038093,0.0499393874618,0.99999999382,7.0495161981e-07,-0.000105907462858,-3.38223016325e-05,1793190846927070976
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.51861497,742,711,670.48138503,664,632,875,782.51861497,799,649,627,649,0.402853731077,-0.00548791563432,0.0499445265734,0.999999994886,-3.59363241569e-06,-9.60568621607e-05,-3.14432840961e-05,1793190846943737600
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.892819563,742,711,670.107180437,664,632,875,782.892819563,799,649.107180437,627,649,0.403123128332,-0.00549717580148,0.049950737146,0.999999995994,-8.33959626574e-06,-8.43545696125e-05,-2.87604245542e-05,1793190846960403968
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.313349821,742,711,670.686650179,664,632,875,782.313349821,799,649.686650179,627,649,0.403440788143,-0.00551002974051,0.0499582930055,0.999999997239,-1.46942138648e-05,-6.8327712682e-05,-2.52469057442e-05,1793190846977070848
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.264565391,742,711,670.735434609,664,632,875.529130781,782,799,650,627,649,0.403772902344,-0.00552248880987,0.0499655374896,0.999999998121,-1.98621916579e-05,-5.38174669766e-05,-2.15986582612e-05,1793190846993737728
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.840650146,742,711,670.159349854,664,632,876.681300292,782,799,650,627,649,0.404122036224,-0.00553448292893,0.0499724153362,0.999999998718,-2.36329293273e-05,-4.10929953724e-05,-1.77917712307e-05,1793190847010404096
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,742,711,670.423443586,664,632,876.153112827,782,798.576556414,650,627,649,0.404493804569,-0.00554251159474,0.0499788876772,0.999999999265,-2.27300990506e-05,-2.75060993845e-05,-1.40144933976e-05,1793190847027070720
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,742,711,671,664.008715446,632,875.008715446,782,798.008715446,650,627,649,0.404874778179,-0.00554873652923,0.0499849610456,0.999999999655,-1.9664630616e-05,-1.40737553327e-05,-1.02550411675e-05,1793190847043737344
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,742,711,671,664.588300841,632,875.588300841,782,798.588300841,650,627,649,0.405291801787,-0.00553613433554,0.0499750576503,0.99999999942,8.00123539877e-06,-3.23650188222e-05,-6.9215838088e-06,1793190847060403968
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.832523641,742,711,671,664.832523641,632,875.832523641,782,799,649.832523641,627,649,0.405715559567,-0.00552356109235,0.0499606451066,0.999999997585,3.55169648907e-05,-5.95828073099e-05,-4.30009511636e-06,1793190847077070848
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.254353328,742,711,671,664.254353328,632,875.254353328,782,799,649.254353328,627,649,0.406155831162,-0.00551105884492,0.0499351750033,0.999999992124,6.26645179498e-05,-0.00010869066675,-3.42453229947e-06,1793190847093737472
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632,875,782,799,649.321396767,627,649,0.406625684257,-0.00551162037086,0.0499169320419,0.999999987439,7.44596124867e-05,-0.000139917904235,-6.29239429502e-07,1793190847110404096
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632,875,782,799,649.895245878,627,649,0.407118773225,-0.00552244329368,0.0499043658894,0.999999984901,7.419558394e-05,-0.000157100186577,3.67397271685e-06,1793190847127070464
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,741.527756857,711,671,664.472243143,632,875,782,799,649.527756857,627,649,0.407686289609,-0.00552986947766,0.0499187839331,0.999999988802,7.80903327564e-05,-0.00012733423037,9.20854977356e-06,1793190847143737344
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,741.050970805,711,670.949029195,665,632,875.050970805,782,799,649,627,648.949029195,0.408273235491,-0.00553581963797,0.0499397981578,0.999999992611,8.39115063726e-05,-8.66618632474e-05,1.50715203704e-05,1793190847160404224
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,741.640555302,711,670.359444698,665,632,875.640555302,782,799,649,627,648.359444698,0.408889865074,-0.00553418796921,0.0499668389233,0.999999993879,0.000100275731581,-4.15264781358e-05,2.14989482636e-05,1793190847177071616
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.225684117,742,711,670,664.774315883,632,876,782,799,649,626.774315883,648.225684117,0.409518805735,-0.00553276117713,0.0499847259776,0.999999992999,0.000114421579896,-1.35384763039e-05,2.69455751932e-05,1793190847193739008
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.803853774,742,711,670,664.196146226,632,876,782,799,649,626.196146226,648.803853774,0.41016697446,-0.00553165437253,0.0499883162742,0.999999991622,0.000125102647694,-1.23321787084e-05,3.0860334335e-05,1793190847210405632
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.62182319,742,711,670.37817681,664,632,875.62182319,782,799,649.37817681,626,649,0.410785360361,-0.0055345214472,0.0499694930715,0.999999994793,8.18237877701e-05,-5.68733030228e-05,2.20146614252e-05,1793190847227071744
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.04947518,742,711,670.95052482,664,632,875.04947518,782,799,649.95052482,626,649,0.411388454543,-0.0055394288715,0.0499391618759,0.999999992119,1.08397276267e-05,-0.000124902995031,6.61726868847e-06,1793190847243738112
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632,875.541020758,782,798.458979242,649.458979242,626.541020758,649,0.41207231991,-0.00554304723718,0.0499293254424,0.999999991618,1.46416712433e-05,-0.00012835904476,8.52466848978e-06,1793190847260404480
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,670.869640128,664.130359872,632,876,782,798.130359872,649.130359872,627,649,0.412785024386,-0.00554605804755,0.0499294999952,0.999999992894,2.48386478879e-05,-0.000115927797274,1.25120636714e-05,1793190847277070592
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,670.290201874,664.709798126,632,876,782,798.709798126,649.709798126,627,649,0.413570748424,-0.0055473960687,0.0499574809708,0.999999996866,3.26884136163e-05,-6.98148752891e-05,1.8024122547e-05,1793190847293737216
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,876,782,799.285919347,650,627,649,0.414337824739,-0.00554614473048,0.04996348874,0.999999997457,3.63997081968e-05,-5.78600749772e-05,2.03047515172e-05,1793190847310404096
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,670,665,632,876,782,799.858712533,650,627,649,0.415086191172,-0.00554229538893,0.0499474499528,0.999999995952,3.59587170642e-05,-8.01774217141e-05,1.93431637131e-05,1793190847327070976
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,670.434141166,664.565858834,632,876,782,799.565858834,649.565858834,626.565858834,649,0.415844639935,-0.00554176875925,0.0499309949657,0.999999993811,2.70705062533e-05,-0.000106522665643,1.72590976119e-05,1793190847343737856
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711,670.989272353,664,632,876,782.010727647,799,649,626,649,0.416607366205,-0.0055424453128,0.0499151640546,0.999999990941,1.54762944772e-05,-0.000132875496365,1.49065792032e-05,1793190847360404480
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,711,670.39668746,664,632,876,782.60331254,799,649,626,649,0.417423046341,-0.00554937189451,0.0499405738419,0.999999995932,7.12897574184e-06,-8.81067597593e-05,1.7928034792e-05,1793190847377070592
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.190957559,742,711,670.190957559,664.190957559,632,876,782.809042441,799,649,626,649,0.418240825594,-0.00555493147863,0.0499608031317,0.999999998306,6.26875890561e-07,-5.43543817592e-05,2.0791377068e-05,1793190847393737216
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.768599422,742,711,670.768599422,664.768599422,632,876,782.231400578,799,649,626,649,0.419062855455,-0.00555772292622,0.0499705420417,0.999999998805,-2.13870113582e-06,-4.29098586468e-05,2.33345437017e-05,1793190847410404096
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.654513394,742,711,671,665,632.345486606,876,782,799,649.345486606,626,649,0.419885704813,-0.00555460994816,0.0499603262679,0.999999998157,5.11602162027e-07,-5.6091341439e-05,2.32217163659e-05,1793190847427070720
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.0781306,742,711,671,665,632.9218694,876,782,799,649.9218694,626,649,0.420709101826,-0.00554755091435,0.0499367743459,0.999999996075,6.78145578125e-06,-8.57309181716e-05,2.13338305736e-05,1793190847443737344
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.492503965,742,711,670.492503965,664.492503965,631.985007929,876,782,799,650,626,649,0.421576582276,-0.00555058084206,0.0499592147093,0.99999999896,-2.53980967177e-07,-3.95138055607e-05,2.27719929177e-05,1793190847460404224
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.093293545,742,711,670.093293545,664.093293545,631.093293545,876,782,799,649.906706455,626,649,0.422442625226,-0.00555497084433,0.0499829144388,0.999999999635,-9.03659563447e-06,7.02395367407e-06,2.44872074185e-05,1793190847477071104
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.672432037,742,711,670.672432037,664.672432037,631.672432037,876,782,799,649.327567963,626,649,0.42326518254,-0.00555820489733,0.0499756145125,0.999999999538,-1.60526716311e-05,-6.71428383443e-06,2.49291214736e-05,1793190847493737984
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876.251789724,782,799,649,626,649,0.424095520499,-0.00556034617351,0.0499669113631,0.999999999248,-2.05832114243e-05,-2.10383635467e-05,2.52680138862e-05,1793190847510404864
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876.831432904,782,799,649,626,649,0.424935989693,-0.00556106455387,0.0499563810867,0.999999998784,-2.18773546748e-05,-3.61252657693e-05,2.54727626761e-05,1793190847527070976
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876.59404855,782,799,649,626.40595145,649,0.425795481122,-0.00556252689883,0.0499687645367,0.999999998979,-2.70778862558e-05,-2.40224516953e-05,2.70412492235e-05,1793190847543737344
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876.02163146,782,799,649,626.97836854,649,0.426662772814,-0.00556429431603,0.0499905440569,0.999999999,-3.38802827752e-05,-7.70142091143e-07,2.91689540411e-05,1793190847560403968
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.567151508,742,711,671,665,632,876,782,799,649,627,649,0.427427942876,-0.0055625582889,0.0499757807675,0.999999998106,-3.2058839691e-05,-4.28682666117e-05,3.03645491568e-05,1793190847577070848
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.846041288,742,711,671,665,631.846041288,876,782,799,649.153958712,626.846041288,649,0.428196811076,-0.00556091235129,0.0499573620885,0.999999995571,-3.09822568618e-05,-8.33996625788e-05,3.06963345402e-05,1793190847593737472
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.266472843,742,711,671,665,631.266472843,876,782,799,649.733527157,626.266472843,649,0.428986989881,-0.00555989583046,0.0499328057614,0.999999992717,-3.29010879958e-05,-0.000112504820625,2.87413684979e-05,1793190847610404096
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665,631.310741462,876,782,799.310741462,650,626,649,0.429800503551,-0.00556198312775,0.0499345800973,0.999999993882,-4.01242558278e-05,-9.91224205425e-05,2.82902229039e-05,1793190847627070976
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671,665,631.885952151,876,782,799.885952151,650,626,649,0.43063387727,-0.0055667120564,0.0499587642214,0.999999997002,-5.18618961174e-05,-4.9579245377e-05,2.91189652446e-05,1793190847643738112
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.461643298,742,711,671,665,632,876,782.461643298,799.538356702,649.538356702,626,649,0.431402748144,-0.00556682462585,0.0499513496398,0.999999995859,-5.44346938543e-05,-6.67484824018e-05,2.9370699493e-05,1793190847660404736
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.961617775,742,711,671,665,632,876.038382225,782.961617775,799,649,626,649,0.432153864041,-0.00556576723902,0.0499367376602,0.999999993238,-5.48244086773e-05,-9.82418461497e-05,2.94352550108e-05,1793190847677071104
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.371526528,742,711,671,665,632,876.628473472,782.371526528,799,649,626,649,0.432879061184,-0.00556430295434,0.0499309962003,0.999999993143,-5.64133232155e-05,-9.84833095413e-05,2.88604262005e-05,1793190847693737472
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711,671.214129848,665,632,876.785870152,782,799,649,626.214129848,649,0.433607985404,-0.00556423421023,0.0499371319565,0.999999994409,-5.90979214459e-05,-8.2773006054e-05,2.89336921469e-05,1793190847710403840
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711,671.792247717,665,632,876.207752283,782,799,649,626.792247717,649,0.434343245204,-0.0055665376716,0.0499634571643,0.999999996724,-6.3645014711e-05,-3.99471363121e-05,3.01086200173e-05,1793190847727070464
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,876,782.36823867,799,649,626.63176133,649,0.435031829974,-0.00556723406362,0.0499742056194,0.99999999676,-6.81607605375e-05,-2.96323374106e-05,3.09335561051e-05,1793190847743737088
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,876,782.943036519,799,649,626.056963481,649,0.435694232888,-0.00556702898872,0.0499762164754,0.999999996157,-7.26589221536e-05,-3.75542464313e-05,3.15621683406e-05,1793190847760403968
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671.46995405,665,632,876.53004595,783,799,649,626.53004595,649,0.436299998516,-0.00556315848073,0.0499496640501,0.999999992849,-6.87913942054e-05,-9.26331212305e-05,3.14357574121e-05,1793190847777071360
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.11710194,742,711,671.11710194,665,631.88289806,876.88289806,783,799.11710194,649,627,649,0.436908429846,-0.00556011529298,0.0499290814497,0.999999988665,-6.48814869721e-05,-0.00013219155781,3.141299363e-05,1793190847793738240
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.699010767,742,711,671.699010767,665,631.300989233,876.300989233,783,799.699010767,649,627,649,0.437552171565,-0.00556195638637,0.0499446661791,0.999999993396,-6.44560822595e-05,-8.95553211711e-05,3.21312978245e-05,1793190847810404608
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.721926451,742,711,671.721926451,665,631.278073549,876,782.721926451,799.721926451,649,626.721926451,649,0.438169695425,-0.0055640349461,0.0499627780282,0.999999996039,-6.48892744257e-05,-5.07911337883e-05,3.36342556288e-05,1793190847827070976
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.145913078,742,711,671.145913078,665,631.854086922,876,782.145913078,799.145913078,649,626.145913078,649,0.438759128316,-0.00556636793724,0.0499835975397,0.999999997028,-6.62424038587e-05,-1.61756274185e-05,3.59779246445e-05,1793190847843737600
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711,671.429126992,665,632,876.429126992,782,798.570873008,649,626.429126992,649,0.439275190791,-0.00556544054019,0.0499731681178,0.999999996735,-6.38815681424e-05,-3.30810018674e-05,3.68078012318e-05,1793190847860404224
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,876.996055195,782.003944805,798.003944805,649,627,649,0.439766046902,-0.00556340759675,0.0499520949629,0.999999995215,-6.02470423072e-05,-6.75389483597e-05,3.71202759201e-05,1793190847877071104
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,876.405184676,782.594815324,798.594815324,649,627,649,0.440210002385,-0.00556145681894,0.0499247107066,0.999999991448,-5.45721322564e-05,-0.00011299570563,3.68610688585e-05,1793190847893738240
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631.818393823,876.181606177,783,799,649,627,649,0.440657900985,-0.00556001203808,0.049910233732,0.999999988903,-4.96421953701e-05,-0.000135495552475,3.7009078827e-05,1793190847910405120
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,631.240505092,876.759494908,783,799,649,627,649,0.441114403939,-0.00555967139202,0.0499239217116,0.999999992381,-4.63378623678e-05,-0.000107901169849,3.80456765175e-05,1793190847927071744
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671.664903808,665,631.335096192,876.664903808,782.664903808,799,648.664903808,626.664903808,649,0.441539689808,-0.00556168318461,0.049937915829,0.99999999332,-7.41678515722e-05,-8.2908911796e-05,3.13869231842e-05,1793190847943738112
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,711,671.090933173,665,631.909066827,876.090933173,782.090933173,799,648.090933173,626.090933173,649,0.441942722445,-0.00556537192098,0.0499521281769,0.999999990317,-0.000124192046647,-5.97715884338e-05,1.92425129787e-05,1793190847960404480
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876.495989564,782.495989564,799,648.495989564,626.495989564,649,0.44229692156,-0.00557022525022,0.0499502722592,0.999999997566,-2.9991929166e-05,-6.01054736446e-05,1.8843094998e-05,1793190847977071104
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,741.336943837,711,671.663056163,665,631.336943837,876.336943837,782.336943837,799,649,627,649,0.442908170249,-0.0055826766149,0.0499266590233,0.999999992749,6.49810090429e-05,-9.88243329037e-05,2.26379858741e-05,1793190848010403840
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.24147457,741.24147457,711,671.75852543,665,631,876,782,799,649,626.75852543,649,0.443166683948,-0.00558612982941,0.0499080594677,0.999999989321,6.17512250451e-05,-0.000130296189957,2.38079632586e-05,1793190848027070464
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763.144775141,742,711,672,664.855224859,631,876,782,798.144775141,649.144775141,627,649,0.444178869702,-0.00555661187261,0.0498459969352,0.999999969377,9.66388489297e-05,-0.000226693956565,2.27112527133e-05,1793190848110403840
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.723714492,742,711,672,664.276285508,631,876,782,798.723714492,649.723714492,627,649,0.444338826997,-0.00556398841983,0.0498491626842,0.9999999712,8.89642148866e-05,-0.000221674152096,2.33540360898e-05,1793190848127070464
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.700850704,742,711,672,664,630.700850704,876,782,799.299149296,649.700850704,626.700850704,649,0.44448278404,-0.00556754529552,0.0498513062301,0.999999972354,8.56746246685e-05,-0.000217694603565,2.3704718749e-05,1793190848143737344
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.128615153,742,711,672,664,630.128615153,876,782,799.871384847,649.128615153,626.128615153,649,0.444612134824,-0.00556761528378,0.0498525166309,0.999999972945,8.63880367954e-05,-0.00021466468017,2.37887495956e-05,1793190848160404224
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.456939799,742,711,672,664,630,876,782,799.543060201,649,626,648.543060201,0.444711680545,-0.00556624537066,0.0498493880469,0.999999971964,8.65376412218e-05,-0.0002191233613,2.38209476507e-05,1793190848177070592
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+208,3.466666667,POSE1_TO_POSE2_PRESS,763.374860215,742,711,672,664,630,876.625139785,782,798.374860215,649,626,648.625139785,0.444876263214,-0.00556529025991,0.0498441890456,0.999999970317,8.68944396987e-05,-0.00022637914899,2.3813520032e-05,1793190848210404096
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.204087653,742,711,672,664,630,877,782,798.204087653,649,626,648.795912347,0.444943176699,-0.0055645325842,0.0498420922098,0.9999999698,8.79648217858e-05,-0.000228273851394,2.35118646969e-05,1793190848227070720
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.78191676,742,711,672,664,630,877,782,798.78191676,649,626,648.21808324,0.444995402145,-0.00556121307633,0.0498381205391,0.999999968819,9.03679426048e-05,-0.00023169025087,2.26972632991e-05,1793190848243737344
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,630,877,782,799,649,626,648.35722742,0.445037073193,-0.00556060168836,0.0498352637765,0.99999996791,9.05638418744e-05,-0.000235524548959,2.24918147113e-05,1793190848260403968
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,630,876,782,799,649.106713313,626,648.893286687,0.445118028942,-0.00556005389167,0.0498319500591,0.999999966764,8.89933714876e-05,-0.000240968745035,2.20490482377e-05,1793190848310403840
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+220,3.666666667,POSE1_TO_POSE2_PRESS,764.581540806,742,711,672,664,630,877,782,799,649,626,648.581540806,0.445155168776,-0.00555836537952,0.0498245350869,0.999999963636,8.68429518719e-05,-0.000254466189388,2.08036133575e-05,1793190848410404096
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+246,4.100000000,HOLD_POSE2,764.517538365,742,712,672,664,630,876.517538365,782,799,649.517538365,626.482461635,649,0.445158674102,-0.00555426208266,0.0498192292124,0.999999961484,8.57149873287e-05,-0.000263334112608,1.84598761259e-05,1793190848867116288
+247,4.116666667,HOLD_POSE2,764,742.058257528,711.941742472,672,664,630,876.058257528,782,799,649.058257528,626.941742472,649,0.445159106827,-0.00555422149973,0.0498189758399,0.999999961483,8.6553497649e-05,-0.000263063578164,1.84533793112e-05,1793190848883782912
+248,4.133333333,HOLD_POSE2,764,742.649195387,711.350804613,672,664,630,876.649195387,782,799,649.649195387,626.350804613,649,0.44515989948,-0.00555493291303,0.0498203612326,0.999999961912,8.40475853425e-05,-0.000262230891645,1.8633873047e-05,1793190848900449792
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+250,4.166666667,HOLD_POSE2,764.810767488,742.189232512,711,672.810767488,664.810767488,630,877,782,799,649.189232512,626.810767488,649,0.44516062292,-0.00555302611006,0.0498197911879,0.999999961623,8.53966774762e-05,-0.000262916938982,1.8340696629e-05,1793190848933783040
+251,4.183333333,HOLD_POSE2,764.611496667,742,711,673,664.611496667,630,876.611496667,782,799,649,626.611496667,649,0.445159877652,-0.00555345168281,0.0498186767499,0.999999961063,8.60554520439e-05,-0.000264794921224,1.87561363244e-05,1793190848950449664
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+253,4.216666667,HOLD_POSE2,764,742,711.540929275,672.459070725,664,630,876.540929275,782,799,649,626.540929275,649,0.445158671741,-0.0055539474031,0.0498184316241,0.999999960728,8.69047829273e-05,-0.000265769049374,1.89556290652e-05,1793190848983783168
+254,4.233333333,HOLD_POSE2,764,742,711.88151374,671.88151374,664,630,876.88151374,782,799,649,626.88151374,649,0.445158839696,-0.00555321608208,0.0498192623136,0.999999961065,8.7282825484e-05,-0.000264406656253,1.84661971351e-05,1793190849000449792
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+256,4.266666667,HOLD_POSE2,764,742,711.293921376,671.293921376,664,630,876,782,799.293921376,649.293921376,626,649,0.445159378292,-0.00555369641955,0.0498189758214,0.99999996129,8.48420102638e-05,-0.000264351768487,1.84359956551e-05,1793190849033782784
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+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.411324115,663.411324115,630,877,782,799,649,626,649,0.445157836542,-0.00555387683951,0.049817331585,0.999999960547,8.42438994114e-05,-0.000267331110527,1.851906392e-05,1793190849099801856
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.174815178,663.349630356,630,877,782.174815178,799.174815178,649,626,649,0.445157968947,-0.0055530575975,0.0498170498532,0.999999960331,8.53119767197e-05,-0.000267824322587,1.8161326107e-05,1793190849116468736
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.330302158,742,711,672,664.669697842,630,876.669697842,782.669697842,800,649,626,648.669697842,0.445159740109,-0.00555375095954,0.0498185527527,0.999999961322,8.42103884609e-05,-0.000264456649234,1.80861253096e-05,1793190849149801216
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.650454359,672,664,630,876.650454359,782,799.650454359,649.650454359,626,649,0.445139485062,-0.00555282898757,0.049809482976,0.999999957078,8.44041978513e-05,-0.000280020321881,1.75530595884e-05,1793190849216467968
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.814879962,712,672,664,630,877,782,799.185120038,650,626,649,0.445060470989,-0.00554930586626,0.0497740306244,0.999999937016,8.77826299855e-05,-0.000343540735646,1.55804919864e-05,1793190849249801728
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.609138113,711.609138113,672,664,630,876.609138113,782,799,649.609138113,626,649,0.444998230841,-0.00554696975444,0.049752099661,0.99999992267,8.89000915471e-05,-0.000382823925265,1.42543969379e-05,1793190849266468096
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.29718172,672,664.70281828,630,877,782,799,649,626.29718172,649,0.444565215469,-0.00552791992151,0.0497053901061,0.999999890431,9.9908045236e-05,-0.000457260316478,8.26966435587e-06,1793190849349801216
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742,711.873349482,672,664.126650518,630,877,782,799,649,626.873349482,649,0.444443067985,-0.00552286082083,0.0497039151166,0.999999888446,0.000102491064138,-0.000461031237234,7.39492918151e-06,1793190849366468096
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c52fa3fd341b69c309b4ce7d479fee24685c9466
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,394 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..adf4293d270d2634123c26f72f683810bd8fa45c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b8887f28f67b684d1c9a2468472ebc2887bf8209e343fce5831a9720a6de31c
+size 25093680
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a1c0fa0afccd61578b68f0d16fe3ca8d14e6b40b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_03/franka_data.csv
@@ -0,0 +1,396 @@
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+5,0.083333333,BASELINE,764,741.912255415,710.087744585,670,664,632,875,782,799,649.912255415,626.912255415,649,0.400967573337,-0.00541949043235,0.0498478033172,0.999999962545,-1.46285705412e-05,-0.000268575245458,-5.06271778882e-05,1793190851521526528
+6,0.100000000,BASELINE,764,742,710.487261779,670,664.487261779,632,875,782,799,649.512738221,627,649,0.400967534528,-0.0054192371527,0.0498483055608,0.999999962642,-1.52703597587e-05,-0.000268213891635,-5.04331818735e-05,1793190851538193152
+7,0.116666667,BASELINE,763.936917482,742,711,670.063082518,664.873834965,632,875,782.063082518,799,649,627,649,0.400967266736,-0.00541907268508,0.049848639572,0.999999962705,-1.57127784397e-05,-0.000268001271716,-5.01938249643e-05,1793190851554860544
+8,0.133333333,BASELINE,763.348872379,742,711,670.651127621,663.697744758,632,875,782.651127621,799,649,627,649,0.40096490956,-0.00542106345185,0.049846734123,0.999999961904,-1.66924068999e-05,-0.000270941550062,-5.00477152608e-05,1793190851571533312
+9,0.150000000,BASELINE,763.235671066,742,711,670.764328934,663.235671066,632,875,782.764328934,798.764328934,649.235671066,627,649,0.400964175329,-0.00542119000374,0.0498459862463,0.999999961705,-1.62529199079e-05,-0.000271663879092,-5.02389849175e-05,1793190851588201216
+10,0.166666667,BASELINE,763.815106722,742,711,670.184893278,663.815106722,632,875,782.184893278,798.184893278,649.815106722,627,649,0.40096580843,-0.0054185972948,0.0498469268775,0.999999962388,-1.37434220853e-05,-0.000269150967977,-5.0922377268e-05,1793190851604862208
+11,0.183333333,BASELINE,763.608173237,742,711,670,664,632,875.391826763,782,798.391826763,650,626.608173237,649,0.400966378736,-0.00541836612896,0.0498476713725,0.999999962684,-1.36304842047e-05,-0.000268066049698,-5.08594889293e-05,1793190851621527040
+12,0.200000000,BASELINE,763.032725755,742,711,670,664,632,875.967274245,782,798.967274245,650,626.032725755,649,0.400966450987,-0.00541924164645,0.049848323953,0.999999962802,-1.4640639522e-05,-0.000267650327628,-5.04468731452e-05,1793190851638193664
+13,0.216666667,BASELINE,763.539427903,741.460572097,711,670,664,632,875.460572097,782,799,649.460572097,626,649,0.400966880476,-0.00541996228383,0.04984797672,0.999999962828,-1.5741956597e-05,-0.000267495020582,-5.04172635769e-05,1793190851654860032
+14,0.233333333,BASELINE,764,741.115631173,711,670.115631173,663.884368827,632,875,782,799,649,626.115631173,649,0.400967133645,-0.00542043664136,0.0498476574217,0.999999962831,-1.63174859036e-05,-0.00026745517089,-5.04021602827e-05,1793190851671526400
+15,0.250000000,BASELINE,764,741.709401184,711,670.709401184,663.290598816,632,875,782,799,649,626.709401184,649,0.400966568645,-0.00541993124135,0.0498477029271,0.999999962759,-1.46961349815e-05,-0.00026782780943,-5.03515422418e-05,1793190851688193024
+16,0.266666667,BASELINE,764,742,711,670.703605734,663.296394266,632,875,782,799,649,626.703605734,649,0.400966803046,-0.00541973020543,0.0498481189639,0.999999962825,-1.52374708051e-05,-0.000267555315221,-5.03223769054e-05,1793190851704859904
+17,0.283333333,BASELINE,764,742,711,670.123108579,663.876891421,632,875,782,799,649,626.123108579,649,0.400967803696,-0.00541982091175,0.0498488901664,0.99999996302,-1.78518075283e-05,-0.000266664441693,-5.03137746396e-05,1793190851721527040
+18,0.300000000,BASELINE,764,742,711,670,664,632,875,782,799,649,626.450545397,649,0.400968264467,-0.00541834254771,0.0498489419387,0.999999963122,-1.47528649761e-05,-0.000266445635491,-5.04486484992e-05,1793190851738193920
+19,0.316666667,BASELINE,764,741.977367757,711,670.022632243,664,632,875,782,799,649,626.977367757,649,0.400968461493,-0.00541655894043,0.0498487533267,0.999999963146,-1.04616932731e-05,-0.000266526368947,-5.06208536266e-05,1793190851754860800
+20,0.333333333,BASELINE,764,741.398528551,711,670.601471449,664,632,875,782,799,649,626.398528551,649,0.400965747884,-0.0054176526856,0.0498474158969,0.999999962283,-1.46622308473e-05,-0.000269523007878,-5.0761451866e-05,1793190851771526912
+21,0.350000000,BASELINE,764,741,711,670.815217779,664,632,875,782,798.815217779,649,626,649,0.400964183513,-0.00541838609461,0.0498468251415,0.999999961856,-1.69973948265e-05,-0.000270969232916,-5.07353964866e-05,1793190851788193280
+22,0.366666667,BASELINE,764,741,711,670.222023882,664,632,875,782,798.222023882,649,626,649,0.400965159223,-0.00541832307677,0.0498478847103,0.99999996244,-1.5209648832e-05,-0.000268988682332,-5.03409978398e-05,1793190851804859904
+23,0.383333333,BASELINE,764,741,711,670.360481797,664,632,875,782.360481797,798.360481797,649.360481797,626.360481797,649,0.400965454512,-0.00541818516576,0.0498480825062,0.999999962633,-1.42250597643e-05,-0.00026833130125,-5.02978524643e-05,1793190851821526272
+24,0.400000000,BASELINE,764,741,711,670.936594127,664,632,875,782.936594127,798.936594127,649.936594127,626.936594127,649,0.400965342792,-0.00541800245564,0.0498477648128,0.999999962596,-1.37208974371e-05,-0.000268465404453,-5.04648173283e-05,1793190851838192896
+25,0.416666667,BASELINE,764,741.511433845,711,670.488566155,664,632,874.488566155,782.488566155,799,649.488566155,626.488566155,648.488566155,0.400965791869,-0.00541951111713,0.0498484468549,0.999999962866,-1.29185321077e-05,-0.000267599977334,-4.99199322716e-05,1793190851854859776
+26,0.433333333,BASELINE,763.91149719,742,711,670.08850281,664,632,874.08850281,782,799,649,626.08850281,648.08850281,0.400966384546,-0.00542073465142,0.0498491493671,0.999999963144,-1.23325770375e-05,-0.000266670816166,-4.94678923225e-05,1793190851871526400
+27,0.450000000,BASELINE,763.320887836,742,711,670.679112164,664,632,874.679112164,782,799,649,626.679112164,648.679112164,0.400967398455,-0.00541915386935,0.0498492665829,0.999999963261,-1.3183614657e-05,-0.0002660813562,-5.00420393344e-05,1793190851888193024
+28,0.466666667,BASELINE,763.264701738,741.735298262,711,671,664,632,875,782,799,649,626.735298262,649,0.400966962918,-0.0054181516681,0.0498487798134,0.9999999631,-1.24237876502e-05,-0.000266671427568,-5.03152290765e-05,1793190851904859904
+29,0.483333333,BASELINE,763.844319242,741.155680758,711,671,664,632,875,782,799,649,626.155680758,649,0.400964802974,-0.00541783780477,0.0498475744824,0.999999962601,-9.74751428432e-06,-0.000268664787881,-5.02303697958e-05,1793190851921526272
+30,0.500000000,BASELINE,764,741.420257897,711,671,664,632,875.840515794,782.420257897,799,649.420257897,626,649,0.400965139311,-0.00541850266853,0.0498480739292,0.999999962757,-1.07871422477e-05,-0.000268074806122,-5.00507326905e-05,1793190851938193152
+31,0.516666667,BASELINE,764,741.994845569,711,671,664,632,876.989691139,782.994845569,799,649.994845569,626,649,0.400966392348,-0.00541952694668,0.0498491994154,0.99999996315,-1.31913471684e-05,-0.000266536153026,-4.98362906717e-05,1793190851954859520
+32,0.533333333,BASELINE,764,741.418353714,711,671,664,632,875.836707428,783,798.418353714,650,626.581646286,649,0.400966867722,-0.00542019434449,0.0498486872845,0.999999963059,-1.34675713453e-05,-0.000266824846074,-5.00589933742e-05,1793190851971526144
+33,0.550000000,BASELINE,764,741.166404366,710.833595634,670.833595634,664,632,875.166404366,783,798,649.833595634,627,649,0.400966903803,-0.00542031379427,0.0498482212282,0.999999962929,-1.32266054943e-05,-0.000267271278835,-5.03282825087e-05,1793190851988193024
+34,0.566666667,BASELINE,764,741.745818225,710.254181775,670.254181775,664,632,875.745818225,783,798,649.254181775,627,649,0.400965867049,-0.00541908127502,0.049847906319,0.999999962715,-1.17498010824e-05,-0.000268068161835,-5.07033763518e-05,1793190852004859648
+35,0.583333333,BASELINE,764,742,710.324141429,670,664,632,875.675858571,783,798,649.324141429,627,649,0.400965901298,-0.00541921927573,0.0498481296443,0.999999962777,-1.20860366484e-05,-0.000267846922813,-5.05767265332e-05,1793190852021526272
+36,0.600000000,BASELINE,764,742,710.901612304,670,664,632,875.098387696,783,798,649.901612304,627,649,0.400966772579,-0.00542042839227,0.0498487736214,0.999999963052,-1.38392350588e-05,-0.00026682998094,-5.00579440856e-05,1793190852038192896
+37,0.616666667,BASELINE,764,742,711,670,663.521972716,632,875,782.521972716,798.478027284,649.521972716,627,649,0.400965214861,-0.00541976010998,0.049847661385,0.99999996261,-1.43626711367e-05,-0.000268426748915,-5.02152307189e-05,1793190852054859520
+38,0.633333333,BASELINE,764,741.944723134,711,670.110553731,663.055276866,632,875.055276866,782,799,649,626.944723134,649,0.400963535182,-0.00541890555856,0.0498464623724,0.999999962125,-1.46249040496e-05,-0.000270167083044,-5.04554349041e-05,1793190852071526400
+39,0.650000000,BASELINE,764,741.357351962,711,671.285296076,663.642648038,632,875.642648038,782,799,649,626.357351962,649,0.400965483291,-0.00541996932996,0.0498478998328,0.999999962688,-1.48038624905e-05,-0.000268122455858,-5.01573111118e-05,1793190852088193024
+40,0.666666667,BASELINE,764,741,711,671.546180289,664,632,875.546180289,782,798.773090145,649,626,649,0.400966524367,-0.00541976356977,0.0498486061028,0.999999963035,-1.41604645238e-05,-0.000266852869442,-5.01919652891e-05,1793190852104859392
+41,0.683333333,BASELINE,764,741,711,670.387317952,664,632,874.387317952,782,798.193658976,649,626,649,0.400966156296,-0.00541758549787,0.0498481764144,0.99999996305,-1.22394747896e-05,-0.000266787366546,-5.07436147765e-05,1793190852121526016
+42,0.700000000,BASELINE,764,741,711.384556917,670,664.384556917,632,874.384556917,782,798,649,626,649,0.400966284488,-0.00541767781075,0.0498481414625,0.999999963018,-1.26762663132e-05,-0.000266875362758,-5.08089349252e-05,1793190852138192896
+43,0.716666667,BASELINE,764,741,711.96216272,670,664.96216272,632,874.96216272,782,798,649,626,649,0.400966661805,-0.00541890986461,0.0498483046697,0.999999962961,-1.4296672143e-05,-0.000267040416052,-5.06301160674e-05,1793190852154859776
+44,0.733333333,BASELINE,764,741,711.46404807,670,664.46404807,632,875,782,798.53595193,649.53595193,626.53595193,649,0.400967125926,-0.00541843598362,0.0498482485093,0.999999963085,-1.32065351995e-05,-0.000266612732918,-5.07320265502e-05,1793190852171526144
+45,0.750000000,BASELINE,764,741.112640662,711,670.112640662,664.112640662,632,875,782,799,649.887359338,626.887359338,649,0.400967548747,-0.00541807602037,0.0498482612263,0.999999963217,-1.22948832173e-05,-0.000266156260395,-5.07422082654e-05,1793190852188193024
+46,0.766666667,BASELINE,764,741.702754097,711,670.702754097,664.702754097,632,875,782,799,649.297245903,626.297245903,649,0.40096777071,-0.00541870585036,0.0498486310923,0.99999996334,-1.29452312411e-05,-0.000265753880178,-5.02801438405e-05,1793190852204859648
+47,0.783333333,BASELINE,764,742,711,671,664.424891012,632,875,782,799,649.287554494,626.287554494,649,0.40096766468,-0.00541957437414,0.0498487223981,0.999999963406,-1.31458374129e-05,-0.000265534859522,-5.00625998611e-05,1793190852221526016
+48,0.800000000,BASELINE,764,742,711,671,663.266075017,632,875,782,799,649.866962492,626.866962492,649,0.400967225755,-0.00542068516031,0.0498485309794,0.999999963417,-1.28899780602e-05,-0.000265501939648,-5.00932319119e-05,1793190852238192640
+49,0.816666667,BASELINE,764,742,711,671,663.443338678,632,875,782.443338678,799,650,627,649,0.400966267529,-0.00541959857205,0.0498481293784,0.999999963032,-1.25300346124e-05,-0.000266922113143,-5.03187466763e-05,1793190852254859520
+50,0.833333333,BASELINE,764,741.980839419,711,670.980839419,664,632,875,782.980839419,799,649.980839419,626.980839419,649,0.4009652306,-0.00541792727593,0.0498476969432,0.999999962552,-1.21258617994e-05,-0.000268682605346,-5.05803437151e-05,1793190852271526144
+51,0.850000000,BASELINE,764,741.394679196,711,670.394679196,664,632,875,782.394679196,799,649.394679196,626.394679196,649,0.400966444784,-0.0054183334449,0.0498482058021,0.999999962845,-1.13308417397e-05,-0.000267697991428,-5.01908846162e-05,1793190852288193280
+52,0.866666667,BASELINE,764,741.189187237,711,670.189187237,664,632,875,782,799,649.189187237,626.189187237,649,0.400966950145,-0.00541843823142,0.0498485087372,0.999999962981,-1.10939665851e-05,-0.000267226044846,-5.00571196146e-05,1793190852304860160
+53,0.883333333,BASELINE,764,741.768325693,711,670.768325693,664,632,875,782,799,649.768325693,626.768325693,649,0.400965994484,-0.00541792181083,0.0498483872235,0.999999962794,-1.20075352952e-05,-0.000267810804142,-5.04503892659e-05,1793190852321526528
+54,0.900000000,BASELINE,764,741.652913893,711,671,664,632,875,782,799,649.652913893,627,649,0.400965895344,-0.00541881851472,0.04984866763,0.999999962889,-1.29046117459e-05,-0.000267474413759,-5.01376969052e-05,1793190852338192896
+55,0.916666667,BASELINE,764,741.074405564,711,671,664,632,875,782,799,649.074405564,627,649,0.400966367295,-0.00542065742979,0.0498492160198,0.99999996317,-1.37906918248e-05,-0.000266523840012,-4.93542991531e-05,1793190852354859776
+56,0.933333333,BASELINE,764,741.501153514,711,670.498846486,664,632,875,782.501153514,799,649,626.498846486,649,0.400964419751,-0.00541976268806,0.0498478884471,0.999999962651,-1.41856217915e-05,-0.00026832098657,-5.00125258172e-05,1793190852371526400
+57,0.950000000,BASELINE,764,742,711,670,664,632,875,782.922157155,799,649.077842845,626.077842845,649,0.400962830918,-0.00541866360767,0.0498467253528,0.99999996219,-1.43338983843e-05,-0.000269892467057,-5.07248289773e-05,1793190852388193024
+58,0.966666667,BASELINE,764,742,711,670,664,632,875,782.335229462,799,649.664770538,626.664770538,649,0.40096592353,-0.00541886694398,0.0498484487794,0.999999962907,-1.33431873755e-05,-0.000267335764848,-5.03992012797e-05,1793190852404859648
+59,0.983333333,BASELINE,764,742,711,670.248458384,664,632,875.248458384,782,799,649.751541616,627,649,0.400967432715,-0.0054192437648,0.0498494210209,0.999999963277,-1.2249461279e-05,-0.000266044892743,-5.01576693841e-05,1793190852421526016
+60,1.000000000,BASELINE,764,742,711,670.827831255,664,632,875.827831255,782,799,649.172168745,627,649,0.400966832982,-0.00541985164461,0.0498493927809,0.999999963193,-1.10185322487e-05,-0.000266439942532,-5.00281421928e-05,1793190852438192640
+61,1.016666667,BASELINE,763.594421572,742,711,670.594421572,664,632,875.594421572,782,798.594421572,649.405578428,627,649,0.400966604698,-0.00542032201671,0.0498491101408,0.999999963132,-1.08640346715e-05,-0.000266727461467,-4.97464209598e-05,1793190852454859520
+62,1.033333333,BASELINE,763.017361791,742,711,670.017361791,664,632,875.017361791,782,798.017361791,649.982638209,627,649,0.400966533467,-0.00542073424955,0.0498487199385,0.999999963081,-1.11646598027e-05,-0.000266969515593,-4.94003510451e-05,1793190852471526144
+63,1.050000000,BASELINE,763.555339114,742,711,670.555339114,664,632,875,782.555339114,798.555339114,649.444660886,627,649,0.400966047008,-0.0054206590781,0.0498492514342,0.999999963175,-1.29466933081e-05,-0.000266525450824,-4.94563198591e-05,1793190852488193024
+64,1.066666667,BASELINE,764,742,711,671,664,632,875,782.867031853,799,649.132968147,627,649.132968147,0.400966041252,-0.00542048220375,0.0498496727296,0.999999963316,-1.39027928094e-05,-0.00026591765378,-4.96248519575e-05,1793190852504859648
+65,1.083333333,BASELINE,764,742,711,671,664,632,875,782.271800159,799,649.728199841,627,649.728199841,0.400967751436,-0.00542000432146,0.0498496115168,0.99999996361,-1.18277778309e-05,-0.00026481463334,-5.01413539814e-05,1793190852521526272
+66,1.100000000,BASELINE,764,741.685409398,711,670.685409398,664,632,875.314590602,782.314590602,799,650,627,649.685409398,0.40096735436,-0.00541996123456,0.0498493329016,0.999999963526,-1.21014926044e-05,-0.00026510401488,-5.02150662662e-05,1793190852538192640
+67,1.116666667,BASELINE,764,741.106448266,711,670.106448266,664,632,875.893551734,782.893551734,799,650,627,649.106448266,0.400965186421,-0.00542028353395,0.0498488715892,0.999999963123,-1.43489947659e-05,-0.000266563520591,-4.991667409e-05,1793190852554859264
+68,1.133333333,BASELINE,764,741.46791669,711,670,664.46791669,632,875.53208331,782.53208331,799,649.53208331,626.53208331,649,0.400964647077,-0.00541965535699,0.0498483855173,0.999999962818,-1.30790214442e-05,-0.000267799428203,-4.97712903399e-05,1793190852571526912
+69,1.150000000,BASELINE,764,742,711,670,664.957689098,632,875,782,799,649.042310902,626,649,0.400964546224,-0.00541893758258,0.0498479506892,0.999999962573,-1.13482635957e-05,-0.000268805673431,-4.96817997038e-05,1793190852588194560
+70,1.166666667,BASELINE,764,742,711,670,664.36956079,632,875,782,799,649.63043921,626,649,0.400965369009,-0.00541982622731,0.0498482488709,0.999999962882,-1.38956725841e-05,-0.00026749904869,-4.9868671777e-05,1793190852604861184
+71,1.183333333,BASELINE,763.784659087,742,711,670,664,632,875,782,798.784659087,649.784659087,626,649,0.400965227424,-0.00542036537897,0.0498480966903,0.999999962851,-1.45020603883e-05,-0.00026756337338,-4.99691233845e-05,1793190852621527552
+72,1.200000000,BASELINE,763.205212936,742,711,670,664,632,875,782,798.205212936,649.205212936,626,649,0.400963455253,-0.00542031359679,0.0498471830229,0.999999962249,-1.18265084937e-05,-0.00026994574259,-4.99234525615e-05,1793190852638193408
+73,1.216666667,BASELINE,763.372588999,742.372588999,711,670,664,632,875,782,798.372588999,649,626.372588999,649,0.400963960086,-0.00541955182672,0.0498474447392,0.999999962379,-1.18437868257e-05,-0.000269415084334,-5.01764833828e-05,1793190852654860032
+74,1.233333333,BASELINE,763.949489286,742.949489286,711,670,664,632,875,782,798.949489286,649,626.949489286,649,0.400965713527,-0.00541840073077,0.0498483509837,0.99999996291,-1.33376940147e-05,-0.000267287050838,-5.05933089443e-05,1793190852671526656
+75,1.250000000,BASELINE,763.474687419,742.474687419,711,670.525312581,664,632,875,782,799,649,626.474687419,649,0.400966293804,-0.00541820501354,0.049848162637,0.999999963092,-1.12406155429e-05,-0.000266734264414,-5.04162620903e-05,1793190852688193536
+76,1.266666667,BASELINE,763.103167857,742,711,671,664,632,875,782,799,649,626,649,0.4009665599,-0.00541836546078,0.0498480214959,0.999999963204,-9.77098913084e-06,-0.000266417948123,-5.01822018819e-05,1793190852704860160
+77,1.283333333,BASELINE,763.691055651,742,711,671,664,632,875,782,799,649,626,649,0.400965878773,-0.00541976857444,0.0498485956289,0.999999963158,-1.28683206669e-05,-0.000266502469304,-4.99480139079e-05,1793190852721526784
+78,1.300000000,BASELINE,764,742,711,670.725262549,664,632,875,782,799,649,626.274737451,649.274737451,0.400965836572,-0.00542036283152,0.0498488104364,0.999999963113,-1.43106600657e-05,-0.000266617635354,-4.98464045102e-05,1793190852738193664
+79,1.316666667,BASELINE,764,742,711,670.146239144,664,632,875,782,799,649,626.853760856,649.853760856,0.400966502015,-0.00542006123798,0.0498486272723,0.999999963076,-1.39200097723e-05,-0.000266766742179,-4.98916327665e-05,1793190852754861056
+80,1.333333333,BASELINE,764,742,711,670,664,632,875,782,799,649.431405454,627,649.568594546,0.400967813943,-0.0054202570555,0.0498495147902,0.999999963441,-1.41741561423e-05,-0.000265412459068,-4.97307423316e-05,1793190852771527424
+81,1.350000000,BASELINE,764,742,711,670,664,632.008543061,875.008543061,782.008543061,799,649.991456939,627,649,0.400969302802,-0.00542060105539,0.0498507370919,0.999999963929,-1.46232347191e-05,-0.000263586830727,-4.95051306313e-05,1793190852788193536
+82,1.366666667,BASELINE,764,742,711,670,664,632.582956111,875.582956111,782.582956111,799,649.417043889,627,649,0.400968041639,-0.00541962730113,0.0498501707823,0.99999996378,-1.35523890914e-05,-0.000264189136316,-4.96058637637e-05,1793190852804860160
+83,1.383333333,BASELINE,763.838374863,742,711,670,664,632.838374863,875.838374863,782.838374863,799,649,626.838374863,649,0.400966944267,-0.00541930354685,0.049849596708,0.999999963597,-1.30985776594e-05,-0.000264890907122,-4.96728765032e-05,1793190852821526784
+84,1.400000000,BASELINE,763.248426945,742,711,670,664,632.248426945,875.248426945,782.248426945,799,649,626.248426945,649,0.400966280958,-0.00542070235732,0.0498490020562,0.999999963326,-1.42799683339e-05,-0.000265856270837,-4.9650526851e-05,1793190852838193408
+85,1.416666667,BASELINE,763,742,711,670,664,632,875,782.335140765,799,649.335140765,626,649,0.400966587519,-0.00542092899174,0.0498492119301,0.999999963343,-1.40541607613e-05,-0.000265797556845,-4.96734267582e-05,1793190852854860032
+86,1.433333333,BASELINE,763,742,711,670,664,632,875,782.914067393,799,649.914067393,626,649,0.400967599577,-0.00542030296958,0.0498500070267,0.999999963571,-1.28047383471e-05,-0.000264993915017,-4.97292417997e-05,1793190852871526912
+87,1.450000000,BASELINE,763.489107028,742,711,670,664,632,875,782.510892972,799,650,626.489107028,649,0.400968207328,-0.00541981785211,0.0498498591915,0.999999963703,-1.32193772017e-05,-0.000264400788991,-5.01090800493e-05,1793190852888193536
+88,1.466666667,BASELINE,764,742,711,670,664,632,875,782.064922286,799,649.935077714,627,649.064922286,0.400968611527,-0.00541952436649,0.0498495286682,0.99999996378,-1.39499159666e-05,-0.000264012403242,-5.04345694934e-05,1793190852904860416
+89,1.483333333,BASELINE,764,742,711,670,664,632,875,782.652434695,799,649.347565305,627,649.652434695,0.400967944509,-0.00542057571496,0.0498490506159,0.999999963539,-1.48884641846e-05,-0.000264976697205,-4.98679479185e-05,1793190852921526784
+90,1.500000000,BASELINE,764,742,711,670,664,632,875.236667933,782.763332067,799,649.236667933,627,649.763332067,0.400966641073,-0.00542101502477,0.0498486810949,0.999999963217,-1.46792517908e-05,-0.000266255661189,-4.95867545895e-05,1793190852938193408
+91,1.516666667,BASELINE,764,742,711,670,664,632,875.816151214,782.183848786,799,649.816151214,627,649.183848786,0.400964415781,-0.00542056779174,0.0498484687823,0.999999962773,-1.28074991072e-05,-0.000267990427069,-4.97190063522e-05,1793190852954860032
+92,1.533333333,BASELINE,764,742,711,670,664,632,875.605769329,782,799,649.605769329,626.605769329,649,0.400965321893,-0.00541951787383,0.0498488232207,0.999999963105,-1.04643695804e-05,-0.000266819425567,-4.98841584153e-05,1793190852971526656
+93,1.550000000,BASELINE,764,742,711,670,664,632,875.028342169,782,799,649.028342169,626.028342169,649,0.400967683149,-0.00541818789204,0.0498494410245,0.999999963789,-7.90219406405e-06,-0.000264298132567,-5.00645990503e-05,1793190852988193280
+94,1.566666667,BASELINE,764,741.45297177,711,670.54702823,664,632,875,782,799,649,626,648.45297177,0.400966839238,-0.00541956335462,0.0498494102892,0.999999963422,-1.22329650516e-05,-0.000265509042489,-5.0120170921e-05,1793190853004859904
+95,1.583333333,BASELINE,764,741.125685495,711,670.874314505,664,632,875,782,799,649,626.125685495,648.125685495,0.400966259048,-0.00542056939144,0.0498494574181,0.999999963157,-1.56104034257e-05,-0.000266322405345,-5.01531625456e-05,1793190853021526272
+96,1.600000000,BASELINE,764,741.716910724,711,670.283089276,664,632,875,782,799,649,626.716910724,648.716910724,0.400967268476,-0.00541968981985,0.0498499169509,0.999999963545,-1.41388318788e-05,-0.000264949692432,-5.01263904922e-05,1793190853038193152
+97,1.616666667,BASELINE,764,742,711,670.300718346,664,632,875.300718346,782,799,649,626.699281654,649,0.400968330476,-0.00542029690745,0.0498501807762,0.999999963848,-1.48792038594e-05,-0.00026377521744,-5.00612578622e-05,1793190853054860032
+98,1.633333333,BASELINE,764,742,711,670.877711262,664,632,875.877711262,782,799,649,626.122288738,649,0.400969440776,-0.00542226981178,0.049850264802,0.999999964069,-1.76517224769e-05,-0.000262782866757,-4.99608827819e-05,1793190853071526656
+99,1.650000000,BASELINE,763.548245639,741.548245639,711,670.548245639,664,632,875.548245639,782,798.548245639,649,626.451754361,649,0.400967414956,-0.00542187140161,0.0498498636745,0.999999963706,-1.53618501116e-05,-0.000264369122683,-4.9608331052e-05,1793190853088193280
+100,1.666666667,BASELINE,763.025771528,741,711,670,664,632,875.025771528,782,798.025771528,649,627,649,0.400964709196,-0.00542082317885,0.0498493597391,0.999999963196,-1.18832215676e-05,-0.000266538587967,-4.92317948308e-05,1793190853104859648
+101,1.683333333,BASELINE,763.616614948,741,711,670,664,632,875.616614948,782,798.616614948,649,627,649,0.4009655882,-0.00541951034685,0.0498494625007,0.99999996323,-1.21919034576e-05,-0.000266289933454,-4.98164207743e-05,1793190853121526272
+102,1.700000000,BASELINE,763.796674116,741.203325884,711,670.203325884,664,632,875.796674116,782,799,649,627,649,0.40096600759,-0.00541923089752,0.0498493376177,0.999999963264,-1.25973162338e-05,-0.000266080650005,-5.01442001897e-05,1793190853138193152
+103,1.716666667,BASELINE,763.217600115,741.782399885,711,670.782399885,664,632,875.217600115,782,799,649,627,649,0.400965577606,-0.00542086114908,0.0498487920452,0.9999999633,-1.31814885501e-05,-0.000265944124672,-4.99973247758e-05,1793190853154859776
+104,1.733333333,BASELINE,763.359561335,742,711,671,664,632,875,782,799,649,626.640438665,649,0.400965289109,-0.00542080534798,0.0498485508311,0.999999963223,-1.34326539383e-05,-0.000266237726353,-4.99149255069e-05,1793190853171526656
+105,1.750000000,BASELINE,763.935571522,742,711,671,664,632,875,782,799,649,626.064428478,649,0.400965085784,-0.00541973457648,0.0498484928347,0.999999963077,-1.34833557603e-05,-0.000266790256026,-4.98713395951e-05,1793190853188193536
+106,1.766666667,BASELINE,763.487604629,741.487604629,711,670.487604629,664,632,875.512395371,782,799,649,626,649,0.400964920838,-0.00541971682512,0.0498483778784,0.999999963136,-1.29245094365e-05,-0.000266536718379,-5.01975604526e-05,1793190853204860160
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,741,711,670,663,632,875,782,798,649,626,649,0.400963599523,-0.00541979368178,0.0498483478776,0.999999962594,-9.64225864377e-06,-0.00026882011391,-4.95407039455e-05,1793190853247285504
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,741,711,670,663.579947542,632,875,782,798.579947542,649,626.579947542,649,0.400963170673,-0.00542026209219,0.0498477535274,0.999999962388,-1.20145848707e-05,-0.000269499514801,-4.94901475613e-05,1793190853263952128
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,741.158109832,711,670,664,632,874.841890168,782,799,649,627,649,0.400963677381,-0.00542073996258,0.049847785709,0.999999962515,-1.35714407546e-05,-0.000268965076147,-4.94396299639e-05,1793190853280618752
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,741.731582304,711,670,664,632,874.268417696,782,799,649,627,649,0.400966641851,-0.00542124268494,0.0498494638217,0.999999963519,-1.29860147398e-05,-0.000265241818902,-4.9389214251e-05,1793190853297285376
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,874.306029472,782.306029472,799,649,627,649,0.400967603527,-0.00542133123316,0.0498499922691,0.999999963829,-1.3795918692e-05,-0.000263998403062,-4.95705687854e-05,1793190853313952000
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,874.88133424,782.88133424,799,649,627,649,0.400966802944,-0.00542105534959,0.0498495091261,0.999999963531,-1.58335733553e-05,-0.000264936999612,-4.99558579367e-05,1793190853330618880
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,670.472401651,664,632,875,782.527598349,798.527598349,649,626.527598349,649,0.400967579844,-0.00542003745217,0.04984977974,0.999999963602,-1.40495626502e-05,-0.00026476803617,-4.99696825167e-05,1793190853347285760
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,741.934612304,711,670.934612304,664,632,875,782,798,649.065387696,626.065387696,649,0.400969820974,-0.00541911479871,0.0498507936483,0.99999996402,-1.16209606027e-05,-0.000263330237893,-4.98191887696e-05,1793190853363952128
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764,741.216936902,711,670,664,632,875,782,798.216936902,649.783063098,627,649,0.400997268984,-0.00542132389737,0.0498634214651,0.999999969823,-1.25800792433e-05,-0.000240492975788,-4.85740786607e-05,1793190853397285120
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,741.791819445,711,670,664,632,875,782,798.791819445,649.208180555,627,649,0.4010249688,-0.00542147276644,0.0498741444689,0.999999974741,-1.38617528704e-05,-0.000219096829389,-4.81977667581e-05,1793190853413951744
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,874.623627544,782,798.623627544,649,627,649,0.401067420561,-0.0054227577697,0.0498883683906,0.999999981031,-1.40405878792e-05,-0.000188413521563,-4.73504408305e-05,1793190853430618368
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+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875,782.121453584,798.878546416,649,626,649,0.401263131667,-0.00543145477938,0.0499361693751,0.999999994727,-1.90027077843e-05,-9.11237205786e-05,-4.3375222273e-05,1793190853480619008
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875,782.699880016,798.300119984,649,626,649,0.40133358158,-0.00543643655174,0.049937342412,0.999999994311,-2.16421175157e-05,-9.5839682697e-05,-4.15323131722e-05,1793190853497285632
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875,782.718257698,798.281742302,649.281742302,626.281742302,649,0.401413946751,-0.00543969907579,0.0499372895609,0.999999993976,-2.30925293627e-05,-9.93920252449e-05,-4.04433789097e-05,1793190853513952256
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875,782.132690294,798.867309706,649.867309706,626.867309706,649,0.401505004327,-0.00544110759754,0.0499359147376,0.999999993752,-2.3260750188e-05,-0.000101689544099,-4.01675157171e-05,1793190853530618624
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,669.552275806,664.447724194,632,875,782,799,650,627,649,0.401617059739,-0.00544518016784,0.0499358135636,0.999999993424,-2.49450249246e-05,-0.000104800708684,-3.93265069495e-05,1793190853547285504
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,669.053292052,664.973353974,632,875,782,798.973353974,650,627,649,0.401737105319,-0.00545001175876,0.0499361895667,0.999999993086,-2.69949227924e-05,-0.000107859893836,-3.82941635991e-05,1793190853563952128
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,670.2118461,664.39407695,632,875,782,798.39407695,650,627,649,0.401895269054,-0.00545439683083,0.0499387226108,0.999999993448,-2.74152681326e-05,-0.000104896831149,-3.67277660853e-05,1793190853580618752
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,670.816609518,664,632,875,782,798.183390482,649.816609518,626.816609518,649,0.402061790535,-0.00546035921416,0.0499397743675,0.999999993447,-2.93399732366e-05,-0.000104985151484,-3.4988896227e-05,1793190853597285120
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,670.242992688,664,632,875,782,798.757007312,649.242992688,626.242992688,649,0.402246095977,-0.0054696778693,0.0499376741752,0.999999992642,-3.44657212659e-05,-0.000111566339414,-3.2883032315e-05,1793190853613951744
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,741.660704373,711,670,664,632,875,782.339295627,799,649,626,649,0.402452958094,-0.00547803544912,0.0499391836757,0.999999992843,-3.87089237229e-05,-0.000108911472716,-3.08792100984e-05,1793190853630618624
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,741.072042877,711,670,664,632,875,782.927957123,799,649,626,649,0.402676398296,-0.00548568668605,0.0499433461254,0.999999993739,-4.23034984136e-05,-9.9468553388e-05,-2.89503833704e-05,1793190853647285248
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,741.508485742,711,670,664,632,875,782.491514258,799,649,626,649,0.402935723551,-0.00549517650917,0.0499448849365,0.999999994042,-4.61733821388e-05,-9.52413347776e-05,-2.6691802816e-05,1793190853663951616
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875.087616496,782,799,649,626,649,0.403208954249,-0.00550501587441,0.0499473761618,0.999999994514,-4.98492240217e-05,-8.88756372742e-05,-2.42339864886e-05,1793190853680618496
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875.665272448,782,799,649,626,649,0.403531969753,-0.00551537623082,0.0499572405476,0.999999996208,-5.22250635653e-05,-6.64814362243e-05,-2.09190338121e-05,1793190853697285120
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,741.758618988,711,670,664,632,875.758618988,782,799,649,626,649,0.403872047206,-0.00552527421731,0.049965947028,0.999999997167,-5.41622475175e-05,-4.93070748788e-05,-1.73358918631e-05,1793190853713951488
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,741.184642581,711,670,664,632,875.184642581,782,799,649,626,649,0.404235634052,-0.00553453511037,0.0499730580467,0.999999997597,-5.54950141766e-05,-3.93250563112e-05,-1.33832160149e-05,1793190853730618368
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,741,711,670,664,632,875,782,798.600534065,649.399465935,626.399465935,649,0.404619122925,-0.00553878080303,0.0499787370593,0.999999998313,-4.98362183201e-05,-2.84531990294e-05,-8.94669899105e-06,1793190853747285248
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,741,711,670,664,632,875,782,798.011620386,649.988379614,626.988379614,649,0.405012050374,-0.00554064802379,0.0499837369391,0.999999999009,-4.08616559771e-05,-1.71593337366e-05,-4.28071916081e-06,1793190853763952128
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,741.567942308,711,670.567942308,664,632,875,782,798.567942308,650,627,649,0.405423941305,-0.00552415338454,0.0499696694616,0.999999999094,-1.04925671409e-05,-4.10848491217e-05,-3.6142902837e-06,1793190853780618496
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632,875,782,799,649.853533912,626.853533912,649,0.405844187636,-0.005511177063,0.0499531246452,0.999999997403,1.65502762722e-05,-7.00965511737e-05,-2.54955607882e-06,1793190853797284864
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632,875,782,799,649.27750517,626.27750517,649,0.406287819485,-0.00550960343484,0.0499304398264,0.999999993203,3.25747073771e-05,-0.000111946062374,-8.05377209985e-08,1793190853813951488
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,741.700312431,711,670.700312431,664,632,875,782,799,649,626,649,0.406758711945,-0.00551528991017,0.0499146182506,0.999999989455,3.86739125425e-05,-0.000139937269361,3.37277315083e-06,1793190853830618368
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,741.122037583,711,670.122037583,664,632,875,782,799,649,626,649,0.407254945713,-0.00552772532221,0.0499051766905,0.999999987319,3.55467052166e-05,-0.000155045907358,7.74107512818e-06,1793190853847284992
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,741.465813928,711,670,664.465813928,632,875.465813928,782,799,649,626.465813928,649,0.407839983497,-0.00553020545934,0.049921075657,0.999999991549,4.61728754662e-05,-0.000120856539458,1.28210756794e-05,1793190853863951616
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,670.054740003,664.945259997,632,875.945259997,782,798.945259997,649.054740003,626.945259997,649,0.408450852332,-0.00552991323366,0.0499443093805,0.999999995258,6.09230774467e-05,-7.37418272684e-05,1.82628947723e-05,1793190853880617984
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,670.629538501,664.370461499,632,875.370461499,782,798.370461499,649.629538501,626.370461499,649,0.409081455294,-0.00552858112676,0.0499728300916,0.999999996063,7.99027368564e-05,-2.91089690021e-05,2.53335659448e-05,1793190853897284864
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664.204709132,632,875.204709132,782,798.204709132,649.795290868,626,649,0.409711694217,-0.00552845872135,0.0499903373742,0.999999994962,9.52934613151e-05,-2.6254001834e-06,3.14313026693e-05,1793190853913951488
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664.7805544,632,875.7805544,782,798.7805544,649.2194456,626,649,0.410341273102,-0.00553052949584,0.0499878773908,0.999999993893,0.000104177472471,-9.04636128962e-06,3.57651161216e-05,1793190853930618112
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,741.634652741,711,671,664.634652741,632,876,782.365347259,798.634652741,649.365347259,626,649,0.410959918703,-0.005528702209,0.0499638067415,0.99999999136,0.000109824419425,-6.20374755083e-05,3.70133467304e-05,1793190853947284992
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,741.044350614,711,671,664.044350614,632,876,782.955649386,798.044350614,649.955649386,626,649,0.411571832343,-0.00552447477303,0.0499264297807,0.999999982575,0.00011347821146,-0.000143703178678,3.63616944282e-05,1793190853963951616
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,741,711,670.464896885,664,632,876,782.464896885,798.535103115,649.464896885,626,649,0.412298315238,-0.00553282641782,0.0499277691409,0.999999991759,2.73803793687e-05,-0.000124205514256,1.74608045956e-05,1793190853980618240
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,741.113007246,711,670,664,632,876.113007246,782,799.113007246,649.113007246,626,649,0.41303993146,-0.00554194124131,0.049935725909,0.999999994342,-4.56042459522e-05,-9.60617844609e-05,2.81354003926e-06,1793190853997284608
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,741.688177995,711,670,664,632,876.688177995,782,799.688177995,649.688177995,626,649,0.413805374955,-0.00554999810898,0.0499578831514,0.999999997126,-3.51421103053e-05,-6.61676247502e-05,1.16251381596e-05,1793190854013951488
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,876.736748681,782,799.736748681,650,626.263251319,649,0.414556826717,-0.00555149752484,0.0499593123009,0.999999997302,-2.4851794524e-05,-6.71228437625e-05,1.6544478885e-05,1793190854030618368
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,876.161790637,782,799.161790637,650,626.838209363,649,0.415291711455,-0.00554523249132,0.0499361980398,0.999999994278,-1.47649232961e-05,-0.000104605734387,1.68551342614e-05,1793190854047284992
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,670.425458892,664,632,876,782.425458892,799,649.574541108,626.574541108,649,0.416067092822,-0.00554277876498,0.0499228014122,0.999999992233,-1.63422554639e-05,-0.000122553819745,1.57445047363e-05,1793190854063951616
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664.017128516,632,876,782.982871484,799,649,626.017128516,649,0.41686007072,-0.00554209680661,0.0499144303443,0.999999991073,-2.25981503155e-05,-0.00013092142023,1.42270616931e-05,1793190854080618496
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664.595909965,632,876,782.404090035,799,649,626.595909965,649,0.41771006021,-0.00555057365948,0.0499460725119,0.999999996431,-3.24945293722e-05,-7.59729889137e-05,1.76197323469e-05,1793190854097285120
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.173180308,742,711,671,664.826819692,632,876,782.173180308,798.826819692,649.173180308,627,649,0.418542677319,-0.00555615555442,0.0499675407969,0.999999998149,-3.86011958645e-05,-4.22533817073e-05,2.06441747992e-05,1793190854113951488
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.746955183,742,711,671,664.253044817,632,876,782.746955183,798.253044817,649.746955183,627,649,0.419335109198,-0.00555504093455,0.0499654752144,0.999999997433,-3.59416328523e-05,-5.76395435618e-05,2.2816844698e-05,1793190854130618112
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.671193248,741.671193248,711,671,664,632,876,782.671193248,798.657613503,649.671193248,626.671193248,649,0.42015730099,-0.00555226215248,0.0499568892251,0.999999996989,-3.31559970372e-05,-6.63565357467e-05,2.27922769413e-05,1793190854147284736
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.082969479,741.082969479,711,671,664,632,876,782.082969479,799.834061043,649.082969479,626.082969479,649,0.421002972275,-0.00554817040473,0.0499431588631,0.999999996884,-3.02708943237e-05,-6.98117857717e-05,2.10341654807e-05,1793190854163951360
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,741.497772807,711,671,664.497772807,632,876,782,799.004454386,649,626.497772807,649,0.421890092994,-0.00555156157745,0.0499638201161,0.99999999869,-3.78206933647e-05,-2.65437632416e-05,2.2034371816e-05,1793190854180618240
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876,782,798,649.076687669,626.923312331,649,0.422774783875,-0.00555608437802,0.0499847954389,0.999999998544,-4.66010055769e-05,1.37849063011e-05,2.34644455962e-05,1793190854197284864
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,876,782,798,649.651710698,626.348289302,649,0.423599454033,-0.00555997575968,0.0499711124108,0.999999998219,-5.22424235348e-05,-1.48454226341e-05,2.47445067241e-05,1793190854213951488
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664.769168987,632,876,782.230831013,798.230831013,650,626,649,0.424427577025,-0.00556158404483,0.0499627628979,0.99999999767,-5.53846775556e-05,-3.08228499881e-05,2.53451328891e-05,1793190854230618368
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664.183754676,632,876,782.816245324,798.816245324,650,626,649,0.425261004095,-0.00555968522866,0.049962606283,0.99999999782,-5.46879258396e-05,-2.7363952394e-05,2.49020681018e-05,1793190854247284992
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664.398298592,632,876.398298592,783,799,650,626.398298592,649,0.426130144922,-0.00556131410792,0.0499762125615,0.999999997837,-5.87066337334e-05,-1.33972423219e-05,2.64532756065e-05,1793190854263951616
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664.978814187,632,876.978814187,783,799,650,626.978814187,649,0.427015624331,-0.00556455686719,0.0499961152046,0.999999997463,-6.48826099192e-05,5.37667030494e-06,2.89168396526e-05,1793190854280618240
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664.442249092,632,877,782.442249092,799,650,626.442249092,649,0.427790176992,-0.00556117687457,0.049965513371,0.999999995934,-6.05901323601e-05,-6.01311797444e-05,2.9071265513e-05,1793190854297284864
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671.135693736,664.135693736,632,876.864306264,782,799.135693736,649.864306264,626.135693736,649,0.428574957366,-0.00555860595546,0.0499390875294,0.999999991627,-5.82942692087e-05,-0.000111864589074,2.88642370275e-05,1793190854313951488
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671.71061299,664.71061299,632,876.28938701,782,799.71061299,649.28938701,626.71061299,649,0.42940644374,-0.00555946589392,0.049932370966,0.999999991677,-6.37447009429e-05,-0.000108678375408,2.77703312212e-05,1793190854330618112
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,876.291738428,782.291738428,799.708261572,649,627,649,0.430224347782,-0.00556279869949,0.0499371541735,0.999999992825,-7.11336315573e-05,-9.22665537919e-05,2.78600339288e-05,1793190854347284992
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,876.879153799,782.879153799,799.120846201,649,627,649,0.431028486075,-0.0055686377562,0.0499535924009,0.999999994386,-8.04872307087e-05,-6.2450576582e-05,2.91493240969e-05,1793190854363951616
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.459959633,742,711,671.540040367,664.540040367,632,876.540040367,782.540040367,799.459959633,649.459959633,627,649,0.431806788137,-0.00556579419162,0.0499405279306,0.999999992708,-7.99498050591e-05,-8.58787355729e-05,2.8574502069e-05,1793190854380618240
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.960955463,742,711,671,664.039044537,632,876.039044537,782.039044537,799.960955463,649.960955463,626.960955463,649,0.432578176631,-0.00556118107204,0.0499218804752,0.99999998953,-7.75248938945e-05,-0.00011902545908,2.7612895748e-05,1793190854397285120
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.381995518,742,711,671,664.618004482,632,876.618004482,782.618004482,799.381995518,649.381995518,626.381995518,649,0.433346498341,-0.00556319626709,0.0499316986026,0.99999999145,-8.44256013953e-05,-9.58607969172e-05,2.79793490781e-05,1793190854413952768
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,877,783,799,649,626.193887729,649,0.434104970547,-0.00556637368792,0.0499464211582,0.99999999284,-9.33474482551e-05,-6.91396874617e-05,2.87484090133e-05,1793190854430619904
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,877,783,799,649,626.763804086,649,0.434844340618,-0.00557180514638,0.0499706554337,0.999999993272,-0.000106189122838,-3.55211493284e-05,3.02982900082e-05,1793190854447285760
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,877,783,799,649,626.652936151,649,0.435523516499,-0.00557000224071,0.0499705537821,0.999999992812,-0.000105407734425,-4.7951405982e-05,3.10911990572e-05,1793190854463952128
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671,665,632,877,783,799,649,626.060232417,649,0.436160088952,-0.00556307909998,0.0499532279948,0.999999990676,-9.49844085639e-05,-9.29734215683e-05,3.13483492101e-05,1793190854480619008
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.257640246,711.257640246,672,664,630,876.742359754,782,799,649,627,649,0.446122382032,-0.00555620740545,0.0497882859608,0.999999949134,0.000123627390962,-0.00029360854262,1.55410029459e-05,1793190855480618496
+242,4.033333333,HOLD_POSE2,764,742,712,672,664,630,877,782,799,649,626,649,0.446124754261,-0.00555822940685,0.0497898833421,0.999999950714,0.000118548206946,-0.000290280426974,1.59792010424e-05,1793190855516212992
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c8beefc528f75fefdf4638b2be55f2694ff388cb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,396 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7145299c20f1a67709b50a600b86680820b1c8b2
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..740778869b2745d50e35d71a753ccd322f22378c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_04/franka_data.csv
@@ -0,0 +1,400 @@
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+61,1.016666667,BASELINE,764,741,711,671,664,632,875,782.375111149,798.624888851,649.375111149,626.375111149,649,0.400968799721,-0.0054170364745,0.049849431828,0.99999995124,0.00015810333759,-0.000265102708296,-4.73748219293e-05,1793190859204003072
+62,1.033333333,BASELINE,764,741,711,671,664,632,875,782.97943692,798.02056308,649.97943692,626.97943692,649,0.400970742013,-0.00541921262456,0.0498512954813,0.999999952122,0.000157570651909,-0.000262195375572,-4.67050275639e-05,1793190859220669440
+63,1.050000000,BASELINE,764,741.55933142,711,669.88133716,664,632,875,782.44066858,798,649.44066858,626.44066858,649,0.400968707513,-0.00541866225308,0.0498500855934,0.999999951557,0.000157430451615,-0.000264378914486,-4.69714389949e-05,1793190859237336320
+64,1.066666667,BASELINE,764,742,711,669.137475609,664,632,875,782,798.137475609,649,626,649,0.400967507164,-0.0054184111169,0.0498493482044,0.999999951242,0.000157114114533,-0.000265721284538,-4.71623644333e-05,1793190859254002688
+65,1.083333333,BASELINE,764,742,711,669.712786175,664,632,875,782,798.712786175,649,626,649,0.400969409576,-0.00541941886716,0.0498504604459,0.999999951898,0.000156192782482,-0.000263813561915,-4.70078519333e-05,1793190859270669568
+66,1.100000000,BASELINE,764.288303964,742,711,670.288303964,664,632,875,782,799,649,626.288303964,649,0.400970438953,-0.00541949101024,0.0498511138045,0.999999952163,0.000156303064712,-0.000262740849535,-4.70219227639e-05,1793190859287336448
+67,1.116666667,BASELINE,764.864028306,742,711,670.864028306,664,632,875,782,799,649,626.864028306,649,0.400970597971,-0.00541863041349,0.0498513096865,0.999999952039,0.000157441799614,-0.000262500588396,-4.72040602645e-05,1793190859304003072
+68,1.133333333,BASELINE,765,741.549019372,711,671,664,632,875,782.450980628,799,649,627,649,0.40097051914,-0.0054188805431,0.049850778332,0.999999952097,0.000156120296081,-0.00026307975303,-4.71365368085e-05,1793190859320669696
+69,1.150000000,BASELINE,764.95936452,741.04063548,711,670.95936452,664,632,875,782.95936452,799,649.04063548,626.95936452,649,0.400970314621,-0.0054193638153,0.0498500964328,0.999999952192,0.000154264800526,-0.000263836422335,-4.70049395597e-05,1793190859337336576
+70,1.166666667,BASELINE,764.379909284,741.620090716,711,670.379909284,664,632,875,782.379909284,799,649.620090716,626.379909284,649,0.40096941867,-0.00541838460073,0.049850399968,0.999999952077,0.000155415506388,-0.000263587171804,-4.70473310503e-05,1793190859354003200
+71,1.183333333,BASELINE,764,741.802739304,711,670,664,632,875,782,799.197260696,650,626,649,0.400968878904,-0.00541821584775,0.0498505077354,0.999999952031,0.000155803467675,-0.000263529209189,-4.70760794397e-05,1793190859370669824
+72,1.200000000,BASELINE,764,741.229920054,711,670,664,632,875,782,799.770079946,650,626,649,0.400969017266,-0.00541959010745,0.0498502427864,0.999999952115,0.00015473926329,-0.000263835433691,-4.70788531571e-05,1793190859387336448
+73,1.216666667,BASELINE,763.647492229,741,711,670.352507771,664,632,875.352507771,782,799.647492229,650,626.352507771,649,0.400969972786,-0.00541892426563,0.0498509246405,0.999999951997,0.000157115604888,-0.000262917563216,-4.68598332762e-05,1793190859404003072
+74,1.233333333,BASELINE,763.05862172,741,711,670.94137828,664,632,875.94137828,782,799.05862172,650,626.94137828,649,0.400971476225,-0.00541689049934,0.049852241343,0.999999951723,0.00016179889391,-0.000261178915232,-4.64920968361e-05,1793190859420669696
+75,1.250000000,BASELINE,763.523220808,741.523220808,711,670.476779192,664,632,876,782,799,649.476779192,626.476779192,649,0.400971061033,-0.00541676244478,0.049852339885,0.99999995201,0.000159744763396,-0.000261275683301,-4.68776451286e-05,1793190859437336320
+76,1.266666667,BASELINE,764,742,711,670,664,632,875.896912257,782,799,649,626,649,0.400970279466,-0.00541698703314,0.049852071393,0.999999952152,0.000157704294781,-0.000261910666149,-4.71939312147e-05,1793190859454002944
+77,1.283333333,BASELINE,764,742,711,670,664,632,875.322525195,782,799,649,626,649,0.400968792653,-0.00541786062307,0.049850740591,0.999999951374,0.000159131639916,-0.000264078583171,-4.68128230706e-05,1793190859470669568
+78,1.300000000,BASELINE,764,742,711,670,664,632,875,782,799,649,626.242628954,649,0.400967537412,-0.00541838763734,0.0498495050401,0.999999951006,0.00015880733913,-0.000265683701914,-4.67015757279e-05,1793190859487336448
+79,1.316666667,BASELINE,764,742,711,670,664,632,875,782,799,649,626.795959725,649,0.400966578714,-0.00541847083938,0.0498483914643,0.999999951164,0.000156239944149,-0.000266568121477,-4.69359023463e-05,1793190859504003072
+80,1.333333333,BASELINE,763.611493635,741.611493635,710.611493635,670,664,632,875.388506365,782,799,649,627,649,0.400968229679,-0.00541880064062,0.0498491237066,0.999999951689,0.000155068863089,-0.00026526362442,-4.70247395886e-05,1793190859520669696
+81,1.350000000,BASELINE,763.003707576,741.003707576,710.003707576,670,664,632,875.992584848,782,799,649,626.996292424,649,0.400971372381,-0.00541927103672,0.0498509185195,0.999999952419,0.000154715196691,-0.00026270525973,-4.70286960425e-05,1793190859537336576
+82,1.366666667,BASELINE,763.579747308,741.579747308,710.579747308,670,664,632,874.840505385,782,799,649,626.420252692,649,0.400969464943,-0.00541920767785,0.0498502934663,0.999999952096,0.000154631519825,-0.000263975575157,-4.70492872207e-05,1793190859554003200
+83,1.383333333,BASELINE,764,742,711,670,664,632,874.155660392,782,798.844339608,649,626.155660392,649,0.400968263419,-0.00541903156971,0.0498499876688,0.999999951878,0.000154743600362,-0.000264735103318,-4.70603273068e-05,1793190859570669824
+84,1.400000000,BASELINE,764,742,711,670,664,632,874.731231958,782,798.268768042,649,626.731231958,649,0.400968966175,-0.00541855130793,0.0498505430989,0.999999951942,0.000155383758197,-0.000264116726447,-4.70456022672e-05,1793190859587336448
+85,1.416666667,BASELINE,764,741.685600512,711,670,664,632,875,782,798,649,627,649.314399488,0.400969803323,-0.00541927575733,0.0498509614461,0.999999952297,0.000154859914203,-0.000263110581739,-4.68758947966e-05,1793190859604003072
+86,1.433333333,BASELINE,764,741.095778753,711,670,664,632,875,782,798,649,627,649.904221247,0.400970758201,-0.00542105556566,0.049851259705,0.999999952902,0.000153316373766,-0.000261764742181,-4.65704186159e-05,1793190859620669952
+87,1.450000000,BASELINE,764,741.485094742,711,670.485094742,664,632,875,782,798.485094742,649.485094742,627,649.514905258,0.400971274689,-0.00542033636551,0.0498515606612,0.999999952723,0.000154876753293,-0.000261519409529,-4.66391063563e-05,1793190859637336576
+88,1.466666667,BASELINE,764,742,711,670.936075994,664,632,875,782,798.936075994,649.936075994,627,649,0.400971624241,-0.00541920774046,0.0498518154411,0.999999952416,0.000156864936348,-0.000261477608164,-4.68023234205e-05,1793190859654003200
+89,1.483333333,BASELINE,764,742,711,670.359727358,664,632,875,782,798.359727358,649.359727358,627,649,0.400971316891,-0.00541868073542,0.0498516958725,0.999999952338,0.000157458750801,-0.000261357080591,-4.71418253085e-05,1793190859670669824
+90,1.500000000,BASELINE,764,742,711,670,664,632,875,782,798.216340242,649.216340242,627,649,0.40097088416,-0.0054184616795,0.0498516392867,0.999999952274,0.000157484727452,-0.000261578883518,-4.72004485465e-05,1793190859687336704
+91,1.516666667,BASELINE,764,742,711,670,664,632,875,782,798.791941089,649.791941089,627,649,0.400970243221,-0.00541875401248,0.0498516872918,0.99999995223,0.000156567736843,-0.000262369169978,-4.67926368748e-05,1793190859704003328
+92,1.533333333,BASELINE,764,742,711,670,664,632,875,782,799,649.623372179,626.623372179,649,0.400969899718,-0.0054197985113,0.0498515438089,0.999999952286,0.00015562453073,-0.000262748199274,-4.65990167132e-05,1793190859720669696
+93,1.550000000,BASELINE,764,742,711,670,664,632,875,782,799,649.033542035,626.033542035,649,0.400969724589,-0.00542126879789,0.049851291928,0.9999999524,0.0001546664844,-0.000262894423265,-4.6526646525e-05,1793190859737336320
+94,1.566666667,BASELINE,764,742,711,670.546206777,664,632,875,782,799,649.546206777,626,649,0.400970752909,-0.00541880008974,0.0498515899492,0.999999952357,0.000155872483493,-0.000262250360428,-4.70600618789e-05,1793190859754003200
+95,1.583333333,BASELINE,764,742,711,670.875731552,664,632,875.124268448,782,799,649.875731552,626.124268448,649,0.400971388119,-0.0054170819675,0.049851746212,0.99999995237,0.00015652563216,-0.000261742955315,-4.74417508702e-05,1793190859770669824
+96,1.600000000,BASELINE,764,742,711,670.301576995,664,632,875.698423005,782,799,649.301576995,626.698423005,649,0.400970337464,-0.00541894101104,0.0498512692327,0.999999952625,0.000154704923182,-0.000261902799433,-4.71419125106e-05,1793190859787336448
+97,1.616666667,BASELINE,763.720725749,742,711,670,664,632,875.720725749,782.279274251,799,649,626.720725749,649,0.400969781555,-0.00541989909814,0.0498510207621,0.999999952662,0.000154079485098,-0.000262176578093,-4.68907832194e-05,1793190859804003328
+98,1.633333333,BASELINE,763.13246539,742,711,670,664,632,875.13246539,782.86753461,799,649,626.13246539,649,0.400969773029,-0.00541986037637,0.0498510251111,0.999999952459,0.000154776482322,-0.000262576412727,-4.66935451491e-05,1793190859820669952
+99,1.650000000,BASELINE,763.448876752,741.551123248,711,670.448876752,664,632,875,782.551123248,799,649,626,649,0.400970131143,-0.00541960619184,0.0498512936884,0.999999952494,0.000155756361308,-0.000261885400863,-4.65573457278e-05,1793190859837336320
+100,1.666666667,BASELINE,764,741,711,670.972057066,664,632,875,782,799,649,626.027942934,649,0.400970505573,-0.00541921175413,0.0498515862531,0.99999995257,0.000156789374773,-0.000260994209793,-4.64758820697e-05,1793190859854003200
+101,1.683333333,BASELINE,764,741,711,670.39817509,664,632,875,782,799,649,626.60182491,649,0.400969116953,-0.00541730052462,0.0498508471532,0.999999952102,0.000157254272634,-0.000262385952885,-4.71172409645e-05,1793190859870669824
+102,1.700000000,BASELINE,763.823275859,741.176724141,711,670.176724141,664,632,875,782,798.823275859,649,626.823275859,649,0.400968882499,-0.00541630364091,0.049850830926,0.999999951973,0.000157640442387,-0.000262589388834,-4.74436498355e-05,1793190859887336448
+103,1.716666667,BASELINE,763.246071472,741.753928528,711,670.753928528,664,632,875,782,798.246071472,649,626.246071472,649,0.40097126354,-0.0054173787858,0.0498524528239,0.999999952609,0.000157848203788,-0.000260099963659,-4.7056340267e-05,1793190859904003072
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+105,1.750000000,BASELINE,764.859515938,742,711,670.070242031,663.070242031,632,875,782.929757969,798.929757969,649.929757969,626.929757969,649,0.400970863826,-0.00541798278397,0.0498514860887,0.999999952456,0.000155800255316,-0.000261910947272,-4.70929198501e-05,1793190859937336576
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+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632,875,782,799,649,627,649,0.400971127991,-0.00542142562427,0.049852175312,0.999999953373,0.000153699059125,-0.000259716290477,-4.66762659942e-05,1793190859997176832
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.575035567,742,711,669.424964433,664,632,875,782,799,649,626.424964433,649,0.400971065301,-0.00541940098003,0.0498521411652,0.999999952955,0.000156091935537,-0.000259921285369,-4.65477052629e-05,1793190860013843712
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+111,1.850000000,POSE1_TO_POSE2_PRESS,763.668985785,741.331014215,711,670,663.668985785,632,875,782.668985785,799.331014215,649,626,648.668985785,0.400970077639,-0.00541764951303,0.0498511460723,0.999999952521,0.000155381459105,-0.000261880724492,-4.72603759723e-05,1793190860063843584
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+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,670,664,632.028602826,875.028602826,782,799,649,626,649.971397174,0.40110009047,-0.00542363841359,0.0499009940777,0.999999973996,0.000153343119934,-0.000163129748835,-4.33929504284e-05,1793190860197176832
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,670.544413482,664,632,875,782,798.455586518,649,626.544413482,649.455586518,0.401166346219,-0.00542661497211,0.0499169894354,0.999999979521,0.000151530794621,-0.000127281404464,-4.23692343415e-05,1793190860213844224
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,670.878950608,664,632,875,782,798,649.121049392,627,649,0.401233895129,-0.00542962886226,0.0499306838334,0.999999983056,0.000149884647471,-9.8607399406e-05,-4.12101263223e-05,1793190860230511104
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,670.287736284,664,632,875,782,798,649.712263716,627,649,0.401303217127,-0.00543229316937,0.0499359538329,0.999999983328,0.000149331949641,-9.73796156282e-05,-3.9523007077e-05,1793190860247177216
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,670.297600759,664,632,875,782,798.297600759,649.702399241,627,649,0.401380692435,-0.00543615240715,0.0499376132639,0.999999983613,0.000147446165365,-9.78554806543e-05,-3.81813203277e-05,1793190860263843840
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,670.877365348,664,632,875,782,798.877365348,649.122634652,627,649,0.401465898126,-0.00544114459288,0.0499358494107,0.999999983904,0.00014429644356,-9.99466241345e-05,-3.71671481538e-05,1793190860280510464
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.454173334,741.545826666,711,670.545826666,664,632,875,782,799,649,627,649,0.401570867089,-0.00544542741421,0.0499344154244,0.999999983877,0.000141023654508,-0.000105067113582,-3.63258422405e-05,1793190860297176832
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,741.029947429,711,670,664,632,875,782,799,649.029947429,627,649,0.401683308028,-0.00544950975068,0.0499334149523,0.999999983765,0.000137966294352,-0.000110347064449,-3.54851925227e-05,1793190860313843456
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,741.601369232,711,670,664,632,875,782,799,649.601369232,627,649,0.401834985552,-0.00545340797019,0.049938652738,0.999999984323,0.000139401011812,-0.00010381618664,-3.38179090014e-05,1793190860330510848
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.819537396,741.819537396,711,670,664,632,875,782,799,649.819537396,626.819537396,649,0.401993455701,-0.00545804846761,0.0499415931972,0.999999984627,0.000139483148277,-0.000101258972737,-3.22137097823e-05,1793190860347177984
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.222745712,741.222745712,711,670,664,632,875,782,799,649.222745712,626.222745712,649,0.402167596487,-0.00546440140722,0.0499392336995,0.999999984401,0.000136444866319,-0.000107869043145,-3.07550469287e-05,1793190860363844352
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,741,711,670,664,632,875,782,799,649,626,649,0.402365941156,-0.00547285982405,0.0499391451545,0.999999985087,0.000130970174477,-0.000108810254972,-2.88579100379e-05,1793190860380510720
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,741,711,670,664,632,875,782,799,649,626,649,0.402578699344,-0.00548257206102,0.04994040897,0.999999986292,0.000124044591182,-0.000106375641036,-2.66996600849e-05,1793190860397177088
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.487509262,741,711,670,664,632,875,782,799,649.512490738,626,649,0.402825581948,-0.00549147799393,0.0499428719354,0.999999986946,0.000122277308946,-0.000102825738309,-2.41470486902e-05,1793190860413843456
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.087853905,741.087853905,711,670,664,632,875,782,799.087853905,649.912146095,626,649,0.403086186151,-0.00550072878997,0.0499466789421,0.999999987902,0.000120444432019,-9.60596551957e-05,-2.14805194252e-05,1793190860430510080
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.678937539,741.678937539,711,670,664,632,875,782,799.678937539,649.321062461,626,649,0.403402455168,-0.00551249684508,0.0499573787795,0.999999990679,0.000114769235678,-7.16207156337e-05,-1.84264913457e-05,1793190860447176960
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.735881598,742,711,670,664,632,875,782.264118402,799.735881598,649,626.264118402,649,0.403731628036,-0.00552372290629,0.0499662406024,0.999999992406,0.000110183230745,-5.3146959255e-05,-1.49382853121e-05,1793190860463844096
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.157719322,742,711,670,664,632,875,782.842280678,799.157719322,649,626.842280678,649,0.404076143912,-0.0055343045215,0.0499729169762,0.999999993355,0.000106892304045,-4.17659673728e-05,-1.0933830223e-05,1793190860480511232
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.418352284,742,711,670,664,632,875,782.581647716,799.418352284,649,626.581647716,649,0.404450834661,-0.00554035056713,0.0499774407104,0.999999993424,0.0001102292002,-3.08625639365e-05,-7.06911139116e-06,1793190860497177856
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.993639612,742,711,670,664,632,875,782.006360388,799.993639612,649,626.006360388,649,0.404836844799,-0.00554469520002,0.0499811569323,0.999999993058,0.000116052368646,-2.01383168526e-05,-3.25681142676e-06,1793190860513843968
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,741.418436985,711,670,664,632,875,782,799.418436985,649,626,649,0.405239235484,-0.00553121241006,0.0499728472655,0.999999989302,0.000141759607214,-3.6040690302e-05,-1.13160408101e-06,1793190860530510592
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.166934629,741.166934629,711,670,664,632,875.166934629,782,799,649,626.166934629,649,0.405651895173,-0.00551861572971,0.049960489522,0.999999984238,0.000166967353293,-6.03670605048e-05,8.58251802913e-07,1793190860547177216
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.745662941,741.745662941,711,670,664,632,875.745662941,782,799,649,626.745662941,649,0.406089434599,-0.00550869654502,0.0499384776484,0.999999976386,0.000190394589576,-0.0001047394052,2.56074930205e-06,1793190860563844352
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,742,711,670,664,632,875.676427266,782,799,649,627,649,0.406554481871,-0.00550995210416,0.0499199720184,0.999999970722,0.000199665474677,-0.000136614326808,5.05706914571e-06,1793190860580510976
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,742,711,670,664,632,875.099159164,782,799,649,627,649,0.407041096561,-0.00551996915675,0.0499042154365,0.999999967805,0.000197837155634,-0.00015869071959,8.17578108126e-06,1793190860597177088
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.525091342,742,711.474908658,670.474908658,664.474908658,632,875,782,799,649,627,649,0.40759604749,-0.00552481601107,0.0499126127373,0.99999996941,0.000204629048293,-0.000138371903526,1.26610331225e-05,1793190860613843968
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.049817949,742,711.950182051,671,665,632,875.049817949,782,799,649.049817949,627,649,0.408169435184,-0.00552842686015,0.0499274257548,0.99999997129,0.000213490071329,-0.000107381578185,1.76195802759e-05,1793190860630510080
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.641087098,742,711.358912902,671,665,632,875.641087098,782,799,649.641087098,627,649,0.408789166116,-0.00553025838206,0.0499575225649,0.999999972725,0.000225408544918,-5.59713263858e-05,2.464182197e-05,1793190860647176704
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.772434519,742.227565481,711,670.772434519,664.772434519,632,876,782,799,649.772434519,626.772434519,649,0.409420656367,-0.00553055841893,0.0499789425418,0.999999970719,0.000238975555632,-2.20252435609e-05,3.11123763104e-05,1793190860663843328
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.193356307,742.806643693,711,670.193356307,664.193356307,632,876,782,799,649.193356307,626.193356307,649,0.410070310802,-0.00552849282236,0.0499869597048,0.999999966677,0.000255089006117,-1.5055477275e-05,3.67307574473e-05,1793190860680510208
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.233253698,711,670.383373151,664.383373151,632,876,782,799,649,626,649,0.410689281433,-0.00552681437475,0.0499694144662,0.999999962446,0.000265325079721,-5.61284931126e-05,3.95091574875e-05,1793190860697176832
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,741.082149601,711,670.958925199,664.958925199,632,876,782,799,649,626,649,0.411292870738,-0.00552532999886,0.0499390551997,0.999999954651,0.000272614915852,-0.000121284595784,4.0863919617e-05,1793190860713843456
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,741.535085737,711,670.464914263,664.464914263,632,876,782,799,649,626.535085737,649,0.411982707647,-0.00553340480501,0.0499234938532,0.9999999765,0.000167348917442,-0.000136674459377,1.77403799427e-05,1793190860730510080
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,670.1138647,664.1138647,632,876,782,798.8861353,649,626.8861353,649,0.412693479048,-0.005542472393,0.0499178517784,0.999999987771,7.72952732451e-05,-0.000135955346164,-7.36339630489e-07,1793190860747176960
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,670.703386342,664.703386342,632,876,782,798.296613658,649,626.296613658,649,0.413464013329,-0.00555261839068,0.0499488957113,0.999999992668,8.6923807194e-05,-8.39194551396e-05,8.05688148495e-06,1793190860763843584
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.712358929,742,711,670.712358929,664.712358929,632,876,782,798.287641071,649,626,649,0.414232351888,-0.00555401049218,0.0499596649277,0.999999992717,0.000101322384986,-6.40579875085e-05,1.39807790977e-05,1793190860780510720
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.133437676,742,711,670.133437676,664.133437676,632,876,782,798.866562324,649,626,649,0.414998467039,-0.00554653794819,0.0499499029242,0.999999989642,0.000120551356473,-7.67779940214e-05,1.69990528449e-05,1793190860797178368
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.442517686,742,711,670.442517686,664,632,876,782,799,649,626,649,0.415756940893,-0.00553989125208,0.0499295618023,0.999999985898,0.000124528125519,-0.000111541627797,1.59868319595e-05,1793190860813844992
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632,875.98204062,782,799,649.01795938,626,649,0.416514994665,-0.00553395326329,0.0499075710259,0.999999980987,0.000123526554059,-0.000150248242863,1.39095153536e-05,1793190860830510848
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632,875.394718172,782,799,649.605281828,626,649,0.417332294545,-0.00554264096152,0.049933741731,0.999999988394,0.000109533787223,-0.000104630367651,1.633958364e-05,1793190860847177216
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664.189927615,632,875.189927615,782,798.810072385,649.810072385,626,649,0.418157423587,-0.00555019421709,0.0499560858056,0.999999992851,9.78002076368e-05,-6.61177253966e-05,1.90131136576e-05,1793190860863843840
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664.769087887,632,875.769087887,782,798.230912113,649.230912113,626,649,0.418998597459,-0.00555542257518,0.0499705876827,0.999999994752,9.06965481873e-05,-4.21663637483e-05,2.21855876532e-05,1793190860880510464
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664.653060427,632,876,782,798.346939573,649,626,649,0.419832672189,-0.00555226045337,0.0499605437995,0.999999993882,9.36288925149e-05,-5.45330907124e-05,2.22516784325e-05,1793190860897177088
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664.076076444,632,876,782,798.923923556,649,626,649,0.420662039672,-0.0055435348755,0.0499342244159,0.999999990329,0.000103215786538,-9.09811684435e-05,2.02580268311e-05,1793190860913843968
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,741.501776375,711,671,664.498223625,632,876.498223625,782,798.501776375,649,626,649,0.421553607227,-0.0055487319295,0.0499558071355,0.999999994495,9.12106054381e-05,-4.71711424405e-05,2.15752704162e-05,1793190860930510848
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,741.074270885,711,670.925729115,665,632,876.925729115,782,798.14854177,649,626,649,0.422445476818,-0.00555556649565,0.0499806169086,0.999999996752,7.71409630587e-05,7.81093882833e-07,2.33235685853e-05,1793190860947177472
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,741.665310856,711,670.334689144,665,632,876.334689144,782,799.330621713,649,626,649,0.423273717851,-0.00555908201348,0.0499772598203,0.999999997114,7.15243596808e-05,-7.25805026963e-06,2.45723243559e-05,1793190860963843840
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711,670.251075688,664.748924312,632,876,782,799.748924312,649,626.251075688,649,0.424114401444,-0.00556175831386,0.0499702252237,0.999999997297,6.626518159e-05,-1.93910998818e-05,2.52586703127e-05,1793190860980510208
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,670.829953428,664.170046572,632,876,782,799.170046572,649,626.829953428,649,0.42497133004,-0.00556333894035,0.0499583893065,0.999999997113,6.14726538004e-05,-3.68691149969e-05,2.52107394853e-05,1793190860997176832
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,741.595132551,711,670.595132551,664.404867449,632,876.404867449,782,799,649,626.595132551,648.595132551,0.425854971473,-0.00556533452777,0.0499709344249,0.999999997815,5.54869213142e-05,-2.36526625112e-05,2.70357428307e-05,1793190861013843456
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,741.021867207,711,670.021867207,664.978132793,632,876.978132793,782,799,649,626.021867207,648.021867207,0.426749723615,-0.00556750271121,0.049993620431,0.999999998357,4.90048954032e-05,2.33064521935e-06,2.96397620375e-05,1793190861030510080
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,741.554501222,711,670.554501222,665,632,877,782.554501222,799.554501222,649.554501222,626,648.554501222,0.427545456434,-0.00556376798938,0.0499719645667,0.999999996831,5.3476587071e-05,-5.06139930739e-05,3.02670896979e-05,1793190861047177216
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,711.134549162,671,664.865450838,632,876.730901676,782.865450838,799.865450838,649.865450838,626,649,0.428341907647,-0.00556051137084,0.0499489539887,0.999999993038,5.60796504268e-05,-9.93519512062e-05,3.01265174232e-05,1793190861063843840
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+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,711.110827633,671,665.778344734,632,876.778344734,782,799,649,626,649,0.430854388565,-0.00556470554341,0.0499470068562,0.999999996672,3.19097309213e-05,-6.99874673817e-05,2.7206549275e-05,1793190861113843968
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764,741.664101858,711,672,665,631,876.335898142,783,800.328203716,649,626.335898142,649,0.44261303166,-0.00556628055123,0.0499502287604,0.99999999755,-1.92014683493e-05,-5.95310599233e-05,3.14121107662e-05,1793190861413844736
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,631,877,782,799.818235322,649.818235322,626,649,0.444668372782,-0.00556827508306,0.04981664642,0.999999960833,-6.37478596622e-05,-0.000272080325194,1.55721908928e-05,1793190861513843712
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742,711.394518009,672.394518009,664,630.605481991,877,782.394518009,800,649.605481991,626,649,0.444962612023,-0.00556669247206,0.0498221268579,0.999999964721,-5.94885739373e-05,-0.000258331867899,1.68204076929e-05,1793190861530510592
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742,711.869226332,671.130773668,663,629,877,782.738452665,799,650,626,648.869226332,0.447001264753,-0.00557243983403,0.0497097364531,0.999999910827,-8.06146158944e-05,-0.000414453328343,8.68617314481e-06,1793190862147176704
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742,711.556437326,671.443562674,663.443562674,629,876.556437326,782.112874653,799,649.556437326,626,649,0.447002825885,-0.00557231642989,0.0497106743139,0.999999911486,-8.03123231069e-05,-0.000412917316267,8.74466854048e-06,1793190862163843328
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.017933711,711.017933711,672,663.982066289,629,876.017933711,781.017933711,799.017933711,649,626,649,0.447004562907,-0.00557215111934,0.049711761173,0.999999912391,-7.90560338019e-05,-0.000410959014466,8.95667064996e-06,1793190862180509952
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.609107688,711.609107688,672,663.390892312,629,876.609107688,781.609107688,799.609107688,649,626,649,0.447003088466,-0.00557196611663,0.0497103374176,0.999999911779,-7.64620254689e-05,-0.00041292726445,9.35511809348e-06,1793190862197176576
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.80389232,711.80389232,671.80389232,663,629,877,782,799.80389232,649.19610768,626,649,0.447003168814,-0.0055724327403,0.0497098540648,0.999999911562,-7.64480583246e-05,-0.000413447771422,9.65968603823e-06,1793190862213843200
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.225038781,711.225038781,671.225038781,663,629,877,782,799.225038781,649.774961219,626,649,0.447006283663,-0.0055741711515,0.0497112061079,0.999999912114,-8.14695906251e-05,-0.000411142699772,9.78102814409e-06,1793190862230509824
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742,711.350869094,671.350869094,663,629,877,781.649130906,799,650,626,648.649130906,0.4470062688,-0.00557419455324,0.0497113160684,0.999999912187,-8.09789694277e-05,-0.000411059857468,9.86400426497e-06,1793190862247176704
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742,711.924903399,671.924903399,663,629,877,781.075096601,799,650,626,648.075096601,0.44700426333,-0.00557312714793,0.0497106360202,0.999999911955,-7.69824225456e-05,-0.000412390432079,9.92257825147e-06,1793190862263843328
+244,4.066666667,HOLD_POSE2,764,742,711,672,663,629,876,782,799,650,626,649,0.447005117776,-0.00557149375356,0.049710495933,0.999999911825,-7.7746538253e-05,-0.000412582688019,9.00607729309e-06,1793190862294387200
+245,4.083333333,HOLD_POSE2,764,742.579266388,711.579266388,672,663,629,876.579266388,782,799,649.420733612,626,649,0.447003562232,-0.00557215947863,0.0497094033925,0.999999910997,-7.87285564917e-05,-0.000414393076955,9.24370156237e-06,1793190862311053824
+246,4.100000000,HOLD_POSE2,764,742.841962102,711.841962102,672,663,629,877,781.841962102,799,649,626.158037898,649,0.447002930183,-0.00557247711756,0.0497089811448,0.99999991066,-7.94063078957e-05,-0.000415075275182,9.36481565935e-06,1793190862327720448
+247,4.116666667,HOLD_POSE2,764,742.264503831,711.264503831,672,663,629,877,781.264503831,799,649,626.735496169,649,0.447004749017,-0.00557187096291,0.0497103378024,0.999999911629,-7.92765588457e-05,-0.000412763342842,9.17672081341e-06,1793190862344387072
+248,4.133333333,HOLD_POSE2,764.311531172,742,711,672,663.311531172,628.688468828,877,781.311531172,799,649,626.688468828,649,0.44700430167,-0.00557077423006,0.0497100015171,0.99999991137,-7.79765008193e-05,-0.000413641207984,8.94320738972e-06,1793190862361053952
+249,4.150000000,HOLD_POSE2,764.886363219,742,711,672,663.886363219,628.113636781,877,781.886363219,799,649,626.113636781,649,0.447001938984,-0.00556926286885,0.049708234385,0.999999910064,-7.56873174533e-05,-0.000417215036126,8.67130696369e-06,1793190862377720576
+250,4.166666667,HOLD_POSE2,764.52487413,742,711,672,663.52487413,628.47512587,877,782,799,649,626,649,0.447003519815,-0.00557103258131,0.0497088369452,0.999999910791,-7.64599672209e-05,-0.000415321239577,9.00572682386e-06,1793190862394387456
+251,4.183333333,HOLD_POSE2,764,742,711,672,663,629,877,782,799,649,626,649,0.447005723225,-0.00557311432732,0.0497098996135,0.999999911837,-7.76903615491e-05,-0.000412556098891,9.39356895784e-06,1793190862411053824
+252,4.200000000,HOLD_POSE2,764,742,711,672,663,629,877,782,799,649,626,649,0.447005204937,-0.00557132576184,0.0497099972565,0.999999911533,-7.66076658766e-05,-0.00041350102932,9.03315057387e-06,1793190862427720448
+253,4.216666667,HOLD_POSE2,764,742,711.219504247,672,663,629,877,782,799,649,626,649,0.447004552376,-0.00557106928643,0.0497097712815,0.999999911138,-7.75659248708e-05,-0.00041428202371,8.87612179726e-06,1793190862444387328
+254,4.233333333,HOLD_POSE2,764,742,711.796159414,672,663,629,877,782,799,649,626,649,0.447003681342,-0.00557330564396,0.0497090187545,0.999999910582,-8.18449800404e-05,-0.000414796280989,9.05002417341e-06,1793190862461053952
+255,4.250000000,HOLD_POSE2,764.379506217,742,711.620493783,672,663,628.620493783,877,781.620493783,799.379506217,649,626,649,0.447004583936,-0.00557291223221,0.0497092218221,0.999999910734,-8.14501275981e-05,-0.000414509472561,8.92805762535e-06,1793190862477720576
+256,4.266666667,HOLD_POSE2,764.966511802,742,711.033488198,672,663,628.033488198,877,781.033488198,799.966511802,649,626,649,0.447006456282,-0.00557108096421,0.0497099473718,0.999999911273,-7.84997630796e-05,-0.000413784672336,8.64432137331e-06,1793190862494387200
+257,4.283333333,HOLD_POSE2,765,742,711.545991551,672,663,628.545991551,877,781.545991551,799.454008449,649,626,649,0.447004806207,-0.00557089990807,0.0497093200891,0.999999910939,-7.72023729254e-05,-0.000414832688415,8.64009480306e-06,1793190862511053824
+258,4.300000000,HOLD_POSE2,765,742,712,672,663.124401077,629,877,782,799,649.124401077,626,649,0.44700353278,-0.00557101742907,0.0497089175516,0.99999991068,-7.66110047915e-05,-0.000415565183525,8.73307807962e-06,1793190862527720704
+259,4.316666667,HOLD_POSE2,765,742,712,672,663.700577678,629,877,782,799,649.700577678,626,649,0.447004401123,-0.00557185668836,0.0497096284367,0.999999910885,-7.8220446401e-05,-0.000414762317792,9.11767670543e-06,1793190862544387328
+260,4.333333333,HOLD_POSE2,764.723130738,742,712,672,664,629,877,782,799,650,626,649,0.447004336547,-0.00557148894048,0.0497092176574,0.999999910515,-7.79852508845e-05,-0.000415701155679,8.96496481582e-06,1793190862561053952
+261,4.350000000,HOLD_POSE2,764.146714789,742,712,672,664,629,877,782,799,650,626,649,0.447003262641,-0.00556981532349,0.0497075933419,0.999999909515,-7.57543301459e-05,-0.000418524354295,8.23093309758e-06,1793190862577720576
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,629,877,782,799,650,626,648,0.447007001601,-0.00557023194367,0.0497105334132,0.99999991198,-7.75753048021e-05,-0.00041225668926,8.19026149234e-06,1793190862610308608
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.580364343,742,711.580364343,672,663.419635657,629,877,781.419635657,799.580364343,650,626,648,0.447005739507,-0.00557113406571,0.0497098066322,0.999999911151,-7.81556880956e-05,-0.000414145491801,8.54759802479e-06,1793190862626975232
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,742,712,672,663,629,877,781.159219966,799.840780034,650,626,648.159219966,0.447004976615,-0.00557133149259,0.0497091061134,0.999999910601,-7.7801197648e-05,-0.000415533103669,8.7370710956e-06,1793190862643641856
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,742,712,672,663,629,877,781.734136697,799.265863303,650,626,648.734136697,0.447005517059,-0.00556968907817,0.0497084741609,0.999999910784,-7.50059079728e-05,-0.00041561219072,8.48828075364e-06,1793190862660308480
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,742,712,672,663,629,877,782,799,649.692826875,626.307173125,649,0.447005518684,-0.0055695899175,0.0497086186482,0.999999910872,-7.48105946676e-05,-0.000415435333899,8.57589060307e-06,1793190862676975360
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,742,712,672,663,629,877,782,799,649.121408011,626.878591989,649,0.44700505679,-0.00557081834125,0.0497094310681,0.999999910878,-7.68519116897e-05,-0.000415038301311,8.95288879509e-06,1793190862693641984
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.5295387,742,712,672,663,629,876.5295387,782,799,649,626.5295387,649,0.447002278641,-0.00557053114413,0.0497077805901,0.99999990985,-7.54854711023e-05,-0.000417756697302,8.98474405929e-06,1793190862710308352
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,711.935014909,672,663,629,876.064985091,782,799,649.064985091,626,649,0.446997474588,-0.00556994503238,0.0497049993545,0.999999908116,-7.37981966983e-05,-0.00042218763045,8.86434739099e-06,1793190862726974976
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742,711.362834836,672,663,629,876.637165164,782,799,649.637165164,626,649,0.446981735989,-0.00557021731741,0.0496985787864,0.99999990309,-7.67824162975e-05,-0.000433424563601,8.28240555716e-06,1793190862743641856
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,711.211717146,672,663,629,877,782,799,650,626,649,0.446956035977,-0.00556958599816,0.0496876590676,0.999999894298,-7.84588996662e-05,-0.000452980601303,7.48051729675e-06,1793190862760308736
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742,711.790380033,672,663,629,877,782,799,650,626,649,0.446913070957,-0.00556738856226,0.0496689414726,0.999999878386,-7.78688291577e-05,-0.000486955214696,6.29742045423e-06,1793190862776975360
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.376081618,712,672,663.376081618,629,877.376081618,782,799,649.623918382,626,649,0.446856209155,-0.00556366248018,0.0496500269066,0.999999860863,-7.54693863927e-05,-0.000522068913703,4.66409029012e-06,1793190862793641728
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.965781308,712,672,663.965781308,629,877.965781308,782,799,649.034218692,626,649,0.446791453839,-0.00555906811177,0.0496310004572,0.999999841814,-7.20422022246e-05,-0.00055782962745,2.7750230414e-06,1793190862810308608
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,663.454867578,629,877.454867578,782,799,649,626,649,0.446717267619,-0.00555773503336,0.0496204425475,0.999999835034,-7.22675352826e-05,-0.000569829956155,1.67954473048e-06,1793190862826975232
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.123014761,742.876985239,711.876985239,672,663,629,877,782,799,649,626,649,0.446639792541,-0.00555604990177,0.0496124733789,0.999999830348,-7.18110270634e-05,-0.000578053453978,7.96584019339e-07,1793190862843641600
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.697844087,742.302155913,711.302155913,672,663,629,877,782,799,649,626,649,0.446552371752,-0.0055523338504,0.0496120962162,0.999999830771,-6.80238209518e-05,-0.000577781121373,5.14614880284e-07,1793190862860308480
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.72132484,742,711,672,663,629,876.72132484,782,799,649,626,649,0.446453335934,-0.00554827316156,0.0496127776912,0.999999831427,-6.43106168664e-05,-0.000577070235609,6.33141038692e-08,1793190862876975104
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.133843122,742,711,672,663,629,876.133843122,782,799,649,626,649,0.446341429232,-0.005543830572,0.0496146322676,0.999999832344,-6.06794164097e-05,-0.000575873378697,-5.75627061394e-07,1793190862893641728
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.447303499,742,711.447303499,672,663.447303499,629,876.447303499,781.552696501,799,649,626,649,0.446202250646,-0.00553850807901,0.0496181672146,0.999999835054,-5.72138450124e-05,-0.000571503274562,-1.37967740951e-06,1793190862910308608
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.973576518,742,712,672,663.973576518,629,877,781.026423482,799,649,626.026423482,649,0.446053022526,-0.00553286062878,0.0496217939408,0.999999837871,-5.36968597081e-05,-0.000566895602781,-2.23137274971e-06,1793190862926975232
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.397731428,742,712,672,663.397731428,629,877,781.602268572,799,649,626.602268572,649,0.445862143197,-0.00552585441178,0.0496170202578,0.999999832481,-4.80947233514e-05,-0.000576815499324,-3.06083239315e-06,1793190862943641856
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742,711.821495905,672,663.178504095,629.178504095,877,782,799,649,627,649,0.445657567791,-0.00551786980442,0.0496122998497,0.999999826942,-4.22281229666e-05,-0.000586783425966,-4.14643406952e-06,1793190862960308480
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742,711.244388613,672,663.755611387,629.755611387,877,782,799,649,627,649,0.445422408802,-0.00550770043285,0.0496076984062,0.999999821223,-3.5770969901e-05,-0.000596858603536,-5.80400589326e-06,1793190862976975104
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,664.914291763,630.085708237,876.914291763,782,799,649,626,648.085708237,0.44431537958,-0.00546867062435,0.0496591344147,0.999999858063,-7.28644269208e-06,-0.000532685456102,-8.15657090912e-06,1793190863043641856
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.184022034,664,631,876,782,799,649,626.815977966,649,0.443211271156,-0.0054310025962,0.0497008702153,0.999999889271,1.96753036227e-05,-0.000469988665775,-1.34585585023e-05,1793190863093643008
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.06101836,664,632,875,782,799.93898164,649.06101836,627,649,0.402718399387,-0.00540308598869,0.0498390284585,0.999999945162,9.11884994135e-05,-0.000312685793019,-5.99017483019e-05,1793190864076975360
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.633608094,664,632,875,782,799.366391906,649.633608094,627,649,0.402457281222,-0.00540264066459,0.0498246223393,0.999999936617,8.96675297225e-05,-0.000338918096788,-6.21265355321e-05,1793190864093642752
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,632,875.208702354,782,799.208702354,650,626.791297646,649.208702354,0.402217070743,-0.00540215291629,0.0498134785343,0.999999930053,8.87922775918e-05,-0.000357688763574,-6.37793690895e-05,1793190864110309632
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,632,875.788246831,782,799.788246831,650,626.211753169,649.788246831,0.402014011053,-0.0054015897847,0.0498081315202,0.999999928002,8.90643978747e-05,-0.000363200884087,-6.44159009754e-05,1793190864126976000
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,632,875.623858081,782,799.623858081,650,626,649.623858081,0.401842931435,-0.00540024107676,0.0498104133773,0.999999930953,9.23798077577e-05,-0.00035406527166,-6.479450976e-05,1793190864143642624
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,632,875.031155133,782,799.031155133,650,626,649.031155133,0.401690264095,-0.00539844007878,0.0498170875021,0.999999936523,9.74473699303e-05,-0.000336496331862,-6.50246212014e-05,1793190864160309760
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,876,782,799,649.300117635,626,649.300117635,0.401362595352,-0.00539320257741,0.0498358306283,0.999999931833,0.000211217691012,-0.000300139770411,-4.04579726719e-05,1793190864210308608
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875.719240739,782,799,649,626.280759261,649,0.401276884958,-0.00539812493296,0.0498353708134,0.999999933969,0.000202818676891,-0.000298625496003,-4.18187047943e-05,1793190864226975488
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742.604062386,711,670,663.604062386,632,875,782,799.604062386,649.395937614,626.604062386,649,0.401054544917,-0.00541165167601,0.0498330806007,0.999999938975,0.000175196684102,-0.000298858919524,-4.51642071317e-05,1793190864293642240
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.179033388,742.820966612,711,670,664,632,875,782,799.820966612,649,627,649.179033388,0.401028165537,-0.00541115225548,0.049834816494,0.999999940619,0.000173735795081,-0.000294101022867,-4.56250429283e-05,1793190864310309120
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.753289826,742.246710174,711,670,664,632,875,782,799.246710174,649,627,649.753289826,0.401013693794,-0.00541386111752,0.0498386948613,0.999999943818,0.000171244796622,-0.000284601655423,-4.51792498857e-05,1793190864326975744
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875,782,799,649.56938496,626.43061504,649,0.40096841041,-0.00541135317328,0.0498458390086,0.9999999468,0.000171995354284,-0.000273225174212,-4.65464892773e-05,1793190864493642240
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,741.852790732,711,669.852790732,664,632,875,782,798.852790732,650,626.147209268,649,0.40096882746,-0.00541259348358,0.0498459042228,0.999999947388,0.000169683569545,-0.000272544256345,-4.63716979072e-05,1793190864510308608
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,741.276152363,711,669.276152363,664,632,875,782,798.276152363,650,626.723847637,649,0.400968562174,-0.00541191767742,0.0498449645112,0.999999947379,0.000170021231928,-0.000272329299721,-4.659508824e-05,1793190864526975232
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,741.305252492,711,669.610504983,664,632,875,782,798.305252492,650,626.694747508,649,0.400969161357,-0.00541177522581,0.0498453761927,0.999999947614,0.000170266290476,-0.000271302857781,-4.66448294352e-05,1793190864543642112
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,741.891037905,711,670.78207581,664,632,875,782,798.891037905,650,626.108962095,649,0.400970555003,-0.00541212293723,0.0498470298304,0.999999948071,0.000170426244351,-0.000269530645172,-4.65349837523e-05,1793190864560308992
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.52866692,664,632,875,782,799,649.52866692,626.47133308,649,0.400968975511,-0.00541227963293,0.0498462423604,0.999999947629,0.000170702718983,-0.000270967255316,-4.66797930626e-05,1793190864576975616
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875,782,799.050259109,649.050259109,627,649,0.400967057164,-0.00541242011696,0.0498451380115,0.999999947105,0.000170961743249,-0.000272704019062,-4.6841375526e-05,1793190864593642240
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875,782,799.627983502,649.627983502,627,649,0.400968712936,-0.00541284856715,0.0498465624652,0.999999947915,0.000170758179998,-0.000269895266892,-4.65682610262e-05,1793190864610308864
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875.204704714,782,800,649.795295286,626.795295286,649,0.40097011472,-0.00541356497195,0.0498477512766,0.999999948683,0.000169728393095,-0.000267721549017,-4.63732512625e-05,1793190864626975488
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875.779611674,782,800,649.220388326,626.220388326,649,0.400971057177,-0.00541480213388,0.0498485139361,0.999999949385,0.000167204405878,-0.000266696271504,-4.63194915533e-05,1793190864643642112
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875.635116069,782,799.635116069,649,626,649,0.40096984652,-0.00541499873807,0.04984773924,0.999999949108,0.000166960442794,-0.000267858710976,-4.64784208737e-05,1793190864660308992
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875.043400193,782,799.043400193,649,626,649,0.400967297369,-0.00541454847423,0.049846008839,0.999999948219,0.000168133868361,-0.000270381155836,-4.67695694095e-05,1793190864676975872
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875,782,799,649.536188717,626,649,0.400967705637,-0.00541539350969,0.0498468232433,0.999999948425,0.000167902125977,-0.000269825459229,-4.6400439959e-05,1793190864693642240
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875,782.114734665,798.885265335,649.885265335,626,649,0.400968086374,-0.00541621747272,0.0498474787145,0.999999948707,0.000167089988364,-0.000269336357362,-4.61009245375e-05,1793190864710308864
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,670,664,632,875,782.692944814,798.307055186,649.307055186,626,649,0.400967410305,-0.00541654215721,0.0498466784995,0.99999994894,0.000164382604425,-0.000270100464144,-4.62937334145e-05,1793190864726975488
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.726420147,742,711,670,664,632,875,783,798.273579853,649,626,649,0.400967653707,-0.005415658116,0.0498466453695,0.999999949044,0.000164341454699,-0.000269704892481,-4.65026185276e-05,1793190864743642112
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.143039093,742,711,670,664,632,875,783,798.856960907,649,626,649,0.400968938316,-0.00541340531658,0.0498474808848,0.999999948999,0.000167319542155,-0.000267996103692,-4.67297083583e-05,1793190864760309248
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.437237841,742,711,670,663.562762159,632,875,782.562762159,798.562762159,649,626,649,0.400969596034,-0.00541436083192,0.0498480423864,0.999999949268,0.000167046700905,-0.000267213980044,-4.64414126304e-05,1793190864776976128
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.016423848,663,632,875,782.016423848,798.032847697,649.016423848,626,649,0.400969988504,-0.00541623242912,0.0498484728774,0.999999949609,0.000165772479394,-0.000266800737605,-4.60245346618e-05,1793190864793642240
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.592795101,663,632,875,782.592795101,799.185590203,649.592795101,626,649,0.400968280414,-0.00541380498604,0.049847471404,0.999999948961,0.000166361116152,-0.000268701309743,-4.69316361622e-05,1793190864810308864
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,741.828280456,711,671,663.171719544,632,874.828280456,782.828280456,799.656560911,649.828280456,626.171719544,649,0.400966945075,-0.00541258352316,0.0498466405501,0.999999948498,0.000166635010378,-0.000270170160298,-4.73850281606e-05,1793190864826975232
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,741.243210195,711,671,663.756789805,632,874.243210195,782.243210195,798.48642039,649.243210195,626.756789805,649,0.400966506995,-0.00541426500766,0.0498462203989,0.999999948492,0.000166151279384,-0.000270599802154,-4.6746283805e-05,1793190864843641856
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,741.338375652,711,670.661624348,664,632.338375652,874.338375652,782,798.338375652,649.338375652,627,649,0.400967325457,-0.00541458116537,0.0498470339658,0.999999948887,0.000166345484787,-0.000269062854558,-4.64743534683e-05,1793190864860308736
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,741.91748255,711,670.08251745,664,632.91748255,874.91748255,782,798.91748255,649.91748255,627,649,0.400969037863,-0.00541392598592,0.0498487252391,0.999999949561,0.000167021995817,-0.000266126812389,-4.64633863678e-05,1793190864876975616
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc2277fc053486e2df955a2309f6877039aa8fe6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,400 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
+1,0.016666667,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
+2,0.033333333,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
+3,0.050000000,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
+4,0.066666667,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
+5,0.083333333,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
+6,0.100000000,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
+7,0.116666667,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
+8,0.133333333,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
+9,0.150000000,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
+10,0.166666667,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
+11,0.183333333,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
+12,0.200000000,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
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+380,6.333333333,pose2_to_pose3_retreat,0.575725990425,0.000219645044187,1.0400283592,0.546296452786,0.00889137217086,1.03969936919
+381,6.350000000,pose2_to_pose3_retreat,0.575725840278,0.000219639803255,1.04002835673,0.546296302717,0.00889136717108,1.03969936609
+382,6.366666667,pose2_to_pose3_retreat,0.57572576119,0.000219637042649,1.04002835543,0.54629622367,0.0088913645375,1.03969936446
+383,6.383333333,pose2_to_pose3_retreat,0.575725624013,0.000219632254443,1.04002835318,0.546296086565,0.00889135996961,1.03969936163
+384,6.400000000,pose2_to_pose3_retreat,0.575725586183,0.000219630933962,1.04002835256,0.546296048754,0.00889135870989,1.03969936085
+385,6.416666667,pose2_to_pose3_retreat,0.575725427541,0.000219625396527,1.04002834995,0.546295890195,0.00889135342725,1.03969935757
+386,6.433333333,pose2_to_pose3_retreat,0.575725114282,0.000219614386971,1.04002835396,0.546295577031,0.00889134269351,1.03969936036
+387,6.450000000,pose2_to_pose3_retreat,0.575724596187,0.000219595619735,1.04002842863,0.546295058588,0.00889132269212,1.03969943387
+388,6.466666667,pose2_to_pose3_retreat,0.575724284663,0.000219584335259,1.04002847354,0.546294746856,0.00889131066556,1.03969947806
+389,6.483333333,pose2_to_pose3_retreat,0.575724051541,0.000219575890751,1.04002850714,0.546294513577,0.00889130166573,1.03969951114
+390,6.500000000,pose2_to_pose3_retreat,0.575723782981,0.000219566162544,1.04002854585,0.546294244837,0.00889129129778,1.03969954924
+391,6.516666667,pose2_to_pose3_retreat,0.575723512754,0.000219556373957,1.0400285848,0.546293974428,0.00889128086548,1.03969958757
+392,6.533333333,pose2_to_pose3_retreat,0.575723390654,0.000219564742567,1.04002856652,0.546293852188,0.00889128879716,1.03969957039
+393,6.550000000,pose2_to_pose3_retreat,0.575723292731,0.000219584445536,1.04002851543,0.546293754092,0.00889130800136,1.03969952155
+394,6.566666667,pose2_to_pose3_retreat,0.575722956756,0.000219652046553,1.04002834012,0.546293417524,0.00889137389109,1.03969935399
+395,6.583333333,pose2_to_pose3_retreat,0.575722642994,0.000219715178207,1.0400281764,0.546293103209,0.00889143542459,1.03969919751
+396,6.600000000,pose2_to_pose3_retreat,0.575722618391,0.000219718948201,1.04002827742,0.546293079043,0.00889144052557,1.03969929516
+397,6.616666667,pose2_to_pose3_retreat,0.575722626981,0.00021971596774,1.04002840269,0.546293088158,0.00889143913378,1.03969941605
+398,6.633333333,pose2_to_pose3_retreat,0.575722579609,0.000219692833112,1.04002858544,0.546293041613,0.00889141848168,1.0396995914
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..382243758e718a003a7e0baa3ac26c497154ece3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8beee3ba53d9767a5a0bde99b9eaa472f3a38b013570b295eae3249f72451055
+size 25426203
diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..843e22b9e5209ad6cea4863539743674492773f5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_05/franka_data.csv
@@ -0,0 +1,401 @@
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+0,0.000000000,BASELINE,764,742,711,671,664,632,875,782,799,650,626,649,0.400967623121,-0.00541509544221,0.0498478771277,0.999999949171,0.000165605432257,-0.000268487288139,-4.63397828771e-05,1793190864994130432
+1,0.016666667,BASELINE,764,742,711,670.423421178,664,632,875,782,799,650,626.576578822,649,0.400968277466,-0.00541589643417,0.0498475674145,0.999999949153,0.000166032215966,-0.000268295457071,-4.6320643611e-05,1793190865010797312
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+21,0.350000000,BASELINE,764,742,711,671,664,632,875,782.174682266,799,649.174682266,626.174682266,649,0.400971004463,-0.00541605558995,0.0498508403389,0.999999951043,0.000162726837801,-0.00026326656151,-4.61015827751e-05,1793190865344130048
+22,0.366666667,BASELINE,764,742,711,671,664,632,875,782.750710848,799,649.750710848,626.750710848,649,0.400970816761,-0.00541648981685,0.049851379615,0.999999951266,0.000162351867015,-0.000262630023977,-4.61995371875e-05,1793190865360796672
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+24,0.400000000,BASELINE,764,742,711,670.075701108,664,632,875,782.075701108,799,649.075701108,627,649,0.4009694074,-0.00541449625041,0.0498502728754,0.999999949816,0.000168722225214,-0.000264172690481,-4.59764343218e-05,1793190865394129920
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+27,0.450000000,BASELINE,764,742,711,670.655035193,664,632,875,782,799,650,627,649,0.400968871208,-0.00541716536645,0.049849156982,0.999999950518,0.000163402002283,-0.000264777331512,-4.64424111615e-05,1793190865444130048
+28,0.466666667,BASELINE,764,742,711,671,664,632,874.765832183,782,799,649.765832183,627,649.234167817,0.40096807719,-0.00541610947716,0.0498486049531,0.999999949904,0.000164741646059,-0.000266213206872,-4.67273938093e-05,1793190865460796672
+29,0.483333333,BASELINE,764,742,711,671,664,632,874.176456776,782,799,649.176456776,627,649.823543224,0.400969098035,-0.00541531805522,0.0498493299498,0.999999949964,0.00016580068494,-0.000265350068844,-4.65972704843e-05,1793190865477463296
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+46,0.766666667,BASELINE,764,742,711,670.68149576,664.31850424,632,875,782.68149576,799,649.31850424,626,649.31850424,0.400969779595,-0.00541546876932,0.0498504112459,0.999999950319,0.000166486262573,-0.000263610612934,-4.6418174553e-05,1793190865760796672
+47,0.783333333,BASELINE,764,741.744032243,711,671,664,632,875.255967757,782.744032243,799,649,626.255967757,649,0.400969716092,-0.005415720371,0.0498499624375,0.999999950204,0.000166431701688,-0.000264067883233,-4.64823540624e-05,1793190865777463552
+48,0.800000000,BASELINE,764,741.169318894,711,671,664,632,875.830681106,782.169318894,799,649,626.830681106,649,0.400968908565,-0.00541622403135,0.0498490263413,0.99999995009,0.00016480685909,-0.000265503096469,-4.6548679614e-05,1793190865794130432
+49,0.816666667,BASELINE,764,741.417749468,711,670.582250532,664,632.417749468,876.417749468,782,798.582250532,649.417749468,626.582250532,649,0.400970046152,-0.00541683963636,0.0498502907279,0.999999950863,0.000163887431239,-0.00026320122868,-4.62503023821e-05,1793190865810796800
+50,0.833333333,BASELINE,764.009738635,742,711,670.009738635,664,632.990261365,876.980522729,782,798.009738635,650,626.009738635,649,0.400971946665,-0.00541748153467,0.0498524129709,0.999999951964,0.000163278666265,-0.000259448274535,-4.58134388665e-05,1793190865827463424
+51,0.850000000,BASELINE,764.587757519,742,711,670.587757519,664,632.412242481,875.824484963,782,798.587757519,650,626.587757519,649,0.400970959865,-0.00541692941228,0.049850963581,0.999999951202,0.000163605658867,-0.000262100146172,-4.61840148536e-05,1793190865844130048
+52,0.866666667,BASELINE,764.835292604,742,711,670.835292604,664.164707396,632,875,782,799,649.835292604,626.835292604,649,0.400969780785,-0.00541637822521,0.0498497547087,0.999999950616,0.000163466255772,-0.000264351268555,-4.65272369737e-05,1793190865860796672
+53,0.883333333,BASELINE,764.261001097,742,711,670.261001097,664.738998903,632,875,782,799,649.261001097,626.261001097,649,0.400968123554,-0.00541582936406,0.0498491439408,0.999999950482,0.000162167048841,-0.000265605832459,-4.68024371767e-05,1793190865877463296
+54,0.900000000,BASELINE,764,741.679121871,711,670,664.679121871,632.320878129,874.679121871,782,799,649.320878129,626,649,0.400967963015,-0.00541586931464,0.0498493920678,0.999999950556,0.000162056452798,-0.000265411243547,-4.67073920321e-05,1793190865894130176
+55,0.916666667,BASELINE,764,741.090921373,711,670,664.090921373,632.909078627,874.090921373,782,799,649.909078627,626,649,0.400969049365,-0.0054163998021,0.0498503557368,0.999999950803,0.000162936084102,-0.000264009370783,-4.63038968596e-05,1793190865910796800
+56,0.933333333,BASELINE,764,741.492442175,711,670,664,632.507557825,874,782,799,649.507557825,626.492442175,649,0.400969431806,-0.00541677628671,0.049850323679,0.999999950525,0.000164776473555,-0.000263954129377,-4.61124114302e-05,1793190865927463424
+57,0.950000000,BASELINE,764,741.926066823,711,670,664,632,874.073933177,782,799.073933177,649,627,649,0.400969439566,-0.00541711817287,0.0498500453791,0.999999950181,0.000166202766429,-0.000264384015547,-4.59928944739e-05,1793190865944130048
+58,0.966666667,BASELINE,764,741.351270485,711,670,664,632,874.648729515,782,799.648729515,649,627,649,0.400967780914,-0.00541741642455,0.0498493322516,0.999999950056,0.000163633710606,-0.000266432424208,-4.60983268143e-05,1793190865960796672
+59,0.983333333,BASELINE,764,741.228160696,711,670.228160696,664,632,875,782,799.543678607,649.228160696,626.771839304,649,0.400967524491,-0.00541640730518,0.0498492418042,0.999999949993,0.000163485125322,-0.000266698999368,-4.64481818788e-05,1793190865977463552
+60,1.000000000,BASELINE,764,741.814875617,711,670.814875617,664,632,875,782,798.370248767,649.814875617,626.185124383,649,0.400969471668,-0.00541334365403,0.0498501298978,0.999999950027,0.000167140305808,-0.000264165425923,-4.71821469384e-05,1793190865994130176
+61,1.016666667,BASELINE,764,742,711,671,664,632,875,782,798.396123107,649.603876893,626.396123107,649,0.400969856024,-0.00541397146321,0.0498504959066,0.999999950329,0.00016684404003,-0.000263261504554,-4.68980683782e-05,1793190866010796800
+62,1.033333333,BASELINE,764,742,711,671,664,632,875,782,798.974850198,649.025149802,626.974850198,649,0.400969519954,-0.00541630095409,0.0498506212459,0.999999950755,0.000164726244774,-0.000263108816871,-4.61446942007e-05,1793190866027463424
+63,1.050000000,BASELINE,764.552063516,741.447936484,711,670.447936484,664,632,875,782,799,649,627,649,0.400970047429,-0.00541665556288,0.0498508512968,0.999999950896,0.000165196292205,-0.000262258606801,-4.6242213422e-05,1793190866044130048
+64,1.066666667,BASELINE,764.871136646,741.128863354,711,670,664,632,875,782.128863354,798.871136646,649.128863354,626.871136646,649,0.400970527847,-0.0054168453001,0.0498510090486,0.999999951074,0.000165226033478,-0.000261537695597,-4.63621998648e-05,1793190866060796672
+65,1.083333333,BASELINE,764.295531857,741.704468143,711,670,664,632,875,782.704468143,798.295531857,649.704468143,626.295531857,649,0.400970709119,-0.00541677450897,0.0498508996629,0.999999951427,0.000163321740701,-0.000261374896121,-4.64260588111e-05,1793190866077463296
+66,1.100000000,BASELINE,764,742,711,670,664.572591422,632,875,782.713704289,798.286295711,650,626.286295711,649,0.400970403564,-0.0054172505746,0.049850956643,0.999999951707,0.000161675551971,-0.000261346805508,-4.6317600732e-05,1793190866094130176
+67,1.116666667,BASELINE,764,742,711,670,665.749378992,632,875,782.125310504,798.874689496,650,626.874689496,649,0.400969584311,-0.00541830368129,0.0498511891715,0.999999951912,0.000160301713705,-0.000261460859155,-4.60273144224e-05,1793190866110796800
+68,1.133333333,BASELINE,764,742,711,670,665.084820305,632,875,782,799,649.542410153,627,649,0.400969273883,-0.00541838132926,0.0498504128574,0.99999995167,0.000160187074036,-0.000262442722475,-4.60775360362e-05,1793190866127463424
+69,1.150000000,BASELINE,764,742,711,670,664,632,875,782,799,649.038546269,627,649,0.400969132519,-0.00541823984565,0.0498494610623,0.999999951335,0.000160340143302,-0.000263599203114,-4.62145732889e-05,1793190866144129792
+70,1.166666667,BASELINE,764,742,711,670,664,632,875,782,799,649.613141113,627,649,0.400969427496,-0.00541872176702,0.0498498653327,0.999999951386,0.000159477602149,-0.000263918332553,-4.62775446871e-05,1793190866160796672
+71,1.183333333,BASELINE,764,742,711,670,664,632.18688429,875.18688429,782,799.18688429,650,627,649,0.400969367142,-0.00541852537927,0.0498498564489,0.999999951207,0.000159894760476,-0.000264326127027,-4.63836157515e-05,1793190866177463296
+72,1.200000000,BASELINE,764,742,711,670,664,632.758872585,875.758872585,782,799.758872585,650,627,649,0.400968574571,-0.00541693123069,0.049848996197,0.999999950549,0.000162948937473,-0.000264916629582,-4.657850036e-05,1793190866194129920
+73,1.216666667,BASELINE,764,742,711,670,664,632.655212773,876,782,799.655212773,649.655212773,626.655212773,649,0.400968933725,-0.00541724017563,0.0498495310655,0.999999950628,0.000163566508349,-0.000264262186822,-4.64244019828e-05,1793190866210796800
+74,1.233333333,BASELINE,764,742,711,670,664,632.059148812,876,782,799.059148812,649.059148812,626.059148812,649,0.400970132241,-0.00541893607204,0.0498510826809,0.999999951247,0.000162408310169,-0.00026270044304,-4.6015969043e-05,1793190866227463424
+75,1.250000000,BASELINE,764,742,711,670,664,632,875.482048919,782,799,649.517951081,626.517951081,649,0.400970067258,-0.00541832191153,0.0498512575616,0.999999951331,0.00016223975344,-0.0002624447377,-4.625722935e-05,1793190866244130048
+76,1.266666667,BASELINE,764,742,711,670,664,632,875,782.09288206,799,649.90711794,627,649.09288206,0.400969937994,-0.00541754926997,0.0498511546804,0.999999951368,0.000162121146252,-0.000262331447816,-4.65119408294e-05,1793190866260796672
+77,1.283333333,BASELINE,764,742,711,670,664,632,875,782.667399464,799,649.332600536,627,649.667399464,0.400970197175,-0.00541727445477,0.0498503979391,0.99999995147,0.000161696216394,-0.000262210570664,-4.64652648557e-05,1793190866277463296
+78,1.300000000,BASELINE,764,741.752314446,711.247685554,670.247685554,664,632,875,782.752314446,799,649.247685554,627,649.752314446,0.400970637327,-0.00541735889463,0.0498503964458,0.999999951634,0.000161670221976,-0.000261633812447,-4.62912249726e-05,1793190866294129920
+79,1.316666667,BASELINE,764,741.164097299,711.835902701,670.835902701,664,632,875,782.164097299,799,649.835902701,627,649.164097299,0.400971326286,-0.00541793725797,0.0498514333087,0.999999951879,0.000162192705768,-0.000260430284116,-4.59420782519e-05,1793190866310796544
+80,1.333333333,BASELINE,764,741.420248509,711.579751491,670.579751491,664,632,875.420248509,782,799,649.579751491,626.579751491,649,0.400970904992,-0.00541732104717,0.0498513913017,0.999999951524,0.000163831986485,-0.000260763505405,-4.59714118786e-05,1793190866327463424
+81,1.350000000,BASELINE,764,742,711,670,664,632,876,782,799,649.003049498,626.003049498,649,0.400970054852,-0.00541625519848,0.0498509332877,0.999999950936,0.000165875250973,-0.000261693041373,-4.61449713203e-05,1793190866344130048
+82,1.366666667,BASELINE,764,742,711,670,664,632,876,782,799,649.577051124,626.577051124,649,0.400969340582,-0.00541754055043,0.0498507413983,0.999999951148,0.000162653814539,-0.000262945894887,-4.59041943647e-05,1793190866360796672
+83,1.383333333,BASELINE,764,742,711,670.151309221,664,632,875.848690779,782.151309221,799,649.848690779,627,649,0.400969045448,-0.00541818092369,0.049850862215,0.999999951352,0.000160770367433,-0.000263347085604,-4.57867783358e-05,1793190866377463552
+84,1.400000000,BASELINE,764,742,711,670.726285572,664,632,875.273714428,782.726285572,799,649.273714428,627,649,0.400969923902,-0.00541701535135,0.0498518586117,0.999999951561,0.000162633301309,-0.000261363613403,-4.60147739171e-05,1793190866394130176
+85,1.416666667,BASELINE,764.308881586,742,711,670.691118414,664,632.308881586,875,782.691118414,799,649,627,649.308881586,0.400970855689,-0.00541629953323,0.0498521757005,0.999999951621,0.000163779222255,-0.000260370995148,-4.62737844646e-05,1793190866410796800
+86,1.433333333,BASELINE,764.898400482,742,711,670.101599518,664,632.898400482,875,782.101599518,799,649,627,649.898400482,0.400971835932,-0.00541599234367,0.0498518755977,0.999999951551,0.000164273694156,-0.000260278626814,-4.65609739418e-05,1793190866427463424
+87,1.450000000,BASELINE,764.519244818,742,711,670,664,632.519244818,875,782,799.480755182,649,627,649.519244818,0.400970580886,-0.00541647904999,0.0498513038619,0.999999951371,0.000163935350942,-0.000261189151242,-4.65072933169e-05,1793190866444131072
+88,1.466666667,BASELINE,764,742,711,670,664,632,875,782,799.941348833,649,627,649,0.40096899624,-0.00541697309586,0.0498507229405,0.999999951155,0.000163616179179,-0.000262229762316,-4.64163536791e-05,1793190866460798464
+89,1.483333333,BASELINE,764,742,711,670,664,632,875,782,799.388454491,649,627,649,0.400968556411,-0.00541613592662,0.0498505412519,0.999999950833,0.000164919918468,-0.000262606795871,-4.66095701021e-05,1793190866477464320
+90,1.500000000,BASELINE,764,742,711,670,664,632,875,782,799.177287755,649.177287755,627,649,0.400968737265,-0.00541545435361,0.0498505367662,0.999999950726,0.000165627760535,-0.000262548114711,-4.67240749486e-05,1793190866494130176
+91,1.516666667,BASELINE,764,742,711,670,664,632,875,782,799.773380383,649.773380383,627,649,0.400970384347,-0.00541514034397,0.0498509508848,0.99999995113,0.000164927921108,-0.000261460149522,-4.66526402954e-05,1793190866510796800
+92,1.533333333,BASELINE,764,741.632663631,711,670,664,632.367336369,875.367336369,782,799.632663631,650,627,649,0.400970798227,-0.00541618999247,0.0498511986233,0.999999951397,0.000163506040423,-0.000261378790458,-4.64048959939e-05,1793190866527463680
+93,1.550000000,BASELINE,764,741.040018115,711,670,664,632.959981885,875.959981885,782,799.040018115,650,627,649,0.400970455712,-0.00541807605323,0.049851344311,0.999999951576,0.000161641289011,-0.000261914842428,-4.60490105378e-05,1793190866544130304
+94,1.566666667,BASELINE,764,741,711,670.539893211,664,632.460106789,875.460106789,782,799,649.460106789,627,649,0.400969180094,-0.00541762778254,0.0498502926936,0.999999951066,0.000162587075452,-0.00026328589203,-4.59675436157e-05,1793190866560796928
+95,1.583333333,BASELINE,764,741.118378589,711,670.881621411,664,632,875,782.118378589,799,649.118378589,627,649.118378589,0.400968494456,-0.00541725838081,0.0498497332787,0.99999995085,0.000163094750058,-0.000263803010162,-4.59122053409e-05,1793190866577463552
+96,1.600000000,BASELINE,764,741.69491425,711,670.30508575,664,632,875,782.69491425,799,649.69491425,627,649.69491425,0.40097035371,-0.00541784844935,0.04985141438,0.999999951964,0.000161119124826,-0.000260781164807,-4.58810826558e-05,1793190866594130176
+97,1.616666667,BASELINE,764,742,711,670.275586225,664,632,875,782.724413775,799.275586225,650,627,649.724413775,0.400971200159,-0.0054177111057,0.0498522495196,0.999999952369,0.000160696610745,-0.000259467426691,-4.59815162321e-05,1793190866610796800
+98,1.633333333,BASELINE,764,742,711,670.860907019,664,632,875,782.139092981,799.860907019,650,627,649.139092981,0.400970908306,-0.00541675621497,0.0498521338729,0.999999951987,0.000162019656492,-0.000260073450376,-4.62298074245e-05,1793190866627463168
+99,1.650000000,BASELINE,764,741.555520776,711,670.555520776,664,632,875,782,799.555520776,650,626.555520776,649,0.400969815479,-0.00541695982492,0.0498511774725,0.999999951698,0.000161474697464,-0.000261496886353,-4.63577090447e-05,1793190866644129792
+100,1.666666667,BASELINE,764,741.027086568,711,670,664,632,875,782.027086568,799.027086568,650,626.027086568,649,0.400968574795,-0.0054174229514,0.0498500588173,0.999999951431,0.000160600127918,-0.000263038502657,-4.64339294037e-05,1793190866660796672
+101,1.683333333,BASELINE,764,741.601215537,711,670,664,632,875,782.601215537,799.601215537,650,626.601215537,649,0.400969390339,-0.00541583419873,0.049850956036,0.999999951072,0.00016482834654,-0.000261821052742,-4.622427809e-05,1793190866677463296
+102,1.700000000,BASELINE,764,742,711,670,664,632,875.175204917,782.824795083,800,650,627,649,0.400969677256,-0.00541521332037,0.0498515658041,0.999999950881,0.000166696629395,-0.000261387575272,-4.6125556514e-05,1793190866694129920
+103,1.716666667,BASELINE,764,742,711,670,664,632,875.748876753,782.251123247,800,650,627,649,0.400968761919,-0.00541679366982,0.0498515218257,0.999999951097,0.000163197731627,-0.00026273707924,-4.62791214427e-05,1793190866710796800
+104,1.733333333,BASELINE,764,742,711,670,664,632,875.666069045,782,799.666069045,649.666069045,627,649,0.400969229857,-0.00541708870899,0.0498515239684,0.999999951196,0.000162958300902,-0.00026250704332,-4.62921553637e-05,1793190866727463424
+105,1.750000000,BASELINE,764,742,711,670,664,632,875.072152931,782,799.072152931,649.072152931,627,649,0.400970774758,-0.00541638305765,0.049851562019,0.999999951205,0.000165256559227,-0.000261047241566,-4.61957775332e-05,1793190866744130048
+106,1.766666667,BASELINE,764,742,711,670,664,632,875,782.506664215,799,649,626.493335785,649,0.400970204716,-0.0054166548522,0.0498512436198,0.999999951215,0.000164782704251,-0.000261334886254,-4.60458148277e-05,1793190866760796672
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+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,670.024191977,664,632,875,782.975808023,799,649.975808023,627,649,0.40173506466,-0.0054462038905,0.0499383690031,0.999999982626,0.000151185314106,-0.000103594158784,-3.40528422316e-05,1793190867120857600
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+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.502478417,632,877,782,799,649,626.251239209,649,0.424435321248,-0.00556039520227,0.049959374702,0.999999996831,6.66021552523e-05,-3.60925506883e-05,2.44948497522e-05,1793190867787523840
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664.664581552,632,877,782,799,649,626.832290776,649,0.425319950425,-0.0055634267666,0.0499616998813,0.999999997314,6.16485359592e-05,-3.01999827347e-05,2.56846675781e-05,1793190867804192000
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711.408035227,671,665.408035227,632,876.591964773,782,799.408035227,649,627,649,0.426196217238,-0.00556584735405,0.0499776702114,0.999999998004,5.4984715878e-05,-1.38876058799e-05,2.78584142026e-05,1793190867820858624
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711.981626339,671,665.981626339,632,876.018373661,782,799.981626339,649,627,649,0.427069091058,-0.00556802004405,0.0499991769139,0.999999998381,4.76270005812e-05,6.65249550002e-06,3.04313792231e-05,1793190867837524992
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711.443441874,671,665.443441874,631.443441874,876,782.556558126,799.443441874,649.556558126,627,649,0.427866489381,-0.00556327500604,0.0499641070027,0.999999996411,4.99965314907e-05,-6.17527890516e-05,2.94066136067e-05,1793190867854191104
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664.863992155,631.136007845,876.136007845,782.863992155,799,649.863992155,626.863992155,649,0.428680416392,-0.00555931705804,0.0499342808006,0.999999991577,5.11440993129e-05,-0.000115925745091,2.81396347716e-05,1793190867870857472
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664.269460727,631.730539273,876.730539273,782.269460727,799,649.269460727,626.269460727,649,0.429558487036,-0.00555878440928,0.0499284447338,0.999999992248,4.70868344783e-05,-0.000112193968406,2.64574654011e-05,1793190867887524096
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671.314661846,664.629323692,632,876.685338154,782,799,649,626.314661846,649,0.430417149235,-0.00556162839196,0.0499317425571,0.999999993838,3.95920499788e-05,-0.000100313200441,2.63576534714e-05,1793190867904190720
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671.890156181,665.780312362,632,876.109843819,782,799,649,626.890156181,649,0.431259723156,-0.00556727136411,0.0499426117318,0.999999995857,2.92478041796e-05,-8.16774932885e-05,2.75695043928e-05,1793190867920857344
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.465829024,742,711,671.534170976,665.534170976,632,876,782,799,649,627,649,0.432056590257,-0.00556797004711,0.0499323294303,0.999999994451,2.54963089251e-05,-9.83557961604e-05,2.78268833394e-05,1793190867937524224
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.957654362,742,711,671.042345638,665,632,876,782,799,649.042345638,627,649,0.432845809231,-0.00556774292284,0.0499198119934,0.999999992333,2.28375104623e-05,-0.000118452877455,2.79506015965e-05,1793190867954191616
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.370830575,742,711,671.629169425,665,632,876,782,799,649.629169425,627,649,0.433675321744,-0.00557060835778,0.0499427099385,0.999999996629,1.42320578865e-05,-7.53973545391e-05,2.92507301549e-05,1793190867970858240
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711.214232557,672,665,632,876.428465115,782,799.214232557,649.785767443,626.785767443,649,0.43448507377,-0.00557179215962,0.0499630487007,0.999999998619,6.81870013339e-06,-4.2567154058e-05,3.00482347447e-05,1793190867987524608
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711.796272981,672,665,632,877.592545962,782,799.796272981,649.203727019,626.203727019,649,0.435260899888,-0.00557008882897,0.0499789937013,0.999999999177,1.45200403442e-06,-2.72924204481e-05,2.99828033251e-05,1793190868004190720
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711.62720787,672,665,632,877.62720787,782.37279213,799.62720787,649,626.37279213,649,0.435971831013,-0.00556907864753,0.049964959518,0.999999997403,-3.85558497144e-07,-6.52996228672e-05,3.04979675384e-05,1793190868020857088
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711.05366204,672,665,632,877.05366204,782.94633796,799.05366204,649,626.94633796,649,0.436647815243,-0.00556844173659,0.0499347811298,0.999999990797,-3.22633625257e-07,-0.000131999883105,3.13257903995e-05,1793190868037523968
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.522629939,711,672,665,632,876.477370061,783,799,649,627,649,0.437368474507,-0.00556604703534,0.0499391887498,0.999999993775,3.53022216598e-06,-0.000107010184582,3.14064767109e-05,1793190868054190336
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.101858657,742.898141343,711,672,665.101858657,632,876.101858657,783,799,649,627,648.898141343,0.438090488363,-0.00556429283044,0.0499493300867,0.999999996793,7.11820133943e-06,-7.31146566842e-05,3.19031478627e-05,1793190868070857216
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.693854789,742.306145211,711,672,665.693854789,632,876.693854789,783,799,649,627,648.306145211,0.438796830993,-0.00556649372156,0.0499698833652,0.999999998489,7.54920966713e-06,-4.1905845365e-05,3.47726034578e-05,1793190868087524608
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.721549443,742,711,672,665.721549443,632,876.721549443,783,799,649,627,648.278450557,0.439448465116,-0.00556805416374,0.0499685152336,0.999999998358,7.33416580501e-06,-4.36671737784e-05,3.63897361798e-05,1793190868104191488
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.14487947,742,711,672,665.14487947,632,876.14487947,783,799,649,627,648.85512053,0.440041506603,-0.00556892868756,0.0499436693594,0.999999996048,6.4272026448e-06,-8.07393898039e-05,3.66656360025e-05,1793190868120858368
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,876.426103999,783,799,649,627,649,0.440617444261,-0.00556837707887,0.0499304297832,0.999999994188,6.78206101954e-06,-0.000100971875211,3.71965086739e-05,1793190868137524736
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,876.995179509,783,799,649,627,649,0.441187643085,-0.0055673469572,0.049921084489,0.99999999258,7.5603007826e-06,-0.000115554095676,3.78129329122e-05,1793190868154190848
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.590881951,711,672,665.590881951,632,877,782.409118049,799,649,627,649,0.441748877262,-0.00556823235787,0.0499385832782,0.999999995879,4.74850222145e-06,-8.20564310738e-05,3.855144949e-05,1793190868170857472
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.818453248,711,672,665.818453248,632,877.181546752,782,799,649,627,649,0.442295378359,-0.00556921057001,0.0499509556191,0.999999997535,-2.84853539227e-07,-5.87063043871e-05,3.85274280624e-05,1793190868187524096
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.239318942,711,672,665.239318942,632,877.760681058,782,799,649,627,649,0.442809781831,-0.00557035620125,0.0499515987997,0.999999997561,-1.0116254637e-05,-5.84788350259e-05,3.68311636491e-05,1793190868204190464
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,711.337597562,672,665,631.662402438,877.662402438,782,799,649,627,649,0.443257132391,-0.00557414767041,0.0499320505856,0.999999994455,-4.37043505878e-05,-9.1650999577e-05,2.793892636e-05,1793190868220857088
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,711.91295212,672,665,631.08704788,877.08704788,782,799,649,627,649,0.44365726013,-0.00557980250151,0.0498982823478,0.999999984479,-9.40233734241e-05,-0.000148345242974,1.39788417478e-05,1793190868237524224
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.498554941,742,712,672,664.501445059,631,877.498554941,782,799,649,627,649,0.444010123967,-0.00558086808447,0.0498574705782,0.999999971881,-9.84078012577e-05,-0.000215425123585,1.204299556e-05,1793190868254190848
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,742,712,672,664,631,877.915261142,782.084738858,799,649,626.915261142,649,0.444358973727,-0.00558028683557,0.0498204376958,0.999999957871,-9.3547618517e-05,-0.000274511494883,1.22447685134e-05,1793190868270857216
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,742,712,672,664,631,877.336342518,782.663657482,799,649,626.336342518,649,0.444733549946,-0.00557487259872,0.0498127649974,0.999999958379,-8.25285338869e-05,-0.000276184403417,1.2412256501e-05,1793190868287523840
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,742,712,671.758318764,664.241681236,630.758318764,877,782.758318764,799,649.241681236,626,648.758318764,0.44509907382,-0.00557189092833,0.0498124405118,0.999999961283,-7.60356354581e-05,-0.000267359748255,1.31167148926e-05,1793190868304190464
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,742,712,671.181535836,664.818464164,630.181535836,877,782.181535836,799,649.818464164,626,648.181535836,0.445452046185,-0.00557228211907,0.049822304648,0.999999967257,-7.58184947066e-05,-0.000243979757862,1.45657064132e-05,1793190868320856832
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.605755176,742,712,671.394244824,664.605755176,630,876.605755176,782,799,649.605755176,626,648.394244824,0.445759974919,-0.00557352479926,0.0498235729232,0.999999968977,-7.51496617445e-05,-0.000236966707861,1.563616709e-05,1793190868337523456
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.030434804,742,712,671.969565196,664.030434804,630,876.030434804,782,799,649.030434804,626,648.969565196,0.446047215271,-0.0055751585662,0.0498208931442,0.999999968909,-7.42733678036e-05,-0.000237470945912,1.65327697355e-05,1793190868354190080
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,742,712,672,664,629.855444097,876.144555903,782,799,649,626,649,0.446493519851,-0.00557542500445,0.0497922355115,0.999999957399,-7.19692191514e-05,-0.000282389290955,1.67091328699e-05,1793190868387523584
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,742,712,672,664,629.274141759,876.725858241,782,799,649,626,649,0.446678521648,-0.0055752085738,0.0497700555989,0.999999945896,-7.43799245648e-05,-0.000320071951094,1.51739619451e-05,1793190868404190208
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.696479276,742,712,672,664,629,877,782,799.303520724,649.303520724,626.303520724,649,0.446845892418,-0.00557685446539,0.0497464451328,0.999999933308,-7.76064607897e-05,-0.000356605521094,1.38996393736e-05,1793190868420856832
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.12206541,742,712,672,664,629,877,782,799.87793459,649.87793459,626.87793459,649,0.446997527432,-0.00558016248508,0.0497215578947,0.999999919715,-8.15611282725e-05,-0.00039211352246,1.28581248195e-05,1793190868437523456
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.452276024,712,671.547723976,664,629,877,782,799.547723976,650,626.547723976,649,0.44713280405,-0.00558230122498,0.0497084933389,0.999999912083,-8.58452830969e-05,-0.000410273918817,1.1817165483e-05,1793190868454190080
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.972650221,711.972650221,671.054699559,664,629,877,782,799,650,626.027349779,649,0.447263060256,-0.0055841612775,0.0496992737017,0.99999990646,-9.01436238127e-05,-0.000422891358981,1.08512006061e-05,1793190868470856960
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.382093283,711.382093283,672.235813434,664,629,877,782,799,650,626.617906717,649,0.447380834654,-0.005586779981,0.0497035338554,0.999999908356,-9.29031586755e-05,-0.000417763279376,1.1426492258e-05,1793190868487523584
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+210,3.500000000,POSE1_TO_POSE2_PRESS,764.786383471,742,711,672.213616529,663.213616529,629,877,782,799,649.213616529,626.213616529,649,0.447588857311,-0.00558528550114,0.0497093607699,0.999999912796,-9.15313100312e-05,-0.000407315758664,1.11041909033e-05,1793190868520857088
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+256,4.266666667,HOLD_POSE2,764,742,712,672,663.3839679,628,876.3839679,782,799.6160321,649,626,648.6160321,0.447962274416,-0.00554875453909,0.0496945905957,0.999999902136,-6.36604429233e-05,-0.000437724486288,8.51880150276e-06,1793190869313470464
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diff --git a/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..778df5e92474f6b21aec32e1fc042f0f2a37596a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_PLA_20/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,401 @@
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